From 464f036f3548d10922a1d58b40ece5bd2c844231 Mon Sep 17 00:00:00 2001 From: curt Date: Mon, 18 Mar 2002 16:25:16 +0000 Subject: [PATCH] Here is a cleaned up hitlist that should solve the PLib conflict and fixes a 'potential bug' if the FGFS View code were to change I also consolidated the specialized IntersectLeaf() as they really didn't gain us much outside of their having 'more direct access into the SSG controlled data' I would like to see the fgCurrentElevation functions moved out of hitlist.cxx. The one obstacle is their being dependent on my PLib auxillary functions ssgGetEntityTransform() ssgGetCurrentBSphere() code has been run through astyle with the default options --- src/Scenery/hitlist.cxx | 1010 +++++++++++++++------------------------ src/Scenery/hitlist.hxx | 77 ++- 2 files changed, 413 insertions(+), 674 deletions(-) diff --git a/src/Scenery/hitlist.cxx b/src/Scenery/hitlist.cxx index 457453493..4762cf8bc 100644 --- a/src/Scenery/hitlist.cxx +++ b/src/Scenery/hitlist.cxx @@ -6,19 +6,9 @@ # include #endif -#ifdef HAVE_WINDOWS_H -# include -#endif - #include #include -#include -#include - -#include - -#include #include #include #include @@ -32,29 +22,41 @@ extern ssgBranch *terrain_branch; -static int sgdIsectInfLinePlane( sgdVec3 dst, const sgdVec3 l_org, +// forward declaration of our helper/convenience functions +static void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2); +static void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m ); +static void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center, float *radius, sgMat4 m ); + + +// ====================== +// This is same as PLib's sgdIsectInfLinePlane() +// and can be replaced by it after the next PLib release +static int fgdIsectInfLinePlane( sgdVec3 dst, const sgdVec3 l_org, const sgdVec3 l_vec, const sgdVec4 plane ) { SGDfloat tmp = sgdScalarProductVec3 ( l_vec, plane ) ; - /* Is line parallel to plane? */ + /* Is line parallel to plane? */ if ( fabs ( tmp ) < FLT_EPSILON ) return false ; sgdScaleVec3 ( dst, l_vec, -( sgdScalarProductVec3 ( l_org, plane ) - + plane[3] ) / tmp ) ; + + plane[3] ) / tmp ) ; sgdAddVec3 ( dst, l_org ) ; return true ; } +// ====================== /* * Given a point and a triangle lying on the same plane * check to see if the point is inside the triangle */ -static bool sgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] ) +// This is same as PLib's sgdPointInTriangle() +// and can be replaced by it after the next PLib release +static bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] ) { sgdVec3 dif; @@ -114,7 +116,7 @@ static bool sgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] ) return true; } - // check if intersection point is on the same side of p1 <-> p2 as p3 + // check if intersection point is on the same side of p1 <-> p2 as p3 SGDfloat tmp = (y2 - y3) / (x2 - x3); int side1 = SG_SIGN (tmp * (rx - x3) + y3 - ry); int side2 = SG_SIGN (tmp * (x1 - x3) + y3 - y1); @@ -144,405 +146,193 @@ static bool sgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] ) return true; } +// ====================== inline static int isZeroAreaTri( sgdVec3 tri[3] ) { return( sgdEqualVec3(tri[0], tri[1]) || - sgdEqualVec3(tri[1], tri[2]) || - sgdEqualVec3(tri[2], tri[0]) ); + sgdEqualVec3(tri[1], tri[2]) || + sgdEqualVec3(tri[2], tri[0]) ); } -/* - * Given a point and a triangle lying on the same plane - * check to see if the point is inside the triangle - */ - -#if 0 -static bool PointInTri( sgdVec3 P, sgdVec3 V[3] ) +FGHitList::FGHitList() : + last(NULL), test_dist(DBL_MAX) { - sgdVec3 X,W1,W2; - sgdSubVec3(X,P,V[0]); - sgdSubVec3(W1,V[1],V[2]); - sgdSubVec3(W2,V[2],V[0]); - - sgdVec3 C; - sgdVectorProductVec3(C, W1, W2); - - double d = sgdScalarProductVec3(X,C); - - // Test not needed if you KNOW point is on plane of triangle - // and triangle is not degenerate - if( d > -FLT_EPSILON && d < FLT_EPSILON ) - return false; - - double u11 = sgdScalarProductVec3(W1,W1); - double u22 = sgdScalarProductVec3(W2,W2); - double u12 = sgdScalarProductVec3(W1,W2); - - double y1 = sgdScalarProductVec3(X,W1); - double y2 = sgdScalarProductVec3(X,W2); - double z1 = (y1*u22 - y2*u12)/d; - - if( z1>0 || z1>1 ) - return false; - - double z2 = (y2*u11 - y1*u12)/d; - - if( z2>0 || z2>1 ) - return false; - - return true; } -#endif + +FGHitList::~FGHitList() {} + /* - Find the intersection of an infinite line with a leaf - the line being defined by a point