void Runtime::initResList() {
for (int i = 1; i <= 4; i++) {
std::string rID = "R";
rID.append(std::to_string(i));
ResCtrlBlk rcb(rID,i);
resources.push_back(rcb);
}
}
bool MakePurchase(ProductInterface *product, IntCB result_cb) {
static jmethodID mid = CheckNotNull
(jni->env->GetMethodID(jni->purchases_class, "makePurchase", "(Ljava/lang/String;Lcom/lucidfusionlabs/core/NativeIntCB;)Z"));
if (!product) return false;
LocalJNIObject rcb(jni->env, result_cb ? JNI::ToNativeIntCB(jni->env, move(result_cb)) : nullptr);
LocalJNIString pid(jni->env, JNI::ToJString(jni->env, product->id));
return jni->env->CallBooleanMethod(impl.v, mid, pid.v, rcb.v);
}
int main(int argc,char **argv)
{
scanner_t *fn;
if(argc!=2){
fprintf(stderr,"usage: %s scanner.so\n",argv[0]);
exit(1);
}
#ifdef HAVE_DLOPEN
const char *fname = argv[1];
char *name = strdup(fname);
char *cc = strrchr(name,'.');
if(cc){
cc[0] = 0;
} else {
fprintf(stderr,"%s: cannot strip extension\n",name);
exit(1);
}
if(!dlopen_preflight(fname)){
err(1,"dlopen_preflight - cannot open %s: %s",fname,dlerror());
}
void *lib=dlopen(fname, RTLD_LAZY);
if(lib==0) errx(1,"dlopen: %s\n",dlerror());
fn=(scanner_t *)dlsym(lib, name);
if(fn==0) errx(1,"dlsym: %s\n",dlerror());
#else
#ifdef HAVE_LOADLIBRARY
/* Use Win32 LoadLibrary function */
/* See http://msdn.microsoft.com/en-us/library/ms686944(v=vs.85).aspx */
const char *fname = "hello.DLL";
HINSTANCE hinstLib = LoadLibrary(TEXT(fname));
if(hinstLib==0) errx(1,"LoadLibrary(%s) failed",fname);
MYPROC fn = (MYPROC)GetProcAddress(hinstLib,"hello");
if(fn==0) errx(1,"GetProcAddress(%s) failed","hello");
#endif
#endif
uint8_t buf[100];
pos0_t p0("");
sbuf_t sbuf(p0,buf,sizeof(buf),sizeof(buf),false);
feature_recorder_set fs(0);
scanner_params sp(scanner_params::startup,sbuf,fs);
recursion_control_block rcb(0,"STAND",true);
scanner_info si;
sp.info = &si;
(*fn)(sp,rcb);
std::cout << "Loaded scanner '" << si.name << "' by " << si.author << "\n";
dlclose(lib);
return 0;
}
int main(int argc,char **argv)
{
if(argc!=2){
fprintf(stderr,"usage: %s scanner.so\n",argv[0]);
fprintf(stderr,"type 'make plugins' to make available plugins\n");
exit(1);
}
/* Strip extension and path */
std::string fname = argv[1];
scanner_t *fn=0;
std::string name = fname;
size_t dot = name.rfind('.');
if(dot==std::string::npos){
fprintf(stderr,"%s: cannot strip extension\n",name.c_str());
exit(1);
}
name = name.substr(0,dot);
/* Strip dir */
size_t slash = name.rfind('.');
if(slash!=std::string::npos){
name = name.substr(slash+1);
}
#ifdef HAVE_DLOPEN
if(fname.find('.')==std::string::npos){
fname = "./" + fname; // fedora requires a complete path name
}
#ifdef HAVE_DLOPEN_PREFLIGHT
if(!dlopen_preflight(fname.c_str())){
fprintf(stderr,"dlopen_preflight - cannot open %s: %s",fname.c_str(),dlerror());
exit(1);
}
#endif
void *lib=dlopen(fname.c_str(), RTLD_LAZY);
if(lib==0){
fprintf(stderr,"fname=%s\n",fname.c_str());
fprintf(stderr,"dlopen: %s\n",dlerror());
exit(1);
}
fn=(scanner_t *)dlsym(lib, name.c_str());
if(fn==0){
fprintf(stderr,"dlsym: %s\n",dlerror());
exit(1);
}
#endif
#ifdef HAVE_LOADLIBRARY
/* Use Win32 LoadLibrary function */
/* See http://msdn.microsoft.com/en-us/library/ms686944(v=vs.85).aspx */
HINSTANCE hinstLib = LoadLibrary(TEXT(fname.c_str()));
if(hinstLib==0){
fprintf(stderr,"LoadLibrary(%s) failed",fname.c_str());
exit(1);
}
