Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26820
Modified Files:
Tag: opengl
Makefile.manual ancestor.cc cell.cc model.cc model_laser.cc
stage.hh stest.cc world.cc worldgtk.cc
Log Message:
raytracing reimplmented - a bug remains?
Index: stest.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stest.cc,v
retrieving revision 1.1.2.7
retrieving revision 1.1.2.8
diff -C2 -d -r1.1.2.7 -r1.1.2.8
*** stest.cc 13 Oct 2007 07:42:55 -0000 1.1.2.7
--- stest.cc 22 Oct 2007 09:06:28 -0000 1.1.2.8
***************
*** 79,83 ****
// // subscribe to the laser - starts it collecting data
// position->Subscribe();
! //laser->Subscribe();
// ranger->Subscribe();
--- 79,83 ----
// // subscribe to the laser - starts it collecting data
// position->Subscribe();
! laser->Subscribe();
// ranger->Subscribe();
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_laser.cc,v
retrieving revision 1.1.2.5
retrieving revision 1.1.2.6
diff -C2 -d -r1.1.2.5 -r1.1.2.6
*** model_laser.cc 22 Oct 2007 02:36:33 -0000 1.1.2.5
--- model_laser.cc 22 Oct 2007 09:06:28 -0000 1.1.2.6
***************
*** 104,109 ****
samples = NULL;
- debug = true;
-
dl_debug_laser = glGenLists( 1 );
glNewList( dl_debug_laser, GL_COMPILE );
--- 104,107 ----
***************
*** 149,156 ****
}
! int laser_raytrace_match( StgModel* mod, StgModel* hitmod )
! {
! // Ignore myself and things that are invisible to lasers
! return( (mod != hitmod) && (hitmod->LaserReturn() > 0) );
}
--- 147,163 ----
}
! int laser_raytrace_match( StgBlock* testblock,
! StgModel* finder )
! {
! // Ignore the model that's looking and things that are invisible to
! // lasers
!
! if( (testblock->mod != finder) &&
! (testblock->mod->LaserReturn() > 0 ) )
! return 0; // match!
!
! return 1; // no match
!
! //return( (mod != hitmod) && (hitmod->LaserReturn() > 0) );
}
***************
*** 189,197 ****
//printf( " [%d] %.2f\n", (int)t, samples[t].range );
! printf( " [%d] ", (int)t );
samples[t].range = Raytrace( bearing,
range_max,
! laser_raytrace_match,
&hitmod );
--- 196,205 ----
//printf( " [%d] %.2f\n", (int)t, samples[t].range );
! //printf( " [%d] ", (int)t );
samples[t].range = Raytrace( bearing,
range_max,
!
(stg_block_match_func_t)laser_raytrace_match,
! (const void*)this,
&hitmod );
***************
*** 206,210 ****
}
! puts("");
// we may need to interpolate the samples we skipped
--- 214,218 ----
}
! //puts("");
// we may need to interpolate the samples we skipped
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model.cc,v
retrieving revision 1.1.2.6
retrieving revision 1.1.2.7
diff -C2 -d -r1.1.2.6 -r1.1.2.7
*** model.cc 13 Oct 2007 07:42:55 -0000 1.1.2.6
--- model.cc 22 Oct 2007 09:06:27 -0000 1.1.2.7
***************
*** 299,303 ****
stg_meters_t StgModel::Raytrace( stg_radians_t angle,
stg_meters_t range,
! stg_itl_test_func_t func,
StgModel** hitmod )
--- 299,304 ----
stg_meters_t StgModel::Raytrace( stg_radians_t angle,
stg_meters_t range,
! stg_block_match_func_t func,
! const void* arg,
StgModel** hitmod )
***************
*** 311,314 ****
--- 312,316 ----
range,
func,
+ arg,
hitmod );
}
***************
*** 316,320 ****
stg_meters_t StgModel::Raytrace( stg_pose_t* pz,
stg_meters_t range,
! stg_itl_test_func_t func,
StgModel** hitmod )
--- 318,323 ----
stg_meters_t StgModel::Raytrace( stg_pose_t* pz,
stg_meters_t range,
! stg_block_match_func_t func,
! const void* arg,
StgModel** hitmod )
***************
*** 328,331 ****
--- 331,335 ----
range,
func,
+ arg,
hitmod );
}
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/world.cc,v
retrieving revision 1.1.2.6
retrieving revision 1.1.2.7
