1 | #define USE_THREADS 0
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2 |
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3 | #ifdef UNICODE
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4 | #undef UNICODE
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5 | #endif
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6 |
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7 | #define NOMINMAX
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8 | #ifdef __WINDOWS__
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9 | #include <windows.h>
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10 | #ifdef _CRT_SET
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11 | #include <crtdbg.h>
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12 | #endif // _CRT_SET
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13 | #endif
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14 | #include <cstdio>
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15 |
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16 | #include "Camera.h"
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17 | #include "PreprocessorFactory.h"
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18 | #include "Parser.h"
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19 | #include "Environment.h"
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20 | #include "MeshKdTree.h"
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21 | #include "Preprocessor.h"
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22 | #include "common.h"
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23 | #include "PreprocessorThread.h"
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24 | #include "ObjExporter.h"
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25 | #include "SceneGraph.h"
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26 | #include "GlobalLinesRenderer.h"
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27 | #include "RayCaster.h"
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28 | #include "Triangle3.h"
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29 | #include "IntersectableWrapper.h"
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30 | #include "timer.h"
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31 | #include "raypack.h"
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32 |
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33 | #include "ViewCellsManager.h"
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34 |
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35 | #ifdef USE_QT
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36 | #include "QtPreprocessorThread.h"
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37 | #include "QtGlViewer.h"
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38 | #include "QtGlRenderer.h"
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39 | #else
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40 | #if USE_THREADS
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41 | #include "BoostPreprocessorThread.h"
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42 | #endif
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43 | #endif
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44 |
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45 | #include "ResourceManager.h"
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46 | #include "GlRenderer.h"
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47 |
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48 |
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49 | #define USE_EXE_PATH false
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50 |
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51 |
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52 | using namespace GtpVisibilityPreprocessor;
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53 |
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54 | //Preprocessor *preprocessor = NULL;
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55 | extern GlRendererWidget *rendererWidget;
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56 | //GlobalLinesRenderer *globalLinesRenderer = NULL;
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57 |
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58 | // DLL function signature
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59 | typedef GlRendererWidget *(*importFunction)(Preprocessor *);
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60 |
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61 |
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62 | // Flag if the ray should be single sided (one direction)
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63 | // or double sided (shooting ray in both directions)
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64 | static bool castDoubleRays;
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65 |
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66 | extern void Cleanup();
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67 |
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68 | void
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69 | _SortRays2(SimpleRayContainer &rays,
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70 | const int l,
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71 | const int r,
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72 | const int depth,
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73 | float box[12])
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74 | {
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75 | // pick-up a pivot
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76 | int axis;
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77 |
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78 | float maxDiff = -1.0f;
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79 | // get the largest axis
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80 | int offset = 0;
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81 | int i;
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82 |
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83 | //const int batchsize = 16384;
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84 | //const int batchsize = 8192;
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85 | //const int batchsize = 128;
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86 | const int batchsize = 4;
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87 |
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88 | //if (r - l < 16*batchsize)
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89 | // offset = 3;
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90 |
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91 | // if (depth%2==0)
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92 | // offset = 3;
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93 |
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94 | for (i=offset; i < offset + 6; i++) {
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95 | float diff = box[i + 6] - box[i];
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96 | assert(diff >= 0.f);
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97 | if (diff > maxDiff) {
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98 | // Find the maximum
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99 | maxDiff = diff;
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100 | axis = i;
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101 | }
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102 | }
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103 |
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104 | // cout<<depth<<" "<<axis<<" "<<l<<" "<<r<<endl;
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105 |
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106 | i=l;
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107 | int j=r;
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108 |
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109 | float x = (box[axis] + box[axis+6])*0.5f;
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110 | // float x = rays[(l+r)/2].GetParam(axis);
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111 | do {
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112 | while(i<j && rays[i].GetParam(axis) < x)
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113 | i++;
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114 | while(i<j && x < rays[j].GetParam(axis))
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115 | j--;
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116 |
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117 | if (i <= j) {
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118 | swap(rays[i], rays[j]);
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119 | i++;
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120 | j--;
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121 | }
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122 | } while (i<=j);
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123 |
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124 |
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125 | if (l + batchsize < j ) {
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126 | // set new max
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127 | float save = box[axis+6];
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128 | box[axis+6] = x;
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129 | _SortRays2(rays, l, j, depth+1, box);
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130 | box[axis+6] = save;
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131 | } else {
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132 | // for (int k=0; k < 6; k++)
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133 | // cout<<k<<" "<<box[k]<<" - "<<box[k+6]<<endl;
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134 | }
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135 |
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136 | if (i + batchsize < r) {
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137 | // set new min
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138 | box[axis] = x;
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139 | _SortRays2(rays, i, r, depth+1, box);
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140 | } else {
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141 | // for (int k=0; k < 6; k++)
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142 | // cout<<k<<" "<<box[k]<<" - "<<box[k+6]<<endl;
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143 | }
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144 | }
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145 |
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146 | void
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147 | SortRays2(SimpleRayContainer &rays, const AxisAlignedBox3 &box)
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148 | {
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149 | const float sizeBox = Magnitude(box.Diagonal());
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150 | // This is some size of the
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151 | const float sizeDir = 0.1f * sizeBox;
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152 |
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153 | float b[12]={
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154 | box.Min().x,
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155 | box.Min().y,
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156 | box.Min().z,
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157 | -sizeDir,
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158 | -sizeDir,
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159 | -sizeDir,
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160 | box.Max().x,
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161 | box.Max().y,
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162 | box.Max().z,
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163 | sizeDir,
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164 | sizeDir,
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165 | sizeDir
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166 | };
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167 |
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168 |
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169 | _SortRays2(rays, 0, (int)rays.size()-1, 0, b);
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170 |
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171 | return;
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172 | }
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173 |
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174 |
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175 | static string GetInternFilename(const string &filename, const string newSuffix)
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176 | {
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177 | vector<string> filenames;
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178 | const int files = SplitFilenames(filename, filenames);
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179 |
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180 | vector<string>::const_iterator sit, sit_end = filenames.end();
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181 | string kdFilename;
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182 |
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183 | int i = 0;
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184 | for (sit = filenames.begin(); sit != sit_end; ++ sit, ++ i)
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185 | {
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186 | string currentFile = *sit;
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187 | string strippedFilename;
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188 |
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189 | if (i == 0)
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190 | {
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191 | strippedFilename = currentFile;
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192 | }
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193 | else
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194 | {
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195 | char *str = StripPath(currentFile.c_str());
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196 | strippedFilename = string(str);
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197 |
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198 | delete [] str;
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199 | }
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200 |
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201 | string suffix("_");
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202 |
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203 | if (i == (int)filenames.size() - 1)
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204 | {
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205 | suffix = newSuffix;
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206 | }
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207 |
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208 | if (strstr(strippedFilename.c_str(), ".x3d"))
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209 | {
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210 | kdFilename += ReplaceSuffix(strippedFilename, ".x3d", suffix);
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211 | }
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212 | else if (strstr(strippedFilename.c_str(), ".dat"))
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213 | {
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214 | kdFilename += ReplaceSuffix(strippedFilename, ".dat", suffix);
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215 | }
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216 | else if (strstr(strippedFilename.c_str(), ".obj"))
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217 | {
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218 | kdFilename += ReplaceSuffix(strippedFilename, ".obj", suffix);
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219 | }
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220 | else
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221 | {
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222 | cerr << "Error: Currently unsupported format for kd, filename " << currentFile << endl;
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223 | }
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224 | }
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225 |
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226 | //cout << "kdfilename: " << kdFilename << endl;
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227 | return kdFilename;
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228 | }
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229 |
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230 |
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231 | // -------------------------------------------------------
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232 | // Written by Vlastimil Havran
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233 |
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234 | // This is for testing RT implementation
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235 | void
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236 | TestRTcamera(int argc, char **argv)
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237 | {
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238 | int returnCode = 0;
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239 |
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240 | InitTiming();
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241 | Debug.open("debug.log");
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242 |
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243 | Environment::GetSingleton()->Parse(argc, argv, USE_EXE_PATH);
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244 | MeshKdTree::ParseEnvironment();
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245 |
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246 | char buff[128];
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247 | Environment::GetSingleton()->GetStringValue("Preprocessor.type", buff);
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248 | string preprocessorType(buff);
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249 |
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250 | if (!(preprocessor = PreprocessorFactory::CreatePreprocessor(preprocessorType)))
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251 | {
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252 | Environment::DelSingleton();
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253 | cerr << "Unknown preprocessor type" << endl;
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254 | exit(1);
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255 | }
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256 |
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257 |
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258 | Environment::GetSingleton()->GetStringValue("Scene.filename", buff);
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259 | string filename(buff);
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260 |
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261 | const string externKdTree = ReplaceSuffix(filename, ".obj", ".kdf");
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262 | const string internKdTree = GetInternFilename(filename, preprocessor->mLoadMeshes ?
