Revision: 7147
http://playerstage.svn.sourceforge.net/playerstage/?rev=7147&view=rev
Author: rtv
Date: 2008-11-15 02:48:12 +0000 (Sat, 15 Nov 2008)
Log Message:
-----------
major changes for 3.1
Modified Paths:
--------------
code/stage/trunk/libstage/model_laser.cc
Property Changed:
----------------
code/stage/trunk/libstage/model_laser.cc
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2008-11-15 02:46:31 UTC (rev
7146)
+++ code/stage/trunk/libstage/model_laser.cc 2008-11-15 02:48:12 UTC (rev
7147)
@@ -19,7 +19,7 @@
// DEFAULT PARAMETERS FOR LASER MODEL
static const bool DEFAULT_FILLED = true;
static const stg_watts_t DEFAULT_WATTS = 17.5;
-static const stg_size_t DEFAULT_SIZE = {0.15, 0.15, 0.2 };
+static const stg_size_t DEFAULT_SIZE( 0.15, 0.15, 0.2 );
static const stg_meters_t DEFAULT_MINRANGE = 0.0;
static const stg_meters_t DEFAULT_MAXRANGE = 8.0;
static const stg_radians_t DEFAULT_FOV = M_PI;
@@ -71,36 +71,38 @@
- resolution <int>\n
Only calculate the true range of every nth laser sample. The missing samples
are filled in with a linear interpolation. Generally it would be better to use
fewer samples, but some (poorly implemented!) programs expect a fixed number of
samples. Setting this number > 1 allows you to reduce the amount of computation
required for your fixed-size laser vector.
*/
-
-StgModelLaser::StgModelLaser( StgWorld* world,
- StgModel* parent )
- : StgModel( world, parent, MODEL_TYPE_LASER )
+
+ StgModelLaser::StgModelLaser( StgWorld* world,
+
StgModel* parent )
+ : StgModel( world, parent, MODEL_TYPE_LASER ),
+ range_min( DEFAULT_MINRANGE ),
+ range_max( DEFAULT_MAXRANGE ),
+ fov( DEFAULT_FOV ),
+ sample_count( DEFAULT_SAMPLES ),
+ resolution( DEFAULT_RESOLUTION ),
+ data_dirty( true ),
+ samples( NULL ) // don't allocate sample buffer memory until
Update() is called
{
+
PRINT_DEBUG2( "Constructing StgModelLaser %d (%s)\n",
- id, typestr );
+ id, typestr );
- // sensible laser defaults
+
+ // StgModel data members
interval = DEFAULT_INTERVAL_MS * (int)thousand;
laser_return = LaserVisible;
-
+
stg_geom_t geom;
memset( &geom, 0, sizeof(geom));
geom.size = DEFAULT_SIZE;
SetGeom( geom );
+
+ // assert that Update() is reentrant for this derived model
+ thread_safe = true;
// set default color
SetColor( stg_lookup_color(DEFAULT_COLOR));
-
- range_min = DEFAULT_MINRANGE;
- range_max = DEFAULT_MAXRANGE;
- fov = DEFAULT_FOV;
- sample_count = DEFAULT_SAMPLES;
- resolution = DEFAULT_RESOLUTION;
- data_dirty = true;
-
- // don't allocate sample buffer memory until Update() is called
- samples = NULL;
-
+
if( world->IsGUI() )
data_dl = glGenLists(1);
@@ -155,15 +157,13 @@
interval = cfg.interval;
}
-static bool laser_raytrace_match( StgBlock* testblock,
- StgModel* finder,
- const void* dummy )
+static bool laser_raytrace_match( StgModel* hit,
+
StgModel* finder,
+
const void* dummy )
{
// Ignore the model that's looking and things that are invisible to
- // lasers
-
- if( (testblock->Model() != finder) &&
- (testblock->Model()->GetLaserReturn() > 0 ) )
+ // lasers
+ if( (hit != finder) && (hit->GetLaserReturn() > 0 ) )
return true; // match!