diff -C2 -d -r1.1.2.6 -r1.1.2.7
*** world.cc 22 Oct 2007 02:36:33 -0000 1.1.2.6
--- world.cc 22 Oct 2007 09:06:28 -0000 1.1.2.7
***************
*** 158,163 ****
this->ppm = ppm; // this is the finest resolution of the matrix
! int32_t dx = width/2.0 * ppm;
! int32_t dy = height/2.0 * ppm;
this->root = new StgCell( NULL, -dx, +dx, -dy, +dy );
--- 158,163 ----
this->ppm = ppm; // this is the finest resolution of the matrix
! int32_t dx = (int32_t)(width/2.0 * ppm);
! int32_t dy = (int32_t)(height/2.0 * ppm);
this->root = new StgCell( NULL, -dx, +dx, -dy, +dy );
***************
*** 251,256 ****
delete root;
! int32_t dx = width/2.0 * ppm;
! int32_t dy = height/2.0 * ppm;
this->root = new StgCell( NULL, -dx, +dx, -dy, +dy );
--- 251,256 ----
delete root;
! int32_t dx = (int32_t)(width/2.0 * ppm);
! int32_t dy = (int32_t)(height/2.0 * ppm);
this->root = new StgCell( NULL, -dx, +dx, -dy, +dy );
***************
*** 441,484 ****
! StgModel* StgWorld::TestCandidateList( StgModel* finder,
! stg_itl_test_func_t func,
! stg_meters_t z,
! GSList* list )
! {
! assert(list);
! for( GSList* it = list; it; it=it->next )
! {
! StgBlock* block = (StgBlock*)it->data;
! StgModel* candidate = block->mod;
! assert( candidate );
! //printf( "block of %s\n", candidate->Token() );
! stg_pose_t gpose;
! candidate->GetGlobalPose( &gpose );
! // test to see if the block exists at height z
! double block_min = gpose.z + block->zmin;
! double block_max = gpose.z + block->zmax;
! //printf( "[%.2f %.2f %.2f] %s testing %s (laser return %d)\n",
! // x,y,z,
! // finder->Token(), candidate->Token(), candidate->LaserReturn() );
! if( LT(block_min,z) &&
! GT(block_max,z) &&
! (*func)( finder, candidate ) )
! return candidate;
! }
! return NULL;
! }
stg_meters_t StgWorld::Raytrace( StgModel* finder,
stg_pose_t* pose,
stg_meters_t max_range,
! stg_itl_test_func_t func,
StgModel** hit_model )
{
--- 441,485 ----
! // StgModel* StgWorld::TestCandidateList( StgModel* finder,
! // stg_itl_test_func_t func,
! // stg_meters_t z,
! // GSList* list )
! // {
! // assert(list);
! // for( GSList* it = list; it; it=it->next )
! // {
! // StgBlock* block = (StgBlock*)it->data;
! // StgModel* candidate = block->mod;
! // assert( candidate );
! // //printf( "block of %s\n", candidate->Token() );
! // stg_pose_t gpose;
! // candidate->GetGlobalPose( &gpose );
! // // test to see if the block exists at height z
! // double block_min = gpose.z + block->zmin;
! // double block_max = gpose.z + block->zmax;
! // //printf( "[%.2f %.2f %.2f] %s testing %s (laser return %d)\n",
! // // x,y,z,
! // // finder->Token(), candidate->Token(),
candidate->LaserReturn() );
! // if( LT(block_min,z) &&
! // GT(block_max,z) &&
! // (*func)( finder, candidate ) )
! // return candidate;
! // }
! // return NULL;
! // }
stg_meters_t StgWorld::Raytrace( StgModel* finder,
stg_pose_t* pose,
stg_meters_t max_range,
! stg_block_match_func_t func,
! const void* arg,
StgModel** hit_model )
{
***************
*** 488,492 ****
double y = pose->y;
double z = pose->z;
! double a = pose->a;
double tana = tan( a );
--- 489,493 ----
double y = pose->y;
double z = pose->z;
! double a = NORMALIZE(pose->a);
double tana = tan( a );
***************
*** 497,532 ****
StgModel* hit = NULL;
while( LT(range,max_range) )
{
- printf( "locating cell at (%.2f %.2f)\n", x, y );
// locate the leaf cell at X,Y
! //cell = StgCell::Locate( cell, x, y );
! cell = cell->Locate( x*ppm, y*ppm );
// the cell is null iff the point was outside the root
if( cell == NULL )
{
! printf( "ray at angle %.2f out of bounds at [%d, %d]",
! a, x, y );
break;
}
!
