1 | #include "IntelRayCaster.h"
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2 | #include "VssRay.h"
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3 | #include "Preprocessor.h"
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4 | #include "SceneGraph.h"
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5 |
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6 | #ifdef GTP_INTERNAL
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7 | #include "ArchModeler2MLRT.hxx"
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8 |
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9 | #define DEBUG_RAYCAST 0
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10 |
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11 |
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12 | namespace GtpVisibilityPreprocessor {
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13 |
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14 |
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15 | FILE *fileOut = 0;
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16 | bool saveRays = false;
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17 | const int saveRaysStart = 3000000;
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18 | int cntSavedRaysFLUSH = 0;
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19 | unsigned long int cntSavedRays = 0;
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20 | const int intSavedLIMIT = 1024;
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21 |
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22 | void
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23 | InitSaving()
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24 | {
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25 | fileOut = fopen("fileRays.txt", "wb");
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26 | if (!fileOut) {
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27 | cout << "ERROR: file fileRays.txt cannot be opened .. exiting" << endl;
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28 | exit(3);
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29 | }
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30 | }
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31 | void
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32 | FinishSaving()
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33 | {
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34 | fclose(fileOut);
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35 | }
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36 |
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37 | IntelRayCaster::IntelRayCaster(const Preprocessor &preprocessor,
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38 | const string externKdTree):
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39 | RayCaster(preprocessor)
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40 | {
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41 | if (!InitRayCast(externKdTree))
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42 | cout << "warning: intel ray tracer could not be initialized!" << endl;
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43 | if (saveRays)
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44 | InitSaving();
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45 | }
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46 |
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47 |
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48 | IntelRayCaster::~IntelRayCaster()
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49 | {
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50 | if (saveRays)
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51 | FinishSaving();
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52 | }
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53 |
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54 |
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55 | bool IntelRayCaster::InitRayCast(const string externKdTree)
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56 | {
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57 | cout<<"Intel ray cast file: " << externKdTree << endl;
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58 |
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59 | return mlrtaLoadAS(externKdTree.c_str());
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60 | }
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61 |
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62 |
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63 | int IntelRayCaster::CastRay(
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64 | const SimpleRay &simpleRay,
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65 | VssRayContainer &vssRays,
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66 | const AxisAlignedBox3 &box,
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67 | const bool castDoubleRay,
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68 | const bool pruneInvalidRays
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69 | )
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70 | {
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71 | //cout << "intel ray" << endl;
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72 | VssRay *vssRay = NULL;
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73 | int hits = 0;
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74 | int hittriangle;
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75 | Intersection hitA(simpleRay.mOrigin), hitB(simpleRay.mOrigin);
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76 |
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77 | float dist;
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78 | float dist1, dist2;
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79 | double normal[3];
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80 |
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81 | hittriangle = mlrtaIntersectAS(
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82 | &simpleRay.mOrigin.x,
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83 | &simpleRay.mDirection.x,
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84 | normal,
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85 | dist);
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86 | dist1 = dist;
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87 |
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88 | if (hittriangle != -1 ) {
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89 | Intersectable *intersect = mPreprocessor.GetParentObject(hittriangle);
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90 |
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91 | if (intersect)
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92 | {
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93 | hitA.mObject = intersect;
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94 | hitA.mNormal = Vector3(normal[0], normal[1], normal[2]);
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95 | // Get the normal of that face
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96 | // Mesh *mesh = ((MeshInstance *)objectA)->GetMesh();
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97 | // normalA = mesh->GetFacePlane(mFaceParents[forward_hit_triangles[i]].mFaceIndex).mNormal;
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98 | //-rays[index+i].mDirection; // $$ temporary
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99 | hitA.mPoint = simpleRay.Extrap(dist);
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100 | }
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101 | }
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102 |
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103 | if (castDoubleRay)
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104 | {
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105 | Vector3 dir = -simpleRay.mDirection;
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106 | hittriangle = mlrtaIntersectAS(
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107 | &simpleRay.mOrigin.x,
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108 | &dir.x,
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109 | normal,
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110 | dist);
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111 | dist2 = dist;
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112 |
