bool
BaselineInspector::commonGetPropFunction(jsbytecode *pc, JSObject **holder, Shape **holderShape,
JSFunction **commonGetter, Shape **globalShape,
bool *isOwnProperty,
ShapeVector &nativeShapes,
ObjectGroupVector &unboxedGroups)
{
if (!hasBaselineScript())
return false;
MOZ_ASSERT(nativeShapes.empty());
MOZ_ASSERT(unboxedGroups.empty());
*holder = nullptr;
const ICEntry &entry = icEntryFromPC(pc);
for (ICStub *stub = entry.firstStub(); stub; stub = stub->next()) {
if (stub->isGetProp_CallScripted() ||
stub->isGetProp_CallNative())
{
ICGetPropCallGetter *nstub = static_cast<ICGetPropCallGetter *>(stub);
bool isOwn = nstub->isOwnGetter();
if (!AddReceiverForGetPropFunction(nativeShapes, unboxedGroups, nstub))
return false;
if (!*holder) {
*holder = nstub->holder();
*holderShape = nstub->holderShape();
*commonGetter = nstub->getter();
*globalShape = GlobalShapeForGetPropFunction(nstub);
*isOwnProperty = isOwn;
} else if (nstub->holderShape() != *holderShape ||
GlobalShapeForGetPropFunction(nstub) != *globalShape ||
isOwn != *isOwnProperty)
{
return false;
} else {
MOZ_ASSERT(*commonGetter == nstub->getter());
}
} else if (stub->isGetProp_Fallback()) {
// If we have an unoptimizable access, don't try to optimize.
if (stub->toGetProp_Fallback()->hadUnoptimizableAccess())
return false;
} else if (stub->isGetName_Fallback()) {
if (stub->toGetName_Fallback()->hadUnoptimizableAccess())
return false;
} else {
return false;
}
}
if (!*holder)
return false;
MOZ_ASSERT(*isOwnProperty == (nativeShapes.empty() && unboxedGroups.empty()));
return true;
}
void TransposeNode::verify() const {
auto dest = getResult();
auto src = getInput();
(void)dest;
ShapeVector shape;
auto dims = src.dims();
for (size_t i = 0; i < dims.size(); i++) {
shape.push_back(dims[Shuffle_[i]]);
}
assert(dest.dims().equals(shape) && "Invalid transpose dims");
}
bool
BaselineInspector::maybeShapesForPropertyOp(jsbytecode *pc, ShapeVector &shapes)
{
// Return a list of shapes seen by the baseline IC for the current op.
// An empty list indicates no shapes are known, or there was an uncacheable
// access.
JS_ASSERT(shapes.empty());
if (!hasBaselineScript())
return true;
JS_ASSERT(isValidPC(pc));
const ICEntry &entry = icEntryFromPC(pc);
ICStub *stub = entry.firstStub();
while (stub->next()) {
Shape *shape;
if (stub->isGetProp_Native()) {
shape = stub->toGetProp_Native()->shape();
} else if (stub->isSetProp_Native()) {
shape = stub->toSetProp_Native()->shape();
} else {
shapes.clear();
return true;
}
// Don't add the same shape twice (this can happen if there are multiple
// SetProp_Native stubs with different TypeObject's).
bool found = false;
for (size_t i = 0; i < shapes.length(); i++) {
if (shapes[i] == shape) {
found = true;
break;
}
}
if (!found && !shapes.append(shape))
return false;
stub = stub->next();
}
if (stub->isGetProp_Fallback()) {
if (stub->toGetProp_Fallback()->hadUnoptimizableAccess())
shapes.clear();
} else {
if (stub->toSetProp_Fallback()->hadUnoptimizableAccess())
shapes.clear();
}
// Don't inline if there are more than 5 shapes.
if (shapes.length() > 5)
shapes.clear();
return true;
}
void CollisionShapeManager::SaveShapesToBinaryFile(const String& FileName, ShapeVector& ShapesToSave)
{
btDefaultSerializer* BulletSerializer = new btDefaultSerializer(1024*1024*5);
BulletSerializer->startSerialization();
for( ShapeVectorIterator it = ShapesToSave.begin() ; it != ShapesToSave.end() ; it++ )
{
Physics::CollisionShape* Shape = (*it);
BulletSerializer->registerNameForPointer((void*)Shape->_GetInternalShape(),(*it)->GetName().c_str());
int len = Shape->_GetInternalShape()->calculateSerializeBufferSize();
btChunk* chunk = BulletSerializer->allocate(len,1);
const char* structType = Shape->_GetInternalShape()->serialize(chunk->m_oldPtr, BulletSerializer);
BulletSerializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,Shape->_GetInternalShape());
}
BulletSerializer->finishSerialization();
FILE* f2 = fopen(FileName.c_str(),"wb");
fwrite(BulletSerializer->getBufferPointer(),BulletSerializer->getCurrentBufferSize(),1,f2);
fclose(f2);
}
void CollisionShapeManager::SaveShapesToXMLFile(const String& FileName, ShapeVector& ShapesToSave)
{
XML::Document ShapesDoc;
XML::Node DeclNode = ShapesDoc.AppendChild(XML::NodeDeclaration);
XML::Attribute VerAttrib = DeclNode.AppendAttribute("version");
if( DeclNode.SetName("xml") && VerAttrib.SetValue("1.0") ) {
XML::Node ShapesRoot = ShapesDoc.AppendChild( "ShapesRoot" );
for( ShapeVectorIterator ShapeIt = ShapesToSave.begin() ; ShapeIt != ShapesToSave.end() ; ++ShapeIt )
{
(*ShapeIt)->ProtoSerialize( ShapesRoot );
}
/// @todo Replace this stack allocated stream for one initialized from the Resource Manager, after the system is ready.
