Changeset 1344

Timestamp:

09/12/06 17:39:08 (18 years ago)

Author:

mattausch

Message:

worked on triangle processing. logical units will be created by grouping objects
using their visibility definitions.

Location:

GTP/trunk/Lib/Vis

Files:

• OnlineCullingCHC/OGRE/include/OgreBvHierarchy.h (modified) (2 diffs)
• OnlineCullingCHC/OGRE/src/OgreBvHierarchy.cpp (modified) (7 diffs)
• OnlineCullingCHC/OGRE/src/OgreKdTree.cpp (modified) (1 diff)
• Preprocessing/data/CityModel.kdf (added)
• Preprocessing/data/CityModel.obj (added)
• Preprocessing/src/BvHierarchy.cpp (modified) (2 diffs)
• Preprocessing/src/Containers.h (modified) (3 diffs)
• Preprocessing/src/Exporter.cpp (modified) (2 diffs)
• Preprocessing/src/Exporter.h (modified) (3 diffs)
• Preprocessing/src/HierarchyManager.cpp (modified) (1 diff)
• Preprocessing/src/Intersectable.h (modified) (2 diffs)
• Preprocessing/src/IntersectableWrapper.cpp (modified) (2 diffs)
• Preprocessing/src/IntersectableWrapper.h (modified) (11 diffs)
• Preprocessing/src/KdTree.cpp (modified) (1 diff)
• Preprocessing/src/Mesh.cpp (modified) (3 diffs)
• Preprocessing/src/Mesh.h (modified) (3 diffs)
• Preprocessing/src/ObjParser.cpp (modified) (13 diffs)
• Preprocessing/src/ObjParser.h (modified) (1 diff)
• Preprocessing/src/Parser.h (modified) (1 diff)
• Preprocessing/src/PlyParser.cpp (modified) (2 diffs)
• Preprocessing/src/PlyParser.h (modified) (1 diff)
• Preprocessing/src/Polygon3.cpp (modified) (6 diffs)
• Preprocessing/src/Preprocessor.cpp (modified) (35 diffs)
• Preprocessing/src/SceneGraph.cpp (modified) (5 diffs)
• Preprocessing/src/TestPreprocessor.vcproj (modified) (1 diff)
• Preprocessing/src/Triangle3.cpp (modified) (8 diffs)
• Preprocessing/src/Triangle3.h (modified) (1 diff)
• Preprocessing/src/UnigraphicsParser.cpp (modified) (3 diffs)
• Preprocessing/src/UnigraphicsParser.h (modified) (1 diff)
• Preprocessing/src/ViewCellsManager.cpp (modified) (3 diffs)
• Preprocessing/src/ViewCellsParser.h (modified) (1 diff)
• Preprocessing/src/VrmlExporter.cpp (modified) (3 diffs)
• Preprocessing/src/VrmlExporter.h (modified) (1 diff)
• Preprocessing/src/X3dExporter.cpp (modified) (3 diffs)
• Preprocessing/src/X3dExporter.h (modified) (4 diffs)
• Preprocessing/src/X3dParser.cpp (modified) (2 diffs)
• Preprocessing/src/X3dParser.h (modified) (1 diff)
• Preprocessing/src/main.cpp (modified) (5 diffs)

GTP/trunk/Lib/Vis/OnlineCullingCHC/OGRE/include/OgreBvHierarchy.h

@@ -282 +282 @@
                         virtual void _updateBounds(bool recurse = true) = 0;
                         
-                        /** bounding box of the node**/
+                        /** bounding box of the node
+                        */
                         AxisAlignedBox mAABB;
 
-                        /** mounding box of all objects inside the node */
+                        /** bounding box of all objects inside the node 
+                        */
                         AxisAlignedBox mWorldAABB;
+
+
                 protected:
                         BvHierarchy * mOwner;
@@ -387 +391 @@
                 {
                 public:
-                        Leaf(BvHierarchy * owner, int level, AxisAlignedBox& aabb, Branch * parent):
+                        Leaf(BvHierarchy * owner, int level, AxisAlignedBox& aabb, Branch *parent):
                         Node(owner, level, aabb, parent) 
                         {};

GTP/trunk/Lib/Vis/OnlineCullingCHC/OGRE/src/OgreBvHierarchy.cpp

@@ -874 +874 @@
 
 /************************************************************************/
-/* BvHierarchy build functions                                               */
+/*                BvHierarchy build functions                           */
 /************************************************************************/
 
@@ -1142 +1142 @@
 }
 
-BvHierarchy::Node * BvHierarchy::pqBuild(BvhPlaneEventList& events, int nObjects, AxisAlignedBox& aabb, BvHierarchy::Branch * parent)
+BvHierarchy::Node * BvHierarchy::pqBuild(BvhPlaneEventList& events, 
+                                                                                 int nObjects, AxisAlignedBox& aabb, 
+                                                                                 BvHierarchy::Branch * parent)
 {
         SplitCandidatePQ pqueue;
@@ -1396 +1398 @@
 }
 
+
+
 /************************************************************************/
-/* BvHierarchy rendering functions                                           */
+/*               BvHierarchy rendering functions                        */
 /************************************************************************/
+
 
 //-------------------------------------------------------------------------
@@ -1560 +1565 @@
 }
 
+
 void BvHierarchy::recFindNodesIn(const Sphere &sphere, std::list<SceneNode *> &list, SceneNode *exclude, Node * node, bool full)
 {
@@ -1565 +1571 @@
 }
 
+
 void BvHierarchy::recFindNodesIn(const PlaneBoundedVolume &volume, std::list<SceneNode *> &list, SceneNode *exclude, Node * node, bool full)
 {
@@ -1570 +1577 @@
 }
 
+
 void BvHierarchy::recFindNodesIn(const Ray &ray, std::list<SceneNode *> &list, SceneNode *exclude, Node * node, bool full)
 {
@@ -1575 +1583 @@
 }
 
+
 /************************************************************************/
-/* BvHierarchy debug & helper functions                                      */
+/*              BvHierarchy debug & helper functions                    */
 /************************************************************************/
 

GTP/trunk/Lib/Vis/OnlineCullingCHC/OGRE/src/OgreKdTree.cpp

@@ -1391 +1391 @@
 }
 
+
+
 /************************************************************************/
-/* KdTree rendering functions                                           */
+/*           KdTree rendering functions                                 */
 /************************************************************************/
 

GTP/trunk/Lib/Vis/Preprocessing/src/BvHierarchy.cpp

@@ -1085 +1085 @@
 {
         VssRay::NewMail();
-        
         ObjectContainer::const_iterator oit, oit_end = objects.end();
 
@@ -1093 +1092 @@
         {
                 Intersectable *obj = *oit;
-                
                 VssRayContainer::const_iterator rit, rit_end = obj->mVssRays.end();
 

GTP/trunk/Lib/Vis/Preprocessing/src/Containers.h

@@ -18 +18 @@
 class Mesh;
 class KdLeaf;
+class Vector3;
 
 struct IndexedBoundingBox;
@@ -32 +33 @@
 
 /** Container for Mesh pointers primarily for the use within the kDTree and
-    BSP hierarchies */
+    BSP hierarchies 
+*/
 typedef vector<Intersectable *> ObjectContainer;
 
 /** Container for ViewCell pointers primarily for the use within the kDTree and
-    BSP hierarchies */
-
+    BSP hierarchies 
+*/
 typedef vector<ViewCell *> ViewCellContainer;
 
 /** Container for HierarchyNodes pointers primarily for the use within the kDTree and
     BSP hierarchies 
-        */
+*/
 typedef vector<HierarchyNode *> NodeContainer;
 
@@ -57 +59 @@
 
 /** Container for ViewCell pointers primarily for the use within the kDTree and
-    BSP hierarchies */
-
+    BSP hierarchies 
+*/
 typedef vector<KdLeaf *> KdLeafContainer;
 
+typedef std::map<int, Intersectable *> ObjectMap;
 
-typedef std::map<int, Intersectable *> ObjectMap;
+/// default vertex container for Mesh
+typedef std::vector<Vector3> VertexContainer;
+
+/// vertex index container
+//typedef std::vector<short> VertexIndexContainer;
+typedef std::vector<int> VertexIndexContainer;
 
