Tweaks and massages to the ground intersection code. Most of the changes
are cosmetic, but we now have a combination of code that seems to work very robustly. I was able to land the yf23 at about 130 kts on the lower level of the bay bridge and then taxi the entire length.
This commit is contained in:
curt
parent
ca6067cbc0
commit
f6fad7f000
2 changed files with 153 additions and 132 deletions
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@ -9,6 +9,9 @@
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#include <float.h>
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#include <math.h>
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#include <plib/sg.h>
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#include <plib/ssg.h>
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#include <simgear/sg_inlines.h>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/math/point3d.hxx>
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@ -21,17 +24,79 @@
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#include "hitlist.hxx"
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// forward declaration of our helper/convenience functions
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static void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2);
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static void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m );
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static void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center, float *radius, sgMat4 m );
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// Specialized version of sgMultMat4 needed because of mixed matrix
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// types
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static inline void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2) {
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for ( int j = 0 ; j < 4 ; j++ ) {
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dst[0][j] = m2[0][0] * m1[0][j] +
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m2[0][1] * m1[1][j] +
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m2[0][2] * m1[2][j] +
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m2[0][3] * m1[3][j] ;
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dst[1][j] = m2[1][0] * m1[0][j] +
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m2[1][1] * m1[1][j] +
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m2[1][2] * m1[2][j] +
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m2[1][3] * m1[3][j] ;
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dst[2][j] = m2[2][0] * m1[0][j] +
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m2[2][1] * m1[1][j] +
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m2[2][2] * m1[2][j] +
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m2[2][3] * m1[3][j] ;
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dst[3][j] = m2[3][0] * m1[0][j] +
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m2[3][1] * m1[1][j] +
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m2[3][2] * m1[2][j] +
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m2[3][3] * m1[3][j] ;
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}
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}
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// ======================
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// This is same as PLib's sgdIsectInfLinePlane()
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// and can be replaced by it after the next PLib release
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static int fgdIsectInfLinePlane( sgdVec3 dst, const sgdVec3 l_org,
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const sgdVec3 l_vec, const sgdVec4 plane )
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/*
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* Walk backwards up the tree, transforming the vertex by all the
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* matrices along the way.
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*
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* Upwards recursion hurts my head.
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*/
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static void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m ) {
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sgMat4 mat ;
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// If this node has a parent - get the composite matrix for the
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// parent.
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if ( entity->getNumParents() > 0 )
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ssgGetEntityTransform ( entity->getParent(0), mat ) ;
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else
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sgMakeIdentMat4 ( mat ) ;
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// If this node has a transform - then concatenate it.
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if ( entity -> isAKindOf ( ssgTypeTransform () ) ) {
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sgMat4 this_mat ;
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((ssgTransform *) entity) -> getTransform ( this_mat ) ;
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sgPostMultMat4 ( mat, this_mat ) ;
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}
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sgCopyMat4 ( m, mat ) ;
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}
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// return the passed entitity's bsphere's center point radius and
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// fully formed current model matrix for entity
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static inline void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center,
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float *radius, sgMat4 m )
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{
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sgSphere *bsphere = entity->getBSphere();
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*radius = (double)bsphere->getRadius();
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sgCopyVec3( center, bsphere->getCenter() );
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sgMakeIdentMat4 ( m ) ;
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ssgGetEntityTransform( entity, m );
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}
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// This is same as PLib's sgdIsectInfLinePlane() and can be replaced
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// by it after the next PLib release
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static inline bool fgdIsectInfLinePlane( sgdVec3 dst,
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const sgdVec3 l_org,
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const sgdVec3 l_vec,
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const sgdVec4 plane )
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{
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SGDfloat tmp = sgdScalarProductVec3 ( l_vec, plane ) ;
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@ -47,15 +112,14 @@ static int fgdIsectInfLinePlane( sgdVec3 dst, const sgdVec3 l_org,
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return true ;
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}
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// ======================
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/*
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* Given a point and a triangle lying on the same plane
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* check to see if the point is inside the triangle
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* Given a point and a triangle lying on the same plane check to see
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* if the point is inside the triangle
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*
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* This is same as PLib's sgdPointInTriangle() and can be replaced by
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* it after the next PLib release
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*/
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// This is same as PLib's sgdPointInTriangle()
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// and can be replaced by it after the next PLib release
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static bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
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static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
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{
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sgdVec3 dif;
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@ -145,26 +209,30 @@ static bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
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return true;
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}
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// ======================
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inline static int isZeroAreaTri( sgdVec3 tri[3] )
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// Check if all three vertices are the same point (or close enough)
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static inline int isZeroAreaTri( sgdVec3 tri[3] )
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{
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return( sgdEqualVec3(tri[0], tri[1]) ||
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sgdEqualVec3(tri[1], tri[2]) ||
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sgdEqualVec3(tri[2], tri[0]) );
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}
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// Constructor
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FGHitList::FGHitList() :
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last(NULL), test_dist(DBL_MAX)
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{
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}
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// Destructor
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FGHitList::~FGHitList() {}
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/*
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Find the intersection of an infinite line with a leaf
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the line being defined by a point and direction.
