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