/// encodes the voxel details portion of a voxel edit message
bool encodeVoxelEditMessageDetails(PacketType, int voxelCount, VoxelDetail* voxelDetails,
unsigned char* bufferOut, int sizeIn, int& sizeOut) {
bool success = true; // assume the best
unsigned char* copyAt = bufferOut;
sizeOut = 0;
for (int i = 0; i < voxelCount && success; i++) {
// get the coded voxel
unsigned char* voxelData = pointToVoxel(voxelDetails[i].x,voxelDetails[i].y,voxelDetails[i].z,
voxelDetails[i].s,voxelDetails[i].red,voxelDetails[i].green,voxelDetails[i].blue);
int lengthOfVoxelData = bytesRequiredForCodeLength(*voxelData)+SIZE_OF_COLOR_DATA;
// make sure we have room to copy this voxel
if (sizeOut + lengthOfVoxelData > sizeIn) {
success = false;
} else {
// add it to our message
memcpy(copyAt, voxelData, lengthOfVoxelData);
copyAt += lengthOfVoxelData;
sizeOut += lengthOfVoxelData;
}
// cleanup
delete[] voxelData;
}
return success;
}
void VoxelTree::createVoxel(float x, float y, float z, float s,
unsigned char red, unsigned char green, unsigned char blue, bool destructive) {
unsigned char* voxelData = pointToVoxel(x,y,z,s,red,green,blue);
//int length = bytesRequiredForCodeLength(numberOfThreeBitSectionsInCode(voxelData)) + BYTES_PER_COLOR;
//printf("createVoxel()...");
//outputBufferBits(voxelData,length);
this->readCodeColorBufferToTree(voxelData, destructive);
delete[] voxelData;
}
/// creates an "insert" or "remove" voxel message for a voxel code corresponding to the closest voxel which encloses a cube
/// with lower corners at x,y,z, having side of length S. The input values x,y,z range 0.0 <= v < 1.0 message should be either
/// PacketTypeVoxelSet, PacketTypeVoxelSetDestructive, or PacketTypeVoxelErase. The buffer is returned to caller becomes
/// responsibility of caller and MUST be deleted by caller.
bool createVoxelEditMessage(PacketType command, short int sequence,
int voxelCount, const VoxelDetail* voxelDetails, unsigned char*& bufferOut, int& sizeOut) {
bool success = true; // assume the best
int messageSize = MAXIMUM_EDIT_VOXEL_MESSAGE_SIZE; // just a guess for now
unsigned char* messageBuffer = new unsigned char[messageSize];
int numBytesPacketHeader = populatePacketHeader(reinterpret_cast<char*>(messageBuffer), command);
unsigned short int* sequenceAt = (unsigned short int*) &messageBuffer[numBytesPacketHeader];
*sequenceAt = sequence;
// pack in timestamp
quint64 now = usecTimestampNow();
quint64* timeAt = (quint64*)&messageBuffer[numBytesPacketHeader + sizeof(sequence)];
*timeAt = now;
unsigned char* copyAt = &messageBuffer[numBytesPacketHeader + sizeof(sequence) + sizeof(now)];
int actualMessageSize = numBytesPacketHeader + sizeof(sequence) + sizeof(now);
for (int i = 0; i < voxelCount && success; i++) {
// get the coded voxel
unsigned char* voxelData = pointToVoxel(voxelDetails[i].x,voxelDetails[i].y,voxelDetails[i].z,
voxelDetails[i].s,voxelDetails[i].red,voxelDetails[i].green,voxelDetails[i].blue);
int lengthOfVoxelData = bytesRequiredForCodeLength(*voxelData)+SIZE_OF_COLOR_DATA;
// make sure we have room to copy this voxel
if (actualMessageSize + lengthOfVoxelData > MAXIMUM_EDIT_VOXEL_MESSAGE_SIZE) {
success = false;
} else {
// add it to our message
memcpy(copyAt, voxelData, lengthOfVoxelData);
copyAt += lengthOfVoxelData;
actualMessageSize += lengthOfVoxelData;
}
// cleanup
delete[] voxelData;
}
if (success) {
// finally, copy the result to the output
bufferOut = new unsigned char[actualMessageSize];
sizeOut = actualMessageSize;
memcpy(bufferOut, messageBuffer, actualMessageSize);
}
delete[] messageBuffer; // clean up our temporary buffer
return success;
}
int main(int argc, const char * argv[])
{
VoxelTree myTree;
qInstallMessageHandler(sharedMessageHandler);
unitTest(&myTree);
const char* GET_OCTCODE = "--getOctCode";
const char* octcodeParams = getCmdOption(argc, argv, GET_OCTCODE);
