bool OSLRenderServices::trace(TraceOpt &options,
OSL::ShaderGlobals *sg,
const OSL::Vec3 &P,
const OSL::Vec3 &dPdx,
const OSL::Vec3 &dPdy,
const OSL::Vec3 &R,
const OSL::Vec3 &dRdx,
const OSL::Vec3 &dRdy)
{
/* todo: options.shader support, maybe options.traceset */
ShaderData *sd = (ShaderData *)(sg->renderstate);
/* setup ray */
Ray ray;
ray.P = TO_FLOAT3(P);
ray.D = TO_FLOAT3(R);
ray.t = (options.maxdist == 1.0e30f) ? FLT_MAX : options.maxdist - options.mindist;
ray.time = sd->time;
if (options.mindist == 0.0f) {
/* avoid self-intersections */
if (ray.P == sd->P) {
bool transmit = (dot(sd->Ng, ray.D) < 0.0f);
ray.P = ray_offset(sd->P, (transmit) ? -sd->Ng : sd->Ng);
}
}
else {
/* offset for minimum distance */
ray.P += options.mindist * ray.D;
}
/* ray differentials */
ray.dP.dx = TO_FLOAT3(dPdx);
ray.dP.dy = TO_FLOAT3(dPdy);
ray.dD.dx = TO_FLOAT3(dRdx);
ray.dD.dy = TO_FLOAT3(dRdy);
/* allocate trace data */
OSLTraceData *tracedata = (OSLTraceData *)sg->tracedata;
tracedata->ray = ray;
tracedata->setup = false;
tracedata->init = true;
tracedata->sd.osl_globals = sd->osl_globals;
/* Raytrace, leaving out shadow opaque to avoid early exit. */
uint visibility = PATH_RAY_ALL_VISIBILITY - PATH_RAY_SHADOW_OPAQUE;
return scene_intersect(sd->osl_globals, ray, visibility, &tracedata->isect);
}
bool OSLRenderServices::trace(TraceOpt &options, OSL::ShaderGlobals *sg,
const OSL::Vec3 &P, const OSL::Vec3 &dPdx,
const OSL::Vec3 &dPdy, const OSL::Vec3 &R,
const OSL::Vec3 &dRdx, const OSL::Vec3 &dRdy)
{
/* todo: options.shader support, maybe options.traceset */
ShaderData *sd = (ShaderData *)(sg->renderstate);
/* setup ray */
Ray ray;
ray.P = TO_FLOAT3(P);
ray.D = TO_FLOAT3(R);
ray.t = (options.maxdist == 1.0e30)? FLT_MAX: options.maxdist - options.mindist;
ray.time = sd->time;
if(options.mindist == 0.0f) {
/* avoid self-intersections */
if(ray.P == sd->P) {
bool transmit = (dot(sd->Ng, ray.D) < 0.0f);
ray.P = ray_offset(sd->P, (transmit)? -sd->Ng: sd->Ng);
}
}
else {
/* offset for minimum distance */
ray.P += options.mindist*ray.D;
}
/* ray differentials */
ray.dP.dx = TO_FLOAT3(dPdx);
ray.dP.dy = TO_FLOAT3(dPdy);
ray.dD.dx = TO_FLOAT3(dRdx);
ray.dD.dy = TO_FLOAT3(dRdy);
/* allocate trace data */
OSLTraceData *tracedata = (OSLTraceData*)sg->tracedata;
tracedata->ray = ray;
tracedata->setup = false;
tracedata->init = true;
/* raytrace */
#ifdef __HAIR__
return scene_intersect(sd->osl_globals, &ray, ~0, &tracedata->isect, NULL, 0.0f, 0.0f);
#else
return scene_intersect(sd->osl_globals, &ray, ~0, &tracedata->isect);
#endif
}
void RagdollDemo::clientMoveAndDisplay() {
#ifdef GRAPHICS
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
extern GLDebugDrawer gDebugDrawer;
#endif
if (m_dynamicsWorld) {
double delta_x = brain->get_output(0);
delta_x *= MOTOR_SCALE;
//printf("delta_x: %f\n", delta_x);
btVector3 agent_position = move_kinematic_body(agent, btVector3(delta_x, 0, 0));
agent->setActivationState(ACTIVE_TAG);
btVector3 target_a_position = move_kinematic_body(target_a, btVector3(target_a_dx, 0, target_a_dz));
btVector3 target_b_position = move_kinematic_body(target_b, btVector3(target_b_dx, 0, target_b_dz));
target_a->setActivationState(ACTIVE_TAG);
target_b->setActivationState(ACTIVE_TAG);
if (create_draw_file) {
draw_fh << agent_position.getX() << " " << agent_position.getZ() << " ";
draw_fh << target_a_position.getX() << " " << target_a_position.getZ() << " ";
draw_fh << target_b_position.getX() << " " << target_b_position.getZ() << std::endl;
}
for (int i = 0; i < NUM_RAYS; i++) {
double angle = (-RAY_ANGLE / 2) + (i * (RAY_ANGLE / (NUM_RAYS - 1)));
btVector3 ray_offset(RAY_LENGTH * sin(angle), 0, RAY_LENGTH * cos(angle));
btVector3 ray_end = agent_position - ray_offset;
int touch = raycast(agent_position, ray_end);
btVector3 ray = ray_end - agent_position;
double sensor = (1.0 - (ray.length() / RAY_LENGTH)) * 10;
ray_sensors[i] = sensor;
#ifdef GRAPHICS
btVector3 color = touch ? btVector3(0, .8, 0) : btVector3(0, 0, 0);
gDebugDrawer.drawLine(agent_position, ray_end, color);
#endif
}
if (!target_a_passed && (target_a_position.getZ() >= AGENT_Z)) {
target_a_passed = true;
target_a_distance = fabs(agent_position.getX() - target_a_position.getX());
}
if (!target_b_passed && (target_b_position.getZ() >= AGENT_Z)) {
target_b_passed = true;
target_b_distance = fabs(agent_position.getX() - target_b_position.getX());
}
if (target_a_passed && target_b_passed) {
double fitness = target_a_distance + target_b_distance;
std::ofstream fh;
fh.open(ERROR_FILENAME);
fh << fitness;
fh.close();
if (create_draw_file) {
draw_fh.close();
}
exit(0);
}
frame_count++;
m_dynamicsWorld->stepSimulation(TIME_STEP);
brain->step(.01);
#ifdef TEST_SPEED
printf("%d %f\n", frame_count, agent_position.getX());
#endif
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
} //world exists
#ifdef GRAPHICS
renderme();
glFlush();
glutSwapBuffers();
#endif
}
