//
// Written by Mathias Froehlich, started Nov 2004.
//
-// Copyright (C) 2004 Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2004, 2009 Mathias Froehlich - Mathias.Froehlich@web.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
# include "config.h"
#endif
-#include <float.h>
+#include "groundcache.hxx"
+
+#include <utility>
-#include <osg/CullFace>
#include <osg/Drawable>
#include <osg/Geode>
#include <osg/Geometry>
-#include <osg/TriangleFunctor>
+#include <osg/Camera>
+#include <osg/Transform>
+#include <osg/MatrixTransform>
+#include <osg/PositionAttitudeTransform>
+#include <osg/CameraView>
#include <simgear/sg_inlines.h>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/sg_geodesy.hxx>
-#include <simgear/scene/material/mat.hxx>
-#include <simgear/scene/material/matlib.hxx>
+#include <simgear/math/SGMisc.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
+#include <simgear/scene/util/SGSceneUserData.hxx>
+
+#include <simgear/scene/bvh/BVHNode.hxx>
+#include <simgear/scene/bvh/BVHGroup.hxx>
+#include <simgear/scene/bvh/BVHTransform.hxx>
+#include <simgear/scene/bvh/BVHMotionTransform.hxx>
+#include <simgear/scene/bvh/BVHLineGeometry.hxx>
+#include <simgear/scene/bvh/BVHStaticGeometry.hxx>
+#include <simgear/scene/bvh/BVHStaticData.hxx>
+#include <simgear/scene/bvh/BVHStaticNode.hxx>
+#include <simgear/scene/bvh/BVHStaticTriangle.hxx>
+#include <simgear/scene/bvh/BVHStaticBinary.hxx>
+#include <simgear/scene/bvh/BVHSubTreeCollector.hxx>
+#include <simgear/scene/bvh/BVHLineSegmentVisitor.hxx>
+#include <simgear/scene/bvh/BVHNearestPointVisitor.hxx>
+
+#ifdef GROUNDCACHE_DEBUG
+#include <simgear/scene/bvh/BVHDebugCollectVisitor.hxx>
+#include <Main/fg_props.hxx>
+#endif
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
-#include <AIModel/AICarrier.hxx>
#include "flight.hxx"
-#include "groundcache.hxx"
-/// Ok, variant that uses a infinite line istead of the ray.
-/// also not that this only works if the ray direction is normalized.
-static inline bool
-intersectsInf(const SGRayd& ray, const SGSphered& sphere)
-{
- SGVec3d r = sphere.getCenter() - ray.getOrigin();
- double projectedDistance = dot(r, ray.getDirection());
- double dist = dot(r, r) - projectedDistance * projectedDistance;
- return dist < sphere.getRadius2();
-}
+using namespace simgear;
-template<typename T>
-class SGExtendedTriangleFunctor : public osg::TriangleFunctor<T> {
+class FGGroundCache::CacheFill : public osg::NodeVisitor {
public:
- // Ok, to be complete we should also implement the indexed variants
- // For now this one appears to be enough ...
- void drawArrays(GLenum mode, GLint first, GLsizei count)
- {
- if (_vertexArrayPtr==0 || count==0) return;
-
- const osg::Vec3* vlast;
- const osg::Vec3* vptr;
- switch(mode) {
- case(GL_LINES):
- vlast = &_vertexArrayPtr[first+count];
- for(vptr=&_vertexArrayPtr[first];vptr<vlast;vptr+=2)
- this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
- break;
- case(GL_LINE_STRIP):
- vlast = &_vertexArrayPtr[first+count-1];
- for(vptr=&_vertexArrayPtr[first];vptr<vlast;++vptr)
- this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
- break;
- case(GL_LINE_LOOP):
- vlast = &_vertexArrayPtr[first+count-1];
- for(vptr=&_vertexArrayPtr[first];vptr<vlast;++vptr)
- this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
- this->operator()(_vertexArrayPtr[first+count-1],
- _vertexArrayPtr[first],_treatVertexDataAsTemporary);
- break;
- default:
- osg::TriangleFunctor<T>::drawArrays(mode, first, count);
- break;
- }
- }
-protected:
- using osg::TriangleFunctor<T>::_vertexArrayPtr;
- using osg::TriangleFunctor<T>::_treatVertexDataAsTemporary;
-};
+ CacheFill(const SGVec3d& center, const SGVec3d& down, const double& radius,
+ const double& startTime, const double& endTime) :
+ osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ACTIVE_CHILDREN),
+ _center(center),
+ _down(down),
+ _radius(radius),
+ _startTime(startTime),
+ _endTime(endTime),
+ _sceneryHit(0, 0, 0),
+ _maxDown(SGGeod::fromCart(center).getElevationM() + 9999),
+ _material(0),
+ _haveHit(false)
+ {
+ setTraversalMask(SG_NODEMASK_TERRAIN_BIT);
+ }
+ virtual void apply(osg::Node& node)
+ {
+ if (!testBoundingSphere(node.getBound()))
+ return;
-class GroundCacheFillVisitor : public osg::NodeVisitor {
-public:
-
- /// class to just redirect triangles to the GroundCacheFillVisitor
- class GroundCacheFill {
- public:
- void setGroundCacheFillVisitor(GroundCacheFillVisitor* gcfv)
- { mGroundCacheFillVisitor = gcfv; }
-
- void operator () (const osg::Vec3& v1, const osg::Vec3& v2,
- const osg::Vec3& v3, bool)
- { mGroundCacheFillVisitor->addTriangle(v1, v2, v3); }
-
- void operator () (const osg::Vec3& v1, const osg::Vec3& v2, bool)
- { mGroundCacheFillVisitor->addLine(v1, v2); }
-
- private:
- GroundCacheFillVisitor* mGroundCacheFillVisitor;
- };
-
-
- GroundCacheFillVisitor(FGGroundCache* groundCache,
- const SGVec3d& down,
- const SGVec3d& cacheReference,
- double cacheRadius,
- double wireCacheRadius) :
- osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ACTIVE_CHILDREN),
- mGroundCache(groundCache)
- {
- setTraversalMask(SG_NODEMASK_TERRAIN_BIT);
- mDown = down;
- mLocalDown = down;
- sphIsec = true;
- mBackfaceCulling = false;
- mCacheReference = cacheReference;
- mLocalCacheReference = cacheReference;
- mCacheRadius = cacheRadius;
- mWireCacheRadius = wireCacheRadius;
-
- mTriangleFunctor.setGroundCacheFillVisitor(this);
-
- mGroundProperty.wire_id = -1;
- mGroundProperty.vel = SGVec3d(0, 0, 0);
- mGroundProperty.rot = SGVec3d(0, 0, 0);
- mGroundProperty.pivot = SGVec3d(0, 0, 0);
- }
-
- void updateCullMode(osg::StateSet* stateSet)
- {
- if (!stateSet)
- return;
-
- osg::StateAttribute* stateAttribute;
- stateAttribute = stateSet->getAttribute(osg::StateAttribute::CULLFACE);
- if (!stateAttribute)
- return;
- osg::CullFace* cullFace = static_cast<osg::CullFace*>(stateAttribute);
- mBackfaceCulling = cullFace->getMode() == osg::CullFace::BACK;
- }
-
- bool enterBoundingSphere(const osg::BoundingSphere& bs)
- {
- if (!bs.valid())
- return false;
-
- SGVec3d cntr(osg::Vec3d(bs.center())*mLocalToGlobal);
- double rc = bs.radius() + mCacheRadius;
- // Ok, this node might intersect the cache. Visit it in depth.