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Find the intersection of an infinite line with a leaf the line being
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defined by a point and direction.
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Variables
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In:
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@ -181,10 +249,11 @@ true if intersection found
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false otherwise
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!!! WARNING !!!
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If you need an exhaustive list of hitpoints YOU MUST use
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the generic version of this function as the specialized
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versions will do an early out of expensive tests if the point
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can not be the closest one found
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If you need an exhaustive list of hitpoints YOU MUST use the generic
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version of this function as the specialized versions will do an early
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out of expensive tests if the point can not be the closest one found
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!!! WARNING !!!
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*/
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int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
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@ -222,8 +291,8 @@ int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
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return num_hits;
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}
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// ======================
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// Short circuit/slightly optimized version of the full IntersectLeaf()
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int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
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sgdVec3 orig, sgdVec3 dir,
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GLenum primType )
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@ -279,7 +348,7 @@ int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
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sgdCopyVec3( tri[0], tri[2] );
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sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) );
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} else {
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sgdCopyVec3( tri[2], tri[1] );
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sgdCopyVec3( tri[1], tri[2] );
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sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) );
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}
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}
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@ -337,18 +406,19 @@ int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
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return num_hits;
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}
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// ======================
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inline static bool IN_RANGE( sgdVec3 v, double radius ) {
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return ( sgdScalarProductVec3(v, v) < (radius*radius) );
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}
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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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/* the lookat vector and matrix in branch's coordinate frame
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* but we won't determine these unless needed,
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* This 'lazy evaluation' is a result of profiling data */
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/* the lookat vector and matrix in branch's coordinate frame but
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* we won't determine these unless needed, This 'lazy evaluation'
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* is a result of profiling data */
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sgdVec3 orig_leaf, dir_leaf;
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sgdMat4 m_leaf;
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@ -401,8 +471,10 @@ void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m,
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sgdXformPnt3( dir_leaf, dir, m_leaf );
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first_time = 0;
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}
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GLenum primType = ((ssgLeaf *)kid)->getPrimitiveType();
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IntersectLeaf( (ssgLeaf *)kid, m, orig_leaf, dir_leaf, primType );
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// GLenum primType = ((ssgLeaf *)kid)->getPrimitiveType();
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// IntersectLeaf( (ssgLeaf *)kid, m, orig_leaf, dir_leaf,
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// primType );
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IntersectLeaf( (ssgLeaf *)kid, m, orig_leaf, dir_leaf );
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}
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} // Out of range
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} // branch not requested to be traversed
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}
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// ======================
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// a temporary hack until we get everything rewritten with sgdVec3
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static inline Point3D operator + (const Point3D& a, const sgdVec3 b)
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{
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@ -419,7 +489,6 @@ static inline Point3D operator + (const Point3D& a, const sgdVec3 b)
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}
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// ======================
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void FGHitList::Intersect( ssgBranch *scene, sgdVec3 orig, sgdVec3 dir ) {
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sgdMat4 m;
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clear();
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@ -427,95 +496,26 @@ void FGHitList::Intersect( ssgBranch *scene, sgdVec3 orig, sgdVec3 dir ) {
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IntersectBranch( scene, m, orig, dir );
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}
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// ======================
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void FGHitList::Intersect( ssgBranch *scene, sgdMat4 m, sgdVec3 orig, sgdVec3 dir )
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{
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clear();
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IntersectBranch( scene, m, orig, dir );
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}
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// ======================
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// Need these because of mixed matrix types
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static void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2)
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{
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for ( int j = 0 ; j < 4 ; j++ )
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{
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dst[0][j] = m2[0][0] * m1[0][j] +
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m2[0][1] * m1[1][j] +
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m2[0][2] * m1[2][j] +
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m2[0][3] * m1[3][j] ;
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dst[1][j] = m2[1][0] * m1[0][j] +
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m2[1][1] * m1[1][j] +
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m2[1][2] * m1[2][j] +
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m2[1][3] * m1[3][j] ;
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dst[2][j] = m2[2][0] * m1[0][j] +
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m2[2][1] * m1[1][j] +
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m2[2][2] * m1[2][j] +
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m2[2][3] * m1[3][j] ;
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dst[3][j] = m2[3][0] * m1[0][j] +
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m2[3][1] * m1[1][j] +
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m2[3][2] * m1[2][j] +
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m2[3][3] * m1[3][j] ;
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}
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}
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// ======================
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static void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m )
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{
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/*
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Walk backwards up the tree, transforming the
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vertex by all the matrices along the way.