if (octcodeParams) {
QString octcodeParamsString(octcodeParams);
QStringList octcodeParamsList = octcodeParamsString.split(QString(","));
enum { X_AT, Y_AT, Z_AT, S_AT, EXPECTED_PARAMS };
if (octcodeParamsList.size() == EXPECTED_PARAMS) {
QString xStr = octcodeParamsList.at(X_AT);
QString yStr = octcodeParamsList.at(Y_AT);
QString zStr = octcodeParamsList.at(Z_AT);
QString sStr = octcodeParamsList.at(S_AT);
float x = xStr.toFloat()/TREE_SCALE; // 0.14745788574219;
float y = yStr.toFloat()/TREE_SCALE; // 0.01502178955078;
float z = zStr.toFloat()/TREE_SCALE; // 0.56540045166016;
float s = sStr.toFloat()/TREE_SCALE; // 0.015625;
qDebug() << "Get Octal Code for:\n";
qDebug() << " x:" << xStr << " [" << x << "] \n";
qDebug() << " y:" << yStr << " [" << y << "] \n";
qDebug() << " z:" << zStr << " [" << z << "] \n";
qDebug() << " s:" << sStr << " [" << s << "] \n";
unsigned char* octalCode = pointToVoxel(x, y, z, s);
QString octalCodeStr = octalCodeToHexString(octalCode);
qDebug() << "octal code: " << octalCodeStr << "\n";
} else {
qDebug() << "Unexpected number of parameters for getOctCode\n";
}
return 0;
}
const char* DECODE_OCTCODE = "--decodeOctCode";
const char* decodeParam = getCmdOption(argc, argv, DECODE_OCTCODE);
if (decodeParam) {
QString decodeParamsString(decodeParam);
unsigned char* octalCodeToDecode = hexStringToOctalCode(decodeParamsString);
VoxelPositionSize details;
voxelDetailsForCode(octalCodeToDecode, details);
delete[] octalCodeToDecode;
qDebug() << "octal code to decode: " << decodeParamsString << "\n";
qDebug() << "Details for Octal Code:\n";
qDebug() << " x:" << details.x << "[" << details.x * TREE_SCALE << "]" << "\n";
qDebug() << " y:" << details.y << "[" << details.y * TREE_SCALE << "]" << "\n";
qDebug() << " z:" << details.z << "[" << details.z * TREE_SCALE << "]" << "\n";
qDebug() << " s:" << details.s << "[" << details.s * TREE_SCALE << "]" << "\n";
return 0;
}
// Handles taking and SVO and splitting it into multiple SVOs based on
// jurisdiction details
const char* SPLIT_SVO = "--splitSVO";
const char* splitSVOFile = getCmdOption(argc, argv, SPLIT_SVO);
const char* SPLIT_JURISDICTION_ROOT = "--splitJurisdictionRoot";
const char* SPLIT_JURISDICTION_ENDNODES = "--splitJurisdictionEndNodes";
const char* splitJurisdictionRoot = getCmdOption(argc, argv, SPLIT_JURISDICTION_ROOT);
const char* splitJurisdictionEndNodes = getCmdOption(argc, argv, SPLIT_JURISDICTION_ENDNODES);
if (splitSVOFile && splitJurisdictionRoot && splitJurisdictionEndNodes) {
processSplitSVOFile(splitSVOFile, splitJurisdictionRoot, splitJurisdictionEndNodes);
return 0;
}
// Handles taking an SVO and filling in the empty space below the voxels to make it solid.
const char* FILL_SVO = "--fillSVO";
const char* fillSVOFile = getCmdOption(argc, argv, FILL_SVO);
if (fillSVOFile) {
processFillSVOFile(fillSVOFile);
return 0;
}
const char* DONT_CREATE_FILE = "--dontCreateSceneFile";
bool dontCreateFile = cmdOptionExists(argc, argv, DONT_CREATE_FILE);
if (dontCreateFile) {
printf("You asked us not to create a scene file, so we will not.\n");
} else {
printf("Creating Scene File...\n");
const char* RUN_TUTORIAL = "--runTutorial";
if (cmdOptionExists(argc, argv, RUN_TUTORIAL)) {
voxelTutorial(&myTree);
}
const char* ADD_CORNERS_AND_AXIS_LINES = "--addCornersAndAxisLines";
if (cmdOptionExists(argc, argv, ADD_CORNERS_AND_AXIS_LINES)) {
addCornersAndAxisLines(&myTree);
}
const char* ADD_SPHERE_SCENE = "--addSphereScene";
if (cmdOptionExists(argc, argv, ADD_SPHERE_SCENE)) {
addSphereScene(&myTree);
}
const char* ADD_SURFACE_SCENE = "--addSurfaceScene";
if (cmdOptionExists(argc, argv, ADD_SURFACE_SCENE)) {
addSurfaceScene(&myTree);
}
unsigned long nodeCount = myTree.getOctreeElementsCount();
printf("Nodes after adding scenes: %ld nodes\n", nodeCount);
myTree.writeToSVOFile("voxels.svo");
}
return 0;
}