MYPROC fn = (MYPROC)GetProcAddress(hinstLib,name.c_str());
if(fn==0){
fprintf(stderr,"GetProcAddress(%s) failed",name.c_str());
exit(1);
}
#endif
feature_recorder_set fs(0,my_hasher,feature_recorder_set::NO_INPUT,feature_recorder_set::NO_OUTDIR);
uint8_t buf[100];
pos0_t p0("");
sbuf_t sbuf(p0,buf,sizeof(buf),sizeof(buf),false);
scanner_params sp(scanner_params::PHASE_STARTUP,sbuf,fs);
recursion_control_block rcb(0,"STAND");
scanner_info si;
sp.info = &si;
(*fn)(sp,rcb);
std::cout << "Loaded scanner '" << si.name << "' by " << si.author << "\n";
#ifdef HAVE_DLOPEN
dlclose(lib);
#endif
return 0;
}
void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
CollisionObject* collisionObject,
const CollisionShape* collisionShape,
const SimdTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
SphereShape pointShape(0.0f);
if (collisionShape->IsConvex())
{
ConvexCast::CastResult castResult;
castResult.m_fraction = 1.f;//??
ConvexShape* convexShape = (ConvexShape*) collisionShape;
VoronoiSimplexSolver simplexSolver;
SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > 0.0001f)
{
castResult.m_normal.normalize();
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
CollisionWorld::LocalRayResult localRayResult
(
collisionObject,
0,
castResult.m_normal,
castResult.m_fraction
);
resultCallback.AddSingleResult(localRayResult);
}
}
}
}
else
{
if (collisionShape->IsConcave())
{
TriangleMeshShape* triangleMesh = (TriangleMeshShape*)collisionShape;
SimdTransform worldTocollisionObject = colObjWorldTransform.inverse();
SimdVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
SimdVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public TriangleRaycastCallback
{
CollisionWorld::RayResultCallback* m_resultCallback;
CollisionObject* m_collisionObject;
TriangleMeshShape* m_triangleMesh;
BridgeTriangleRaycastCallback( const SimdVector3& from,const SimdVector3& to,
CollisionWorld::RayResultCallback* resultCallback, CollisionObject* collisionObject,TriangleMeshShape* triangleMesh):
TriangleRaycastCallback(from,to),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual float ReportHit(const SimdVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex )
{
CollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
CollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitFraction);
return m_resultCallback->AddSingleResult(rayResult);
}
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
SimdVector3 rayAabbMinLocal = rayFromLocal;
rayAabbMinLocal.setMin(rayToLocal);
SimdVector3 rayAabbMaxLocal = rayFromLocal;
rayAabbMaxLocal.setMax(rayToLocal);
triangleMesh->ProcessAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
} else
{
//todo: use AABB tree or other BVH acceleration structure!
if (collisionShape->IsCompound())
{
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(collisionShape);
int i=0;
for (i=0;i<compoundShape->GetNumChildShapes();i++)
{
SimdTransform childTrans = compoundShape->GetChildTransform(i);
const CollisionShape* childCollisionShape = compoundShape->GetChildShape(i);
SimdTransform childWorldTrans = colObjWorldTransform * childTrans;
RayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback);
}
}
}
}
}
void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback,short int collisionFilterMask)
{
if (collisionShape->isConvex())
{
btConvexCast::CastResult castResult;
castResult.m_fraction = btScalar(1.);//??