and direction. +Find the intersection of an infinite line with a leaf +the line being defined by a point and direction. - Variables - In: - ssgLeaf pointer -- leaf - qualified matrix -- m - line origin -- orig - line direction -- dir - Out: - result -- intersection point - normal -- intersected tri's normal +Variables +In: +ssgLeaf pointer -- leaf +qualified matrix -- m +line origin -- orig +line direction -- dir +Out: +result -- intersection point +normal -- intersected tri's normal - Returns: - true if intersection found - false otherwise +Returns: +true if intersection found +false otherwise - !!! WARNING !!! - If you need an exhaustive list of hitpoints YOU MUST use - the generic version of this function as the specialized - versions will do an early out of expensive tests if the point - can not be the closest one found - !!! WARNING !!! +!!! WARNING !!! +If you need an exhaustive list of hitpoints YOU MUST use +the generic version of this function as the specialized +versions will do an early out of expensive tests if the point +can not be the closest one found +!!! WARNING !!! */ int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ) + sgdVec3 orig, sgdVec3 dir ) { int num_hits = 0; int i = 0; for ( ; i < leaf->getNumTriangles(); ++i ) { - short i1, i2, i3; - leaf->getTriangle( i, &i1, &i2, &i3 ); + short i1, i2, i3; + leaf->getTriangle( i, &i1, &i2, &i3 ); - sgdVec3 tri[3]; - sgdSetVec3( tri[0], leaf->getVertex( i1 ) ); - sgdSetVec3( tri[1], leaf->getVertex( i2 ) ); - sgdSetVec3( tri[2], leaf->getVertex( i3 ) ); + sgdVec3 tri[3]; + sgdSetVec3( tri[0], leaf->getVertex( i1 ) ); + sgdSetVec3( tri[1], leaf->getVertex( i2 ) ); + sgdSetVec3( tri[2], leaf->getVertex( i3 ) ); - // avoid division by zero when two points are the same - if( isZeroAreaTri( tri ) ) - continue; + if( isZeroAreaTri( tri ) ) + continue; - sgdVec4 plane; - sgdMakePlane( plane, tri[0], tri[1], tri[2] ); + sgdVec4 plane; + sgdMakePlane( plane, tri[0], tri[1], tri[2] ); - sgdVec3 point; - if( sgdIsectInfLinePlane( point, orig, dir, plane ) ) { - if( sgdPointInTriangle( point, tri ) ) { - // transform point into passed into desired coordinate frame - sgdXformPnt3( point, point, m ); - add(leaf,i,point,plane); - num_hits++; - } - } - } - return num_hits; -} - - -//================= -int FGHitList::IntersectPolyOrFanLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ) -{ - double tmp_dist; - - // number of hits but there could be more that - // were not found because of short circut switch ! - // so you may want to use the unspecialized IntersectLeaf() - int num_hits = 0; - - int ntri = leaf->getNumTriangles(); - for ( int n = 0; n < ntri; ++n ) { - sgdVec3 tri[3]; - - if ( !n ) { - sgdSetVec3( tri[0], leaf->getVertex( short(0) ) ); - sgdSetVec3( tri[1], leaf->getVertex( short(1) ) ); - sgdSetVec3( tri[2], leaf->getVertex( short(2) ) ); - } else { - sgdCopyVec3( tri[1], tri[2] ); - sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) ); - } - - if( isZeroAreaTri( tri ) ) - continue; - - sgdVec4 plane; - sgdMakePlane( plane, tri[0], tri[1], tri[2] ); - - sgdVec3 point; - - //inlined IsectInfLinePlane( point dst, orig, dir, plane ) - { - SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ; - - /* Is line parallel to plane? */ - if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ ) - continue ; - - sgdScaleVec3 ( point, dir, - -( sgdScalarProductVec3 ( orig, plane ) + plane[3] ) - / tmp ) ; - - sgdAddVec3 ( point, orig ) ; - } // end of inlined intersection routine - - // short circut if this point is further away then a previous hit - tmp_dist = sgdScalarProductVec3(point,point); - if( tmp_dist > test_dist ) - continue; - - if( sgdPointInTriangle( point, tri ) ) { - // transform point into passed coordinate frame - sgdXformPnt3( point, point, m ); - add(leaf,n,point,plane); - test_dist = tmp_dist; - num_hits++; - } - } - return num_hits; -} - - -//=============== - -int FGHitList::IntersectTriLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ) -{ - double tmp_dist; - - // number of hits but there could be more that - // were not found because of short circut switch ! - // so you may want to use the unspecialized IntersectLeaf() - int num_hits = 0; - - int ntri = leaf->getNumTriangles(); - for ( int n = 0; n < ntri; ++n ) { - sgdVec3 tri[3]; - sgdSetVec3( tri[0], leaf->getVertex( short(n*3) ) ); - sgdSetVec3( tri[1], leaf->getVertex( short(n*3+1) ) ); - sgdSetVec3( tri[2], leaf->getVertex( short(n*3+2) ) ); - - // avoid