 }

GTP/trunk/Lib/Vis/Preprocessing/src/Exporter.cpp

@@ -5 +5 @@
 #include "IntersectableWrapper.h"
 #include "BvHierarchy.h"
+#include "Triangle3.h"
+#include "Polygon3.h"
 
 
@@ -152 +154 @@
 
 
-}
+void Exporter::ExportIntersectable(Intersectable *object)
+{
+        switch (object->Type()) 
+        {
+        case Intersectable::MESH_INSTANCE:
+                ExportMeshInstance((MeshInstance *)object);
+                break;
+        case Intersectable::TRANSFORMED_MESH_INSTANCE:
+                ExportTransformedMeshInstance(dynamic_cast<TransformedMeshInstance *>(object));
+                break;
+        case Intersectable::VIEW_CELL:
+                ExportViewCell(dynamic_cast<ViewCell *>(object));
+                break;
+        case Intersectable::KD_INTERSECTABLE:
+                ExportKdIntersectable(*(dynamic_cast<KdIntersectable *>(object)));
+                break;
+        case Intersectable::TRIANGLE_INTERSECTABLE:
+                {
+                        const Triangle3 triangle = dynamic_cast<TriangleIntersectable *>(object)->GetItem();
+
+                        VertexContainer vertices;
+                        vertices.push_back(triangle.mVertices[0]);
+                        vertices.push_back(triangle.mVertices[1]);
+                        vertices.push_back(triangle.mVertices[2]);
+
+                        Polygon3 poly(vertices);
+                        ExportPolygon(&poly);
+                        break;
+                }
+        default:
+                cerr << "Sorry the export for object type " << Intersectable::GetTypeName(object) << " is not available yet" << endl;
+                break;
+        }
+}
+
+void Exporter::ExportMeshInstance(MeshInstance *object)
+{
+        // $$JB$$
+        // in the future check whether the mesh was not already exported
+        // and use a reference to the that mesh instead
+        ExportMesh(object->GetMesh());
+}
+
+
+void Exporter::ExportTransformedMeshInstance(TransformedMeshInstance *mi)
+{
+        Mesh mesh(*mi->GetMesh());
+
+        Matrix4x4 m;
+        mi->GetWorldTransform(m);
+        mesh.ApplyTransformation(m);
+
+        ExportMesh(&mesh);
+}
+
+
+void Exporter::ExportViewCells(const ViewCellContainer &viewCells)
+{
+        ViewCellContainer::const_iterator it, it_end = viewCells.end();
+
+        for (it = viewCells.begin(); it != it_end; ++ it)
+        {
+                ExportViewCell(*it);
+        }
+}
+
+
+
+}

GTP/trunk/Lib/Vis/Preprocessing/src/Exporter.h

@@ -30 +30 @@
 class KdIntersectable;
 class BvHierarchy;
+class TransformedMeshInstance;
+
 
 class Exporter
@@ -95 +97 @@
 
   virtual void 
-  ExportViewCells(const ViewCellContainer &viewCells) = 0;
+  ExportViewCells(const ViewCellContainer &viewCells);
+  
   virtual void 
   ExportViewCell(ViewCell *viewCell) = 0;
+
   virtual void
-  ExportIntersectable(Intersectable *object) = 0;
+  ExportIntersectable(Intersectable *object);
 
   virtual void 
@@ -150 +154 @@
   void ExportKdIntersectable(const KdIntersectable &kdObj);
   bool ExportBvHierarchy(const BvHierarchy &bvHierarchy, const int maxPvs);
+
+  virtual void ExportMeshInstance(MeshInstance *mi);
+
+  virtual void
+  ExportTransformedMeshInstance(TransformedMeshInstance *mi);
+
+  virtual void ExportPolygon(Polygon3 *poly) = 0;
 };
  

GTP/trunk/Lib/Vis/Preprocessing/src/HierarchyManager.cpp

@@ -450 +450 @@
                 return mOspTree && mOspTree->GetRoot();
         case BV_BASED_OBJ_SUBDIV:
-                return mBvHierarchy && mOspTree->GetRoot();
+                return mBvHierarchy && mBvHierarchy->GetRoot();
         default:
         return false;

GTP/trunk/Lib/Vis/Preprocessing/src/Intersectable.h

@@ -16 +16 @@
 struct Face;
 
+
 struct FaceParentInfo {
-  // intersectable
-  Intersectable *mObject;
-  // face index
-  int mFaceIndex;
-  
-  FaceParentInfo(Intersectable *obj,
-                                 const int fi):
-        mObject(obj),
-        mFaceIndex(fi)
-  {}
+        /// intersectable
+        Intersectable *mObject;
+        /// face index
+        int mFaceIndex;
+
+        FaceParentInfo(Intersectable *obj, const int fi):
+        mObject(obj), mFaceIndex(fi)
+        {}
 };
+
 
 class Intersectable {
@@ -147 +147 @@
                 }
         }
+
+        /** returns normal from the face with the specified index.
+                PROBLEM: Does not fit to all intersectable types (e.g., spheres)
+        */
+        virtual Vector3 GetNormal(const int idx) const { return Vector3(0, 0, 0); }
 };
 

GTP/trunk/Lib/Vis/Preprocessing/src/IntersectableWrapper.cpp

@@ -9 +9 @@
 AxisAlignedBox3 TriangleIntersectable::GetBox() const
 {       
-        return mItem->GetBoundingBox();
+        return mItem.GetBoundingBox();
 }
 
 
 int TriangleIntersectable::CastRay(Ray &ray)
-{       // TODO matt
+{       
+        float nearestT = MAX_FLOAT;
+        float t;
+        Vector3 nearestNormal;
+
+        if (ray.GetType() == Ray::LOCAL_RAY && !ray.intersections.empty())
+                nearestT = ray.intersections[0].mT;
+
+        const int hitCode = mItem.CastRay(ray, t, nearestT, nearestNormal);
+
+        nearestT = t;
+
+        if ((hitCode == Ray::INTERSECTION) && (ray.GetType() == Ray::LOCAL_RAY))
+        {
+                if (!ray.intersections.empty())
+                {
+                        ray.intersections[0] = Ray::Intersection(nearestT, nearestNormal, this, 0);
+                }
+                else
+                {
+                        ray.intersections.push_back(Ray::Intersection(nearestT, nearestNormal, this, 0));
+                }
+                
+                return 1;
+        }
+
         return 0;
 }
@@ -23 +48 @@
         return 1;
 }
-  
 
+
+Vector3 TriangleIntersectable::GetNormal(const int idx) const
+{
+        return mItem.GetNormal();
 }
+
+ 
+}

GTP/trunk/Lib/Vis/Preprocessing/src/IntersectableWrapper.h

@@ -4 +4 @@
 #include "AxisAlignedBox3.h"
 #include "Intersectable.h"
+#include "Triangle3.h"
 
 
 namespace GtpVisibilityPreprocessor {
+
 
 struct VssRayContainer;
@@ -24 +26 @@
 {
 public:
-        IntersectableWrapper(T *item);
+        IntersectableWrapper(T item);
 
         /** Returns node associated with this instance. 
         */
-        T *GetItem() const;
+        T GetItem() const;
 
         /** See get.
         */
-        void SetItem(T *item);
+        void SetItem(T item);
 
+
+        /////////////////////////////////////////////
         //-- inherited functions from Intersectable
 
@@ -45 +49 @@
   
         int NumberOfFaces() const;
-        //int Type() const;
-
+        
         int GetRandomSurfacePoint(GtpVisibilityPreprocessor::Vector3 &point, 
                                                           GtpVisibilityPreprocessor::Vector3 &normal);
@@ -60 +63 @@
 protected:
         
-        T *mItem;
+        T mItem;
 };
 
 
 template<typename T>
-IntersectableWrapper<T>::IntersectableWrapper(T *item):
+IntersectableWrapper<T>::IntersectableWrapper(T item):
 Intersectable(), mItem(item)
 {
@@ -71 +74 @@
 
 template<typename T>
-void IntersectableWrapper<T>::SetItem(T *item)
+void IntersectableWrapper<T>::SetItem(T item)
 {
         mItem = item;
@@ -77 +80 @@
 
 template<typename T>
-T *IntersectableWrapper<T>::GetItem() const
+T IntersectableWrapper<T>::GetItem() const
 { 
         return mItem; 
@@ -120 +123 @@
 template<typename T>
 int IntersectableWrapper<T>::GetRandomSurfacePoint(Vector3 &point,
-                                                                                                Vector3 &normal)
+                                                                                                   Vector3 &normal)
 {
         return 0;
@@ -127 +130 @@
 template<typename T>
 int IntersectableWrapper<T>::GetRandomVisibleSurfacePoint(Vector3 &point,
-                                                                                                           Vector3 &normal,
-                                                                                                           const Vector3 &viewpoint,
-                                                                                                           const int maxTries)
+                                                                                                                  Vector3 &normal,
+                                                                                                                  const Vector3 &viewpoint,
+                                                                                                                  const int maxTries)
 {
         return 0;
@@ -142 +145 @@
 