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
btCollisionWorld::LocalRayResult localRayResult
(
collisionObject,
0,
castResult.m_normal,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.AddSingleResult(localRayResult, normalInWorldSpace);
}
}
}
}
else
{
if (collisionShape->isConcave())
{
btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
btTriangleRaycastCallback(from,to),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
}
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
btVector3 rayAabbMinLocal = rayFromLocal;
rayAabbMinLocal.setMin(rayToLocal);
btVector3 rayAabbMaxLocal = rayFromLocal;
rayAabbMaxLocal.setMax(rayToLocal);
triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
} else
{
//todo: use AABB tree or other BVH acceleration structure!
if (collisionShape->isCompound())
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
int i=0;
for (i=0;i<compoundShape->getNumChildShapes();i++)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
objectQuerySingle(castShape, rayFromTrans,rayToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback, collisionFilterMask);
}
}
}
}
}
void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f);
const btConvexShape* castShape = &pointShape;
if (collisionShape->isConvex())
{
// BT_PROFILE("rayTestConvex");
btConvexCast::CastResult castResult;
castResult.m_fraction = resultCallback.m_closestHitFraction;
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
btCollisionWorld::LocalRayResult localRayResult
(
collisionObject,
0,
castResult.m_normal,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
}
}
}
} else {
if (collisionShape->isConcave())
{
// BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
btTriangleRaycastCallback(from,to),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} else
{
//generic (slower) case
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh):
btTriangleRaycastCallback(from,to),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
btVector3 rayAabbMinLocal = rayFromLocal;
rayAabbMinLocal.setMin(rayToLocal);
btVector3 rayAabbMaxLocal = rayFromLocal;
rayAabbMaxLocal.setMax(rayToLocal);
concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
}
} else {
// BT_PROFILE("rayTestCompound");
///@todo: use AABB tree or other BVH acceleration structure, see btDbvt
if (collisionShape->isCompound())
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
int i=0;
for (i=0;i<compoundShape->getNumChildShapes();i++)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
// replace collision shape so that callback can determine the triangle
btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback);
// restore
collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
}
}
}
}
}
void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f);
const btConvexShape* castShape = &pointShape;
if (collisionShape->isConvex())
{
// BT_PROFILE("rayTestConvex");
btConvexCast::CastResult castResult;
castResult.m_fraction = resultCallback.m_closestHitFraction;
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
btCollisionWorld::LocalRayResult localRayResult
(
collisionObject,
0,
castResult.m_normal,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
}
}
}
} else {
if (collisionShape->isConcave())
{
// BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalWorld,
hitFraction);
bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh,colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} else
{
//generic (slower) case
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalWorld,
hitFraction);
bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
btVector3 rayAabbMinLocal = rayFromLocal;
rayAabbMinLocal.setMin(rayToLocal);
btVector3 rayAabbMaxLocal = rayFromLocal;
rayAabbMaxLocal.setMax(rayToLocal);
concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
}
} else {
// BT_PROFILE("rayTestCompound");
if (collisionShape->isCompound())
{
struct LocalInfoAdder2 : public RayResultCallback
{
RayResultCallback* m_userCallback;
int m_i;
LocalInfoAdder2 (int i, RayResultCallback *user)
: m_userCallback(user), m_i(i)
{
m_closestHitFraction = m_userCallback->m_closestHitFraction;
}
virtual bool needsCollision(btBroadphaseProxy* p) const
{
return m_userCallback->needsCollision(p);
}
virtual btScalar addSingleResult (btCollisionWorld::LocalRayResult &r, bool b)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = -1;
shapeInfo.m_triangleIndex = m_i;
if (r.m_localShapeInfo == NULL)
r.m_localShapeInfo = &shapeInfo;
const btScalar result = m_userCallback->addSingleResult(r, b);
m_closestHitFraction = m_userCallback->m_closestHitFraction;
return result;
}
};
struct RayTester : btDbvt::ICollide
{
btCollisionObject* m_collisionObject;
const btCompoundShape* m_compoundShape;
const btTransform& m_colObjWorldTransform;
const btTransform& m_rayFromTrans;
const btTransform& m_rayToTrans;
RayResultCallback& m_resultCallback;
RayTester(btCollisionObject* collisionObject,
const btCompoundShape* compoundShape,
const btTransform& colObjWorldTransform,
const btTransform& rayFromTrans,
const btTransform& rayToTrans,
RayResultCallback& resultCallback):
m_collisionObject(collisionObject),
m_compoundShape(compoundShape),
m_colObjWorldTransform(colObjWorldTransform),
m_rayFromTrans(rayFromTrans),
m_rayToTrans(rayToTrans),
m_resultCallback(resultCallback)
{
}
void Process(int i)
{
const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
const btTransform& childTrans = m_compoundShape->getChildTransform(i);
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
// replace collision shape so that callback can determine the triangle
btCollisionShape* saveCollisionShape = m_collisionObject->getCollisionShape();
m_collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
LocalInfoAdder2 my_cb(i, &m_resultCallback);
rayTestSingle(
m_rayFromTrans,
m_rayToTrans,
m_collisionObject,
childCollisionShape,
childWorldTrans,
my_cb);
// restore
m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
}
void Process(const btDbvtNode* leaf)
{
Process(leaf->dataAsInt);
}
};
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
const btDbvt* dbvt = compoundShape->getDynamicAabbTree();
RayTester rayCB(
collisionObject,
compoundShape,
colObjWorldTransform,
rayFromTrans,
rayToTrans,
resultCallback);
#ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
if (dbvt)
{
btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
btDbvt::rayTest(dbvt->m_root, localRayFrom , localRayTo, rayCB);
}
else
#endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
{
for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
{
rayCB.Process(i);
}
}
}
}
}
}
/**
* This functions runs in infinite blocking loop until there is no fd in
* pfdset. It calls corresponding r/w handler if there is event on the fd.