- double centerDist2 = distSqr(mCacheReference, cntr);
- if (centerDist2 < rc*rc) {
- sphIsec = true;
- } else {
- // Check if the down direction touches the bounding sphere of the node
- // if so, do at least croase agl computations.
- // Ther other thing is that we must check if we are in range of
- // cats or wires
- double rw = bs.radius() + mWireCacheRadius;
- if (rw*rw < centerDist2 &&
- !intersectsInf(SGRayd(mCacheReference, mDown),
- SGSphered(cntr, bs.radius())))
- return false;
- sphIsec = false;
+ addBoundingVolume(node);
}
+
+ virtual void apply(osg::Group& group)
+ {
+ if (!testBoundingSphere(group.getBound()))
+ return;
- return true;
- }
-
- bool enterNode(osg::Node& node)
- {
- if (!enterBoundingSphere(node.getBound()))
- return false;
-
- updateCullMode(node.getStateSet());
-
- FGGroundCache::GroundProperty& gp = mGroundProperty;
- // get some material information for use in the gear model
- gp.type = FGInterface::Unknown;
- osg::Referenced* base = node.getUserData();
- if (!base)
- return true;
- FGAICarrierHardware *ud =
- dynamic_cast<FGAICarrierHardware*>(base);
- if (!ud)
- return true;
-
- switch (ud->type) {
- case FGAICarrierHardware::Wire:
- gp.type = FGInterface::Wire;
- gp.wire_id = ud->id;
- break;
- case FGAICarrierHardware::Catapult:
- gp.type = FGInterface::Catapult;
- break;
- default:
- gp.type = FGInterface::Solid;
- break;
- }
- // Copy the velocity from the carrier class.
- ud->carrier->getVelocityWrtEarth(gp.vel, gp.rot, gp.pivot);
-
- return true;
- }
-
- void fillWith(osg::Drawable* drawable)
- {
- bool oldSphIsec = sphIsec;
- if (!enterBoundingSphere(drawable->getBound()))
- return;
-
- bool oldBackfaceCulling = mBackfaceCulling;
- updateCullMode(drawable->getStateSet());
-
- FGGroundCache::GroundProperty& gp = mGroundProperty;
- // get some material information for use in the gear model
- gp.material = globals->get_matlib()->findMaterial(drawable->getStateSet());
- if (gp.material)
- gp.type = gp.material->get_solid() ? FGInterface::Solid : FGInterface::Water;
-
- drawable->accept(mTriangleFunctor);
-
- mBackfaceCulling = oldBackfaceCulling;
- sphIsec = oldSphIsec;
- }
-
- virtual void apply(osg::Geode& geode)
- {
- bool oldBackfaceCulling = mBackfaceCulling;
- bool oldSphIsec = sphIsec;
- FGGroundCache::GroundProperty oldGp = mGroundProperty;
- if (!enterNode(geode))
- return;
- unsigned int numDrawables = geode.getNumDrawables();
- for(unsigned i = 0; i < numDrawables; ++i)
- fillWith(geode.getDrawable(i));
- sphIsec = oldSphIsec;
- mGroundProperty = oldGp;
- mBackfaceCulling = oldBackfaceCulling;
- }
-
- virtual void apply(osg::Group& group)
- {
- bool oldBackfaceCulling = mBackfaceCulling;
- bool oldSphIsec = sphIsec;
- FGGroundCache::GroundProperty oldGp = mGroundProperty;
- if (!enterNode(group))
- return;
- traverse(group);
- sphIsec = oldSphIsec;
- mBackfaceCulling = oldBackfaceCulling;
- mGroundProperty = oldGp;
- }
-
- virtual void apply(osg::Transform& transform)
- {
- if (!enterNode(transform))
- return;
- bool oldBackfaceCulling = mBackfaceCulling;
- bool oldSphIsec = sphIsec;
- FGGroundCache::GroundProperty oldGp = mGroundProperty;
- /// transform the caches center to local coords
- osg::Matrix oldLocalToGlobal = mLocalToGlobal;
- osg::Matrix oldGlobalToLocal = mGlobalToLocal;
- transform.computeLocalToWorldMatrix(mLocalToGlobal, this);
- transform.computeWorldToLocalMatrix(mGlobalToLocal, this);
-
- SGVec3d oldLocalCacheReference = mLocalCacheReference;
- mLocalCacheReference.osg() = mCacheReference.osg()*mGlobalToLocal;
- SGVec3d oldLocalDown = mLocalDown;
- mLocalDown.osg() = osg::Matrixd::transform3x3(mDown.osg(), mGlobalToLocal);
-
- // walk the children
- traverse(transform);
-
- // Restore that one
- mLocalDown = oldLocalDown;
- mLocalCacheReference = oldLocalCacheReference;
- mLocalToGlobal = oldLocalToGlobal;
- mGlobalToLocal = oldGlobalToLocal;
- sphIsec = oldSphIsec;
- mBackfaceCulling = oldBackfaceCulling;
- mGroundProperty = oldGp;
- }
-
- void addTriangle(const osg::Vec3& v1, const osg::Vec3& v2,
- const osg::Vec3& v3)
- {
- SGVec3d v[3] = {
- SGVec3d(v1),
- SGVec3d(v2),
- SGVec3d(v3)
- };
-
- // a bounding sphere in the node local system
- SGVec3d boundCenter = (1.0/3)*(v[0] + v[1] + v[2]);
- double boundRadius = std::max(distSqr(v[0], boundCenter),
- distSqr(v[1], boundCenter));
- boundRadius = std::max(boundRadius, distSqr(v[2], boundCenter));
- boundRadius = sqrt(boundRadius);
-
- SGRayd ray(mLocalCacheReference, mLocalDown);
-
- // if we are not in the downward cylinder bail out
- if (!intersectsInf(ray, SGSphered(boundCenter, boundRadius + mCacheRadius)))
- return;
-
- SGTriangled triangle(v);
-
- // The normal and plane in the node local coordinate system
- SGVec3d n = cross(triangle.getEdge(0), triangle.getEdge(1));
- if (0 < dot(mLocalDown, n)) {
- if (mBackfaceCulling) {
- // Surface points downwards, ignore for altitude computations.
- return;
- } else {
- triangle.flip();
- }
- }
-
- // Only check if the triangle is in the cache sphere if the plane
- // containing the triangle is near enough
- if (sphIsec) {
- double d = dot(n, v[0] - mLocalCacheReference);
- if (d*d < mCacheRadius*dot(n, n)) {
- // Check if the sphere around the vehicle intersects the sphere
- // around that triangle. If so, put that triangle into the cache.
- double r2 = boundRadius + mCacheRadius;
- if (distSqr(boundCenter, mLocalCacheReference) < r2*r2) {
- FGGroundCache::Triangle t;
- t.triangle.setBaseVertex(SGVec3d(v[0].osg()*mLocalToGlobal));
- t.triangle.setEdge(0, SGVec3d(osg::Matrixd::transform3x3(triangle.getEdge(0).osg(), mLocalToGlobal)));
- t.triangle.setEdge(1, SGVec3d(osg::Matrixd::transform3x3(triangle.getEdge(1).osg(), mLocalToGlobal)));
-
- t.sphere.setCenter(SGVec3d(boundCenter.osg()*mLocalToGlobal));
- t.sphere.setRadius(boundRadius);
-
- t.velocity = mGroundProperty.vel;
- t.rotation = mGroundProperty.rot;
- t.rotation_pivot = mGroundProperty.pivot;
- t.type = mGroundProperty.type;
- t.material = mGroundProperty.material;
- mGroundCache->triangles.push_back(t);
+ simgear::BVHSubTreeCollector::NodeList parentNodeList;
+ mSubTreeCollector.pushNodeList(parentNodeList);
+
+ traverse(group);
+ addBoundingVolume(group);
+
+ mSubTreeCollector.popNodeList(parentNodeList);
+ }
+
+ virtual void apply(osg::Transform& transform)
+ { handleTransform(transform); }
+ virtual void apply(osg::Camera& camera)
+ {
+ if (camera.getRenderOrder() != osg::Camera::NESTED_RENDER)
+ return;
+ handleTransform(camera);
+ }
+ virtual void apply(osg::CameraView& transform)
+ { handleTransform(transform); }
+ virtual void apply(osg::MatrixTransform& transform)
+ { handleTransform(transform); }
+ virtual void apply(osg::PositionAttitudeTransform& transform)
+ { handleTransform(transform); }
+
+ void handleTransform(osg::Transform& transform)
+ {
+ // Hmm, may be this needs to be refined somehow ...
