Changeset 2609

Timestamp:

01/17/08 21:46:32 (16 years ago)

Author:

mattausch

Message:

 

Location:

GTP/trunk/Lib/Vis/Preprocessing

Files:

• include/Mesh.h (modified) (1 diff)
• src/AxisAlignedBox3.cpp (modified) (1 diff)
• src/BvHierarchy.h (modified) (1 diff)
• src/Containers.h (modified) (2 diffs)
• src/GlRenderer.cpp (modified) (3 diffs)
• src/Mesh.cpp (modified) (1 diff)
• src/Mesh.h (modified) (6 diffs)
• src/Preprocessor.cpp (modified) (6 diffs)
• src/Preprocessor.h (modified) (9 diffs)
• src/QtInterface/QtGlRenderer.cpp (modified) (17 diffs)
• src/QtInterface/QtGlRenderer.h (modified) (7 diffs)
• src/QtInterface/QtGlViewer.cpp (modified) (3 diffs)
• src/Ray.cpp (modified) (1 diff)
• src/Ray.h (modified) (7 diffs)
• src/SceneGraph.cpp (modified) (1 diff)
• src/SceneGraph.h (modified) (4 diffs)
• src/ViewCellBsp.cpp (modified) (3 diffs)
• src/ViewCellsManager.cpp (modified) (2 diffs)
• src/VspBspTree.cpp (modified) (2 diffs)
• src/VssRay.cpp (modified) (2 diffs)
• src/VssRay.h (modified) (3 diffs)
• src/X3dParser.cpp (modified) (1 diff)
• src/common.h (modified) (1 diff)

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

@@ -16 +16 @@
   };
 
-  /** Mesh containing polygonal patches */
+  /** Mesh containing polygonal patches 
+  */
   class Mesh {
   public:

GTP/trunk/Lib/Vis/Preprocessing/src/AxisAlignedBox3.cpp

@@ -2238 +2238 @@
 void AxisAlignedBox3::EnlargeToMinSize()
 {
-  const float epsMin = 1e-7;
-  const float epsAdd = 1e-6;
-  const float epsMul = 1.000005;
+  const float epsMin = 1e-7f;
+  const float epsAdd = 1e-6f;
+  const float epsMul = 1.000005f;
   float dir = mMax.x - mMin.x;
+
   assert(dir >= 0.f);
   if (dir < epsMin) {

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

@@ -215 +215 @@
         
         int CastRay(Ray &ray) { return 0; }
-        int CastSimpleRay(const SimpleRay &ray) { return 0;}
-        int CastSimpleRay(const SimpleRay &ray, int IndexRay) { return 0;}
+        int CastSimpleRay(const SimpleRay &ray) { return 0;}
+        int CastSimpleRay(const SimpleRay &ray, int IndexRay) { return 0;}
         
         bool IsConvex() const { return true; }

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

@@ -10 +10 @@
 namespace GtpVisibilityPreprocessor {
 
+class TransformedMeshInstance;
 class ViewCell;
 class HierarchyNode;
@@ -71 +72 @@
 typedef std::vector<int> VertexIndexContainer;
 
+/// a container for dynamic objects
+typedef std::vector<TransformedMeshInstance *> DynamicObjectsContainer;
+
+
 }
 

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

@@ -133 +133 @@
 void GlRenderer::RenderTriangle(TriangleIntersectable *object)
 {
-  Triangle3 *t = &(object->GetItem());
+        Triangle3 *t = &(object->GetItem());
 
         glBegin(GL_TRIANGLES);
@@ -317 +317 @@
 
         glPushMatrix();
-
         glMultMatrixf((float *)m.x);
 
@@ -494 +493 @@
         Intersectable::NewMail();
 
+        Preprocessor *p = mViewCellsManager->GetPreprocessor();
+        // handle dynamic objects
+        DynamicObjectsContainer::const_iterator dit, dit_end = p->mDynamicObjects.end();
+
+        for (dit = p->mDynamicObjects.begin(); dit != dit_end; ++ dit)
+        {
+                RenderIntersectable(*dit);
+        }
+
 #if 1
-
         _RenderSceneTrianglesWithDrawArrays();
 

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

@@ -56 +56 @@
 
 };
+
+
+Mesh::Mesh(const int vertices, const int faces):
+mFaces(),
+mMaterial(NULL),
+mKdTree(NULL),
+mVertices(),
+mIsConvex(false),
+mIsWatertight(false),
+mId(0)
+{
+        mVertices.reserve(vertices);
+        mFaces.reserve(faces);
+}
 
 

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

@@ -62 +62 @@
 
 /** Mesh containing polygonal patches */
-class Mesh {
+class Mesh 
+{
 
 public:
 
   /// Default constructor
-  Mesh():mVertices(), mFaces(), mMaterial(NULL), mKdTree(NULL), mId(0) {}
+  Mesh(): mVertices(), mFaces(), mMaterial(NULL), mKdTree(NULL), mId(0) {}
 
