Revision: 7708
http://playerstage.svn.sourceforge.net/playerstage/?rev=7708&view=rev
Author: rtv
Date: 2009-05-22 08:06:08 +0000 (Fri, 22 May 2009)
Log Message:
-----------
optimizing block.cc
Modified Paths:
--------------
code/stage/trunk/libstage/block.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
Modified: code/stage/trunk/libstage/block.cc
===================================================================
--- code/stage/trunk/libstage/block.cc 2009-05-22 02:52:17 UTC (rev 7707)
+++ code/stage/trunk/libstage/block.cc 2009-05-22 08:06:08 UTC (rev 7708)
@@ -293,30 +293,22 @@
}
}
-// callback used below
-static void AppendCellToVector( Cell* c, std::vector<Cell*> * a )
-{
- a->push_back( c );
-}
-
void Block::GenerateCandidateCells()
{
- stg_point_t* mpts = GetPointsInModelCoords();
-
- // convert the mpts in model coords into global coords
- stg_point_t* gpts = new stg_point_t[pt_count];
- for( unsigned int i=0; i<pt_count; i++ )
- gpts[i] = mod->LocalToGlobal( mpts[i] );
-
- //g_ptr_array_set_size( candidate_cells, 0 );
candidate_cells->clear();
- mod->world->
- ForEachCellInPolygon( gpts, pt_count,
-
(stg_cell_callback_t)AppendCellToVector,
-
candidate_cells );
- delete[] gpts;
+ stg_point_t* mpts = GetPointsInModelCoords();
+ // convert the mpts in model coords into global pixel coords
+ stg_point_int_t gpts[pt_count];
+ for( unsigned int i=0; i<pt_count; i++ )
+ gpts[i] = mod->world->MetersToPixels( mod->LocalToGlobal(
mpts[i] ));
+
+ for( unsigned int i=0; i<pt_count; i++ )
+ mod->world->ForEachCellInLine( gpts[i],
+
gpts[(i+1)%pt_count],
+
*candidate_cells );
+
// set global Z
Pose gpose = mod->GetGlobalPose();
gpose.z += mod->geom.pose.z;
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-05-22 02:52:17 UTC (rev 7707)
+++ code/stage/trunk/libstage/model.cc 2009-05-22 08:06:08 UTC (rev 7708)
@@ -117,9 +117,9 @@
// static members
uint32_t Model::count = 0;
-GHashTable* Model::modelsbyid = g_hash_table_new( NULL, NULL );
+//GHashTable* Model::modelsbyid = g_hash_table_new( NULL, NULL );
+std::map<stg_id_t,Model*> Model::modelsbyid;
-
void Size::Load( Worldfile* wf, int section, const char* keyword )
{
x = wf->ReadTupleLength( section, keyword, 0, x );
@@ -237,7 +237,7 @@
world(world),
world_gui( dynamic_cast<WorldGui*>( world ) )
{
- assert( modelsbyid );
+ //assert( modelsbyid );
assert( world );
PRINT_DEBUG3( "Constructing model world: %s parent: %s type: %d ",
@@ -245,7 +245,8 @@
parent ? parent->Token() : "(null)",
type );
- g_hash_table_insert( modelsbyid, (void*)id, this );
+ //g_hash_table_insert( modelsbyid, (void*)id, this );
+ modelsbyid[id] = this;
// Adding this model to its ancestor also gives this model a
// sensible default name
@@ -286,7 +287,8 @@
g_datalist_clear( &props );
- g_hash_table_remove( Model::modelsbyid, (void*)id );
+ //g_hash_table_remove( Model::modelsbyid, (void*)id );
+ modelsbyid.erase(id);
world->RemoveModel( this );
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-05-22 02:52:17 UTC (rev 7707)
+++ code/stage/trunk/libstage/stage.hh 2009-05-22 08:06:08 UTC (rev 7708)
@@ -46,7 +46,6 @@
#include <vector>
#include <list>
#include <map>
-//#include <pair>
// we use GLib's data structures extensively. Perhaps we'll move to
// C++ STL types to lose this dependency one day.
