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source: GTP/trunk/Lib/Vis/Preprocessing/src/HavranDynRayCaster.cpp @ 2682

Revision 2682, 26.4 KB checked in by mattausch, 17 years ago (diff)

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1
2	// Written by Vlastimil Havran, December 2007
3
4	// This macro allows to use the ray shooting written by
5	// Vlastimil Havran, 2007-2008
6
7
8	#include "VssRay.h"
9	#include "KdTree.h"
10	#include "Preprocessor.h"
11	#include "IntersectableWrapper.h"
12
13	#ifdef USE_HAVRAN_RAYCASTER
14	#include "ktbconf.h"
15	#include "timer.h"
16	#include "ktball.h"
17	#include "ktb.h"
18	#ifdef _USE_HAVRAN_SSE
19
20	#include "raypack.h"
21	#endif // _USE_HAVRAN_SSE
22	#endif // _USE_HAVRAN_RAYCASTER
23
24	#include "HavranRayCaster.h"
25
26	#define DEBUG_RAYCAST 0
27
28	namespace GtpVisibilityPreprocessor {
29
30	#ifdef _USE_HAVRAN_SSE
31	// static rays
32	GALIGN16 RayPacket2x2
33	HavranDynRayCaster::raypack_t;
34	#endif // _USE_HAVRAN_SSE
35
36	HavranDynRayCaster::HavranDynRayCaster(const Preprocessor &preprocessor):
37	HavranRayCaster(preprocessor), mDynKtbtree(0),
38	dynobjects(0), dynamicFlag(false)
39	{
40	#ifdef USE_HAVRAN_RAYCASTER
41	#ifdef _USE_HAVRAN_SSE
42	if ( ((int)(&raypack_t)) & 0xf != 0) {
43	cerr << "The ray pack data type not aligned on 16 Bytes boundary" << endl;
44	cerr << "Address is " << (void*)(&raypack_t) << endl;
45	cerr << "Reorganize your data structure to make it aligned" << endl;
46	abort();
47	}
48	#endif
49	#endif
50	}
51
52
53	HavranDynRayCaster::~HavranDynRayCaster()
54	{
55	#ifdef USE_HAVRAN_RAYCASTER
56	DeleteDynamicObjects();
57	#endif // USE_HAVRAN_RAYCASTER
58	}
59
60	void
61	HavranDynRayCaster::DeleteDynamicObjects()
62	{
63	#ifdef USE_HAVRAN_RAYCASTER
64	delete mDynKtbtree; mDynKtbtree = 0;
65	delete dynobjects; dynobjects = 0;
66	dynamicFlag = false;
67	#endif // USE_HAVRAN_RAYCASTER
68	}
69
70	void
71	HavranDynRayCaster::AddDynamicObjecs(const ObjectContainer &objects, const Matrix4x4 &m)
72	{
73	#ifdef USE_HAVRAN_RAYCASTER
74	if (dynobjects)
75	DeleteDynamicObjects();
76
77	dynamicFlag = false;
78
79	if (objects.size()) {
80	dynamicFlag = true;
81	dynobjects = new ObjectContainer(objects);
82	assert(dynobjects);
83	// kd-tree built over the objects
84	mDynKtbtree = new CKTB;
85	mDynKtbtree->BuildUp(*dynobjects);
86
87	// The matrix to transform the objects
88	UpdateDynamicObjects(m);
89	}
90	#endif // USE_HAVRAN_RAYCASTER
91	}
92
93	void
94	HavranDynRayCaster::UpdateDynamicObjects(const Matrix4x4 &m)
95	{
96	#ifdef USE_HAVRAN_RAYCASTER
97	matTr = m;
98	matTr_inv = Invert(matTr);
99	#endif // USE_HAVRAN_RAYCASTER
100	}
101
102	// Using packet of 4 rays supposing that these are coherent
103	// We give a box to which each ray is clipped to before the
104	// ray shooting is computed !
105	void HavranDynRayCaster::CastRaysPacket4(const Vector3 &minBox,
106	const Vector3 &maxBox,
107	const Vector3 origin4[],
108	const Vector3 direction4[],
109	int result4[],
110	float dist4[])
111	{
112	#ifdef USE_HAVRAN_RAYCASTER
113	#ifdef _USE_HAVRAN_SSE
114	for (int i = 0; i < 4; i++) {
115	result4[i] = -1;
116	result4_t[4] = -1;
117	raypack.SetLoc(i, origin4[i]);
118	raypack.SetDir(i, direction4[i]);
119	}
120
121	// The same operations for packets of rays, if implemented by
122	// a particular ASDS, otherwise it is emulated by decomposition
123	// of a packet to individual rays and traced individually.