+ if (transform.getReferenceFrame() != osg::Transform::RELATIVE_RF)
+ return;
+
+ if (!testBoundingSphere(transform.getBound()))
+ return;
+
+ osg::Matrix inverseMatrix;
+ if (!transform.computeWorldToLocalMatrix(inverseMatrix, this))
+ return;
+ osg::Matrix matrix;
+ if (!transform.computeLocalToWorldMatrix(matrix, this))
+ return;
+
+ // Look for a velocity note
+ const SGSceneUserData::Velocity* velocity = getVelocity(transform);
+
+ SGVec3d center = _center;
+ SGVec3d down = _down;
+ double radius = _radius;
+ bool haveHit = _haveHit;
+ const SGMaterial* material = _material;
+
+ _haveHit = false;
+ _center = toSG(inverseMatrix.preMult(toOsg(_center)));
+ _down = toSG(osg::Matrix::transform3x3(toOsg(_down), inverseMatrix));
+ if (velocity) {
+ SGVec3d staticCenter(_center);
+
+ double dtStart = velocity->referenceTime - _startTime;
+ SGVec3d startCenter = staticCenter + dtStart*velocity->linear;
+ SGQuatd startOr(SGQuatd::fromAngleAxis(dtStart*velocity->angular));
+ startCenter = startOr.transform(startCenter);
+
+ double dtEnd = velocity->referenceTime - _endTime;
+ SGVec3d endCenter = staticCenter + dtEnd*velocity->linear;
+ SGQuatd endOr(SGQuatd::fromAngleAxis(dtEnd*velocity->angular));
+ endCenter = endOr.transform(endCenter);
+
+ _center = 0.5*(startCenter + endCenter);
+ _down = startOr.transform(_down);
+ _radius += 0.5*dist(startCenter, endCenter);
+ }
+
+ simgear::BVHSubTreeCollector::NodeList parentNodeList;
+ mSubTreeCollector.pushNodeList(parentNodeList);
+
+ addBoundingVolume(transform);
+ traverse(transform);
+
+ if (mSubTreeCollector.haveChildren()) {
+ if (velocity) {
+ simgear::BVHMotionTransform* bvhTransform;
+ bvhTransform = new simgear::BVHMotionTransform;
+ bvhTransform->setToWorldTransform(SGMatrixd(matrix.ptr()));
+ bvhTransform->setLinearVelocity(velocity->linear);
+ bvhTransform->setAngularVelocity(velocity->angular);
+ bvhTransform->setReferenceTime(velocity->referenceTime);
+ bvhTransform->setStartTime(_startTime);
+ bvhTransform->setEndTime(_endTime);
+ bvhTransform->setId(velocity->id);
+
+ mSubTreeCollector.popNodeList(parentNodeList, bvhTransform);
+ } else {
+ simgear::BVHTransform* bvhTransform;
+ bvhTransform = new simgear::BVHTransform;
+ bvhTransform->setToWorldTransform(SGMatrixd(matrix.ptr()));
+
+ mSubTreeCollector.popNodeList(parentNodeList, bvhTransform);
+ }
+ } else {
+ mSubTreeCollector.popNodeList(parentNodeList);
}
- }
- }
-
- // In case the cache is empty, we still provide agl computations.
- // But then we use the old way of having a fixed elevation value for
- // the whole lifetime of this cache.
- SGVec3d isectpoint;
- if (intersects(isectpoint, triangle, ray, 1e-4)) {
- mGroundCache->found_ground = true;
- isectpoint.osg() = isectpoint.osg()*mLocalToGlobal;
- double this_radius = length(isectpoint);
- if (mGroundCache->ground_radius < this_radius) {
- mGroundCache->ground_radius = this_radius;
- mGroundCache->_type = mGroundProperty.type;
- mGroundCache->_material = mGroundProperty.material;
- }
- }
- }
-
- void addLine(const osg::Vec3& v1, const osg::Vec3& v2)
- {
- SGVec3d gv1(osg::Vec3d(v1)*mLocalToGlobal);
- SGVec3d gv2(osg::Vec3d(v2)*mLocalToGlobal);
-
- SGVec3d boundCenter = 0.5*(gv1 + gv2);
- double boundRadius = length(gv1 - boundCenter);
-
- if (distSqr(boundCenter, mCacheReference)
- < (boundRadius + mWireCacheRadius)*(boundRadius + mWireCacheRadius) ) {
- if (mGroundProperty.type == FGInterface::Wire) {
- FGGroundCache::Wire wire;
- wire.ends[0] = gv1;
- wire.ends[1] = gv2;
- wire.velocity = mGroundProperty.vel;
- wire.rotation = mGroundProperty.rot;
- wire.rotation_pivot = mGroundProperty.pivot;
- wire.wire_id = mGroundProperty.wire_id;
-
- mGroundCache->wires.push_back(wire);
- }
- if (mGroundProperty.type == FGInterface::Catapult) {
- FGGroundCache::Catapult cat;
- // Trick to get the ends in the right order.
- // Use the x axis in the original coordinate system. Choose the
- // most negative x-axis as the one pointing forward
- if (v1[0] > v2[0]) {
- cat.start = gv1;
- cat.end = gv2;
+
+ if (_haveHit) {
+ if (velocity) {
+ double dt = _startTime - velocity->referenceTime;
+ SGQuatd ori(SGQuatd::fromAngleAxis(dt*velocity->angular));
+ _sceneryHit = ori.transform(_sceneryHit);
+ _sceneryHit += dt*velocity->linear;
+ }
+ _sceneryHit = toSG(matrix.preMult(toOsg(_sceneryHit)));
} else {
- cat.start = gv2;
- cat.end = gv1;
+ _material = material;
+ _haveHit = haveHit;
}
- cat.velocity = mGroundProperty.vel;
- cat.rotation = mGroundProperty.rot;
- cat.rotation_pivot = mGroundProperty.pivot;
-
- mGroundCache->catapults.push_back(cat);
- }
- }
- }
-
- SGExtendedTriangleFunctor<GroundCacheFill> mTriangleFunctor;
- FGGroundCache* mGroundCache;
- SGVec3d mCacheReference;
- double mCacheRadius;
- double mWireCacheRadius;
- osg::Matrix mLocalToGlobal;
- osg::Matrix mGlobalToLocal;
- SGVec3d mDown;
- SGVec3d mLocalDown;
- SGVec3d mLocalCacheReference;
- bool sphIsec;
- bool mBackfaceCulling;
- FGGroundCache::GroundProperty mGroundProperty;
+
+ _center = center;
+ _down = down;
+ _radius = radius;
+ }
+
+ const SGSceneUserData::Velocity* getVelocity(osg::Node& node)
+ {
+ SGSceneUserData* userData = SGSceneUserData::getSceneUserData(&node);
+ if (!userData)
+ return 0;
+ return userData->getVelocity();
+ }
+ simgear::BVHNode* getNodeBoundingVolume(osg::Node& node)
+ {
+ SGSceneUserData* userData = SGSceneUserData::getSceneUserData(&node);
+ if (!userData)
+ return 0;
+ return userData->getBVHNode();
+ }
+ void addBoundingVolume(osg::Node& node)
+ {
+ simgear::BVHNode* bvNode = getNodeBoundingVolume(node);
+ if (!bvNode)
+ return;
+
+ // Find a croase ground intersection
+ SGLineSegmentd line(_center + _radius*_down, _center + _maxDown*_down);
+ simgear::BVHLineSegmentVisitor lineSegmentVisitor(line, _startTime);
+ bvNode->accept(lineSegmentVisitor);
+ if (!lineSegmentVisitor.empty()) {
+ _sceneryHit = lineSegmentVisitor.getPoint();
+ _material = lineSegmentVisitor.getMaterial();
+ _maxDown = SGMiscd::max(_radius, dot(_down, _sceneryHit - _center));
+ _haveHit = true;
+ }
+
+ // Get that part of the local bv tree that intersects our sphere
+ // of interrest.
