Revision: 7768
http://playerstage.svn.sourceforge.net/playerstage/?rev=7768&view=rev
Author: rtv
Date: 2009-06-03 07:38:57 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
tweaking ray tracing
Modified Paths:
--------------
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2009-06-03 06:28:26 UTC (rev
7767)
+++ code/stage/trunk/libstage/CMakeLists.txt 2009-06-03 07:38:57 UTC (rev
7768)
@@ -4,6 +4,7 @@
include_directories(${PROJECT_BINARY_DIR})
set( stageSrcs
+ world.cc
ancestor.cc
block.cc
blockgroup.cc
@@ -37,7 +38,6 @@
typetable.cc
vis_strip.cc
waypoint.cc
- world.cc
worldfile.cc
worldgui.cc
canvas.cc
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2009-06-03 06:28:26 UTC (rev
7767)
+++ code/stage/trunk/libstage/model_laser.cc 2009-06-03 07:38:57 UTC (rev
7768)
@@ -190,7 +190,7 @@
vis( world ),
sample_count( DEFAULT_SAMPLES ),
samples(),
- rays(),
+ //ray( this, ),
range_max( DEFAULT_MAXRANGE ),
fov( DEFAULT_FOV ),
resolution( DEFAULT_RESOLUTION )
@@ -279,59 +279,43 @@
void ModelLaser::SampleConfig()
{
samples.resize( sample_count );
- rays.resize( sample_count );
-
- for( unsigned int t=0; t<sample_count; ++t )
- {
- // configure a normal ray with our laser-specific settings
- rays[t].func = laser_raytrace_match;
- rays[t].arg = NULL;
- rays[t].ztest = true;
- rays[t].range = range_max;
- rays[t].mod = this;
- }
}
void ModelLaser::Update( void )
{
assert( samples.size() == sample_count );
- assert( rays.size() == sample_count );
+ //assert( rays.size() == sample_count );
double bearing = -fov/2.0;
// make the first and last rays exactly at the extremes of the FOV
double sample_incr = fov / MAX(sample_count-1,1);
+ // find the global origin of our first emmitted ray
Pose rayorg = geom.pose;
rayorg.z += geom.size.z/2.0;
rayorg.a = bearing;// + sample_incr/2.0;
rayorg = LocalToGlobal(rayorg);
-
- // set up the ray origins in global coords
+
+ // set up a ray to trace
+ Ray ray( this, rayorg, range_max, laser_raytrace_match, NULL, true );
+
+ // trace the ray, incrementing its heading for each sample
for( unsigned int t=0; t<sample_count; t += resolution )
{
- rays[t].origin = rayorg;
- rayorg.a += sample_incr;
- }
-
- // do the raytracing of all rays in one go (allows parallel implementation)
- world->Raytrace( rays );
-
- // now process the results and fill in our samples
- for( unsigned int t=0; t<sample_count; t += resolution )
- {
- stg_raytrace_result_t* r = &rays[t].result;
- assert( r );
-
- samples[t].range = r->range;
-
+ stg_raytrace_result_t r = ray.Trace();
+ samples[t].range = r.range;
+
// if we hit a model and it reflects brightly, we set
// reflectance high, else low
- if( r->mod && ( r->mod->vis.laser_return >= LaserBright ) )
- samples[t].reflectance = 1;
+ if( r.mod && ( r.mod->vis.laser_return >= LaserBright ) )
+ samples[t].reflectance = 1;
else
- samples[t].reflectance = 0;
+ samples[t].reflectance = 0;
+
+ // point the ray to the next angle
+ ray.origin.a += sample_incr;
}
-
+
// we may need to interpolate the samples we skipped
if( resolution > 1 )
{
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-06-03 06:28:26 UTC (rev 7767)
+++ code/stage/trunk/libstage/stage.hh 2009-06-03 07:38:57 UTC (rev 7768)
@@ -851,13 +851,21 @@
class Ray
{
public:
- Model* mod;
+ Ray( const Model* mod, const Pose& origin, const stg_meters_t
range, const stg_ray_test_func_t func, const void* arg, const bool ztest ) :
+ mod(mod), origin(origin), range(range), func(func),
arg(arg), ztest(ztest)
+ {}
+
+ Ray() : mod(NULL), origin(0,0,0,0), range(0), func(NULL),
arg(NULL), ztest(true)
+ {}
+
+ const Model* mod;
Pose origin;
stg_meters_t range;
stg_ray_test_func_t func;
- void* arg;
+ const void* arg;
bool ztest;
- RaytraceResult result;
+
+ RaytraceResult Trace();
};
const uint32_t INTERVAL_LOG_LEN = 32;
@@ -1013,12 +1021,9 @@
SuperRegion* CreateSuperRegion( stg_point_int_t origin );
void DestroySuperRegion( SuperRegion* sr );
-
- /** trace a vector of rays all in one go. */
- void Raytrace( std::vector<Ray>& rays );
-
+
/** trace a ray. */
- void Raytrace( Ray& ray );
+ stg_raytrace_result_t Raytrace( const Ray& ray );