124	mKtbtree->FindNearestI(raypack, minBox, maxBox);
125
126	for (int i = 0; i < 4; i++) {
127	// if ray intersects an object, we set the pointer to
128	// this object
129	Intersectable* intersectable = raypack.GetObject(i);
130	if (intersectable) {
131	result4[i] = intersectable->mId;
132	dist4[i] = raypack.GetT(i);
133	}
134	}
135
136	if (dynamicFlag) {
137	// The ray pack to be transformed
138	raypack_t = raypack;
139	raypack_t.ApplyTransform(matTr_inv);
140
141	mDynKtbtree->FindNearestI(raypack_t, minBox, maxBox);
142
143	for (int i = 0; i < 4; i++) {
144	// if ray intersects an object, we set the pointer to
145	// this object
146	Intersectable* intersectable = raypack_t.GetObject(i);
147	if (intersectable) {
148	float t = raypack_t.GetT(i);
149	if ( ( (result4[i] != -1) && (t < dist4[i]) ) \|\|
150	(result4[i] == -1) ) {
151	// update, dynamic object is closer
152	dist4[i] = t;
153	result4[i] = intersectable->mId;
154	}
155	}
156	} // for i
157	} // dynamic flag
158
159	return;
160	#else // _USE_HAVRAN_SSE
161	// Compute the result ray by ray
162	SimpleRay sray;
163	for (int i = 0; i < 4; i++) {
164	result4[i] = -1; // no intersection
165	sray.mOrigin = origin4[i];
166	sray.mDirection = direction4[i];
167	mKtbtree->FindNearestI(sray, minBox, maxBox);
168	if (SimpleRay::IntersectionRes[0].intersectable) {
169	// This is object ID - is this the triangle index ???
170	result4[i] = SimpleRay::IntersectionRes[0].intersectable->mId;
171	dist4[i] = SimpleRay::IntersectionRes[0].tdist;
172	}
173
174	if (dynamicFlag) {
175	// Now apply transform
176	ApplyTransform(sray);
177	mDynKtbtree->FindNearestI(sray, minBox, maxBox);
178	Intersectable *objdyn = SimpleRay::IntersectionRes[0].intersectable;
179	if (objdyn) {
180	float t = SimpleRay::IntersectionRes[0].tdist;
181	if ( ((result4[i] != -1) && (t < dist4[i])) \|\|
182	(result4[i] == -1) ) {
183	// = update, dynamic object is closer
184	dist4[i] = t;
185	result4[i] = objdyn->mId;
186	}
187	}
188	} // dynamic flag
189	} // for i;
190
191	#endif // _USE_HAVRAN_SSE
192	#endif // USE_HAVRAN_RAYCASTER
193	}
194
195
196	int HavranDynRayCaster::CastRay(const SimpleRay &simpleRay,
197	VssRayContainer &vssRays,
198	const AxisAlignedBox3 &box,
199	const bool castDoubleRay,
200	const bool pruneInvalidRays)
201	{
202	#ifdef USE_HAVRAN_RAYCASTER
203
204	// rays forwards - TESTED 21/1/2008 VH (only for forward rays)
205
206	int hits = 0;
207	Intersection hitA(simpleRay.mOrigin), hitB(simpleRay.mOrigin);
208
209	// ray.mFlags &= ~Ray::CULL_BACKFACES;
210	bool result;
211	hitA.mObject = 0;
212	if ((result = mKtbtree->FindNearestI(simpleRay))) {
213	hitA.mObject = SimpleRay::IntersectionRes[0].intersectable;
214	tdist[0] = SimpleRay::IntersectionRes[0].tdist;
215	hitA.mPoint = simpleRay.Extrap(tdist[0]);
216	hitA.mNormal = SimpleRay::IntersectionRes[0].intersectable->GetNormal(0);
217	//hitA.mNormal = (dynamic_cast< TriangleIntersectable *>
218	// (hitA.mObject))->GetNormal(0);
219	}
220
221	if (dynamicFlag) {
222	bool result2 = false;
223	// For a dynamic object
224	sray_t = simpleRay;
225	// Now apply transform
226	ApplyTransform(sray_t);
227	if (mDynKtbtree->FindNearestI(sray_t)) {
228	float t = SimpleRay::IntersectionRes[0].tdist;
229	if ( ((hitA.mObject) && (t < tdist[0])) \|\|
230	(!hitA.mObject) ) {
231	result = result2 = true; // dynamic object hit
232	// There is an intersection closer than the previous one
