#include <float.h>
-#include <plib/sg.h>
+#include <utility>
+
#include <osg/CullFace>
#include <osg/Drawable>
#include <osg/Geode>
#include <osg/Geometry>
+#include <osg/PrimitiveSet>
#include <osg/TriangleFunctor>
+#include <osgUtil/PolytopeIntersector>
+
#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/scene/util/PrimitiveUtils.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include <Main/globals.hxx>
#include "flight.hxx"
#include "groundcache.hxx"
-static inline bool
-fgdRayTriangle(SGVec3d& x, const SGVec3d& point, const SGVec3d& dir,
- const SGVec3d v[3])
-{
- double eps = 1e-4;
- // Method based on the observation that we are looking for a
- // point x that can be expressed in terms of the triangle points
- // x = p_0 + \mu_1*(p_1 - p_0) + \mu_2*(p_2 - p_0)
- // with 0 <= \mu_1, \mu_2 and \mu_1 + \mu_2 <= 1.
- // OTOH it could be expressed in terms of the ray
- // x = point + \lambda*dir
- // Now we can compute \mu_i and \lambda.
- // define
- SGVec3d d1 = v[1] - v[0];
- SGVec3d d2 = v[2] - v[0];
- SGVec3d b = point - v[0];
-
- // the vector in normal direction, but not normalized
- SGVec3d d1crossd2 = cross(d1, d2);
-
- double denom = -dot(dir, d1crossd2);
- double signDenom = copysign(1, denom);
- // return if paralell ??? FIXME what if paralell and in plane?
- // may be we are ok below than anyway??
- // if (SGMiscd::abs(denom) <= SGLimitsd::min())
- // return false;
-
- // Now \lambda would read
- // lambda = 1/denom*dot(b, d1crossd2);
- // To avoid an expensive division we multiply by |denom|
- double lambdaDenom = signDenom*dot(b, d1crossd2);
- if (lambdaDenom < 0)
- return false;
- // For line segment we would test against
- // if (1 < lambda)
- // return false;
- // with the original lambda. The multiplied test would read
- // if (absDenom < lambdaDenom)
- // return false;
-
- double absDenom = fabs(denom);
- double absDenomEps = absDenom*eps;
-
- SGVec3d bcrossr = cross(b, dir);
- // double mu1 = 1/denom*dot(d2, bcrossr);
- double mu1 = signDenom*dot(d2, bcrossr);
- if (mu1 < -absDenomEps)
- return false;
- // double mu2 = -1/denom*dot(d1, bcrossr);
- // if (mu2 < -eps)
- // return false;
- double mmu2 = signDenom*dot(d1, bcrossr);
- if (mmu2 > absDenomEps)
- return false;
-
- if (mu1 - mmu2 > absDenom + absDenomEps)
- return false;
+using namespace osg;
+using namespace osgUtil;
+using namespace simgear;
- x = point;
- // if we have survived here it could only happen with denom == 0
- // that the point is already in plane. Then return the origin ...
- if (SGLimitsd::min() < absDenom)
- x += (lambdaDenom/absDenom)*dir;
-
- return true;
-}
-
-static inline bool
-fgdPointInTriangle( const SGVec3d& point, const SGVec3d tri[3] )
+void makePolytopeShaft(Polytope& polyt, const Vec3d& refPoint,
+ const Vec3d& direction, double radius)
{
- SGVec3d dif;
-
- // Some tolerance in meters we accept a point to be outside of the triangle
- // and still return that it is inside.
- SGDfloat min, max;
- // punt if outside bouding cube
- SG_MIN_MAX3 ( min, max, tri[0][0], tri[1][0], tri[2][0] );
- if( (point[0] < min) || (point[0] > max) )
- return false;
- dif[0] = max - min;
-
- SG_MIN_MAX3 ( min, max, tri[0][1], tri[1][1], tri[2][1] );
- if( (point[1] < min) || (point[1] > max) )
- return false;
- dif[1] = max - min;
-
- SG_MIN_MAX3 ( min, max, tri[0][2], tri[1][2], tri[2][2] );
- if( (point[2] < min) || (point[2] > max) )
- return false;
- dif[2] = max - min;
-
- // drop the smallest dimension so we only have to work in 2d.