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263 | ".kdm" : ".kdt");
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264 |
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265 | if (preprocessor->InitRayCast(externKdTree, internKdTree))
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266 | {
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267 | cout << "ray casting initialized!" << endl;
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268 | }
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269 | else
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270 | {
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271 | cout << "ray casting initialization failed!" << endl;
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272 | Cleanup();
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273 | exit(1);
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274 | }
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275 |
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276 | //Debug << "using pvs type " << PVS_TYPE << endl;
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277 |
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278 | /////////////
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279 | //-- load scene
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280 |
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281 | if (!preprocessor->LoadScene(filename))
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282 | {
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283 | cout << "loading file " << filename << " failed" << endl;
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284 | Cleanup();
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285 | exit(1);
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286 | }
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287 |
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288 | ////////////
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289 | //-- initialize external ray caster
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290 |
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291 | if (preprocessor->LoadInternKdTree(internKdTree))
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292 | {
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293 | cout << "intern kd tree loaded!" << endl;
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294 | }
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295 | else
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296 | {
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297 | cout << "loading intern kd tree failed!" << endl;
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298 | Cleanup();
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299 | exit(1);
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300 | }
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301 |
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302 | // export objects as obj
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303 | if (preprocessor->mExportObj)
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304 | {
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305 | if (strstr(filename.c_str(), ".obj"))
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306 | {
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307 | cerr << "already in obj format" << endl;
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308 | if (0) preprocessor->ExportObj("test.obj", preprocessor->mObjects);
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309 | }
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310 | else
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311 | {
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312 |
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313 | const string objname = GetInternFilename(filename, ".obj");
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314 |
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315 | cout << "exporting scene to " << objname << endl;
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316 | bool success = preprocessor->ExportObj(objname, preprocessor->mObjects);
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317 |
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318 |
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319 | if (success)
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320 | cout << "finished exporting obj" << endl;
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321 | else
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322 | cerr << "error exporting " << objname << endl;
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323 | }
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324 | }
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325 |
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326 | int width = 1000;
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327 | int height = 500;
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328 | float fieldOfView = 115.f;
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329 | Camera cam(width, height, fieldOfView);
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330 |
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331 | AxisAlignedBox3 bboxOrig = preprocessor->mSceneGraph->GetBox();
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332 | AxisAlignedBox3 bbox = bboxOrig;
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333 | float sizeDiag = Magnitude(bbox.Diagonal());
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334 | bbox.Enlarge(sizeDiag * 1.5f);
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335 |
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336 | Vector3 origin, dir;
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337 |
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338 | #define WIEN1
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339 | //#define WIEN2
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340 | //#define ARENA1
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341 |
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342 | #ifdef WIEN1
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343 | // 1099.9 183.0 -387
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344 | origin = Vector3(1099.9f, 183.0f, -387.0f);
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345 | dir = Vector3(-0.6f, 0.0001f, -0.8f);
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346 | //dir = -dir;
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347 | #define DIREXISTS
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348 | #endif
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349 | #ifdef WIEN2
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350 | // 935.6 215.8 -1012.3
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351 | origin = Vector3(935.6, 215.8, -1012.4);
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352 | dir = Vector3(0.01f, 0.01f, 1.0f);
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353 | #define DIREXISTS
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354 | #endif
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355 | #ifdef ARENA1
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356 | origin = Vector3(22.16, 19.63, -950.44);
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357 | dir = Vector3(0.9, 0.001f, -0.5f);
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358 | #define DIREXISTS
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359 | #endif
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360 |
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361 | cam.SetPosition(origin);
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362 |
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363 | #ifndef DIREXISTS
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364 | Vector3 center = bbox.Center();
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365 | dir = center - origin;
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366 | #endif
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367 |
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368 | dir.Normalize();
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369 | cam.SetDirection(dir);
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370 | cout << "Computing image\n" << endl;
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371 |
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372 | int id = (int)preprocessor->mObjects.size() + 1;
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373 |
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374 | //We add here a few objects
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375 | ObjectContainer dynObjects;
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376 | Vector3 baseVec = origin + dir * 2.0f;
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377 | Triangle3 tr1(baseVec, baseVec + Vector3(1, 0, 0),
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378 | baseVec + Vector3(0, 1, 0));
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379 | TriangleIntersectable ti1(tr1);
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380 | dynObjects.push_back(&ti1);
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381 | ti1.mId = id+1;
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382 |
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383 | tr1.Init(baseVec, baseVec + Vector3(1, 0, 0),
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384 | baseVec + Vector3(0, 0, 1));
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385 | TriangleIntersectable ti2(tr1);
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386 | dynObjects.push_back(&ti2);
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387 | ti2.mId = id+2;
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388 |
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389 | tr1.Init(baseVec, baseVec + Vector3(0, 1, 0),
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390 | baseVec + Vector3(0, 0, 1));
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391 | TriangleIntersectable ti3(tr1);
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392 | dynObjects.push_back(&ti3);
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393 | ti3.mId = id+3;
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394 |
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395 | #if 1
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396 | // This is required for cam.SnapImagePacket2
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397 | // otherwise dynamic object cannot be identified!