+ mSubTreeCollector.setSphere(SGSphered(_center, _radius));
+ bvNode->accept(mSubTreeCollector);
+ }
+
+ bool testBoundingSphere(const osg::BoundingSphere& bound) const
+ {
+ if (!bound.valid())
+ return false;
+
+ SGLineSegmentd downSeg(_center, _center + _maxDown*_down);
+ double maxDist = bound._radius + _radius;
+ SGVec3d boundCenter(toVec3d(toSG(bound._center)));
+ return distSqr(downSeg, boundCenter) <= maxDist*maxDist;
+ }
+
+ SGSharedPtr<simgear::BVHNode> getBVHNode() const
+ { return mSubTreeCollector.getNode(); }
+
+ bool getHaveElevationBelowCache() const
+ { return _haveHit; }
+ double getElevationBelowCache() const
+ { return SGGeod::fromCart(_sceneryHit).getElevationM(); }
+ const SGMaterial* getMaterialBelowCache() const
+ { return _material; }
+
+private:
+ SGVec3d _center;
+ SGVec3d _down;
+ double _radius;
+ double _startTime;
+ double _endTime;
+
+ simgear::BVHSubTreeCollector mSubTreeCollector;
+ SGVec3d _sceneryHit;
+ double _maxDown;
+ const SGMaterial* _material;
+ bool _haveHit;
};
FGGroundCache::FGGroundCache() :
- ground_radius(0.0),
- _type(0),
- _material(0),
- cache_ref_time(0.0),
- wire_id(0),
- reference_wgs84_point(SGVec3d(0, 0, 0)),
- reference_vehicle_radius(0.0),
- down(0.0, 0.0, 0.0),
- found_ground(false)
+ _altitude(0),
+ _material(0),
+ cache_ref_time(0),
+ cache_time_offset(0),
+ _wire(0),
+ reference_wgs84_point(SGVec3d(0, 0, 0)),
+ reference_vehicle_radius(0),
+ down(0.0, 0.0, 0.0),
+ found_ground(false)
{
+#ifdef GROUNDCACHE_DEBUG
+ _lookupTime = SGTimeStamp::fromSec(0.0);
+ _lookupCount = 0;
+ _buildTime = SGTimeStamp::fromSec(0.0);
+ _buildCount = 0;
+#endif
}
FGGroundCache::~FGGroundCache()
{
}
-inline void
-FGGroundCache::velocityTransformTriangle(double dt,
- SGTriangled& dst, SGSphered& sdst,
- const FGGroundCache::Triangle& src)
+bool
+FGGroundCache::prepare_ground_cache(double startSimTime, double endSimTime,
+ const SGVec3d& pt, double rad)
{
- dst = src.triangle;
- sdst = src.sphere;
-
- if (dt*dt*dot(src.velocity, src.velocity) < SGLimitsd::epsilon())
- return;
-
- SGVec3d baseVert = dst.getBaseVertex();
- SGVec3d pivotoff = baseVert - src.rotation_pivot;
- baseVert += dt*(src.velocity + cross(src.rotation, pivotoff));
- dst.setBaseVertex(baseVert);
- dst.setEdge(0, dst.getEdge(0) + dt*cross(src.rotation, dst.getEdge(0)));
- dst.setEdge(1, dst.getEdge(1) + dt*cross(src.rotation, dst.getEdge(1)));
-}
+#ifdef GROUNDCACHE_DEBUG
+ SGTimeStamp t0 = SGTimeStamp::now();
+#endif
+
+ // Empty cache.
+ found_ground = false;
+ SGGeod geodPt = SGGeod::fromCart(pt);
+ // Don't blow away the cache ground_radius and stuff if there's no
+ // scenery
+ if (!globals->get_tile_mgr()->schedule_scenery(geodPt, rad, 1.0)) {
+ SG_LOG(SG_FLIGHT, SG_WARN, "prepare_ground_cache(): scenery_available "
+ "returns false at " << geodPt << " " << pt << " " << rad);
+ return false;
+ }
+ _material = 0;
+
+ // If we have an active wire, get some more area into the groundcache
+ if (_wire)
+ rad = SGMiscd::max(200, rad);
+
+ // Store the parameters we used to build up that cache.
+ reference_wgs84_point = pt;
+ reference_vehicle_radius = rad;
+ // Store the time reference used to compute movements of moving triangles.
+ cache_ref_time = startSimTime;
+
+ // Get a normalized down vector valid for the whole cache
+ SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
+ down = hlToEc.rotate(SGVec3d(0, 0, 1));
+
+ // Get the ground cache, that is a local collision tree of the environment
+ startSimTime += cache_time_offset;
+ endSimTime += cache_time_offset;
+ CacheFill subtreeCollector(pt, down, rad, startSimTime, endSimTime);
+ globals->get_scenery()->get_scene_graph()->accept(subtreeCollector);
+ _localBvhTree = subtreeCollector.getBVHNode();
+
+ if (subtreeCollector.getHaveElevationBelowCache()) {
+ // Use the altitude value below the cache that we gathered during
+ // cache collection
+ _altitude = subtreeCollector.getElevationBelowCache();
+ _material = subtreeCollector.getMaterialBelowCache();
+ found_ground = true;
+ } else if (_localBvhTree) {
+ // We have nothing below us, so try starting with the lowest point
+ // upwards for a croase altitude value
+ SGLineSegmentd line(pt + reference_vehicle_radius*down, pt - 1e3*down);
+ simgear::BVHLineSegmentVisitor lineSegmentVisitor(line, startSimTime);
+ _localBvhTree->accept(lineSegmentVisitor);
+
+ if (!lineSegmentVisitor.empty()) {
+ SGGeod geodPt = SGGeod::fromCart(lineSegmentVisitor.getPoint());
+ _altitude = geodPt.getElevationM();
+ _material = lineSegmentVisitor.getMaterial();
+ found_ground = true;
+ }
+ }
+
+ if (!found_ground) {
+ // Ok, still nothing here?? Last resort ...
+ double alt = 0;
+ found_ground = globals->get_scenery()->
+ get_elevation_m(SGGeod::fromGeodM(geodPt, 10000), alt, &_material);
+ if (found_ground)
+ _altitude = alt;
+ }
+
+ // Still not sucessful??
