Revision: 8044
http://playerstage.svn.sourceforge.net/playerstage/?rev=8044&view=rev
Author: rtv
Date: 2009-07-17 00:03:28 +0000 (Fri, 17 Jul 2009)
Log Message:
-----------
more STLing
Modified Paths:
--------------
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2009-07-16 21:31:57 UTC (rev 8043)
+++ code/stage/trunk/libstage/canvas.cc 2009-07-17 00:03:28 UTC (rev 8044)
@@ -759,7 +759,7 @@
// TODO
//models_sorted = g_list_sort_with_data( models_sorted,
(GCompareDataFunc)compare_distance, coords );
- // TODO: understand why this doesn't work and fix it - just cosmetic but
important!
+ // TODO: understand why this doesn't work and fix it - cosmetic but
important!
//std::sort( models_sorted.begin(), models_sorted.end(), DistFuncObj(x,y) );
glEnable( GL_DEPTH_TEST );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-07-16 21:31:57 UTC (rev 8043)
+++ code/stage/trunk/libstage/stage.hh 2009-07-17 00:03:28 UTC (rev 8044)
@@ -46,6 +46,7 @@
#include <vector>
#include <list>
#include <map>
+#include <ext/hash_map>
#include <set>
#include <algorithm>
@@ -838,33 +839,42 @@
static void UpdateCb( World* world);
static unsigned int next_id; ///<initially zero, used to allocate unique
sequential world ids
- GMutex* access_mutex; ///< Used by Lock() and Unlock() to prevent
parallel access to this model
-
- ModelPtrSet charge_list; ///< Models which receive charge are listed
here
+ GMutex* access_mutex; ///< Used by Lock() and Unlock() to prevent
parallel access to this model
+
+ ModelPtrSet charge_list; ///< Models which receive charge are listed
here
bool destroy;
bool dirty; ///< iff true, a gui redraw would be required
- GHashTable* models_by_name; ///< the models that make up the world,
indexed by name
- /** Keep a list of all models with detectable fiducials. This
- avoids searching the whole world for fiducials. */
- ModelPtrSet models_with_fiducials;
+
+ // functor for comparing C strings in a hash_map
+ struct eqstr
+ {
+ bool operator()( const char* a, const char* b )
+ { return( strcmp( a, b ) == 0 ); }
+ };
+
+ __gnu_cxx::hash_map<const char*, Model*, __gnu_cxx::hash<const char*>,
eqstr > models_by_name; ///< the models that make up the world, indexed by name.
+
+ /** Keep a list of all models with detectable fiducials. This
+ avoids searching the whole world for fiducials. */
+ ModelPtrSet models_with_fiducials;
double ppm; ///< the resolution of the world model in pixels per meter
bool quit; ///< quit this world ASAP
-
+
/** World::quit is set true when this simulation time is reached */
stg_usec_t quit_time;
stg_usec_t real_time_now; ///< The current real time in microseconds
stg_usec_t real_time_start; ///< the real time at which this world was
created
- bool show_clock; ///< iff true, print the sim time on stdout
- unsigned int show_clock_interval; ///< updates between clock xoutputs
+ bool show_clock; ///< iff true, print the sim time on stdout
+ unsigned int show_clock_interval; ///< updates between clock xoutputs
GMutex* thread_mutex; ///< protect the worker thread management stuff
- unsigned int threads_working; ///< the number of worker threads not yet
finished
+ unsigned int threads_working; ///< the number of worker threads not
yet finished
GCond* threads_start_cond; ///< signalled to unblock worker threads
GCond* threads_done_cond; ///< signalled by last worker thread to unblock
main thread
int total_subs; ///< the total number of subscriptions to all models
- ModelPtrSet velocity_list; ///< Models with non-zero velocity and
should have their poses updated
- unsigned int worker_threads; ///< the number of worker threads to use
-
+ ModelPtrSet velocity_list; ///< Models with non-zero velocity and
should have their poses updated
+ unsigned int worker_threads; ///< the number of worker threads to use
+
protected:
std::list<std::pair<stg_world_callback_t,void*> > cb_list; ///< List of
callback functions and arguments
@@ -872,6 +882,7 @@
bool graphics;///< true iff we have a GUI
stg_usec_t interval_sim; ///< temporal resolution: microseconds that
