Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv8050
Modified Files:
Makefile Makefile.manual block.cc canvas.cc stage.hh stest.cc
world.cc worldgui.cc
Log Message:
removed world size limitation
Index: worldgui.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/worldgui.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** worldgui.cc 19 Jan 2008 01:19:40 -0000 1.3
--- worldgui.cc 1 Feb 2008 03:11:02 -0000 1.4
***************
*** 354,356 ****
return updated;
}
-
--- 354,355 ----
Index: stest.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/stest.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** stest.cc 15 Jan 2008 01:16:49 -0000 1.2
--- stest.cc 1 Feb 2008 03:11:02 -0000 1.3
***************
*** 68,72 ****
robots[i].position->GetUnsubscribedModelOfType( "laser" );
assert(robots[i].laser);
! robots[i].laser->Subscribe();
// robots[i].fiducial = (StgModelFiducial*)
--- 68,72 ----
robots[i].position->GetUnsubscribedModelOfType( "laser" );
assert(robots[i].laser);
! robots[i].laser->Subscribe();
// robots[i].fiducial = (StgModelFiducial*)
***************
*** 78,82 ****
robots[i].position->GetUnsubscribedModelOfType( "ranger" );
assert(robots[i].ranger);
! robots[i].ranger->Subscribe();
// robots[i].blobfinder = (StgModelBlobfinder*)
--- 78,82 ----
robots[i].position->GetUnsubscribedModelOfType( "ranger" );
assert(robots[i].ranger);
! robots[i].ranger->Subscribe();
// robots[i].blobfinder = (StgModelBlobfinder*)
Index: canvas.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/canvas.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** canvas.cc 19 Jan 2008 01:19:40 -0000 1.3
--- canvas.cc 1 Feb 2008 03:11:01 -0000 1.4
***************
*** 347,351 ****
gl_font( FL_HELVETICA, 12 );
! double zclip = hypot(world->Width(), world->Height()) * scale;
double pixels_width = w();
double pixels_height = h();
--- 347,351 ----
gl_font( FL_HELVETICA, 12 );
! double zclip = 20 * scale; //hypot(world->Width(), world->Height()) *
scale;
double pixels_width = w();
double pixels_height = h();
***************
*** 397,401 ****
{
glLoadIdentity ();
! double zclip = hypot(world->Width(), world->Height()) * scale;
glTranslatef( 0,0,
-zclip / 2.0 );
--- 397,401 ----
{
glLoadIdentity ();
! double zclip = 20 * scale; //hypot(world->Width(), world->Height()) *
scale;
glTranslatef( 0,0,
-zclip / 2.0 );
***************
*** 418,423 ****
glPolygonOffset(1.0, 1.0);
glColor3f( 1,1,1 );
! glRectf( -world->Width()/2.0, -world->Height()/2.0,
! world->Width()/2.0, world->Height()/2.0 );
glDisable(GL_POLYGON_OFFSET_FILL);
--- 418,429 ----
glPolygonOffset(1.0, 1.0);
glColor3f( 1,1,1 );
!
! glPushMatrix();
! glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
! //g_hash_table_foreach( world->superregions, StgWorld::Floor_cb, NULL );
! ((StgWorldGui*)world)->DrawFloor();
!
! // glRectf( -world->Width()/2.0, -world->Height()/2.0,
! // world->Width()/2.0, world->Height()/2.0 );
glDisable(GL_POLYGON_OFFSET_FILL);
***************
*** 428,447 ****
glPushMatrix();
! glTranslatef( -world->Width()/2.0, -world->Height()/2.0, 1 );
! glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
glPolygonMode( GL_FRONT, GL_LINE );
colorstack.Push(1,0,0);
if( showflags & STG_SHOW_OCCUPANCY )
! ((StgWorldGui*)world)->GetBlockGrid()->Draw( false );
if( showflags & STG_SHOW_QUADTREE )
! ((StgWorldGui*)world)->GetBlockGrid()->Draw( true );
colorstack.Pop();
- glPopMatrix();
glEnable( GL_LINE_SMOOTH );
}
for( GList* it=selected_models; it; it=it->next )
--- 434,454 ----
glPushMatrix();
! //glTranslatef( -world->Width()/2.0, -world->Height()/2.0, 1 );
! //glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
glPolygonMode( GL_FRONT, GL_LINE );
colorstack.Push(1,0,0);
if( showflags & STG_SHOW_OCCUPANCY )
! ((StgWorldGui*)world)->DrawTree( false );
if( showflags & STG_SHOW_QUADTREE )
! ((StgWorldGui*)world)->DrawTree( true );
colorstack.Pop();
glEnable( GL_LINE_SMOOTH );
}
+
+ glPopMatrix();
for( GList* it=selected_models; it; it=it->next )
Index: Makefile
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Makefile,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile 19 Jan 2008 01:19:40 -0000 1.3
--- Makefile 1 Feb 2008 03:11:01 -0000 1.4
***************
*** 1,7 ****
! # Makefile.in generated by automake 1.9.6 from Makefile.am.
# libstage/Makefile. Generated from Makefile.in by configure.
# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002,
! # 2003, 2004, 2005 Free Software Foundation, Inc.
# This Makefile.in is free software; the Free Software Foundation
# gives unlimited permission to copy and/or distribute it,
--- 1,7 ----
! # Makefile.in generated by automake 1.10 from Makefile.am.
# libstage/Makefile. Generated from Makefile.in by configure.
# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002,
! # 2003, 2004, 2005, 2006 Free Software Foundation, Inc.
# This Makefile.in is free software; the Free Software Foundation
# gives unlimited permission to copy and/or distribute it,
***************
*** 23,35 ****
- srcdir = .
- top_srcdir = ..
pkgdatadir = $(datadir)/stage
pkglibdir = $(libdir)/stage
pkgincludedir = $(includedir)/stage
- top_builddir = ..