- SGDfloat min_dim = SG_MIN3 (dif[0], dif[1], dif[2]);
- SGDfloat x1, y1, x2, y2, x3, y3, rx, ry;
- if ( fabs(min_dim-dif[0]) <= DBL_EPSILON ) {
- // x is the smallest dimension
- x1 = point[1];
- y1 = point[2];
- x2 = tri[0][1];
- y2 = tri[0][2];
- x3 = tri[1][1];
- y3 = tri[1][2];
- rx = tri[2][1];
- ry = tri[2][2];
- } else if ( fabs(min_dim-dif[1]) <= DBL_EPSILON ) {
- // y is the smallest dimension
- x1 = point[0];
- y1 = point[2];
- x2 = tri[0][0];
- y2 = tri[0][2];
- x3 = tri[1][0];
- y3 = tri[1][2];
- rx = tri[2][0];
- ry = tri[2][2];
- } else if ( fabs(min_dim-dif[2]) <= DBL_EPSILON ) {
- // z is the smallest dimension
- x1 = point[0];
- y1 = point[1];
- x2 = tri[0][0];
- y2 = tri[0][1];
- x3 = tri[1][0];
- y3 = tri[1][1];
- rx = tri[2][0];
- ry = tri[2][1];
+ polyt.clear();
+ // Choose best principal axis to start making orthogonal axis.
+ Vec3d majorAxis;
+ if (fabs(direction.x()) <= fabs(direction.y())) {
+ if (fabs(direction.z()) <= fabs(direction.x()))
+ majorAxis = Vec3d(0.0, 0.0, 1.0);
+ else
+ majorAxis = Vec3d(1.0, 0.0, 0.0);
} else {
- // all dimensions are really small so lets call it close
- // enough and return a successful match
- return true;
- }
-
- // check if intersection point is on the same side of p1 <-> p2 as p3
- SGDfloat tmp = (y2 - y3);
- SGDfloat tmpn = (x2 - x3);
- int side1 = SG_SIGN (tmp * (rx - x3) + (y3 - ry) * tmpn);
- int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - y1) * tmpn);
- if ( side1 != side2 ) {
- // printf("failed side 1 check\n");
- return false;
- }
-
- // check if intersection point is on correct side of p2 <-> p3 as p1
- tmp = (y3 - ry);
- tmpn = (x3 - rx);
- side1 = SG_SIGN (tmp * (x2 - rx) + (ry - y2) * tmpn);
- side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn);
- if ( side1 != side2 ) {
- // printf("failed side 2 check\n");
- return false;
- }
-
- // check if intersection point is on correct side of p1 <-> p3 as p2
- tmp = (y2 - ry);
- tmpn = (x2 - rx);
- side1 = SG_SIGN (tmp * (x3 - rx) + (ry - y3) * tmpn);
- side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn);
- if ( side1 != side2 ) {
- // printf("failed side 3 check\n");
- return false;
+ if (fabs(direction.z()) <= fabs(direction.y()))
+ majorAxis = Vec3d(0.0, 0.0, 1.0);
+ else
+ majorAxis = Vec3d(0.0, 1.0, 0.0);
}
-
- return true;
+ Vec3d axis1 = majorAxis ^ direction;
+ axis1.normalize();
+ Vec3d axis2 = direction ^ axis1;
+
+ polyt.add(Plane(-axis1, refPoint + axis1 * radius));
+ polyt.add(Plane(axis1, refPoint - axis1 * radius));
+ polyt.add(Plane(-axis2, refPoint + axis2 * radius));
+ polyt.add(Plane(axis2 , refPoint - axis2 * radius));
}
-// Test if the line given by the point on the line pt_on_line and the
-// line direction dir intersects the sphere sp.
-// Adapted from plib.