   /// Constructor with container preallocation
-  Mesh(const int vertices, const int faces):
-    mFaces(),
-    mMaterial(NULL),
-    mKdTree(NULL),
-    mVertices(),
-    mIsConvex(false),
-    mIsWatertight(false),
-        mId(0)
-  {
-    mVertices.reserve(vertices);
-    mFaces.reserve(faces);
-  }
-
+  Mesh(const int vertices, const int faces);
   /** Constructor setting a unqiue mesh id.
   */
   Mesh(const int id);
-
   /** Setting unique mesh id and using preallocation.
   */
   Mesh(const int id, const int vertices, const int faces);
-
   /** Copy constructor making a deep copy of the faces.
   */
   Mesh(const Mesh &rhs);
-
   /** Assignement operator.
         @note does not copy id
@@ -116 +102 @@
   void AddFace(Face *face) 
   {
-    mFaces.push_back(face);
+          mFaces.push_back(face);
   }
 
   void ComputeBoundingBox();
-
   /** This function must be called after creating the mesh
         because it creates the local kd tree and the bounding box.
@@ -132 +117 @@
   void ApplyTransformation(const Matrix4x4 &m);
 
-  /** Axis aligned bounding box of the mesh in local mesh coordinates.
-  */
-  AxisAlignedBox3 mBox;
-  
-  /** Vertices forming the mesh.
-  */
+  /// Axis aligned bounding box of the mesh in local mesh coordinates.
+  AxisAlignedBox3 mBox; 
+  /// Vertices forming the mesh.
   VertexContainer mVertices;
-  
-  /** Patches forming the mesh.
-  */
+  /// Patches forming the mesh.
   FaceContainer mFaces;
-  
-  /** Global mesh material.
-  */
+  /// Global mesh material.
   Material *mMaterial;
-  
-  /** true if the mesh is a convex mesh.
-  */
+  /// true if the mesh is a convex mesh.
   bool mIsConvex;
-
-  /** true if the mesh is a convex mesh.
-  */
+  /// true if the mesh is a convex mesh.
   bool mIsWatertight;
 
@@ -202 +176 @@
   /** Returns unique mesh id.
   */
-  int GetId() const
-  {
-          return mId;
-  }
+  int GetId() const { return mId; }
 
 
@@ -245 +216 @@
 
 public:
-        MeshInstance(Mesh *mesh):Intersectable(), mMesh(mesh), mMaterial(NULL)
+        MeshInstance(Mesh *mesh): Intersectable(), mMesh(mesh), mMaterial(NULL)
         {
         }
@@ -315 +286 @@
 {
 public:
-  TransformedMeshInstance(Mesh *mesh);
-  
-  virtual AxisAlignedBox3 GetBox() const;
-   
-  
-  virtual int CastRay(Ray &ray);
-
-  virtual int CastRay(Ray &ray, const std::vector<int> &faces);
-
-  virtual int Type() const { return TRANSFORMED_MESH_INSTANCE; }
-
-  int GetRandomSurfacePoint(Vector3 &point, Vector3 &normal);
-
-  /** Transforms this mesh instance by m.
-  */
-  void ApplyWorldTransform(const Matrix4x4 &m);
-
-  /** Loads the transformation matrix into this mesh instance.
-  */
-  void LoadWorldTransform(const Matrix4x4 &m);
-
-  /** The transformation is returned in m.
-  */
-  void GetWorldTransform(Matrix4x4 &m) const;
-
-  /** Transforms a mesh according to the stored world transform.
-          @param transformedMesh returns the tranformed mesh.
-  */
-  void GetTransformedMesh(Mesh &transformedMesh) const;
-
-  Vector3 GetNormal(const int idx) const;
+        TransformedMeshInstance(Mesh *mesh);
+
+        virtual AxisAlignedBox3 GetBox() const;
+
+        virtual int CastRay(Ray &ray);
+
+        virtual int CastRay(Ray &ray, const std::vector<int> &faces);
+
+        virtual int Type() const { return TRANSFORMED_MESH_INSTANCE; }
+
+        int GetRandomSurfacePoint(Vector3 &point, Vector3 &normal);
+
+        /** Transforms this mesh instance by m.
+        */
+        void ApplyWorldTransform(const Matrix4x4 &m);
+        /** Loads the transformation matrix into this mesh instance.
+        */
+        void LoadWorldTransform(const Matrix4x4 &m);
+        /** The transformation is returned in m.
+        */
+        void GetWorldTransform(Matrix4x4 &m) const;
+        /** Transforms a mesh according to the stored world transform.
+                @param transformedMesh returns the tranformed mesh.
+        */
+        void GetTransformedMesh(Mesh &transformedMesh) const;
+
+        Vector3 GetNormal(const int idx) const;
 
 protected:

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

@@ -115 +115 @@
         DEL_PTR(mViewCellsManager);
         cout << "done.\n";
-
         
         cout << "Deleting bsp tree ... \n";
@@ -136 +135 @@
         DEL_PTR(mRenderSimulator);
         mRenderSimulator = NULL;
+
         cout << "deleting renderer ... \n";
         DEL_PTR(renderer);
         renderer = NULL;
+
         cout << "deleting ray caster ... \n";
         DEL_PTR(mRayCaster);
@@ -1093 +1094 @@
                                const string &internKdTree)
 {
-        // always try to load the kd tree
-/*      cout << "loading kd tree file " << internKdTree << " ... " << endl;
-
-        if (!LoadKdTree(internKdTree))
-        {
-                cout << "error loading kd tree with filename " 
-                         << internKdTree << ", rebuilding it instead ... " << endl;
-                // build new kd tree from scene geometry
-                BuildKdTree();
-
-                // export kd tree?
-                const long startTime = GetTime();
-                cout << "exporting kd tree ... ";
-
-                if (!ExportKdTree(internKdTree))
-                {
-                        cout << " error exporting kd tree with filename " 
-                                 << internKdTree << endl;
-                }
-                else
-                {
-                        cout << "finished in " 
-                                 << TimeDiff(startTime, GetTime()) * 1e-3 
-                                 << " secs" << endl;
-                }
-        }
-        
-        KdTreeStatistics(cout);
-        cout << mKdTree->GetBox() << endl;
-*/
         int rayCastMethod;
         Environment::GetSingleton()->
@@ -1204 +1175 @@
                                            )
 {
-
         const long t1 = GetTime();
 