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113 | Intersectable *intersect = mPreprocessor.GetParentObject(hittriangle);
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114 |
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115 | if (intersect)
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116 | {
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117 | hitB.mObject = intersect;
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118 | hitB.mNormal = Vector3(normal[0], normal[1], normal[2]);
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119 | // Get the normal of that face
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120 | // Mesh *mesh = ((MeshInstance *)objectB)->GetMesh();
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121 | // normalA = mesh->GetFacePlane(mFaceParents[forward_hit_triangles[i]].mFaceIndex).mNormal;
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122 | //-rays[index+i].mDirection; // $$ temporary
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123 | hitB.mPoint = simpleRay.Extrap(dist);
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124 | }
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125 | }
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126 |
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127 | if (saveRays && preprocessor->mTotalRaysCast > saveRaysStart) {
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128 | if (castDoubleRay)
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129 | {
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130 | fprintf(fileOut, "D %d %4.7f %4.7f %4.7f %4.7f %4.7f %4.7f %d %4.7f %d %4.7f\n",
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131 | cntSavedRays,
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132 | simpleRay.mOrigin.x,
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133 | simpleRay.mOrigin.y,
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134 | simpleRay.mOrigin.z,
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135 | simpleRay.mDirection.x,
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136 | simpleRay.mDirection.y,
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137 | simpleRay.mDirection.z,
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138 | hitA.mObject ? 1 : 0,
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139 | hitA.mObject ? dist1 : 0,
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140 | hitB.mObject ? 1 : 0,
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141 | hitB.mObject ? dist2 : 0
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142 | );
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143 | }
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144 | else
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145 | fprintf(fileOut, "S %d %4.7f %4.7f %4.7f %4.7f %4.7f %4.7f %d %4.7f\n",
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146 | cntSavedRays,
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147 | simpleRay.mOrigin.x,
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148 | simpleRay.mOrigin.y,
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149 | simpleRay.mOrigin.z,
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150 | simpleRay.mDirection.x,
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151 | simpleRay.mDirection.y,
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152 | simpleRay.mDirection.z,
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153 | hitA.mObject ? 1 : 0,
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154 | hitA.mObject ? dist1 : 0
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155 | );
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156 | cntSavedRays++;
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157 | cntSavedRaysFLUSH++;
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158 | if (cntSavedRaysFLUSH > intSavedLIMIT) {
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159 | fflush(fileOut);
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160 | cntSavedRaysFLUSH = 0;
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161 | }
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162 | }
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163 |
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164 | return ProcessRay(
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165 | simpleRay,
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166 | hitA,
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167 | hitB,
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168 | vssRays,
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169 | box,
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170 | castDoubleRay,
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171 | pruneInvalidRays
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172 | );
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173 | }
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174 |
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175 |
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176 | void IntelRayCaster::CastRays16(
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177 | SimpleRayContainer &rays,
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178 | VssRayContainer &vssRays,
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179 | const AxisAlignedBox3 &sbox,
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180 | const bool castDoubleRay,
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181 | const bool pruneInvalidRays)
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182 | {
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183 | CastRays16(rays, 0, vssRays, sbox, castDoubleRay, pruneInvalidRays);
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184 | }
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185 |
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186 | void IntelRayCaster::CastRays16(
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187 | SimpleRayContainer &rays,
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188 | const int offset,
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189 | VssRayContainer &vssRays,
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190 | const AxisAlignedBox3 &sbox,
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191 | const bool castDoubleRay,
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192 | const bool pruneInvalidRays)
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193 | {
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194 | int i, k;
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195 | const int num = 16;
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196 |
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197 | #if DEBUG_RAYCAST
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198 | Debug<<"C16 "<<flush;
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199 | static int counter=0;
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200 | Debug<<counter++<<endl;
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201 | #endif
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202 |
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203 | static int forward_hit_triangles[16];
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204 | static float forward_dist[16];
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205 |
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206 | static int backward_hit_triangles[16];
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207 | static float backward_dist[16];
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208 |
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209 |
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210 | Vector3 min = mPreprocessor.mSceneGraph->GetBox().Min();
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211 | Vector3 max = mPreprocessor.mSceneGraph->GetBox().Max();
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212 |
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213 | for (k=offset, i=0; i < num; i++, k++) {
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214 | #if DEBUG_RAYCAST
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215 | if (counter == 43964) {
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216 | Debug<<rays[k].mOrigin<<" "<<rays[k].mDirection<<endl;
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217 | }
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218 | #endif
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219 | mlrtaStoreRayAS16(&rays[k].mOrigin.x,
