Revision: 6577
http://playerstage.svn.sourceforge.net/playerstage/?rev=6577&view=rev
Author: rtv
Date: 2008-06-13 22:37:08 -0700 (Fri, 13 Jun 2008)
Log Message:
-----------
cleaning and expanding API, adding tests
Modified Paths:
--------------
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/stage.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/test.cc
code/stage/trunk/libstage/world.cc
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-14 03:06:19 UTC (rev 6576)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-14 05:37:08 UTC (rev 6577)
@@ -445,11 +445,11 @@
StgModel* mod = ((StgModel*)it->data);
if( mod->displaylist == 0 )
- {
- mod->displaylist = glGenLists(1);
- mod->BuildDisplayList( showflags ); //
ready to be rendered
- }
+ mod->displaylist = glGenLists(1);
+ if( mod->body_dirty )
+ mod->BuildDisplayList( showflags ); // ready
to be rendered
+
// move into this model's local coordinate frame
glPushMatrix();
gl_pose_shift( &mod->pose );
@@ -534,7 +534,7 @@
// if( loaded_texture == true && use_perspective_camera == true )
// return;
- if (!valid())
+ if (!valid() || world->dirty )
{
valid(1);
FixViewport(w(), h());
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-06-14 03:06:19 UTC (rev 6576)
+++ code/stage/trunk/libstage/model.cc 2008-06-14 05:37:08 UTC (rev 6577)
@@ -328,7 +328,7 @@
col, inherit_color ));
// force recreation of display lists before drawing
- body_dirty = true;
+ NeedRedraw();
}
@@ -336,7 +336,7 @@
{
stg_block_list_destroy( blocks );
blocks = NULL;
- body_dirty = true;
+ NeedRedraw();
}
void StgModel::AddBlockRect( double x, double y,
@@ -1191,7 +1191,8 @@
void StgModel::NeedRedraw( void )
{
- this->world->dirty = true;
+ this->body_dirty = true;
+ //this->world->dirty = true;
}
void StgModel::GPoseDirtyTree( void )
@@ -1259,7 +1260,7 @@
StgBlock::ScaleList( blocks, &geom.size );
- body_dirty = true;
+ NeedRedraw();
Map();
@@ -1269,7 +1270,7 @@
void StgModel::SetColor( stg_color_t col )
{
this->color = col;
- body_dirty = true;
+ NeedRedraw();
CallCallbacks( &this->color );
}
@@ -1413,13 +1414,22 @@
}
-// Check to see if the given change in pose will yield a collision
-// with obstacles. Returns a pointer to the first entity we are in
-// collision with, and stores the location of the hit in hitx,hity (if
-// non-null) Returns NULL if no collision.
+void StgModel::PlaceInFreeSpace( stg_meters_t xmin, stg_meters_t xmax,
+
stg_meters_t ymin, stg_meters_t ymax )
+{
+ while( TestCollision( NULL, NULL ) )
+ SetPose( random_pose( xmin,xmax, ymin, ymax ));
+}
-StgModel* StgModel::TestCollision( stg_pose_t* posedelta,
- double* hitx, double* hity )
+
+StgModel* StgModel::TestCollision( stg_meters_t* hitx, stg_meters_t* hity )
+{
+ return TestCollision( new_pose(0,0,0,0), hitx, hity );
+}
+
+StgModel* StgModel::TestCollision( stg_pose_t posedelta,
+
stg_meters_t* hitx,
+
stg_meters_t* hity )
{
/* stg_model_t* child_hit = NULL; */
@@ -1480,7 +1490,7 @@
// raytrace in local coordinates
stg_raytrace_sample_t sample;
- Raytrace( pose_sum( *posedelta, edgepose),
+ Raytrace( pose_sum( posedelta, edgepose),
range,
(stg_block_match_func_t)collision_match,
NULL,
@@ -1529,7 +1539,7 @@
p.a += velocity.a * interval;
// test to see if this pose change would cause us to crash
- StgModel* hitthing = this->TestCollision( &p, NULL, NULL );
+ StgModel* hitthing = this->TestCollision( p, NULL, NULL );
//double hitx=0, hity=0;
//StgModel* hitthing = this->TestCollision( &p, &hitx, &hity );
Modified: code/stage/trunk/libstage/stage.cc
===================================================================
--- code/stage/trunk/libstage/stage.cc 2008-06-14 03:06:19 UTC (rev 6576)
+++ code/stage/trunk/libstage/stage.cc 2008-06-14 05:37:08 UTC (rev 6577)
@@ -316,6 +316,16 @@
};
+stg_pose_t Stg::random_pose( stg_meters_t xmin, stg_meters_t xmax,
+
stg_meters_t ymin, stg_meters_t ymax )
+{
+ return new_pose( xmin + drand48() * (xmax-xmin),
+ ymin + drand48() * (ymax-ymin),
+ 0,
+ normalize( drand48() * (2.0 *
M_PI) ));
+}
+
+
// sets [result] to the pose of [p2] in [p1]'s coordinate system
void Stg::stg_pose_sum( stg_pose_t* result, stg_pose_t* p1, stg_pose_t* p2 )
{
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-14 03:06:19 UTC (rev 6576)
+++ code/stage/trunk/libstage/stage.hh 2008-06-14 05:37:08 UTC (rev 6577)
@@ -376,6 +376,11 @@
parameters */
