Devel

data/scenes/dyn/dyn_geom_swap_scene_by_indices.xml

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document>
+    <scene id="dyn_geom_swap_scene" name="DynGeomSwapScene">
+
+
+		<!-- Ground plane -->
+		<!-- ************ -->
+		<part id="1">
+            <filter type="objloader">
+                <param type="string" key="filepath" value="data/sceneparts/basic/groundplane/groundplane.obj" />
+            </filter>
+            <filter type="scale">
+                <param type="double" key="scale" value="120" />
+            </filter>
+			<filter type="translate">
+				<param type="vec3" key="offset" value="50.0;0;0" />
+			</filter>
+        </part>
+
+
+
+
+		<!-- Small cube goes sphere for two repetitions then goes big cube -->
+		<!-- ************************************************************* -->
+		<part id="2">
+            <filter type="objloader">
+                <param type="string" key="filepath" value="data/sceneparts/toyblocks/cube.obj" />
+            </filter>
+			<filter type="rotate">
+				<param key="rotation" type="rotation">
+					<rot angle_deg="45" axis="z"/>
+				</param>
+			</filter>
+			<filter type="scale">
+                <param type="double" key="scale" value="0.75" />
+            </filter>
+			<filter type="translate">
+				<param type="vec3" key="offset" value="-40.0;-50.0;0" />
+			</filter>
+			<!-- Swap sphere by big cube -->
+			<swap swapIndices="[3]">
+				<filter type="objloader">
+		            <param type="string" key="filepath" value="data/sceneparts/toyblocks/cube.obj" />
+		        </filter>
+				<filter type="rotate">
+					<param key="rotation" type="rotation">
+						<rot angle_deg="45" axis="z"/>
+					</param>
+				</filter>
+				<filter type="scale">
+		            <param type="double" key="scale" value="1.5" />
+		        </filter>
+				<filter type="translate">
+					<param type="vec3" key="offset" value="-20.0;-60.0;0" />
+				</filter>
+			</swap>
+			<!-- Swap small cube by sphere -->
+			<swap swapIndices="[1, 2]">
+				<filter type="objloader">
+                	<param type="string" key="filepath" value="data/sceneparts/toyblocks/sphere.obj" />
+		        </filter>
+				<filter type="scale">
+		            <param type="double" key="scale" value="1.25" />
+		        </filter>
+				<filter type="translate">
+					<param type="vec3" key="offset" value="-30.0;-60.0;0" />
+				</filter>
+			</swap>
+        </part>
+
+
+
+
+		<!-- Sphere goes cube goes nothing -->
+		<!-- ***************************** -->
+		<part id="3">
+			<filter type="objloader">
+                <param type="string" key="filepath" value="data/sceneparts/toyblocks/sphere.obj" />
+            </filter>
+			<filter type="scale">
+                <param type="double" key="scale" value="1.25" />
+            </filter>
+			<filter type="translate">
+				<param type="vec3" key="offset" value="-10.0;-20.0;0" />
+			</filter>
+			<!-- Swap sphere by cube -->
+			<swap swapIndices="[1]">
+				<filter type="objloader">
+		            <param type="string" key="filepath" value="data/sceneparts/toyblocks/cube.obj" />
+		        </filter>
+				<filter type="scale">
+		            <param type="double" key="scale" value="2.0" />
+		        </filter>
+				<filter type="translate">
+					<param type="vec3" key="offset" value="-40.0;40.0;0" />
+				</filter>
+			</swap>
+			<!-- Swap cube by nothing -->
+			<swap swapIndices="[2]" force_null="true">
+			</swap>
+		</part>
+
+
+
+
+		<!-- Small cube goes mid goes big goes bigger -->
+		<!-- **************************************** -->
+		<part id="4">
+            <filter type="objloader">
+                <param type="string" key="filepath" value="data/sceneparts/toyblocks/cube.obj" />
+            </filter>
+			<filter type="rotate">
+				<param key="rotation" type="rotation">
+					<rot angle_deg="45" axis="z"/>
+				</param>
+			</filter>
+			<filter type="scale">
+                <param type="double" key="scale" value="0.75" />
+            </filter>
+			<filter type="translate">
+				<param type="vec3" key="offset" value="-20.0;10.0;0" />
+			</filter>
+			<!-- Swap big cube by bigger cube -->
+			<swap swapIndices="[3]">
+				<filter type="rotate">
+					<param key="rotation" type="rotation">
+						<rot angle_deg="45" axis="z"/>
+					</param>
+				</filter>
+				<filter type="scale">
+		            <param type="double" key="scale" value="3.5" />
+		        </filter>
+				<filter type="translate">
+					<param type="vec3" key="offset" value="-42.0;12.0;0.0" />
+				</filter>
+			</swap>
+			<!-- Swap small cube by mid cube -->
+			<swap swapIndices="[1]">
+				<filter type="rotate">
+					<param key="rotation" type="rotation">
+						<rot angle_deg="45" axis="z"/>
+					</param>
+				</filter>
+				<filter type="scale">
+		            <param type="double" key="scale" value="2.0" />
+		        </filter>
+				<filter type="translate">
+					<param type="vec3" key="offset" value="-22.0;12.0;0" />
+				</filter>
+			</swap>
+			<!-- Swap mid cube by big cube -->
+			<swap swapIndices="[2]">
+				<filter type="rotate">
+					<param key="rotation" type="rotation">
+						<rot angle_deg="45" axis="z"/>
+					</param>
+				</filter>
+				<filter type="scale">
+		            <param type="double" key="scale" value="3.0" />
+		        </filter>
+				<filter type="translate">
+					<param type="vec3" key="offset" value="-18.0;11.0;0.0" />
+				</filter>
+			</swap>
+        </part>
+    </scene>
+</document>