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398 | preprocessor->mObjects.push_back(&ti1);
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399 | preprocessor->mObjects.push_back(&ti2);
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400 | preprocessor->mObjects.push_back(&ti3);
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401 | #endif
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402 |
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403 | if (0) {
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404 | Matrix4x4 mat;
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405 | mat = IdentityMatrix();
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406 | mat = mat * TranslationMatrix(Vector3(-1, 0, 0));
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407 | preprocessor->mRayCaster->AddDynamicObjecs(dynObjects, mat);
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408 |
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409 | #if 1
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410 | // ray by ray
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411 | cam.SnapImage("test-rays.tga",
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412 | preprocessor->mRayCaster,
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413 | bboxOrig,
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414 | preprocessor->mSceneGraph);
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415 | #endif
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416 | #if 1
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417 | // using ray packets
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418 | cam.SnapImage2("test-oneDir.tga",
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419 | preprocessor->mRayCaster,
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420 | bboxOrig,
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421 | preprocessor->mSceneGraph);
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422 | #endif
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423 |
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424 | #if 1
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425 | #ifdef _USE_HAVRAN_SSE
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426 | // using ray packets
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427 | cam.SnapImagePacket("test-packet.tga",
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428 | preprocessor->mRayCaster,
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429 | bboxOrig,
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430 | preprocessor->mSceneGraph);
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431 | #endif
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432 | #endif
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433 | #if 1
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434 | // using ray packets
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435 | cam.SnapImagePacket2("test-packet4.tga",
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436 | preprocessor->mRayCaster,
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437 | bboxOrig,
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438 | preprocessor->mSceneGraph);
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439 | #endif
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440 | }
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441 | else {
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442 | cout << "Computing animation" << endl;
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443 | for (int i = 0; i < 20; i++) {
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444 | preprocessor->mRayCaster->DeleteDynamicObjects();
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445 | Matrix4x4 mat;
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446 | mat = IdentityMatrix();
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447 | mat = mat * TranslationMatrix(Vector3(-0.1*(float)i, 0, 0));
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448 | preprocessor->mRayCaster->AddDynamicObjecs(dynObjects, mat);
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449 | char name[200];
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450 | #if 1
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451 | // ray by ray
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452 | sprintf(name, "test-rays-%03d.tga", i);
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453 | cam.SnapImage(name,
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454 | preprocessor->mRayCaster,
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455 | bboxOrig,
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456 | preprocessor->mSceneGraph);
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457 | #endif
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458 | #if 1
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459 | // using ray packets
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460 | sprintf(name, "test-oneDir-%03d.tga", i);
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461 | cam.SnapImage2(name,
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462 | preprocessor->mRayCaster,
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463 | bboxOrig,
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464 | preprocessor->mSceneGraph);
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465 | #endif
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466 |
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467 | #if 1
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468 | #ifdef _USE_HAVRAN_SSE
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469 | // using ray packets
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470 | sprintf(name, "test-packet-%03d.tga", i);
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471 | cam.SnapImagePacket(name,
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472 | preprocessor->mRayCaster,
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473 | bboxOrig,
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474 | preprocessor->mSceneGraph);
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475 | #endif
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476 | #endif
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477 | #if 1
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478 | // using ray packets
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479 | sprintf(name, "test-packet4-%03d.tga", i);
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480 | cam.SnapImagePacket2(name,
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481 | preprocessor->mRayCaster,
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482 | bboxOrig,
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483 | preprocessor->mSceneGraph);
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484 | #endif
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485 | } // for
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486 | } // animation
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487 |
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488 |
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489 | cout << "Done\n" << endl;
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490 | return;