 
-class KdIntersectable: public IntersectableWrapper<KdNode>
+class KdIntersectable: public IntersectableWrapper<KdNode *>
 {
 public:
         KdIntersectable(KdNode *item):
-        IntersectableWrapper<KdNode>(item) {}
+        IntersectableWrapper<KdNode *>(item) {}
 
         int Type() const
@@ -155 +158 @@
 
 
-class BvhIntersectable: public IntersectableWrapper<BvhNode>
+class BvhIntersectable: public IntersectableWrapper<BvhNode *>
 {
 public:
         BvhIntersectable(BvhNode *item):
-        IntersectableWrapper<BvhNode>(item) {}
+        IntersectableWrapper<BvhNode *>(item) {}
 
         int Type() const
@@ -167 +170 @@
 };
 
+
 class TriangleIntersectable: public IntersectableWrapper<Triangle3>
 {
 public:
-        TriangleIntersectable(Triangle3 *item):
+        TriangleIntersectable(Triangle3 item):
         IntersectableWrapper<Triangle3>(item) {}
 
         int CastRay(Ray &ray);
         AxisAlignedBox3 GetBox() const;
-
         int NumberOfFaces() const;
+        Vector3 GetNormal(const int idx) const;
 
         int Type() const

GTP/trunk/Lib/Vis/Preprocessing/src/KdTree.cpp

@@ -654 +654 @@
 
                   if (MeshDebug) {
-                        if (ray.intersections.size()) 
+                        if (!ray.intersections.empty()) 
                         cout<<"nearest t="<<ray.intersections[0].mT<<endl;
                   else
                         cout<<"nearest t=-INF"<<endl;
-                  }
-                  
+                  }       
                 }
           }

GTP/trunk/Lib/Vis/Preprocessing/src/Mesh.cpp

@@ -726 +726 @@
 
 
+Vector3 MeshInstance::GetNormal(const int idx) const
+{
+        return mMesh->GetFacePlane(idx).mNormal;
+}
+
+
+
 /*************************************************************/
 /*           TransformedMeshInstance implementation          */
 /*************************************************************/
+
 
 TransformedMeshInstance::TransformedMeshInstance(Mesh *mesh): 
@@ -756 +764 @@
 }
 
+
 int TransformedMeshInstance::CastRay(Ray &ray, const vector<int> &faces)
 {
@@ -799 +808 @@
 
 
-}
+Vector3 TransformedMeshInstance::GetNormal(const int idx) const
+{
+        Mesh mesh;
+        GetTransformedMesh(mesh);
+        return mesh.GetFacePlane(idx).mNormal;
+}
+
+}

GTP/trunk/Lib/Vis/Preprocessing/src/Mesh.h

@@ -20 +20 @@
 class MeshKdTree;
 
-/// default vertex container for Mesh
-typedef std::vector<Vector3> VertexContainer;
-
-/// vertex index container
-//typedef std::vector<short> VertexIndexContainer;
-typedef std::vector<int> VertexIndexContainer;
-
-/** Patch used as an element of the mesh */
+
+/** Patch used as an element of the mesh 
+*/
 struct Face {
 
@@ -284 +279 @@
         Material *GetMaterial() const;
 
+        virtual Vector3 GetNormal(const int idx) const;
+
 protected:
 
@@ -329 +326 @@
   void GetTransformedMesh(Mesh &transformedMesh) const;
 
+  Vector3 GetNormal(const int idx) const;
+
 protected:
 

GTP/trunk/Lib/Vis/Preprocessing/src/ObjParser.cpp

@@ -19 +19 @@
 namespace GtpVisibilityPreprocessor {
 
-#define CONNECT_SEQUENTIAL_FACES 1
+#define CONNECT_SEQUENTIAL_FACES 0
 #define ROTATE_SCENE 0
 
@@ -36 +36 @@
 }
 
+
 struct ltstr
 {
@@ -43 +44 @@
         }
 };
-
-//const static int nMaxFaces = 6;
 
 
@@ -71 +70 @@
 
 
-static Triangle3 *LoadTriangle(char *str, 
-                                                           const VertexContainer &vertices, 
-                                                           map<int, Vector3> &hashTable)
+static Triangle3 LoadTriangle(char *str, 
+                                                          const VertexContainer &vertices, 
+                                                          map<int, Vector3> &hashTable)
 {
         char *pch = strtok(str + 1, " ");
@@ -92 +91 @@
         //if (indices.size() > 4) return NULL;
 
-        return new Triangle3(indices[0], indices[1], indices[2]); 
+    return Triangle3(vertices[indices[0]], vertices[indices[1]], vertices[indices[2]]); 
 }
 
@@ -143 +142 @@
                                                                            vector<FaceParentInfo> &parents)
 {
-  Mesh *mesh = mi->GetMesh();
-  
-  FaceContainer::const_iterator fit, fit_end = mesh->mFaces.end();
-  int i = 0;
-  for (fit = mesh->mFaces.begin(); fit != fit_end; ++ fit, i++)
-        {
-          parents.push_back(FaceParentInfo(mi, i));
+        Mesh *mesh = mi->GetMesh();
+
+        FaceContainer::const_iterator fit, fit_end = mesh->mFaces.end();
+        int i = 0;
+        for (fit = mesh->mFaces.begin(); fit != fit_end; ++ fit, i++)
+        {
+                parents.push_back(FaceParentInfo(mi, i));
         }
 }
@@ -160 +159 @@
 {
         Mesh *mesh = CreateMesh(faces, hashTable);
-
         // make an instance of this mesh
         MeshInstance *mi = new MeshInstance(mesh);
@@ -178 +176 @@
 
 bool ObjParser::ParseFile(const string filename,
-                                                  SceneGraphNode **proot,
+                                                  SceneGraphNode *root,
                                                   const bool loadPolygonsAsMeshes,
                                                   vector<FaceParentInfo> *parents)
@@ -184 +182 @@
         FILE *file;
         if ((file = fopen(filename.c_str(), "rt")) == NULL)
+        {       
                 return false;
-        cout << "here2" << endl;
+        }
+
         map<int, Vector3> hashTable; // table associating indices with vectors
-        
         VertexContainer vertices; // table for vertices
         FaceContainer faces;
-
-        SceneGraphNode *root = new SceneGraphNode;
 
         char str[100];
@@ -203 +200 @@
                 switch (str[0]) 
                 {
-                case 'v':
+                case 'v': // vertex 
                         {
-                                float x,y,z; //cout << "v";
-                                
-                                // vertex 
+                                float x, y, z; //cout << "v";   
                                 sscanf(str + 1, "%f %f %f", &x, &y, &z);
                                 vertices.push_back(Vector3(x,y,z));
@@ -219 +214 @@
                                 Face *face = LoadFace(str, vertices, hashTable);
                                 if (!face) break;
-
+        
                                 faces.push_back(face);
 
@@ -227 +222 @@
                                 }
 #else
+                                Triangle3 triangle = LoadTriangle(str, vertices, hashTable);
                                 
-                                Triangle3 *triangle = LoadTriangle(str, vertices, hashTable);
-                                root->mGeometry.push_back(new TriangleIntersectable(triangle));
+                                TriangleIntersectable *obj = new TriangleIntersectable(triangle);
+                                root->mGeometry.push_back(obj);
+
+                                // matt: we don't really need to keep an additional data structure
+                                // if working with triangles => remove this
+                                if (parents) 
+                                {
+                                        FaceParentInfo info(obj, 0);
+                                        parents->push_back(info);
+                                }
 #endif
                                 break;
@@ -245 +249 @@
         }
 #endif
-
+        // reset tables
+        hashTable.clear();
+        faces.clear();
         fclose(file);
-        *proot = root;
-
+        
         return true;
 }

