Latest version of hitlist.cxx from Norman Vine:
- Addresses some ot the recent profiling results. - Added a 'lazy evaluation' in IntersectBranch and inlined a couple of HEAVILY called functions.
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1 changed files with 165 additions and 120 deletions
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@ -39,15 +39,20 @@ static bool pointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
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// punt if outside bouding cube
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if ( point[0] < (xmin = SG_MIN3 (tri[0][0], tri[1][0], tri[2][0])) ) {
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return false;
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} else if ( point[0] > (xmax = SG_MAX3 (tri[0][0], tri[1][0], tri[2][0])) ) {
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} else if ( point[0] > (xmax = SG_MAX3 (tri[0][0], tri[1][0], tri[2][0])) )
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{
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return false;
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} else if ( point[1] < (ymin = SG_MIN3 (tri[0][1], tri[1][1], tri[2][1])) ) {
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} else if ( point[1] < (ymin = SG_MIN3 (tri[0][1], tri[1][1], tri[2][1])) )
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{
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return false;
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} else if ( point[1] > (ymax = SG_MAX3 (tri[0][1], tri[1][1], tri[2][1])) ) {
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} else if ( point[1] > (ymax = SG_MAX3 (tri[0][1], tri[1][1], tri[2][1])) )
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{
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return false;
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} else if ( point[2] < (zmin = SG_MIN3 (tri[0][2], tri[1][2], tri[2][2])) ) {
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} else if ( point[2] < (zmin = SG_MIN3 (tri[0][2], tri[1][2], tri[2][2])) )
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{
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return false;
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} else if ( point[2] > (zmax = SG_MAX3 (tri[0][2], tri[1][2], tri[2][2])) ) {
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} else if ( point[2] > (zmax = SG_MAX3 (tri[0][2], tri[1][2], tri[2][2])) )
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{
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return false;
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}
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@ -190,7 +195,7 @@ int sgdIsectInfLinePlane( sgdVec3 dst, sgdVec3 l_org,
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return FALSE ;
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sgdScaleVec3 ( dst, l_vec, -( sgdScalarProductVec3 ( l_org, plane )
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+ plane[3] ) / tmp ) ;
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+ plane[3] ) / tmp ) ;
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sgdAddVec3 ( dst, l_org ) ;
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return TRUE ;
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@ -203,85 +208,92 @@ int sgdIsectInfLinePlane( sgdVec3 dst, sgdVec3 l_org,
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*/
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bool sgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
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{
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sgdVec3 dif;
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sgdVec3 dif;
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int i;
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for( i=0; i<3; i++ ) {
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SGDfloat min, max;
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SG_MIN_MAX3 ( min, max, tri[0][i], tri[1][i], tri[2][i] );
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// punt if outside bouding cube
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if( (point[i] < min) || (point[i] > max) )
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return false;
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dif[i] = max - min;
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}
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SGDfloat min, max;
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// punt if outside bouding cube
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SG_MIN_MAX3 ( min, max, tri[0][0], tri[1][0], tri[2][0] );
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if( (point[0] < min) || (point[0] > max) )
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return false;
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dif[0] = max - min;
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// drop the smallest dimension so we only have to work in 2d.
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SGDfloat min_dim = SG_MIN3 (dif[0], dif[1], dif[2]);
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SGDfloat x1, y1, x2, y2, x3, y3, rx, ry;
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if ( fabs(min_dim-dif[0]) <= DBL_EPSILON ) {
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// x is the smallest dimension
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x1 = point[1];
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y1 = point[2];
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x2 = tri[0][1];
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y2 = tri[0][2];
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x3 = tri[1][1];
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y3 = tri[1][2];
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rx = tri[2][1];
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ry = tri[2][2];
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} else if ( fabs(min_dim-dif[1]) <= DBL_EPSILON ) {
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// y is the smallest dimension
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x1 = point[0];
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y1 = point[2];
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x2 = tri[0][0];
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y2 = tri[0][2];
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x3 = tri[1][0];
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y3 = tri[1][2];
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rx = tri[2][0];
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ry = tri[2][2];
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} else if ( fabs(min_dim-dif[2]) <= DBL_EPSILON ) {
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// z is the smallest dimension
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x1 = point[0];
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y1 = point[1];
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x2 = tri[0][0];
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y2 = tri[0][1];
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x3 = tri[1][0];
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y3 = tri[1][1];
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rx = tri[2][0];
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ry = tri[2][1];
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} else {
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// all dimensions are really small so lets call it close
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// enough and return a successful match
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return true;
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}
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SG_MIN_MAX3 ( min, max, tri[0][1], tri[1][1], tri[2][1] );
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if( (point[1] < min) || (point[1] > max) )
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return false;
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dif[1] = max - min;
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// check if intersection point is on the same side of p1 <-> p2 as p3
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SGDfloat tmp = (y2 - y3) / (x2 - x3);
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int side1 = SG_SIGN (tmp * (rx - x3) + y3 - ry);
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int side2 = SG_SIGN (tmp * (x1 - x3) + y3 - y1);
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if ( side1 != side2 ) {
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// printf("failed side 1 check\n");
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return false;
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}
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SG_MIN_MAX3 ( min, max, tri[0][2], tri[1][2], tri[2][2] );
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if( (point[2] < min) || (point[2] > max) )
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return false;
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dif[2] = max - min;
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// check if intersection point is on correct side of p2 <-> p3 as p1
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tmp = (y3 - ry) / (x3 - rx);
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side1 = SG_SIGN (tmp * (x2 - rx) + ry - y2);
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side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
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if ( side1 != side2 ) {
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// printf("failed side 2 check\n");
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return false;
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}
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// drop the smallest dimension so we only have to work in 2d.