+ if (!found_ground)
+ SG_LOG(SG_FLIGHT, SG_WARN, "prepare_ground_cache(): trying to build "
+ "cache without any scenery below the aircraft");
+
+#ifdef GROUNDCACHE_DEBUG
+ t0 = SGTimeStamp::now() - t0;
+ _buildTime += t0;
+ _buildCount++;
+
+ if (_buildCount > 60) {
+ double buildTime = 0;
+ if (_buildCount)
+ buildTime = _buildTime.toSecs()/_buildCount;
+ double lookupTime = 0;
+ if (_lookupCount)
+ lookupTime = _lookupTime.toSecs()/_lookupCount;
+ _buildTime = SGTimeStamp::fromSec(0.0);
+ _buildCount = 0;
+ _lookupTime = SGTimeStamp::fromSec(0.0);
+ _lookupCount = 0;
+ SG_LOG(SG_FLIGHT, SG_ALERT, "build time = " << buildTime
+ << ", lookup Time = " << lookupTime);
+ }
+
+ if (!_group.valid()) {
+ _group = new osg::Group;
+ globals->get_scenery()->get_scene_graph()->addChild(_group);
+ fgSetInt("/fdm/groundcache-debug-level", -3);
+ }
+ _group->removeChildren(0, _group->getNumChildren());
+ if (_localBvhTree) {
+ int level = fgGetInt("/fdm/groundcache-debug-level");
+ if (-2 <= level) {
+ simgear::BVHDebugCollectVisitor debug(endSimTime, level);
+ _localBvhTree->accept(debug);
+ _group->addChild(debug.getNode());
+ }
+ }
+#endif
+
+ return found_ground;
+}
bool
-FGGroundCache::prepare_ground_cache(double ref_time, const SGVec3d& pt,
- double rad)
+FGGroundCache::is_valid(double& ref_time, SGVec3d& pt, double& rad)
{
- // Empty cache.
- found_ground = false;
- SGGeod geodPt = SGGeod::fromCart(pt);
- // Don't blow away the cache ground_radius and stuff if there's no
- // scenery
- if (!globals->get_tile_mgr()->scenery_available(geodPt.getLatitudeDeg(),
- geodPt.getLongitudeDeg(),
- rad))
- return false;
- ground_radius = 0.0;
- triangles.resize(0);
- catapults.resize(0);
- wires.resize(0);
-
- // Store the parameters we used to build up that cache.
- reference_wgs84_point = pt;
- reference_vehicle_radius = rad;
- // Store the time reference used to compute movements of moving triangles.
- cache_ref_time = ref_time;
-
- // Get a normalized down vector valid for the whole cache
- SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
- down = hlToEc.rotate(SGVec3d(0, 0, 1));
-
- // Prepare sphere around the aircraft.
- double cacheRadius = rad;
-
- // Prepare bigger sphere around the aircraft.
- // This one is required for reliably finding wires we have caught but
- // have already left the hopefully smaller sphere for the ground reactions.
- const double max_wire_dist = 300.0;
- double wireCacheRadius = max_wire_dist < rad ? rad : max_wire_dist;
-
- // Walk the scene graph and extract solid ground triangles and carrier data.
- GroundCacheFillVisitor gcfv(this, down, pt, cacheRadius, wireCacheRadius);
- globals->get_scenery()->get_scene_graph()->accept(gcfv);
-
- // some stats
- SG_LOG(SG_FLIGHT,SG_DEBUG, "prepare_ground_cache(): ac radius = " << rad
- << ", # triangles = " << triangles.size()
- << ", # wires = " << wires.size()
- << ", # catapults = " << catapults.size()
- << ", ground_radius = " << ground_radius );
-
- // If the ground radius is still below 5e6 meters, then we do not yet have
- // any scenery.
- found_ground = found_ground && 5e6 < ground_radius;
- if (!found_ground)
- SG_LOG(SG_FLIGHT, SG_WARN, "prepare_ground_cache(): trying to build cache "
- "without any scenery below the aircraft" );
-
- return found_ground;
+ pt = reference_wgs84_point;
+ rad = reference_vehicle_radius;
+ ref_time = cache_ref_time;
+ return found_ground;
}
+class FGGroundCache::BodyFinder : public BVHVisitor {
+public:
+ BodyFinder(BVHNode::Id id, const double& t) :
+ _id(id),
+ _bodyToWorld(SGMatrixd::unit()),
+ _linearVelocity(0, 0, 0),
+ _angularVelocity(0, 0, 0),
+ _time(t)
+ { }
+
+ virtual void apply(BVHGroup& leaf)
+ {
+ if (_foundId)
+ return;
+ leaf.traverse(*this);
+ }
+ virtual void apply(BVHTransform& transform)
+ {
+ if (_foundId)
+ return;
+
+ transform.traverse(*this);
+
+ if (_foundId) {
+ _linearVelocity = transform.vecToWorld(_linearVelocity);
+ _angularVelocity = transform.vecToWorld(_angularVelocity);
+ _bodyToWorld = transform.getToWorldTransform()*_bodyToWorld;
+ }
+ }
+ virtual void apply(BVHMotionTransform& transform)
+ {
+ if (_foundId)
+ return;
+
+ if (_id == transform.getId()) {
+ _foundId = true;
+ } else {
+ transform.traverse(*this);
+ }
+
+ if (_foundId) {
+ SGMatrixd toWorld = transform.getToWorldTransform(_time);
+ SGVec3d referencePoint = _bodyToWorld.xformPt(SGVec3d::zeros());
+ _linearVelocity += transform.getLinearVelocityAt(referencePoint);
+ _angularVelocity += transform.getAngularVelocity();
+ _linearVelocity = toWorld.xformVec(_linearVelocity);
+ _angularVelocity = toWorld.xformVec(_angularVelocity);
+ _bodyToWorld = toWorld*_bodyToWorld;
+ }
+ }
+ virtual void apply(BVHLineGeometry& node) { }
+ virtual void apply(BVHStaticGeometry& node) { }
+
+ virtual void apply(const BVHStaticBinary&, const BVHStaticData&) { }
+ virtual void apply(const BVHStaticTriangle&, const BVHStaticData&) { }
+
+ const SGMatrixd& getBodyToWorld() const
+ { return _bodyToWorld; }
+ const SGVec3d& getLinearVelocity() const
+ { return _linearVelocity; }
+ const SGVec3d& getAngularVelocity() const
+ { return _angularVelocity; }
+
+ bool empty() const
+ { return !_foundId; }
+
+protected:
+ simgear::BVHNode::Id _id;
+
+ SGMatrixd _bodyToWorld;
+
+ SGVec3d _linearVelocity;
+ SGVec3d _angularVelocity;
+
+ bool _foundId;
+
+ double _time;
+};
+
bool
-FGGroundCache::is_valid(double& ref_time, SGVec3d& pt, double& rad)
+FGGroundCache::get_body(double t, SGMatrixd& bodyToWorld, SGVec3d& linearVel,
+ SGVec3d& angularVel, simgear::BVHNode::Id id)
{
- pt = reference_wgs84_point;
- rad = reference_vehicle_radius;
- ref_time = cache_ref_time;
- return found_ground;
+ // Get the transform matrix and velocities of a moving body with id at t.