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Upwards recursion hurts my head.
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*/
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sgMat4 mat ;
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/*
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If this node has a parent - get the composite
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matrix for the parent.
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*/
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if ( entity->getNumParents() > 0 )
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ssgGetEntityTransform ( entity->getParent(0), mat ) ;
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else
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sgMakeIdentMat4 ( mat ) ;
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/*
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If this node has a transform - then concatenate it.
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*/
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if ( entity -> isAKindOf ( ssgTypeTransform () ) ) {
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sgMat4 this_mat ;
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((ssgTransform *) entity) -> getTransform ( this_mat ) ;
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sgPostMultMat4 ( mat, this_mat ) ;
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}
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sgCopyMat4 ( m, mat ) ;
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}
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// ======================
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// return the passed entitity's bsphere's center point radius and
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// fully formed current model matrix for entity
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static void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center, float *radius, sgMat4 m )
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{
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sgSphere *bsphere = entity->getBSphere();
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*radius = (double)bsphere->getRadius();
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sgCopyVec3( center, bsphere->getCenter() );
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sgMakeIdentMat4 ( m ) ;
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ssgGetEntityTransform( entity, m );
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}
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// ======================
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// Determine scenery altitude via ssg.
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// returned results are in meters
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static double hitlist1_time = 0.0;
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bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
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sgdVec3 scenery_center,
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FGHitList *hit_list,
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double *terrain_elev, double *radius, double *normal)
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{
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SGTimeStamp start; start.stamp();
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bool result;
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sgdVec3 view_pos;
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sgdSubVec3( view_pos, abs_view_pos, scenery_center );
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@ -528,7 +528,7 @@ bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
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int this_hit=0;
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Point3D geoc;
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double result = -9999;
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double hit_elev = -9999;
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Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ;
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int hitcount = hit_list->num_hits();
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@ -539,17 +539,17 @@ bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
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sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod,
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&alt, &sea_level_r);
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// cout << "hit " << i << " lon = " << geoc.lon() << " lat = "
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// << lat_geod << " alt = " << alt << endl;
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if ( alt > result && alt < max_alt_m ) {
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// << lat_geod << " alt = " << alt << " max alt = " << max_alt_m
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// << endl;
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if ( alt > hit_elev && alt < max_alt_m ) {
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// cout << " it's a keeper" << endl;
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result = alt;
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hit_elev = alt;
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this_hit = i;
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}
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}
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// cout << endl;
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if ( result > -9000 ) {
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*terrain_elev = result;
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if ( hit_elev > -9000 ) {
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*terrain_elev = hit_elev;
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*radius = geoc.radius();
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sgVec3 tmp;
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sgSetVec3(tmp, hit_list->get_normal(this_hit));
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@ -559,18 +559,25 @@ bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
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// cout << "world_up : " << up[0] << " " << up[1] << " " << up[2] << endl;
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/* ssgState *IntersectedLeafState =
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((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */
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return true;
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result = true;
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} else {
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SG_LOG( SG_TERRAIN, SG_INFO, "no terrain intersection" );
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*terrain_elev = 0.0;
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float *up = globals->get_current_view()->get_world_up();
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sgdSetVec3(normal, up[0], up[1], up[2]);
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return false;
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result = false;
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}
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SGTimeStamp finish; finish.stamp();
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hitlist1_time = ( 29.0 * hitlist1_time + (finish - start) ) / 30.0;
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// cout << " time per call = " << hitlist1_time << endl;
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return result;
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}
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// ======================
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static double hitlist2_time = 0.0;
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// Determine scenery altitude via ssg.