233	hitA.mObject = SimpleRay::IntersectionRes[0].intersectable;
234	tdist[0] = SimpleRay::IntersectionRes[0].tdist;
235	hitA.mPoint = simpleRay.Extrap(tdist[0]);
236	hitA.mNormal = hitA.mObject->GetNormal(0);
237	// We have to transform the normal
238	hitA.mNormal = TransformNormal(matTr_inv, hitA.mNormal);
239	}
240	}
241	if (result && (!result2)) {
242	// We put back the result from hitA.mObject for ray tracing
243	SimpleRay::IntersectionRes[0].intersectable = hitA.mObject;
244	SimpleRay::IntersectionRes[0].tdist = tdist[0];
245	}
246	}
247
248	bool resultB = false;
249	if (castDoubleRay) {
250	bool result2 = false;
251	// casting rays backward
252	Vector3 v = (Vector3)(&simpleRay.mDirection);
253	v = -(v);
254	// ray.mFlags &= ~Ray::CULL_BACKFACES;
255	if (mKtbtree->FindNearestI(simpleRay)) {
256	resultB = true;
257	hitB.mObject = SimpleRay::IntersectionRes[0].intersectable;
258	assert(hitB.mObject);
259	float tdist = SimpleRay::IntersectionRes[0].tdist;
260	hitB.mPoint = simpleRay.Extrap(tdist);
261	hitB.mNormal = hitB.mObject->GetNormal(0);
262	}
263
264	if (dynamicFlag) {
265	// For a dynamic object
266	sray_t = simpleRay;
267	// Now apply transform
268	ApplyTransform(sray_t);
269	bool result2;
270	if ( mDynKtbtree->FindNearestI(sray_t)) {
271	assert(SimpleRay::IntersectionRes[0].intersectable);
272	float t = SimpleRay::IntersectionRes[0].tdist;
273	if ( ((hitB.mObject) && (t < tdist[0])) \|\|
274	(!hitB.mObject) ) {
275	// There is an intersection closer than the previous one
276	resultB = result2 = true; // dynamic object hit
277	hitB.mObject = SimpleRay::IntersectionRes[0].intersectable;
278	tdist[0] = SimpleRay::IntersectionRes[0].tdist;
279	hitB.mPoint = simpleRay.Extrap(tdist[0]);
280	hitB.mNormal = hitB.mObject->GetNormal(0);
281	// We have to transform the normal
282	hitB.mNormal = TransformNormal(matTr_inv, hitB.mNormal);
283	}
284	}
285	if ((resultB) && (!result2)) {
286	// For visualization
287	SimpleRay::IntersectionRes[0].intersectable = hitB.mObject;
288	SimpleRay::IntersectionRes[0].tdist = tdist[0];
289	}
290	} // dynamicFlag
291
292	// restore the direction to the original
293	*v = -simpleRay.mDirection;
294	} // castDoubleRay
295
296	#ifdef _PROCESS_RAY
297	// This code is also in IntelRayCaster.cpp
298	return ProcessRay(
299	simpleRay,
300	hitA,
301	hitB,
302	vssRays,
303	box,
304	castDoubleRay,
305	pruneInvalidRays
306	);
307	#else // _PROCESS_RAY
308	if (castDoubleRay)
309	return resultB;
310	return result;
311	#endif // _PROCESS_RAY
312
313	#else
314	return 0;
315	#endif // USE_HAVRAN_RAYCASTER
316	}
317
318	void HavranDynRayCaster::CastRays16(SimpleRayContainer &rays,
319	VssRayContainer &vssRays,
320	const AxisAlignedBox3 &sbox,
321	const bool castDoubleRay,
322	const bool pruneInvalidRays)
323	{
324	CastRays16(rays, 0, vssRays, sbox, castDoubleRay, pruneInvalidRays);
325	}
326
327
328	void HavranDynRayCaster::CastRays16(SimpleRayContainer &rays,
329	int offset,
330	VssRayContainer &vssRays,
331	const AxisAlignedBox3 &sbox,
332	const bool castDoubleRays,
333	const bool pruneInvalidRays)
334	{
335	#ifdef USE_HAVRAN_RAYCASTER
336
337	#if DEBUG_RAYCAST
338	Debug << "C16 " << flush;
339	#endif
340
341	// Use special algorithm for 16 rays at once
342	if (castDoubleRays) {
343	// Here we decompose shooting into two phases
344
345	// First we delete the results from casting dynamic objects
