Changeset 2678

Timestamp:

05/15/08 13:02:00 (16 years ago)

Author:

mattausch

Message:

started working on dynamic objects

Location:

GTP/trunk/Lib/Vis/Preprocessing

Files:

• data/vienna/city_full_hp.rar (added)
• src/Camera.cpp (modified) (1 diff)
• src/Containers.h (modified) (1 diff)
• src/GlRenderer.cpp (modified) (2 diffs)
• src/IntelRayCaster.h (modified) (1 diff)
• src/InternalRayCaster.h (modified) (1 diff)
• src/Matrix4x4.cpp (modified) (6 diffs)
• src/Preprocessor.cpp (modified) (5 diffs)
• src/Preprocessor.h (modified) (2 diffs)
• src/QtInterface/QtGlRenderer.cpp (modified) (1 diff)
• src/QtInterface/QtGlRenderer.h (modified) (1 diff)
• src/ViewCellsManager.cpp (modified) (1 diff)
• src/common.h (modified) (3 diffs)

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

@@ -21 +21 @@
 
 #ifdef USE_HAVRAN_RAYCASTER
-//#include "timer.h"
 #include "raypack.h"
 #endif

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

@@ -76 +76 @@
 /// a container for dynamic objects
 
-#if USE_TRANSFORMED_MESH_INSTANCE_HACK
-typedef std::vector<TransformedMeshInstance *> DynamicObjectsContainer;
-#else
 typedef vector<SceneGraphLeaf *> DynamicObjectsContainer;
-#endif
+
 
 }

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

@@ -522 +522 @@
         glPopMatrix();
 
-#if 1
-        // test the box of the object
-        AxisAlignedBox3 box = leaf->GetBox();
-        RenderBox(box);
-#endif
+        if (1)
+        {
+                // test the box of the object
+                AxisAlignedBox3 box = leaf->GetBox();
+                RenderBox(box);
+        }
 }
 
@@ -567 +568 @@
         for (dit = p->mDynamicObjects.begin(); dit != dit_end; ++ dit)
         {
-#if USE_TRANSFORMED_MESH_INSTANCE_HACK
-                RenderIntersectable(*dit);
-#else
                 _RenderDynamicObject(*dit);
+        }
 #endif
-        }
-#endif
-
-#if 1
         _RenderSceneTrianglesWithDrawArrays();
 
-#else
-        static int glList = -1;
-        if (mUseGlLists) {
-                if (glList == -1) {
-                        glList = glGenLists(1);
-                        glNewList(glList, GL_COMPILE);
-                        _RenderSceneTriangles();
-                        glEndList();
-                }
-
-                glCallList(glList);
-        } else
-                _RenderSceneTriangles();
-
-#endif
         return true;
 }

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

@@ -83 +83 @@
                                                   const bool pruneInvalidRays = true);
 
-  virtual void AddDynamicObjecs(const ObjectContainer &objects, const Matrix4x4 &m) {};
-  virtual void UpdateDynamicObjects(const Matrix4x4 &m) {};
-  virtual void DeleteDynamicObjects() {};
+        virtual void AddDynamicObjecs(const ObjectContainer &objects, const Matrix4x4 &m) {DYN_ERROR_STRING;}
+        virtual void UpdateDynamicObjects(const Matrix4x4 &m) {DYN_ERROR_STRING;}
+        virtual void DeleteDynamicObjects() {DYN_ERROR_STRING;}
 
 protected:

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

@@ -58 +58 @@
                 );
 
-  virtual void AddDynamicObjecs(const ObjectContainer &objects, const Matrix4x4 &m) {};
-  virtual void UpdateDynamicObjects(const Matrix4x4 &m) {};
-  virtual void DeleteDynamicObjects() {};
+  virtual void AddDynamicObjecs(const ObjectContainer &objects, const Matrix4x4 &m) { DYN_ERROR_STRING; };
+  virtual void UpdateDynamicObjects(const Matrix4x4 &m) { DYN_ERROR_STRING;};
+  virtual void DeleteDynamicObjects() {DYN_ERROR_STRING;};
 
 protected:

GTP/trunk/Lib/Vis/Preprocessing/src/Matrix4x4.cpp

@@ -137 +137 @@
     indxr[i] = irow;
     indxc[i] = icol;
-    if (x[icol][icol] == 0.0)
+    if (x[icol][icol] == 0.0f)
       return 1; /* singular matrix */
 