-static inline bool
-fgdIsectSphereInfLine(const SGVec3d& sphereCenter, double radius,
- const SGVec3d& pt_on_line, const SGVec3d& dir)
+void makePolytopeBox(Polytope& polyt, const Vec3d& center,
+ const Vec3d& direction, double radius)
{
- SGVec3d r = sphereCenter - pt_on_line;
- double projectedDistance = dot(r, dir);
- double dist = dot(r, r) - projectedDistance * projectedDistance;
- return dist < radius*radius;
+ makePolytopeShaft(polyt, center, direction, radius);
+ polyt.add(Plane(-direction, center + direction * radius));
+ polyt.add(Plane(direction, center - direction * radius));
}
-template<typename T>
-class SGExtendedTriangleFunctor : public osg::TriangleFunctor<T> {
-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;
-};
+// Intersector for finding catapults and wires
-class GroundCacheFillVisitor : public osg::NodeVisitor {
+class WireIntersector : public PolytopeIntersector
+{
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 &&
- !fgdIsectSphereInfLine(cntr, bs.radius(), mCacheReference, mDown))
- return false;
- sphIsec = false;
+ WireIntersector(const Polytope& polytope)
+ : PolytopeIntersector(polytope), depth(0)
+ {
+ setDimensionMask(DimOne);
}
- 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.material = globals->get_matlib()->findMaterial(&node);
- if (gp.material) {
- gp.type = gp.material->get_solid() ? FGInterface::Solid : FGInterface::Water;
- return true;
+ bool enter(const osg::Node& node)
+ {
+ if (!PolytopeIntersector::enter(node))
+ return false;
+ const Referenced* base = node.getUserData();
+ if (base) {
+ const FGAICarrierHardware *ud
+ = dynamic_cast<const FGAICarrierHardware*>(base);
+ if (ud)
+ carriers.push_back(depth);
+ }
+ depth++;
+ return true;
}
- 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;
+ void leave()
+ {
+ depth--;
+ if (!carriers.empty() && depth == carriers.back())
+ carriers.pop_back();
}
- // 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());
-
- 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;
-
- for(unsigned i = 0; i < geode.getNumDrawables(); ++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]);
-#if 0
- double boundRadius = std::max(norm1(v[0] - boundCenter),
- norm1(v[1] - boundCenter));
- boundRadius = std::max(boundRadius, norm1(v[2] - boundCenter));
- // Ok, we take the 1-norm instead of the expensive 2 norm.
- // Therefore we need that scaling factor - roughly sqrt(3)
- boundRadius = 1.733*boundRadius;
-#else
- double boundRadius = std::max(distSqr(v[0], boundCenter),
- distSqr(v[1], boundCenter));
- boundRadius = std::max(boundRadius, distSqr(v[2], boundCenter));
- boundRadius = sqrt(boundRadius);
-#endif
-
- // if we are not in the downward cylinder bail out
- if (!fgdIsectSphereInfLine(boundCenter, boundRadius + mCacheRadius,
- mLocalCacheReference, mLocalDown))
- return;
-
-
- // The normal and plane in the node local coordinate system
- SGVec3d n = normalize(cross(v[1] - v[0], v[2] - v[0]));
- if (0 < dot(mLocalDown, n)) {
- if (mBackfaceCulling) {
- // Surface points downwards, ignore for altitude computations.
- return;
- } else {
- n = -n;
- std::swap(v[1], v[2]);
- }
+ void intersect(IntersectionVisitor& iv, Drawable* drawable)
+ {
+ if (carriers.empty())
+ return;
+ PolytopeIntersector::intersect(iv, drawable);
}
-
- // Only check if the triangle is in the cache sphere if the plane
- // containing the triangle is near enough
- if (sphIsec && fabs(dot(n, v[0] - mLocalCacheReference)) < mCacheRadius) {
- // 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;
- for (unsigned i = 0; i < 3; ++i)
- t.vertices[i].osg() = v[i].osg()*mLocalToGlobal;
- t.boundCenter.osg() = boundCenter.osg()*mLocalToGlobal;
- t.boundRadius = boundRadius;
-
- SGVec3d tmp;
- tmp.osg() = osg::Matrixd::transform3x3(n.osg(), mLocalToGlobal);
- t.plane = SGVec4d(tmp[0], tmp[1], tmp[2], -dot(tmp, t.vertices[0]));
- t.velocity = mGroundProperty.vel;
- t.rotation = mGroundProperty.rot;
- t.rotation_pivot = mGroundProperty.pivot - mGroundCache->cache_center;
- t.type = mGroundProperty.type;
- t.material = mGroundProperty.material;
- mGroundCache->triangles.push_back(t);
- }
- }
-
- // 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.