if( finder->debug )
{
! PushColor( 1,0,0, 0.3 );
glPolygonMode( GL_FRONT, GL_LINE );
cell->Draw();
PopColor();
}
! if( cell->list )
! {
! hit = TestCandidateList( finder, func, z, cell->list );
! if( hit )
! break; // we're done looking
! }
double c = y - tana * x; // line offset
--- 498,550 ----
StgModel* hit = NULL;
+ double p2m = 1.0/ppm;
+
while( LT(range,max_range) )
{
+ int xpix = floor(x*ppm);
+ int ypix = floor(y*ppm);
+
+ //printf( "locating cell at (%.2f %.2f) [%d,%d]\n", x, y, xpix, ypix );
+
// locate the leaf cell at X,Y
! cell = cell->Locate( xpix, ypix );
// the cell is null iff the point was outside the root
if( cell == NULL )
{
! //printf( "ray at angle %.2f out of bounds at [%.2f, %.2f]",
! // a, x, y );
break;
}
!
! // printf( "found cell (%.2f,%.2f) (%.2f,%.2f)\n",
! // cell->xmin * p2m,
! // cell->xmax * p2m,
! // cell->ymin * p2m,
! // cell->ymax * p2m );
!
!
if( finder->debug )
{
! glPushMatrix();
! glTranslatef( 0,0,1.2 );
! glScalef( 1.0/ppm, 1.0/ppm, 0 );
! PushColor( 1,0,1, 1 );
glPolygonMode( GL_FRONT, GL_LINE );
cell->Draw();
PopColor();
+ glPopMatrix();
}
! StgBlock* hitblock = cell->FindBlock( func, arg );
+ if( hitblock )
+ {
+ hit = hitblock->mod;
+ break;
+ }
+
double c = y - tana * x; // line offset
***************
*** 536,546 ****
if( GT(a,0) ) // up
{
// ray could leave through the top edge
// solve x for known y
! yleave = cell->ymax; // top edge
xleave = (yleave - c) / tana;
!
// if the edge crossing was not in cell bounds
! if( !((xleave >= cell->xmin) && (xleave < cell->xmax)) )
{
// it must have left the cell on the left or right instead
--- 554,572 ----
if( GT(a,0) ) // up
{
+ //puts( "up" );
+
// ray could leave through the top edge
// solve x for known y
! yleave = cell->ymax * p2m; // top edge
xleave = (yleave - c) / tana;
!
! int32_t xleave_pixel = floor(xleave*ppm);
!
// if the edge crossing was not in cell bounds
! //if( !( GTE(xleave,cell->xmin*p2m) && LT(xleave,cell->xmax*p2m)) )
! //if( ! cell->Contains( xleave*ppm, yleave*ppm )
!