-    pivinv = 1.0 / x[icol][icol];
-    x[icol][icol] = 1.0 ;
+    pivinv = 1.0f / x[icol][icol];
+    x[icol][icol] = 1.0f ;
     for ( l = 0 ; l<n ; l++)
       x[l][icol] = x[l][icol] * pivinv ;
@@ -149 +149 @@
       {
         dum = x[icol][ll];
-        x[icol][ll] = 0.0;
+        x[icol][ll] = 0.0f;
         for ( l = 0 ; l<n ; l++)
           x[l][ll] = x[l][ll] - x[l][icol] * dum ;
@@ -208 +208 @@
   for (int i = 0; i < 4; i++)
     for (int j = 0; j < 4; j++)
-      M.x[i][j] = (i == j) ? 1.0 : 0.0;
+      M.x[i][j] = (i == j) ? 1.0f : 0.0f;
   return M;
 }
@@ -321 +321 @@
   double one_minus_cosine = 1 - cosine;
 
-  M.x[0][0] = axis.x * axis.x + (1.0 - axis.x * axis.x) * cosine;
+  M.x[0][0] = axis.x * axis.x + (1.0f - axis.x * axis.x) * cosine;
   M.x[0][1] = axis.x * axis.y * one_minus_cosine + axis.z * sine;
   M.x[0][2] = axis.x * axis.z * one_minus_cosine - axis.y * sine;
@@ -327 +327 @@
 
   M.x[1][0] = axis.x * axis.y * one_minus_cosine - axis.z * sine;
-  M.x[1][1] = axis.y * axis.y + (1.0 - axis.y * axis.y) * cosine;
+  M.x[1][1] = axis.y * axis.y + (1.0f - axis.y * axis.y) * cosine;
   M.x[1][2] = axis.y * axis.z * one_minus_cosine + axis.x * sine;
   M.x[1][3] = 0;
@@ -333 +333 @@
   M.x[2][0] = axis.x * axis.z * one_minus_cosine + axis.y * sine;
   M.x[2][1] = axis.y * axis.z * one_minus_cosine - axis.x * sine;
-  M.x[2][2] = axis.z * axis.z + (1.0 - axis.z * axis.z) * cosine;
+  M.x[2][2] = axis.z * axis.z + (1.0f - axis.z * axis.z) * cosine;
   M.x[2][3] = 0;
 

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

@@ -1244 +1244 @@
                         pruneInvalidRays);
 
-                //#if DYNAMIC_OBJECTS_HACK
                 // disabled not neccessary
                 UpdateDynamicObjects();
-#if 0
-                static Ray hRay;
-                VssRayContainer::iterator vit, vit_end = vssRays.end();
-
-                for (vit = vssRays.begin(); vit != vit_end; ++ vit)
-                {
-                        VssRay *vssRay = *vit;
-
-                        DynamicObjectsContainer::const_iterator tit, tit_end = mDynamicObjects.end();
-                        bool foundIntersect = false;
-
-#if USE_TRANSFORMED_MESH_INSTANCE_HACK
-                        hRay.Init(*vssRay);
-
-                        for (tit = mDynamicObjects.begin(); tit != tit_end; ++ tit)
-                        {
-                                TransformedMeshInstance *tmi = *tit;
-
-                                float maxT, minT;
-                                
-                                // test with bounding box
-                                if (tmi->GetBox().GetMinMaxT(hRay, &minT, &maxT))
-                                {
-                                        if (tmi->CastRay(hRay)) //cout << "z"; else cout<< "r";
-                                        {
-                                                //cout << "i: " << Intersectable::GetTypeName(hRay.intersections[0].mObject);
-                                                foundIntersect = true;
-                                        }
-                                }
-                        }
-
-                        if (foundIntersect)
-                        {
-                                ++ numTransformed;
-                                // write new results back into vssRay
-                                vssRay->Init(hRay);
-                        }
-
-                        hRay.intersections.clear();
-#else
-
-                        ////////////
-                        // TODO Vlastimil
-                        
-                        for (tit = mDynamicObjects.begin(); tit != tit_end; ++ tit)     
-                        {
-                                // remove vss ray termination triangle with container object
-                                if (foundIntersect)
-                                {
-                                        vssRay->mTerminationObject = (*tit)->GetIntersectable();
-                                }
-                        }
-
-        
-#endif
-
-
-                }
-#endif
         }
 
@@ -1746 +1686 @@
         bool parsed = false;
 