*
* Before the callback is called, we set the flag to busy status; If other
* thread(now rte_vhost_driver_unregister) calls fdset_del concurrently, it
* will wait until the flag is reset to zero(which indicates the callback is
* finished), then it could free the context after fdset_del.
*/
void
fdset_event_dispatch(struct fdset *pfdset)
{
fd_set rfds, wfds;
int i, maxfds;
struct fdentry *pfdentry;
int num = MAX_FDS;
fd_cb rcb, wcb;
void *dat;
int fd;
int remove1, remove2;
int ret;
if (pfdset == NULL)
return;
while (1) {
struct timeval tv;
tv.tv_sec = 1;
tv.tv_usec = 0;
FD_ZERO(&rfds);
FD_ZERO(&wfds);
pthread_mutex_lock(&pfdset->fd_mutex);
maxfds = fdset_fill(&rfds, &wfds, pfdset);
pthread_mutex_unlock(&pfdset->fd_mutex);
/*
* When select is blocked, other threads might unregister
* listenfds from and register new listenfds into fdset.
* When select returns, the entries for listenfds in the fdset
* might have been updated. It is ok if there is unwanted call
* for new listenfds.
*/
ret = select(maxfds + 1, &rfds, &wfds, NULL, &tv);
if (ret <= 0)
continue;
for (i = 0; i < num; i++) {
remove1 = remove2 = 0;
pthread_mutex_lock(&pfdset->fd_mutex);
pfdentry = &pfdset->fd[i];
fd = pfdentry->fd;
rcb = pfdentry->rcb;
wcb = pfdentry->wcb;
dat = pfdentry->dat;
pfdentry->busy = 1;
pthread_mutex_unlock(&pfdset->fd_mutex);
if (fd >= 0 && FD_ISSET(fd, &rfds) && rcb)
rcb(fd, dat, &remove1);
if (fd >= 0 && FD_ISSET(fd, &wfds) && wcb)
wcb(fd, dat, &remove2);
pfdentry->busy = 0;
/*
* fdset_del needs to check busy flag.
* We don't allow fdset_del to be called in callback
* directly.
*/
/*
* When we are to clean up the fd from fdset,
* because the fd is closed in the cb,
* the old fd val could be reused by when creates new
* listen fd in another thread, we couldn't call
* fd_set_del.
*/
if (remove1 || remove2)
fdset_del_slot(pfdset, i);
}
}
}
/**
* This functions runs in infinite blocking loop until there is no fd in
* pfdset. It calls corresponding r/w handler if there is event on the fd.
*
* Before the callback is called, we set the flag to busy status; If other
* thread(now rte_vhost_driver_unregister) calls fdset_del concurrently, it
* will wait until the flag is reset to zero(which indicates the callback is
* finished), then it could free the context after fdset_del.
*/
void *
fdset_event_dispatch(void *arg)
{
int i;
struct pollfd *pfd;
struct fdentry *pfdentry;
fd_cb rcb, wcb;
void *dat;
int fd, numfds;
int remove1, remove2;
int need_shrink;
struct fdset *pfdset = arg;
int val;
if (pfdset == NULL)
return NULL;
while (1) {
/*
* When poll is blocked, other threads might unregister
* listenfds from and register new listenfds into fdset.
* When poll returns, the entries for listenfds in the fdset
* might have been updated. It is ok if there is unwanted call
* for new listenfds.