elapse between simulated time steps
GHashTable* option_table; ///< GUI options (toggles) registered by
models
+ //__gnu_cxx::hash_map<Option
std::list<PowerPack*> powerpack_list; ///< List of all the powerpacks
attached to models in the world
std::list<float*> ray_list;///< List of rays traced for debug
visualization
stg_usec_t sim_time; ///< the current sim time in this world in
microseconds
@@ -1112,34 +1123,46 @@
/** render the block into the world's raytrace data structure */
void Map();
+
/** remove the block from the world's raytracing data structure */
void UnMap();
+
+ /** draw the block in OpenGL as a solid single color */ void
DrawSolid();
void Draw( Model* mod );
- 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
- /** Translate all points in the block by the indicated amounts
*/
- void Translate( double x, double y );
- /** Return the center of the block on the X axis */
- double CenterX();
+
+ /** draw the projection of the block onto the z=0 plane */
+ void DrawFootPrint();
+
+ /** Translate all points in the block by the indicated amounts */
+ void Translate( double x, double y );
+
+ /** Return the center of the block on the X axis */
+ double CenterX();
+
/** Return the center of the block on the Y axis */
- double CenterY();
- /** Set the center of the block on the X axis */
- void SetCenterX( double y );
- /** Set the center of the block on the Y axis */
- void SetCenterY( double y );
- /** Set the center of the block */
- void SetCenter( double x, double y);
- void SetZ( double min, double max );
+ double CenterY();
+ /** Set the center of the block on the X axis */
+ void SetCenterX( double y );
+
+ /** Set the center of the block on the Y axis */
+ void SetCenterY( double y );
+
+ /** Set the center of the block */
+ void SetCenter( double x, double y);
+
+ /** Set the extent in Z of the block */
+ void SetZ( double min, double max );
+
void RecordRendering( Cell* cell )
{ rendered_cells->push_back( cell ); }
stg_point_t* Points( unsigned int *count )
{ if( count ) *count = pt_count; return &pts[0]; };
-
- std::vector<stg_point_t>& Points()
+
+ std::vector<stg_point_t>& Points()
{ return pts; };
-
+
void AddToCellArray( CellPtrVec* blocks );
void RemoveFromCellArray( CellPtrVec* blocks );
void GenerateCandidateCells();
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-07-16 21:31:57 UTC (rev 8043)
+++ code/stage/trunk/libstage/world.cc 2009-07-17 00:03:28 UTC (rev 8044)
@@ -81,7 +81,7 @@
charge_list(),
destroy( false ),
dirty( true ),
- models_by_name( g_hash_table_new( g_str_hash, g_str_equal ) ),
+ models_by_name(),// g_hash_table_new( g_str_hash, g_str_equal ) ),
models_with_fiducials(),
ppm( ppm ), // raytrace resolution
quit( false ),
@@ -131,7 +131,7 @@
if( wf ) delete wf;
- g_hash_table_destroy( models_by_name );
+ //g_hash_table_destroy( models_by_name );
g_free( token );
World::world_set.erase( this );
@@ -211,7 +211,8 @@
void World::RemoveModel( Model* mod )
{
- g_hash_table_remove( models_by_name, mod );
+ //g_hash_table_remove( models_by_name, mod );
+ models_by_name.erase( mod->token );
}
// wrapper to startup all models from the hash table
@@ -400,8 +401,9 @@
delete (*it);
children.clear();
- g_hash_table_remove_all( models_by_name );
-
+ //g_hash_table_remove_all( models_by_name );
+ models_by_name.clear();
+
update_lists.resize(1);
ray_list.clear();
@@ -596,13 +598,15 @@
void World::AddModel( Model* mod )
{
- g_hash_table_insert( this->models_by_name, (gpointer)mod->Token(), mod );
+ //g_hash_table_insert( this->models_by_name, (gpointer)mod->Token(), mod );
+ models_by_name[mod->token] = mod;
}
Model* World::GetModel( const char* name )
{
PRINT_DEBUG1( "looking up model name %s in models_by_name", name );
- Model* mod = (Model*)g_hash_table_lookup( this->models_by_name, name );
+ //Model* mod = (Model*)g_hash_table_lookup( this->models_by_name, name );
+ Model* mod = models_by_name[ name ];
if( mod == NULL )
PRINT_WARN1( "lookup of model name %s: no matching name", name );
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