-        if (strstr(filename.c_str(), ".obj")) {
-          cout<<"parsing obj file.."<<endl;
-          ObjParser *p = new ObjParser;
-          parsed = p->ParseFile(filename, 
-                                                        leaf,
-                                                        false);
-          leaf->UpdateBox();
-          cout<<leaf->GetBox();
-
-          float s = 10.0f;
-          leaf->ApplyTransform(ScaleMatrix(s, s, s));
-          leaf->ApplyTransform(TranslationMatrix(Vector3(0, 10, 0)));
-
-          
-        } else {
-          cout<<"parsing binary obj file.."<<endl;
-
-          parsed = LoadBinaryObj(filename, leaf, NULL, 100);
-        }
-        
+        if (strstr(filename.c_str(), ".obj"))
+        {
+                cout<<"parsing obj file.."<<endl;
+                ObjParser *p = new ObjParser;
+                parsed = p->ParseFile(filename, 
+                        leaf,
+                        false);
+                leaf->UpdateBox();
+                cout<<leaf->GetBox();
+
+                float s = 10.0f;
+                leaf->ApplyTransform(ScaleMatrix(s, s, s));
+                leaf->ApplyTransform(TranslationMatrix(Vector3(0, 10, 0)));
+
+
+        } 
+        else 
+        {
+                cout<<"parsing binary obj file ... " << endl;
+
+                parsed = LoadBinaryObj(filename, leaf, NULL, 100);
+        }
+
         if (parsed)
-          {
+        {
                 cout<<"success."<<endl;
                 leaf->UpdateBox();
@@ -1774 +1717 @@
                 //leaf->RebuildKtbTree();
                 mSceneGraph->GetRoot()->mChildren.push_back(leaf);
-                
+
                 if (mRayCaster)
-                  mRayCaster->AddDynamicObjecs(leaf->mGeometry, leaf->GetTransformation());
-                
-          
+                        mRayCaster->AddDynamicObjecs(leaf->mGeometry, leaf->GetTransformation());
+
+
                 return true;
-          } else
-                {
-                  cout<<"failed."<<endl;
-
-                }
+        } 
+        else
+        {
+                cout<<"failed."<<endl;
+
+        }
 
 #endif
@@ -1792 +1736 @@
 
 
-void
-Preprocessor::ObjectMoved(SceneGraphLeaf *object)
-{
-  // first invalidate all PVS from which this object is visible
-  ViewCellContainer::const_iterator vit, vit_end = mViewCellsManager->GetViewCells().end();
-  
-  AxisAlignedBox3 box = object->GetBox();
-
-  ObjectContainer objects;
-
-  if (0) {
-        // simplified computation taking only the objects intersecting the box
-        KdNode::NewMail();
-        
-        // first mail all kDObjects which are intersected by the object
-        preprocessor->mKdTree->CollectKdObjects(box,
-                                                                                        objects);
-        
-  } else {
-        ViewCellContainer viewCells;
-        mViewCellsManager->ComputeBoxIntersections(box, viewCells);
-        
-        ViewCellContainer::const_iterator it = viewCells.begin(), it_end = viewCells.end();
-        
-        ObjectPvs pvs;
-        
-        for (int i=0; it != it_end; ++ it, ++ i) {
-          //cout<<"v"<<i<<" pvs="<<(*it)->GetPvs().mEntries.size()<<endl;
-          pvs.MergeInPlace((*it)->GetPvs());
-        }
-
-        ObjectPvsIterator pit = pvs.GetIterator();
-        while (pit.HasMoreEntries())  {         
-          PvsData pvsData;
-          Intersectable *object = pit.Next(pvsData);
-          objects.push_back(object);
-        }
-  }
-  
-  int pvsCounter = 0;
-  // now search for pvss which contained any mailed node
-  for (vit = mViewCellsManager->GetViewCells().begin(); vit != vit_end; ++ vit) {
-        ObjectPvs &pvs = (*vit)->GetPvs();
-        for (int i=0; i < objects.size(); i++) {
-          vector<PvsEntry<Intersectable *,PvsData> >::iterator v;
-          //      ObjectPvsIterator it;
-          if (pvs.Find(objects[i], v)) {
-                // clear the pvs
-                pvs.Clear();
-                pvsCounter++;
-                break;
-          }
-        }
-  }
-
-  cout<<"Number of affected objects "<<objects.size()<<endl;
-  cout<<"Cleared "<<pvsCounter<<" PVSs ("<<mViewCellsManager->GetViewCells().size()/
-        (float)pvsCounter*100.0f<<"%) "<<endl;
-  
+void Preprocessor::ObjectMoved(SceneGraphLeaf *object)
+{
+        // first invalidate all PVS from which this object is visible
+        ViewCellContainer::const_iterator vit, vit_end = mViewCellsManager->GetViewCells().end();
+
+        AxisAlignedBox3 box = object->GetBox();
+
+        ObjectContainer objects;
+
+        if (0) 
+        {
+                // simplified computation taking only the objects intersecting the box
+                KdNode::NewMail();
+
+                // first mail all kDObjects which are intersected by the object
+                preprocessor->mKdTree->CollectKdObjects(box, objects);
+
+        } 
+        else 
+        {
+                ViewCellContainer viewCells;
+                mViewCellsManager->ComputeBoxIntersections(box, viewCells);
+
+                // add object to all viewcells that intersect the bounding box
+                ObjectPvs pvs;
+
+                ViewCellContainer::const_iterator it = viewCells.begin(), it_end = viewCells.end();
+
+                for (int i = 0; it != it_end; ++ it, ++ i) 
+                {
+                        //cout<<"v"<<i<<" pvs="<<(*it)->GetPvs().mEntries.size()<<endl;
+                        pvs.MergeInPlace((*it)->GetPvs());
+                }
+
+                ObjectPvsIterator pit = pvs.GetIterator();
+                while (pit.HasMoreEntries())  
+                {               
+                        PvsData pvsData;
+                        Intersectable *object = pit.Next(pvsData);
+                        objects.push_back(object);
+                }
+        }
+
+        int pvsCounter = 0;
+
+        // now search for pvss which contained any mailed node
+        for (vit = mViewCellsManager->GetViewCells().begin(); vit != vit_end; ++ vit) 
+        {
+                ObjectPvs &pvs = (*vit)->GetPvs();
+
+                for (int i=0; i < objects.size(); i++) 
+                {
+                        vector<PvsEntry<Intersectable *,PvsData> >::iterator v;
+                
+                        if (pvs.Find(objects[i], v)) {
+                                // clear the pvs
+                                pvs.Clear();
+                                pvsCounter++;
+                                break;
+                        }
+                }
+        }
+
+        cout<<"Number of affected objects "<<objects.size()<<endl;
+        cout<<"Cleared "<<pvsCounter<<" PVSs ("<<mViewCellsManager->GetViewCells().size()/
+                (float)pvsCounter*100.0f<<"%) "<<endl;
+
 }
 