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491 | }
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492 |
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493 | struct RESult {
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494 | int hitA;
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495 | float hitAT;
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496 | int hitB;
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497 | float hitBT;
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498 | RESult(int hA, float tA, int hB, float tB):
|
---|
499 | hitA(hA), hitAT(tA), hitB(hB), hitBT(tB) { }
|
---|
500 | };
|
---|
501 |
|
---|
502 |
|
---|
503 | // This is for testing RT implementation
|
---|
504 | void
|
---|
505 | TestRTfromFile(int argc, char **argv)
|
---|
506 | {
|
---|
507 | int returnCode = 0;
|
---|
508 |
|
---|
509 | InitTiming();
|
---|
510 | Debug.open("debug.log");
|
---|
511 |
|
---|
512 | Environment::GetSingleton()->Parse(argc, argv, USE_EXE_PATH);
|
---|
513 | MeshKdTree::ParseEnvironment();
|
---|
514 |
|
---|
515 | char buff[128];
|
---|
516 | Environment::GetSingleton()->GetStringValue("Preprocessor.type", buff);
|
---|
517 | string preprocessorType(buff);
|
---|
518 |
|
---|
519 | if (!(preprocessor = PreprocessorFactory::CreatePreprocessor(preprocessorType)))
|
---|
520 | {
|
---|
521 | Environment::DelSingleton();
|
---|
522 | cerr << "Unknown preprocessor type" << endl;
|
---|
523 | exit(1);
|
---|
524 | }
|
---|
525 |
|
---|
526 |
|
---|
527 | Environment::GetSingleton()->GetStringValue("Scene.filename", buff);
|
---|
528 | string filename(buff);
|
---|
529 |
|
---|
530 | const string externKdTree = ReplaceSuffix(filename, ".obj", ".kdf");
|
---|
531 | const string internKdTree = GetInternFilename(filename, preprocessor->mLoadMeshes ?
|
---|
532 | ".kdm" : ".kdt");
|
---|
533 |
|
---|
534 | if (preprocessor->InitRayCast(externKdTree, internKdTree))
|
---|
535 | {
|
---|
536 | cout << "ray casting initialized!" << endl;
|
---|
537 | }
|
---|
538 | else
|
---|
539 | {
|
---|
540 | cout << "ray casting initialization failed!" << endl;
|
---|
541 | Cleanup();
|
---|
542 | exit(1);
|
---|
543 | }
|
---|
544 |
|
---|
545 | //Debug << "using pvs type " << PVS_TYPE << endl;
|
---|
546 |
|
---|
547 | /////////////
|
---|
548 | //-- load scene
|
---|
549 |
|
---|
550 | if (!preprocessor->LoadScene(filename))
|
---|
551 | {
|
---|
552 | cout << "loading file " << filename << " failed" << endl;
|
---|
553 | Cleanup();
|
---|
554 | exit(1);
|
---|
555 | }
|
---|
556 |
|
---|
557 | ////////////
|
---|
558 | //-- initialize external ray caster
|
---|
559 |
|
---|
560 | if (preprocessor->LoadInternKdTree(internKdTree))
|
---|
561 | {
|
---|
562 | cout << "intern kd tree loaded!" << endl;
|
---|
563 | }
|
---|
564 | else
|
---|
565 | {
|
---|
566 | cout << "loading intern kd tree failed!" << endl;
|
---|
567 | Cleanup();
|
---|
568 | exit(1);
|
---|
569 | }
|
---|
570 |
|
---|
571 | // export objects as obj
|
---|
572 | if (preprocessor->mExportObj)
|
---|
573 | {
|
---|
574 | if (strstr(filename.c_str(), ".obj"))
|
---|
575 | {
|
---|
576 | cerr << "already in obj format" << endl;
|
---|
577 | if (0) preprocessor->ExportObj("test.obj", preprocessor->mObjects);
|
---|
578 | }
|
---|
579 | else
|
---|
580 | {
|
---|
581 | const string objname = GetInternFilename(filename, ".obj");
|
---|
582 |
|
---|
583 | cout << "exporting scene to " << objname << endl;
|
---|
584 | bool success = preprocessor->ExportObj(objname, preprocessor->mObjects);
|
---|
585 |
|
---|
586 | if (success)
|
---|
587 | cout << "finished exporting obj" << endl;
|
---|
588 | else
|
---|
589 | cerr << "error exporting " << objname << endl;
|
---|
590 | }
|
---|
591 | }
|
---|
592 |
|
---|
593 | Environment::GetSingleton()->GetStringValue("Rays.file", buff);
|
---|
594 | FILE *fp = fopen(buff, "rb");
|
---|
595 | if (!fp) {
|
---|
596 | cerr << "ERROR: file " << buff << " cannot be opened for reading" << endl;
|
---|
597 | cerr << "EXITING" << endl;
|
---|
598 | exit(3);
|
---|
599 | }
|
---|
600 | cout << "File " << buff << " was opened successfully" << endl;
|
---|
601 | int cntMaxRays = 100000;
|
---|
602 | Environment::GetSingleton()->GetIntValue("Rays.cnt", cntMaxRays);
|
---|
603 | SimpleRayContainer rays;
|
---|
604 | SimpleRay rayTest;
|
---|
605 | vector<RESult> results;
|
---|
606 |
|
---|
607 | int cntRays = 0;
|
---|
608 | for (int i = 0; cntRays < cntMaxRays; i++) {
|
---|
609 | int ch = fgetc(fp);
|
---|
610 | switch (ch) {
|
---|
611 | case 'G': { // two-sided rays of 16
|
---|
612 | for (int j = 0; j < 16; j++) {
|
---|
613 | int order;
|
---|
614 | float ox, oy, oz, dx, dy, dz;
|
---|
615 | int hitA; float hitAT;
|
---|
616 | int hitB; float hitBT;
|
---|
617 | if (fscanf(fp, "%d %f %f %f %f %f %f %d %f %d %f\n",
|
---|
618 | &order, &ox, &oy, &oz, &dx, &dy, &dz, &hitA, &hitAT, &hitB, &hitBT) != 11) {
|
---|
619 | cerr << "Problem parsing the ray file" << endl;
|
---|
620 | cerr << "EXITING for ray order" << order << endl;
|
---|
621 | goto FINISH;
|
---|
622 | }
|
---|
623 | Vector3 mPosition(ox, oy, oz);
|
---|
624 | Vector3 mDirection(dx, dy, dz);
|
---|
625 | rayTest.Set(mPosition, mDirection, 0, 1.0, true);
|
---|
626 | rays.push_back(rayTest);
|
---|
627 | results.push_back(RESult(hitA, hitAT, hitB, hitBT));
|
---|
628 | cntRays++;
|
---|
629 | }
|
---|
630 | break;
|
---|
631 | }
|
---|
632 | case 'H': // one-sided rays of 16
|
---|
633 | cerr << "Not yet implemented " << endl; abort();
|
---|
634 |
|
---|
635 | case 'D': // two-sided ray
|
---|
636 | cerr << "Not yet implemented " << endl; abort();
|
---|
637 |
|
---|
638 | case 'S': // one-sided ray
|
---|
639 | cerr << "Not yet implemented " << endl; abort();
|
---|
640 | } // switch
|
---|
641 | } // for i
|
---|
642 |
|
---|
643 | FINISH:
|
---|
644 | fclose(fp);
|
---|
645 |
|
---|
646 | Environment::GetSingleton()->GetBoolValue("TestDoubleRays", castDoubleRays);
|
---|
647 |
|
---|
648 | double mult = 1.0;
|
---|
649 | if (castDoubleRays)
|
---|
650 | mult = 2.0;
|
---|
651 |
|
---|
652 | cout << "Press a key to start ray shooting" << endl;
|
---|
653 | getchar();
|
---|
654 | cout << "Ray shooting " << cntRays << " rays started - "
|
---|
655 | << (castDoubleRays ? " double " : " single ")
|
---|
656 | << " dir " << endl;
|
---|
657 |
|
---|
658 | AxisAlignedBox3 bboxOrig = preprocessor->mSceneGraph->GetBox();
|
---|
659 |
|
---|
660 | cout << "Sorting rays " << endl;
|
---|
661 |
|
---|
662 | CTimer timer;
|
---|
663 | timer.Reset();
|
---|
664 | timer.Start();
|
---|
665 | long t1 = GetTime();
|
---|
666 |
|
---|
667 | //SortRays2(rays, bboxOrig);
|
---|
668 |
|
---|
669 | timer.Stop();
|
---|
670 | long t2 = GetTime();
|
---|
671 | cout<<"\n#SORTING_TIME = ";
|
---|
672 | cout << TimeDiff(t1, t2)<<" [mikrosec]"
|
---|
673 | << " userTime = " << timer.UserTime() << " realTime = "
|
---|
674 | << timer.RealTime() << endl;
|
---|
675 |
|
---|
676 | cout << "Starting to shoot " << cntRays * mult << " rays" << endl;
|
---|
677 | timer.Start();
|
---|
678 |
|
---|
679 | RayCaster *raycaster = preprocessor->mRayCaster;
|
---|
680 | VssRayContainer vssRays;
|
---|
681 |
|
---|
682 | //#define DEBUGRESULTS
|
---|
683 |
|
---|
684 | #ifdef DEBUGRESULTS
|
---|
685 | int cntIntelYesWeNo = 0;
|
---|
686 | int cntIntelNoWeYes = 0;
|
---|
687 | int cntIntelOurDistMismatch = 0;
|
---|
688 | bool printOut = false;