346	if (dynamicFlag) {
347	for (int i = 0; i < 32; i++)
348	objI[i] = 0;
349	}
350
351	// Here we shoot first backward rays and forward ones
352	SimpleRayContainer::iterator sit = rays.begin() + offset;
353	SimpleRayContainer::const_iterator sit_end = rays.begin() + offset + 16;
354	for ( ; sit != sit_end; ++ sit)
355	{
356	(sit).mDirection = - (sit).mDirection;
357	}
358	// backward rays to be shot - saving with offset 16
359
360	#ifdef _USE_HAVRAN_SSE
361	mKtbtree->SetOffset(0);
362	mKtbtree->FindNearestI_16oneDir(rays, offset, 16);
363	#else
364	mKtbtree->SetOffset(16);
365	mKtbtree->FindNearestI_16oneDirNoSSE(rays, offset);
366	#endif // _USE_HAVRAN_SSE
367
368	if (dynamicFlag) {
369	for (int i = 0; i < 16; i++) {
370	// store the origin and direction of the ray
371	orig[i] = rays[offset+i].mOrigin;
372	dirs[i] = rays[offset+i].mDirection;
373
374	objI[i+16] = SimpleRay::IntersectionRes[i+16].intersectable;
375	if (objI[i+16])
376	normal[i+16] = objI[i+16]->GetNormal(0);
377	tdist[i+16] = SimpleRay::IntersectionRes[i+16].tdist;
378	ApplyTransform(rays[offset+i]);
379	} // for
380	// Now shoot the ray with dynamic object
381	#ifdef _USE_HAVRAN_SSE
382	mDynKtbtree->SetOffset(0);
383	mDynKtbtree->FindNearestI_16oneDir(rays, offset, 16);
384	#else
385	mDynKtbtree->SetOffset(16);
386	mDynKtbtree->FindNearestI_16oneDirNoSSE(rays, offset);
387	#endif // _USE_HAVRAN_SSE
388	for (int i = 0; i < 16; i++) {
389	Intersectable *intersectable =
390	SimpleRay::IntersectionRes[i+16].intersectable;
391	if (intersectable) {
392	float t = SimpleRay::IntersectionRes[i+16].tdist;
393	if ( ((objI[i+16]) && (t < tdist[i+16])) \|\|
394	(!objI[i+16]) ) {
395	// There is an intersection closer than the previous one
396	objI[i+16] = intersectable;
397	tdist[i+16] = SimpleRay::IntersectionRes[i+16].tdist;
398	normal[i+16] = intersectable->GetNormal(0);
399	// We have to transform the normal
400	normal[i+16] = TransformNormal(matTr_inv, normal[i+16]);
401	} // if update
402	} // if intersected dynamic object
403	else {
404	// we copy back the static object - only for visualization
405	SimpleRay::IntersectionRes[i+16].intersectable = objI[i+16];
406	SimpleRay::IntersectionRes[i+16].tdist = tdist[i+16];
407	}
408	} // for
409	} // dynamic flag
410
411	// set the ray direction to original direction
412	if (dynamicFlag) {
413	sit = rays.begin() + offset;
414	int i = 0;
415	for ( ; sit != sit_end; ++sit, ++i)
416	{
417	rays[offset+i].mOrigin = orig[i];
418	rays[offset+i].mDirection = -dirs[i];
419	}
420	}
421	else {
422	// no dynamic objects
423	sit = rays.begin() + offset;
424	for ( ; sit != sit_end; ++ sit)
425	{
426	(sit).mDirection = - (sit).mDirection;
427	}
428	}
429	// forward rays to be shot
430	#ifdef _USE_HAVRAN_SSE
431	mKtbtree->SetOffset(0);
432	mKtbtree->FindNearestI_16oneDir(rays, offset, 0);
433	#else
434	mKtbtree->SetOffset(0);
435	mKtbtree->FindNearestI_16oneDirNoSSE(rays, offset);
436	#endif // _USE_HAVRAN_SSE
437
438	if (dynamicFlag) {
439	for (int i = 0; i < 16; i++) {
440	objI[i] = SimpleRay::IntersectionRes[i].intersectable;
441	if (objI[i])
442	normal[i] = objI[i]->GetNormal(0);
443	tdist[i] = SimpleRay::IntersectionRes[i].tdist;
444	ApplyTransform(rays[offset+i]);
445	} // for
446	// Now shoot the ray with dynamic object
447	#ifdef _USE_HAVRAN_SSE
448	mDynKtbtree->SetOffset(0);
449	mDynKtbtree->FindNearestI_16oneDir(rays, offset, 0);