*/
pthread_mutex_lock(&pfdset->fd_mutex);
numfds = pfdset->num;
pthread_mutex_unlock(&pfdset->fd_mutex);
val = poll(pfdset->rwfds, numfds, 1000 /* millisecs */);
if (val < 0)
continue;
need_shrink = 0;
for (i = 0; i < numfds; i++) {
pthread_mutex_lock(&pfdset->fd_mutex);
pfdentry = &pfdset->fd[i];
fd = pfdentry->fd;
pfd = &pfdset->rwfds[i];
if (fd < 0) {
need_shrink = 1;
pthread_mutex_unlock(&pfdset->fd_mutex);
continue;
}
if (!pfd->revents) {
pthread_mutex_unlock(&pfdset->fd_mutex);
continue;
}
remove1 = remove2 = 0;
rcb = pfdentry->rcb;
wcb = pfdentry->wcb;
dat = pfdentry->dat;
pfdentry->busy = 1;
pthread_mutex_unlock(&pfdset->fd_mutex);
if (rcb && pfd->revents & (POLLIN | FDPOLLERR))
rcb(fd, dat, &remove1);
if (wcb && pfd->revents & (POLLOUT | FDPOLLERR))
wcb(fd, dat, &remove2);
pfdentry->busy = 0;
/*
* fdset_del needs to check busy flag.
* We don't allow fdset_del to be called in callback
* directly.
*/
/*
* When we are to clean up the fd from fdset,
* because the fd is closed in the cb,
* the old fd val could be reused by when creates new
* listen fd in another thread, we couldn't call
* fd_set_del.
*/
if (remove1 || remove2) {
pfdentry->fd = -1;
need_shrink = 1;
}
}
if (need_shrink)
fdset_shrink(pfdset);
}
return NULL;
}
status_t QCameraStream_preview::processPreviewFrame(mm_camera_ch_data_buf_t *frame)
{
ALOGV("%s",__func__);
int err = 0;
int msgType = 0;
camera_memory_t *data = NULL;
camera_frame_metadata_t *metadata = NULL;
Mutex::Autolock lock(mStopCallbackLock);
if(!mActive) {
ALOGE("Preview Stopped. Returning callback");
return NO_ERROR;
}
if(mHalCamCtrl==NULL) {
ALOGE("%s: X: HAL control object not set",__func__);
/*Call buf done*/
return BAD_VALUE;
}
mHalCamCtrl->mCallbackLock.lock();
camera_data_timestamp_callback rcb = mHalCamCtrl->mDataCbTimestamp;
void *rdata = mHalCamCtrl->mCallbackCookie;
mHalCamCtrl->mCallbackLock.unlock();
if (UNLIKELY(mHalCamCtrl->mDebugFps)) {
mHalCamCtrl->debugShowPreviewFPS();
}
//dumpFrameToFile(frame->def.frame);
mHalCamCtrl->dumpFrameToFile(frame->def.frame, HAL_DUMP_FRM_PREVIEW);
nsecs_t timeStamp = systemTime();
mHalCamCtrl->mPreviewMemoryLock.lock();
mNotifyBuffer[frame->def.idx] = *frame;
// mzhu fix me, need to check meta data also.