GTP/trunk/Lib/Vis/Preprocessing/src/ObjParser.h

@@ -16 +16 @@
   
   virtual bool ParseFile(const std::string filename, 
-                                                 SceneGraphNode **root, 
+                                                 SceneGraphNode *root,
                                                  const bool loadPolygonsAsMeshes = false,
                                                  vector<FaceParentInfo> *parents = NULL);

GTP/trunk/Lib/Vis/Preprocessing/src/Parser.h

@@ -18 +18 @@
   Parser() {}
 
-  virtual bool ParseFile(const std::string filename, 
-                                                 SceneGraphNode **root, 
+  virtual bool ParseFile(const std::string filename,
+                                                 SceneGraphNode *root,
                                                  const bool loadPolygonsAsMeshes = false,
                                                  std::vector<FaceParentInfo> *parents = NULL) 

GTP/trunk/Lib/Vis/Preprocessing/src/PlyParser.cpp

@@ -259 +259 @@
 bool
 PlyParser::ParseFile(const string filename,
-                                         SceneGraphNode **root,
+                                         SceneGraphNode *root,
                                          const bool loadPolygonsAsMeshes,
                                          vector<FaceParentInfo> *parents)
@@ -283 +283 @@
         filelist.push_back(filename);
 
-  *root = new SceneGraphNode;
-
   for (int i=0; i < filelist.size(); i++) {
-        if (!ParseSingleFile(filelist[i], *root)) {
+        if (!ParseSingleFile(filelist[i], root)) {
           cerr<<"Ply parse error. Quiting ...\n";
           exit(1);
         }
   }
+
   return true;
 }

GTP/trunk/Lib/Vis/Preprocessing/src/PlyParser.h

@@ -15 +15 @@
   
   bool ParseFile(const string filename,
-                                 SceneGraphNode **root,
+                                 SceneGraphNode *root,
                                  const bool loadPolygonsAsMeshes = false,
                                  vector<FaceParentInfo> *parents = NULL);

GTP/trunk/Lib/Vis/Preprocessing/src/Polygon3.cpp

@@ -10 +10 @@
 
 Polygon3::Polygon3(): 
-mMaterial(NULL), mParent(NULL), mPiercingRays(0)
+mMaterial(NULL), 
+mParent(NULL), 
+mPiercingRays(0)
 , mPlane(NULL)
 {
-        // mostly there will be triangles
-        //mVertices.reserve(3);
 }
 
 Polygon3::Polygon3(const VertexContainer &vertices): 
-mMaterial(NULL), mParent(NULL), mPiercingRays(0)
+mMaterial(NULL), 
+mParent(NULL), 
+mPiercingRays(0)
 , mPlane(NULL)
 {
@@ -27 +29 @@
 
 Polygon3::Polygon3(MeshInstance *parent): 
-mMaterial(NULL), mParent(parent), mPiercingRays(0)
+mMaterial(NULL), 
+mParent(parent), 
+mPiercingRays(0)
 , mPlane(NULL)
 {}
@@ -33 +37 @@
 
 Polygon3::Polygon3(Face *face, Mesh *parentMesh):
-mMaterial(NULL), mParent(NULL), mPiercingRays(0)
-, mPlane(NULL)
+mMaterial(NULL), 
+mParent(NULL), 
+mPiercingRays(0), 
+mPlane(NULL)
 {       
         mVertices.reserve(face->mVertexIndices.size());
         
-        VertexIndexContainer::iterator it = face->mVertexIndices.begin();
-        for (; it != face->mVertexIndices.end();  ++it)
+        VertexIndexContainer::iterator it, it_end = face->mVertexIndices.end();
+
+        for (it = face->mVertexIndices.begin(); it != it_end;  ++ it)
         {
                 mVertices.push_back(parentMesh->mVertices[*it]);
@@ -54 +61 @@
 #else
         if (!mPlane)
+        {
                 mPlane = new Plane3(mVertices[0], mVertices[1], mVertices[2]);
+        }
+
         return *mPlane;
 #endif
@@ -65 +75 @@
                                                            mVertices[0] - mVertices[1]));
 }
+
 
 void Polygon3::Split(const Plane3 &partition, 
@@ -72 +83 @@
 {
         Vector3 ptA = mVertices.back();
-        
         int sideA = partition.Side(ptA, epsilon);
-        
-        VertexContainer::const_iterator it;
-        
-        Vector3 lastSplit;
-
         bool foundSplit = false;
-
+    Vector3 lastSplit;
+                
         //-- find line - plane intersections
-        for (it = mVertices.begin(); it != mVertices.end(); ++ it)
+
+        VertexContainer::const_iterator it, it_end = mVertices.end();
+
+        for (it = mVertices.begin(); it != it_end; ++ it)
         {
                 Vector3 ptB = *it;

GTP/trunk/Lib/Vis/Preprocessing/src/Preprocessor.cpp

@@ -162 +162 @@
         Debug << "detect empty view space=" << mDetectEmptyViewSpace << endl;
         Debug << "load polygons as meshes: " << mLoadPolygonsAsMeshes << endl;
+
+        if (mRayCastMethod == 0)
+                cout << "ray cast method: internal" << endl;
+        else
+                cout << "ray cast method: intel" << endl;
 }
 
@@ -231 +236 @@
         cout << "number of input files: " << files << endl;
         bool result = false;
+
+        // root for different files
+        mSceneGraph->SetRoot(new SceneGraphNode());
+
         if (files == 1) {
                 
@@ -245 +254 @@
                 cout << filename << endl;
 
-                SceneGraphNode *sroot = mSceneGraph->GetRoot();
-
                 if (mRayCastMethod == Preprocessor::INTEL_RAYCASTER)
-                { cout << "here5800" << endl;
+                { 
                         result = parser->ParseFile(
                                 filename, 
-                                &sroot,
+                                mSceneGraph->GetRoot(),
                                 mLoadPolygonsAsMeshes,
                                 &mFaceParents);
                 }
                 else
-                { cout << "here776645" << endl;
-                        result = parser->ParseFile(filename, &sroot, mLoadPolygonsAsMeshes);
+                { 
+                        result = parser->ParseFile(filename, mSceneGraph->GetRoot(), mLoadPolygonsAsMeshes);
                 }
-                 cout << "here98809845" << endl;
+                
                 delete parser;
 
         } else {
-                // root for different files
-                mSceneGraph->SetRoot(new SceneGraphNode());
+                
                 for (int i= 0; i < filenames.size(); i++) {
                   if (strstr(filenames[i].c_str(), ".x3d"))
@@ -271 +277 @@
                         parser = new UnigraphicsParser;
                   
-                  SceneGraphNode *node;
+                  SceneGraphNode *node = new SceneGraphNode();
                   bool success;
                   
                   if (mRayCastMethod == Preprocessor::INTEL_RAYCASTER)
-                  { cout << "here4500" << endl;
+                  { 
                           success = parser->ParseFile(
                                   filename, 
-                                  &node,
+                                  node,
                                   mLoadPolygonsAsMeshes,
                                   &mFaceParents);
@@ -284 +290 @@
                   else
                   {
-                          cout << "here45" << endl;
-                          success = parser->ParseFile(filename, &node, mLoadPolygonsAsMeshes);
+                          success = parser->ParseFile(filename, node, mLoadPolygonsAsMeshes);
                   }
 
                   if (success) 
-                  { cout << "here4509999" << endl;
+                  { 
                           mSceneGraph->GetRoot()->mChildren.push_back(node);
-                          // at least one file parsed
-                          result = true;
+                          result = true; // at least one file parsed
                   }
                   