@@ -1858 +1810 @@
         if (mUpdateDynamicObjects) 
         {
-          
+                // delete ALL dynamic stuff and rebuild using the new trafos
                 preprocessor->mRayCaster->DeleteDynamicObjects();
         

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

@@ -220 +220 @@
         /// the view cells manager
         ViewCellsManager *mViewCellsManager;
+
 #if DYNAMIC_OBJECTS_HACK
         DynamicObjectsContainer mDynamicObjects;
@@ -295 +296 @@
         virtual void EvalViewCellHistogram();
 
+        /** Notify the preprocessor that an object has moved and must be reevaluated.
+        */
         virtual void ObjectMoved(SceneGraphLeaf *object);
 

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

@@ -497 +497 @@
         for (dit = mDynamicObjects.begin(); dit != dit_end; ++ dit)
         {
-#if USE_TRANSFORMED_MESH_INSTANCE_HACK
-                RenderIntersectable(*dit);
-#else
                 _RenderDynamicObject(*dit);
-#endif
         }
 #endif

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

@@ -236 +236 @@
 
         bool mUseRandomColorPerPvsObject;
+
 #if DYNAMIC_OBJECTS_HACK
         DynamicObjectsContainer mDynamicObjects;
 #endif
+
         QtGlRendererWidget(SceneGraph *sceneGraph,
                                ViewCellsManager *viewcells,

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

@@ -368 +368 @@
                                                                                                   const bool isTermination) const
 {
+        // dynamic objects are scene graph leaves
 #if DYNAMIC_OBJECTS_HACK
-
-#if USE_TRANSFORMED_MESH_INSTANCE_HACK
-        if (ray.mTerminationObject->Type() == Intersectable::TRANSFORMED_MESH_INSTANCE)
-                return ray.mTerminationObject;
-#else
         if (ray.mTerminationObject->Type() == Intersectable::SCENEGRAPHLEAF_INTERSECTABLE)
                 return ray.mTerminationObject;
 #endif
 
-#endif
         if (mUseKdPvs)
         {

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

@@ -24 +24 @@
 
 #define DYNAMIC_OBJECTS_HACK 1
-#define USE_TRANSFORMED_MESH_INSTANCE_HACK 0
-//#define USE_HAVRAN_RAYCASTER 0
+#define USE_HAVRAN_RAYCASTER 0
+
 
 namespace GtpVisibilityPreprocessor {
@@ -532 +532 @@
 #endif
 
+#define DYN_ERROR_STRING do {std::cout << "error: dynamic objects not supported" << endl;} while (0)
+
 /** view cell id belonging to empty view space.
 */
@@ -545 +547 @@
 
 
-
-