ALOGI("Enqueue buf handle %p\n",
mHalCamCtrl->mPreviewMemory.buffer_handle[frame->def.idx]);
ALOGD("%s: camera call genlock_unlock", __FUNCTION__);
if (BUFFER_LOCKED == mHalCamCtrl->mPreviewMemory.local_flag[frame->def.idx]) {
if (GENLOCK_FAILURE == genlock_unlock_buffer((native_handle_t*)
(*mHalCamCtrl->mPreviewMemory.buffer_handle[frame->def.idx]))) {
ALOGE("%s: genlock_unlock_buffer failed", __FUNCTION__);
mHalCamCtrl->mPreviewMemoryLock.unlock();
return -EINVAL;
} else {
mHalCamCtrl->mPreviewMemory.local_flag[frame->def.idx] = BUFFER_UNLOCKED;
}
} else {
ALOGE("%s: buffer to be enqueued is not locked", __FUNCTION__);
mHalCamCtrl->mPreviewMemoryLock.unlock();
return -EINVAL;
}
err = this->mPreviewWindow->enqueue_buffer(this->mPreviewWindow,
(buffer_handle_t *)mHalCamCtrl->mPreviewMemory.buffer_handle[frame->def.idx]);
if(err != 0) {
ALOGE("%s: enqueue_buffer failed, err = %d", __func__, err);
}
buffer_handle_t *buffer_handle = NULL;
int tmp_stride = 0;
err = this->mPreviewWindow->dequeue_buffer(this->mPreviewWindow,
&buffer_handle, &tmp_stride);
if (err == NO_ERROR && buffer_handle != NULL) {
err = this->mPreviewWindow->lock_buffer(this->mPreviewWindow, buffer_handle);
ALOGD("%s: camera call genlock_lock", __FUNCTION__);
if (GENLOCK_FAILURE == genlock_lock_buffer((native_handle_t*)(*buffer_handle), GENLOCK_WRITE_LOCK,
GENLOCK_MAX_TIMEOUT)) {
ALOGE("%s: genlock_lock_buffer(WRITE) failed", __FUNCTION__);
mHalCamCtrl->mPreviewMemoryLock.unlock();
return -EINVAL;
}
for(int i = 0; i < mHalCamCtrl->mPreviewMemory.buffer_count; i++) {
ALOGD("h1: %p h2: %p\n", mHalCamCtrl->mPreviewMemory.buffer_handle[i], buffer_handle);
if(mHalCamCtrl->mPreviewMemory.buffer_handle[i] == buffer_handle) {
mm_camera_ch_data_buf_t tmp_frame;
mHalCamCtrl->mPreviewMemory.local_flag[i] = BUFFER_LOCKED;
if(MM_CAMERA_OK != cam_evt_buf_done(mCameraId, &mNotifyBuffer[i])) {
ALOGD("BUF DONE FAILED");
mHalCamCtrl->mPreviewMemoryLock.unlock();
return BAD_VALUE;
}
break;
}
}
} else
ALOGE("%s: error in dequeue_buffer, enqueue_buffer idx = %d, no free buffer now", __func__, frame->def.idx);
/* Save the last displayed frame. We'll be using it to fill the gap between
when preview stops and postview start during snapshot.*/
mLastQueuedFrame = &(mDisplayStreamBuf.frame[frame->def.idx]);
mHalCamCtrl->mPreviewMemoryLock.unlock();
mHalCamCtrl->mCallbackLock.lock();
camera_data_callback pcb = mHalCamCtrl->mDataCb;
mHalCamCtrl->mCallbackLock.unlock();
ALOGD("Message enabled = 0x%x", mHalCamCtrl->mMsgEnabled);
if (pcb != NULL) {
//Sending preview callback if corresponding Msgs are enabled
if(mHalCamCtrl->mMsgEnabled & CAMERA_MSG_PREVIEW_FRAME) {
msgType |= CAMERA_MSG_PREVIEW_FRAME;
data = mHalCamCtrl->mPreviewMemory.camera_memory[frame->def.idx];//mPreviewHeap->mBuffers[frame->def.idx];
} else {
data = NULL;
}
if(msgType) {
mStopCallbackLock.unlock();
pcb(msgType, data, 0, metadata, mHalCamCtrl->mCallbackCookie);
}
ALOGD("end of cb");
}
if(rcb != NULL)
{
if (mHalCamCtrl->mStoreMetaDataInFrame)
{
mStopCallbackLock.unlock();
if(mHalCamCtrl->mStartRecording == true &&( mHalCamCtrl->mMsgEnabled & CAMERA_MSG_VIDEO_FRAME))
rcb(timeStamp, CAMERA_MSG_VIDEO_FRAME,
mHalCamCtrl->mRecordingMemory.metadata_memory[frame->def.idx],
0, mHalCamCtrl->mCallbackCookie);
}
else
{
if(mHalCamCtrl->mStartRecording == true &&( mHalCamCtrl->mMsgEnabled & CAMERA_MSG_VIDEO_FRAME))
{
mStopCallbackLock.unlock();
rcb(timeStamp, CAMERA_MSG_VIDEO_FRAME,
mHalCamCtrl->mPreviewMemory.camera_memory[frame->def.idx],
0, mHalCamCtrl->mCallbackCookie);
}
}
}
/* Save the last displayed frame. We'll be using it to fill the gap between
when preview stops and postview start during snapshot.*/
//mLastQueuedFrame = frame->def.frame;
/*
if(MM_CAMERA_OK != cam_evt_buf_done(mCameraId, frame))
{
ALOGE("BUF DONE FAILED");
return BAD_VALUE;
}
*/
return NO_ERROR;
}