@@ -298 +302 @@
                 }
         }
-         cout << "here8888" << endl;
-
+        
         if (result) 
-        { cout << "here199" << endl;
+        { 
                 // HACK 
                 if (ADDITIONAL_GEOMETRY_HACK)
@@ -307 +310 @@
 
                 mSceneGraph->AssignObjectIds();
- cout << "here99" << endl;
+ 
                 int intersectables, faces;
                 mSceneGraph->GetStatistics(intersectables, faces);
- cout << "here999" << endl;
+ 
                 cout<<filename<<" parsed successfully."<<endl;
                 cout<<"#NUM_OBJECTS (Total numner of objects)\n"<<intersectables<<endl;
@@ -316 +319 @@
                 mSceneGraph->CollectObjects(&mObjects);
                 mSceneGraph->GetRoot()->UpdateBox();
- cout << "here9999" << endl;
+ 
                 if (0)
                 {
@@ -369 +372 @@
 {
   mKdTree = new KdTree;
+
   // add mesh instances of the scene graph to the root of the tree
   KdLeaf *root = (KdLeaf *)mKdTree->GetRoot();
-        cout << "here3.95" << endl;
+        
   mSceneGraph->CollectObjects(&root->mObjects);
-        cout << "here3.97" << endl;
+  
   long startTime = GetTime();
-
   cout << "building kd tree ... " << endl;
+
   mKdTree->Construct();
+
   cout << "construction finished in " << TimeDiff(startTime, GetTime()) * 1e-3 << " secs " << endl;
+
   return true;
 }
@@ -847 +853 @@
         case INTEL_RAYCASTER:
 #ifdef GTP_INTERNAL
-          cout<<"Ray Cast file: "<<externKdTree<<endl;
+          cout<<"Ray Cast file: " << externKdTree << endl;
           return mlrtaLoadAS(externKdTree.c_str());
 #endif
@@ -868 +874 @@
 {
 #ifdef GTP_INTERNAL
+        //cout << "intel ray" << endl;
         VssRay *vssRay  = NULL;
         int hits = 0;
@@ -875 +882 @@
         Intersectable *objectA = NULL, *objectB = NULL;
         float dist;
-        
         double normal[3];
 
         hittriangle = mlrtaIntersectAS(&viewPoint.x,
-                                                                   &direction.x,
-                                                                   normal,
-                                                                   dist);
-
-        if (hittriangle !=-1 ) {
-          if (hittriangle >= mFaceParents.size())
-                cerr<<"Warning: triangle index out of range! "<<hittriangle<<endl;
-          else {
-                objectA = mFaceParents[hittriangle].mObject;
-                normalA = Vector3(normal[0], normal[1], normal[2]);
-                // Get the normal of that face
-                //              Mesh *mesh = ((MeshInstance *)objectA)->GetMesh();
-                //              normalA = mesh->GetFacePlane(mFaceParents[forward_hit_triangles[i]].mFaceIndex).mNormal;
-                //-rays[index+i].mDirection; // $$ temporary
-                pointA = viewPoint + direction*dist;
-          }
-        }
-
-        
+                &direction.x,
+                normal,
+                dist);
+
+        if (hittriangle != -1 ) {
+                if (hittriangle >= mFaceParents.size())
+                        cerr<<"Warning: triangle index out of range! "<<hittriangle<<endl;
+                else {
+                        objectA = mFaceParents[hittriangle].mObject;
+                        normalA = Vector3(normal[0], normal[1], normal[2]);
+                        // Get the normal of that face
+                        //              Mesh *mesh = ((MeshInstance *)objectA)->GetMesh();
+                        //              normalA = mesh->GetFacePlane(mFaceParents[forward_hit_triangles[i]].mFaceIndex).mNormal;
+                        //-rays[index+i].mDirection; // $$ temporary
+                        pointA = viewPoint + direction*dist;
+                }
+        }
+
+
         Vector3 dir = -direction;
         hittriangle = mlrtaIntersectAS(&viewPoint.x,
-                                                                   &dir.x,
-                                                                   normal,
-                                                                   dist);
-
-        if (hittriangle !=-1 ) {
-          if (hittriangle >= mFaceParents.size())
-                cerr<<"Warning: traingle index out of range! "<<hittriangle<<endl;
-          else {
-                objectB = mFaceParents[hittriangle].mObject;
-                normalB = Vector3(normal[0], normal[1], normal[2]);
-                // Get the normal of that face
-                //              Mesh *mesh = ((MeshInstance *)objectB)->GetMesh();
-                //              normalA = mesh->GetFacePlane(mFaceParents[forward_hit_triangles[i]].mFaceIndex).mNormal;
-                //-rays[index+i].mDirection; // $$ temporary
-                pointB = viewPoint + dir*dist;
-        }
+                &dir.x,
+                normal,
+                dist);
+
+        if (hittriangle != -1 ) {
+                if (hittriangle >= mFaceParents.size())
+                        cerr<<"Warning: triangle index out of range! "<<hittriangle<<endl;
+                else {
+                        objectB = mFaceParents[hittriangle].mObject;
+                        normalB = Vector3(normal[0], normal[1], normal[2]);
+                        // Get the normal of that face
+                        //              Mesh *mesh = ((MeshInstance *)objectB)->GetMesh();
+                        //              normalA = mesh->GetFacePlane(mFaceParents[forward_hit_triangles[i]].mFaceIndex).mNormal;
+                        //-rays[index+i].mDirection; // $$ temporary
+                        pointB = viewPoint + dir * dist;
+                }
         }
 
         return ProcessRay(viewPoint,
-                                          direction,
-                                          objectA, pointA, normalA,
-                                          objectB, pointB, normalB,
-                                          probability,
-                                          vssRays,
-                                          box
-                                          );
+                direction,
+                objectA, pointA, normalA,
+                objectB, pointB, normalB,
+                probability,
+                vssRays,
+                box
+                );
 #else
         return -1;
@@ -971 +977 @@
         else {
           if (hittriangle >= mFaceParents.size()) {
-                cerr<<"Warning: traingle index out of range! "<<hittriangle<<endl;
+                cerr<<"Warning: triangle index out of range! "<<hittriangle<<endl;
                 return NULL;
           }
@@ -989 +995 @@
 #endif
 
-        
-        
 }
 
@@ -1002 +1006 @@
                                                                   )
 {
-
+  cout << "internal ray" << endl;
   int hits = 0;
   static Ray ray;
@@ -1009 +1013 @@
 
   //  AxisAlignedBox3 box = Union(mKdTree->GetBox(), mViewCellsManager->GetViewSpaceBox());
-  
-
   AxisAlignedBox3 sbox = box;
   sbox.Enlarge(Vector3(-Limits::Small));
@@ -1042 +1044 @@
   }
 
-  
   SetupRay(ray, viewPoint, -direction);
   ray.mFlags &= ~Ray::CULL_BACKFACES;
@@ -1076 +1077 @@
                                                   );
           vssRays.push_back(vssRay);
+          //cout << "ray: " << *vssRay << endl;
           hits ++;
         }
@@ -1088 +1090 @@
                                                   );
           vssRays.push_back(vssRay);
+          //cout << "ray: " << *vssRay << endl;
           hits ++;
         }
@@ -1172 +1175 @@
                                                   );
           vssRays.push_back(vssRay);
+          //cout << "ray: " << *vssRay << endl;
           hits ++;
         }
@@ -1184 +1188 @@
                                                   );
           vssRays.push_back(vssRay);
+          //cout << "ray: " << *vssRay << endl;
           hits ++;
         }
@@ -1199 +1204 @@
 {
   int i;
-  int num = 16;
+  const int num = 16;
 
 #if DEBUG_RAYCAST
@@ -1214 +1219 @@
 
 
-  
-
   Vector3 min = sbox.Min();
   Vector3 max = sbox.Max();
+  
   for (i=0; i < num; i++) {
         mlrtaStoreRayAS16(&rays[index + i].mOrigin.x,
@@ -1223 +1227 @@
                                           i);
   }
-  
   
   mlrtaTraverseGroupAS16(&min.x,
@@ -1237 +1240 @@
   }
   
-  
   mlrtaTraverseGroupAS16(&min.x,
                                                  &max.x,
@@ -1244 +1246 @@
   
 
-
   for (i=0; i < num; i++) {
         Intersectable *objectA = NULL, *objectB = NULL;
@@ -1250 +1251 @@
         Vector3 normalA, normalB;
 