am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
- INSTALL = /usr/bin/install -c
install_sh_DATA = $(install_sh) -c -m 644
install_sh_PROGRAM = $(install_sh) -c
--- 23,31 ----
***************
*** 43,49 ****
PRE_UNINSTALL = :
POST_UNINSTALL = :
! build_triplet = i686-pc-linux-gnu
! host_triplet = i686-pc-linux-gnu
! target_triplet = i686-pc-linux-gnu
bin_PROGRAMS = stest$(EXEEXT)
subdir = libstage
--- 39,45 ----
PRE_UNINSTALL = :
POST_UNINSTALL = :
! build_triplet = i386-apple-darwin9.1.0
! host_triplet = i386-apple-darwin9.1.0
! target_triplet = i386-apple-darwin9.1.0
bin_PROGRAMS = stest$(EXEEXT)
subdir = libstage
***************
*** 75,101 ****
world.lo worldfile.lo worldgui.lo
libstage_la_OBJECTS = $(am_libstage_la_OBJECTS)
binPROGRAMS_INSTALL = $(INSTALL_PROGRAM)
PROGRAMS = $(bin_PROGRAMS)
am_stest_OBJECTS = stest.$(OBJEXT)
stest_OBJECTS = $(am_stest_OBJECTS)
! DEFAULT_INCLUDES = -I. -I$(srcdir) -I$(top_builddir)
depcomp = $(SHELL) $(top_srcdir)/depcomp
am__depfiles_maybe = depfiles
CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
$(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
! LTCXXCOMPILE = $(LIBTOOL) --tag=CXX --mode=compile $(CXX) $(DEFS) \
! $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
! $(AM_CXXFLAGS) $(CXXFLAGS)
CXXLD = $(CXX)
! CXXLINK = $(LIBTOOL) --tag=CXX --mode=link $(CXXLD) $(AM_CXXFLAGS) \
! $(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@
COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
$(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
! LTCOMPILE = $(LIBTOOL) --tag=CC --mode=compile $(CC) $(DEFS) \
! $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
! $(AM_CFLAGS) $(CFLAGS)
CCLD = $(CC)
! LINK = $(LIBTOOL) --tag=CC --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
! $(AM_LDFLAGS) $(LDFLAGS) -o $@
SOURCES = $(libstage_la_SOURCES) $(stest_SOURCES)
DIST_SOURCES = $(libstage_la_SOURCES) $(stest_SOURCES)
--- 71,102 ----
world.lo worldfile.lo worldgui.lo
libstage_la_OBJECTS = $(am_libstage_la_OBJECTS)
+ libstage_la_LINK = $(LIBTOOL) --tag=CXX $(AM_LIBTOOLFLAGS) \
+ $(LIBTOOLFLAGS) --mode=link $(CXXLD) $(AM_CXXFLAGS) \
+ $(CXXFLAGS) $(libstage_la_LDFLAGS) $(LDFLAGS) -o $@
binPROGRAMS_INSTALL = $(INSTALL_PROGRAM)
PROGRAMS = $(bin_PROGRAMS)
am_stest_OBJECTS = stest.$(OBJEXT)
stest_OBJECTS = $(am_stest_OBJECTS)
! DEFAULT_INCLUDES = -I. -I$(top_builddir)
depcomp = $(SHELL) $(top_srcdir)/depcomp
am__depfiles_maybe = depfiles
CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
$(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
! LTCXXCOMPILE = $(LIBTOOL) --tag=CXX $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) \
! --mode=compile $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
! $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
CXXLD = $(CXX)
! CXXLINK = $(LIBTOOL) --tag=CXX $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) \
! --mode=link $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) $(AM_LDFLAGS) \
! $(LDFLAGS) -o $@
COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
$(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
! LTCOMPILE = $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) \
! --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
! $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
CCLD = $(CC)
! LINK = $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) \
! --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) $(AM_LDFLAGS) \
! $(LDFLAGS) -o $@
SOURCES = $(libstage_la_SOURCES) $(stest_SOURCES)
DIST_SOURCES = $(libstage_la_SOURCES) $(stest_SOURCES)
***************
*** 107,118 ****
CTAGS = ctags
DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
! ACLOCAL = ${SHELL} /home/vaughan/PS/HEAD/stage/missing --run aclocal-1.9
! AMDEP_FALSE = #
! AMDEP_TRUE =
! AMTAR = ${SHELL} /home/vaughan/PS/HEAD/stage/missing --run tar
AR = ar
! AUTOCONF = ${SHELL} /home/vaughan/PS/HEAD/stage/missing --run autoconf
! AUTOHEADER = ${SHELL} /home/vaughan/PS/HEAD/stage/missing --run autoheader
! AUTOMAKE = ${SHELL} /home/vaughan/PS/HEAD/stage/missing --run automake-1.9
AWK = gawk
CC = gcc
--- 108,117 ----
CTAGS = ctags
DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
! ACLOCAL = ${SHELL} /Users/vaughan/PS/HEAD/stage/missing --run aclocal-1.10
! AMTAR = ${SHELL} /Users/vaughan/PS/HEAD/stage/missing --run tar
AR = ar
! AUTOCONF = ${SHELL} /Users/vaughan/PS/HEAD/stage/missing --run autoconf
! AUTOHEADER = ${SHELL} /Users/vaughan/PS/HEAD/stage/missing --run autoheader
! AUTOMAKE = ${SHELL} /Users/vaughan/PS/HEAD/stage/missing --run automake-1.10
AWK = gawk
CC = gcc
***************
*** 128,151 ****
DEFS = -DHAVE_CONFIG_H
DEPDIR = .deps
! ECHO = echo
! ECHO_C =
! ECHO_N = -n
ECHO_T =
! EGREP = /bin/grep -E
EXEEXT =
! F77 = gfortran
! FFLAGS = -g -O2
! FLTK_CFLAGS = -I/usr/local/include
! FLTK_LIBS = -L/usr/local/lib -lfltk_images -lpng -lz -ljpeg -lfltk_gl -lGLU
-lGL -lfltk -lm -lXext -lX11
! GREP = /bin/grep
HAVE_FLTK_CONFIG = fltk-config
! HAVE_PLAYERC_FALSE = #
! HAVE_PLAYERC_TRUE =
! HAVE_PLAYER_FALSE = #
! HAVE_PLAYER_TRUE =
INSTALL_DATA = ${INSTALL} -m 644
INSTALL_PROGRAM = ${INSTALL}
INSTALL_SCRIPT = ${INSTALL}
! INSTALL_STRIP_PROGRAM = ${SHELL} $(install_sh) -c -s
LDFLAGS =
LIBOBJS =
--- 127,147 ----
DEFS = -DHAVE_CONFIG_H
DEPDIR = .deps
! ECHO = /bin/echo
! ECHO_C = \c
! ECHO_N =
ECHO_T =
! EGREP = /usr/bin/grep -E
EXEEXT =
! F77 =
! FFLAGS =
! FLTK_CFLAGS = -I/opt/local/include -I/opt/local/include/FL/images
! FLTK_LIBS = -L/opt/local/lib -lfltk_images -lfltk_png -lz -lfltk_jpeg
-lfltk_gl -framework AGL -framework OpenGL -lfltk -framework Carbon -framework
ApplicationServices
! GREP = /usr/bin/grep
HAVE_FLTK_CONFIG = fltk-config
! INSTALL = /opt/local/bin/ginstall -c
INSTALL_DATA = ${INSTALL} -m 644
INSTALL_PROGRAM = ${INSTALL}
INSTALL_SCRIPT = ${INSTALL}
! INSTALL_STRIP_PROGRAM = $(install_sh) -c -s
LDFLAGS =
LIBOBJS =
***************
*** 155,159 ****
LN_S = ln -s
LTLIBOBJS =
! MAKEINFO = ${SHELL} /home/vaughan/PS/HEAD/stage/missing --run makeinfo
OBJEXT = o
PACKAGE = stage
--- 151,156 ----
LN_S = ln -s
LTLIBOBJS =
! MAKEINFO = ${SHELL} /Users/vaughan/PS/HEAD/stage/missing --run makeinfo
! MKDIR_P = /opt/local/bin/gmkdir -p
OBJEXT = o
PACKAGE = stage
***************
*** 164,187 ****
PACKAGE_VERSION = 3.0.0
PATH_SEPARATOR = :
! PIXBUF_CFLAGS = -I/usr/include/gtk-2.0 -I/usr/include/glib-2.0
-I/usr/lib/glib-2.0/include
! PIXBUF_LIBS = -lgdk_pixbuf-2.0 -lgobject-2.0 -lgmodule-2.0 -ldl -lglib-2.0
! PKG_CONFIG = /usr/bin/pkg-config
! PLAYERC_CFLAGS = -I/home/vaughan/PS-2.0/include/player-2.1
! PLAYERC_LIBS = -L/home/vaughan/PS-2.0/lib -lplayerc -lm -lplayerxdr
-lplayererror
! PLAYER_CFLAGS = -I/home/vaughan/PS-2.0/include/player-2.1
! PLAYER_LIBS = -L/home/vaughan/PS-2.0/lib -lplayercore -lltdl -lpthread
-lplayererror
RANLIB = ranlib
- SED = /usr/bin/sed
SET_MAKE =
SHELL = /bin/sh
STRIP = strip
VERSION = 3.0.0
ac_ct_CC = gcc
ac_ct_CXX = g++
! ac_ct_F77 = gfortran
! am__fastdepCC_FALSE = #
! am__fastdepCC_TRUE =
! am__fastdepCXX_FALSE = #
! am__fastdepCXX_TRUE =
am__include = include
am__leading_dot = .