- SGVec4d plane = SGVec4d(n[0], n[1], n[2], -dot(n, v[0]));
- SGVec3d isectpoint;
-
- if (fgdRayTriangle(isectpoint, mLocalCacheReference, mLocalDown, v)) {
- mGroundCache->found_ground = true;
- isectpoint.osg() = isectpoint.osg()*mLocalToGlobal;
- isectpoint += mGroundCache->cache_center;
- 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 - mGroundCache->cache_center;
- 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;
- } else {
- cat.start = gv2;
- cat.end = gv1;
- }
- cat.velocity = mGroundProperty.vel;
- cat.rotation = mGroundProperty.rot;
- cat.rotation_pivot = mGroundProperty.pivot - mGroundCache->cache_center;
- mGroundCache->catapults.push_back(cat);
- }
+ void reset()
+ {
+ carriers.clear();
}
- }
-
- 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;
+ std::vector<int> carriers;
+ int depth;
};
-FGGroundCache::FGGroundCache()
+/// 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();
+}
+
+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)
{
- cache_center = SGVec3d(0, 0, 0);
- ground_radius = 0.0;
- cache_ref_time = 0.0;
- wire_id = 0;
- reference_wgs84_point = SGVec3d(0, 0, 0);
- reference_vehicle_radius = 0.0;
- found_ground = false;
}
FGGroundCache::~FGGroundCache()
inline void
FGGroundCache::velocityTransformTriangle(double dt,
- FGGroundCache::Triangle& dst,
+ SGTriangled& dst, SGSphered& sdst,
const FGGroundCache::Triangle& src)
{
- dst = src;
+ dst = src.triangle;
+ sdst = src.sphere;
- if (fabs(dt*dot(src.velocity, src.velocity)) < SGLimitsd::epsilon())
+ if (dt*dt*dot(src.gp.vel, src.gp.vel) < SGLimitsd::epsilon())
return;
- for (int i = 0; i < 3; ++i) {
- SGVec3d pivotoff = src.vertices[i] - src.rotation_pivot;
- dst.vertices[i] += dt*(src.velocity + cross(src.rotation, pivotoff));
- }
-
- // Transform the plane equation
- SGVec3d pivotoff, vel;
- sgdSubVec3(pivotoff.sg(), dst.plane.sg(), src.rotation_pivot.sg());
- vel = src.velocity + cross(src.rotation, pivotoff);
- dst.plane[3] += dt*sgdScalarProductVec3(dst.plane.sg(), vel.sg());
-
- dst.boundCenter += dt*src.velocity;
+ SGVec3d baseVert = dst.getBaseVertex();
+ SGVec3d pivotoff = baseVert - src.gp.pivot;
+ baseVert += dt*(src.gp.vel + cross(src.gp.rot, pivotoff));
+ dst.setBaseVertex(baseVert);
+ dst.setEdge(0, dst.getEdge(0) + dt*cross(src.gp.rot, dst.getEdge(0)));
+ dst.setEdge(1, dst.getEdge(1) + dt*cross(src.gp.rot, dst.getEdge(1)));
+}
+
+void FGGroundCache::getGroundProperty(Drawable* drawable,
+ const NodePath& nodePath,
+ FGGroundCache::GroundProperty& gp,
+ bool& backfaceCulling)
+{
+ gp.type = FGInterface::Unknown;
+ gp.wire_id = 0;
+ gp.vel = SGVec3d(0.0, 0.0, 0.0);
+ gp.rot = SGVec3d(0.0, 0.0, 0.0);
+ gp.pivot = SGVec3d(0.0, 0.0, 0.0);
+ gp.material = 0;
+ backfaceCulling = false;
+ // XXX state set might be higher up in scene graph
+ gp.material = globals->get_matlib()->findMaterial(drawable->getStateSet());
+ if (gp.material)
+ gp.type = (gp.material->get_solid() ? FGInterface::Solid
+ : FGInterface::Water);
+ for (NodePath::const_iterator iter = nodePath.begin(), e = nodePath.end();
+ iter != e;
+ ++iter) {
+ Node* node = *iter;
+ StateSet* stateSet = node->getStateSet();
+ StateAttribute* stateAttribute = 0;
+ if (stateSet && (stateAttribute
+ = stateSet->getAttribute(StateAttribute::CULLFACE))) {
+ backfaceCulling
+ = (static_cast<osg::CullFace*>(stateAttribute)->getMode()
+ == CullFace::BACK);
+ }
+
+ // get some material information for use in the gear model
+ Referenced* base = node->getUserData();
+ if (!base)
+ continue;
+ FGAICarrierHardware *ud = dynamic_cast<FGAICarrierHardware*>(base);
+ if (!ud)
+ continue;
+ 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);
+ break;
+ }
+}
+
+void FGGroundCache::getTriIntersectorResults(PolytopeIntersector* triInt)
+{
+ const PolytopeIntersector::Intersections& intersections
+ = triInt->getIntersections();
+ Drawable* lastDrawable = 0;
+ RefMatrix* lastMatrix = 0;
+ Matrix worldToLocal;
+ GroundProperty gp;
+ bool backfaceCulling = false;