450	#else
451	mDynKtbtree->SetOffset(0);
452	mDynKtbtree->FindNearestI_16oneDirNoSSE(rays, offset);
453	#endif // _USE_HAVRAN_SSE
454	for (int i = 0; i < 16; i++) {
455	Intersectable *intersectable
456	= SimpleRay::IntersectionRes[i].intersectable;
457	if (intersectable) {
458	float t = SimpleRay::IntersectionRes[i].tdist;
459	if ( ((objI[i]) && (t < tdist[i])) \|\|
460	(!objI[i]) ) {
461	// There is an intersection closer than the previous one
462	objI[i] = intersectable;
463	tdist[i] = SimpleRay::IntersectionRes[i].tdist;
464	normal[i] = objI[i]->GetNormal(0);
465	// We have to transform the normal
466	normal[i] = TransformNormal(matTr_inv, normal[i]);
467	} // update
468	} // intersection
469	// we have to recover the ray
470	rays[offset+i].mOrigin = orig[i];
471	rays[offset+i].mDirection = -dirs[i];
472	} // for i
473	} // dynamic flag
474	} // cast double rays
475	else {
476	// ONLY forward rays - TESTED 21/1/2007 VH
477
478	// First we delete the results from casting dynamic objects
479	if (dynamicFlag) {
480	for (int i = 0; i < 16; i++) {
481	objI[i] = 0;
482	orig[i] = rays[offset+i].mOrigin;
483	dirs[i] = rays[offset+i].mDirection;
484	}
485	}
486
487	// Shoot all 16 rays at the same time using a special algorithm
488	mKtbtree->SetOffset(0);
489	#ifdef _USE_HAVRAN_SSE
490	mKtbtree->FindNearestI_16oneDir(rays, offset, 0);
491	#else
492	mKtbtree->FindNearestI_16oneDirNoSSE(rays, offset);
493	#endif // _USE_HAVRAN_SSE
494
495	// Here we must add dynamic objects
496	if (dynamicFlag) {
497	for (int i = 0; i < 16; i++) {
498	objI[i] = SimpleRay::IntersectionRes[i].intersectable;
499	if (objI[i])
500	normal[i] = objI[i]->GetNormal(0);
501	tdist[i] = SimpleRay::IntersectionRes[i].tdist;
502	ApplyTransform(rays[offset+i]);
503	} // for
504	// Now shoot the ray with dynamic object
505	#ifdef _USE_HAVRAN_SSE
506	mDynKtbtree->SetOffset(0);
507	mDynKtbtree->FindNearestI_16oneDir(rays, offset, 0);
508	#else
509	mDynKtbtree->SetOffset(0);
510	mDynKtbtree->FindNearestI_16oneDirNoSSE(rays, offset);
511	#endif // _USE_HAVRAN_SSE
512	for (int i = 0; i < 16; i++) {
513	Intersectable *intersectable
514	= SimpleRay::IntersectionRes[i].intersectable;
515	if (intersectable) {
516	float t = SimpleRay::IntersectionRes[i].tdist;
517	if ( ((objI[i]) && (t < tdist[i])) \|\|
518	(!objI[i]) ) {
519	// There is an intersection closer than the previous one
520	objI[i] = intersectable;
521	tdist[i] = SimpleRay::IntersectionRes[i].tdist;
522	normal[i] = objI[i]->GetNormal(0);
523	// We have to transform the normal
524	normal[i] = TransformNormal(matTr_inv, normal[i]);
525	} // update
526	} // intersection
527	// we have to recover the rays back
528	rays[offset+i].mOrigin = orig[i];
529	rays[offset+i].mDirection = dirs[i];
530	} // for i
531	} // dynamic flag
532	}
533
534	if (dynamicFlag) {
535	for (int i=0, k=offset; i < 16; i++, k++)
536	{
537	Intersection hitA(rays[k].mOrigin), hitB(rays[k].mOrigin);
538
539	#if DEBUG_RAYCAST
540	Debug<<"FH\n"<<flush;
541	#endif
542
543	Intersectable *intersectable = objI[i];
544	// For visualization needs only - forward rays
545	SimpleRay::IntersectionRes[i].intersectable = objI[i];
546	SimpleRay::IntersectionRes[i].tdist = tdist[i];
547	if (intersectable)
548	{
549	hitA.mObject = intersectable;
550	// Get the normal of that face
551	hitA.mNormal = normal[i];
552
553	//-rays[index+i].mDirection; // $$ temporary