stg_pose_t new_pose( stg_meters_t x, stg_meters_t y, stg_meters_t z,
stg_radians_t a );
+ /** return a random pose within the bounding rectangle, with z=0 and
+ angle random */
+ stg_pose_t random_pose( stg_meters_t xmin, stg_meters_t xmax,
+ stg_meters_t
ymin, stg_meters_t ymax );
+
const uint32_t STG_MOVE_TRANS = (1 << 0);
const uint32_t STG_MOVE_ROT = (1 << 1);
const uint32_t STG_MOVE_SCALE = (1 << 2);
@@ -1205,11 +1210,26 @@
// worldfile section identifier
StgWorld* world; // pointer to the world in which this model exists
-
- StgModel* TestCollision( stg_pose_t* pose,
- double* hitx, double* hity );
-
-
+
+ /** Check to see if the given change in pose will yield a collision
+ with obstacles. Returns a pointer to the first entity we are in
+ collision with, and stores the location of the hit in hitx,hity
(if
+ non-null) Returns NULL if no collision. */
+ StgModel* TestCollision( stg_pose_t pose,
+
stg_meters_t* hitx,
+
stg_meters_t* hity );
+
+ /** Check to see if the current pose is in a collision
+ with obstacles. Returns a pointer to the first entity we are in
+ collision with, and stores the location of the hit in hitx,hity
(if
+ non-null) Returns NULL if no collision. */
+ StgModel* TestCollision( stg_meters_t* hitx,
+
stg_meters_t* hity );
+
+public: void PlaceInFreeSpace( stg_meters_t xmin, stg_meters_t xmax,
+
stg_meters_t ymin, stg_meters_t ymax );
+
+protected:
void Map();
void UnMap();
Modified: code/stage/trunk/libstage/test.cc
===================================================================
--- code/stage/trunk/libstage/test.cc 2008-06-14 03:06:19 UTC (rev 6576)
+++ code/stage/trunk/libstage/test.cc 2008-06-14 05:37:08 UTC (rev 6577)
@@ -44,7 +44,7 @@
world.Start();
- for( stg_meters_t x=0; x<5; x+=0.01 )
+ for( stg_meters_t x=0; x<5; x+=0.1 )
{
pose = new_pose( x, 0, 0, 0 );
mod.SetPose( pose );
@@ -52,7 +52,7 @@
interact( &world );
}
- for( stg_meters_t y=0; y<5; y+=0.01 )
+ for( stg_meters_t y=0; y<5; y+=0.1 )
{
pose = new_pose( 0, y, 0, 0 );
mod.SetPose( pose );
@@ -60,7 +60,7 @@
interact( &world );
}
- for( stg_meters_t z=0; z<5; z+=0.01 )
+ for( stg_meters_t z=0; z<5; z+=0.1 )
{
pose = new_pose( 0, 0, z, 0 );
mod.SetPose( pose );
@@ -68,7 +68,7 @@
interact( &world );
}
- for( stg_radians_t a=0; a<dtor(360); a+=dtor(1) )
+ for( stg_radians_t a=0; a<dtor(360); a+=dtor(2) )
{
pose = new_pose( 0, 0, 0, a );
mod.SetPose( pose );
@@ -77,7 +77,7 @@
interact( &world );
}
- for( stg_radians_t a=0; a<dtor(360); a+=dtor(1) )
+ for( stg_radians_t a=0; a<dtor(360); a+=dtor(2) )
{
pose = new_pose( cos(a), sin(a), 0, 0 );
mod.SetPose( pose );
@@ -85,20 +85,69 @@
interact( &world );
}
+ mod.SetPose( new_pose( 0,0,0,0 ));
+
stg_geom_t geom;
bzero( &geom, sizeof(geom) );
for( stg_meters_t x=0.01; x<5; x+=0.1 )
- for( stg_meters_t y=0.01; y<5; y+=0.1 )
- //for( stg_meters_t z=0.01; z<5; z+=0.01 )
- {
- geom.size.x = x;
- geom.size.y = y;
- geom.size.z = 1.0;
-
- mod.SetGeom( geom );
- interact( &world );
- }
+ {
+ geom.size.x = x;
+ geom.size.y = 1.0;
+ geom.size.z = 1.0;
+
+ mod.SetGeom( geom );
+ interact( &world );
+ }
+ for( stg_meters_t y=0.01; y<5; y+=0.1 )
+ {
+ geom.size.x = 5;
+ geom.size.y = y;
+ geom.size.z = 1.0;
+
+ mod.SetGeom( geom );
+ interact( &world );
+ }
+
+ for( stg_meters_t z=0.01; z<5; z+=0.1 )
+ {
+ geom.size.x = 1;
+ geom.size.y = 1;
+ geom.size.z = z;
+
+ mod.SetGeom( geom );
+ interact( &world );
+ }
+
+ geom.size.x = 0.5;
+ geom.size.y = 0.5;
+ geom.size.z = 0.5;
+
+ mod.SetGeom( geom );
+
+
+#define POP 100
+
+ StgModel* m[POP];
+ for( int i=0; i<POP; i++ )
+ {
+ m[i] = new StgModel( &world, NULL, 0, "model" );
+ m[i]->SetGeom( geom );
+ //m[i]->SetPose( random_pose( -10,10, -10,10 ) );
+ m[i]->PlaceInFreeSpace( -10, 10, -10, 10 );
+ m[i]->SetColor( lrand48() | 0xFF000000 );
+ interact( &world );
+ }
+
+
+// for( int i=0; i<POP; i++ )
+// {
+// m[i]->PlaceInFreeSpace( -10, 10, -10, 10 );
+// m[i]->SetColor( 0xFF00FF00 );
+// interact( &world );
+// }
+
+
StgWorldGui::Run();
}
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2008-06-14 03:06:19 UTC (rev 6576)
+++ code/stage/trunk/libstage/world.cc 2008-06-14 05:37:08 UTC (rev 6577)
@@ -77,6 +77,8 @@
{
SuperRegion* sr = new SuperRegion( x, y );
g_hash_table_insert( superregions, &sr->origin, sr );
+
+ dirty = true; // force redraw
return sr;
}
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