return false; // no match
@@ -179,29 +179,27 @@
stg_pose_t rayorg = geom.pose;
bzero( &rayorg, sizeof(rayorg));
rayorg.z += geom.size.z/2;
-
+
for( unsigned int t=0; t<sample_count; t += resolution )
{
- stg_raytrace_sample_t sample;
-
rayorg.a = bearing;
- Raytrace( rayorg,
- range_max,
- laser_raytrace_match,
- NULL,
- &sample,
- true ); // z testing enabled
+ stg_raytrace_result_t sample =
+ Raytrace( rayorg,
+ range_max,
+ laser_raytrace_match,
+ NULL,
+ true ); // z testing enabled
samples[t].range = sample.range;
// if we hit a model and it reflects brightly, we set
// reflectance high, else low
- if( sample.block && ( sample.block->Model()->GetLaserReturn() >=
LaserBright ) )
- samples[t].reflectance = 1;
+ if( sample.mod && ( sample.mod->GetLaserReturn() >= LaserBright ) )
+ samples[t].reflectance = 1;
else
- samples[t].reflectance = 0;
-
+ samples[t].reflectance = 0;
+
// todo - lower bound on range
bearing += sample_incr;
}
@@ -210,26 +208,26 @@
if( resolution > 1 )
{
for( unsigned int t=resolution; t<sample_count; t+=resolution )
- for( unsigned int g=1; g<resolution; g++ )
- {
- if( t >= sample_count )
- break;
-
- // copy the rightmost sample data into this point
- memcpy( &samples[t-g],
- &samples[t-resolution],
- sizeof(stg_laser_sample_t));
-
- double left = samples[t].range;
- double right = samples[t-resolution].range;
-
- // linear range interpolation between the left and right samples
- samples[t-g].range = (left-g*(left-right)/resolution);
- }
+ for( unsigned int g=1; g<resolution; g++ )
+ {
+ if( t >= sample_count )
+ break;
+
+ // copy the rightmost sample data into this
point
+ memcpy( &samples[t-g],
+ &samples[t-resolution],
+ sizeof(stg_laser_sample_t));
+
+ double left = samples[t].range;
+ double right = samples[t-resolution].range;
+
+ // linear range interpolation between the left
and right samples
+ samples[t-g].range =
(left-g*(left-right)/resolution);
+ }
}
-
+
data_dirty = true;
-
+
StgModel::Update();
}
@@ -301,7 +299,7 @@
}
-void StgModelLaser::DataVisualize( StgCamera* cam )
+void StgModelLaser::DataVisualize( Camera* cam )
{
if( ! (samples && sample_count) )
return;
@@ -312,12 +310,12 @@
glPushMatrix();
// we only regenerate the list if there's new data
- if( 1 /* (temp hack) data_dirty*/ )
+ if( 1 ) // data_dirty ) // TODO - hmm, why doesn't this work?
{
data_dirty = false;
glNewList( data_dl, GL_COMPILE );
- //glEnableClientState( GL_VERTEX_ARRAY );
+
glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at the
right height
// DEBUG - draw the origin of the laser beams
@@ -336,20 +334,19 @@
PushColor( 0, 0, 1, 0.5 );
for( unsigned int s=0; s<sample_count; s++ )
- {
- double ray_angle = (s * (fov / (sample_count-1))) - fov/2.0;
- pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
- pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );
-
- // if the sample is unusually bright, draw a little blob
- if( samples[s].reflectance > 0 )
- {
- glBegin( GL_POINTS );
- glVertex2f( pts[2*s+2], pts[2*s+3] );
- glEnd();
- }
+ {
+ double ray_angle = (s * (fov / (sample_count-1))) -
fov/2.0;
+ pts[2*s+2] = (float)(samples[s].range * cos(ray_angle)
);
+ pts[2*s+3] = (float)(samples[s].range * sin(ray_angle)
);
- }
+ // if the sample is unusually bright, draw a little
blob
+ if( samples[s].reflectance > 0 )
+ {
+ glBegin( GL_POINTS );
+ glVertex2f( pts[2*s+2], pts[2*s+3] );
+ glEnd();
+ }
+ }
PopColor();
glDepthMask( GL_FALSE );
@@ -359,16 +356,16 @@
glVertexPointer( 2, GL_FLOAT, 0, pts );
glDrawArrays( GL_POLYGON, 0, sample_count+1 );
PopColor();
-
+
if( showLaserStrikes )
- {
- // draw the beam strike points in black
- PushColor( 0, 0, 0, 1.0 );
- glPointSize( 1.0 );
- glDrawArrays( GL_POINTS, 0, sample_count+1 );
- PopColor();
- }
-
+ {
+ // draw the beam strike points in black
+ PushColor( 0, 0, 0, 1.0 );
+ glPointSize( 1.0 );
+ glDrawArrays( GL_POINTS, 0, sample_count+1 );
+ PopColor();
+ }
+
glDepthMask( GL_TRUE );
glEndList();
} // end if ( data_dirty )
Property changes on: code/stage/trunk/libstage/model_laser.cc
___________________________________________________________________
Added: svn:eol
+ native
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