554	hitA.mPoint = rays[k].Extrap(tdist[i]);
555	}
556
557	#if DEBUG_RAYCAST
558	Debug<<"BH\n"<<flush;
559	#endif
560
561	if (castDoubleRays)
562	{
563	Intersectable *intersectable = objI[i+16];
564
565	if (intersectable)
566	{
567	hitB.mObject = intersectable;
568	hitB.mNormal = normal[i+16];
569	hitB.mPoint = rays[k].Extrap(-tdist[i+16]);
570	}
571	}
572
573	#if DEBUG_RAYCAST
574	Debug<<"PR\n"<<flush;
575	#endif
576
577	#ifdef _PROCESS_RAY
578	ProcessRay(rays[k],
579	hitA,
580	hitB,
581	vssRays,
582	sbox,
583	castDoubleRays,
584	pruneInvalidRays
585	);
586	#endif
587	} // for
588	}
589	else {
590	// no dynamic objects
591	for (int i=0, k=offset; i < 16; i++, k++)
592	{
593	Intersection hitA(rays[k].mOrigin), hitB(rays[k].mOrigin);
594
595	#if DEBUG_RAYCAST
596	Debug<<"FH\n"<<flush;
597	#endif
598
599	Intersectable *intersectable
600	= SimpleRay::IntersectionRes[i].intersectable;
601
602	if (intersectable)
603	{
604	hitA.mObject = intersectable;
605	// Get the normal of that face
606	hitA.mNormal = intersectable->GetNormal(0);
607
608	//-rays[index+i].mDirection; // $$ temporary
609	float tdist = SimpleRay::IntersectionRes[i].tdist;
610	hitA.mPoint = rays[k].Extrap(tdist);
611	}
612
613	#if DEBUG_RAYCAST
614	Debug<<"BH\n"<<flush;
615	#endif
616
617	if (castDoubleRays)
618	{
619	Intersectable *intersectable =
620	SimpleRay::IntersectionRes[i+16].intersectable;
621
622	if (intersectable)
623	{
624	hitB.mObject = intersectable;
625	hitB.mNormal = intersectable->GetNormal(0);;
626	float tdist = SimpleRay::IntersectionRes[16+i].tdist;
627	hitB.mPoint = rays[k].Extrap(-tdist);
628	}
629	}
630
631	#if DEBUG_RAYCAST
632	Debug<<"PR\n"<<flush;
633	#endif
634
635	#ifdef _PROCESS_RAY
636	ProcessRay(rays[k],
637	hitA,
638	hitB,
639	vssRays,
640	sbox,
641	castDoubleRays,
642	pruneInvalidRays
643	);
644	#endif
645	} // for
646	} // dynamic objects
647
648
649	#if DEBUG_RAYCAST
650	Debug<<"C16F\n"<<flush;
651	#endif
652
653	#endif // USE_HAVRAN_RAYCASTER
654	}
655
656
657
658	void
659	HavranDynRayCaster::CastSimpleForwardRays(
660	SimpleRayContainer &rays,
661	const AxisAlignedBox3 &sbox
662	)
663	{
664	#ifdef USE_HAVRAN_RAYCASTER
665
666	//int hit_triangles[16];
667	//float dist[16];
668	Vector3 normals[16];
669	Vector3 min = sbox.Min();
670	Vector3 max = sbox.Max();
671
672	int packets = (int)rays.size() / 16;
673
674	int i, k = 0;
675	Vector3 dir;
676
677	// By groups of rays
678	for (i=0; i < packets; i++) {
679	int offset = i * 16;
680	mKtbtree->FindNearestI_16oneDir(rays, offset, 0);
681
682	if (dynamicFlag) {
683	for (int i = 0; i < 16; i++) {
684	orig[i] = rays[i].mOrigin;
685	dirs[i] = rays[i].mDirection;
686
687	tdist[i] = SimpleRay::IntersectionRes[i].tdist;
688	objI[i] = SimpleRay::IntersectionRes[i].intersectable;
689	// for dynamic objects
690	ApplyTransform(rays[i]);
691	} // for
692
693	// shoot the rays against dynamic objects
694	mDynKtbtree->FindNearestI_16oneDir(rays, offset, 0);
695	// and combine the results
696	for (int i = 0; i < 16; i++) {
697	float t = SimpleRay::IntersectionRes[i].tdist;
698	if (SimpleRay::IntersectionRes[i].intersectable) {
699	if ( ((objI[i]) && (t < tdist[i])) \|\|
700	(!objI[i]) ) {
701	// There is an intersection closer than the previous one
702	objI[i] = SimpleRay::IntersectionRes[i].intersectable;
703	tdist[i] = SimpleRay::IntersectionRes[i].tdist;
704	} // update
705	} // intersection
706	else {