@@ -1234 +1204 @@
                         castDoubleRays,
                         pruneInvalidRays);
+
+#if DYNAMIC_OBJECTS_HACK
+
+                static Ray hRay;
+
+                VssRayContainer::iterator vit, vit_end = vssRays.end();
+
+                for (vit = vssRays.begin(); vit != vit_end; ++ vit)
+                {
+                        VssRay *vssRay = *vit;
+                        hRay.Init(*vssRay);
+
+                        DynamicObjectsContainer::const_iterator tit, tit_end = mDynamicObjects.end();
+
+                        bool foundIntersect = false;
+                        for (tit = mDynamicObjects.begin(); tit != tit_end; ++ tit)
+                        {
+                                TransformedMeshInstance *tmi = *tit;
+                                if (tmi->CastRay(hRay)) //cout << "z"; else cout<< "r";
+                                {
+                                        cout << "i: " << Intersectable::GetTypeName(hRay.intersections[0].mObject);
+                                        foundIntersect = true;
+                                }
+                        }
+
+                        if (foundIntersect)
+                                cout << "x: " << Intersectable::GetTypeName(hRay.intersections[0].mObject);
+
+                        if (foundIntersect)
+                                // write new results back into vssRay
+                                vssRay->Init(hRay);
+
+                        if (foundIntersect)
+                                cout << "y : " << Intersectable::GetTypeName(vssRay->mTerminationObject);
+
+                        hRay.intersections.clear();
+                }
+#endif
         }
 
@@ -1595 +1603 @@
 
 
-bool Preprocessor::AddGeometry(const string &filename,
-                                                           ObjectContainer &pvsObjects, 
-                                                           const ObjectContainer &preprocessorObjects)
-{
-//      bool success = LoadBinaryObj(filename, mSceneGraph->GetRoot(), &mFaceParents);
-        SceneGraphLeaf *leaf = new SceneGraphLeaf();
-        if (LoadBinaryObj(filename, leaf, NULL))
-        {
+Mesh *Preprocessor::LoadBinaryObjIntoMesh(const string &filename)
+{
+        igzstream inStream(filename.c_str());
+        
+        if (!inStream.is_open())
+                return NULL;
+
+        cout << "binary obj dump available, loading " << filename.c_str() << endl;
+        
+        // read in triangle size
+        int numTriangles;
+
+        inStream.read(reinterpret_cast<char *>(&numTriangles), sizeof(int));
+        
+        cout << "loading " << numTriangles << " triangles into mesh" << endl;
+
+        int i = 0, j = 0;
+
+        Mesh *mesh = new Mesh(numTriangles * 3, numTriangles);
+
+        const int t = 500000;
+        while (1)
+        {
+                Triangle3 tri;
+                
+                inStream.read(reinterpret_cast<char *>(&mesh->mVertices[i]), sizeof(Vector3));
+                inStream.read(reinterpret_cast<char *>(&mesh->mVertices[i + 1]), sizeof(Vector3));
+                inStream.read(reinterpret_cast<char *>(&mesh->mVertices[i + 2]), sizeof(Vector3));
+
+                
+                mesh->mVertices[i].x += 20;
+                mesh->mVertices[i + 1].x += 20;
+                mesh->mVertices[i + 2].x += 20;
+
+                mesh->mVertices[i].z -= 10;
+                mesh->mVertices[i + 1].z -= 10;
+                mesh->mVertices[i + 2].z -= 10;
+
+                mesh->mVertices[i] *= 50;
+                mesh->mVertices[i + 1] *= 50;
+                mesh->mVertices[i + 2] *= 50;
+
+                mesh->AddFace(new Face(i + 0, i + 1, i + 2));
+
+                // end of file reached
+                if (inStream.eof())
+                        break;
+
+                i += 3;
+                if (((j ++) % t) == (t - 1))
+                         cout<<"\r"<<i<<"/"<<numTriangles<<"\r";
+        }
+        
+        if (j != numTriangles)
+        {
+                cout << "warning: triangle size does not match with loaded triangle size" << endl;
+                return false;
+        }
+
+        mesh->Preprocess();
+        cout << "loaded " << numTriangles << " triangles" << endl;
+
+        return mesh;
+}
+
+
+bool Preprocessor::LoadDynamicGeometry(const string &filename)
+{
+        const bool dynamic = true;
+
+        Mesh *mesh = LoadBinaryObjIntoMesh(filename);
+    
+        if (mesh)
+        {
+                SceneGraphLeaf *leaf = new SceneGraphLeaf(dynamic);
+
+                TransformedMeshInstance *tmi = new TransformedMeshInstance(mesh);
+                leaf->mGeometry.push_back(tmi);
+
                 mSceneGraph->GetRoot()->mChildren.push_back(leaf);
+                //mDynamicObjects.push_back(leaf);
+                mDynamicObjects.push_back(tmi);
+
                 return true;
         }
 