+ for (PolytopeIntersector::Intersections::const_iterator
+ itr = intersections.begin(), e = intersections.end();
+ itr != e;
+ ++itr) {
+ const PolytopeIntersector::Intersection& intr = *itr;
+ if (intr.drawable.get() != lastDrawable) {
+ getGroundProperty(intr.drawable.get(), intr.nodePath, gp,
+ backfaceCulling);
+ lastDrawable = intr.drawable.get();
+ }
+ Primitive triPrim = getPrimitive(intr.drawable, intr.primitiveIndex);
+ if (triPrim.numVerts != 3)
+ continue;
+ SGVec3d v[3] = { SGVec3d(triPrim.vertices[0]),
+ SGVec3d(triPrim.vertices[1]),
+ SGVec3d(triPrim.vertices[2])
+ };
+ RefMatrix* mat = intr.matrix.get();
+ // If the drawable is the same then the intersection model
+ // matrix should be the same, because it is only set by nodes
+ // in the scene graph. However, do an extra test in case
+ // something funny is going on with the drawable.
+ if (mat != lastMatrix) {
+ lastMatrix = mat;
+ worldToLocal = Matrix::inverse(*mat);
+ }
+ SGVec3d localCacheReference;
+ localCacheReference.osg() = reference_wgs84_point.osg() * worldToLocal;
+ SGVec3d localDown;
+ localDown.osg() = Matrixd::transform3x3(down.osg(), worldToLocal);
+ // 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(localCacheReference, localDown);
+ 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(localDown, n)) {
+ if (backfaceCulling) {
+ // Surface points downwards, ignore for altitude computations.
+ continue;
+ } else {
+ triangle.flip();
+ }
+ }
+
+ // Only check if the triangle is in the cache sphere if the plane
+ // containing the triangle is near enough
+ double d = dot(n, v[0] - localCacheReference);
+ if (d*d < reference_vehicle_radius*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 + reference_vehicle_radius;
+ if (distSqr(boundCenter, localCacheReference) < r2*r2) {
+ FGGroundCache::Triangle t;
+ t.triangle.setBaseVertex(SGVec3d(v[0].osg() * *mat));
+ t.triangle.setEdge(0, SGVec3d(Matrixd::
+ transform3x3(triangle
+ .getEdge(0).osg(),
+ *mat)));
+ t.triangle.setEdge(1, SGVec3d(Matrixd::
+ transform3x3(triangle
+ .getEdge(1).osg(),
+ *mat)));
+ t.sphere.setCenter(SGVec3d(boundCenter.osg()* *mat));
+ t.sphere.setRadius(boundRadius);
+ t.gp = gp;
+ triangles.push_back(t);
+ }
+ }
+ // 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)) {
+ found_ground = true;
+ isectpoint.osg() = isectpoint.osg() * *mat;
+ double this_radius = length(isectpoint);
+ if (ground_radius < this_radius) {
+ ground_radius = this_radius;
+ _type = gp.type;
+ _material = gp.material;
+ }
+ }
+ }
+}
+
+void FGGroundCache::getWireIntersectorResults(WireIntersector* wireInt,
+ double wireCacheRadius)
+{
+ const WireIntersector::Intersections& intersections
+ = wireInt->getIntersections();
+ Drawable* lastDrawable = 0;
+ GroundProperty gp;
+ bool backfaceCulling = false;
+ for (PolytopeIntersector::Intersections::const_iterator
+ itr = intersections.begin(), e = intersections.end();
+ itr != e;
+ ++itr) {
+ if (itr->drawable.get() != lastDrawable) {
+ getGroundProperty(itr->drawable.get(), itr->nodePath, gp,
+ backfaceCulling);
+ lastDrawable = itr->drawable.get();
+ }
+ Primitive linePrim = getPrimitive(itr->drawable, itr->primitiveIndex);
+ if (linePrim.numVerts != 2)
+ continue;
+ RefMatrix* mat = itr->matrix.get();
+ SGVec3d gv1(osg::Vec3d(linePrim.vertices[0]) * *mat);
+ SGVec3d gv2(osg::Vec3d(linePrim.vertices[1]) * *mat);
+
+ SGVec3d boundCenter = 0.5*(gv1 + gv2);
+ double boundRadius = length(gv1 - boundCenter);
+
+ if (distSqr(boundCenter, reference_wgs84_point)
+ < (boundRadius + wireCacheRadius)*(boundRadius + wireCacheRadius)) {
+ if (gp.type == FGInterface::Wire) {
+ FGGroundCache::Wire wire;
+ wire.ends[0] = gv1;
+ wire.ends[1] = gv2;
+ wire.gp = gp;
+ wires.push_back(wire);
+ } else if (gp.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 (linePrim.vertices[1][0] > linePrim.vertices[2][0]) {
+ cat.start = gv1;
+ cat.end = gv2;
+ } else {
+ cat.start = gv2;
+ cat.end = gv1;
+ }
+ cat.gp = gp;
+ catapults.push_back(cat);
+ }
+ }
+
+ }
}
bool
double rad)
{
// Empty cache.