707	// Only for visualization
708	SimpleRay::IntersectionRes[i].intersectable = objI[i];
709	SimpleRay::IntersectionRes[i].tdist = tdist[i];
710	}
711	// recover ray origin and direction
712	rays[i].mOrigin = orig[i];
713	rays[i].mDirection = dirs[i];
714	} // for
715
716	} // dynamic objects
717
718	// ??? What to do with the results ? These are
719	// not used at the moment also in IntelRayCaster.cpp
720	} // for
721
722
723	i = 0;
724	int k2 = k;
725	for (; k < rays.size(); k++, i++) {
726	//double normal[3];
727	// Intersect with the static scene
728	bool result = mKtbtree->FindNearestI(rays[k]);
729	tdist[i] = SimpleRay::IntersectionRes[0].tdist;
730	objI[i] = SimpleRay::IntersectionRes[0].intersectable;
731
732	if (dynamicFlag) {
733	orig[i] = rays[k].mOrigin;
734	dirs[i] = rays[k].mDirection;
735
736	// Intersect with the dynamic object
737	ApplyTransform(rays[k]);
738	bool result2 = false;
739	if (mDynKtbtree->FindNearestI(rays[k])) {
740	float t = SimpleRay::IntersectionRes[0].tdist;
741	if ( ((objI[i]) && (t < tdist[i])) \|\|
742	(!objI[i]) ) {
743	// There is an intersection closer than the previous one
744	result2 = true;
745	objI[i] = SimpleRay::IntersectionRes[0].intersectable;
746	tdist[i] = t;
747	}
748	}
749
750	// recover ray origin and direction
751	rays[k].mOrigin = orig[i];
752	rays[k].mDirection = dirs[i];
753	} // dynamic objects
754
755	// ??? What to do with the results ? These are
756	// not used at the moment also in IntelRayCaster.cpp
757	}
758	// The result will be in the array
759	i = 0;
760	for (; k2 < rays.size(); k2++, i++) {
761	SimpleRay::IntersectionRes[i].intersectable = objI[i];
762	SimpleRay::IntersectionRes[i].tdist = tdist[i];
763	}
764	#endif // USE_HAVRAN_RAYCASTER
765
766	return;
767	}
768
769	void HavranDynRayCaster::CastRays(
770	SimpleRayContainer &rays,
771	VssRayContainer &vssRays,
772	const AxisAlignedBox3 &sbox,
773	const bool castDoubleRay,
774	const bool pruneInvalidRays )
775	{
776	int buckets = (int)rays.size()/16;
777	int offset = 0;
778
779	#if 0
780	int time = GetTime();
781	CastSimpleForwardRays(rays, sbox);
782	cout<<1e-32rays.size()/TimeDiff(time, GetTime())<<" Mrays/sec"<<endl;
783	#endif
784
785	// Cast only by 16 rays at once
786	for (int i=0; i < buckets; i++, offset+=16) {
787	CastRays16(rays, offset, vssRays, sbox,
788	castDoubleRay, pruneInvalidRays);
789
790	if ((int)rays.size() > 100000 && i % (100000/16) == 0)
791	cout<<"\r"<<offset<<"/"<<(int)rays.size()<<"\r";
792	}
793
794	// Cast the rest of the rays
795	for (; offset < (int)rays.size(); offset++)
796	CastRay(rays[offset], vssRays, sbox, castDoubleRay, pruneInvalidRays);
797
798	return;
799	}
800
801	#ifdef _USE_HAVRAN_SSE
802	// BUG1 41579 196948 1064111
803	// BUG2 254 1672 10869
804
805	// Just for testing concept
806	void
807	HavranDynRayCaster::CastRaysPacket2x2(RayPacket2x2 &raysPack,
808	bool castDoubleRay,
809	const bool pruneInvalidRays)
810	{
811	#ifdef USE_HAVRAN_RAYCASTER
812
813	if (castDoubleRay) {
814	// cast forward rays
815	mKtbtree->FindNearestI(raysPack);
816
817	if (dynamicFlag) {
818	// The ray pack to be transformed
819	raypack_t = raysPack;
820	raypack.ApplyTransform(matTr_inv);
821
822	mDynKtbtree->FindNearestI(raypack_t);
823
824	for (int i = 0; i < 4; i++) {
825	// if ray intersects an object, we set the pointer to
826	// this object
827	Intersectable* intersectable = raypack_t.GetObject(i);