! if( xleave_pixel < cell->xmin ||
! xleave_pixel >= cell->xmax )
{
// it must have left the cell on the left or right instead
***************
*** 549,557 ****
if( GT(a,M_PI/2.0) ) // left side
{
! xleave = cell->xmin-epsilon;
}
else // right side
{
! xleave = cell->xmax;
}
--- 575,583 ----
if( GT(a,M_PI/2.0) ) // left side
{
! xleave = (cell->xmin*p2m)-epsilon;
}
else // right side
{
! xleave = cell->xmax*p2m +epsilon;
}
***************
*** 561,581 ****
else
{
// ray could leave through the bottom edge
// solve x for known y
! yleave = cell->ymin; // bottom edge
xleave = (yleave - c) / tana;
// if the edge crossing was not in cell bounds
! if( !((xleave >= cell->xmin) && (xleave < cell->xmax)) )
{
// it must have left the cell on the left or right instead
// solve y for known x
if( LT(a,-M_PI/2.0) ) // left side
{
! xleave = cell->xmin-epsilon;
}
else
{
! xleave = cell->xmax;
}
--- 587,629 ----
else
{
+ //puts( "down" );
+
// ray could leave through the bottom edge
// solve x for known y
! yleave = cell->ymin*p2m; // bottom edge
xleave = (yleave - c) / tana;
+ int32_t xleave_pixel = floor(xleave*ppm);
+
+ // printf( "test leave (%.2f %.2f) %d [%d %d] %d %d %d\n",
+ // xleave,
+ // yleave,
+ // xleave_pixel,
+ // cell->xmin,
+ // cell->xmax,
+ // xleave_pixel < cell->xmin,
+ // xleave_pixel >= cell->xmax,
+ // xleave_pixel < cell->xmin ||
+ // xleave_pixel >= cell->xmax
+ // );
+
// if the edge crossing was not in cell bounds
! //if( !( GTE(xleave,cell->xmin*p2m) && LT(xleave,cell->xmax*p2m)))
! if( xleave_pixel < cell->xmin ||
! xleave_pixel >= cell->xmax )
{
+ // puts( "L or R" );
+
// it must have left the cell on the left or right instead
// solve y for known x
if( LT(a,-M_PI/2.0) ) // left side
{
! //puts( "L" );
! xleave = (cell->xmin*p2m)-epsilon;
}
else
{
! //puts( "R" );
! xleave = cell->xmax*p2m+epsilon;
}
***************
*** 583,591 ****
}
else
! yleave-=epsilon;
}
! cell->Print( NULL );
! printf( "(%.2f %.2f)\n", hypot( yleave - y, xleave - x ), range );
// jump to the leave point
--- 631,643 ----
}
else
! {
! yleave-=epsilon;
! //printf( "left through bottom edge\n" );
! }
}
! //cell->Print( NULL );
! //printf( "leave at (%.2f %.2f)\n", hypot( yleave - y, xleave - x ),
range );
! //printf( "leave at (%.2f %.2f)\n", xleave, yleave );
// jump to the leave point
***************
*** 608,614 ****
glEnd();
! PushColor( 0,0,1, 1 );
glBegin( GL_POINTS );
! glVertex3f( xleave+0.01, yleave+0.01, z );
glEnd();
PopColor();
--- 660,666 ----
glEnd();
! PushColor( 0,1,0, 1 );
glBegin( GL_POINTS );
! glVertex3f( xleave, yleave, z );
glEnd();
PopColor();
***************
*** 621,630 ****
}
! if( hit )
! printf( "HIT %s at [%d %d %.2f] range %.2f\n",
! hit->Token(),
! x,y,z, range );
! else
! printf( "no hit at range %.2f\n", range );
// if the caller supplied a place to store the hit model pointer,
--- 673,682 ----
}
! // if( hit )
! // printf( "HIT %s at [%.2f %.2f %.2f] range %.2f\n",
! // hit->Token(),
! // x,y,z, range );
! // else
! // printf( "no hit at range %.2f\n", range );
// if the caller supplied a place to store the hit model pointer,
***************
*** 633,636 ****
--- 685,689 ----
*hit_model = hit;
+
// return the range
return MIN( range, max_range );
***************
*** 716,726 ****
double mx2, double my2 )
{
! int32_t x1 = mx1 * ppm - 0.5;
! int32_t x2 = mx2 * ppm - 0.5;
! int32_t y1 = my1 * ppm - 0.5;
! int32_t y2 = my2 * ppm - 0.5;
StgCell* cell = root;
!