-
-  
-        if (forward_hit_triangles[i] !=-1 ) {
+        if (forward_hit_triangles[i] != -1 ) {
           if (forward_hit_triangles[i] >= mFaceParents.size())
-                cerr<<"Warning: traingle index out of range! "<<forward_hit_triangles[i]<<endl;
-          else {
+                cerr<<"Warning: triangle index out of range! "<<forward_hit_triangles[i]<<endl;
+          else { 
                 objectA = mFaceParents[forward_hit_triangles[i]].mObject;
                 // Get the normal of that face
-                Mesh *mesh = ((MeshInstance *)objectA)->GetMesh();
-                normalA = mesh->GetFacePlane(mFaceParents[forward_hit_triangles[i]].mFaceIndex).mNormal;
+                normalA = objectA->GetNormal(mFaceParents[forward_hit_triangles[i]].mFaceIndex);
                 //-rays[index+i].mDirection; // $$ temporary
                 pointA = rays[index+i].Extrap(forward_dist[i]);
           }
         }
-        
+         
         if (backward_hit_triangles[i]!=-1) {
           if (backward_hit_triangles[i] >= mFaceParents.size())
-                cerr<<"Warning: traingle index out of range! "<<backward_hit_triangles[i]<<endl;
-          else {
+                cerr<<"Warning: triangle  index out of range! "<<backward_hit_triangles[i]<<endl;
+          else { 
                 objectB = mFaceParents[backward_hit_triangles[i]].mObject;
-                Mesh *mesh = ((MeshInstance *)objectB)->GetMesh();
-                
-                normalB = mesh->GetFacePlane(mFaceParents[backward_hit_triangles[i]].mFaceIndex).mNormal;
-                
-                //        normalB = rays[index+i].mDirection; // $$ temporary
+                normalB = objectB->GetNormal(mFaceParents[forward_hit_triangles[i]].mFaceIndex);
+                
+                // normalB = rays[index+i].mDirection; // $$ temporary
                 pointB = rays[index+i].Extrap(-backward_dist[i]);
           }
         }
-
+ 
         ProcessRay(rays[index+i].mOrigin,
                            rays[index+i].mDirection,
@@ -1288 +1284 @@
                            );
   }
+  
 #endif
   
@@ -1312 +1309 @@
 {
   long t1 = GetTime();
-  for (int i=0; i < rays.size(); ) {
-        if (i + 16 < rays.size()) {
+  
+  for (int i = 0; i < (int)rays.size(); ) {
+          // method only available for intel raycaster yet
+        if (i + 16 < (int)rays.size()) {
+
           CastRays16(
                                  i,
@@ -1321 +1321 @@
           i += 16;
         } else {
-
           CastRay(rays[i].mOrigin,
                           rays[i].mDirection,
@@ -1327 +1326 @@
                           vssRays,
                           mViewCellsManager->GetViewSpaceBox());
-
           i++;
         }
@@ -1335 +1333 @@
 
   long t2 = GetTime();
-  
   cout<<2*rays.size()/(1e3*TimeDiff(t1, t2))<<"M rays/s"<<endl;
 }
@@ -1354 +1351 @@
          
           int hittriangle;
-          
 
 #ifdef GTP_INTERNAL
@@ -1367 +1363 @@
            if (hittriangle !=-1 ) {
                 if (hittriangle >= mFaceParents.size())
-                  cerr<<"Warning: traingle index out of range! "<<hittriangle<<endl;
+                  cerr<<"Warning: triangle index out of range! "<<hittriangle<<endl;
                 else {
                   result = mFaceParents[hittriangle].mObject;
@@ -1375 +1371 @@
           }
 #else
-        hittriangle = -1;
+          hittriangle = -1;
 #endif
 
-         
           break;
         }

GTP/trunk/Lib/Vis/Preprocessing/src/SceneGraph.cpp

@@ -31 +31 @@
 {
         CLEAR_CONTAINER(mGeometry);
-        
         // recursivly delete all children
         CLEAR_CONTAINER(mChildren);
@@ -78 +77 @@
                 SceneGraphNode *node = nodeStack.top();
                 nodeStack.pop();
-                cout << "here3.958" << endl;cout << "here3.9587654" << endl;
-                ObjectContainer::const_iterator mi = node->mGeometry.begin();   cout << "here3.958" << endl;
+                
+                ObjectContainer::const_iterator mi = node->mGeometry.begin();
                 for (; mi != node->mGeometry.end(); mi++)
                 {
-                        cout << "here3.9886" << endl;
                         instances->push_back(*mi);
                 }
-                cout << "here3.969999" << endl;
+        
                 SceneGraphNodeContainer::iterator ni = node->mChildren.begin();
                 for (; ni != node->mChildren.end(); ni++) {
-                        nodeStack.push(*ni);    cout << "here3.959" << endl;
+                        nodeStack.push(*ni);    
                         number++;
                 }
-                cout << "here3.96" << endl;
         }
+
         return number;
 }
@@ -104 +102 @@
   
   nodeStack.push(mRoot);
-  
+
   while (!nodeStack.empty()) {
     SceneGraphNode *node = nodeStack.top();
@@ -111 +109 @@
     ObjectContainer::iterator mi = node->mGeometry.begin();
     for (; mi != node->mGeometry.end(); mi++) {
-          // $$ JB remove object id=2601 (for debugging purposes in atlanta scene)
-          if (1) //id != 2601)
-                (*mi)->SetId(id++);
-          else {
-                node->mGeometry.erase(mi);
-                --mi;
-                id++;
-          }
+                (*mi)->SetId(id++);
         }
     
@@ -126 +117 @@
     }
   }
-        // return max id
+  
+  // return max id
   return id;
 }

GTP/trunk/Lib/Vis/Preprocessing/src/TestPreprocessor.vcproj

@@ -187 +187 @@
                                 Name="VCCLCompilerTool"
                                 Optimization="3"
+                                GlobalOptimizations="TRUE"
+                                InlineFunctionExpansion="2"
+                                FavorSizeOrSpeed="1"
+                                EnableFiberSafeOptimizations="TRUE"
+                                OptimizeForProcessor="3"
+                                OptimizeForWindowsApplication="TRUE"
                                 AdditionalIncludeDirectories="..\include;..\..\..\..\..\..\NonGTP\Boost;"$(QTDIR)\include\QtOpenGl";..\src;..\..\..\..\..\..\NonGTP\Devil\include;..\..\..\..\..\..\NonGTP\Zlib\include;..\..\..\..\..\..\NonGTP\Xerces"
                                 PreprocessorDefinitions="WIN32;NDEBUG;_CONSOLE;GTP_INTERNAL"

GTP/trunk/Lib/Vis/Preprocessing/src/Triangle3.cpp

@@ -2 +2 @@
 #include "Ray.h"
 #include "AxisAlignedBox3.h"
+#include "Containers.h"
+#include "Polygon3.h"
 
 
@@ -18 +20 @@
         mVertices[1] = b;
         mVertices[2] = c;
-
 }
 
@@ -28 +29 @@
 
 
-int Triangle3::CastRay(const Ray &ray, float &t, const float nearestT) const
+int Triangle3::CastRay(const Ray &ray, float &t, const float nearestT, Vector3 &normal) const
 {
+        /*VertexContainer vertices;
+        vertices.push_back(mVertices[0]);
+        vertices.push_back(mVertices[1]);
+        vertices.push_back(mVertices[2]);
+
+        Polygon3 poly(vertices);
+        
+        int dummy = poly.CastRay(ray, t, nearestT);
+
+         cout << "polyversion code: " << dummy << " t: " << t << " nearestT: " << nearestT << endl;
+return dummy;*/
+        /////////////////////////////////////////////
+        // specialised ray casting version
+
+        //-- calc ray-plane intersection
+        
         // get triangle edge vectors and plane normal
-        const Vector3 u = mVertices[1] - mVertices[0];
-    const Vector3 v = mVertices[2] - mVertices[0];
+        const Vector3 u = mVertices[0] - mVertices[1];
+    const Vector3 v = mVertices[2] - mVertices[1];
 
-    const Vector3 n = u * v;  // cross product
+    normal = Normalize(CrossProd(v, u)); // cross product
 
-    const Vector3 dir = ray.GetDir();           // ray direction vector
-    const Vector3 w0 = ray.GetLoc() - mVertices[0];
+    const Vector3 dir = ray.GetDir(); // ray direction vector
+    const Vector3 w0 = ray.GetLoc() - mVertices[1];
 
         // params to calc ray-plane intersect
-    const float a = - DotProd(n, w0);
-    const float b = DotProd(n, dir);
+    const float a = -DotProd(normal, w0);
+    const float b = DotProd(normal, dir);
 
+        // check for division by zero
         if (fabs(b) < Limits::Small) 
         {   
@@ -56 +74 @@
     }
 