division by zero when two points are the same - if( isZeroAreaTri( tri ) ) - continue; - - sgdVec4 plane; - sgdMakePlane( plane, tri[0], tri[1], tri[2] ); - - sgdVec3 point; - //inlined IsectInfLinePlane( point dst, orig, dir, plane ) - { - SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ; - - /* Is line parallel to plane? */ - if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ ) - continue ; - - sgdScaleVec3 ( point, dir, - -( sgdScalarProductVec3 ( orig, plane ) + plane[3] ) - / tmp ) ; - - sgdAddVec3 ( point, orig ) ; - } // end of inlined intersection routine - - // short circut if this point is further away then a previous hit - tmp_dist = sgdScalarProductVec3(point,point); - if( tmp_dist > test_dist ) - continue; - - if( sgdPointInTriangle( point, tri ) ) { - // transform point into passed coordinate frame - sgdXformPnt3( point, point, m ); - add(leaf,n,point,plane); - test_dist = tmp_dist; - num_hits++; - } - } - return num_hits; -} - -//============================ - -int FGHitList::IntersectStripLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ) -{ - double tmp_dist; - - // number of hits but there could be more that - // were not found because of short circut switch ! - // so you may want to use the unspecialized IntersectLeaf() - int num_hits = 0; - - int ntri = leaf->getNumTriangles(); - for ( int n = 0; n < ntri; ++n ) { - sgdVec3 tri[3]; - - if ( !n ) { - sgdSetVec3( tri[0], leaf->getVertex( short(0) ) ); - sgdSetVec3( tri[1], leaf->getVertex( short(1) ) ); - sgdSetVec3( tri[2], leaf->getVertex( short(2) ) ); - } else { - if ( n & 1 ) { - sgdSetVec3( tri[0], leaf->getVertex( short(n+2) ) ); - sgdCopyVec3( tri[1], tri[2] ); - sgdCopyVec3( tri[2], tri[1] ); - - } else { - sgdCopyVec3( tri[0], tri[1] ); - sgdCopyVec3( tri[1], tri[2] ); - sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) ); - } - } - - if( isZeroAreaTri( tri ) ) - continue; - - sgdVec4 plane; - sgdMakePlane( plane, tri[0], tri[1], tri[2] ); - - sgdVec3 point; - - //inlined IsectInfLinePlane( point dst, orig, dir, plane ) - { - SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ; - - /* Is line parallel to plane? */ - if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ ) - continue ; - - sgdScaleVec3 ( point, dir, - -( sgdScalarProductVec3 ( orig, plane ) + plane[3] ) - / tmp ) ; - - sgdAddVec3 ( point, orig ) ; - } // end of inlined intersection routine - - // short circut if this point is further away then a previous hit - tmp_dist = sgdScalarProductVec3(point,point); - if( tmp_dist > test_dist ) - continue; - - if( sgdPointInTriangle( point, tri ) ) { - // transform point into passed coordinate frame - sgdXformPnt3( point, point, m ); - add(leaf,n,point,plane); - test_dist = tmp_dist; - num_hits++; - } + sgdVec3 point; + if( fgdIsectInfLinePlane( point, orig, dir, plane ) ) { + if( fgdPointInTriangle( point, tri ) ) { + // transform point into passed into desired coordinate frame + sgdXformPnt3( point, point, m ); + add(leaf,i,point,plane); + num_hits++; + } + } } return num_hits; } // ====================== -int FGHitList::IntersectQuadsLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ) +int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m, + sgdVec3 orig, sgdVec3 dir, + GLenum primType ) { double tmp_dist; // number of hits but there could be more that // were not found because of short circut switch ! // so you may want to use the unspecialized IntersectLeaf() - int num_hits = 0; + int n, num_hits = 0; int ntri = leaf->getNumTriangles(); - for ( int n = 0; n < ntri; ++n ) { - sgdVec3 tri[3]; + for ( n = 0; n < ntri; ++n ) + { + sgdVec3 tri[3]; - sgdSetVec3( tri[0], leaf->getVertex( short(n*2) ) ); - sgdSetVec3( tri[1], leaf->getVertex( short(n*2+1) ) ); - sgdSetVec3( tri[2], leaf->getVertex( short(n*2 + 2 - (n&1)*4) ) ); + switch ( primType ) + { + case GL_POLYGON : + case GL_TRIANGLE_FAN : + if ( !n ) { + sgdSetVec3( tri[0], leaf->getVertex( short(0) ) ); + sgdSetVec3( tri[1], leaf->getVertex( short(1) ) ); + sgdSetVec3( tri[2], leaf->getVertex( short(2) ) ); + } else { + sgdCopyVec3( tri[1], tri[2] ); + sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) ); + } + break; + case GL_TRIANGLES : + sgdSetVec3( tri[0], leaf->getVertex( short(n*3) ) ); + sgdSetVec3( tri[1], leaf->getVertex( short(n*3+1) ) ); + sgdSetVec3( tri[2], leaf->getVertex( short(n*3+2) ) ); + break; + case GL_TRIANGLE_STRIP : + case