Vertex *updateNeighborhood(Graph *g,Vertex *u)
{
int i,j;
Vertex *v;
Pilot *np, *p;
Vect *nextAcc;
int boost=((Vect4D *)u->e)->b;
int l=boost>0?2:1;
p=createPilotFromVertex(u);
for(i=-l;i<=l;i++)
{
for(j=-l;j<=l;j++)
{
np=createEmptyPilot();
nextAcc=createVect(i,j);
np->speed=vectSum(p->speed,nextAcc);
np->pos=vectSum(p->pos,np->speed);
if(isValidMove(p,np,g->field))
{
boost=(i==-2||i==2||j==-2||j==2)?((Vect4D *)u->e)->b-1:((Vect4D *)u->e)->b;
v=g->vertices[np->pos->x][np->pos->y][getSpeedIndex(np->speed)][boost];
if(v->distance>u->distance+1)
{
v->previous=u;
v->distance=u->distance+1;
fh_insertkey(g->heap,v->distance,v);
}
if(g->field->cell[np->pos->x][np->pos->y]=='=')
{
return v;
}
}
else
{
destroyPilot(np);
destroyVect(nextAcc);
continue;
}
destroyVect(nextAcc);
}
}
return NULL;
}
void captureOctTree(Point3f camera, Point3f target, Point3f up, int width, int height, float *data)
{
//normalize vectors
target = vectNormalize(target);
up = vectNormalize(up);
Point3f right = vectNormalize(vectMul(target, up));
Point3f relative_up = vectNormalize(vectMul(right, camera_target));
target = vectDiv(target, tanf(AOV / 2.f));
Point3f bottom_left_vec = vectSum(target, vectDiv(relative_up, -2), vectDiv(right, -2));
Point3f dright = vectDiv(right, (float)width);
Point3f dup = vectDiv(relative_up, (float)height);
cl_int status;
status = clEnqueueAcquireGLObjects(queue, 1, &image, 0, NULL, NULL);
check_cl(status, "enqueue gl");
// find the camera
Point3f origin = camera;
OctTreeNode *tree = mainOctTree;
int dx, dy, dz;
float radius = 1.f;
Point3f center = (Point3f) { 0.f, 0.f, 0.f };
Point3f local = vectMulScalar(origin, center, -1);
cl_int offset = 0;
while (tree->type >= 0) {
dx = local.x > 0;
dy = local.y > 0;
dz = local.z > 0;
offset = tree->nodes[dx][dy][dz];
tree = mainOctTree + offset;
radius /= 2.f;
center = (Point3f) {
center.x + (2 * dx - 1) * radius,
center.y + (2 * dy - 1) * radius,
center.z + (2 * dz - 1) * radius
};
local = vectMulScalar(origin, center, -1);
}
Point3f camera111 = vectMulScalar(origin, (Point3f) { 1.f, 1.f, 1.f }, 1.f);
Point3f light111 = vectMulScalar(light, (Point3f) { 1.f, 1.f, 1.f }, 1.f);
// cl_float3 is bigger than Point3f but we're only passing stack-allocated stuff, so reading garbage is safe
status = clSetKernelArg(kernel, 0, sizeof(cl_float3), &camera111);
check_cl(status, "set arg 0");
status = clSetKernelArg(kernel, 1, sizeof(cl_float3), &light111);
check_cl(status, "set arg 1");
status = clSetKernelArg(kernel, 2, sizeof(cl_float3), &bottom_left_vec);
check_cl(status, "set arg 2");
status = clSetKernelArg(kernel, 3, sizeof(cl_float3), &dup);
check_cl(status, "set arg 3");
status = clSetKernelArg(kernel, 4, sizeof(cl_float3), &dright);
check_cl(status, "set arg 4");
status = clSetKernelArg(kernel, 5, sizeof(cl_mem), &mainOctCL);
check_cl(status, "set arg 5");
status = clSetKernelArg(kernel, 6, sizeof(cl_mem), &image);
check_cl(status, "set arg 6");
status = clSetKernelArg(kernel, 7, sizeof(cl_int), &offset);
check_cl(status, "set arg 7");
// run kernel
size_t global_work_size[] = {width, height};
size_t local_work_size[] = {8, 8};
status = clEnqueueNDRangeKernel(queue, kernel, 2, NULL, global_work_size, local_work_size, 0, NULL, NULL);
check_cl(status, "enqueue kernel");
status = clEnqueueReleaseGLObjects(queue, 1, &image, 0, NULL, NULL);
check_cl(status, "release gl");
status = clFinish(queue);
check_cl(status, "finish");
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, texture);
glBegin(GL_QUADS);
glTexCoord2i(0, 1);
glVertex2f(-1, 1.0f);
glTexCoord2i(1, 1);
glVertex2f(1.0f, 1.0f);
glTexCoord2i(1, 0);
glVertex2f(1.0f, -1.f);
glTexCoord2i(0, 0);
glVertex2f(-1, -1.f);
glEnd();
glDisable(GL_TEXTURE_2D);
glFinish();
}
