#include <float.h>
#include <math.h>
+#include <plib/sg.h>
+#include <plib/ssg.h>
+
#include <simgear/sg_inlines.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/math/vector.hxx>
+#include <simgear/timing/timestamp.hxx>
#include <Main/globals.hxx>
#include <Main/viewer.hxx>
#include "hitlist.hxx"
-// forward declaration of our helper/convenience functions
-static void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2);
-static void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m );
-static void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center, float *radius, sgMat4 m );
+// Specialized version of sgMultMat4 needed because of mixed matrix
+// types
+static inline void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2) {
+ for ( int j = 0 ; j < 4 ; j++ ) {
+ dst[0][j] = m2[0][0] * m1[0][j] +
+ m2[0][1] * m1[1][j] +
+ m2[0][2] * m1[2][j] +
+ m2[0][3] * m1[3][j] ;
+
+ dst[1][j] = m2[1][0] * m1[0][j] +
+ m2[1][1] * m1[1][j] +
+ m2[1][2] * m1[2][j] +
+ m2[1][3] * m1[3][j] ;
+
+ dst[2][j] = m2[2][0] * m1[0][j] +
+ m2[2][1] * m1[1][j] +
+ m2[2][2] * m1[2][j] +
+ m2[2][3] * m1[3][j] ;
+
+ dst[3][j] = m2[3][0] * m1[0][j] +
+ m2[3][1] * m1[1][j] +
+ m2[3][2] * m1[2][j] +
+ m2[3][3] * m1[3][j] ;
+ }
+}
+
+
+/*
+ * Walk backwards up the tree, transforming the vertex by all the
+ * matrices along the way.
+ *
+ * Upwards recursion hurts my head.
+ */
+static void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m ) {
+ sgMat4 mat ;
+
+ // If this node has a parent - get the composite matrix for the
+ // parent.
+ if ( entity->getNumParents() > 0 )
+ ssgGetEntityTransform ( entity->getParent(0), mat ) ;
+ else
+ sgMakeIdentMat4 ( mat ) ;
+
+ // If this node has a transform - then concatenate it.
+ if ( entity -> isAKindOf ( ssgTypeTransform () ) ) {
+ sgMat4 this_mat ;
+ ((ssgTransform *) entity) -> getTransform ( this_mat ) ;
+ sgPostMultMat4 ( mat, this_mat ) ;
+ }
+
+ sgCopyMat4 ( m, mat ) ;
+}
+
+
+// return the passed entitity's bsphere's center point radius and
+// fully formed current model matrix for entity
+static inline void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center,
+ float *radius, sgMat4 m )
+{
+ sgSphere *bsphere = entity->getBSphere();
+ *radius = (double)bsphere->getRadius();
+ sgCopyVec3( center, bsphere->getCenter() );
+ sgMakeIdentMat4 ( m ) ;
+ ssgGetEntityTransform( entity, m );
+}
-// ======================
-// This is same as PLib's sgdIsectInfLinePlane()
-// and can be replaced by it after the next PLib release
-static int fgdIsectInfLinePlane( sgdVec3 dst, const sgdVec3 l_org,
- const sgdVec3 l_vec, const sgdVec4 plane )
+// This is same as PLib's sgdIsectInfLinePlane() and can be replaced
+// by it after the next PLib release
+static inline bool fgdIsectInfLinePlane( sgdVec3 dst,
+ const sgdVec3 l_org,
+ const sgdVec3 l_vec,
+ const sgdVec4 plane )
{
SGDfloat tmp = sgdScalarProductVec3 ( l_vec, plane ) ;
return true ;
}
-// ======================
-
/*
- * Given a point and a triangle lying on the same plane
- * check to see if the point is inside the triangle
+ * Given a point and a triangle lying on the same plane check to see
+ * if the point is inside the triangle
+ *
+ * This is same as PLib's sgdPointInTriangle() and can be replaced by
+ * it after the next PLib release
*/
-// This is same as PLib's sgdPointInTriangle()
-// and can be replaced by it after the next PLib release
-static bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
+static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
{
sgdVec3 dif;
return true;
}
-// ======================
-inline static int isZeroAreaTri( sgdVec3 tri[3] )
+// Check if all three vertices are the same point (or close enough)
+static inline int isZeroAreaTri( sgdVec3 tri[3] )
{
return( sgdEqualVec3(tri[0], tri[1]) ||
sgdEqualVec3(tri[1], tri[2]) ||
sgdEqualVec3(tri[2], tri[0]) );
}
+
+// Constructor
FGHitList::FGHitList() :
- last(NULL), test_dist(DBL_MAX)
+ last(NULL), test_dist(DBL_MAX)
{
}
+
+// Destructor
FGHitList::~FGHitList() {}
/*
-Find the intersection of an infinite line with a leaf
-the line being defined by a point and direction.