- ground_radius = 0.0;
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);
cache_ref_time = ref_time;
// Get a normalized down vector valid for the whole cache
- SGQuatd hlToEc = SGQuatd::fromLonLat(SGGeod::fromCart(pt));
+ SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
down = hlToEc.rotate(SGVec3d(0, 0, 1));
- // Decide where we put the scenery center.
- SGVec3d old_cntr = globals->get_scenery()->get_center();
- SGVec3d cntr(pt);
- // Only move the cache center if it is unacceptable far away.
- if (40*40 < distSqr(old_cntr, cntr))
- globals->get_scenery()->set_center(cntr);
- else
- cntr = old_cntr;
-
- // The center of the cache.
- cache_center = cntr;
-
// Prepare sphere around the aircraft.
- SGVec3d ptoff = pt - cache_center;
double cacheRadius = rad;
// Prepare bigger sphere around the aircraft.
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, ptoff, cacheRadius, wireCacheRadius);
- globals->get_scenery()->get_scene_graph()->accept(gcfv);
-
+ Polytope triPolytope;
+ makePolytopeShaft(triPolytope, pt.osg(), down.osg(), cacheRadius);
+ ref_ptr<PolytopeIntersector> triIntersector
+ = new PolytopeIntersector(triPolytope);
+ triIntersector->setDimensionMask(PolytopeIntersector::DimTwo);
+ Polytope wirePolytope;
+ makePolytopeBox(wirePolytope, pt.osg(), down.osg(), wireCacheRadius);
+ ref_ptr<WireIntersector> wireIntersector = new WireIntersector(wirePolytope);
+ wireIntersector->setDimensionMask(PolytopeIntersector::DimOne);
+ ref_ptr<IntersectorGroup> intersectors = new IntersectorGroup;
+ intersectors->addIntersector(triIntersector.get());
+ intersectors->addIntersector(wireIntersector.get());
+
+ // Walk the scene graph and extract solid ground triangles and
+ // carrier data.
+ IntersectionVisitor iv(intersectors);
+ iv.setTraversalMask(SG_NODEMASK_TERRAIN_BIT);
+ globals->get_scenery()->get_scene_graph()->accept(iv);
+ getTriIntersectorResults(triIntersector.get());
+ getWireIntersectorResults(wireIntersector.get(), wireCacheRadius);
+
// some stats
SG_LOG(SG_FLIGHT,SG_DEBUG, "prepare_ground_cache(): ac radius = " << rad
<< ", # triangles = " << triangles.size()
SG_LOG(SG_FLIGHT, SG_WARN, "prepare_ground_cache(): trying to build cache "
"without any scenery below the aircraft" );
- if (cntr != old_cntr)
- globals->get_scenery()->set_center(old_cntr);
-
return found_ground;
}
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);
+ pivotoff = catapults[i].start - catapults[i].gp.pivot;
+ rvel[0] = catapults[i].gp.vel + cross(catapults[i].gp.rot, pivotoff);
+ pivotoff = catapults[i].end - catapults[i].gp.pivot;
+ rvel[1] = catapults[i].gp.vel + cross(catapults[i].gp.rot, pivotoff);
SGVec3d thisEnd[2];
- thisEnd[0] = cache_center + catapults[i].start + t*rvel[0];
- thisEnd[1] = cache_center + catapults[i].end + t*rvel[1];
-
- sgdLineSegment3 ls;
- sgdCopyVec3(ls.a, thisEnd[0].sg());
- sgdCopyVec3(ls.b, thisEnd[1].sg());
- double this_dist = sgdDistSquaredToLineSegmentVec3( ls, dpt.sg() );
+ 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");
t -= cache_ref_time;
// The double valued point we start to search for intersection.