|
---|
689 | double sumDistIntel = 0.f;
|
---|
690 | double sumDistOurAlg = 0.f;
|
---|
691 | double sumDistAbsDiff = 0.f;
|
---|
692 | #endif
|
---|
693 |
|
---|
694 | SimpleRayContainer raysToTest;
|
---|
695 | for (int i = 0; i < cntRays - 16; i++) {
|
---|
696 |
|
---|
697 | #if 0
|
---|
698 | int res = raycaster->CastRay(rays[i],
|
---|
699 | vssRays,
|
---|
700 | bboxOrig,
|
---|
701 | castDoubleRays, // castDoubleRay,
|
---|
702 | false); // pruneInvalidRays
|
---|
703 | #else
|
---|
704 | raysToTest.erase(raysToTest.begin(), raysToTest.end());
|
---|
705 | for (int j = 0; j < 16; j++, i++) {
|
---|
706 | raysToTest.push_back(rays[i]);
|
---|
707 | }
|
---|
708 | #if 0
|
---|
709 | for (int j = 0; j < 16; j++) {
|
---|
710 | cout << "orig = " << raysToTest[j].mOrigin << " dir = "
|
---|
711 | << raysToTest[j].mDirection << endl;
|
---|
712 | }
|
---|
713 | #endif
|
---|
714 |
|
---|
715 | raycaster->CastRays16(raysToTest,
|
---|
716 | vssRays,
|
---|
717 | bboxOrig,
|
---|
718 | castDoubleRays,
|
---|
719 | false);
|
---|
720 | #endif
|
---|
721 |
|
---|
722 | #ifdef DEBUGRESULTS
|
---|
723 | if (!castDoubleRays) {
|
---|
724 | float T = rays[i].IntersectionRes[0].tdist;
|
---|
725 | if ( (res != results[i].hitA) ||
|
---|
726 | ((res)&&(results[i].hitA)&& (fabs(T - results[i].hitAT)) > 0.1f)
|
---|
727 | )
|
---|
728 | {
|
---|
729 | if (printOut)
|
---|
730 | cout << " i = " << i << " ";
|
---|
731 | if ((res != 0) && (results[i].hitA == 0)) {
|
---|
732 | cntIntelNoWeYes++;
|
---|
733 | if (printOut)
|
---|
734 | cout << "Intel no intersection, our alg intersection at t = " << T << endl;
|
---|
735 | }
|
---|
736 | else {
|
---|
737 | if ((res == 0) && (results[i].hitA)) {
|
---|
738 | cntIntelYesWeNo++;
|
---|
739 | if (printOut)
|
---|
740 | cout << "Intel intersection at = " << results[i].hitAT
|
---|
741 | << " , our alg no intersection = " << endl;
|
---|
742 |
|
---|
743 | }
|
---|
744 | else {
|
---|
745 | cntIntelOurDistMismatch++;
|
---|
746 | sumDistOurAlg += T;
|
---|
747 | sumDistIntel += results[i].hitAT;
|
---|
748 | sumDistAbsDiff += fabs(T - results[i].hitAT);
|
---|
749 | if (printOut)
|
---|
750 | cout << "Intel intersection at = " << results[i].hitAT
|
---|
751 | << " , our alg intersection at = " << T << endl;
|
---|
752 | }
|
---|
753 | }
|
---|
754 | }
|
---|
755 | } // double rays
|
---|
756 | else {
|
---|
757 | // checking for results of double rays - not yet implemented
|
---|
758 | }
|
---|
759 | #endif
|
---|
760 | }
|
---|
761 |
|
---|
762 | timer.Stop();
|
---|
763 | t2 = GetTime();
|
---|
764 | cout<<"\n#SORTING + RAY_CAST_TIME = ";
|
---|
765 | cout << TimeDiff(t1, t2)<<" [mikrosec]"
|
---|
766 | << " userTime = " << timer.UserTime() << " realTime = "
|
---|
767 | << timer.RealTime() << endl;
|
---|
768 | cout << "Rays shot per milisecond [userTimer] = "
|
---|
769 | << ((double)cntRays * mult/(double)timer.UserTime()) / 1000.f << endl;
|
---|
770 |
|
---|
771 | #ifdef DEBUGRESULTS
|
---|
772 | cout << "cntIntelYesWeNo = " << cntIntelYesWeNo << endl;
|
---|
773 | cout << "cntIntelNoWeYes = " << cntIntelNoWeYes << endl;
|
---|
774 | cout << "cntIntelOurDistMismatch = " << cntIntelOurDistMismatch++ << endl;
|
---|
775 | cout << " sumDistIntel = " << sumDistIntel/(double)cntIntelOurDistMismatch << endl;
|
---|
776 | cout << " sumDistOur = " << sumDistOurAlg/(double)cntIntelOurDistMismatch << endl;
|
---|
777 | cout << " sumAbsDiffDist = " << sumDistAbsDiff/(double)cntIntelOurDistMismatch
|
---|
778 | << endl;
|
---|
779 | #endif
|
---|
780 | cout << "Done\n" << endl;
|
---|
781 | return;
|
---|
782 | }
|
---|
783 |
|
---|
784 | //-------------------------------------------------------------------------
|
---|
785 | // This is for testing RT implementation using ray packets
|
---|
786 | void
|
---|
787 | TestRTfromFilePackets(int argc, char **argv)
|
---|
788 | {
|
---|
789 | int returnCode = 0;
|
---|
790 |
|
---|
791 | InitTiming();
|
---|
792 | Debug.open("debug.log");
|
---|
793 |
|
---|
794 | Environment::GetSingleton()->Parse(argc, argv, USE_EXE_PATH);
|
---|
795 | MeshKdTree::ParseEnvironment();
|
---|
796 |
|
---|
797 | char buff[128];
|
---|
798 | Environment::GetSingleton()->GetStringValue("Preprocessor.type", buff);
|
---|
799 | string preprocessorType(buff);
|
---|
800 |
|
---|
801 | if (!(preprocessor = PreprocessorFactory::CreatePreprocessor(preprocessorType)))
|
---|
802 | {
|
---|
803 | Environment::DelSingleton();
|
---|
804 | cerr << "Unknown preprocessor type" << endl;
|
---|
805 | exit(1);
|
---|
806 | }
|
---|
807 |
|
---|
808 |
|
---|
809 | Environment::GetSingleton()->GetStringValue("Scene.filename", buff);
|
---|
810 | string filename(buff);
|
---|
811 |
|
---|
812 | const string externKdTree = ReplaceSuffix(filename, ".obj", ".kdf");
|
---|
813 | const string internKdTree = GetInternFilename(filename, preprocessor->mLoadMeshes ?
|
---|
814 | ".kdm" : ".kdt");
|
---|
815 |
|
---|
816 | if (preprocessor->InitRayCast(externKdTree, internKdTree))
|
---|
817 | {
|
---|
818 | cout << "ray casting initialized!" << endl;
|
---|
819 | }
|
---|
820 | else
|
---|
821 | {
|
---|
822 | cout << "ray casting initialization failed!" << endl;
|
---|
823 | Cleanup();
|
---|
824 | exit(1);
|
---|
825 | }
|
---|
826 |
|
---|
827 | //Debug << "using pvs type " << PVS_TYPE << endl;
|
---|
828 |
|
---|
829 | /////////////
|
---|
830 | //-- load scene
|
---|
831 |
|
---|
832 | if (!preprocessor->LoadScene(filename))
|
---|
833 | {
|
---|
834 | cout << "loading file " << filename << " failed" << endl;
|
---|
835 | Cleanup();
|
---|
836 | exit(1);
|
---|
837 | }
|
---|
838 |
|
---|
839 | ////////////
|
---|
840 | //-- initialize external ray caster
|
---|
841 |
|
---|
842 | if (preprocessor->LoadInternKdTree(internKdTree))
|
---|
843 | {
|
---|
844 | cout << "intern kd tree loaded!" << endl;
|
---|
845 | }
|
---|
846 | else
|
---|
847 | {
|
---|
848 | cout << "loading intern kd tree failed!" << endl;
|
---|
849 | Cleanup();
|
---|
850 | exit(1);
|
---|
851 | }
|
---|
852 |
|
---|
853 | // export objects as obj
|
---|
854 | if (preprocessor->mExportObj)
|
---|
855 | {
|
---|
856 | if (strstr(filename.c_str(), ".obj"))
|
---|
857 | {
|
---|
858 | cerr << "already in obj format" << endl;
|
---|
859 | if (0) preprocessor->ExportObj("test.obj", preprocessor->mObjects);
|
---|
860 | }
|
---|
861 | else
|
---|
862 | {
|
---|
863 | const string objname = GetInternFilename(filename, ".obj");
|
---|
864 |
|
---|
865 | cout << "exporting scene to " << objname << endl;
|
---|
866 | bool success = preprocessor->ExportObj(objname, preprocessor->mObjects);
|
---|
867 |
|
---|
868 | if (success)
|
---|
869 | cout << "finished exporting obj" << endl;
|
---|
870 | else
|
---|
871 | cerr << "error exporting " << objname << endl;
|
---|
872 | }
|
---|
873 | }
|
---|
874 |
|
---|
875 | Environment::GetSingleton()->GetStringValue("Rays.file", buff);
|
---|
876 | FILE *fp = fopen(buff, "rb");
|
---|
877 | if (!fp) {
|
---|
878 | cerr << "ERROR: file " << buff << " cannot be opened for reading" << endl;
|
---|
879 | cerr << "EXITING" << endl;
|
---|
880 | exit(3);
|
---|
881 | }
|
---|
882 | cout << "File " << buff << " was opened successfully" << endl;
|
---|
883 | int cntMaxRays = 100000;
|
---|
884 | Environment::GetSingleton()->GetIntValue("Rays.cnt", cntMaxRays);
|
---|
885 | SimpleRayContainer rays;
|
---|
886 | SimpleRay rayTest;