src/assetloading/SpectralLibrary.h

@@ -79,4 +79,10 @@ class SpectralLibrary {
 	 * @param scene Scene with materials which reflectance must be setted
 	 */
 	void setReflectances(Scene* scene);
+
+    /**
+     * @brief Obtain the default reflectance of the spectral library.
+     * @see SpectralLibrary::defaultReflectance
+     */
+    inline double getDefaultReflectance(){return defaultReflectance;}
 };

src/assetloading/XmlSurveyLoader.cpp

@@ -90,6 +90,9 @@ XmlSurveyLoader::createSurveyFromXml(
       (float)survey->scanner->getWavelength(), assetsDir + "spectra");
   spectralLibrary.readReflectances();
   spectralLibrary.setReflectances(survey->scanner->platform->scene.get());
+  survey->scanner->platform->scene->setDefaultReflectance(
+      spectralLibrary.getDefaultReflectance()
+  );
 
   // Update materials for all swap on repeat handlers
   for(std::shared_ptr<ScenePart> sp : survey->scanner->platform->scene->parts){

src/main/helios_version.cpp

@@ -4,7 +4,7 @@
 
 const char * HELIOS_VERSION = "1.3.0";
 
-const char * HELIOS_GIT_HASH = "4aa844cd";
+const char * HELIOS_GIT_HASH = "e8bf9ebe";
 
 const char * getHeliosVersion(){
     return HELIOS_VERSION;

src/scanner/ScanningDevice.cpp

@@ -286,10 +286,8 @@ void ScanningDevice::computeSubrays(
 ){
     size_t const numSubrays = cached_subrayRotation.size();
     for(size_t i = 0 ; i < numSubrays ; ++i) {
-    #if DATA_ANALYTICS >=2
-        bool subrayHit;
-    #endif
 #if DATA_ANALYTICS >=2
+        bool subrayHit;
         std::vector<double> subraySimRecord(
             14, std::numeric_limits<double>::quiet_NaN()
         );

src/scene/Scene.cpp

@@ -96,7 +96,7 @@ bool Scene::finalizeLoading(bool const safe) {
 
     // Store original bounding box (CRS coordinates):
     this->bbox_crs = AABB::getForPrimitives(primitives);
-    glm::dvec3 diff = this->bbox_crs->getMin();
+    glm::dvec3 const diff = this->bbox_crs->getMin();
     stringstream ss;
     ss  << "CRS bounding box (by vertices): " << this->bbox_crs->toString()
         << "\nShift: " << glm::to_string(diff)

src/scene/Scene.h

@@ -124,6 +124,17 @@ class Scene : public Asset {
      * @see Scene::getIntersections
      */
     std::shared_ptr<KDGroveRaycaster> raycaster;
+    /**
+     * @brief The default reflectance that must be used for primitives with
+     *  not reflectance (NaN). It is typically loaded through the spectral
+     *  library and then assigned to the scene so it can be known when needed.
+     * @see Scene::setDefaultReflectance
+     * @see Scene::getDefaultReflectance
+     * @see SpectralLibrary
+     * @see SpectralLibrary::defaultReflectance
+     * @see XmlSurveyLoader::createSurveyFromXml
+     */
+    double defaultReflectance = 50.0;
 
 public:
     /**
@@ -473,6 +484,31 @@ class Scene : public Asset {
      * @see ScenePart::sorh
      */
     std::vector<std::shared_ptr<ScenePart>> getSwapOnRepeatObjects();
+    /**
+     * @brief Set the default reflectance that must be used for primitives
+     *  that have no assigned reflectance.
+     * @param defaultReflectance The new default reflectance.
+     * @see Scene::defaultReflectance
+     * @see Scene::getDefaultReflectance
+     * @see SpectralLibrary
+     * @see SpectralLibrary::defaultReflectance
+     * @see XmlSurveyLoader::createSurveyFromXml
+     */
+    inline void setDefaultReflectance(double const defaultReflectance)
+    {this->defaultReflectance = defaultReflectance;}
+    /**
+     * @brief Get the default reflectance that must be used for primitives that
+     *  have not got an assigned reflectance.
+     * @return The default reflectance for primitives that have not got an
+     *  assigned reflectance.
+     * @see Scene::setDefaultReflectance
+     * @see SpectralLibrary
+     * @see SpectralLibrary::defaultReflectance
+     * @see XmlSurveyLoader::createSurveyFromXml
+     */
+    inline double getDefaultReflectance() const {return defaultReflectance;}
+
+
 