--- 161,183 ----
PACKAGE_VERSION = 3.0.0
PATH_SEPARATOR = :
! PIXBUF_CFLAGS = -I/opt/local/include/gtk-2.0 -I/opt/local/include/glib-2.0
-I/opt/local/lib/glib-2.0/include -I/opt/local/include
! PIXBUF_LIBS = -L/opt/local/lib -lgdk_pixbuf-2.0 -lgobject-2.0 -lgmodule-2.0
-lglib-2.0 -lintl -liconv
! PKG_CONFIG = /opt/local/bin/pkg-config
! PLAYERC_CFLAGS = -I/Users/vaughan/PS-2.0/include/player-2.1
! PLAYERC_LIBS = -L/Users/vaughan/PS-2.0/lib -lplayerc -lm -lplayerxdr
-lplayererror
! PLAYER_CFLAGS = -I/Users/vaughan/PS-2.0/include/player-2.1
! PLAYER_LIBS = -L/Users/vaughan/PS-2.0/lib -lplayercore -lltdl -lpthread
-lplayererror
RANLIB = ranlib
SET_MAKE =
SHELL = /bin/sh
STRIP = strip
VERSION = 3.0.0
+ abs_builddir = /Users/vaughan/PS/HEAD/stage/libstage
+ abs_srcdir = /Users/vaughan/PS/HEAD/stage/libstage
+ abs_top_builddir = /Users/vaughan/PS/HEAD/stage
+ abs_top_srcdir = /Users/vaughan/PS/HEAD/stage
ac_ct_CC = gcc
ac_ct_CXX = g++
! ac_ct_F77 =
am__include = include
am__leading_dot = .
***************
*** 190,198 ****
am__untar = tar -xf -
bindir = ${exec_prefix}/bin
! build = i686-pc-linux-gnu
build_alias =
! build_cpu = i686
! build_os = linux-gnu
! build_vendor = pc
datadir = ${datarootdir}
datarootdir = ${prefix}/share
--- 186,195 ----
am__untar = tar -xf -
bindir = ${exec_prefix}/bin
! build = i386-apple-darwin9.1.0
build_alias =
! build_cpu = i386
! build_os = darwin9.1.0
! build_vendor = apple
! builddir = .
datadir = ${datarootdir}
datarootdir = ${prefix}/share
***************
*** 201,213 ****
exec_prefix = ${prefix}
have_pkg_config = yes
! host = i686-pc-linux-gnu
host_alias =
! host_cpu = i686
! host_os = linux-gnu
! host_vendor = pc
htmldir = ${docdir}
includedir = ${prefix}/include
infodir = ${datarootdir}/info
! install_sh = /home/vaughan/PS/HEAD/stage/install-sh
libdir = ${exec_prefix}/lib
libexecdir = ${exec_prefix}/libexec
--- 198,210 ----
exec_prefix = ${prefix}
have_pkg_config = yes
! host = i386-apple-darwin9.1.0
host_alias =
! host_cpu = i386
! host_os = darwin9.1.0
! host_vendor = apple
htmldir = ${docdir}
includedir = ${prefix}/include
infodir = ${datarootdir}/info
! install_sh = $(SHELL) /Users/vaughan/PS/HEAD/stage/install-sh
libdir = ${exec_prefix}/lib
libexecdir = ${exec_prefix}/libexec
***************
*** 215,232 ****
localstatedir = ${prefix}/var
mandir = ${datarootdir}/man
! mkdir_p = mkdir -p --
oldincludedir = /usr/include
pdfdir = ${docdir}
! prefix = /home/vaughan/PS-2.0
program_transform_name = s,x,x,
psdir = ${docdir}
sbindir = ${exec_prefix}/sbin
sharedstatedir = ${prefix}/com
sysconfdir = ${prefix}/etc
! target = i686-pc-linux-gnu
target_alias =
! target_cpu = i686
! target_os = linux-gnu
! target_vendor = pc
# install the header file for the Stage library
--- 212,232 ----
localstatedir = ${prefix}/var
mandir = ${datarootdir}/man
! mkdir_p = /opt/local/bin/gmkdir -p
oldincludedir = /usr/include
pdfdir = ${docdir}
! prefix = /Users/vaughan/PS-2.0
program_transform_name = s,x,x,
psdir = ${docdir}
sbindir = ${exec_prefix}/sbin
sharedstatedir = ${prefix}/com
+ srcdir = .
sysconfdir = ${prefix}/etc
! target = i386-apple-darwin9.1.0
target_alias =
! target_cpu = i386
! target_os = darwin9.1.0
! target_vendor = apple
! top_builddir = ..
! top_srcdir = ..
# install the header file for the Stage library
***************
*** 238,242 ****
# system-wide compile flags - target-specific flags are added to each target
below
! AM_CPPFLAGS = -Wall -I. -I$(top_srcdir)/replace -I/usr/include/gtk-2.0
-I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include -I/usr/local/include
-DRGBFILE=\"$(RGB)\"
# build the stage library
--- 238,242 ----
# system-wide compile flags - target-specific flags are added to each target
below
! AM_CPPFLAGS = -Wall -I. -I$(top_srcdir)/replace -I/opt/local/include/gtk-2.0
-I/opt/local/include/glib-2.0 -I/opt/local/lib/glib-2.0/include
-I/opt/local/include -I/opt/local/include -I/opt/local/include/FL/images
-DRGBFILE=\"$(RGB)\"
# build the stage library
***************
*** 273,277 ****
#logo.cc
libstage_la_LDFLAGS = -version-info 3:1:0 -rpath $(libdir)
! libstage_la_LIBADD = -lgdk_pixbuf-2.0 -lgobject-2.0 -lgmodule-2.0 -ldl
-lglib-2.0 -L/usr/local/lib -lfltk_images -lpng -lz -ljpeg -lfltk_gl -lGLU
-lGL -lfltk -lm -lXext -lX11
stest_DEPENDENCIES = libstage.la
stest_SOURCES = stest.cc
--- 273,277 ----
#logo.cc
libstage_la_LDFLAGS = -version-info 3:1:0 -rpath $(libdir)
! libstage_la_LIBADD = -L/opt/local/lib -lgdk_pixbuf-2.0 -lgobject-2.0
-lgmodule-2.0 -lglib-2.0 -lintl -liconv -L/opt/local/lib -lfltk_images
-lfltk_png -lz -lfltk_jpeg -lfltk_gl -framework AGL -framework OpenGL -lfltk
-framework Carbon -framework ApplicationServices
stest_DEPENDENCIES = libstage.la
stest_SOURCES = stest.cc
***************
*** 312,316 ****
install-libLTLIBRARIES: $(lib_LTLIBRARIES)
@$(NORMAL_INSTALL)
! test -z "$(libdir)" || $(mkdir_p) "$(DESTDIR)$(libdir)"
@list='$(lib_LTLIBRARIES)'; for p in $$list; do \
if test -f $$p; then \
--- 312,316 ----
install-libLTLIBRARIES: $(lib_LTLIBRARIES)
@$(NORMAL_INSTALL)
! test -z "$(libdir)" || $(MKDIR_P) "$(DESTDIR)$(libdir)"
@list='$(lib_LTLIBRARIES)'; for p in $$list; do \
if test -f $$p; then \
***************
*** 323,327 ****
uninstall-libLTLIBRARIES:
@$(NORMAL_UNINSTALL)
! @set -x; list='$(lib_LTLIBRARIES)'; for p in $$list; do \
p=$(am__strip_dir) \
echo " $(LIBTOOL) --mode=uninstall rm -f '$(DESTDIR)$(libdir)/$$p'"; \
--- 323,327 ----
uninstall-libLTLIBRARIES:
@$(NORMAL_UNINSTALL)
! @list='$(lib_LTLIBRARIES)'; for p in $$list; do \
p=$(am__strip_dir) \
echo " $(LIBTOOL) --mode=uninstall rm -f '$(DESTDIR)$(libdir)/$$p'"; \
***************
*** 338,345 ****
done
libstage.la: $(libstage_la_OBJECTS) $(libstage_la_DEPENDENCIES)
! $(CXXLINK) -rpath $(libdir) $(libstage_la_LDFLAGS)
$(libstage_la_OBJECTS) $(libstage_la_LIBADD) $(LIBS)
install-binPROGRAMS: $(bin_PROGRAMS)
@$(NORMAL_INSTALL)
! test -z "$(bindir)" || $(mkdir_p) "$(DESTDIR)$(bindir)"
@list='$(bin_PROGRAMS)'; for p in $$list; do \
p1=`echo $$p|sed 's/$(EXEEXT)$$//'`; \
--- 338,345 ----
done
libstage.la: $(libstage_la_OBJECTS) $(libstage_la_DEPENDENCIES)
! $(libstage_la_LINK) -rpath $(libdir) $(libstage_la_OBJECTS)
$(libstage_la_LIBADD) $(LIBS)
install-binPROGRAMS: $(bin_PROGRAMS)
@$(NORMAL_INSTALL)