+
         return false;
 }

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

@@ -58 +58 @@
 
         virtual ~Preprocessor();
-
         /** Load the input scene. 
                 @param filename file to load
@@ -64 +63 @@
         */
         virtual bool LoadScene(const string &filename);
-
         /** Export all preprocessed data in a XML format understandable by the
                 PreprocessingInterface of the GtpVisibilityPreprocessor Module. 
@@ -71 +69 @@
         */
         virtual bool ExportPreprocessedData(const string &filename);
-
         /** Build the KdTree of currently loaded occluders/occludees/viewcells. The construction
                 is driven by the environment settings, which also sais which of the three types of
@@ -77 +74 @@
         */
         virtual bool BuildKdTree();
-
         /** Compute visibility method. This method has to be reimplemented by the actual
                 Preprocessor implementation (e.g. SamplingPreprocessor, ExactPreprocessor,
@@ -83 +79 @@
         */
         virtual bool ComputeVisibility() = 0;
-
         /** Post Process the computed visibility. By default applys the visibility filter
                 (if specified in the environment and export the preprocessed data 
-                */
+        */
         virtual bool PostProcessVisibility();
-
         /** View cells are either loaded or prepared for generation, according to the chosen environment
                 object. Important evironment options are, e.g, the view cell type.
@@ -94 +88 @@
         */
         bool PrepareViewCells();
-
         /** Construct viewcells from the scratch 
         */
         bool ConstructViewCells();
-
         /** Returns the specified sample strategy, NULL if no valid strategy.
         */
         SamplingStrategy *GenerateSamplingStrategy(const int strategyId);
-
         /** Export preprocessor data.
         */
@@ -198 +189 @@
                                                         const ObjectContainer &preprocessorObject);
 
-        /** Adds new geometry to the existing one.
-        */
-        bool AddGeometry(const string &filename, ObjectContainer &pvsObjects, const ObjectContainer &prepObjects);
+        /** Adds dynamic geometry
+        */
+        bool LoadDynamicGeometry(const string &filename);
+
+        Mesh *Preprocessor::LoadBinaryObjIntoMesh(const string &filename);
+
 
         /////////////////////////
@@ -212 +206 @@
         /// kD-tree organizing the scene graph (occluders + occludees) + viewcells
         KdTree *mKdTree;
-  AxisAlignedBox3 sceneBox;
+        AxisAlignedBox3 sceneBox;
+
         /// View space partition bsp tree
         VspBspTree *mVspBspTree;
@@ -222 +217 @@
         /// list of all loaded occludees
         ObjectContainer mOccludees;
-
-
+        /// the view cells manager
         ViewCellsManager *mViewCellsManager;
+
+        //SceneGraphNodeContainer mDynamicObjects;
+        DynamicObjectsContainer mDynamicObjects;
 
         /// greedy optimized hierarchy for both objects and view cells

GTP/trunk/Lib/Vis/Preprocessing/src/QtInterface/QtGlRenderer.cpp

@@ -369 +369 @@
         glNormalPointer(GL_FLOAT, 0, (char *)arrayPtr + offset * sizeof(Vector3));
         glDrawElements(GL_TRIANGLES, mIndexBufferSize, GL_UNSIGNED_INT, mIndices);
-}
-
-
-void QtGlRendererWidget::_UpdatePvsIndices()
+
+        // handle dynamic objects
+        DynamicObjectsContainer::const_iterator dit, dit_end = mDynamicObjects.end();
+
+        for (dit = mDynamicObjects.begin(); dit != dit_end; ++ dit)
+        {
+                RenderIntersectable(*dit);
+        }
+}
+
+
+void QtGlRendererWidget::PreparePvs()
 {
         int indexBufferSize = 0;
@@ -381 +389 @@
         mPvsSize = mPvsCache.mPvs.GetSize();
 
+        mDynamicObjects.clear();
+
         ObjectPvsIterator it = mPvsCache.mPvs.GetIterator();
 
@@ -386 +396 @@
         {
                 Intersectable *obj = it.Next();
-                KdNode *node = static_cast<KdIntersectable *>(obj)->GetItem();
-
-                _UpdatePvsIndices(node, indexBufferSize);
+                switch (obj->Type())
+                {
+                case Intersectable::KD_INTERSECTABLE:
+                        {
+                                KdNode *node = static_cast<KdIntersectable *>(obj)->GetItem();
+                                _UpdatePvsIndices(node, indexBufferSize);
+                        }
+                        break;
+                case Intersectable::TRANSFORMED_MESH_INSTANCE:
+                        mDynamicObjects.push_back(static_cast<TransformedMeshInstance *>(obj));
+                        break;
+                default:
+                        cerr << "PreparePvs: type " << Intersectable::GetTypeName(obj) << " not handled yet" << endl;
+                }
         }
 
@@ -421 +442 @@
                                 static_cast<TriangleIntersectable *>(leaf->mObjects[i]);
 
-                        // check if already rendered
-                        /*if (!obj->Mailed())
-                        {
-                                obj->Mail();
-
-                                mIndices[indexBufferSize + 0] = (obj->GetId() - 1) * 3 + 0;
-                                mIndices[indexBufferSize + 1] = (obj->GetId() - 1) * 3 + 1;
-                                mIndices[indexBufferSize + 2] = (obj->GetId() - 1) * 3 + 2;
-
-                                indexBufferSize += 3;
-                        }*/
                         if (obj->mRenderedFrame != mCurrentFrame)
                         {
@@ -481 +491 @@
                         if (mUseSpatialFilter) 
                         {
-                                //ObjectPvs pvs;
-
                                 //mMutex.lock();
                                 // mSpatialFilter size is in range 0.001 - 0.1
@@ -500 +508 @@
 