+Find the intersection of an infinite line with a leaf the line being
+defined by a point and direction.
Variables
In:
false otherwise
!!! WARNING !!!
-If you need an exhaustive list of hitpoints YOU MUST use
-the generic version of this function as the specialized
-versions will do an early out of expensive tests if the point
-can not be the closest one found
+
+If you need an exhaustive list of hitpoints YOU MUST use the generic
+version of this function as the specialized versions will do an early
+out of expensive tests if the point can not be the closest one found
+
!!! WARNING !!!
*/
int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
return num_hits;
}
-// ======================
+// Short circuit/slightly optimized version of the full IntersectLeaf()
int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
sgdVec3 orig, sgdVec3 dir,
GLenum primType )
sgdCopyVec3( tri[0], tri[2] );
sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) );
} else {
- sgdCopyVec3( tri[2], tri[1] );
+ sgdCopyVec3( tri[1], tri[2] );
sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) );
}
}
return num_hits;
}
-// ======================
+
+
inline static bool IN_RANGE( sgdVec3 v, double radius ) {
return ( sgdScalarProductVec3(v, v) < (radius*radius) );
}
-// ======================
+
void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m,
sgdVec3 orig, sgdVec3 dir )
{
- /* the lookat vector and matrix in branch's coordinate frame
- * but we won't determine these unless needed,
- * This 'lazy evaluation' is a result of profiling data */
+ /* the lookat vector and matrix in branch's coordinate frame but
+ * we won't determine these unless needed, This 'lazy evaluation'
+ * is a result of profiling data */
sgdVec3 orig_leaf, dir_leaf;
sgdMat4 m_leaf;
sgdXformPnt3( dir_leaf, dir, m_leaf );
first_time = 0;
}
- GLenum primType = ((ssgLeaf *)kid)->getPrimitiveType();
- IntersectLeaf( (ssgLeaf *)kid, m, orig_leaf, dir_leaf, primType );
+ // GLenum primType = ((ssgLeaf *)kid)->getPrimitiveType();
+ // IntersectLeaf( (ssgLeaf *)kid, m, orig_leaf, dir_leaf,
+ // primType );
+ IntersectLeaf( (ssgLeaf *)kid, m, orig_leaf, dir_leaf );
}
} // Out of range
} // branch not requested to be traversed
}
-
-// ======================
// a temporary hack until we get everything rewritten with sgdVec3
static inline Point3D operator + (const Point3D& a, const sgdVec3 b)
{
}
-// ======================
void FGHitList::Intersect( ssgBranch *scene, sgdVec3 orig, sgdVec3 dir ) {
sgdMat4 m;
clear();
IntersectBranch( scene, m, orig, dir );
}
-// ======================
+
void FGHitList::Intersect( ssgBranch *scene, sgdMat4 m, sgdVec3 orig, sgdVec3 dir )
{
clear();
IntersectBranch( scene, m, orig, dir );
}
-// ======================
-// Need these because of mixed matrix types
-static void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2)
-{
- for ( int j = 0 ; j < 4 ; j++ )
- {
- dst[0][j] = m2[0][0] * m1[0][j] +
- m2[0][1] * m1[1][j] +
- m2[0][2] * m1[2][j] +
- m2[0][3] * m1[3][j] ;
- dst[1][j] = m2[1][0] * m1[0][j] +
- m2[1][1] * m1[1][j] +
- m2[1][2] * m1[2][j] +
- m2[1][3] * m1[3][j] ;
-
- dst[2][j] = m2[2][0] * m1[0][j] +
- m2[2][1] * m1[1][j] +
- m2[2][2] * m1[2][j] +
- m2[2][3] * m1[3][j] ;
-
- dst[3][j] = m2[3][0] * m1[0][j] +
- m2[3][1] * m1[1][j] +
- m2[3][2] * m1[2][j] +
- m2[3][3] * m1[3][j] ;
- }
-}
-
-// ======================
-static void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m )
-{
- /*
- Walk backwards up the tree, transforming the
- vertex by all the matrices along the way.