! test -z "$(bindir)" || $(MKDIR_P) "$(DESTDIR)$(bindir)"
@list='$(bin_PROGRAMS)'; for p in $$list; do \
p1=`echo $$p|sed 's/$(EXEEXT)$$//'`; \
***************
*** 369,373 ****
stest$(EXEEXT): $(stest_OBJECTS) $(stest_DEPENDENCIES)
@rm -f stest$(EXEEXT)
! $(CXXLINK) $(stest_LDFLAGS) $(stest_OBJECTS) $(stest_LDADD) $(LIBS)
mostlyclean-compile:
--- 369,373 ----
stest$(EXEEXT): $(stest_OBJECTS) $(stest_DEPENDENCIES)
@rm -f stest$(EXEEXT)
! $(CXXLINK) $(stest_OBJECTS) $(stest_LDADD) $(LIBS)
mostlyclean-compile:
***************
*** 399,404 ****
.cc.o:
! if $(CXXCOMPILE) -MT $@ -MD -MP -MF "$(DEPDIR)/$*.Tpo" -c -o $@ $<; \
! then mv -f "$(DEPDIR)/$*.Tpo" "$(DEPDIR)/$*.Po"; else rm -f
"$(DEPDIR)/$*.Tpo"; exit 1; fi
# source='$<' object='$@' libtool=no \
# DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) \
--- 399,404 ----
.cc.o:
! $(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
! mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
# source='$<' object='$@' libtool=no \
# DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) \
***************
*** 406,411 ****
.cc.obj:
! if $(CXXCOMPILE) -MT $@ -MD -MP -MF "$(DEPDIR)/$*.Tpo" -c -o $@
`$(CYGPATH_W) '$<'`; \
! then mv -f "$(DEPDIR)/$*.Tpo" "$(DEPDIR)/$*.Po"; else rm -f
"$(DEPDIR)/$*.Tpo"; exit 1; fi
# source='$<' object='$@' libtool=no \
# DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) \
--- 406,411 ----
.cc.obj:
! $(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@
`$(CYGPATH_W) '$<'`
! mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
# source='$<' object='$@' libtool=no \
# DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) \
***************
*** 413,418 ****
.cc.lo:
! if $(LTCXXCOMPILE) -MT $@ -MD -MP -MF "$(DEPDIR)/$*.Tpo" -c -o $@ $<; \
! then mv -f "$(DEPDIR)/$*.Tpo" "$(DEPDIR)/$*.Plo"; else rm -f
"$(DEPDIR)/$*.Tpo"; exit 1; fi
# source='$<' object='$@' libtool=yes \
# DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) \
--- 413,418 ----
.cc.lo:
! $(LTCXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
! mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Plo
# source='$<' object='$@' libtool=yes \
# DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) \
***************
*** 424,434 ****
clean-libtool:
-rm -rf .libs _libs
-
- distclean-libtool:
- -rm -f libtool
- uninstall-info-am:
install-pkgdataDATA: $(pkgdata_DATA)
@$(NORMAL_INSTALL)
! test -z "$(pkgdatadir)" || $(mkdir_p) "$(DESTDIR)$(pkgdatadir)"
@list='$(pkgdata_DATA)'; for p in $$list; do \
if test -f "$$p"; then d=; else d="$(srcdir)/"; fi; \
--- 424,430 ----
clean-libtool:
-rm -rf .libs _libs
install-pkgdataDATA: $(pkgdata_DATA)
@$(NORMAL_INSTALL)
! test -z "$(pkgdatadir)" || $(MKDIR_P) "$(DESTDIR)$(pkgdatadir)"
@list='$(pkgdata_DATA)'; for p in $$list; do \
if test -f "$$p"; then d=; else d="$(srcdir)/"; fi; \
***************
*** 447,451 ****
install-includeHEADERS: $(include_HEADERS)
@$(NORMAL_INSTALL)
! test -z "$(includedir)" || $(mkdir_p) "$(DESTDIR)$(includedir)"
@list='$(include_HEADERS)'; for p in $$list; do \
if test -f "$$p"; then d=; else d="$(srcdir)/"; fi; \
--- 443,447 ----
install-includeHEADERS: $(include_HEADERS)
@$(NORMAL_INSTALL)
! test -z "$(includedir)" || $(MKDIR_P) "$(DESTDIR)$(includedir)"
@list='$(include_HEADERS)'; for p in $$list; do \
if test -f "$$p"; then d=; else d="$(srcdir)/"; fi; \
***************
*** 512,531 ****
distdir: $(DISTFILES)
! @srcdirstrip=`echo "$(srcdir)" | sed 's|.|.|g'`; \
! topsrcdirstrip=`echo "$(top_srcdir)" | sed 's|.|.|g'`; \
! list='$(DISTFILES)'; for file in $$list; do \
! case $$file in \
! $(srcdir)/*) file=`echo "$$file" | sed "s|^$$srcdirstrip/||"`;; \
! $(top_srcdir)/*) file=`echo "$$file" | sed
"s|^$$topsrcdirstrip/|$(top_builddir)/|"`;; \
! esac; \
if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
- dir=`echo "$$file" | sed -e 's,/[^/]*$$,,'`; \
- if test "$$dir" != "$$file" && test "$$dir" != "."; then \
- dir="/$$dir"; \
- $(mkdir_p) "$(distdir)$$dir"; \
- else \
- dir=''; \
- fi; \
if test -d $$d/$$file; then \
if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
cp -pR $(srcdir)/$$file $(distdir)$$dir || exit 1; \
--- 508,526 ----
distdir: $(DISTFILES)
! @srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
! topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
! list='$(DISTFILES)'; \
! dist_files=`for file in $$list; do echo $$file; done | \
! sed -e "s|^$$srcdirstrip/||;t" \
! -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
! case $$dist_files in \
! */*) $(MKDIR_P) `echo "$$dist_files" | \
! sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
! sort -u` ;; \
! esac; \
! for file in $$dist_files; do \
if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
if test -d $$d/$$file; then \
+ dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
cp -pR $(srcdir)/$$file $(distdir)$$dir || exit 1; \
***************
*** 545,549 ****
installdirs:
for dir in "$(DESTDIR)$(libdir)" "$(DESTDIR)$(bindir)"
"$(DESTDIR)$(pkgdatadir)" "$(DESTDIR)$(includedir)"; do \
! test -z "$$dir" || $(mkdir_p) "$$dir"; \
done
install: install-am
--- 540,544 ----
installdirs:
for dir in "$(DESTDIR)$(libdir)" "$(DESTDIR)$(bindir)"
"$(DESTDIR)$(pkgdatadir)" "$(DESTDIR)$(includedir)"; do \
! test -z "$$dir" || $(MKDIR_P) "$$dir"; \
done
install: install-am
***************
*** 580,584 ****
-rm -f Makefile
distclean-am: clean-am distclean-compile distclean-generic \
! distclean-libtool distclean-tags
dvi: dvi-am
--- 575,579 ----
-rm -f Makefile
distclean-am: clean-am distclean-compile distclean-generic \
! distclean-tags
dvi: dvi-am
***************
*** 594,603 ****
--- 589,606 ----
install-data-am: install-includeHEADERS install-pkgdataDATA
+ install-dvi: install-dvi-am
+
install-exec-am: install-binPROGRAMS install-libLTLIBRARIES
+ install-html: install-html-am
+
install-info: install-info-am
install-man:
+ install-pdf: install-pdf-am
+
+ install-ps: install-ps-am
+
installcheck-am:
***************
*** 621,626 ****
uninstall-am: uninstall-binPROGRAMS uninstall-includeHEADERS \
! uninstall-info-am uninstall-libLTLIBRARIES \
! uninstall-pkgdataDATA
.PHONY: CTAGS GTAGS all all-am check check-am clean clean-binPROGRAMS \
--- 624,630 ----
uninstall-am: uninstall-binPROGRAMS uninstall-includeHEADERS \
! uninstall-libLTLIBRARIES uninstall-pkgdataDATA
!