                         /// update the indices for rendering
-                        _UpdatePvsIndices();
+                        PreparePvs();
 
                         emit PvsUpdated();
                 }
 
-                //Intersectable::NewMail();
-                PvsData pvsData;
 
                 // Render PVS
@@ -519 +525 @@
                 {
                         if (!mRenderVisibilityEstimates && !mUseRandomColorPerPvsObject)
-                        {
                                 _RenderPvs();
-                        }
                         else
-                        {
-                                mPvsSize = mPvsCache.mPvs.GetSize();
-
-                                ObjectPvsIterator it = mPvsCache.mPvs.GetIterator();
-
-                                while (it.HasMoreEntries())
-                                {
-                                        Intersectable *object = it.Next(pvsData);
-
-                                        RgbColor color;
-
-                                        //float visibility = mTransferFunction*log10(entry.mData.mSumPdf + 1); // /5.0f
-                                        // glColor3f(visibility, 0.0f, 0.0f);
-                                        //cerr << "sumpdf: " << pvsData.mSumPdf << endl;
-                                        if (mUseRandomColorPerPvsObject)
-                                        {
-                                                KdIntersectable *kdint = static_cast<KdIntersectable *>(object);
-
-                                                if (kdint->mGenericIdx == -1)
-                                                {
-                                                        kdint->mGenericIdx = (int)mColors.size();
-                                                        mColors.push_back(RandomColor());
-                                                }
-                                                color = mColors[kdint->mGenericIdx];
-                                        } 
-                                        else
-                                        {
-                                                color = RainbowColorMapping(mTransferFunction * log10(pvsData.mSumPdf + 1));
-                                        }
-
-                                        glColor3f(color.r, color.g, color.b);
-
-                                        mUseForcedColors = true;
-                                        RenderIntersectable(object);
-                                        mUseForcedColors = false;
-                                }
-                        }
+                                _RenderColoredPvs();
                 }
 
@@ -587 +555 @@
                 RenderScene();
         }
-
-        //DisableDrawArrays();
-        //glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);
 }
 
@@ -673 +638 @@
 {
         float MOVE_SENSITIVITY = Magnitude(mSceneGraph->GetBox().Diagonal())*1e-3;
-        float TURN_SENSITIVITY=0.1f;
-        float TILT_SENSITIVITY=32.0 ;
-        float TURN_ANGLE= M_PI/36.0 ;
+        float TURN_SENSITIVITY = 0.1f;
+        float TILT_SENSITIVITY = 32.0 ;
+        float TURN_ANGLE= M_PI  /36.0 ;
 
         int x = e->pos().x();
@@ -685 +650 @@
         if (e->modifiers() & Qt::ControlModifier) 
         {
-                mViewPoint.y += (y-mousePoint.y)*MOVE_SENSITIVITY/2.0;
-                mViewPoint.x += (x-mousePoint.x)*MOVE_SENSITIVITY/2.0;
+                mViewPoint.y += (y-mousePoint.y)*MOVE_SENSITIVITY / 2.0;
+                mViewPoint.x += (x-mousePoint.x)*MOVE_SENSITIVITY / 2.0;
         } 
         else 
@@ -930 +895 @@
         connect(mControlWidget, SIGNAL(SetRandomViewPoint()), this,     SLOT(SetRandomViewPoint()));
         connect(mControlWidget, SIGNAL(StoreStatistics(void)), this, SLOT(StoreStatistics(void)));
+        connect(mControlWidget, SIGNAL(LoadObject(void)), this, SLOT(LoadObject(void)));
 
         connect(mControlWidget, SIGNAL(SetSceneCut(int)), this, SLOT(SetSceneCut(int)));
@@ -1029 +995 @@
 }
 
+
+void QtGlRendererWidget::LoadObject()
+{
+        string filename("../data/bunny.bn");
+        
+        cout << "Loading model << " << filename << endl;
+
+        if (mViewCellsManager->GetPreprocessor()->LoadDynamicGeometry(filename))
+                cout << "Loading finished" << endl;
+        else
+                cerr << "Loading failed" << endl;
+
+    updateGL();
+}
+
 void
 QtGlRendererWidget::RenderRenderCost()
@@ -1176 +1157 @@
         
         QFont font40; font40.setPointSize(30);
-        s.sprintf("pvs:%04d", mPvsSize);
+        s.sprintf("PVS: %04d", mPvsSize);
         renderText(20, 40, s, font40);
 }
@@ -1862 +1843 @@
         QGroupBox *groupBox2 = CreateRenderCostPanel(hbox);
         vh->addWidget(groupBox2, 0, 0);
-
         
         QGroupBox *groupBox3 = CreateRayVisualizationPanel(hbox);
@@ -1877 +1857 @@
 
         vbox->resize(800,150);
-
 
         vbox = new QGroupBox("Rendering", this);
@@ -2034 +2013 @@
         connect(button, SIGNAL(clicked()), SIGNAL(StoreStatistics()));
 