GL_QUAD_STRIP : + if ( !n ) { + sgdSetVec3( tri[0], leaf->getVertex( short(0) ) ); + sgdSetVec3( tri[1], leaf->getVertex( short(1) ) ); + sgdSetVec3( tri[2], leaf->getVertex( short(2) ) ); + } else { + if ( n & 1 ) { + sgdSetVec3( tri[0], leaf->getVertex( short(n+2) ) ); + sgdCopyVec3( tri[1], tri[2] ); + sgdCopyVec3( tri[2], tri[1] ); - if( isZeroAreaTri( tri ) ) - continue; + } else { + sgdCopyVec3( tri[0], tri[1] ); + sgdCopyVec3( tri[1], tri[2] ); + sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) ); + } + } + break; + case GL_QUADS : + sgdSetVec3( tri[0], leaf->getVertex( short(n*2) ) ); + sgdSetVec3( tri[1], leaf->getVertex( short(n*2+1) ) ); + sgdSetVec3( tri[2], leaf->getVertex( short(n*2 + 2 - (n&1)*4) ) ); + break; + default: + return IntersectLeaf( leaf, m, orig, dir); + } - sgdVec4 plane; - sgdMakePlane( plane, tri[0], tri[1], tri[2] ); + if( isZeroAreaTri( tri ) ) + continue; - sgdVec3 point; + sgdVec4 plane; + sgdMakePlane( plane, tri[0], tri[1], tri[2] ); - //inlined IsectInfLinePlane( point dst, orig, dir, plane ) - { - SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ; + sgdVec3 point, test; - /* Is line parallel to plane? */ - if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ ) - continue ; + // find point of intersection of line from point org + // in direction dir with triangle's plane + SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ; + /* Is line parallel to plane? */ + if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ ) + continue ; - sgdScaleVec3 ( point, dir, - -( sgdScalarProductVec3 ( orig, plane ) + plane[3] ) - / tmp ) ; + // find parametric point + sgdScaleVec3 ( point, dir, + -( sgdScalarProductVec3 ( orig, plane ) + plane[3] ) + / tmp ) ; - sgdAddVec3 ( point, orig ) ; - } // end of inlined intersection routine + // short circut if this point is further away then a previous hit + tmp_dist = sgdDistanceSquaredVec3(point, orig ); + if( tmp_dist > test_dist ) + continue; - // short circut if this point is further away then a previous hit - tmp_dist = sgdScalarProductVec3(point,point); - if( tmp_dist > test_dist ) - continue; + // place parametric point in world + sgdAddVec3 ( point, orig ) ; - if( sgdPointInTriangle( point, tri ) ) { - // transform point into passed coordinate frame - sgdXformPnt3( point, point, m ); - add(leaf,n,point,plane); - test_dist = tmp_dist; - num_hits++; - } + if( fgdPointInTriangle( point, tri ) ) { + // transform point into passed coordinate frame + sgdXformPnt3( point, point, m ); + add(leaf,n,point,plane); + test_dist = tmp_dist; + num_hits++; + } } return num_hits; } - - -// Need these because of mixed matrix types -static void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2) -{ - for ( int j = 0 ; j < 4 ; j++ ) { - dst[0][j] = m2[0][0] * m1[0][j] + - m2[0][1] * m1[1][j] + - m2[0][2] * m1[2][j] + - m2[0][3] * m1[3][j] ; - - dst[1][j] = m2[1][0] * m1[0][j] + - m2[1][1] * m1[1][j] + - m2[1][2] * m1[2][j] + - m2[1][3] * m1[3][j] ; - - dst[2][j] = m2[2][0] * m1[0][j] + - m2[2][1] * m1[1][j] + - m2[2][2] * m1[2][j] + - m2[2][3] * m1[3][j] ; - - dst[3][j] = m2[3][0] * m1[0][j] + - m2[3][1] * m1[1][j] + - m2[3][2] * m1[2][j] + - m2[3][3] * m1[3][j] ; - } +// ====================== +inline static bool IN_RANGE( sgdVec3 v, double radius ) { + return ( sgdScalarProductVec3(v, v) < (radius*radius) ); } -/* - * - */ - -void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ) +// ====================== +void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m, + sgdVec3 orig, sgdVec3 dir ) { /* the lookat vector and matrix in branch's coordinate frame * but we won't determine these unless needed, @@ -550,150 +340,152 @@ void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m, sgdVec3 orig_leaf, dir_leaf; sgdMat4 m_leaf; - // 'lazy evaluation' flag int first_time = 1; - + for ( ssgEntity *kid = branch->getKid( 0 ); - kid != NULL; - kid = branch->getNextKid() ) + kid != NULL; + kid = branch->getNextKid() ) { - if ( kid->getTraversalMask() & SSGTRAV_HOT ) { - sgdVec3 center; - sgdSetVec3( center, - kid->getBSphere()->getCenter()[0], - kid->getBSphere()->getCenter()[1], - kid->getBSphere()->getCenter()[2] ); - sgdXformPnt3( center, m ) ; + if ( kid->getTraversalMask() & SSGTRAV_HOT ) + { + sgdVec3 center; + sgdSetVec3( center, + kid->getBSphere()->getCenter()[0], + kid->getBSphere()->getCenter()[1], + kid->getBSphere()->getCenter()[2] ); + sgdXformPnt3( center, m ) ; - // sgdClosestPointToLineDistSquared( center, orig, dir ) - // inlined here because because of profiling results - sgdVec3 u, u1, v; - sgdSubVec3(u, center, orig); - sgdScaleVec3( u1, dir, sgdScalarProductVec3(u,dir) - / sgdScalarProductVec3(dir,dir) ); - sgdSubVec3(v, u, u1); + // sgdClosestPointToLineDistSquared( center, orig, dir ) + // inlined here because because of profiling results + sgdVec3 u, u1, v; + sgdSubVec3(u, center, orig); + sgdScaleVec3( u1, dir, sgdScalarProductVec3(u,dir) + / sgdScalarProductVec3(dir,dir) ); + sgdSubVec3(v, u, u1); - // doubles because of possible overflow -#define SQUARE(x) (x*x) - if( sgdScalarProductVec3(v, v) - < SQUARE( double(kid->getBSphere()->getRadius()) ) ) - { - // possible intersections - if ( kid->isAKindOf ( ssgTypeBranch() ) ) { - sgdMat4 m_new; - if ( kid->isA( ssgTypeTransform() ) ) - { - sgMat4 fxform; - ((ssgTransform *)kid)->getTransform( fxform ); - sgMultMat4(m_new, m, fxform); - } else { - sgdCopyMat4(m_new, m); - } - IntersectBranch( (ssgBranch *)kid, m_new, orig, dir ); - } else if ( kid->isAKindOf( ssgTypeLeaf() ) ) { - if ( first_time ) { - // OK we need these - sgdTransposeNegateMat4( m_leaf, m); - sgdXformPnt3( orig_leaf, orig, m_leaf ); - sgdXformPnt3( dir_leaf, dir, m_leaf ); - first_time = 0; - } - - GLenum primType = ((ssgLeaf *)kid)->getPrimitiveType(); - - switch ( primType ) { - case GL_POLYGON : - case GL_TRIANGLE_FAN : - IntersectPolyOrFanLeaf( (ssgLeaf *)kid, m, - orig_leaf, dir_leaf ); - break; - case GL_TRIANGLES : - IntersectTriLeaf( (ssgLeaf *)kid, m, - orig_leaf, dir_leaf ); - break; - case GL_TRIANGLE_STRIP : - case GL_QUAD_STRIP : - IntersectStripLeaf( (ssgLeaf *)kid, m, - orig_leaf, dir_leaf ); - break; - case GL_QUADS : - IntersectQuadsLeaf( (ssgLeaf *)kid, m, - orig_leaf, dir_leaf ); - break; - default: - IntersectLeaf( (ssgLeaf *)kid, m, - orig_leaf, dir_leaf ); - } - } - } else { - // end of the line for this branch - } - } else { - // branch requested not to be traversed - } + // double because of possible overflow + if ( IN_RANGE( v, double(kid->getBSphere()->getRadius()) ) ) + { + if ( kid->isAKindOf ( ssgTypeBranch() ) ) + { + sgdMat4 m_new; + if ( kid->isA( ssgTypeTransform() ) ) + { + sgMat4 fxform; + ((ssgTransform *)kid)->getTransform( fxform ); + sgMultMat4(m_new, m, fxform); + } else { + sgdCopyMat4(m_new, m); + } + IntersectBranch( (ssgBranch *)kid, m_new, orig, dir ); + } + else if ( kid->isAKindOf( ssgTypeLeaf() ) ) + { + if ( first_time ) { + sgdTransposeNegateMat4( m_leaf, m ); + sgdXformPnt3( orig_leaf, orig, m_leaf ); + sgdXformPnt3( dir_leaf, dir, m_leaf ); + first_time = 0; + } + GLenum primType = ((ssgLeaf *)kid)->getPrimitiveType(); + IntersectLeaf( (ssgLeaf *)kid, m, orig_leaf, dir_leaf, primType ); + } + } // Out of range + } // branch not requested to be traversed + } // end for loop +} + + + +// ====================== +// a temporary hack until we get everything rewritten with sgdVec3 +static inline Point3D operator + (const Point3D& a, const sgdVec3 b) +{ + return Point3D(a.x()+b[0], a.y()+b[1], a.z()+b[2]); +} + + +// ====================== +void FGHitList::Intersect( ssgBranch *scene, sgdVec3 orig, sgdVec3 dir ) { + sgdMat4 m; + clear(); + sgdMakeIdentMat4 ( m ) ; + IntersectBranch( scene, m, orig, dir ); +} + +// ====================== +void FGHitList::Intersect( ssgBranch *scene, sgdMat4 m, sgdVec3 orig, sgdVec3 dir ) +{ + clear(); + IntersectBranch( scene, m, orig, dir ); +} + +// ====================== +// Need these because of mixed matrix types +static void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2) +{ + for ( int j = 0 ; j < 4 ; j++ ) + { + dst[0][j] = m2[0][0] * m1[0][j] + + m2[0][1] * m1[1][j] + + m2[0][2] * m1[2][j] + + m2[0][3] * m1[3][j] ; + + dst[1][j] = m2[1][0] * m1[0][j] + + m2[1][1] * m1[1][j] + + m2[1][2] * m1[2][j] + + m2[1][3] * m1[3][j] ; + + dst[2][j] = m2[2][0] * m1[0][j] + + m2[2][1] * m1[1][j] + + m2[2][2] * m1[2][j] + + m2[2][3] * m1[3][j] ; + + dst[3][j] = m2[3][0] * m1[0][j] + + m2[3][1] * m1[1][j] + + m2[3][2] * m1[2][j] + + m2[3][3] * m1[3][j] ; } } -void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m ) +// ====================== +static void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m ) { /* - Walk backwards up the tree, transforming the - vertex by all the matrices along the way. + Walk backwards up the tree, transforming the + vertex by all the matrices along the way. - Upwards recursion hurts my