! .MAKE: install-am install-strip
.PHONY: CTAGS GTAGS all all-am check check-am clean clean-binPROGRAMS \
***************
*** 629,641 ****
distclean-libtool distclean-tags distdir dvi dvi-am html \
html-am info info-am install install-am install-binPROGRAMS \
! install-data install-data-am install-exec install-exec-am \
install-includeHEADERS install-info install-info-am \
! install-libLTLIBRARIES install-man install-pkgdataDATA \
! install-strip installcheck installcheck-am installdirs \
! maintainer-clean maintainer-clean-generic mostlyclean \
! mostlyclean-compile mostlyclean-generic mostlyclean-libtool \
! pdf pdf-am ps ps-am tags uninstall uninstall-am \
! uninstall-binPROGRAMS uninstall-includeHEADERS \
! uninstall-info-am uninstall-libLTLIBRARIES \
uninstall-pkgdataDATA
--- 633,646 ----
distclean-libtool distclean-tags distdir dvi dvi-am html \
html-am info info-am install install-am install-binPROGRAMS \
! install-data install-data-am install-dvi install-dvi-am \
! install-exec install-exec-am install-html install-html-am \
install-includeHEADERS install-info install-info-am \
! install-libLTLIBRARIES install-man install-pdf install-pdf-am \
! install-pkgdataDATA install-ps install-ps-am install-strip \
! installcheck installcheck-am installdirs maintainer-clean \
! maintainer-clean-generic mostlyclean mostlyclean-compile \
! mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
! tags uninstall uninstall-am uninstall-binPROGRAMS \
! uninstall-includeHEADERS uninstall-libLTLIBRARIES \
uninstall-pkgdataDATA
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/world.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** world.cc 19 Jan 2008 01:19:40 -0000 1.3
--- world.cc 1 Feb 2008 03:11:02 -0000 1.4
***************
*** 31,35 ****
- resolution [meters]
- specifies the resolution of the underlying bitmap model. Larger values
speed up raytracing at the expense of fidelity in collision detection and
sensing.
-
@par More examples
--- 31,34 ----
***************
*** 49,52 ****
--- 48,52 ----
#include <locale.h>
#include <glib-object.h> // fior g_type_init() used by GDKPixbuf objects
+ #include <limits.h>
#include "stage_internal.hh"
***************
*** 57,62 ****
// TODO: fix the quadtree code so we don't need a world size
! const stg_meters_t STG_DEFAULT_WORLD_WIDTH = 20.0;
! const stg_meters_t STG_DEFAULT_WORLD_HEIGHT = 20.0;
// static data members
--- 57,62 ----
// TODO: fix the quadtree code so we don't need a world size
! //const stg_meters_t STG_DEFAULT_WORLD_WIDTH = 20.0;
! //const stg_meters_t STG_DEFAULT_WORLD_HEIGHT = 20.0;
// static data members
***************
*** 64,67 ****
--- 64,263 ----
bool StgWorld::quit_all = false;
+ const uint32_t RBITS = 6;
+ const uint32_t SBITS = 4;
+ const uint32_t SRBITS = RBITS+SBITS;
+
+ static guint PointIntHash( stg_point_int_t* pt )
+ {
+ return( pt->x + (pt->y<<16 ));
+ }
+
+ static gboolean PointIntEqual( stg_point_int_t* p1, stg_point_int_t* p2 )
+ {
+ return( memcmp( p1, p2, sizeof(stg_point_int_t) ) == 0 );
+ }
+
+ typedef struct
+ {
+ GSList* list;
+ } stg_cell_t;
+
+ class Stg::Region
+ {
+ friend class SuperRegion;
+
+ private:
+ static const uint32_t REGIONWIDTH = 1<<RBITS;
+ static const uint32_t REGIONSIZE = REGIONWIDTH*REGIONWIDTH;
+
+ stg_cell_t cells[REGIONSIZE];
+
+ public:
+ uint32_t count; // number of blocks rendered into these cells
+
+ Region()
+ {
+ bzero( cells, REGIONSIZE * sizeof(stg_cell_t));
+ count = 0;
+ }
+
+ stg_cell_t* GetCell( int32_t x, int32_t y )
+ {
+ uint32_t index = x + (y*REGIONWIDTH);
+ assert( index >=0 );
+ assert( index < REGIONSIZE );
+ return &cells[index];
+ }
+
+ // add a block to a region cell specified in REGION coordinates
+ void AddBlock( StgBlock* block, int32_t x, int32_t y, unsigned int* count2 )
+ {
+ stg_cell_t* cell = GetCell( x, y );
+ cell->list = g_slist_prepend( cell->list, block );
+ block->RecordRenderPoint( &cell->list, cell->list, &this->count, count2
);
+ count++;
+ }
+
+ // UNUSED
+ // // remove a block from a region cell specified in REGION coordinates
+ // void RemoveBlock( StgBlock* block, int32_t x, int32_t y )
+ // {
+ // stg_cell_t* cell = GetCell( x, y );
+ // cell->list = g_slist_remove( cell->list, block );
+ // count--;
+ // }
+ };
+
+
+ class Stg::SuperRegion
+ {
+ friend class StgWorld;
+
+ private:
+ static const uint32_t SUPERREGIONWIDTH = 1<<SBITS;
+ static const uint32_t SUPERREGIONSIZE = SUPERREGIONWIDTH*SUPERREGIONWIDTH;
+
+ Region regions[SUPERREGIONSIZE];
+ uint32_t count; // number of blocks rendered into these regions
+
+ stg_point_int_t origin;
+
+ public:
+
+ SuperRegion( int32_t x, int32_t y )
+ {
+ count = 0;
+ origin.x = x;
+ origin.y = y;
+ //regions = new Region[SUPERREGIONSIZE];
+ }
+
+ ~SuperRegion()
+ {
+ //delete [] regions;
+ }
+
+ // get the region x,y from the region array
+ Region* GetRegion( int32_t x, int32_t y )
+ {
+ int32_t index = x + (y*SUPERREGIONWIDTH);
+ assert( index >=0 );
+ assert( index < (int)SUPERREGIONSIZE );
+ return ®ions[ index ];
+ }
+
+ // add a block to a cell specified in superregion coordinates
+ void AddBlock( StgBlock* block, int32_t x, int32_t y )
+ {
+ GetRegion( x>>RBITS, y>>RBITS )
+ ->AddBlock( block,
+ x - ((x>>RBITS)<<RBITS),
+ y - ((y>>RBITS)<<RBITS),
+ &count);
+ count++;
+ }
+
+ // UNUSED
+ // remove a block from a cell specified in superregion coordinates
+ // void RemoveBlock( StgBlock* block, int32_t x, int32_t y )
+ // {
+ // GetRegion( x>>RBITS, y>>RBITS )
+ // ->RemoveBlock( block,
+ // x - ((x>>RBITS)<<RBITS),
+ // y - ((y>>RBITS)<<RBITS) );