+        button = new QPushButton("Load object", vbox);
+        vbox->layout()->addWidget(button);
+        connect(button, SIGNAL(clicked()), SIGNAL(LoadObject()));
+
         /*cb = new QCheckBox("Stats", vbox);
         vbox->layout()->addWidget(cb);
         cb->setChecked(false);
-        connect(cb, SIGNAL(toggled(bool)), SIGNAL(StoreStatistics()));
-*/
+        connect(cb, SIGNAL(toggled(bool)), SIGNAL(StoreStatistics()));*/
         if (0) 
         {
@@ -2207 +2189 @@
 
 
-}
+void QtGlRendererWidget::_RenderColoredPvs()
+{
+        // note: could be done more efficiently using color buffers
+        mPvsSize = mPvsCache.mPvs.GetSize();
+
+        ObjectPvsIterator it = mPvsCache.mPvs.GetIterator();
+
+        PvsData pvsData;
+
+        while (it.HasMoreEntries())
+        {
+                Intersectable *object = it.Next(pvsData);
+
+                RgbColor color;
+
+                //float visibility = mTransferFunction*log10(entry.mData.mSumPdf + 1); // /5.0f
+                // glColor3f(visibility, 0.0f, 0.0f);
+                //cerr << "sumpdf: " << pvsData.mSumPdf << endl;
+                if (mUseRandomColorPerPvsObject)
+                {
+                        KdIntersectable *kdint = static_cast<KdIntersectable *>(object);
+
+                        if (kdint->mGenericIdx == -1)
+                        {
+                                kdint->mGenericIdx = (int)mColors.size();
+                                mColors.push_back(RandomColor());
+                        }
+                        color = mColors[kdint->mGenericIdx];
+                } 
+                else
+                {
+                        color = RainbowColorMapping(mTransferFunction * log10(pvsData.mSumPdf + 1));
+                }
+
+                glColor3f(color.r, color.g, color.b);
+
+                mUseForcedColors = true;
+                RenderIntersectable(object);
+                mUseForcedColors = false;
+        }
+}
+
+}

GTP/trunk/Lib/Vis/Preprocessing/src/QtInterface/QtGlRenderer.h

@@ -109 +109 @@
   void SetRandomViewPoint();
   void StoreStatistics();
+  void LoadObject();
   void UpdateAllPvs();
   void SetViewCellGranularity(int);
@@ -224 +225 @@
         bool mUseRandomColorPerPvsObject;
 
+        DynamicObjectsContainer mDynamicObjects;
+
         QtGlRendererWidget(SceneGraph *sceneGraph,
                                ViewCellsManager *viewcells,
@@ -270 +273 @@
                 SetupCameraProjection(const int w, const int h, const float angle = 70.0f);
 
-        void
-                RenderViewCells();
-
-
-        virtual void Show() {
-                show();
-        }
+        void RenderViewCells();
+
+        virtual void Show() { show(); }
 
         bool PvsChanged(ViewCell *viewcell) const;
@@ -300 +299 @@
 
         /////////
-
         //QMutex mMutex;
 
@@ -311 +309 @@
         void SetRandomViewPoint();
         void StoreStatistics();
+        void LoadObject();
 
         void SetRenderErrors(bool b) {
@@ -517 +516 @@
         }
 
+        void PreparePvs();
+
         void _RenderPvs();
-
-        void _UpdatePvsIndices();
+        /** Render pvs using false colors.
+        */
+        void _RenderColoredPvs();
 
         void _UpdatePvsIndices(KdNode *node, int &indexBufferSize);
@@ -569 +571 @@
 
 #endif
-

GTP/trunk/Lib/Vis/Preprocessing/src/QtInterface/QtGlViewer.cpp

@@ -177 +177 @@
 
         glLoadIdentity();
-        gluLookAt(0.0f, 0.0f, 10.0f,  // eye is at (0,0,30) 
+        gluLookAt(0.0f, 0.0f, 15.0f,  // eye is at (0,0,30) 
                       0.0f, 0.0f, 0.0f,  // center is at (0,0,0) 
                       0.0f, 1.0f, 0.0f); // up is in positive Y direction 
@@ -191 +191 @@
         glTranslatef(t.x, t.y, t.z);
 
-        /*mDummyViewPoint = -t;
-        mDummyViewPoint /= s;
-
+        //mDummyViewPoint = -t;
+        //mDummyViewPoint /= s;
         //glGetFloatv(GL_MODELVIEW_MATRIX, m1);
-*/
+
         m.Invert();
 
@@ -243 +242 @@
 QtGlViewer::mouseMoveEvent(QMouseEvent *event)
 {
-  int dx = event->x() + lastPos.x();
-  int dy = event->y() + lastPos.y();  
+  int dx = event->x() - lastPos.x();
+  int dy = event->y() - lastPos.y();  
   
   if (event->modifiers() & Qt::CTRL)