head. - */ + Upwards recursion hurts my head. + */ sgMat4 mat ; /* - If this node has a parent - get the composite - matrix for the parent. - */ - + If this node has a parent - get the composite + matrix for the parent. + */ if ( entity->getNumParents() > 0 ) - ssgGetEntityTransform ( entity->getParent(0), mat ) ; - else - sgMakeIdentMat4 ( mat ) ; - - /* - If this node has a transform - then concatenate it. - */ + ssgGetEntityTransform ( entity->getParent(0), mat ) ; + else + sgMakeIdentMat4 ( mat ) ; + /* + If this node has a transform - then concatenate it. + */ if ( entity -> isAKindOf ( ssgTypeTransform () ) ) { - sgMat4 this_mat ; - ((ssgTransform *) entity) -> getTransform ( this_mat ) ; - sgPostMultMat4 ( mat, this_mat ) ; + sgMat4 this_mat ; + ((ssgTransform *) entity) -> getTransform ( this_mat ) ; + sgPostMultMat4 ( mat, this_mat ) ; } sgCopyMat4 ( m, mat ) ; } -#if 0 -// previously used method -// This expects the inital m to be the identity transform -void ssgGetEntityTransform(ssgEntity *branch, sgMat4 m ) -{ - for ( ssgEntity *parent = branch->getParent(0); - parent != NULL; - parent = parent->getParent(0) ) - { - // recurse till we are at the scene root - // then just unwinding the stack should - // give us our cumulative transform :-) NHV - ssgGetEntityTransform( parent, m ); - if ( parent->isA( ssgTypeTransform() ) ) { - sgMat4 xform; - ((ssgTransform *)parent)->getTransform( xform ); - sgPreMultMat4( m, xform ); - } - } -} -#endif // 0 +// ====================== // return the passed entitity's bsphere's center point radius and // fully formed current model matrix for entity -void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center, - float *radius, sgMat4 m ) +static void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center, float *radius, sgMat4 m ) { sgSphere *bsphere = entity->getBSphere(); *radius = (double)bsphere->getRadius(); @@ -703,166 +495,126 @@ void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center, } -void FGHitList::Intersect( ssgBranch *scene, sgdVec3 orig, sgdVec3 dir ) { - sgdMat4 m; - clear(); - sgdMakeIdentMat4 ( m ) ; - IntersectBranch( scene, m, orig, dir); -} - - -static void CurrentNormalInLocalPlane(sgVec3 dst, sgVec3 src) { - sgVec3 tmp; - sgSetVec3(tmp, src[0], src[1], src[2] ); - sgMat4 TMP; - sgTransposeNegateMat4 ( TMP, globals->get_current_view()->get_UP() ) ; - sgXformVec3(tmp, tmp, TMP); - sgSetVec3(dst, tmp[2], tmp[1], tmp[0] ); -} - - -// a temporary hack until we get everything rewritten with sgdVec3 -static inline Point3D operator + (const Point3D& a, const sgdVec3 b) -{ - return Point3D(a.x()+b[0], a.y()+b[1], a.z()+b[2]); -} - - -/* - * This method is faster - */ - -void FGHitList::Intersect( ssgBranch *scene, sgdMat4 m, sgdVec3 orig, - sgdVec3 dir ) -{ - clear(); - IntersectBranch( scene, m, orig, dir); -} - - +// ====================== // Determine scenery altitude via ssg. // returned results are in meters bool fgCurrentElev( sgdVec3 abs_view_pos, sgdVec3 scenery_center, - FGHitList *hit_list, - double *terrain_elev, double *radius, double *normal) + FGHitList *hit_list, + double *terrain_elev, double *radius, double *normal) { - sgdVec3 view_pos; - sgdSubVec3( view_pos, abs_view_pos, scenery_center ); + sgdVec3 view_pos; + sgdSubVec3( view_pos, abs_view_pos, scenery_center ); - sgdVec3 orig, dir; - sgdCopyVec3(orig, view_pos ); - sgdCopyVec3(dir, abs_view_pos ); - // sgdNormalizeVec3(dir); + sgdVec3 orig, dir; + sgdCopyVec3(orig, view_pos ); + sgdCopyVec3(dir, abs_view_pos ); - // !! why is terrain not globals->get_terrain() - hit_list->Intersect( terrain_branch, orig, dir ); + // !! why is terrain not globals->get_terrain() + hit_list->Intersect( terrain_branch, orig, dir ); - int this_hit=0; - Point3D geoc; - double result = -9999; - Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ; + int this_hit=0; + Point3D geoc; + double result = -9999; + Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ; - // cout << "hits = "; - int hitcount = hit_list->num_hits(); - for ( int i = 0; i < hitcount; ++i ) { - geoc = sgCartToPolar3d( sc + hit_list->get_point(i) ); - double lat_geod, alt, sea_level_r; - sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod, - &alt, &sea_level_r); - // cout << alt << " "; - if ( alt > result && alt < 10000 ) { - result = alt; - this_hit = i; - } - } - // cout << endl; - - if ( result > -9000 ) { - *terrain_elev = result; - *radius = geoc.radius(); - sgVec3 