+ if (!_localBvhTree)
+ return false;
+ t += cache_time_offset;
+ BodyFinder bodyFinder(id, t);
+ _localBvhTree->accept(bodyFinder);
+ if (bodyFinder.empty())
+ return false;
+
+ bodyToWorld = bodyFinder.getBodyToWorld();
+ linearVel = bodyFinder.getLinearVelocity();
+ angularVel = bodyFinder.getAngularVelocity();
+
+ return true;
}
+class FGGroundCache::CatapultFinder : public BVHVisitor {
+public:
+ CatapultFinder(const SGSphered& sphere, const double& t) :
+ _haveLineSegment(false),
+ _sphere(sphere),
+ _time(t)
+ { }
+
+ virtual void apply(BVHGroup& leaf)
+ {
+ if (!intersects(_sphere, leaf.getBoundingSphere()))
+ return;
+ leaf.traverse(*this);
+ }
+ virtual void apply(BVHTransform& transform)
+ {
+ if (!intersects(_sphere, transform.getBoundingSphere()))
+ return;
+
+ SGSphered sphere = _sphere;
+ _sphere = transform.sphereToLocal(sphere);
+ bool haveLineSegment = _haveLineSegment;
+ _haveLineSegment = false;
+
+ transform.traverse(*this);
+
+ if (_haveLineSegment) {
+ _lineSegment = transform.lineSegmentToWorld(_lineSegment);
+ _linearVelocity = transform.vecToWorld(_linearVelocity);
+ _angularVelocity = transform.vecToWorld(_angularVelocity);
+ }
+ _haveLineSegment |= haveLineSegment;
+ _sphere.setCenter(sphere.getCenter());
+ }
+ virtual void apply(BVHMotionTransform& transform)
+ {
+ if (!intersects(_sphere, transform.getBoundingSphere()))
+ return;
+
+ SGSphered sphere = _sphere;
+ _sphere = transform.sphereToLocal(sphere, _time);
+ bool haveLineSegment = _haveLineSegment;
+ _haveLineSegment = false;
+
+ transform.traverse(*this);
+
+ if (_haveLineSegment) {
+ SGMatrixd toWorld = transform.getToWorldTransform(_time);
+ _linearVelocity
+ += transform.getLinearVelocityAt(_lineSegment.getStart());
+ _angularVelocity += transform.getAngularVelocity();
+ _linearVelocity = toWorld.xformVec(_linearVelocity);
+ _angularVelocity = toWorld.xformVec(_angularVelocity);
+ _lineSegment = _lineSegment.transform(toWorld);
+ }
+ _haveLineSegment |= haveLineSegment;
+ _sphere.setCenter(sphere.getCenter());
+ }
+ virtual void apply(BVHLineGeometry& node)
+ {
+ if (node.getType() != BVHLineGeometry::CarrierCatapult)
+ return;
+
+ SGLineSegmentd lineSegment(node.getLineSegment());
+ if (!intersects(_sphere, lineSegment))
+ return;
+
+ _lineSegment = lineSegment;
+ double dist = distSqr(lineSegment, getSphere().getCenter());
+ _sphere.setRadius(sqrt(dist));
+ _linearVelocity = SGVec3d::zeros();
+ _angularVelocity = SGVec3d::zeros();
+ _haveLineSegment = true;
+ }
+ virtual void apply(BVHStaticGeometry& node)
+ { }
+
+ virtual void apply(const BVHStaticBinary&, const BVHStaticData&) { }
+ virtual void apply(const BVHStaticTriangle&, const BVHStaticData&) { }
+
+ void setSphere(const SGSphered& sphere)
+ { _sphere = sphere; }
+ const SGSphered& getSphere() const
+ { return _sphere; }
+
+ const SGLineSegmentd& getLineSegment() const
+ { return _lineSegment; }
+ const SGVec3d& getLinearVelocity() const
+ { return _linearVelocity; }
+ const SGVec3d& getAngularVelocity() const
+ { return _angularVelocity; }
+
+ bool getHaveLineSegment() const
+ { return _haveLineSegment; }
+
+protected:
+ SGLineSegmentd _lineSegment;
+ SGVec3d _linearVelocity;
+ SGVec3d _angularVelocity;
+
+ bool _haveLineSegment;
+
+ SGSphered _sphere;
+ double _time;
+};
+
double
-FGGroundCache::get_cat(double t, const SGVec3d& dpt,
+FGGroundCache::get_cat(double t, const SGVec3d& pt,
SGVec3d end[2], SGVec3d vel[2])
{
- // start with a distance of 1e10 meters...
- double dist = 1e10;
-
- // Time difference to the reference time.
- t -= cache_ref_time;
-
- size_t sz = catapults.size();
- for (size_t i = 0; i < sz; ++i) {
- SGVec3d pivotoff, rvel[2];
- pivotoff = catapults[i].start - catapults[i].rotation_pivot;
- rvel[0] = catapults[i].velocity + cross(catapults[i].rotation, pivotoff);
- pivotoff = catapults[i].end - catapults[i].rotation_pivot;
- rvel[1] = catapults[i].velocity + cross(catapults[i].rotation, pivotoff);
-
- SGVec3d thisEnd[2];
- thisEnd[0] = catapults[i].start + t*rvel[0];
- thisEnd[1] = catapults[i].end + t*rvel[1];
-
- double this_dist = distSqr(SGLineSegmentd(thisEnd[0], thisEnd[1]), dpt);
- if (this_dist < dist) {
- SG_LOG(SG_FLIGHT,SG_INFO, "Found catapult "
- << this_dist << " meters away");
- dist = this_dist;
-
- end[0] = thisEnd[0];
- end[1] = thisEnd[1];
- vel[0] = rvel[0];
- vel[1] = rvel[1];
- }
- }
+ double maxDistance = 1000;
- // At the end take the root, we only computed squared distances ...
- return sqrt(dist);
+ // Get the wire in question
+ t += cache_time_offset;
+ CatapultFinder catapultFinder(SGSphered(pt, maxDistance), t);
+ if (_localBvhTree)
+ _localBvhTree->accept(catapultFinder);
+
+ if (!catapultFinder.getHaveLineSegment())
+ return maxDistance;
+
+ // prepare the returns
+ end[0] = catapultFinder.getLineSegment().getStart();
+ end[1] = catapultFinder.getLineSegment().getEnd();
+
+ // The linear velocity is the one at the start of the line segment ...
+ vel[0] = catapultFinder.getLinearVelocity();
+ // ... so the end point has the additional cross product.
+ vel[1] = catapultFinder.getLinearVelocity();
+ vel[1] += cross(catapultFinder.getAngularVelocity(),
+ catapultFinder.getLineSegment().getDirection());
+
+ // Return the distance to the cat
+ return sqrt(distSqr(catapultFinder.getLineSegment(), pt));
}
bool
-FGGroundCache::get_agl(double t, const SGVec3d& dpt, double max_altoff,
- SGVec3d& contact, SGVec3d& normal, SGVec3d& vel,
- int *type, const SGMaterial** material, double *agl)
+FGGroundCache::get_agl(double t, const SGVec3d& pt, SGVec3d& contact,
+ SGVec3d& normal, SGVec3d& linearVel, SGVec3d& angularVel,
+ simgear::BVHNode::Id& id, const SGMaterial*& material)
{
- bool ret = false;
-
- *type = FGInterface::Unknown;
-// *agl = 0.0;
- if (material)
- *material = 0;
- vel = SGVec3d(0, 0, 0);
- contact = SGVec3d(0, 0, 0);
- normal = SGVec3d(0, 0, 0);
-
- // Time difference to th reference time.
- t -= cache_ref_time;
-
- // The double valued point we start to search for intersection.
- SGVec3d pt = dpt;
- // shift the start of our ray by maxaltoff upwards
- SGRayd ray(pt - max_altoff*down, down);
-
- // Initialize to something sensible
- double current_radius = 0.0;
-
- size_t sz = triangles.size();
- for (size_t i = 0; i < sz; ++i) {
- SGSphered sphere;
- SGTriangled triangle;
- velocityTransformTriangle(t, triangle, sphere, triangles[i]);
- if (!intersectsInf(ray, sphere))
- continue;
-
- // Check for intersection.
- SGVec3d isecpoint;
- if (intersects(isecpoint, triangle, ray, 1e-4)) {
- // Compute the vector from pt to the intersection point ...