// Extremely Fast Line Algorithm Var A (Division)
// Copyright 2001-2, By Po-Han Lin
--- 769,786 ----
double mx2, double my2 )
{
! //int32_t x1 = (int32_t)(mx1 * ppm - 0.5);
! //int32_t x2 = (int32_t)(mx2 * ppm - 0.5);
! //int32_t y1 = (int32_t)(my1 * ppm - 0.5);
! //int32_t y2 = (int32_t)(my2 * ppm - 0.5);
!
! int32_t x1 = floor(mx1 * ppm);
! int32_t x2 = floor(mx2 * ppm);
! int32_t y1 = floor(my1 * ppm);
! int32_t y2 = floor(my2 * ppm);
StgCell* cell = root;
!
! //cell = myPixel( cell, block, x1, y1 );
!
// Extremely Fast Line Algorithm Var A (Division)
// Copyright 2001-2, By Po-Han Lin
***************
*** 737,741 ****
"Contains an implementation of the Extremely Fast Line Algorithm (EFLA)"
"by Po-Han Lin (http://www.edepot.com/phl.html)";
!
bool yLonger=false;
int incrementVal;
--- 797,803 ----
"Contains an implementation of the Extremely Fast Line Algorithm (EFLA)"
"by Po-Han Lin (http://www.edepot.com/phl.html)";
! char* dummy = (char*)EFLA_CREDIT; // prevents compiler warning about unused
var
! dummy++; // ditto
!
bool yLonger=false;
int incrementVal;
Index: Makefile.manual
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/Makefile.manual,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** Makefile.manual 4 Oct 2007 07:43:21 -0000 1.1.2.2
--- Makefile.manual 22 Oct 2007 09:06:27 -0000 1.1.2.3
***************
*** 32,39 ****
LIBS= `pkg-config --libs gtkglext-1.0`
foo : $(OBS) $(HEADERS)
g++ -o foo $(CPPFLAGS) $(OBS) $(LIBS)
clean :
! rm *.o *.lo
--- 32,42 ----
LIBS= `pkg-config --libs gtkglext-1.0`
+
+ all: foo
+
foo : $(OBS) $(HEADERS)
g++ -o foo $(CPPFLAGS) $(OBS) $(LIBS)
clean :
! rm -f *.o *.lo
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stage.hh,v
retrieving revision 1.1.2.7
retrieving revision 1.1.2.8
diff -C2 -d -r1.1.2.7 -r1.1.2.8
*** stage.hh 13 Oct 2007 07:42:55 -0000 1.1.2.7
--- stage.hh 22 Oct 2007 09:06:28 -0000 1.1.2.8
***************
*** 769,799 ****
} stg_split_t;
- typedef enum {
- STG_EXPAND_LEFT=0,
- STG_EXPAND_RIGHT,
- STG_EXPAND_UP,
- STG_EXPAND_DOWN
- } stg_expand_t;
-
-
class StgBlock;
/** A node in the occupancy quadtree */
class StgCell
{
private:
! public:
GSList* list;
int32_t width, height;
! // bounding box
int32_t xmin,ymin,xmax,ymax;
stg_split_t split;
- //stg_expand_t expand;
StgCell *left, *right;
! StgCell* parent;
!
StgCell( StgCell* parent,
int32_t xmin, int32_t xmax,
--- 769,806 ----
} stg_split_t;
class StgBlock;
+ /** matching function should return 0 iff the candidate block is
+ acceptable */
+ typedef int(*stg_block_match_func_t)(StgBlock* candidate, const void* arg );
+
/** A node in the occupancy quadtree */
class StgCell
{
+ friend class StgWorld;
+
private:
! void Split(); ///< split the cell into children
!