-
- Upwards recursion hurts my head.
- */
-
- sgMat4 mat ;
-
- /*
- If this node has a parent - get the composite
- matrix for the parent.
- */
- if ( entity->getNumParents() > 0 )
- ssgGetEntityTransform ( entity->getParent(0), mat ) ;
- else
- sgMakeIdentMat4 ( mat ) ;
-
- /*
- If this node has a transform - then concatenate it.
- */
- if ( entity -> isAKindOf ( ssgTypeTransform () ) ) {
- sgMat4 this_mat ;
- ((ssgTransform *) entity) -> getTransform ( this_mat ) ;
- sgPostMultMat4 ( mat, this_mat ) ;
- }
-
- sgCopyMat4 ( m, mat ) ;
-}
-
-// ======================
-// return the passed entitity's bsphere's center point radius and
-// fully formed current model matrix for entity
-static void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center, float *radius, sgMat4 m )
-{
- sgSphere *bsphere = entity->getBSphere();
- *radius = (double)bsphere->getRadius();
- sgCopyVec3( center, bsphere->getCenter() );
- sgMakeIdentMat4 ( m ) ;
- ssgGetEntityTransform( entity, m );
-}
-
-
-// ======================
// Determine scenery altitude via ssg.
// returned results are in meters
+// static double hitlist1_time = 0.0;
+
bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
sgdVec3 scenery_center,
FGHitList *hit_list,
double *terrain_elev, double *radius, double *normal)
{
+ // SGTimeStamp start; start.stamp();
+
+ bool result;
sgdVec3 view_pos;
sgdSubVec3( view_pos, abs_view_pos, scenery_center );
hit_list->Intersect( globals->get_scenery()->get_terrain_branch(),
orig, dir );
- int this_hit=0;
+ int this_hit = -1;
+ int max_hit = -1;
Point3D geoc;
- double result = -9999;
+ double hit_elev = -9999;
+ double max_elev = -9999;
Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ;
int hitcount = hit_list->num_hits();
// cout << "hits = " << hitcount << endl;
for ( int i = 0; i < hitcount; ++i ) {
- geoc = sgCartToPolar3d( sc + hit_list->get_point(i) );
- double lat_geod, alt, sea_level_r;
- sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod,
- &alt, &sea_level_r);
+ // FIXME: sgCartToGeod is slow. Call it just once for the
+ // "sc" point, and then handle the rest with a geodetic "up"
+ // vector approximation. Across one tile, this will be
+ // acceptable.