- SGVec3d pt = dpt - cache_center;
+ SGVec3d pt = dpt;
// shift the start of our ray by maxaltoff upwards
- SGVec3d raystart = pt - max_altoff*down;
+ 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) {
- Triangle triangle;
- velocityTransformTriangle(t, triangle, triangles[i]);
- if (!fgdIsectSphereInfLine(triangle.boundCenter, triangle.boundRadius, pt, down))
+ SGSphered sphere;
+ SGTriangled triangle;
+ velocityTransformTriangle(t, triangle, sphere, triangles[i]);
+ if (!intersectsInf(ray, sphere))
continue;
// Check for intersection.
SGVec3d isecpoint;
- if (fgdRayTriangle(isecpoint, raystart, down, triangle.vertices)) {
+ 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
- // Transform to the wgs system
- isecpoint += cache_center;
+
// compute the radius, good enough approximation to take the geocentric radius
double radius = dot(isecpoint, isecpoint);
if (current_radius < radius) {
// Save the new potential intersection point.
contact = isecpoint;
// The first three values in the vector are the plane normal.
- sgdCopyVec3( normal.sg(), triangle.plane.sg() );
+ normal = triangle.getNormal();
// The velocity wrt earth.
- SGVec3d pivotoff = pt - triangle.rotation_pivot;
- vel = triangle.velocity + cross(triangle.rotation, pivotoff);
+ SGVec3d pivotoff = pt - triangles[i].gp.pivot;
+ vel = triangles[i].gp.vel + cross(triangles[i].gp.rot, pivotoff);
// Save the ground type.
- *type = triangle.type;
+ *type = triangles[i].gp.type;
*agl = dot(down, contact - dpt);
if (material)
- *material = triangle.material;
+ *material = triangles[i].gp.material;
}
}
}
// Build the two triangles spanning the area where the hook has moved
// during the past step.
- SGVec4d plane[2];
- SGVec3d tri[2][3];
- sgdMakePlane( plane[0].sg(), pt[0].sg(), pt[1].sg(), pt[2].sg() );
- tri[0][0] = pt[0];
- tri[0][1] = pt[1];
- tri[0][2] = pt[2];
- sgdMakePlane( plane[1].sg(), pt[0].sg(), pt[2].sg(), pt[3].sg() );
- tri[1][0] = pt[0];
- tri[1][1] = pt[2];
- tri[1][2] = pt[3];
+ 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.
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 + cache_center;
+ SGVec3d pivotoff = le[k] - wires[i].gp.pivot;
+ SGVec3d vel = wires[i].gp.vel + cross(wires[i].gp.rot, pivotoff);
+ le[k] += t*vel;
}
+ SGLineSegmentd lineSegment(le[0], le[1]);
for (int k=0; k<2; ++k) {
- SGVec3d isecpoint;
- double isecval = sgdIsectLinesegPlane(isecpoint.sg(), le[0].sg(),
- le[1].sg(), plane[k].sg());
- if ( 0.0 <= isecval && isecval <= 1.0 &&
- fgdPointInTriangle( isecpoint, tri[k] ) ) {
+ if (intersects(triangle[k], lineSegment)) {
SG_LOG(SG_FLIGHT,SG_INFO, "Caught wire");
// Store the wire id.
- wire_id = wires[i].wire_id;
+ wire_id = wires[i].gp.wire_id;
return true;
}
}
// 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) {
+ if (wires[i].gp.wire_id == wire_id) {
for (size_t k = 0; k < 2; ++k) {
- SGVec3d pivotoff = end[k] - wires[i].rotation_pivot;
- vel[k] = wires[i].velocity + cross(wires[i].rotation, pivotoff);
- end[k] = cache_center + wires[i].ends[k] + t*vel[k];
+ SGVec3d pivotoff = wires[i].ends[k] - wires[i].gp.pivot;
+ vel[k] = wires[i].gp.vel + cross(wires[i].gp.rot, pivotoff);
+ end[k] = wires[i].ends[k] + t*vel[k];
}
return true;
}
projects / flightgear.git / blobdiff