-    // get intersect point of ray with triangle plane
+    // distance from origin of ray to plane
     t = a / b;
 
     if (t < 0.0) // ray goes away from triangle
         {
-        return Ray::NO_INTERSECTION; // => no intersect
+                return Ray::NO_INTERSECTION; // => no intersect
+        }
+        // already found nearer intersection
+        else if ((ray.GetType() == Ray::LOCAL_RAY) && (t >= nearestT))
+        {
+                return Ray::NO_INTERSECTION;
         }
 
-    // for a segment, also test if (r > 1.0) => no intersect
+        ///////////////////////////////////////////////
+    //-- found intersection point
+        //-- check if it is inside triangle
+  
+        const Vector3 pt = ray.GetLoc() + t * dir; 
 
-        // intersect point of ray and plane
-    const Vector3 pt = ray.GetLoc() + t * dir; 
-
-
-        ///////////////////////////////////////////////
-    //-- is point inside triangle?
-   
-        const Vector3 w = pt - mVertices[0];
+        const Vector3 w = pt - mVertices[1];
 
         const float uu = DotProd(u, u);
@@ -86 +106 @@
     const float s = (uv * wv - vv * wu) / D;
 
-    if (s < 0.0 || s > 1.0) // pt is outside triangle
-        {
+    if ((s < 0.0) || (s > 1.0)) // pt is outside triangle
+        {       
         return Ray::NO_INTERSECTION;
         }
@@ -93 +113 @@
         const float s2 = (uv * wu - uu * wv) / D;
 
-    if (s2 < 0.0 || (s + s2) > 1.0) // pt is outside triangle
-        {
+    if ((s2 < 0.0) || ((s + s2) > 1.0)) // pt is outside triangle
+        {       
         return Ray::NO_INTERSECTION;
         }
@@ -118 +138 @@
 {
         const Vector3 v1 = mVertices[0] - mVertices[1];
-        const Vector3 v2 = mVertices[2]-mVertices[1];
+        const Vector3 v2 = mVertices[2] - mVertices[1];
 
         return Normalize(CrossProd(v2, v1));
@@ -132 +152 @@
 float Triangle3::GetArea() const 
 {
-        Vector3 v1=mVertices[0]-mVertices[1], v2=mVertices[2]-mVertices[1];
+        Vector3 v1 = mVertices[0] - mVertices[1], v2=mVertices[2] - mVertices[1];
         return 0.5f * Magnitude(CrossProd(v2, v1));
 }

GTP/trunk/Lib/Vis/Preprocessing/src/Triangle3.h

@@ -30 +30 @@
 
         /// Casts ray into this triangle. Returns hit
-        int CastRay(const Ray &ray, float &t, const float nearestT) const;
+        int CastRay(const Ray &ray, float &t, const float nearestT, Vector3 &normal) const;
 
-        //////////////////////////////
+         friend ostream& operator<< (ostream &s, const Triangle3 &A);
+         friend istream& operator>> (istream &s, Triangle3 &A);
 
-        /// the triangle vertices
-        Vector3 mVertices[3];
+
+         //////////////////////////////
+         /// the triangle vertices
+         Vector3 mVertices[3];
 };
+
+
+// Overload << operator for C++-style output
+inline ostream&
+operator<< (ostream &s, const Triangle3 &A)
+{
+  return s << "(" << A.mVertices[0] << ", " << A.mVertices[1] << ", " << A.mVertices[2] << ")";
+}
+
+// Overload >> operator for C++-style input
+inline istream&
+operator>> (istream &s, Triangle3 &A)
+{
+  char a;
+  // read "(x, y, z)"
+  return s >> a >> A.mVertices[0] >> a >> A.mVertices[1] >> a >> A.mVertices[2] >> a;
+}
+
 
 }

GTP/trunk/Lib/Vis/Preprocessing/src/UnigraphicsParser.cpp

@@ -43 +43 @@
 bool
 UnigraphicsParser::ParseFile(const string filename,
-                                                         SceneGraphNode **proot,
+                                                         SceneGraphNode *root,
                                                          const bool loadPolygonsAsMeshes,
                                                          vector<FaceParentInfo> *parents)
@@ -61 +61 @@
     return false;
 
-  SceneGraphNode *root = new SceneGraphNode;
   Mesh *currentMesh = MeshManager::GetSingleton()->CreateResource();
 
@@ -186 +185 @@
   
   fclose(file);
-  
-  *proot = root;
-
   return true;
 }

GTP/trunk/Lib/Vis/Preprocessing/src/UnigraphicsParser.h

@@ -16 +16 @@
   
   virtual bool ParseFile(const std::string filename, 
-                                                 SceneGraphNode **root, 
+                                                 SceneGraphNode *root, 
                                                  const bool loadPolygonsAsMeshes = false,
                                                  vector<FaceParentInfo> *parents = NULL);

GTP/trunk/Lib/Vis/Preprocessing/src/ViewCellsManager.cpp

@@ -276 +276 @@
 {
         SimpleRayContainer simpleRays;
-
         const long startTime = GetTime();
 
         mPreprocessor->GenerateRays(samplesPerPass, sampleType, simpleRays);
-
         Debug << "generated " <<  mInitialSamples << " samples in " << TimeDiff(startTime, GetTime()) * 1e-3 << " secs" << endl;
 
         // shoot simple ray and add it to importance samples
         mPreprocessor->CastRays(simpleRays, passSamples);
-
         Debug << "cast " <<  mInitialSamples << " samples in " << TimeDiff(startTime, GetTime()) * 1e-3 << " secs" << endl;
 
@@ -5359 +5356 @@
 
 
+        //////////////////////////////////////////////////////////////
         //-- export bounding boxes
 
         stream << "<BoundingBoxes>" << endl;
-
         ObjectContainer::const_iterator oit, oit_end = objects.end();
 
         for (oit = objects.begin(); oit != oit_end; ++ oit)
         {
-                        MeshInstance *mi = dynamic_cast<MeshInstance *>(*oit);
-                        const AxisAlignedBox3 box = mi->GetBox();
+                        const AxisAlignedBox3 box = (*oit)->GetBox();
 
                         //-- the bounding boxes
-                        stream << "<BoundingBox" << " id=\"" << mi->GetId() << "\""
+                        stream << "<BoundingBox" << " id=\"" << (*oit)->GetId() << "\""
                                    << " min=\"" << box.Min().x << " " << box.Min().y << " " << box.Min().z << "\""
                                    << " max=\"" << box.Max().x << " " << box.Max().y << " " << box.Max().z << "\" />" << endl;
@@ -5378 +5374 @@
         stream << "</BoundingBoxes>" << endl;
 
-
+        ////////////////////////////////////////////////////////////////
         //-- export the view cells and the pvs
 

GTP/trunk/Lib/Vis/Preprocessing/src/ViewCellsParser.h

@@ -17 +17 @@
   ViewCellsParser():Parser() {}
   
-  //bool ParseFile(const string filename, ViewCellsManager &viewCells);
-  bool ParseViewCellsFile(const string filename, 
+  bool ParseViewCellsFile(
+          const string filename, 
           ViewCellsManager **viewCells,
           ObjectContainer *objects,

GTP/trunk/Lib/Vis/Preprocessing/src/VrmlExporter.cpp

@@ -15 +15 @@
 #include "Beam.h"
 #include "IntersectableWrapper.h"
+#include "Triangle3.h"
 