|
---|
887 | vector<RESult> results;
|
---|
888 |
|
---|
889 | int cntRays = 0;
|
---|
890 | for (int i = 0; cntRays < cntMaxRays; i++) {
|
---|
891 | int ch = fgetc(fp);
|
---|
892 | switch (ch) {
|
---|
893 | case 'G': { // two-sided rays of 16
|
---|
894 | for (int j = 0; j < 16; j++) {
|
---|
895 | int order;
|
---|
896 | float ox, oy, oz, dx, dy, dz;
|
---|
897 | int hitA; float hitAT;
|
---|
898 | int hitB; float hitBT;
|
---|
899 | if (fscanf(fp, "%d %f %f %f %f %f %f %d %f %d %f\n",
|
---|
900 | &order, &ox, &oy, &oz, &dx, &dy, &dz, &hitA, &hitAT, &hitB, &hitBT) != 11) {
|
---|
901 | cerr << "Problem parsing the ray file" << endl;
|
---|
902 | cerr << "EXITING for ray order" << order << endl;
|
---|
903 | goto FINISH;
|
---|
904 | }
|
---|
905 | Vector3 mPosition(ox, oy, oz);
|
---|
906 | Vector3 mDirection(dx, dy, dz);
|
---|
907 | rayTest.Set(mPosition, mDirection, 0, 1.0, true);
|
---|
908 | rays.push_back(rayTest);
|
---|
909 | results.push_back(RESult(hitA, hitAT, hitB, hitBT));
|
---|
910 | cntRays++;
|
---|
911 | }
|
---|
912 | break;
|
---|
913 | }
|
---|
914 | case 'H': // one-sided rays of 16
|
---|
915 | cerr << "Not yet implemented " << endl; abort();
|
---|
916 |
|
---|
917 | case 'D': // two-sided ray
|
---|
918 | cerr << "Not yet implemented " << endl; abort();
|
---|
919 |
|
---|
920 | case 'S': // one-sided ray
|
---|
921 | cerr << "Not yet implemented " << endl; abort();
|
---|
922 | } // switch
|
---|
923 | } // for i
|
---|
924 | FINISH:
|
---|
925 | fclose(fp);
|
---|
926 |
|
---|
927 | Environment::GetSingleton()->GetBoolValue("TestDoubleRays", castDoubleRays);
|
---|
928 |
|
---|
929 | double mult = 1.0;
|
---|
930 | if (castDoubleRays)
|
---|
931 | mult = 2.0;
|
---|
932 |
|
---|
933 | cout << "Starting to shoot " << cntRays * mult << " rays" << endl;
|
---|
934 |
|
---|
935 | RayCaster *raycaster = preprocessor->mRayCaster;
|
---|
936 | VssRayContainer vssRays;
|
---|
937 | AxisAlignedBox3 bboxOrig = preprocessor->mSceneGraph->GetBox();
|
---|
938 |
|
---|
939 | #undef DEBUGRESULTS
|
---|
940 | //#define DEBUGRESULTS
|
---|
941 |
|
---|
942 | #ifdef DEBUGRESULTS
|
---|
943 | int cntIntelYesWeNo = 0;
|
---|
944 | int cntIntelNoWeYes = 0;
|
---|
945 | int cntIntelOurDistMismatch = 0;
|
---|
946 | bool printOut = false;
|
---|
947 | double sumDistIntel = 0.;
|
---|
948 | double sumDistOurAlg = 0.;
|
---|
949 | double sumDistAbsDiff = 0.f;
|
---|
950 | #endif
|
---|
951 |
|
---|
952 | cout << "Press a key to start ray shooting" << endl;
|
---|
953 | getchar();
|
---|
954 | cout << "Ray packs shooting " << cntRays << " rays started - "
|
---|
955 | << (castDoubleRays ? " double " : " single ")
|
---|
956 | << " dir " << endl;
|
---|
957 |
|
---|
958 | long t1 = GetTime();
|
---|
959 | CTimer timer;
|
---|
960 | timer.Reset();
|
---|
961 | timer.Start();
|
---|
962 |
|
---|
963 | #ifdef _USE_HAVRAN_SSE
|
---|
964 | #ifdef __SSE__
|
---|
965 | RayPacket2x2 raysPack;
|
---|
966 |
|
---|
967 | for (int i = 0; i < cntRays - 16; i++) {
|
---|
968 | for (int j = 0; j < 4; j++, i++) {
|
---|
969 | raysPack.SetLoc(j, rays[i].mOrigin);
|
---|
970 | raysPack.SetDir(j, rays[i].mDirection);
|
---|
971 | } // for
|
---|
972 | #if 0
|
---|
973 | for (int j = 0; j < 16; j++) {
|
---|
974 | cout << "orig = " << raysToTest[j].mOrigin << " dir = "
|
---|
975 | << raysToTest[j].mDirection << endl;
|
---|
976 | }
|
---|
977 | #endif
|
---|
978 | raysPack.ComputeDirSign();
|
---|
979 | raycaster->CastRaysPacket2x2(raysPack, castDoubleRays);
|
---|
980 |
|
---|
981 | #ifdef DEBUGRESULTS
|
---|
982 | if (!castDoubleRays) {
|
---|
983 | float T = rays[i].IntersectionRes[0].tdist;
|
---|
984 | if ( (res != results[i].hitA) ||
|
---|
985 | ((res)&&(results[i].hitA)&& (fabs(T - results[i].hitAT)) > 2.0f)
|
---|
986 | )
|
---|
987 | {
|
---|
988 | if (printOut)
|
---|
989 | cout << " i = " << i << " ";
|
---|
990 | if ((res != 0) && (results[i].hitA == 0)) {
|
---|
991 | cntIntelNoWeYes++;
|
---|
992 | if (printOut)
|
---|
993 | cout << "Intel no intersection, our alg intersection at t = " << T << endl;
|
---|
994 | }
|
---|
995 | else {
|
---|
996 | if ((res = 0) && (results[i].hitA)) {
|
---|
997 | cntIntelYesWeNo++;
|
---|
998 | if (printOut)
|
---|
999 | cout << "Intel intersection at = " << results[i].hitAT
|
---|
1000 | << " , our alg no intersection = " << endl;
|
---|
1001 |
|
---|
1002 | }
|
---|
1003 | else {
|
---|
1004 | cntIntelOurDistMismatch++;
|
---|
1005 | sumDistOurAlg += T;
|
---|
1006 | sumDistIntel += results[i].hitAT;
|
---|
1007 | sumDistAbsDiff += fabs(T - results[i].hitAT);
|
---|
1008 | if (printOut)
|
---|
1009 | cout << "Intel intersection at = " << results[i].hitAT
|
---|
1010 | << " , our alg intersection at = " << T << endl;
|
---|
1011 | }
|
---|
1012 | }
|
---|
1013 | }
|
---|
1014 | } // double rays
|
---|
1015 | else {
|
---|
1016 | // checking for results of double rays - not yet implemented
|
---|
1017 | }
|
---|
1018 | #endif
|
---|
1019 | }
|
---|
1020 |
|
---|
1021 | #endif // __SSE__
|
---|
1022 | #endif // _USE_HAVRAN_SSE
|
---|
1023 |
|
---|
1024 | timer.Stop();
|
---|
1025 | long t2 = GetTime();
|
---|
1026 | cout<<"\n#RAY_CAST_TIME = ";
|
---|
1027 | cout << TimeDiff(t1, t2)<<" [mikrosec]"
|
---|
1028 | << " userTime = " << timer.UserTime() << " realTime = "
|
---|
1029 | << timer.RealTime() << endl;
|
---|
1030 | ;
|
---|
1031 | cout << "Rays shot per milisecond [userTimer] = "
|
---|
1032 | << ((double)cntRays * mult/(double)timer.UserTime()) / 1000.f << endl;
|
---|
1033 |
|
---|
1034 | #ifdef DEBUGRESULTS
|
---|
1035 | cout << "cntIntelYesWeNo = " << cntIntelYesWeNo << endl;
|
---|
1036 | cout << "cntIntelNoWeYes = " << cntIntelNoWeYes << endl;
|
---|
1037 | cout << "cntIntelOurDistMismatch = " << cntIntelOurDistMismatch++ << endl;
|
---|
1038 | cout << " sumDistIntel = " << sumDistIntel/(double)cntIntelOurDistMismatch << endl;
|
---|
1039 | cout << " sumDistOur = " << sumDistOurAlg/(double)cntIntelOurDistMismatch << endl;
|
---|
1040 | cout << " sumAbsDiffDist = " << sumDistAbsDiff/(double)cntIntelOurDistMismatch
|
---|
1041 | << endl;
|
---|
1042 | #endif
|
---|
1043 | cout << "Done\n" << endl;
|
---|
1044 | return;
|
---|
1045 | }
|
---|
1046 |
|
---|
1047 | // This is for testing RT implementation
|
---|
1048 | void
|
---|
1049 | TestRT_4_fromFile(int argc, char **argv)
|
---|
1050 | {
|
---|
1051 | int returnCode = 0;
|
---|
1052 |
|
---|
1053 | InitTiming();
|
---|
1054 | Debug.open("debug.log");
|
---|
1055 |
|
---|
1056 | Environment::GetSingleton()->Parse(argc, argv, USE_EXE_PATH);
|
---|
1057 | MeshKdTree::ParseEnvironment();
|
---|
1058 |
|
---|
1059 | char buff[128];
|
---|
1060 | Environment::GetSingleton()->GetStringValue("Preprocessor.type", buff);
|
---|
1061 | string preprocessorType(buff);
|
---|
1062 |
|
---|
1063 | if (!(preprocessor = PreprocessorFactory::CreatePreprocessor(preprocessorType)))
|
---|
1064 | {
|
---|
1065 | Environment::DelSingleton();
|
---|
1066 | cerr << "Unknown preprocessor type" << endl;
|
---|
1067 | exit(1);
|
---|
1068 | }
|
---|
1069 |
|
---|
1070 |
|
---|
1071 | Environment::GetSingleton()->GetStringValue("Scene.filename", buff);
|
---|
1072 | string filename(buff);
|
---|
1073 |
|
---|
1074 | const string externKdTree = ReplaceSuffix(filename, ".obj", ".kdf");
|
---|
1075 | const string internKdTree = GetInternFilename(filename, preprocessor->mLoadMeshes ?