! /** list of models that have been AddBlock()ed into this
! cell */
GSList* list;
+
+ /** extent of the cell */
int32_t width, height;
! /** bounding box */
int32_t xmin,ymin,xmax,ymax;
+ /** direction of split for this cell */
stg_split_t split;
+ /** links for BSP tree */
StgCell *left, *right;
!
! /** links for BSP tree */
! StgCell* parent;
!
! public:
StgCell( StgCell* parent,
int32_t xmin, int32_t xmax,
***************
*** 802,827 ****
~StgCell();
static void RemoveBlock( StgCell* cell, StgBlock* block );
void AddBlock( StgBlock* block );
void Draw();
void DrawTree( bool leaf_only );
- void Print( char* prefix );
! void Split(); ///< split the cell into children
! StgCell* ExpandLeft(); ///< add a new parent to this cell, twice the size
! StgCell* ExpandRight(); ///< add a new parent to this cell, twice the size
! StgCell* ExpandUp(); ///< add a new parent to this cell, twice the size
! StgCell* ExpandDown(); ///< add a new parent to this cell, twice the size
! bool Atomic();
! bool Contains( int32_t x, int32_t y );
! StgCell* Locate( int32_t x, int32_t y );
! StgCell* LocateAtom( int32_t x, int32_t y );
! };
! typedef int(*stg_itl_test_func_t)(StgModel* finder, StgModel* found );
--- 809,854 ----
~StgCell();
+ /** Return the root of the tree that contains this cell */
+ StgCell* Root();
+
+ /** Remove block from the cell. This method is static as it may
+ destroy the cell. */
static void RemoveBlock( StgCell* cell, StgBlock* block );
+
+ /** Add a pointer to block to the list of this cells contents */
void AddBlock( StgBlock* block );
+ /** Return the first block in the cell that matches the comparison
+ function */
+ StgBlock* FindBlock( stg_block_match_func_t, const void* arg );
+
+ /** Draw the cell into the current OpenGL context */
void Draw();
+
+ /** Draw the cell and all its descendents in the current OpenGL
+ context. If leaf_only is true, only occupied leaf nodes are
+ drawn */
void DrawTree( bool leaf_only );
! /** Print a human-readable description of the cell on stdout,
! prefixed by the string prefix. */
! void Print( char* prefix );
! /** returns true iff the cell is a unit square (ie. as small as it
! can be */
! bool Atomic();
! /** Returns true iff the cell contains the point <x,y> */
! bool Contains( int32_t x, int32_t y );
+ /** returns the smallest currently existing cell that contains point
+ <x,y>. Does not create new cells. */
+ StgCell* Locate( int32_t x, int32_t y );
! /** returns a unit cell that contains <x,y>, creating cells if
! necessary */
! StgCell* LocateAtom( int32_t x, int32_t y );
! };
!
***************
*** 1082,1085 ****
--- 1109,1114 ----
char* token;
+ bool debug;
+
public:
StgAncestor();
***************
*** 1120,1128 ****
static GHashTable* typetable;
- StgModel* TestCandidateList( StgModel* finder,
- stg_itl_test_func_t func,
- stg_meters_t z,
- GSList* list );
-
public:
--- 1149,1152 ----
***************
*** 1211,1219 ****
double x1, double y1,
double x2, double y2 );
!
stg_meters_t Raytrace( StgModel* finder,
stg_pose_t* pose,
stg_meters_t max_range,
! stg_itl_test_func_t func,
StgModel** hit_model );
--- 1235,1244 ----
double x1, double y1,
double x2, double y2 );
!