+ // count--;
+ // }
+
+ static void Draw_cb( gpointer dummykey,
+ SuperRegion* sr,
+ gpointer dummyval )
+ {
+ sr->Draw();
+ }
+
+ void Draw()
+ {
+ glPushMatrix();
+ glTranslatef( origin.x<<SRBITS, origin.y<<SRBITS,0 );
+
+ glColor3f( 1,0,0 );
+
+ for( unsigned int x=0; x<SUPERREGIONWIDTH; x++ )
+ for( unsigned int y=0; y<SUPERREGIONWIDTH; y++ )
+ {
+ Region* r = GetRegion(x,y);
+
+ for( unsigned int p=0; p<Region::REGIONWIDTH; p++ )
+ for( unsigned int q=0; q<Region::REGIONWIDTH; q++ )
+ if( r->cells[p+(q*Region::REGIONWIDTH)].list )
+ glRecti( p+(x<<RBITS), q+(y<<RBITS),
+ 1+p+(x<<RBITS), 1+q+(y<<RBITS) );
+ }
+
+ // outline regions
+ glColor3f( 0,1,0 );
+ for( unsigned int x=0; x<SUPERREGIONWIDTH; x++ )
+ for( unsigned int y=0; y<SUPERREGIONWIDTH; y++ )
+ glRecti( x<<RBITS, y<<RBITS,
+ (x+1)<<RBITS, (y+1)<<RBITS );
+
+ // outline superregion
+ glColor3f( 0,0,1 );
+ glRecti( 0,0, 1<<SRBITS, 1<<SRBITS );
+
+ glPopMatrix();
+ }
+
+ static void Floor_cb( gpointer dummykey,
+ SuperRegion* sr,
+ gpointer dummyval )
+ {
+ sr->Floor();
+ }
+
+ void Floor()
+ {
+ glPushMatrix();
+ glTranslatef( origin.x<<SRBITS, origin.y<<SRBITS,0 );
+ glRecti( 0,0, 1<<SRBITS, 1<<SRBITS );
+ glPopMatrix();
+ }
+
+
+ };
+
+ SuperRegion* StgWorld::CreateSuperRegion( int32_t x, int32_t y )
+ {
+ SuperRegion* sr = new SuperRegion( x, y );
+ g_hash_table_insert( superregions, &sr->origin, sr );
+ return sr;
+ }
+
+ void StgWorld::DestroySuperRegion( SuperRegion* sr )
+ {
+ g_hash_table_remove( superregions, &sr->origin );
+ delete sr;
+ }
+
// todo: get rid of width and height
***************
*** 71,77 ****
STG_DEFAULT_WORLD_INTERVAL_SIM,
STG_DEFAULT_WORLD_INTERVAL_REAL,
! STG_DEFAULT_WORLD_PPM,
! STG_DEFAULT_WORLD_WIDTH,
! STG_DEFAULT_WORLD_HEIGHT );
}
--- 267,273 ----
STG_DEFAULT_WORLD_INTERVAL_SIM,
STG_DEFAULT_WORLD_INTERVAL_REAL,
! STG_DEFAULT_WORLD_PPM );
! //STG_DEFAULT_WORLD_WIDTH,
! //STG_DEFAULT_WORLD_HEIGHT );
}
***************
*** 79,96 ****
stg_msec_t interval_sim,
stg_msec_t interval_real,
! double ppm,
! double width,
! double height )
{
! Initialize( token, interval_sim, interval_real, ppm, width, height );
}
-
void StgWorld::Initialize( const char* token,
stg_msec_t interval_sim,
stg_msec_t interval_real,
! double ppm,
! double width,
! double height )
{
if( ! Stg::InitDone() )
--- 275,291 ----
stg_msec_t interval_sim,
stg_msec_t interval_real,
! double ppm )
! //double width,
! //double height )
{
! Initialize( token, interval_sim, interval_real, ppm );//, width, height );
}
void StgWorld::Initialize( const char* token,
stg_msec_t interval_sim,
stg_msec_t interval_real,
! double ppm )
! //double width,
! //double height )
{
if( ! Stg::InitDone() )
***************
*** 126,135 ****
this->velocity_list = NULL;
! this->width = width;
! this->height = height;
this->ppm = ppm; // this is the finest resolution of the matrix
! this->bgrid = new StgBlockGrid( (uint32_t)(width * ppm),
! (uint32_t)(height * ppm) );
this->total_subs = 0;
--- 321,331 ----
this->velocity_list = NULL;
! // this->width = width;
! //this->height = height;
this->ppm = ppm; // this is the finest resolution of the matrix
! this->superregions = g_hash_table_new( (GHashFunc)PointIntHash,
! (GEqualFunc)PointIntEqual );
! this->CreateSuperRegion( 0, 0 );
this->total_subs = 0;
***************
*** 147,156 ****
if( wf ) delete wf;
! if( bgrid ) delete bgrid;
g_hash_table_destroy( models_by_id );
g_hash_table_destroy( models_by_name );
- delete bgrid;
g_free( token );
}
--- 343,351 ----
if( wf ) delete wf;
! //if( bgrid ) delete bgrid;
g_hash_table_destroy( models_by_id );
g_hash_table_destroy( models_by_name );
g_free( token );
}
***************
*** 242,261 ****
1.0 / wf->ReadFloat( entity, "resolution", this->ppm );
! this->width =
! wf->ReadTupleFloat( entity, "size", 0, this->width );
! this->height =
! wf->ReadTupleFloat( entity, "size", 1, this->height );
this->paused =
wf->ReadInt( entity, "paused", this->paused );
- if( this->bgrid )
- delete bgrid;
-
- int32_t vwidth = (int32_t)(width * ppm);
- int32_t vheight = (int32_t)(height * ppm);
- this->bgrid = new StgBlockGrid( vwidth, vheight );
-
//_stg_disable_gui = wf->ReadInt( entity, "gui_disable", _stg_disable_gui );
--- 437,449 ----
1.0 / wf->ReadFloat( entity, "resolution", this->ppm );
! // this->width =
! // wf->ReadTupleFloat( entity, "size", 0, this->width );
! // this->height =
! // wf->ReadTupleFloat( entity, "size", 1, this->height );
this->paused =
wf->ReadInt( entity, "paused", this->paused );
//_stg_disable_gui = wf->ReadInt( entity, "gui_disable", _stg_disable_gui );
***************
*** 460,463 ****
--- 648,652 ----
+
void StgWorld::Raytrace( stg_pose_t pose, // global pose
stg_meters_t range,
***************
*** 473,480 ****
// find the global integer bitmap address of the ray
! int32_t x = (int32_t)((pose.x+width/2.0)*ppm);
! int32_t y = (int32_t)((pose.y+height/2.0)*ppm);
int32_t z = 0;
!
int32_t xstart = x;
int32_t ystart = y;
--- 662,671 ----
// find the global integer bitmap address of the ray
! //int32_t x = (int32_t)((pose.x+width/2.0)*ppm);
! //int32_t y = (int32_t)((pose.y+height/2.0)*ppm);
! int32_t x = (int32_t)(pose.x*ppm);
! int32_t y = (int32_t)(pose.y*ppm);
int32_t z = 0;
!
int32_t xstart = x;
int32_t ystart = y;
***************
*** 499,559 ****
exy = ay-ax; exz = az-ax; ezy = ay-az;
n = ax+ay+az;
-
- uint32_t bbx_last = 0;
- uint32_t bby_last = 0;
- uint32_t bbx = 0;
- uint32_t bby = 0;
! bool lookup_list = true;
! while ( n-- )
! {
! // todo - avoid calling this multiple times for a single
! // bigblock.
