bool detect_collision_point(const int aircraft[], const int obstacle[], const int aircraft_vel[], const int obtacle_vel[], int collision_point[], bool *ray){
bool valid_t;
int collision_2d[3];
t = calculate_t(aircraft,obstacle,aircraft_vel,obstacle_vel,&valid_t);
if ( valid_t == false ){
if ( ray_tracing(aircraft,obstacle,aircraft[3]+obstacle[3],collision_2d) ){
*ray = true;
return true;
}
else {
return false;
}
}
else {
collision_point[0] = aircraft[0] + aircraft_vel[0]*t;
collision_point[1] = aircraft[1] + aircraft_vel[1]*t;
collision_point[2] = aircraft[2] + aircraft_vel[2]*t;
*ray = false;
return true;
}
}
/* point_position() calculates an average 3D position implied by the rays
sent toward it from cameras through the image projections of the point.
Arguments:
vec2d targets[] - for each camera, the 2D metric, flat, centred coordinates
of the identified point projection.
int num_cams - number of cameras ( = number of elements in ``targets``).
mm_np *multimed_pars - multimedia parameters struct for ray tracing through
several layers.
Calibration* cals[] - each camera's calibration object.
vec3d res - the result average point.
Returns:
The ray convergence measure, an average of skew ray distance across all
ray pairs.
*/
double point_position(vec2d targets[], int num_cams, mm_np *multimed_pars,
Calibration* cals[], vec3d res)
{
int cam, pair; /* loop counters */
int num_used_pairs = 0; /* averaging accumulators */
double dtot = 0;
vec3d point_tot = {0., 0., 0.};
vec3d* vertices = (vec3d *) calloc(num_cams, sizeof(vec3d));
vec3d* directs = (vec3d *) calloc(num_cams, sizeof(vec3d));
vec3d point;
/* Shoot rays from all cameras. */
for (cam = 0; cam < num_cams; cam++) {
if (targets[cam][0] != PT_UNUSED) {
ray_tracing(targets[cam][0], targets[cam][1], cals[cam],
*multimed_pars, vertices[cam], directs[cam]);
}
}
/* Check intersection distance for each pair of rays and find position */
for (cam = 0; cam < num_cams; cam++) {
if (targets[cam][0] == PT_UNUSED) continue;
for (pair = cam + 1; pair < num_cams; pair++) {
if (targets[pair][0] == PT_UNUSED) continue;
num_used_pairs++;
dtot += skew_midpoint(vertices[cam], directs[cam],
vertices[pair], directs[pair], point);
vec_add(point_tot, point, point_tot);
}
}
free(vertices);
free(directs);
vec_scalar_mul(point_tot, 1./num_used_pairs, res);
return (dtot / num_used_pairs);
}
void Engine::rendering()
{
timer.Start();
unsigned int w = scene->get_cam()->get_width();
unsigned int h = scene->get_cam()->get_height();
unsigned int i, j;
Camera * cam = scene->get_cam();
int aa = cam->get_aa();
#ifndef use_tbb
#pragma omp parallel for private(i, j) firstprivate(aa) schedule(static, grainsize)
for (j = 0; j < h; j++)
for (i = 0; i < w; i++)
{
vec4 color_total;
for (unsigned int s = 0; s < aa; s++)
{
color_total += ray_tracing(cam->get_ray(i, j, s), depth);
}
color_total /= static_cast<float>(aa);
vbuf[j * w + i] = to_color(color_total);
}
#else
//static tbb::task_scheduler_init init ( threads );
//static tbb::affinity_partitioner ap;
tbb::parallel_for
(
tbb::blocked_range<size_t> ( static_cast<size_t>(0), w * h, grainsize),
[&]( const tbb::blocked_range<size_t> & range )
{
size_t i, j;
for ( size_t ind = range.begin(); ind < range.end(); ++ind)
{
i = ind / w;
j = ind - i * w;
vec4 color_total;
for (size_t s = 0; s < aa; ++s)
{
color_total += ray_tracing(cam->get_ray(i, j, s), depth);
}
color_total /= static_cast<float>(aa);
vbuf[ind] = to_color(color_total);
}
}//, ap
//, tbb::auto_partitioner()
);
#endif
timer.Stop();
fps = static_cast<float>(timer.OperationPerSecond());
num_frame++;
}
vec4 Engine::ray_tracing(const Ray & ray, size_t depth_local)
{
vec4 point;
float t;
Primitive * obj = scene->crossing(ray, t);
vec4 color(0.0f);
if (obj == NULL)
{
return color;
}
else
{
vec4 rdir = ray.dir();
vec4 rpos = ray.pos();
point = rpos + t * rdir;
int cl = scene->get_lights();
vec4 normal = obj->get_normal(point);
vec4 ref = reflect(normal, rdir);
Light light;
color = vec4(0.05f, 0.05f, 0.05f, 0.0f);
for (int i = 0; i < cl; i++)
{
light = scene->get_light(i);
vec4 l_pos = light.pos();
vec4 l_col = light.color();
vec4 dir_to_l = normalize(l_pos - point);
Ray ray_shadow(point + dir_to_l * 0.00025f, dir_to_l);
Primitive * obj_shadow = scene->crossing(ray_shadow, t);
if (obj_shadow == NULL || calc_distance(point, l_pos) < t)
{
float d = dot(normal, dir_to_l);
if (d < 0.0f) d = 0.0f;
color += l_col * d;
float tt = dot(ref, normalize(rpos - point));
if (tt > 0.0f)
{
color += vec4(0.75f) * powf(tt, 64.0f); // spec
}
}
}
if ( depth_local > 1)
{
Ray rray(point + ref * 0.0025f, ref);
color += ray_tracing(rray, depth_local - 1) * 0.75f;
}
return color;
}
}
