PlaneSide classifyTriangle(const Vec3f &p0, const Vec3f &p1,
const Vec3f &p2, const float ep = 0) const
{
const PlaneSide r1 = classifyPoint(p0, ep);
const PlaneSide r2 = classifyPoint(p1, ep);
const PlaneSide r3 = classifyPoint(p2, ep);
if ( r1 == Coplanar && r2 == Coplanar && r3 == Coplanar )
return Coplanar;
if ( r1 != r2 || r1 != r3 )
return Spanning;
return r1;
}
//The route will be generated using the A* pathfinding algorithm
//Returns a path that only contains the startPoint if no path can be found
//If not, it contains a path up to and including the goal but not including the start point
//(It will not generate a path through unknown or unpassable terrain)
//
//THE CODE EXPLAINED:
//
//We then loop continuously, every time we loop:
// We pick the the point with the lowest cost on the OPEN list
// If there are no more points on the OPEN list then we stop looping
// Put the point on the CLOSE list
// We call this point "current"
// Examine every point adjacent to it, for each of those points:
// If it is OPEN we check if we can get to it faster from "current" and if so chenge current to the pathParent of the point
// If it is NONE we make "current" the pathParent of the point
// If it is GOAL we set atGoal to true
// If it is CLOSED we've already considered it completely and so do nothing
//Finish if there are no points left that cost less to get to than the goal
void Routing::generateRoute(Point start, Point goal, Direction currDir, Path * path)
{
generateRouteSetup(start, goal, currDir);
bool atGoal = false; // atGoal is set to true if the goal point was considered while looping
Point current = start;
while(maze->contains(current) && !(atGoal && (nodeList.calcCost(current) > nodeList.calcCost(goal))))// loop continuously, it will break if we run out of points to investigate or if we find the goal
{
//Check every adjacent node to the current one, allowing diagonal movement
for (int xDelta = -1; xDelta <= 1; xDelta++)
{
for (int yDelta = -1; yDelta <= 1; yDelta++)
{
Point adjacentPt(current.x + xDelta, current.y + yDelta); //This will hold every new point adjacent to current that we investigate
if(maze->joined(current, adjacentPt))//if current = adjacentPt or either point is outside the maze maze->joined() also returns false
{
atGoal = classifyPoint(adjacentPt, current, nodeList.getParent(current), goal) || atGoal;
}//if
}//for
}//for
nodeList.close(current); //We have finished with this point so we close it
current = nodeList.findNodeWithLowestSum();//get new point, returns {-1,-1} if no OPEN points left
}//while
makePath(path, atGoal, goal, start);
}
// ----------------------------------------------------------------------
// Name : intersectRayPlane()
// Input : rOrigin - origin of ray in world space
// rVector - xr_vector describing direction of ray in world space
// pOrigin - Origin of plane
// pNormal - Normal to plane
// Notes : Normalized directional vectors expected
// Return: distance to plane in world units, -1 if no intersection.