! // bbx = x>>bgrid->numbits;
! // bby = y>>bgrid->numbits;
! // // // if we just changed grid square
! // if( ! ((bbx == bbx_last) && (bby == bby_last)) )
! // {
! // // if this square has some contents, we need to look it up
! // lookup_list = !(bgrid->BigBlockOccupancy(bbx,bby) < 1 );
! // bbx_last = bbx;
! // bby_last = bby;
! // }
! // if( lookup_list )
{
! for( GSList* list = bgrid->GetList(x,y);
! list;
! list = list->next )
! {
! StgBlock* block = (StgBlock*)list->data;
! assert( block );
! // if this block does not belong to the searching model and it
! // matches the predicate and it's in the right z range
! if( //block && (block->Model() != finder) &&
! //block->IntersectGlobalZ( pose.z ) &&
! (*func)( block, mod, arg ) )
! {
! // a hit!
! sample->block = block;
! sample->range = hypot( (x-xstart)/ppm, (y-ystart)/ppm );
return;
}
}
! }
!
// increment our pixel in the correct direction
if ( exy < 0 ) {
if ( exz < 0 ) {
! x += sx;
! exy += by; exz += bz;
}
else {
! z += sz;
! exz -= bx; ezy += by;
}
}
--- 690,787 ----
exy = ay-ax; exz = az-ax; ezy = ay-az;
n = ax+ay+az;
! // printf( "Raytracing from (%d,%d,%d) steps (%d,%d,%d) %d\n",
! // x,y,z, dx,dy,dz, n );
! // superregion coords
! stg_point_int_t lastsup;
! lastsup.x = INT_MAX; // an unlikely first raytrace
! lastsup.y = INT_MAX;
!
! stg_point_int_t lastreg;
! lastsup.x = INT_MAX; // an unlikely first raytrace
! lastsup.y = INT_MAX;
! SuperRegion* sr = NULL;
! Region* r = NULL;
!
! //puts( "RAYTRACE" );
!
! while ( n-- )
! {
! // superregion coords
! stg_point_int_t sup;
! sup.x = x >> SRBITS;
! sup.y = y >> SRBITS;
! // printf( "pixel [%d %d]\tS[ %d %d ]\t",
! // x, y, sup.x, sup.y );
! if( ! (sup.x == lastsup.x && sup.y == lastsup.y ))
! {
! sr = (SuperRegion*)g_hash_table_lookup( superregions, (void*)&sup );
! lastsup = sup; // remember these coords
!
! //puts( "LOOKED UP SR" );
!
! }
!
! if( sr )
{
! // find the region coords inside this superregion
! stg_point_int_t reg;
! reg.x = (x - ( sup.x << SRBITS)) >> RBITS;
! reg.y = (y - ( sup.y << SRBITS)) >> RBITS;
!
! // printf( "R[ %d %d ]\t", reg.x, reg.y );
!
! if( ! (reg.x == lastreg.x && reg.y == lastreg.y ))
! {
! r = sr->GetRegion( reg.x, reg.y );
! lastreg = reg;
! }
!
! if( r && r->count )
! {
! // compute the pixel offset inside this region
! stg_point_int_t cell;
! cell.x = x - ((sup.x << SRBITS) + (reg.x << RBITS));
! cell.y = y - ((sup.y << SRBITS) + (reg.y << RBITS));
!
! // printf( "C[ %d %d ]\t", cell.x, cell.y );
! for( GSList* list = r->GetCell( cell.x, cell.y )->list;
! list;
! list = list->next )
! {
! StgBlock* block = (StgBlock*)list->data;
! assert( block );
!
! // if this block does not belong to the searching model and it
! // matches the predicate and it's in the right z range
! if( //block && (block->Model() != finder) &&
! //block->IntersectGlobalZ( pose.z ) &&
! (*func)( block, mod, arg ) )
! {
! // a hit!
! sample->block = block;
! sample->range = hypot( (x-xstart)/ppm, (y-ystart)/ppm );
return;
+ }
}
}
! }
!
! // printf( "\t step %d n %d pixel [ %d, %d ] block [ %d %d ]
index [ %d %d ] \n",
! // //coarse [ %d %d ]\n",
! // count++, n, x, y, blockx, blocky, b_dx, b_dy );
!
// increment our pixel in the correct direction
if ( exy < 0 ) {
if ( exz < 0 ) {
! x += sx; exy += by; exz += bz;
}
else {
! z += sz; exz -= bx; ezy += by;
}
}
***************
*** 564,573 ****
}
else {
! y += sy;
! exy -= bx; ezy -= bz;
}
}
}
!
// hit nothing
return;
--- 792,801 ----
}
else {
! y += sy; exy -= bx; ezy -= bz;
}
}
+ // puts("");
}
!
// hit nothing
return;
***************
*** 620,625 ****
int32_t *px, int32_t *py )
{
! *px = (int32_t)floor((mx+width/2.0) * ppm);
! *py = (int32_t)floor((my+height/2.0) * ppm);
}
--- 848,853 ----
int32_t *px, int32_t *py )
{
! *px = (int32_t)floor(mx* ppm);
! *py = (int32_t)floor(my* ppm);
}
***************
*** 627,632 ****
stg_render_info_t* rinfo )
{
! rinfo->world->bgrid->AddBlock( x, y, rinfo->block );
return FALSE;
}
--- 855,896 ----
stg_render_info_t* rinfo )
{
! // superregion coords
! stg_point_int_t sup;
! sup.x = x >> SRBITS;
! sup.y = y >> SRBITS;
!
! //printf( "ADDBLOCKPIXEL pixel [%d %d] S[ %d %d ]\t",
! // x, y, sup.x, sup.y );
!
! SuperRegion* sr = (SuperRegion*)
! g_hash_table_lookup( rinfo->world->superregions, (void*)&sup );
!
! if( sr == NULL ) // no superregion exists here
! {
! //printf( "Creating super region [ %d %d ]\n", sup.x, sup.y );
! sr = rinfo->world->CreateSuperRegion( sup.x, sup.y );
! }
!
! assert(sr);
!
! // find the pixel coords inside this superregion
! stg_point_int_t cell;
! cell.x = x - ( sup.x << SRBITS);
! cell.y = y - ( sup.y << SRBITS);
!
! //printf( "C[ %d %d]", cell.x, cell.y );
!
! sr->AddBlock( rinfo->block, cell.x, cell.y );
!
return FALSE;
}
+ void StgWorld::DrawTree( bool drawall )
+ {
+ g_hash_table_foreach( superregions, (GHFunc)SuperRegion::Draw_cb, NULL );
+ }
+
+ void StgWorld::DrawFloor()
+ {
+ g_hash_table_foreach( superregions, (GHFunc)SuperRegion::Floor_cb, NULL );
+ }
Index: block.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/block.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** block.cc 15 Jan 2008 01:16:49 -0000 1.2
--- block.cc 1 Feb 2008 03:11:01 -0000 1.3
***************
*** 2,5 ****
--- 2,14 ----
#include "stage_internal.hh"
+ typedef struct
+ {
+ GSList** head;
+ GSList* link;
+ unsigned int* counter1;
+ unsigned int* counter2;
+ } stg_list_entry_t;
+
+
/** Create a new block. A model's body is a list of these
blocks. The point data is copied, so pts can safely be freed
***************
*** 22,26 ****
this->color = color;
this->inherit_color = inherit_color;
! this->rendered_points = g_array_new( FALSE, FALSE, sizeof(stg_point_int_t));
// flag these as unset until StgBlock::Map() is called.
--- 31,36 ----
this->color = color;
this->inherit_color = inherit_color;
! this->rendered_points =
! g_array_new( FALSE, FALSE, sizeof(stg_list_entry_t));
// flag these as unset until StgBlock::Map() is called.