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// returned results are in meters
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bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
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@ -579,6 +586,9 @@ bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
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FGHitList *hit_list,
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double *terrain_elev, double *radius, double *normal)
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{
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SGTimeStamp start; start.stamp();
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bool result;
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sgdVec3 view_pos;
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sgdSubVec3( view_pos, abs_view_pos, scenery_center );
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@ -598,23 +608,28 @@ bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
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int this_hit=0;
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Point3D geoc;
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double result = -9999;
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double hit_elev = -9999;
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Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ;
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int hitcount = hit_list->num_hits();
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// cout << "hits = " << hitcount << endl;
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for ( int i = 0; i < hitcount; ++i ) {
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geoc = sgCartToPolar3d( sc + hit_list->get_point(i) );
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double lat_geod, alt, sea_level_r;
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sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod,
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&alt, &sea_level_r);
|
||||
if ( alt > result && alt < max_alt_m ) {
|
||||
result = alt;
|
||||
// cout << "hit " << i << " lon = " << geoc.lon() << " lat = "
|
||||
// << lat_geod << " alt = " << alt << " max alt = " << max_alt_m
|
||||
// << endl;
|
||||
if ( alt > hit_elev && alt < max_alt_m ) {
|
||||
hit_elev = alt;
|
||||
this_hit = i;
|
||||
// cout << " it's a keeper" << endl;
|
||||
}
|
||||
}
|
||||
|
||||
if ( result > -9000 ) {
|
||||
*terrain_elev = result;
|
||||
if ( hit_elev > -9000 ) {
|
||||
*terrain_elev = hit_elev;
|
||||
*radius = geoc.radius();
|
||||
sgVec3 tmp;
|
||||
sgSetVec3(tmp, hit_list->get_normal(this_hit));
|
||||
|
|
@ -624,11 +639,17 @@ bool fgCurrentElev( sgdVec3 abs_view_pos, double max_alt_m,
|
|||
// cout << "world_up : " << up[0] << " " << up[1] << " " << up[2] << endl;
|
||||
/* ssgState *IntersectedLeafState =
|
||||
((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */
|
||||
return true;
|
||||
result = true;
|
||||
} else {
|
||||
SG_LOG( SG_TERRAIN, SG_DEBUG, "DOING FULL TERRAIN INTERSECTION" );
|
||||
return fgCurrentElev( abs_view_pos, max_alt_m, scenery_center, hit_list,
|
||||
terrain_elev,radius,normal);
|
||||
result = fgCurrentElev( abs_view_pos, max_alt_m, scenery_center,
|
||||
hit_list, terrain_elev, radius, normal);
|
||||
}
|
||||
|
||||
SGTimeStamp finish; finish.stamp();
|
||||
hitlist2_time = ( 29.0 * hitlist2_time + (finish - start) ) / 30.0;
|
||||
cout << "time per call 2 = " << hitlist2_time << endl;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -367,9 +367,9 @@ int FGTileMgr::update( SGLocation *location, double visibility_meters,
|
|||
{
|
||||
longitude = location->getLongitude_deg();
|
||||
latitude = location->getLatitude_deg();
|
||||
// add 2.0m to the max altitude to give a little leeway to the
|
||||
// add 1.0m to the max altitude to give a little leeway to the
|
||||
// ground reaction code.
|
||||
altitude_m = location->getAltitudeASL_ft() * SG_FEET_TO_METER + 2.0;
|
||||
altitude_m = location->getAltitudeASL_ft() * SG_FEET_TO_METER + 1.0;
|
||||
|
||||
// if current altitude is apparently not initialized, set max
|
||||
// altitude to something big.
|
||||
|
|
|
|||
Loading…
Reference in a new issue