|
---|
1076 | ".kdm" : ".kdt");
|
---|
1077 |
|
---|
1078 | if (preprocessor->InitRayCast(externKdTree, internKdTree))
|
---|
1079 | {
|
---|
1080 | cout << "ray casting initialized!" << endl;
|
---|
1081 | }
|
---|
1082 | else
|
---|
1083 | {
|
---|
1084 | cout << "ray casting initialization failed!" << endl;
|
---|
1085 | Cleanup();
|
---|
1086 | exit(1);
|
---|
1087 | }
|
---|
1088 |
|
---|
1089 | //Debug << "using pvs type " << PVS_TYPE << endl;
|
---|
1090 |
|
---|
1091 | /////////////
|
---|
1092 | //-- load scene
|
---|
1093 |
|
---|
1094 | if (!preprocessor->LoadScene(filename))
|
---|
1095 | {
|
---|
1096 | cout << "loading file " << filename << " failed" << endl;
|
---|
1097 | Cleanup();
|
---|
1098 | exit(1);
|
---|
1099 | }
|
---|
1100 |
|
---|
1101 | ////////////
|
---|
1102 | //-- initialize external ray caster
|
---|
1103 |
|
---|
1104 | if (preprocessor->LoadInternKdTree(internKdTree))
|
---|
1105 | {
|
---|
1106 | cout << "intern kd tree loaded!" << endl;
|
---|
1107 | }
|
---|
1108 | else
|
---|
1109 | {
|
---|
1110 | cout << "loading intern kd tree failed!" << endl;
|
---|
1111 | Cleanup();
|
---|
1112 | exit(1);
|
---|
1113 | }
|
---|
1114 |
|
---|
1115 | // export objects as obj
|
---|
1116 | if (preprocessor->mExportObj)
|
---|
1117 | {
|
---|
1118 | if (strstr(filename.c_str(), ".obj"))
|
---|
1119 | {
|
---|
1120 | cerr << "already in obj format" << endl;
|
---|
1121 | if (0) preprocessor->ExportObj("test.obj", preprocessor->mObjects);
|
---|
1122 | }
|
---|
1123 | else
|
---|
1124 | {
|
---|
1125 | const string objname = GetInternFilename(filename, ".obj");
|
---|
1126 |
|
---|
1127 | cout << "exporting scene to " << objname << endl;
|
---|
1128 | bool success = preprocessor->ExportObj(objname, preprocessor->mObjects);
|
---|
1129 |
|
---|
1130 | if (success)
|
---|
1131 | cout << "finished exporting obj" << endl;
|
---|
1132 | else
|
---|
1133 | cerr << "error exporting " << objname << endl;
|
---|
1134 | }
|
---|
1135 | }
|
---|
1136 |
|
---|
1137 | Environment::GetSingleton()->GetStringValue("Rays.file", buff);
|
---|
1138 | FILE *fp = fopen(buff, "rb");
|
---|
1139 | if (!fp) {
|
---|
1140 | cerr << "ERROR: file " << buff << " cannot be opened for reading" << endl;
|
---|
1141 | cerr << "EXITING" << endl;
|
---|
1142 | exit(3);
|
---|
1143 | }
|
---|
1144 | cout << "File " << buff << " was opened successfully" << endl;
|
---|
1145 | int cntMaxRays = 100000;
|
---|
1146 | Environment::GetSingleton()->GetIntValue("Rays.cnt", cntMaxRays);
|
---|
1147 | SimpleRayContainer rays;
|
---|
1148 | SimpleRay rayTest;
|
---|
1149 | vector<RESult> results;
|
---|
1150 | vector<AxisAlignedBox3> boxes;
|
---|
1151 |
|
---|
1152 | int cntRays = 0;
|
---|
1153 | for (int i = 0; cntRays < cntMaxRays;) {
|
---|
1154 | int ch = fgetc(fp);
|
---|
1155 | switch (ch) {
|
---|
1156 | case 'I': { // two-sided rays of 16
|
---|
1157 | Vector3 minv, maxv;
|
---|
1158 | if (fscanf(fp, "%f %f %f %f %f %f\n",
|
---|
1159 | &minv.x, &minv.y, &minv.z,
|
---|
1160 | &maxv.x, &maxv.y, &maxv.z) != 6) {
|
---|
1161 | cerr << "Problem parsing the ray file" << endl;
|
---|
1162 | cerr << "EXITING for ray order" << i << endl;
|
---|
1163 | goto FINISH;
|
---|
1164 | }
|
---|
1165 | boxes.push_back(AxisAlignedBox3(minv, maxv));
|
---|
1166 |
|
---|
1167 | for (int j = 0; j < 4; j++) {
|
---|
1168 | int order;
|
---|
1169 | float ox, oy, oz, dx, dy, dz;
|
---|
1170 | int hitA; float hitAT;
|
---|
1171 | int hitB; float hitBT;
|
---|
1172 | if (fscanf(fp, "%d %f %f %f %f %f %f %d %f\n",
|
---|
1173 | &order, &ox, &oy, &oz, &dx, &dy, &dz,
|
---|
1174 | &hitA, &hitAT) != 9) {
|
---|
1175 | cerr << "Problem parsing the ray file" << endl;
|
---|
1176 | cerr << "EXITING for ray order" << order << endl;
|
---|
1177 | goto FINISH;
|
---|
1178 | }
|
---|
1179 | Vector3 mPosition(ox, oy, oz);
|
---|
1180 | Vector3 mDirection(dx, dy, dz);
|
---|
1181 | rayTest.Set(mPosition, mDirection, 0, 1.0, true);
|
---|
1182 | rays.push_back(rayTest);
|
---|
1183 | results.push_back(RESult(hitA, hitAT, 0, -1.f));
|
---|
1184 | cntRays++;
|
---|
1185 | i++;
|
---|
1186 | }
|
---|
1187 | break;
|
---|
1188 | }
|
---|
1189 | default: {
|
---|
1190 | cerr << "Not yet implemented or end of file" << endl;
|
---|
1191 | goto FINISH;
|
---|
1192 | }
|
---|
1193 | } // switch
|
---|
1194 | } // for i
|
---|
1195 |
|
---|
1196 | FINISH:
|
---|
1197 |
|
---|
1198 | fclose(fp);
|
---|
1199 | cout << "Starting to shoot " << cntRays << " rays" << endl;
|
---|
1200 |
|
---|