828	if (intersectable) {
829	Intersectable *o = raysPack.GetObject(i);
830	if ( ((o) && (raypack_t.GetT(i) < tdist[i])) \|\|
831	(!o) ) {
832	// update, dynamic object is closer
833	raysPack.SetT(i, raypack_t.GetT(i));
834	raysPack.SetObject(i, raypack_t.GetObject(i));
835	} // if update is required
836	} // if intersectable
837	} // for i
838	} // dynamic object
839
840	// Double (=opposite) direction
841	for (int i = 0; i < 4; i++)
842	raysPack.SetDir(i, -raysPack.GetDir(i));
843	// cast backward rays
844	mKtbtree->FindNearestI(raysPack);
845
846	if (dynamicFlag) {
847
848	// The ray pack to be transformed
849	raypack_t = raysPack;
850	raypack_t.ApplyTransform(matTr_inv);
851
852	mDynKtbtree->FindNearestI(raypack_t);
853
854	for (int i = 0; i < 4; i++) {
855	// if ray intersects an object, we set the pointer to
856	// this object
857	Intersectable* intersectable = raypack_t.GetObject(i);
858	if (intersectable) {
859	Intersectable *o = raysPack.GetObject(i);
860	if ( ((o) && (raypack_t.GetT(i) < tdist[i])) \|\|
861	(!o) ) {
862	// update, dynamic object is closer
863	raysPack.SetT(i, raypack_t.GetT(i));
864	raysPack.SetObject(i, raypack_t.GetObject(i));
865	} // if update is required
866	} // if intersectable
867	} // for i
868	} // dynamic object
869
870	// reverse the rays back
871	for (int i = 0; i < 4; i++)
872	raysPack.SetDir(i, -raysPack.GetDir(i));
873	}
874	else {
875	// ONLY forward rays - TESTED 21/1/2007 VH
876
877	mKtbtree->FindNearestI(raysPack);
878
879	if (dynamicFlag) {
880	// The ray pack to be transformed
881	raypack_t = raysPack;
882	raypack_t.ApplyTransform(matTr_inv);
883
884	mDynKtbtree->FindNearestI(raypack_t);
885
886	for (int i = 0; i < 4; i++) {
887	// if ray intersects an object, we set the pointer to
888	// this object
889	Intersectable* intersectable = raypack_t.GetObject(i);
890	if (intersectable) {
891	Intersectable *o = raysPack.GetObject(i);
892	if ( ((o) && (raypack_t.GetT(i) < tdist[i])) \|\|
893	(!o) ) {
894	// update, dynamic object is closer
895	raysPack.SetT(i, raypack_t.GetT(i));
896	raysPack.SetObject(i, raypack_t.GetObject(i));
897	} // if update is required
898	} // if intersectable
899	} // for i
900	} // dynamic object
901
902	#if 0
903	// Only verification of correctness by casting single rays
904	static int cntBugs = 0;
905	SimpleRay ray;
906	int cntErrors = 0, cntDistErrors = 0;
907	bool newBug = false;
908	for (int i = 0; i < 4; i++) {
909	ray.mOrigin = raysPack.GetLoc(i);
910	ray.mDirection = raysPack.GetDir(i);
911	mKtbtree->FindNearestI(ray);
912	if (raysPack.GetObject(i) != SimpleRay::IntersectionRes[0].intersectable) {
913	float dist = (raysPack.GetT(i) - SimpleRay::IntersectionRes[0].tdist);
914	if (fabs(dist) > 0.001f) {
915	cntErrors++; newBug = true;
916	cntBugs++;
917	cout << " BUG1 d= " << dist;
918	}
919	}
920	else {
921	float dist = 0.f;
922	if (raysPack.GetObject(i) && SimpleRay::IntersectionRes[0].intersectable)
923	if (fabs((dist=(fabs (raysPack.GetT(i) - SimpleRay::IntersectionRes[0].tdist)))) > 1.f) {
924	cntDistErrors++; newBug = true; cntBugs++;
925	cout << " BUG2 distdf= " << dist ;
926	}
927	}
928	} // for
929	if (newBug) cout << " CB= " << cntBugs << "\n";
930	#endif
931	}
932
933	return;
934
935	#endif // USE_HAVRAN_RAYCASTER
936
937	}
938	#endif // _USE_HAVRAN_SSE
939
940
941	} // the namespace
942

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