     // ***   READ/WRITE  *** //
     // ********************* //

src/sim/comps/SimulationPlayer.cpp

@@ -70,7 +70,7 @@ void SimulationPlayer::endPlay(){
         // Restart scanner
         logging::DEBUG("Restarting scanner for next simulation play ...");
         restartScanner(*sim.getScanner());
-        // Restar scene
+        // Restart scene
         logging::DEBUG("Restarting scene for next simulation play ...");
         restartScene(*sim.getScanner()->platform->scene);
         // Restart simulation
@@ -168,7 +168,7 @@ void SimulationPlayer::restartScene(Scene &scene){
         if(sp->sorh != nullptr && sp->sorh->needsDiscardOnReplay()){
             for(Primitive * p: sp->sorh->getBaselinePrimitives()) delete p;
             for(Primitive * p: sp->mPrimitives) delete p;
-            sp->sorh = nullptr;
+            //sp->sorh = nullptr; // TODO Rethink : Remove to enable rebirth?
             continue;
         }
         // Handle scene parts that must be preserved
@@ -181,7 +181,7 @@ void SimulationPlayer::restartScene(Scene &scene){
                 for(size_t i = 0 ; i < p->getNumVertices() ; ++i){
                     v[i].pos = v[i].pos + diff;
                 }
-                p->update();
+                //p->update(); // TODO Rethink : Avoid calling twice
             }
         }
         // Handle scene parts who are in the first play after a swap
@@ -199,8 +199,15 @@ void SimulationPlayer::restartScene(Scene &scene){
     }
     scene.parts = newParts;
     scene.primitives = newPrims;
+    // Apply default reflectances when needed
+    for(Primitive * p : scene.primitives){
+        Material &mat = *p->material;
+        if(std::isnan(mat.reflectance)){
+            mat.reflectance = scene.getDefaultReflectance();
+        }
+    }
     // Reload scene
-    scene.finalizeLoading(false);
+    scene.finalizeLoading(false); // TODO Rethink : p->update is called here
 }
 
 void SimulationPlayer::restartSimulation(Simulation &sim){

src/sim/core/Simulation.cpp

@@ -10,10 +10,10 @@ using namespace std::chrono;
 #include <platform/InterpolatedMovingPlatform.h>
 #include <scene/dynamic/DynScene.h>
 #ifdef DATA_ANALYTICS
-#include <dataanalytics/HDA_StateJSONReporter.h>
 #include <dataanalytics/HDA_SimStepRecorder.h>
 using helios::analytics::HDA_StateJSONReporter;
 using helios::analytics::HDA_SimStepRecorder;
+using helios::analytics::HDA_Recorder;
 #endif
 
 #include "Simulation.h"
@@ -149,7 +149,11 @@ void Simulation::start() {
         ss.str("");
         ss << "Starting simulation loop " << simLoopIndex+1 << " ...";
         logging::INFO(ss.str());
-        doSimLoop();
+        doSimLoop(
+#ifdef DATA_ANALYTICS
+            ssr
+#endif
+        );
         // NOTE there is no need for a sync. barrier after the last iteration
         // because end of simulation will handle it.
         ss.str("");
@@ -191,7 +195,14 @@ void Simulation::start() {
 	shutdown();
 }
 
-void Simulation::doSimLoop(){
+void Simulation::doSimLoop(
+#ifdef DATA_ANALYTICS
+    HDA_Recorder &_ssr
+#endif
+){
+#ifdef DATA_ANALYTICS
+    HDA_SimStepRecorder &ssr = static_cast<HDA_SimStepRecorder &>(_ssr);
+#endif
     size_t iter = 1;
     // Execute the main loop of the simulation
     while (!isStopped()) {

src/sim/core/Simulation.h

@@ -12,6 +12,7 @@
 #endif
 #ifdef DATA_ANALYTICS
 #include <dataanalytics/HDA_StateJSONReporter.h>
+#include <dataanalytics/HDA_Recorder.h>
 #endif
 #include <SimulationReporter.h>
 #include <SimulationPlayer.h>
@@ -219,7 +220,11 @@ class Simulation {
      *  the computations between the first and the last leg of the survey.
      * @return The number of iterations run in the simulation loop.
      */
-    virtual void doSimLoop();
+    virtual void doSimLoop(
+#ifdef DATA_ANALYTICS
+        helios::analytics::HDA_Recorder &ssr
+#endif
+    );
 	/**
 	 * @brief Stop the simulation
 	 *