@@ -996,22 +995,22 @@
inline Cell* GetCellNoCreate( const stg_point_int_t& glob );
inline Cell* GetCellNoCreate( const int32_t x, const int32_t y );
- inline Cell* GetCellCreate( const int32_t x, const int32_t y );
+ //inline Cell* GetCellCreate( const int32_t x, const int32_t y );
+ inline Cell* GetCellCreate( const stg_point_int_t& glob );
- void ForEachCellInPolygon( const stg_point_t pts[],
-
const unsigned int pt_count,
-
stg_cell_callback_t cb,
-
void* cb_arg );
-
- void ForEachCellInLine( const stg_point_t& pt1,
- const
stg_point_t& pt2,
-
stg_cell_callback_t cb,
- void*
cb_arg );
-
+ /** add a Cell pointer to the vector for each cell on the line from
+ pt1 to pt2 inclusive */
+ void ForEachCellInLine( const stg_point_int_t& pt1,
+ const
stg_point_int_t& pt2,
+
std::vector<Cell*>& cells );
+
/** convert a distance in meters to a distance in world occupancy
grid pixels */
int32_t MetersToPixels( stg_meters_t x )
{ return (int32_t)floor(x * ppm); };
+
+ stg_point_int_t MetersToPixels( const stg_point_t& pt )
+ { return stg_point_int_t( MetersToPixels(pt.x), MetersToPixels(pt.y)); };
// dummy implementations to be overloaded by GUI subclasses
virtual void PushColor( stg_color_t col ) { /* do nothing */ };
@@ -1748,7 +1747,8 @@
private:
/** the number of models instatiated - used to assign unique IDs */
static uint32_t count;
- static GHashTable* modelsbyid;
+ //static GHashTable* modelsbyid;
+ static std::map<stg_id_t,Model*> modelsbyid;
std::vector<Option*> drawOptions;
const std::vector<Option*>& getOptions() const { return drawOptions; }
@@ -2046,7 +2046,6 @@
{ world->PushColor( r,g,b,a ); }
virtual void PopColor(){ world->PopColor(); }
-
PowerPack* FindPowerPack() const;
@@ -2060,7 +2059,8 @@
/** Look up a model pointer by a unique model ID */
static Model* LookupId( uint32_t id )
- { return (Model*)g_hash_table_lookup( modelsbyid, (void*)id ); }
+ //{ return (Model*)g_hash_table_lookup( modelsbyid, (void*)id ); }
+ { return modelsbyid[id]; }
/** Constructor */
Model( World* world,
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-05-22 02:52:17 UTC (rev 7707)
+++ code/stage/trunk/libstage/world.cc 2009-05-22 08:06:08 UTC (rev 7708)
@@ -995,41 +995,35 @@
return NULL;
}
-inline Cell* World::GetCellCreate( const int32_t x, const int32_t y )
-{
- stg_point_int_t glob( x, y );
+// inline Cell* World::GetCellCreate( const int32_t x, const int32_t y )
+// {
+// stg_point_int_t glob( x, y );
- //printf( "GC[ %d %d ] ", glob.x, glob.y );
+// //printf( "GC[ %d %d ] ", glob.x, glob.y );
- return( GetSuperRegionCached( GETSREG(x), GETSREG(y) )
+// return( GetSuperRegionCached( GETSREG(x), GETSREG(y) )
+// ->GetRegionGlobal( glob )
+// ->GetCellGlobalCreate( glob )) ;
+// }
+
+inline Cell* World::GetCellCreate( const stg_point_int_t& glob )
+{
+ return( GetSuperRegionCached( GETSREG(glob.x), GETSREG(glob.y) )
->GetRegionGlobal( glob )
->GetCellGlobalCreate( glob )) ;
}
-// TODO - each line end point is processed twice here - could save a
-// teeny bit of time if we did this more cleverly
-// also - replace C arrays with vectors?
-void World::ForEachCellInPolygon( const stg_point_t pts[],
-
const unsigned int pt_count,
-
stg_cell_callback_t cb,
-
void* cb_arg )
-{
- for( unsigned int i=0; i<pt_count; i++ )
- ForEachCellInLine( pts[i], pts[(i+1)%pt_count], cb, cb_arg );
-
-}
-void World::ForEachCellInLine( const stg_point_t& pt1,
-
const stg_point_t& pt2,
-
stg_cell_callback_t cb,
-
void* cb_arg )
+void World::ForEachCellInLine( const stg_point_int_t& start,
+
const stg_point_int_t& end,
+
std::vector<Cell*>& cells )
{
- int x = MetersToPixels( pt1.x ); // global pixel coords
- int y = MetersToPixels( pt1.y );
+
+ int dx = end.x - start.x;
+ int dy = end.y - start.y;
+
+ stg_point_int_t cell = start;
- int dx = MetersToPixels( pt2.x - pt1.x );
- int dy = MetersToPixels( pt2.y - pt1.y );
-
// line rasterization adapted from Cohen's 3D version in
// Graphics Gems II. Should be very fast.
@@ -1049,23 +1043,18 @@
while( n-- )
{
- // find or create the cell at this location, then call the callback
- // with the cell, block and user-defined argument
+ // find or create the cell at this location, then add it to the vector
+ cells.push_back( GetCellCreate( cell ) );
- // TODO - could get rid of this callback, as we only ever use
- // one function here we can speed it up a bit by having the code
- // inline
- (*cb)( GetCellCreate( x,y ), cb_arg );
-
// cleverly skip to the next cell
if( exy < 0 )
{
- x += sx;
+ cell.x += sx;
exy += by;
}
else
{
- y += sy;
+ cell.y += sy;
exy -= bx;
}
}
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