// -----------------------------------------------------------------------
IC float intersectRayPlane( const Fvector& rayOrigin, const Fvector& rayDirection,
const Fvector& planeOrigin, const Fvector& planeNormal)
{
float numer = classifyPoint(rayOrigin,planeOrigin,planeNormal);
float denom = planeNormal.dotproduct(rayDirection);
if (denom == 0) // normal is orthogonal to xr_vector, cant intersect
return (-1.0f);
return -(numer / denom);
}
GMContainmentType GMBoundingFrustum::contains(const GMVector3D& point) const
{
// Check the top
if (classifyPoint(point, top) > 0) {
return GMContainmentTypeDisjoint;
}
// Check the bottom
if (classifyPoint(point, bottom) > 0) {
return GMContainmentTypeDisjoint;
}
// Check the left
if (classifyPoint(point, left) > 0) {
return GMContainmentTypeDisjoint;
}
// Check the right
if (classifyPoint(point, right) > 0) {
return GMContainmentTypeDisjoint;
}
// Check the near
if (classifyPoint(point, near) > 0) {
return GMContainmentTypeDisjoint;
}
// Check the far
if (classifyPoint(point, far) > 0) {
return GMContainmentTypeDisjoint;
}
return GMContainmentTypeContains;
}
void *KMeansSolver::threadSolve(void * param) {
while (true) {
//pthread_cond_wait() for start signal? (need_new_iteration)
pthread_mutex_lock(classifyJob.mutex_jobsAvailable);
if (classifyJob.jobsAvailable == 0)
pthread_cond_wait(classifyJob.jobStart,
classifyJob.mutex_jobsAvailable);
if (classifyJob.jobsAvailable == 0) {
pthread_mutex_unlock(classifyJob.mutex_jobsAvailable);
continue;
};
classifyJob.registerWorker();
calculateCenterJob.registerWorker();
pthread_mutex_unlock(classifyJob.mutex_jobsAvailable);
//First classify all points into some cluster
int fromPtID, toPtID;
//register
//std::cout<<"thread starting classification!"<<pthread_self()<<"\n!"; //DEBUG
while (classifyJob.getJobs(BATCH_JOB_CLASSIFY_QUANTITY, fromPtID,
toPtID)) { //while there are jobs to do
while (fromPtID <= toPtID) { //And we haven't taken them all
//std::cout<<"thread classifing"<<pthread_self()<<" the "<<toPtID<<"\n!"; //DEBUG
//Classify point toPtID
classifyPoint(toPtID - 1);
toPtID--; //This point is done...
}
}
classifyJob.unregisterWorker();
//Wait for everyone to finish...
pthread_mutex_lock(classifyJob.mutex_done);
if (!classifyJob.done)
pthread_cond_wait(classifyJob.jobDone, classifyJob.mutex_done);
pthread_mutex_unlock(classifyJob.mutex_done);
//Start calculating centers...
//std::cout<<"thread starting center calculation!"<<pthread_self()<<"\n!"; //DEBUG
int fromClID, toClID;
while (calculateCenterJob.getJobs(BATCH_JOB_CENTER_CALCULATE_QUANTITY,
fromClID, toClID)) {
while (fromClID <= toClID) {
//std::cout<<"thread starting center calculation!"<<pthread_self()<<"from ("<<fromClID<<" to "<<toClID<<")\n!"; //DEBUG
//Calculate New Center
cl_repository->repository[toClID - 1].calculateNewCenter();
//Update clusters_changed and cluster's center
if (cl_repository->repository[toClID - 1].hasChanged) {
pthread_mutex_lock(mutex_clusters_changed);
clusters_changed = true;
pthread_mutex_unlock(mutex_clusters_changed);
}
toClID--; //Done with this cluster
}
}
calculateCenterJob.unregisterWorker();
//std::cout<<"thread out"<<pthread_self()<<"\n!"; //DEBUG
//std::cout<<"thread out"<<pthread_self()<<"\n!"; //DEBUG
}
return NULL;
}
//-----------------------------------------------------------------------------
// Name: Update()
// Desc:
//-----------------------------------------------------------------------------
HRESULT CParticleSystem::Update( FLOAT fElpasedTime )
{
Particle *pParticle;
Particle **ppParticle;
Plane *pPlane;
Plane **ppPlane;
D3DXVECTOR3 vOldPosition;
m_fCurrentTime += fElpasedTime; // Update our particle system timer...
ppParticle = &m_pActiveList; // Start at the head of the active list
while( *ppParticle )
{
pParticle = *ppParticle; // Set a pointer to the head
// Calculate new position
float fTimePassed = m_fCurrentTime - pParticle->m_fInitTime;
if( fTimePassed >= m_fLifeCycle )
{
// Time is up, put the particle back on the free list...