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

@@ -227 +227 @@
 }
 
-void
-Ray::Init(const VssRay &vssRay)
-{
-  loc = vssRay.mOrigin;
-  sourceObject = Intersection(0, vssRay.GetDir(), vssRay.mOriginObject, 0);
-  mType = LOCAL_RAY;
-  
-  float len = vssRay.Length();
-  
-  if (!len)
-        len = Limits::Small;
-  
-  dir = vssRay.GetDir() / len;
-  
-  intersections.clear();
-  if (vssRay.mTerminationObject)
-        intersections.push_back(Intersection(len, -vssRay.GetDir(), vssRay.mTerminationObject, 0));
-
-  
-  Precompute();
-}
-
-}
+
+void Ray::Init(const VssRay &vssRay)
+{
+        loc = vssRay.mOrigin;
+        sourceObject = Intersection(0, vssRay.GetDir(), vssRay.mOriginObject, 0);
+        mType = LOCAL_RAY;
+
+        float len = vssRay.Length();
+
+        if (!len)
+                len = Limits::Small;
+
+        dir = vssRay.GetDir() / len;
+
+        intersections.clear();
+
+        if (vssRay.mTerminationObject)
+                intersections.push_back(Intersection(len, -vssRay.GetDir(), vssRay.mTerminationObject, 0));
+
+        Precompute();
+}
+
+}

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

@@ -38 +38 @@
   struct Intersection 
   {
-          /// the point of intersection
-          float mT;
-
-          /// the normal of the intersection
-          Vector3 mNormal;
-
-          /// can be either mesh or a viewcell
-          Intersectable *mObject;
-
-        /// the face of the intersectable
-          int mFace;
-
           Intersection(const float t,
                                                                  const Vector3 &normal,
@@ -59 +47 @@
           Intersection(): mT(0), mNormal(0,0,0), mObject(NULL), mFace(0) 
           {}
-                
+
+
+          /// the point of intersection
+          float mT;
+          /// the normal of the intersection
+          Vector3 mNormal;
+          /// can be either mesh or a viewcell
+          Intersectable *mObject;
+          /// the face of the intersectable
+          int mFace;
+
+
           bool operator<(const Intersection &b) const 
           {
@@ -69 +68 @@
   // I should have some abstract cell data type !!! here
   // corresponds to the spatial elementary cell
-  /** intersection with the source object if any */
+  
+  /// intersection with the source object if any
   Intersection sourceObject;
   
   std::vector<Intersection> intersections;
- // std::vector<BspIntersection> bspIntersections;
   std::vector<KdLeaf *> kdLeaves;
   std::vector<Intersectable *> testedObjects;
@@ -84 +83 @@
   // constructors
   Ray(const Vector3 &wherefrom,
-      const Vector3 &whichdir,
-      const int _type):mFlags(CULL_BACKFACES) {
-    loc = wherefrom;
-    if (_type == LINE_SEGMENT)
-      dir = whichdir;
-    else
-      dir = Normalize(whichdir);
-    mType = _type;
-    depth = 0;
-        Init();
-  }
+          const Vector3 &whichdir,
+          const int _type): mFlags(CULL_BACKFACES) 
+  {
+          loc = wherefrom;
+          if (_type == LINE_SEGMENT)
+                  dir = whichdir;
+          else
+                  dir = Normalize(whichdir);
+          mType = _type;
+          depth = 0;
+          Init();
+  }
+
   // dummy constructor
   Ray() {}
@@ -100 +101 @@
   /** Construct ray from a vss ray.
   */
-  Ray(const VssRay &vssRay) {
-        Init(vssRay);
-        mFlags |= CULL_BACKFACES;
+  Ray(const VssRay &vssRay) 
+  {
+          Init(vssRay);
+          mFlags |= CULL_BACKFACES;
   }
 
@@ -130 +132 @@
             const Vector3 &whichdir,
             const int _type, 
-            bool dirNormalized = false) {
-    loc = wherefrom;
-    dir = (dirNormalized || _type == LINE_SEGMENT) ? whichdir: Normalize(whichdir) ;
-    mType = _type;
-    depth = 0;
-    Init();
-        Precompute();
+            bool dirNormalized = false) 
+  {
+          loc = wherefrom;
+          dir = (dirNormalized || _type == LINE_SEGMENT) ? whichdir: Normalize(whichdir) ;
+          mType = _type;
+          depth = 0;
+          Init();
+          Precompute();
   }
 
@@ -253 +256 @@
   int mType;
  
-  
   // unique ID of a ray for the use in the mailboxes
   int ID;

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

@@ -276 +276 @@
 }
 
-}
+
+void SceneGraphLeaf::Transform(const Matrix4x4 &trafo)
+{
+        mTrafo *= trafo;
+}
+
+}

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

@@ -5 +5 @@
 #include "Containers.h"
 #include "AxisAlignedBox3.h"
-
+#include "Matrix4x4.h"
 
 namespace GtpVisibilityPreprocessor {
@@ -37 +37 @@
         virtual void UpdateBox();
 
-        ~SceneGraphInterior();
-
 //protected:
 
@@ -51 +49 @@
 public:
 
+        SceneGraphLeaf(bool isDynamic = false): 
+          mIsDynamic(isDynamic){}
+        ~SceneGraphLeaf();
+
+        virtual void Transform(const Matrix4x4 &trafo);
+        virtual bool IsDynamic() const { return mIsDynamic;}
         virtual bool IsLeaf() const { return true; }
         virtual void UpdateBox();
 
-        ~SceneGraphLeaf();
+        ObjectContainer mGeometry;
 
-//protected:
+protected:
 
-        //MeshContainer mGeometry;
-        ObjectContainer mGeometry;
+        bool mIsDynamic;
+        Matrix4x4 mTrafo;
 };
 
 
 
-/** Scene graph class */
-class SceneGraph {
+/** Scene graph class 
+*/
+class SceneGraph 
+{
 
 public:
@@ -81 +87 @@
 
         AxisAlignedBox3 GetBox() const { return mRoot->mBox; }
-  
         /** Exports binary version of the scene.
         */
         void ExportScene(const std::string filename);
-
         /** Loads binary version of the scene.
         */