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220 | &rays[k].mDirection.x,
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221 | i);
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222 | }
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223 |
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224 | #if DEBUG_RAYCAST
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225 | Debug<<"TA\n"<<flush;
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226 | #endif
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227 |
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228 | mlrtaTraverseGroupAS16(&min.x,
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229 | &max.x,
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230 | forward_hit_triangles,
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231 | forward_dist);
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232 |
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233 | #if DEBUG_RAYCAST
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234 | Debug<<"TAB\n"<<flush;
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235 | #endif
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236 |
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237 | if (castDoubleRay) {
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238 | for (k=offset, i=0; i < num; i++, k++) {
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239 | Vector3 dir = -rays[k].mDirection;
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240 | mlrtaStoreRayAS16(&rays[k].mOrigin.x,
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241 | &dir.x,
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242 | i);
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243 | }
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244 |
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245 | #if DEBUG_RAYCAST
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246 | Debug<<"TB\n"<<flush;
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247 | #endif
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248 |
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249 | mlrtaTraverseGroupAS16(&min.x,
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250 | &max.x,
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251 | backward_hit_triangles,
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252 | backward_dist);
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253 | }
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254 |
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255 | #if DEBUG_RAYCAST
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256 | Debug<<"BBB\n"<<flush;
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257 | #endif
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258 |
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259 | if (saveRays && preprocessor->mTotalRaysCast > saveRaysStart) {
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260 | if (castDoubleRay)
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261 | fprintf(fileOut, "G\n");
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262 | else
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263 | fprintf(fileOut, "H\n");
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264 | }
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265 |
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266 | for (i=0, k=offset; i < num; i++, k++)
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267 | {
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268 | Intersection hitA(rays[k].mOrigin), hitB(rays[k].mOrigin);
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269 |
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270 | #if DEBUG_RAYCAST
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271 | Debug<<"FH\n"<<flush;
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272 | #endif
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273 |
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274 | Intersectable *intersect =
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275 | mPreprocessor.GetParentObject(forward_hit_triangles[i]);
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276 |
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277 | if (intersect)
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278 | {
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279 | hitA.mObject = intersect;
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280 | // Get the normal of that face
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281 | hitA.mNormal = mPreprocessor.GetParentNormal(forward_hit_triangles[i]);
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282 |
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283 | //-rays[index+i].mDirection; // $$ temporary
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284 | hitA.mPoint = rays[k].Extrap(forward_dist[i]);
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285 | }
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286 |
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287 | #if DEBUG_RAYCAST
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288 | Debug<<"BH\n"<<flush;
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289 | #endif
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290 |
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291 | if (castDoubleRay)
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292 | {
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293 | Intersectable *intersect =
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294 | mPreprocessor.GetParentObject(backward_hit_triangles[i]);
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295 |
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296 | if (intersect)
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297 | {
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298 | hitB.mObject = intersect;
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299 | hitB.mNormal = mPreprocessor.GetParentNormal(backward_hit_triangles[i]);
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300 |
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301 | // normalB = rays[i].mDirection; // $$ temporary
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302 | hitB.mPoint = rays[k].Extrap(-backward_dist[i]);
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303 | }
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304 | }
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305 |
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306 |
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307 | if (saveRays && preprocessor->mTotalRaysCast > saveRaysStart) {
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308 | if (castDoubleRay)
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309 | fprintf(fileOut, "%d %4.7f %4.7f %4.7f %4.7f %4.7f %4.7f %d %4.7f %d %4.7f\n",
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310 | cntSavedRays,
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311 | rays[k].mOrigin.x,
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312 | rays[k].mOrigin.y,
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313 | rays[k].mOrigin.z,
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314 | rays[k].mDirection.x,
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315 | rays[k].mDirection.y,
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316 | rays[k].mDirection.z,
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317 | hitA.mObject ? 1 : 0,
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318 | hitA.mObject ? forward_dist[i] : 0,
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319 | hitB.mObject ? 1 : 0,
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320 | hitB.mObject ? -backward_dist[i] : 0
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321 | );
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322 | else
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323 | fprintf(fileOut, "%d %4.7f %4.7f %4.7f %4.7f %4.7f %4.7f %d %4.7f\n",
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324 | cntSavedRays,
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325 | rays[k].mOrigin.x,
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326 | rays[k].mOrigin.y,
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327 | rays[k].mOrigin.z,
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328 | rays[k].mDirection.x,
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329 | rays[k].mDirection.y,