+ double alt = sgCartToGeod( sc + hit_list->get_point(i) ).elev();
// cout << "hit " << i << " lon = " << geoc.lon() << " lat = "
- // << lat_geod << " alt = " << alt << endl;
- if ( alt > result && alt < max_alt_m ) {
+ // << lat_geod << " alt = " << alt << " max alt = " << max_alt_m
+ // << endl;
+ if ( alt > hit_elev && alt < max_alt_m ) {
// cout << " it's a keeper" << endl;
- result = alt;
+ hit_elev = alt;
this_hit = i;
}
+ if ( alt > hit_elev ) {
+ max_elev = alt;
+ max_hit = i;
+ }
}
- // cout << endl;
- if ( result > -9000 ) {
- *terrain_elev = result;
+ if ( this_hit < 0 ) {
+ // no hits below us, take the max hit
+ this_hit = max_hit;
+ hit_elev = max_elev;
+ }
+
+ if ( hit_elev > -9000 ) {
+ *terrain_elev = hit_elev;
*radius = geoc.radius();
sgVec3 tmp;
sgSetVec3(tmp, hit_list->get_normal(this_hit));
// cout << "world_up : " << up[0] << " " << up[1] << " " << up[2] << endl;
/* ssgState *IntersectedLeafState =
((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */
- return true;
+ result = true;
} else {
SG_LOG( SG_TERRAIN, SG_INFO, "no terrain intersection" );
*terrain_elev = 0.0;
float *up = globals->get_current_view()->get_world_up();
sgdSetVec3(normal, up[0], up[1], up[2]);
- return false;
+ result = false;
}
+
+ // SGTimeStamp finish; finish.stamp();
+ // hitlist1_time = ( 29.0 * hitlist1_time + (finish - start) ) / 30.0;
+ // cout << " time per call = " << hitlist1_time << endl;
+
+ return result;
}
-// ======================
+// static double hitlist2_time = 0.0;
+
// Determine scenery altitude via ssg.
// returned results are in meters
bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
FGHitList *hit_list,
double *terrain_elev, double *radius, double *normal)
{
+ // SGTimeStamp start; start.stamp();
+
+ bool result;
sgdVec3 view_pos;
sgdSubVec3( view_pos, abs_view_pos, scenery_center );
sgdSetMat4(xform,fxform);
hit_list->Intersect( terra_transform, xform, orig, dir );
- int this_hit=0;
+ int this_hit = -1;
+ int max_hit = -1;
Point3D geoc;
- double result = -9999;
+ double hit_elev = -9999;
+ double max_elev = -9999;
Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ;
int hitcount = hit_list->num_hits();
+ // cout << "hits = " << hitcount << endl;
for ( int i = 0; i < hitcount; ++i ) {
- geoc = sgCartToPolar3d( sc + hit_list->get_point(i) );
- double lat_geod, alt, sea_level_r;
- sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod,
- &alt, &sea_level_r);
- if ( alt > result && alt < max_alt_m ) {
- result = alt;
+ // FIXME: sgCartToGeod is slow. Call it just once for the
+ // "sc" point, and then handle the rest with a geodetic "up"
+ // vector approximation. Across one tile, this will be
+ // acceptable.
+ double alt = sgCartToGeod( sc + hit_list->get_point(i) ).elev();
+ // cout << "hit " << i << " lon = " << geoc.lon() << " lat = "
+ // << lat_geod << " alt = " << alt << " max alt = " << max_alt_m
+ // << endl;
+ if ( alt > hit_elev && alt < max_alt_m ) {
+ hit_elev = alt;
this_hit = i;
+ // cout << " it's a keeper" << endl;
}
+ if ( alt > hit_elev ) {
+ max_elev = alt;
+ max_hit = i;
+ }
+ }
+
+ if ( this_hit < 0 ) {
+ // no hits below us, take the max hit
+ this_hit = max_hit;
+ hit_elev = max_elev;
}
- if ( result > -9000 ) {
- *terrain_elev = result;
+ if ( hit_elev > -9000 ) {
+ *terrain_elev = hit_elev;
*radius = geoc.radius();
sgVec3 tmp;
sgSetVec3(tmp, hit_list->get_normal(this_hit));
// cout << "world_up : " << up[0] << " " << up[1] << " " << up[2] << endl;
/* ssgState *IntersectedLeafState =
((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */
- return true;
+ result = true;
} else {
SG_LOG( SG_TERRAIN, SG_DEBUG, "DOING FULL TERRAIN INTERSECTION" );
- return fgCurrentElev( abs_view_pos, max_alt_m, scenery_center, hit_list,
- terrain_elev,radius,normal);
+ result = fgCurrentElev( abs_view_pos, max_alt_m, scenery_center,
+ hit_list, terrain_elev, radius, normal);
}
+
+ // SGTimeStamp finish; finish.stamp();
+ // hitlist2_time = ( 29.0 * hitlist2_time + (finish - start) ) / 30.0;
+ // cout << "time per call 2 = " << hitlist2_time << endl;
+
+ return result;
}
projects / flightgear.git / blobdiff