 
@@ -20 +21 @@
 
 
-VrmlExporter::VrmlExporter(const string filename):Exporter(filename)
+VrmlExporter::VrmlExporter(const string filename): Exporter(filename)
 {
         stream.open(mFilename.c_str());
@@ -159 +160 @@
   
         stream<<"</Group>"<<endl;
-}
-
-
-void VrmlExporter::ExportIntersectable(Intersectable *object)
-{
-        switch (object->Type()) 
-        {
-        case Intersectable::MESH_INSTANCE:
-                ExportMeshInstance((MeshInstance *)object);
-                break;
-        case Intersectable::TRANSFORMED_MESH_INSTANCE:
-                ExportTransformedMeshInstance(dynamic_cast<TransformedMeshInstance *>(object));
-                break;
-        case Intersectable::VIEW_CELL:
-                ExportViewCell(dynamic_cast<ViewCell *>(object));
-                break;
-        case Intersectable::KD_INTERSECTABLE:
-                ExportKdIntersectable(*(dynamic_cast<KdIntersectable *>(object)));
-                break;
-        default:
-                cerr << "Sorry the export for object type " << Intersectable::GetTypeName(object) << " is not available yet" << endl;
-                break;
-        }
-}
-
-
-void VrmlExporter::ExportMeshInstance(MeshInstance *object)
-{
-        // $$JB$$
-        // in the future check whether the mesh was not already exported
-        // and use a reference to the that mesh instead
-        ExportMesh(object->GetMesh());
-}
-
-
-void VrmlExporter::ExportTransformedMeshInstance(TransformedMeshInstance *mi)
-{
-        Mesh mesh(*mi->GetMesh());
-
-        Matrix4x4 m;
-        mi->GetWorldTransform(m);
-        mesh.ApplyTransformation(m);
-
-        ExportMesh(&mesh);
-}
-
-
-void VrmlExporter::ExportViewCells(const ViewCellContainer &viewCells)
-{
-        ViewCellContainer::const_iterator it, it_end = viewCells.end();
-
-        for (it = viewCells.begin(); it != it_end; ++ it)
-        {
-                ExportViewCell(*it);
-        }
 }
 

GTP/trunk/Lib/Vis/Preprocessing/src/VrmlExporter.h

@@ -84 +84 @@
 
   virtual void
-  ExportMeshInstance(MeshInstance *mi);
-
-  virtual void
-  ExportTransformedMeshInstance(TransformedMeshInstance *mi);
-
-  virtual void
-  ExportIntersectable(Intersectable *object);
-
-  virtual void
   ExportMesh(Mesh *mesh);
 
   virtual void
   ExportViewCell(ViewCell *viewCell);
-
-  virtual void
-  ExportViewCells(const ViewCellContainer &viewCells);
 
   virtual void

GTP/trunk/Lib/Vis/Preprocessing/src/X3dExporter.cpp

@@ -200 +200 @@
 
 }
-void
-X3dExporter::ExportIntersectable(Intersectable *object)
-{
-        switch (object->Type()) 
-        {
-        case Intersectable::MESH_INSTANCE:
-                ExportMeshInstance((MeshInstance *)object);
-                break;
-        case Intersectable::TRANSFORMED_MESH_INSTANCE:
-                ExportTransformedMeshInstance(dynamic_cast<TransformedMeshInstance *>(object));
-                break;
-        case Intersectable::VIEW_CELL:
-                ExportViewCell((ViewCell *)object);
-                break;
-        default:
-                cerr << "Sorry the export for object not yet defined" << endl;
-                break;
-        }
-}
-
-
-void
-X3dExporter::ExportMeshInstance(MeshInstance *object)
-{
-  // $$JB$$
-  // in the future check whether the mesh was not already exported
-  // and use a reference to the that mesh instead
-  ExportMesh(object->GetMesh());
-}
-
-
-void
-X3dExporter::ExportTransformedMeshInstance(TransformedMeshInstance *mi)
-{
-        Mesh mesh(*mi->GetMesh());
-
-        Matrix4x4 m;
-        mi->GetWorldTransform(m);
-        mesh.ApplyTransformation(m);
-
-        ExportMesh(&mesh);
-}
-
-
-void 
-X3dExporter::ExportViewCells(const ViewCellContainer &viewCells)
-{
-        ViewCellContainer::const_iterator it, it_end = viewCells.end();
-
-        for (it = viewCells.begin(); it != it_end; ++ it)
-                ExportViewCell(*it);
-}
 
 
@@ -303 +251 @@
                                 mForcedMaterial.mDiffuseColor.g = 1.0f - mForcedMaterial.mDiffuseColor.r;
                         }
-
                         ExportPolygons(cell->GetPolys());
-                }
-                
+                }               
                 DEL_PTR(cell);
         }
@@ -315 +261 @@
 {
         if (viewCell->GetMesh())
+        {
                 ExportMesh(viewCell->GetMesh());
+        }
 }
 

GTP/trunk/Lib/Vis/Preprocessing/src/X3dExporter.h

@@ -81 +81 @@
 
   virtual void
-  ExportMeshInstance(MeshInstance *mi);
-
-  virtual void
-  ExportTransformedMeshInstance(TransformedMeshInstance *mi);
-
-  virtual void
-  ExportIntersectable(Intersectable *object);
-
-  virtual void
   ExportMesh(Mesh *mesh);
 
   virtual void
   ExportViewCell(ViewCell *viewCell);
-
-  virtual void
-  ExportViewCells(const ViewCellContainer &viewCells);
 
   virtual void
@@ -105 +93 @@
                          const float length=1000,
                          const RgbColor &color = RgbColor(1,1,1));
+
   bool
   ExportRays(const VssRayContainer &rays,
@@ -121 +110 @@
   ExportBspLeaves(const BspTree &tree, const int maxPvs = 0);
 
-
   virtual void
   ExportBspSplits(const VspBspTree &tree, const bool exportDepth);
@@ -132 +120 @@
 
 protected:
-
 
   virtual void

GTP/trunk/Lib/Vis/Preprocessing/src/X3dParser.cpp

@@ -649 +649 @@
 /*******************+*****************************************************/
 
-X3dParser::X3dParser():
-mViewCellHeight(DEFAULT_VIEWCELL_HEIGHT) 
+X3dParser::X3dParser(): mViewCellHeight(DEFAULT_VIEWCELL_HEIGHT) 
 {}
+
 
 bool
 X3dParser::ParseFile(const string filename,
-                                         SceneGraphNode **root,
+                                         SceneGraphNode *root,
                                          const bool loadPolygonsAsMeshes,
                                          vector<FaceParentInfo> *parents)
@@ -689 +689 @@
   //  to do.
   //
-  *root = new SceneGraphNode;
-  X3dParseHandlers handler(*root, loadPolygonsAsMeshes);
+  X3dParseHandlers handler(root, loadPolygonsAsMeshes);
   parser->setDocumentHandler(&handler);
   parser->setErrorHandler(&handler);

GTP/trunk/Lib/Vis/Preprocessing/src/X3dParser.h

@@ -17 +17 @@
         bool ParseFile(
                                    const string filename, 
-                                   SceneGraphNode **root, 
+                                   SceneGraphNode *root, 
                                    const bool loadPolygonsAsMeshes = false,
                                    vector<FaceParentInfo> *parents = NULL);

GTP/trunk/Lib/Vis/Preprocessing/src/main.cpp

@@ -214 +214 @@
                 exit(1);
         }
-        cout << "here3.9" << endl;
+
         //-- build kd tree from scene geometry
         preprocessor->BuildKdTree();
         preprocessor->KdTreeStatistics(cout);
-        cout << "here3" << endl;
+
         /*preprocessor->mKdTree->ExportBinTree("kd.bin.gz");
         MeshManager::GetSingleton()->ExportEntries("meshes.bin");
@@ -242 +242 @@
 
         DEL_PTR(kdTree2);
-*/cout << "here4" << endl;
+*/
         // parse view cells related options
         preprocessor->PrepareViewCells();
@@ -251 +251 @@
                 preprocessor->Export(filename + "-kdtree.x3d", false, true, false);     
         }
-cout << "here5" << endl;
+
         // create a preprocessor thread (note: capsulates calls to boost fuctions!)
         //PreprocessorThread *pt = PreprocessorThreadFactory::Create(preprocessor);
@@ -260 +260 @@
         bool guiSupported = false;
         if (preprocessor->mUseGlRenderer || preprocessor->mUseGlDebugger)
-          {
+        {
                 cout << "using gl widget" << endl;
                 // create and run the preprocessor application in a parallel thread
@@ -267 +267 @@
 #endif
                 //pt.RunThread();
-                
+
                 // display the render widget
-                if (!rendererWidget) {
-
+                if (!rendererWidget) 
+                {
 #if !USE_QT
-                  guiSupported = LoadMyDll();
+                        guiSupported = LoadMyDll();
 #else
-                  rendererWidget = new QtGlRendererWidget(preprocessor->mSceneGraph,
-                                                                                                  preprocessor->mViewCellsManager,
-                                                                                                  preprocessor->mKdTree);
+                        rendererWidget = new QtGlRendererWidget(preprocessor->mSceneGraph,
+                                preprocessor->mViewCellsManager,
+                                preprocessor->mKdTree);
 #endif
                 }
-                
-          }
+
+        }
         
         if (!guiSupported) {