- SGVec3d off = isecpoint - pt;
- // ... and check if it is too high or not
-
- // compute the radius, good enough approximation to take the geocentric radius
- double radius = dot(isecpoint, isecpoint);
- if (current_radius < radius) {
- current_radius = radius;
- ret = true;
- // Save the new potential intersection point.
- contact = isecpoint;
- // The first three values in the vector are the plane normal.
- normal = triangle.getNormal();
- // The velocity wrt earth.
- SGVec3d pivotoff = pt - triangles[i].rotation_pivot;
- vel = triangles[i].velocity + cross(triangles[i].rotation, pivotoff);
- // Save the ground type.
- *type = triangles[i].type;
- *agl = dot(down, contact - dpt);
- if (material)
- *material = triangles[i].material;
- }
- }
- }
-
- if (ret)
- return true;
+#ifdef GROUNDCACHE_DEBUG
+ SGTimeStamp t0 = SGTimeStamp::now();
+#endif
+
+ // Just set up a ground intersection query for the given point
+ SGLineSegmentd line(pt, pt + 10*reference_vehicle_radius*down);
+ t += cache_time_offset;
+ simgear::BVHLineSegmentVisitor lineSegmentVisitor(line, t);
+ if (_localBvhTree)
+ _localBvhTree->accept(lineSegmentVisitor);
+
+#ifdef GROUNDCACHE_DEBUG
+ t0 = SGTimeStamp::now() - t0;
+ _lookupTime += t0;
+ _lookupCount++;
+#endif
- // Whenever we did not have a ground triangle for the requested point,
- // take the ground level we found during the current cache build.
- // This is as good as what we had before for agl.
- double r = length(dpt);
- contact = dpt;
- contact *= ground_radius/r;
- normal = -down;
- vel = SGVec3d(0, 0, 0);
-
- // The altitude is the distance of the requested point from the
- // contact point.
- *agl = dot(down, contact - dpt);
- *type = _type;
- if (material)
- *material = _material;
-
- return ret;
+ if (!lineSegmentVisitor.empty()) {
+ // Have an intersection
+ contact = lineSegmentVisitor.getPoint();
+ normal = lineSegmentVisitor.getNormal();
+ if (0 < dot(normal, down))
+ normal = -normal;
+ linearVel = lineSegmentVisitor.getLinearVelocity();
+ angularVel = lineSegmentVisitor.getAngularVelocity();
+ material = lineSegmentVisitor.getMaterial();
+ id = lineSegmentVisitor.getId();
+
+ return true;
+ } else {
+ // Whenever we did not have a ground triangle for the requested point,
+ // take the ground level we found during the current cache build.
+ // This is as good as what we had before for agl.
+ SGGeod geodPt = SGGeod::fromCart(pt);
+ geodPt.setElevationM(_altitude);
+ contact = SGVec3d::fromGeod(geodPt);
+ normal = -down;
+ linearVel = SGVec3d(0, 0, 0);
+ angularVel = SGVec3d(0, 0, 0);
+ material = _material;
+ id = 0;
+
+ return found_ground;
+ }
}
-bool FGGroundCache::caught_wire(double t, const SGVec3d pt[4])
+
+bool
+FGGroundCache::get_nearest(double t, const SGVec3d& pt, double maxDist,
+ SGVec3d& contact, SGVec3d& linearVel,
+ SGVec3d& angularVel, simgear::BVHNode::Id& id,
+ const SGMaterial*& material)
{
- size_t sz = wires.size();
- if (sz == 0)
- return false;
-
- // Time difference to the reference time.
- t -= cache_ref_time;
-
- // Build the two triangles spanning the area where the hook has moved
- // during the past step.
- SGTriangled triangle[2];
- triangle[0].set(pt[0], pt[1], pt[2]);
- triangle[1].set(pt[0], pt[2], pt[3]);
-
- // Intersect the wire lines with each of these triangles.
- // You have caught a wire if they intersect.
- for (size_t i = 0; i < sz; ++i) {
- SGVec3d le[2];
- for (int k = 0; k < 2; ++k) {
- le[k] = wires[i].ends[k];
- SGVec3d pivotoff = le[k] - wires[i].rotation_pivot;
- SGVec3d vel = wires[i].velocity + cross(wires[i].rotation, pivotoff);
- le[k] += t*vel;
- }
- SGLineSegmentd lineSegment(le[0], le[1]);
-
- for (int k=0; k<2; ++k) {
- if (intersects(triangle[k], lineSegment)) {
- SG_LOG(SG_FLIGHT,SG_INFO, "Caught wire");
- // Store the wire id.
- wire_id = wires[i].wire_id;
- return true;
- }
+ if (!_localBvhTree)
+ return false;
+
+#ifdef GROUNDCACHE_DEBUG
+ SGTimeStamp t0 = SGTimeStamp::now();
+#endif
+
+ // Just set up a ground intersection query for the given point
+ SGSphered sphere(pt, maxDist);
+ t += cache_time_offset;
+ simgear::BVHNearestPointVisitor nearestPointVisitor(sphere, t);
+ _localBvhTree->accept(nearestPointVisitor);
+
+#ifdef GROUNDCACHE_DEBUG
+ t0 = SGTimeStamp::now() - t0;
+ _lookupTime += t0;
+ _lookupCount++;
+#endif
+
+ if (nearestPointVisitor.empty())
+ return false;
+
+ // Have geometry in the range of maxDist
+ contact = nearestPointVisitor.getPoint();
+ linearVel = nearestPointVisitor.getLinearVelocity();
+ angularVel = nearestPointVisitor.getAngularVelocity();
+ material = nearestPointVisitor.getMaterial();
+ id = nearestPointVisitor.getId();
+
+ return true;
+}
+
+
+class FGGroundCache::WireIntersector : public BVHVisitor {
+public:
+ WireIntersector(const SGVec3d pt[4], const double& t) :
+ _linearVelocity(SGVec3d::zeros()),
+ _angularVelocity(SGVec3d::zeros()),
+ _wire(0),
+ _time(t)
+ {
+ // Build the two triangles spanning the area where the hook has moved
+ // during the past step.