stg_meters_t Raytrace( StgModel* finder,
stg_pose_t* pose,
stg_meters_t max_range,
! stg_block_match_func_t func,
! const void* arg,
StgModel** hit_model );
***************
*** 1567,1571 ****
stg_meters_t Raytrace( stg_radians_t angle,
stg_meters_t range,
! stg_itl_test_func_t func,
StgModel** hitmod );
--- 1592,1597 ----
stg_meters_t Raytrace( stg_radians_t angle,
stg_meters_t range,
! stg_block_match_func_t func,
! const void* arg,
StgModel** hitmod );
***************
*** 1573,1577 ****
stg_meters_t Raytrace( stg_pose_t* pose,
stg_meters_t range,
! stg_itl_test_func_t func,
StgModel** hitmod );
--- 1599,1604 ----
stg_meters_t Raytrace( stg_pose_t* pose,
stg_meters_t range,
! stg_block_match_func_t func,
! const void* arg,
StgModel** hitmod );
Index: ancestor.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/ancestor.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** ancestor.cc 4 Oct 2007 07:43:21 -0000 1.1.2.2
--- ancestor.cc 22 Oct 2007 09:06:27 -0000 1.1.2.3
***************
*** 6,9 ****
--- 6,10 ----
children = NULL;
child_types = g_hash_table_new( g_str_hash, g_str_equal );
+ debug = false;
}
Index: cell.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/cell.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** cell.cc 13 Oct 2007 07:42:55 -0000 1.1.2.2
--- cell.cc 22 Oct 2007 09:06:27 -0000 1.1.2.3
***************
*** 46,49 ****
--- 46,59 ----
}
+ StgCell* StgCell::Root()
+ {
+ StgCell* cell = this;
+
+ while( parent )
+ cell = parent;
+
+ return cell;
+ }
+
bool StgCell::Atomic()
{
***************
*** 51,55 ****
// width, height, sz );
! return( (width < 2) && (height < 2));
}
--- 61,65 ----
// width, height, sz );
! return( (width == 1) && (height == 1));
}
***************
*** 59,64 ****
{
//this->Print( "Draw" );
! //printf( "left %.2f right %.2f bottom %.2f top %.2f\n",
! // left, right, bottom, top );
glRecti( xmin, ymin, xmax, ymax );
--- 69,74 ----
{
//this->Print( "Draw" );
! //printf( "left %d right %d bottom %d top %d\n",
! // xmin, xmax, ymin, ymax );
glRecti( xmin, ymin, xmax, ymax );
***************
*** 161,164 ****
--- 171,212 ----
}
+ StgBlock* StgCell::FindBlock( stg_block_match_func_t func,
+ const void* arg )
+ {
+ GSList* match =
+ g_slist_find_custom( this->list, arg, (GCompareFunc)func );
+
+ return match ? (StgBlock*)match->data : (StgBlock*)NULL;
+
+ //for( GSList* it = list; it; it=it->next )
+ //{
+ // StgBlock* block = (StgBlock*)it->data;
+ // StgModel* candidate = block->mod;
+ // assert( candidate );
+
+ //printf( "block of %s\n", candidate->Token() );
+
+ //stg_pose_t gpose;
+ //candidate->GetGlobalPose( &gpose );
+
+ // test to see if the block exists at height z
+ //double block_min = gpose.z + block->zmin;
+ //double block_max = gpose.z + block->zmax;
+
+ //printf( "[%.2f %.2f %.2f] %s testing %s (laser return %d)\n",
+ // x,y,z,
+ // finder->Token(), candidate->Token(), candidate->LaserReturn() );
+
+
+ //if( LT(block_min,z) &&
+ // GT(block_max,z) &&
+
+ // if( (*func)( arg, candidate ) )
+ //return block;
+ // }
+
+ //return NULL;
+ }
+
void StgCell::RemoveBlock( StgCell* cell, StgBlock* block )
{
Index: worldgtk.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/worldgtk.cc,v
retrieving revision 1.1.2.5
retrieving revision 1.1.2.6
diff -C2 -d -r1.1.2.5 -r1.1.2.6
*** worldgtk.cc 13 Oct 2007 07:42:55 -0000 1.1.2.5
--- worldgtk.cc 22 Oct 2007 09:06:28 -0000 1.1.2.6
***************
*** 1853,1859 ****
StgCell* cell = root;
! while( cell->parent )
! cell = cell->parent;
!
if( show_quadtree )
{
--- 1853,1857 ----
StgCell* cell = root;
!
if( show_quadtree )
{
-------------------------------------------------------------------------
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