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330 | rays[k].mDirection.z,
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331 | hitA.mObject ? 1 : 0,
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332 | hitA.mObject ? forward_dist[i] : 0
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333 | );
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334 | cntSavedRays++;
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335 | cntSavedRaysFLUSH++;
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336 | }
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337 |
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338 |
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339 | #if DEBUG_RAYCAST
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340 | Debug<<"PR\n"<<flush;
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341 | #endif
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342 |
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343 | #if 1
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344 | ProcessRay(rays[k],
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345 | hitA,
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346 | hitB,
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347 | vssRays,
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348 | sbox,
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349 | castDoubleRay,
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350 | pruneInvalidRays
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351 | );
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352 | #endif
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353 | } // for
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354 |
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355 | if (saveRays) {
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356 | if (cntSavedRaysFLUSH > intSavedLIMIT) {
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357 | fflush(fileOut);
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358 | cntSavedRaysFLUSH = 0;
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359 | }
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360 | }
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361 |
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362 | #if DEBUG_RAYCAST
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363 | Debug<<"C16F\n"<<flush;
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364 | #endif
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365 | }
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366 |
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367 |
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368 |
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369 |
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370 |
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371 | void
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372 | IntelRayCaster::CastSimpleForwardRays(
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373 | SimpleRayContainer &rays,
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374 | const AxisAlignedBox3 &sbox
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375 | )
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376 | {
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377 | int hit_triangles[16];
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378 | float dist[16];
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379 | Vector3 normals[16];
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380 | Vector3 min = sbox.Min();
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381 | Vector3 max = sbox.Max();
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382 |
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383 | int packets = rays.size() / 16;
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384 |
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385 | int i, j, k = 0;
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386 | Vector3 dir;
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387 |
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388 | for (i=0; i < packets; i++) {
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389 | for (j=0; j < 16; j++, k++)
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390 | mlrtaStoreRayAS16(&rays[k].mOrigin.x,
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391 | &rays[k].mDirection.x,
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392 | j);
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393 |
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394 | mlrtaTraverseGroupAS16(&min.x,
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395 | &max.x,
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396 | hit_triangles,
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397 | dist);
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398 | } // for
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399 |
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400 |
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401 | for (; k < rays.size(); k++) {
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402 | double normal[3];
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403 | hit_triangles[0] = mlrtaIntersectAS(
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404 | &rays[k].mOrigin.x,
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405 | &rays[k].mDirection.x,
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406 | normal,
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407 | dist[0]);
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408 | }
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409 |
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410 | }
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411 |
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412 |
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413 | void
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414 | IntelRayCaster::CastRays(
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415 | SimpleRayContainer &rays,
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416 | VssRayContainer &vssRays,
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417 | const AxisAlignedBox3 &sbox,
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418 | const bool castDoubleRay,
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419 | const bool pruneInvalidRays )
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420 | {
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421 |
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422 | int buckets = rays.size()/16;
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423 | int offset = 0;
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424 |
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425 | #if 0
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426 | int time = GetTime();
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427 | CastSimpleForwardRays(rays, sbox);
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428 | cout<<1e-3*2*rays.size()/TimeDiff(time, GetTime())<<" Mrays/sec"<<endl;
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429 | #endif
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430 |
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431 | for (int i=0; i < buckets; i++, offset+=16) {
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432 | CastRays16(rays, offset, vssRays, sbox, castDoubleRay, pruneInvalidRays);
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433 |
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434 | if ((int)rays.size() > 100000 && i % (100000/16) == 0)
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435 | cout<<"\r"<<offset<<"/"<<(int)rays.size()<<"\r";
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436 | }
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437 |
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438 | for (; offset < (int)rays.size(); offset++)
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439 | CastRay(rays[offset], vssRays, sbox, castDoubleRay, pruneInvalidRays);
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440 |
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441 | }
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442 |
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443 | }
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444 |
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445 | #endif
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