stg_raytrace_result_t Raytrace( const Pose& pose,
const stg_meters_t range,
@@ -1737,6 +1742,7 @@
friend class Region;
friend class BlockGroup;
friend class PowerPack;
+ friend class Ray;
private:
/** the number of models instatiated - used to assign unique IDs */
@@ -2499,8 +2505,9 @@
unsigned int sample_count;
std::vector<Sample> samples;
- std::vector<Ray> rays;
-
+ //std::vector<Ray> rays;
+ //Ray ray;
+
stg_meters_t range_max;
stg_radians_t fov;
uint32_t resolution;
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-06-03 06:28:26 UTC (rev 7767)
+++ code/stage/trunk/libstage/world.cc 2009-06-03 07:38:57 UTC (rev 7768)
@@ -54,6 +54,11 @@
using namespace Stg;
+RaytraceResult Ray::Trace()
+{
+ return mod->world->Raytrace( origin, range, func, mod, arg, ztest );
+}
+
// static data members
unsigned int World::next_id = 0;
bool World::quit_all = false;
@@ -597,24 +602,6 @@
}
-void World::Raytrace( std::vector<Ray>& rays )
-{
- rt_cells.clear();
- rt_candidate_cells.clear();
-
- //printf( "===================\n" );
-
- for( std::vector<Ray>::iterator it = rays.begin();
- it != rays.end();
- ++it )
- Raytrace( *it );
-}
-
-inline void World::Raytrace( Ray& r )
-{
- r.result = Raytrace( r.origin, r.range, r.func, r.mod, r.arg, r.ztest );
-}
-
void World::Raytrace( const Pose &gpose, // global pose
const stg_meters_t
range,
const stg_radians_t
fov,
@@ -643,33 +630,39 @@
// Stage spends 50-99% of its time in this method.
stg_raytrace_result_t World::Raytrace( const Pose &gpose,
-
const stg_meters_t range,
-
const stg_ray_test_func_t func,
-
const Model* mod,
-
const void* arg,
-
const bool ztest )
+
const
stg_meters_t range,
+
const
stg_ray_test_func_t func,
+
const
Model* mod,
+
const
void* arg,
+
const
bool ztest )
{
+ Ray r( mod, gpose, range, func, arg, ztest );
+ return Raytrace( r );
+}
+
+stg_raytrace_result_t World::Raytrace( const Ray& r )
+{
//rt_cells.clear();
//rt_candidate_cells.clear();
// initialize the sample
- RaytraceResult sample( gpose, range );
+ RaytraceResult sample( r.origin, r.range );
// our global position in (floating point) cell coordinates
- stg_point_t glob( gpose.x * ppm, gpose.y * ppm );
+ stg_point_t glob( r.origin.x * ppm, r.origin.y * ppm );
// record our starting position
const stg_point_int_t start( glob.x, glob.y );
// eliminate a potential divide by zero
- const double angle( gpose.a == 0.0 ? 1e-12 : gpose.a );
+ const double angle( r.origin.a == 0.0 ? 1e-12 : r.origin.a );
const double cosa(cos(angle));
const double sina(sin(angle));
const double tana(sina/cosa); // = tan(angle)
// and the x and y offsets of the ray
- const int dx( ppm * range * cosa);
- const int dy( ppm * range * sina);
+ const int dx( ppm * r.range * cosa);
+ const int dy( ppm * r.range * sina);
// fast integer line 3d algorithm adapted from Cohen's code from
// Graphics Gems IV
@@ -719,9 +712,9 @@
// coordinates of the region inside the superregion
int32_t rx = GETREG(glob.x);
int32_t ry = GETREG(glob.y);
- Region* r = &sr->regions[ rx + (ry*SuperRegion::WIDTH) ];
+ Region* reg = &sr->regions[ rx + (ry*SuperRegion::WIDTH) ];
- if( r->count ) // if the region contains any objects
+ if( reg->count ) // if the region contains any objects
{
// invalidate the region crossing points used to jump
over
// empty regions
@@ -731,7 +724,7 @@
int32_t cx = GETCELL(glob.x);
int32_t cy = GETCELL(glob.y);
- Cell* c = &r->cells[ cx + cy * Region::WIDTH ];
+ Cell* c = ®->cells[ cx + cy * Region::WIDTH ];
assert(c); // should be a cell there
// while within the bounds of this region and while
some ray remains
@@ -749,13 +742,13 @@
Block* block = *it;
// skip if not in the right z
range
- if( ztest &&
- ( gpose.z <
block->global_z.min ||
-
gpose.z > block->global_z.max ) )
+ if( r.ztest &&
+ ( r.origin.z <
block->global_z.min ||
+
r.origin.z > block->global_z.max ) )
continue;
// test the predicate we were
passed
- if( (*func)( block->mod,
(Model*)mod, arg ))
+ if( (*r.func)( block->mod,
(Model*)r.mod, r.arg ))
{
// a hit!
sample.color =
block->GetColor();
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