tmp; - sgSetVec3(tmp, hit_list->get_normal(this_hit)); - // cout << "cur_normal: " << tmp[0] << " " << tmp[1] << " " - // << tmp[2] << endl; - /* ssgState *IntersectedLeafState = - ((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */ - CurrentNormalInLocalPlane(tmp, tmp); - sgdSetVec3( normal, tmp ); - // cout << "NED: " << tmp[0] << " " << tmp[1] << " " << tmp[2] << endl; - return true; - } else { - SG_LOG( SG_TERRAIN, SG_INFO, "no terrain intersection" ); - *terrain_elev = 0.0; - float *up = globals->get_current_view()->get_world_up(); - sgdSetVec3(normal, up[0], up[1], up[2]); - return false; - } -} - - -// Determine scenery altitude via ssg. -// returned results are in meters -bool fgCurrentElev( sgdVec3 abs_view_pos, sgdVec3 scenery_center, - ssgTransform *terra_transform, - FGHitList *hit_list, - double *terrain_elev, double *radius, double *normal) -{ -#ifndef FAST_HITLIST__TEST - return fgCurrentElev( abs_view_pos, scenery_center, hit_list, - terrain_elev,radius,normal); -#else - sgdVec3 view_pos; - sgdSubVec3( view_pos, abs_view_pos, scenery_center ); - - sgdVec3 orig, dir; - sgdCopyVec3(orig, view_pos ); - - sgdCopyVec3(dir, abs_view_pos ); - sgdNormalizeVec3(dir); - - sgMat4 fxform; - sgMakeIdentMat4 ( fxform ) ; - ssgGetEntityTransform( terra_transform, fxform ); - - sgdMat4 xform; - sgdSetMat4(xform,fxform); - hit_list->Intersect( terra_transform, xform, orig, dir ); - - int this_hit=0; - Point3D geoc; - double result = -9999; - Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ; - - int hitcount = hit_list->num_hits(); - for ( int i = 0; i < hitcount; ++i ) { - geoc = sgCartToPolar3d( sc + hit_list->get_point(i) ); - double lat_geod, alt, sea_level_r; - sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod, - &alt, &sea_level_r); - if ( alt > result && alt < 20000 ) { - result = alt; - this_hit = i; + // cout << "hits = "; + int hitcount = hit_list->num_hits(); + for ( int i = 0; i < hitcount; ++i ) { + geoc = sgCartToPolar3d( sc + hit_list->get_point(i) ); + double lat_geod, alt, sea_level_r; + sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod, + &alt, &sea_level_r); + // cout << alt << " "; + if ( alt > result && alt < 10000 ) { + result = alt; + this_hit = i; + } } - } + // cout << endl; - if ( result > -9000 ) { - *terrain_elev = result; - *radius = geoc.radius(); - sgVec3 tmp; - sgSetVec3(tmp, hit_list->get_normal(this_hit)); - // cout << "cur_normal: " << tmp[0] << " " << tmp[1] << " " - // << tmp[2] << endl; - /* ssgState *IntersectedLeafState = - ((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */ - CurrentNormalInLocalPlane(tmp, tmp); - sgdSetVec3( normal, tmp ); - // cout << "NED: " << tmp[0] << " " << tmp[1] << " " << tmp[2] << endl; - return true; - } else { - SG_LOG( SG_TERRAIN, SG_DEBUG, "DOING FULL TERRAIN INTERSECTION" ); - return fgCurrentElev( abs_view_pos, scenery_center, hit_list, - terrain_elev,radius,normal); - } -#endif // !FAST_HITLIST__TEST + if ( result > -9000 ) { + *terrain_elev = result; + *radius = geoc.radius(); + sgVec3 tmp; + sgMat4 TMP; + sgSetVec3(tmp, hit_list->get_normal(this_hit)); + // cout << "cur_normal: " << tmp[0] << " " << tmp[1] << " " + // << tmp[2] << endl; + sgTransposeNegateMat4 ( TMP, globals->get_current_view()->get_UP() ) ; + sgXformVec3(tmp, tmp, TMP); + // cout << "NED: " << tmp[0] << " " << tmp[1] << " " << tmp[2] << endl; + sgdSetVec3( normal, tmp[2], tmp[1], tmp[0] ); + /* ssgState *IntersectedLeafState = + ((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */ + return true; + } else { + SG_LOG( SG_TERRAIN, SG_INFO, "no terrain intersection" ); + *terrain_elev = 0.0; + float *up = globals->get_current_view()->get_world_up(); + sgdSetVec3(normal, up[0], up[1], up[2]); + return false; + } +} + + +// ====================== +// Determine scenery altitude via ssg. +// returned results are in meters +bool fgCurrentElev( sgdVec3 abs_view_pos, sgdVec3 scenery_center, + ssgTransform *terra_transform, + FGHitList *hit_list, + double *terrain_elev, double *radius, double *normal) +{ + sgdVec3 view_pos; + sgdSubVec3( view_pos, abs_view_pos, scenery_center ); + + sgdVec3 orig, dir; + sgdCopyVec3(orig, view_pos ); + + sgdCopyVec3(dir, abs_view_pos ); + sgdNormalizeVec3(dir); + + sgMat4 fxform; + sgMakeIdentMat4 ( fxform ) ; + ssgGetEntityTransform( terra_transform, fxform ); + + sgdMat4 xform; + sgdSetMat4(xform,fxform); + hit_list->Intersect( terra_transform, xform, orig, dir ); + + int