void GraspSet::calculateVoxelizedShadowVectorized(const Eigen::Matrix3Xd& points,
const Eigen::Vector3d& shadow_vec, int num_shadow_points, double voxel_grid_size, Vector3iSet& shadow_set) const
{
double t0_set = omp_get_wtime();
const int n = points.cols() * num_shadow_points;
const double voxel_grid_size_mult = 1.0 / voxel_grid_size;
const double max = 1.0 / 32767.0;
// Eigen::Vector3d w;
for(int i = 0; i < n; i++)
{
const int pt_idx = i / num_shadow_points;
// const Eigen::Vector3d w = (points.col(pt_idx) + ((double) fastrand() * max) * shadow_vec) * voxel_grid_size_mult;
shadow_set.insert(((points.col(pt_idx) + ((double) fastrand() * max) * shadow_vec) * voxel_grid_size_mult).cast<int>());
}
if (MEASURE_TIME)
printf("Shadow (1 camera) calculation. Runtime: %.3f, #points: %d, num_shadow_points: %d, #shadow: %d, max #shadow: %d\n",
omp_get_wtime() - t0_set, (int) points.cols(), num_shadow_points, (int) shadow_set.size(), n);
// std::cout << "Calculated shadow for 1 camera. Runtime: " << omp_get_wtime() - t0_set << ", #points: " << n << "\n";
}
bool cBlockPistonHandler::CanPushBlock(
const Vector3i & a_BlockPos, cWorld * a_World, bool a_RequirePushable,
Vector3iSet & a_BlocksPushed, const Vector3i & a_PushDir
)
{
const static std::array<Vector3i, 6> pushingDirs =
{
{
Vector3i(-1, 0, 0), Vector3i(1, 0, 0),
Vector3i( 0, -1, 0), Vector3i(0, 1, 0),
Vector3i( 0, 0, -1), Vector3i(0, 0, 1)
}
};
BLOCKTYPE currBlock;
NIBBLETYPE currMeta;
a_World->GetBlockTypeMeta(a_BlockPos.x, a_BlockPos.y, a_BlockPos.z, currBlock, currMeta);
if (currBlock == E_BLOCK_AIR)
{
// Air can be pushed
return true;
}
if (!a_RequirePushable && cBlockInfo::IsPistonBreakable(currBlock))
{
// Block should not be broken, when it's not in the pushing direction
return true;
}
if (!CanPush(currBlock, currMeta))
{
// When it's not required to push this block, don't fail
return !a_RequirePushable;
}
if (a_BlocksPushed.size() >= PISTON_MAX_PUSH_DISTANCE)
{
// Do not allow to push too much blocks
return false;
}
if (!a_BlocksPushed.insert(a_BlockPos).second || cBlockInfo::IsPistonBreakable(currBlock))
{
return true; // Element exist already
}
if (currBlock == E_BLOCK_SLIME_BLOCK)
{
// Try to push the other directions
for (const auto & testDir : pushingDirs)
{
if (!CanPushBlock(a_BlockPos + testDir, a_World, false, a_BlocksPushed, a_PushDir))
{
// When it's not possible for a direction, then fail
return false;
}
}
}
// Try to push the block in front of this block
return CanPushBlock(a_BlockPos + a_PushDir, a_World, true, a_BlocksPushed, a_PushDir);
}