+ _triangles[0].set(pt[0], pt[1], pt[2]);
+ _triangles[1].set(pt[0], pt[2], pt[3]);
+ }
+
+ virtual void apply(BVHGroup& leaf)
+ {
+ if (!_intersects(leaf.getBoundingSphere()))
+ return;
+
+ leaf.traverse(*this);
+ }
+ virtual void apply(BVHTransform& transform)
+ {
+ if (!_intersects(transform.getBoundingSphere()))
+ return;
+
+ SGTriangled triangles[2] = { _triangles[0], _triangles[1] };
+ _triangles[0] = triangles[0].transform(transform.getToLocalTransform());
+ _triangles[1] = triangles[1].transform(transform.getToLocalTransform());
+
+ transform.traverse(*this);
+
+ if (_wire) {
+ _lineSegment = transform.lineSegmentToWorld(_lineSegment);
+ _linearVelocity = transform.vecToWorld(_linearVelocity);
+ _angularVelocity = transform.vecToWorld(_angularVelocity);
+ }
+ _triangles[0] = triangles[0];
+ _triangles[1] = triangles[1];
}
- }
+ virtual void apply(BVHMotionTransform& transform)
+ {
+ if (!_intersects(transform.getBoundingSphere()))
+ return;
+
+ SGMatrixd toLocal = transform.getToLocalTransform(_time);
- return false;
+ SGTriangled triangles[2] = { _triangles[0], _triangles[1] };
+ _triangles[0] = triangles[0].transform(toLocal);
+ _triangles[1] = triangles[1].transform(toLocal);
+
+ transform.traverse(*this);
+
+ if (_wire) {
+ SGMatrixd toWorld = transform.getToWorldTransform(_time);
+ _linearVelocity
+ += transform.getLinearVelocityAt(_lineSegment.getStart());
+ _angularVelocity += transform.getAngularVelocity();
+ _linearVelocity = toWorld.xformVec(_linearVelocity);
+ _angularVelocity = toWorld.xformVec(_angularVelocity);
+ _lineSegment = _lineSegment.transform(toWorld);
+ }
+ _triangles[0] = triangles[0];
+ _triangles[1] = triangles[1];
+ }
+ virtual void apply(BVHLineGeometry& node)
+ {
+ if (node.getType() != BVHLineGeometry::CarrierWire)
+ return;
+ SGLineSegmentd lineSegment(node.getLineSegment());
+ if (!_intersects(lineSegment))
+ return;
+
+ _lineSegment = lineSegment;
+ _linearVelocity = SGVec3d::zeros();
+ _angularVelocity = SGVec3d::zeros();
+ _wire = &node;
+ }
+ virtual void apply(BVHStaticGeometry& node)
+ { }
+
+ virtual void apply(const BVHStaticBinary&, const BVHStaticData&) { }
+ virtual void apply(const BVHStaticTriangle&, const BVHStaticData&) { }
+
+ bool _intersects(const SGSphered& sphere) const
+ {
+ if (_wire)
+ return false;
+ if (intersects(_triangles[0], sphere))
+ return true;
+ if (intersects(_triangles[1], sphere))
+ return true;
+ return false;
+ }
+ bool _intersects(const SGLineSegmentd& lineSegment) const
+ {
+ if (_wire)
+ return false;
+ if (intersects(_triangles[0], lineSegment))
+ return true;
+ if (intersects(_triangles[1], lineSegment))
+ return true;
+ return false;
+ }
+
+ const SGLineSegmentd& getLineSegment() const
+ { return _lineSegment; }
+ const SGVec3d& getLinearVelocity() const
+ { return _linearVelocity; }
+ const SGVec3d& getAngularVelocity() const
+ { return _angularVelocity; }
+
+ const BVHLineGeometry* getWire() const
+ { return _wire; }
+
+private:
+ SGLineSegmentd _lineSegment;
+ SGVec3d _linearVelocity;
+ SGVec3d _angularVelocity;
+ const BVHLineGeometry* _wire;
+
+ SGTriangled _triangles[2];
+ double _time;
+};
+
+bool FGGroundCache::caught_wire(double t, const SGVec3d pt[4])
+{
+ // Get the wire in question
+ t += cache_time_offset;
+ WireIntersector wireIntersector(pt, t);
+ if (_localBvhTree)
+ _localBvhTree->accept(wireIntersector);
+
+ _wire = wireIntersector.getWire();
+ return _wire;
}
+class FGGroundCache::WireFinder : public BVHVisitor {
+public:
+ WireFinder(const BVHLineGeometry* wire, const double& t) :
+ _wire(wire),
+ _time(t),
+ _lineSegment(SGVec3d::zeros(), SGVec3d::zeros()),
+ _linearVelocity(SGVec3d::zeros()),
+ _angularVelocity(SGVec3d::zeros()),
+ _haveLineSegment(false)
+ { }
+
+ virtual void apply(BVHGroup& leaf)
+ {
+ if (_haveLineSegment)
+ return;
+ leaf.traverse(*this);
+ }
+ virtual void apply(BVHTransform& transform)
+ {
+ if (_haveLineSegment)
+ return;
+
+ transform.traverse(*this);
+
+ if (_haveLineSegment) {
+ _linearVelocity = transform.vecToWorld(_linearVelocity);
+ _angularVelocity = transform.vecToWorld(_angularVelocity);
+ _lineSegment = transform.lineSegmentToWorld(_lineSegment);
+ }
+ }
+ virtual void apply(BVHMotionTransform& transform)
+ {
+ if (_haveLineSegment)
+ return;
+
+ transform.traverse(*this);
+
+ if (_haveLineSegment) {
+ SGMatrixd toWorld = transform.getToWorldTransform(_time);
+ _linearVelocity
+ += transform.getLinearVelocityAt(_lineSegment.getStart());
+ _angularVelocity += transform.getAngularVelocity();
+ _linearVelocity = toWorld.xformVec(_linearVelocity);
+ _angularVelocity = toWorld.xformVec(_angularVelocity);
+ _lineSegment = _lineSegment.transform(toWorld);
+ }
+ }
+ virtual void apply(BVHLineGeometry& node)
+ {
+ if (_haveLineSegment)
+ return;
+ if (_wire != &node)
+ return;
+ if (node.getType() != BVHLineGeometry::CarrierWire)
+ return;
+ _lineSegment = SGLineSegmentd(node.getLineSegment());
+ _linearVelocity = SGVec3d::zeros();
+ _angularVelocity = SGVec3d::zeros();
+ _haveLineSegment = true;
+ }
+ virtual void apply(BVHStaticGeometry&) { }
+
+ virtual void apply(const BVHStaticBinary&, const BVHStaticData&) { }
+ virtual void apply(const BVHStaticTriangle&, const BVHStaticData&) { }
+
+ const SGLineSegmentd& getLineSegment() const
+ { return _lineSegment; }
+
+ bool getHaveLineSegment() const
+ { return _haveLineSegment; }
+
+ const SGVec3d& getLinearVelocity() const
+ { return _linearVelocity; }
+ const SGVec3d& getAngularVelocity() const
+ { return _angularVelocity; }
+
+private:
+ const BVHLineGeometry* _wire;
+ double _time;
+
+ SGLineSegmentd _lineSegment;
+ SGVec3d _linearVelocity;
+ SGVec3d _angularVelocity;
+
+ bool _haveLineSegment;
+};
+
bool FGGroundCache::get_wire_ends(double t, SGVec3d end[2], SGVec3d vel[2])
{
- // Fast return if we do not have an active wire.
- if (wire_id < 0)
- return false;
-
- // Time difference to the reference time.
- t -= cache_ref_time;
-
- // Search for the wire with the matching wire id.
- size_t sz = wires.size();
- for (size_t i = 0; i < sz; ++i) {
- if (wires[i].wire_id == wire_id) {
- for (size_t k = 0; k < 2; ++k) {
- SGVec3d pivotoff = wires[i].ends[k] - wires[i].rotation_pivot;
- vel[k] = wires[i].velocity + cross(wires[i].rotation, pivotoff);
- end[k] = wires[i].ends[k] + t*vel[k];
- }
- return true;
- }
- }
-
- return false;
+ // Fast return if we do not have an active wire.
+ if (!_wire)
+ return false;
+
+ // Get the wire in question
+ t += cache_time_offset;
+ WireFinder wireFinder(_wire, t);
+ if (_localBvhTree)
+ _localBvhTree->accept(wireFinder);
+
+ if (!wireFinder.getHaveLineSegment())
+ return false;
+
+ // prepare the returns
+ end[0] = wireFinder.getLineSegment().getStart();
+ end[1] = wireFinder.getLineSegment().getEnd();
+
+ // The linear velocity is the one at the start of the line segment ...
+ vel[0] = wireFinder.getLinearVelocity();
+ // ... so the end point has the additional cross product.
+ vel[1] = wireFinder.getLinearVelocity();
+ vel[1] += cross(wireFinder.getAngularVelocity(),
+ wireFinder.getLineSegment().getDirection());
+
+ return true;
}
void FGGroundCache::release_wire(void)
{
- wire_id = -1;
+ _wire = 0;
}
projects / flightgear.git / blobdiff