this_hit=0; + Point3D geoc; + double result = -9999; + Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ; + + int hitcount = hit_list->num_hits(); + for ( int i = 0; i < hitcount; ++i ) { + geoc = sgCartToPolar3d( sc + hit_list->get_point(i) ); + double lat_geod, alt, sea_level_r; + sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod, + &alt, &sea_level_r); + if ( alt > result && alt < 20000 ) { + result = alt; + this_hit = i; + } + } + + if ( result > -9000 ) { + *terrain_elev = result; + *radius = geoc.radius(); + sgVec3 tmp; + sgMat4 TMP; + sgSetVec3(tmp, hit_list->get_normal(this_hit)); + sgTransposeNegateMat4 ( TMP, globals->get_current_view()->get_UP() ) ; + sgXformVec3(tmp, tmp, TMP); + sgdSetVec3( normal, tmp[2], tmp[1], tmp[0] ); + /* ssgState *IntersectedLeafState = + ((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */ + return true; + } else { + SG_LOG( SG_TERRAIN, SG_DEBUG, "DOING FULL TERRAIN INTERSECTION" ); + return fgCurrentElev( abs_view_pos, scenery_center, hit_list, + terrain_elev,radius,normal); + } } diff --git a/src/Scenery/hitlist.hxx b/src/Scenery/hitlist.hxx index 61fae1f34..e4f8cd466 100644 --- a/src/Scenery/hitlist.hxx +++ b/src/Scenery/hitlist.hxx @@ -1,4 +1,4 @@ -// hitlist.hxx +// hitlist.hxx // Height Over Terrain and Assosciated Routines for FlightGear based Scenery // Written by Norman Vine, started 2000. @@ -15,8 +15,6 @@ #include -#define FAST_HITLIST__TEST 1 - SG_USING_STD(vector); class FGHitRec { @@ -30,10 +28,10 @@ private: public: FGHitRec( ssgEntity *e, int idx, sgdVec3 p, sgdVec3 n ) { - ent = e; - index = idx; - sgdSetVec3(point,p[0],p[1],p[2]); - sgdSetVec3(normal,n[0],n[1],n[2]); + ent = e; + index = idx; + sgdSetVec3(point,p[0],p[1],p[2]); + sgdSetVec3(normal,n[0],n[1],n[2]); } ssgEntity *get_entity(void) { return ent; } @@ -53,12 +51,14 @@ private: public: - FGHitList() { last = NULL; test_dist=DBL_MAX; } + FGHitList(); + ~FGHitList(); + void init(void) { list.clear(); test_dist=DBL_MAX; } void clear(void) { init(); last = NULL; } void add( ssgEntity *ent, int idx, sgdVec3 point, sgdVec3 normal ) { - list.push_back( FGHitRec( ent,idx,point,normal) ); - last = ent; + list.push_back( FGHitRec( ent,idx,point,normal) ); + last = ent; } int num_hits(void) { return list.size(); } ssgEntity *get_entity(int i) { return list[i].get_entity(); } @@ -66,50 +66,37 @@ public: int get_face(int i) { return list[i].get_face(); } double *get_point(int i) { return list[i].get_point(); } double *get_normal(int i) { return list[i].get_normal(); } - - void Intersect( ssgBranch *branch, - sgdVec3 orig, sgdVec3 dir ); - void Intersect( ssgBranch *scene, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ); - - void IntersectBranch( ssgBranch *branch, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir); - - void IntersectCachedLeaf( sgdVec3 orig, sgdVec3 dir); - + + void Intersect( ssgBranch *branch, sgdVec3 orig, sgdVec3 dir ); + void Intersect( ssgBranch *scene, sgdMat4 m, sgdVec3 orig, sgdVec3 dir ); + + void IntersectBranch( ssgBranch *branch, sgdMat4 m, sgdVec3 orig, sgdVec3 dir); + int IntersectLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ); + sgdVec3 orig, sgdVec3 dir ); - int IntersectPolyOrFanLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ); - - int IntersectTriLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ); - - int IntersectStripLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ); - - int IntersectQuadsLeaf( ssgLeaf *leaf, sgdMat4 m, - sgdVec3 orig, sgdVec3 dir ); + int IntersectLeaf( ssgLeaf *leaf, sgdMat4 m, + sgdVec3 orig, sgdVec3 dir, + GLenum primType ); }; -// Associated function, assuming a wgs84 world with 0,0,0 at the +// Associated functions, assuming a wgs84 world with 0,0,0 at the // center, find the current terrain intersection elevation for the // point specified. bool fgCurrentElev( sgdVec3 abs_view_pos, - sgdVec3 scenery_center, - ssgTransform *terra_transform, - FGHitList *hit_list, - double *terrain_elev, - double *radius, - double *normal ); + sgdVec3 scenery_center, + ssgTransform *terra_transform, + FGHitList *hit_list, + double *terrain_elev, + double *radius, + double *normal ); bool fgCurrentElev( sgdVec3 abs_view_pos, - sgdVec3 scenery_center, - FGHitList *hit_list, - double *terrain_elev, - double *radius, - double *normal ); + sgdVec3 scenery_center, + FGHitList *hit_list, + double *terrain_elev, + double *radius, + double *normal ); #endif // _HITLIST_HXX