***************
*** 166,171 ****
mod->LocalToGlobal( &gpose );
! pts_global[p].x = (int32_t)floor((gpose.x+mod->World()->width/2.0)*ppm);
! pts_global[p].y =
(int32_t)floor((gpose.y+mod->World()->height/2.0)*ppm);
PRINT_DEBUG2("loc [%.2f %.2f]",
--- 176,183 ----
mod->LocalToGlobal( &gpose );
! //pts_global[p].x =
(int32_t)floor((gpose.x+mod->World()->width/2.0)*ppm);
! //pts_global[p].y =
(int32_t)floor((gpose.y+mod->World()->height/2.0)*ppm);
! pts_global[p].x = (int32_t)floor(gpose.x*ppm);
! pts_global[p].y = (int32_t)floor(gpose.y*ppm);
PRINT_DEBUG2("loc [%.2f %.2f]",
***************
*** 201,209 ****
for( unsigned int p=0; p<rendered_points->len; p++ )
{
! stg_point_int_t* pt =
! &g_array_index( rendered_points, stg_point_int_t, p);
! mod->World()->RemoveBlock( pt->x, pt->y, this );
!
}
--- 213,225 ----
for( unsigned int p=0; p<rendered_points->len; p++ )
{
! stg_list_entry_t* pt =
! &g_array_index( rendered_points, stg_list_entry_t, p);
! //mod->World()->RemoveBlockPixel( pt->x, pt->y, this );
! *pt->head = g_slist_delete_link( *pt->head, pt->link );
!
! // decrement the region and superregion render counts
! (*pt->counter1)--;
! (*pt->counter2)--;
}
***************
*** 212,222 ****
}
! void StgBlock::RecordRenderPoint( uint32_t x, uint32_t y )
{
// store this index in the block for later fast deletion
! stg_point_int_t pt;
! pt.x = x;
! pt.y = y;
! g_array_append_val( rendered_points, pt );
}
--- 228,243 ----
}
! void StgBlock::RecordRenderPoint( GSList** head,
! GSList* link,
! unsigned int* c1,
! unsigned int* c2 )
{
// store this index in the block for later fast deletion
! stg_list_entry_t el;
! el.head = head;
! el.link = link;
! el.counter1 = c1;
! el.counter2 = c2;
! g_array_append_val( rendered_points, el );
}
Index: Makefile.manual
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Makefile.manual,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile.manual 19 Jan 2008 01:19:40 -0000 1.3
--- Makefile.manual 1 Feb 2008 03:11:01 -0000 1.4
***************
*** 10,14 ****
ancestor.cc \
block.cc \
- blockgrid.cc \
canvas.cc \
glcolorstack.cc \
--- 10,13 ----
***************
*** 29,32 ****
--- 28,32 ----
worldgui.cc
+ # blockgrid.cc
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/stage.hh,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** stage.hh 19 Jan 2008 01:41:14 -0000 1.4
--- stage.hh 1 Feb 2008 03:11:01 -0000 1.5
***************
*** 310,314 ****
typedef struct
{
! uint32_t x,y;
} stg_point_int_t;
--- 310,314 ----
typedef struct
{
! int32_t x,y;
} stg_point_int_t;
***************
*** 869,872 ****
--- 869,875 ----
const uint32_t INTERVAL_LOG_LEN = 32;
+
+ class Region;
+ class SuperRegion;
/** WORLD CLASS */
***************
*** 897,906 ****
stg_msec_t interval_sim,
stg_msec_t interval_real,
! double ppm,
! double width,
! double height );
-
virtual void PushColor( stg_color_t col ) { /* do nothing */ };
virtual void PushColor( double r, double g, double b, double a ) { /* do
nothing */ };
--- 900,908 ----
stg_msec_t interval_sim,
stg_msec_t interval_real,
! double ppm );
! // double width,
! // double height );
virtual void PushColor( stg_color_t col ) { /* do nothing */ };
virtual void PushColor( double r, double g, double b, double a ) { /* do
nothing */ };
***************
*** 915,919 ****
stg_id_t id;
! stg_meters_t width, height;
GHashTable* models_by_id; ///< the models that make up the world, indexed
by id
--- 917,921 ----
stg_id_t id;
! //stg_meters_t width, height;
GHashTable* models_by_id; ///< the models that make up the world, indexed
by id
***************
*** 946,950 ****
//void MapBlock( StgBlock* block );
!
void Raytrace( stg_pose_t pose,
stg_meters_t range,
--- 948,955 ----
//void MapBlock( StgBlock* block );
!
! SuperRegion* CreateSuperRegion( int32_t x, int32_t y );
! void DestroySuperRegion( SuperRegion* sr );
!
void Raytrace( stg_pose_t pose,
stg_meters_t range,
***************
*** 963,970 ****
uint32_t sample_count );
! void RemoveBlock( int x, int y, StgBlock* block )
! { bgrid->RemoveBlock( x, y, block ); };
protected:
GList* ray_list;
// store rays traced for debugging purposes
--- 968,977 ----
uint32_t sample_count );
! void RemoveBlock( int x, int y, StgBlock* block );
! //{ }//bgrid->RemoveBlock( x, y, block ); };
protected:
+ GHashTable* superregions;
+
GList* ray_list;
// store rays traced for debugging purposes
***************
*** 972,976 ****
Worldfile* wf; ///< If set, points to the worldfile used to create this
world
bool graphics;
! StgBlockGrid* bgrid;
public:
--- 979,983 ----
Worldfile* wf; ///< If set, points to the worldfile used to create this
world
bool graphics;
! //StgBlockGrid* bgrid;
public:
***************
*** 981,987 ****
stg_msec_t interval_sim,
stg_msec_t interval_real,
! double ppm,
! double width,
! double height );
virtual ~StgWorld();
--- 988,994 ----
stg_msec_t interval_sim,
stg_msec_t interval_real,
! double ppm );
! //double width,
! //double height );
virtual ~StgWorld();
***************
*** 1013,1018 ****
void CancelQuitAll(){ quit_all = false; }
! stg_meters_t Width(){ return width; };
! stg_meters_t Height(){ return height; };
double Resolution(){ return ppm; };
--- 1020,1025 ----
void CancelQuitAll(){ quit_all = false; }
! //stg_meters_t Width(){ return width; };
! //stg_meters_t Height(){ return height; };
double Resolution(){ return ppm; };
***************
*** 1023,1027 ****
GList* GetRayList(){ return ray_list; };
void ClearRays();
!
void ClockString( char* str, size_t maxlen );
--- 1030,1036 ----
GList* GetRayList(){ return ray_list; };
void ClearRays();
! void DrawTree( bool leaves );
! void DrawFloor();
!
void ClockString( char* str, size_t maxlen );
***************
*** 1459,1463 ****
};
!
// BLOCKS
class StgBlock
--- 1468,1472 ----
};
!
// BLOCKS
class StgBlock
***************
*** 1485,1491 ****
void DrawSolid(); // draw the block in OpenGL as a solid single color
void DrawFootPrint(); // draw the projection of the block onto the z=0
plane
!
static void ScaleList( GList* blocks, stg_size_t* size );
! void RecordRenderPoint( uint32_t x, uint32_t y );
StgModel* Model(){ return mod; };
--- 1494,1500 ----
void DrawSolid(); // draw the block in OpenGL as a solid single color
void DrawFootPrint(); // draw the projection of the block onto the z=0
plane
!
static void ScaleList( GList* blocks, stg_size_t* size );
! void RecordRenderPoint( GSList** head, GSList* link, unsigned int* c1,
unsigned int* c2 );
StgModel* Model(){ return mod; };
***************
*** 1621,1625 ****
StgCanvas* canvas;
Fl_Menu_Bar* mbar;
! StgBlockGrid* GetBlockGrid(){ return bgrid; };
public:
--- 1630,1634 ----
StgCanvas* canvas;
Fl_Menu_Bar* mbar;
! //StgBlockGrid* GetBlockGrid(){ return bgridx; };
public:
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