*ppParticle = pParticle->m_pNext;
pParticle->m_pNext = m_pFreeList;
m_pFreeList = pParticle;
--m_dwActiveCount;
}
else
{
// Update particle position and velocity
// Update velocity with respect to Gravity (Constant Acceleration)
pParticle->m_vCurVel += m_vGravity * fElpasedTime;
// Update velocity with respect to Wind (Acceleration based on
// difference of vectors)
if( m_bAirResistence == true )
pParticle->m_vCurVel += (m_vWind - pParticle->m_vCurVel) * fElpasedTime;
// Finally, update position with respect to velocity
vOldPosition = pParticle->m_vCurPos;
pParticle->m_vCurPos += pParticle->m_vCurVel * fElpasedTime - m_vDiff;
//-----------------------------------------------------------------
// BEGIN Checking the particle against each plane that was set up
ppPlane = &m_pPlanes; // Set a pointer to the head
while( *ppPlane )
{
pPlane = *ppPlane;
int result = classifyPoint( &pParticle->m_vCurPos, pPlane );
if( result == CP_BACK /*|| result == CP_ONPLANE */ )
{
if( pPlane->m_nCollisionResult == CR_BOUNCE )
{
pParticle->m_vCurPos = vOldPosition;
//-----------------------------------------------------------------
//
// The new velocity vector of a particle that is bouncing off
// a plane is computed as follows:
//
// Vn = (N.V) * N
// Vt = V - Vn
// Vp = Vt - Kr * Vn
//
// Where:
//
// . = Dot product operation
// N = The normal of the plane from which we bounced
// V = Velocity vector prior to bounce
// Vn = Normal force
// Kr = The coefficient of restitution ( Ex. 1 = Full Bounce,
// 0 = Particle Sticks )
// Vp = New velocity vector after bounce
//
//-----------------------------------------------------------------
float Kr = pPlane->m_fBounceFactor;
D3DXVECTOR3 Vn = D3DXVec3Dot( &pPlane->m_vNormal,
&pParticle->m_vCurVel ) *
pPlane->m_vNormal;
D3DXVECTOR3 Vt = pParticle->m_vCurVel - Vn;
D3DXVECTOR3 Vp = Vt - Kr * Vn;
pParticle->m_vCurVel = Vp;
}
else if( pPlane->m_nCollisionResult == CR_RECYCLE )
{
pParticle->m_fInitTime -= m_fLifeCycle;
}
else if( pPlane->m_nCollisionResult == CR_STICK )
{
pParticle->m_vCurPos = vOldPosition;
pParticle->m_vCurVel = D3DXVECTOR3(0.0f,0.0f,0.0f);
}
}
ppPlane = &pPlane->m_pNext;
}
// END Plane Checking
//-----------------------------------------------------------------
ppParticle = &pParticle->m_pNext;
}
}
//-------------------------------------------------------------------------
// Emit new particles in accordance to the flow rate...
//
// NOTE: The system operates with a finite number of particles.
// New particles will be created until the max amount has
// been reached, after that, only old particles that have
// been recycled can be reintialized and used again.
//-------------------------------------------------------------------------
if( m_fCurrentTime - m_fLastUpdate > m_fReleaseInterval )
{
// Reset update timing...
m_fLastUpdate = m_fCurrentTime;
// Emit new particles at specified flow rate...
for( DWORD i = 0; i < m_dwNumToRelease; ++i )
{
// Do we have any free particles to put back to work?
if( m_pFreeList )
{
// If so, hand over the first free one to be reused.
pParticle = m_pFreeList;
// Then make the next free particle in the list next to go!
m_pFreeList = pParticle->m_pNext;
}
else
{
// There are no free particles to recycle...
// We'll have to create a new one from scratch!
if( m_dwActiveCount < m_dwMaxParticles )
{
if( NULL == ( pParticle = new Particle ) )
return E_OUTOFMEMORY;
}
}
if( m_dwActiveCount < m_dwMaxParticles )
{
pParticle->m_pNext = m_pActiveList; // Make it the new head...
m_pActiveList = pParticle;
// Set the attributes for our new particle...
pParticle->m_vCurVel = m_vVelocity;
if( m_fVelocityVar != 0.0f )
{
D3DXVECTOR3 vRandomVec = getRandomVector();
pParticle->m_vCurVel += vRandomVec * m_fVelocityVar;
}
pParticle->m_fInitTime = m_fCurrentTime;
pParticle->m_vCurPos = m_vPosition;
++m_dwActiveCount;
}
}
}
return S_OK;
}