1201 | RayCaster *raycaster = preprocessor->mRayCaster;
|
---|
1202 | VssRayContainer vssRays;
|
---|
1203 | AxisAlignedBox3 bboxOrig = preprocessor->mSceneGraph->GetBox();
|
---|
1204 |
|
---|
1205 | //#define DEBUGRESULTS
|
---|
1206 |
|
---|
1207 | #ifdef DEBUGRESULTS
|
---|
1208 | int cntIntelYesWeNo = 0;
|
---|
1209 | int cntIntelNoWeYes = 0;
|
---|
1210 | int cntIntelOurDistMismatch = 0;
|
---|
1211 | bool printOut = false;
|
---|
1212 | double sumDistIntel = 0.f;
|
---|
1213 | double sumDistOurAlg = 0.f;
|
---|
1214 | double sumDistAbsDiff = 0.f;
|
---|
1215 | #endif
|
---|
1216 |
|
---|
1217 | //cout << "Press a key to start ray shooting" << endl;
|
---|
1218 | //getchar();
|
---|
1219 | cout << "Ray shooting " << cntRays << " rays started - "
|
---|
1220 | << (castDoubleRays ? " double " : " single ")
|
---|
1221 | << " dir " << endl;
|
---|
1222 |
|
---|
1223 | long t1 = GetTime();
|
---|
1224 | CTimer timer;
|
---|
1225 | timer.Reset();
|
---|
1226 | timer.Start();
|
---|
1227 | Vector3 boxMin, boxMax;
|
---|
1228 |
|
---|
1229 | bool printOut = false;
|
---|
1230 |
|
---|
1231 | SimpleRayContainer raysToTest;
|
---|
1232 | int boxI = 0;
|
---|
1233 | for (int i = 0; i < cntRays - 4; i+= 4, boxI++) {
|
---|
1234 | Vector3 origin4[4];
|
---|
1235 | Vector3 direction4[4];
|
---|
1236 | int result4[4];
|
---|
1237 | float dist4[4];
|
---|
1238 | boxMin = boxes[boxI].Min();
|
---|
1239 | boxMax = boxes[boxI].Max();
|
---|
1240 | for (int j = 0; j < 4; j++) {
|
---|
1241 | int o = i+j;
|
---|
1242 | origin4[j] = rays[o].mOrigin;
|
---|
1243 | direction4[j] = rays[o].mDirection;
|
---|
1244 | }
|
---|
1245 | raycaster->CastRaysPacket4(boxMin, boxMax,
|
---|
1246 | origin4, direction4,
|
---|
1247 | result4, dist4);
|
---|
1248 | if (printOut) {
|
---|
1249 | printf("I %4.7f %4.7f %4.7f %4.7f %4.7f %4.7f\n",
|
---|
1250 | boxMin.x, boxMin.y, boxMin.z, boxMax.x, boxMax.y, boxMax.z);
|
---|
1251 | }
|
---|
1252 |
|
---|
1253 | for (int j = 0; j < 4; j++) {
|
---|
1254 | #if 0
|
---|
1255 | if (result4[j] == 0) {
|
---|
1256 | int res = raycaster->CastRay(rays[i+j],
|
---|
1257 | vssRays,
|
---|
1258 | bboxOrig,
|
---|
1259 | false,
|
---|
1260 | true);
|
---|
1261 | if (res) {
|
---|
1262 | float tdist = SimpleRay::IntersectionRes[0].tdist;
|
---|
1263 | Vector3 point = rays[i+j].Extrap(tdist);
|
---|
1264 | AxisAlignedBox3 testbox(boxMin, boxMax);
|
---|
1265 |
|
---|
1266 | if (testbox.IsInside(point)) {
|
---|
1267 | cout << "Error in the algorithm - computed not in the box, but"
|
---|
1268 | << " it is later found in the box" << endl;
|
---|
1269 | cout << " j = " << j << endl;
|
---|
1270 | cout << " box = " << testbox << endl;
|
---|
1271 | cout << " point = " << point << endl;
|
---|
1272 | raycaster->CastRaysPacket4(boxMin, boxMax,
|
---|
1273 | origin4, direction4,
|
---|
1274 | result4, dist4);
|
---|
1275 | }
|
---|
1276 | }
|
---|
1277 | }
|
---|
1278 | #endif
|
---|
1279 |
|
---|
1280 | if (printOut) {
|
---|
1281 | printf("%d %4.7f %4.7f %4.7f %4.7f %4.7f %4.7f %d %4.7f\n",
|
---|
1282 | i+j,
|
---|
1283 | origin4[j].x,
|
---|
1284 | origin4[j].y,
|
---|
1285 | origin4[j].z,
|
---|
1286 | direction4[j].x,
|
---|
1287 | direction4[j].y,
|
---|
1288 | direction4[j].z,
|
---|
1289 | (result4[j] != -1) ? 1 : 0,
|
---|
1290 | (result4[j] != -1) ? dist4[j] : 0);
|
---|
1291 | }
|
---|
1292 | } // for j
|
---|
1293 | } // for i
|
---|
1294 |
|
---|
1295 | timer.Stop();
|
---|
1296 | long t2 = GetTime();
|
---|
1297 | cout<<"\n#RAY_CAST_TIME = ";
|
---|
1298 | cout << TimeDiff(t1, t2)<<" [mikrosec]"
|
---|
1299 | << " userTime = " << timer.UserTime() << " realTime = "
|
---|
1300 | << timer.RealTime() << endl;
|
---|
1301 | cout << "Rays shot per milisecond [userTimer] = "
|
---|
1302 | << ((double)cntRays/(double)timer.UserTime()) / 1000.f << endl;
|
---|
1303 |
|
---|
1304 | #ifdef DEBUGRESULTS
|
---|
1305 | cout << "cntIntelYesWeNo = " << cntIntelYesWeNo << endl;
|
---|
1306 | cout << "cntIntelNoWeYes = " << cntIntelNoWeYes << endl;
|
---|
1307 | cout << "cntIntelOurDistMismatch = " << cntIntelOurDistMismatch++ << endl;
|
---|
1308 | cout << " sumDistIntel = " << sumDistIntel/(double)cntIntelOurDistMismatch << endl;
|
---|
1309 | cout << " sumDistOur = " << sumDistOurAlg/(double)cntIntelOurDistMismatch << endl;
|
---|
1310 | cout << " sumAbsDiffDist = " << sumDistAbsDiff/(double)cntIntelOurDistMismatch
|
---|
1311 | << endl;
|
---|
1312 | #endif
|
---|
1313 | cout << "Done\n" << endl;
|
---|
1314 | return;
|
---|
1315 | }
|
---|