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SGDfloat min_dim = SG_MIN3 (dif[0], dif[1], dif[2]);
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SGDfloat x1, y1, x2, y2, x3, y3, rx, ry;
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if ( fabs(min_dim-dif[0]) <= DBL_EPSILON ) {
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// x is the smallest dimension
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x1 = point[1];
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y1 = point[2];
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x2 = tri[0][1];
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y2 = tri[0][2];
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x3 = tri[1][1];
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y3 = tri[1][2];
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rx = tri[2][1];
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ry = tri[2][2];
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} else if ( fabs(min_dim-dif[1]) <= DBL_EPSILON ) {
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// y is the smallest dimension
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x1 = point[0];
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y1 = point[2];
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x2 = tri[0][0];
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y2 = tri[0][2];
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x3 = tri[1][0];
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y3 = tri[1][2];
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rx = tri[2][0];
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ry = tri[2][2];
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} else if ( fabs(min_dim-dif[2]) <= DBL_EPSILON ) {
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// z is the smallest dimension
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x1 = point[0];
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y1 = point[1];
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x2 = tri[0][0];
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y2 = tri[0][1];
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x3 = tri[1][0];
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y3 = tri[1][1];
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rx = tri[2][0];
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ry = tri[2][1];
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} else {
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// all dimensions are really small so lets call it close
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// enough and return a successful match
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return true;
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}
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// check if intersection point is on correct side of p1 <-> p3 as p2
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tmp = (y2 - ry) / (x2 - rx);
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side1 = SG_SIGN (tmp * (x3 - rx) + ry - y3);
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side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
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if ( side1 != side2 ) {
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// printf("failed side 3 check\n");
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return false;
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}
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// check if intersection point is on the same side of p1 <-> p2 as p3
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SGDfloat tmp = (y2 - y3) / (x2 - x3);
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int side1 = SG_SIGN (tmp * (rx - x3) + y3 - ry);
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int side2 = SG_SIGN (tmp * (x1 - x3) + y3 - y1);
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if ( side1 != side2 ) {
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// printf("failed side 1 check\n");
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return false;
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}
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return true;
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// check if intersection point is on correct side of p2 <-> p3 as p1
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tmp = (y3 - ry) / (x3 - rx);
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side1 = SG_SIGN (tmp * (x2 - rx) + ry - y2);
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side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
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if ( side1 != side2 ) {
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// printf("failed side 2 check\n");
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return false;
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}
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// check if intersection point is on correct side of p1 <-> p3 as p2
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tmp = (y2 - ry) / (x2 - rx);
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side1 = SG_SIGN (tmp * (x3 - rx) + ry - y3);
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side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
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if ( side1 != side2 ) {
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// printf("failed side 3 check\n");
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return false;
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}
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return true;
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}
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@ -327,35 +339,50 @@ int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
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sgdMakePlane( plane, tri[0], tri[1], tri[2] );
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sgdVec3 point;
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if( sgdIsectInfLinePlane( point, orig, dir, plane ) ) {
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//inlined IsectInfLinePlane( point dst, orig, dir, plane )
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SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ;
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/* Is line parallel to plane? */
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if ( sgdAbs ( tmp ) < DBL_EPSILON )
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continue ;
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sgdScaleVec3 ( point, dir,
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-( sgdScalarProductVec3 ( orig, plane ) + plane[3] )
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/ tmp ) ;
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sgdAddVec3 ( point, orig ) ;
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// end of inlined intersection
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#if 0
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if( pointInTriangle( point, tri ) ) {
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add(leaf,i,point,plane);
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num_hits++;
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}
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if( pointInTriangle( point, tri ) ) {
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add(leaf,i,point,plane);
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num_hits++;
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}
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#endif // 0
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if( sgdPointInTriangle( point, tri ) ) {
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// transform point into passed into desired coordinate frame
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sgdXformPnt3( point, point, m );
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add(leaf,i,point,plane);
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num_hits++;
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}