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

@@ -2822 +2822 @@
         {  
                 VssRay *ray = rays[i];
+#if VSS_STORE_VIEWCELLS
         
                 // traverse leaves stored in the rays and compare and 
@@ -2875 +2876 @@
                                 candidates.push_back(mc);
 
-                                if (((int)candidates.size() % 1000) == 0)
+                                if ((candidates.size() % 1000) == 0)
                                 {
                                         cout << "collected " << (int)candidates.size() << " merge candidates" << endl;
@@ -2881 +2882 @@
                         }
         }
+#endif
         }
 

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

@@ -368 +368 @@
                                                                                                   const bool isTermination) const
 {
+#if DYNAMIC_OBJECTS_HACK
+        if (ray.mTerminationObject->Type() == Intersectable::TRANSFORMED_MESH_INSTANCE)
+                return ray.mTerminationObject;
+#endif
         if (mUseKdPvs)
         {
@@ -2483 +2487 @@
                                                                           const bool useHitObjects)
 {
-  if (!useHitObjects) 
-        {
-          // store higher order object (e.g., bvh node) instead of object itself
-          VssRayContainer::const_iterator it, it_end = rays.end();
-          
-          for (it = rays.begin(); it != it_end; ++ it) 
-                {
-                  VssRay *vssRay = *it;
-                  
-                  // set only the termination object
-                  //              if (vssRay->mTerminationObject == NULL) 
-                  //                    cerr<<"Error NULL termination object!"<<endl;
-                  vssRay->mTerminationObject = GetIntersectable(*vssRay, true);
+        if (!useHitObjects) 
+        {
+                // store higher order object (e.g., bvh node) instead of object itself
+                VssRayContainer::const_iterator it, it_end = rays.end();
+
+                for (it = rays.begin(); it != it_end; ++ it) 
+                {
+                        VssRay *vssRay = *it;
+
+                        // set only the termination object
+                        vssRay->mTerminationObject = GetIntersectable(*vssRay, true);
 #if 0
                   if (vssRay->mTerminationObject == NULL) {

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

@@ -3854 +3854 @@
         {  
                 VssRay *ray = rays[i];
-        
+
+#if VSS_STORE_VIEWCELLS
                 // traverse leaves stored in the rays and compare and 
                 // merge consecutive leaves (i.e., the neighbors in the tree)
@@ -3913 +3914 @@
                         }
         }
+#endif
         }
 

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

@@ -41 +41 @@
 
 
-VssRay::VssRay(const Ray &ray):
-        mRefCount(0),
-        mFlags(0),
-        mMailbox(-1),
-        mOriginObject(ray.sourceObject.mObject),
-        mPass(0),
+VssRay::VssRay(const Ray &ray)
+{
+        Init(ray);
+}
+
+
+void VssRay::Init(const Ray &ray)
+{       
+        mRefCount = 0;
+        mFlags = 0;
+        mMailbox = -1;
+        mOriginObject = ray.sourceObject.mObject;
+        mPass = 0;
+        mPdf = 1.0f;
+        mTerminationNode = NULL;
+        mOriginNode = NULL;
+        mPvsContribution = 0;
+
 #if VSS_STORE_VIEWCELLS
-        mViewCells(0),
-#endif
-        mPdf(1.0f),
-        mTerminationNode(NULL),
-        mOriginNode(NULL),
-        mPvsContribution(0)
-{
+        mViewCells.clear();
+#endif
+
         if (ray.sourceObject.mObject)
                 mOrigin = ray.Extrap(ray.sourceObject.mT);
@@ -68 +76 @@
         else
         {
-                mTermination = ray.Extrap(1e6); //TODO: should be Limits::Infinity
+                mTermination = ray.Extrap(1e6f); //TODO: should be Limits::Infinity
                 mTerminationObject = NULL;
         }

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

@@ -20 +20 @@
 
 #define ABS_CONTRIBUTION_WEIGHT 0.0f
-#define VSS_STORE_VIEWCELLS 1
+#define VSS_STORE_VIEWCELLS 0
 
 
@@ -69 +69 @@
   // sampling pass in which this ray was generated
   short mPass;
-
   /// Distribution used to generate this ray
   short mDistribution;
-  
   /// number of cells where this ray made a contribution to the PVS
   int mPvsContribution;
-  
   /// sum of relative ray contributions per object
   float mRelativePvsContribution;
-
-  /// weighted contribution to the pvs (based on the pass the ray was casted at)
-  /// computed by the prperocessor
+  /** weighted contribution to the pvs (based on the pass the ray was casted at)
+         ccomputed by the prperocessor
+  */
   float mWeightedPvsContribution;
-
   /// probability of this ray
   float mPdf;
@@ -107 +103 @@
   VssRay(const Ray &ray);
         
-  
+  void Init(const Ray &ray);
+
   void Precompute();
 

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

@@ -234 +234 @@
         {
                 ///////////////////
-                //-- load data as single triangles instead of whole meshes
+                //-- load data as triangle soup instead of whole meshes
 
                 cout << "m";    

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

@@ -23 +23 @@
 #include <vector>
 
-
+#define DYNAMIC_OBJECTS_HACK 1
 #define USE_HAVRAN_RAYCASTER