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if( sgdPointInTriangle( point, tri ) ) {
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// transform point into passed into desired coordinate frame
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sgdXformPnt3( point, point, m );
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add(leaf,i,point,plane);
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num_hits++;
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}
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}
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return num_hits;
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}
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void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m,
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sgdVec3 orig, sgdVec3 dir )
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{
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sgSphere *bsphere;
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// lookat vector in branch's coordinate frame
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/* the lookat vector and matrix in branch's coordinate frame
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* but we won't determine these unless needed to,
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* This 'lazy evaluation' is a result of profiling data */
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sgdVec3 _orig, _dir;
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sgdMat4 _m;
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sgdTransposeNegateMat4( _m, m);
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sgdXformPnt3( _orig, orig, _m );
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sgdXformPnt3( _dir, dir, _m );
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// 'lazy evaluation' flag
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int first_time = 1;
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for ( ssgEntity *kid = branch->getKid( 0 );
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kid != NULL;
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@ -363,36 +390,54 @@ void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m,
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{
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if ( kid->getTraversalMask() & SSGTRAV_HOT ) {
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bsphere = kid->getBSphere();
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sgVec3 fcenter;
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sgCopyVec3( fcenter, bsphere->getCenter() );
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sgdVec3 center;
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sgdSetVec3( center, fcenter );
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sgdXformPnt3( center, m ) ;
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// watch out for overflow
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if ( sgdClosestPointToLineDistSquared( center, orig, dir ) <
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double(bsphere->getRadius() * bsphere->getRadius()) )
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{
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// possible intersections
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if ( kid->isAKindOf ( ssgTypeBranch() ) ) {
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sgdMat4 m_new;
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sgdCopyMat4(m_new, m);
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if ( kid->isA( ssgTypeTransform() ) ) {
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sgdVec3 center;
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sgdSetVec3( center,
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bsphere->getCenter()[0],
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bsphere->getCenter()[1],
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bsphere->getCenter()[2] );
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sgdXformPnt3( center, m ) ;
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// sgdClosestPointToLineDistSquared( center, orig, dir )
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// inlined here because because of profiling results
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sgdVec3 u, u1, v;
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sgdSubVec3(u, center, orig);
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sgdScaleVec3( u1, dir, sgdScalarProductVec3(u,dir)
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/ sgdScalarProductVec3(dir,dir) );
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sgdSubVec3(v, u, u1);
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// doubles because of possible overflow
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#define SQUARE(x) (x*x)
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if( sgdScalarProductVec3(v, v)
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< SQUARE( double(bsphere->getRadius()) ) )
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{
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// possible intersections
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if ( kid->isAKindOf ( ssgTypeBranch() ) ) {
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sgdMat4 m_new;
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sgdCopyMat4(m_new, m);
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if ( kid->isA( ssgTypeTransform() ) ) {
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sgMat4 fxform;
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((ssgTransform *)kid)->getTransform( fxform );
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sgdMat4 xform;
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sgdSetMat4( xform, fxform );
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sgdPreMultMat4( m_new, xform );
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}
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IntersectBranch( (ssgBranch *)kid, m_new, orig, dir );
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} else if ( kid->isAKindOf( ssgTypeLeaf() ) ) {
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IntersectLeaf( (ssgLeaf *)kid, m, _orig, _dir );
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}
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} else {
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// end of the line for this branch
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}
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} else {
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// branch requested not to be traversed
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}
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}
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IntersectBranch( (ssgBranch *)kid, m_new, orig, dir );
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} else if ( kid->isAKindOf( ssgTypeLeaf() ) ) {
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if( first_time) {
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// OK we need these
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sgdTransposeNegateMat4( _m, m);
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sgdXformPnt3( _orig, orig, _m );
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sgdXformPnt3( _dir, dir, _m );
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first_time = 0;
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}
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IntersectLeaf( (ssgLeaf *)kid, m, _orig, _dir );
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}
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} else {
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// end of the line for this branch
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}
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} else {
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// branch requested not to be traversed
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}
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}
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}
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