Resource::FileStream SettingsStream(FileName,".",Resource::SF_Truncate | Resource::SF_Write);
ShapesDoc.Save(SettingsStream,"\t",XML::FormatIndent);
}else{
MEZZ_EXCEPTION(ExceptionBase::INVALID_STATE_EXCEPTION,"Failed to create XML document declaration for file \"" + FileName + "\".");
}
}
Intersection *Raytracer::get_closest_intersection(Scene *scene, const Ray &ray)
{
ShapeVector *shapes = scene->shapes();
ShapeIterator iter = shapes->begin();
Intersection *closest_intersection = nullptr;
for (; iter != shapes->end(); ++iter)
{
// Calculate the intersection with this shape
Ray *intersection = (*iter)->intersect(ray);
if (intersection != nullptr)
{
// Check if this intersection is closer
if ((closest_intersection == nullptr) ||
(distance_between(ray.vertex(),
intersection->vertex()) <
distance_between(ray.vertex(),
closest_intersection->intersection_point())))
{
// Latest intersection is closer
if (closest_intersection != nullptr)
delete closest_intersection;
closest_intersection = new Intersection(
intersection->vertex(),
intersection->direction(),
*iter);
}
delete intersection;
intersection = nullptr;
}
}
return closest_intersection;
}
bool
BaselineInspector::commonSetPropFunction(jsbytecode *pc, JSObject **holder, Shape **holderShape,
JSFunction **commonSetter, bool *isOwnProperty,
ShapeVector &nativeShapes,
ObjectGroupVector &unboxedGroups)
{
if (!hasBaselineScript())
return false;
MOZ_ASSERT(nativeShapes.empty());
MOZ_ASSERT(unboxedGroups.empty());
*holder = nullptr;
const ICEntry &entry = icEntryFromPC(pc);
for (ICStub *stub = entry.firstStub(); stub; stub = stub->next()) {
if (stub->isSetProp_CallScripted() || stub->isSetProp_CallNative()) {
ICSetPropCallSetter *nstub = static_cast<ICSetPropCallSetter *>(stub);
if (!AddReceiver(nativeShapes, unboxedGroups, nstub->guard()))
return false;
if (!*holder) {
*holder = nstub->holder();
*holderShape = nstub->holderShape();
*commonSetter = nstub->setter();
*isOwnProperty = false;
} else if (nstub->holderShape() != *holderShape) {
return false;
} else {
MOZ_ASSERT(*commonSetter == nstub->setter());
}
} else if (!stub->isSetProp_Fallback() ||
stub->toSetProp_Fallback()->hadUnoptimizableAccess())
{
// We have an unoptimizable access, so don't try to optimize.
return false;
}
}
if (!*holder)
return false;
return true;
}
//+----------------------------------------------------------------------------+
//| main() |
//-----------------------------------------------------------------------------+
int
main(int argc, char** argv)
{
common::PathFileString pfs(argv[0]);
//////////////////////////////////////////////////////////////////////////////
// User command line parser
AnyOption *opt = new AnyOption();
opt->autoUsagePrint(true);
opt->addUsage( "" );
opt->addUsage( "Usage: " );
char buff[256];
sprintf(buff, " Example: %s -r example1_noisy.cfg", pfs.getFileName().c_str());
opt->addUsage( buff );
opt->addUsage( " -h --help Prints this help" );
opt->addUsage( " -r --readfile <filename> Reads the polyhedra description file" );
opt->addUsage( " -t --gltopic <topic name> (opt) ROS Topic to send OpenGL commands " );
opt->addUsage( "" );
opt->setFlag( "help", 'h' );
opt->setOption( "readfile", 'r' );
opt->processCommandArgs( argc, argv );
if( opt->getFlag( "help" ) || opt->getFlag( 'h' ) ) {opt->printUsage(); delete opt; return(1);}
std::string gltopic("OpenGLRosComTopic");
if( opt->getValue( 't' ) != NULL || opt->getValue( "gltopic" ) != NULL ) gltopic = opt->getValue( 't' );
std::cerr << "[OpenGL communication topic is set to : \"" << gltopic << "\"]\n";
std::string readfile;
if( opt->getValue( 'r' ) != NULL || opt->getValue( "readfile" ) != NULL )
{
readfile = opt->getValue( 'r' );
std::cerr << "[ World description is read from \"" << readfile << "\"]\n";
}
else{opt->printUsage(); delete opt; return(-1);}
delete opt;
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Initialize ROS and OpenGLRosCom node (visualization)
std::cerr << "["<<pfs.getFileName()<<"]:" << "[Initializing ROS]"<< std::endl;
ros::init(argc, argv, pfs.getFileName().c_str());
if(ros::isInitialized())
std::cerr << "["<<pfs.getFileName()<<"]:" << "[Initializing ROS]:[OK]\n"<< std::endl;
else{
std::cerr << "["<<pfs.getFileName()<<"]:" << "[Initializing ROS]:[FAILED]\n"<< std::endl;
return(1);
}
COpenGLRosCom glNode;
glNode.CreateNode(gltopic);
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Reading the input file
std::cerr << "Reading the input file..." << std::endl;
ShapeVector shapes;
PoseVector poses;
IDVector ID;
if(ReadPolyhedraConfigFile(readfile, shapes, poses, ID)==false)
{
std::cerr << "["<<pfs.getFileName()<<"]:" << "Error reading file \"" << readfile << "\"\n";
return(-1);
}
std::cerr << "Read " << poses.size() << " poses of " << shapes.size() << " shapes with " << ID.size() << " IDs.\n";
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Visualizing the configuration of objects
std::cerr << "Visualizing the configuration of objects..." << std::endl;
for(unsigned int i=0; i<shapes.size(); i++)
{
for(size_t j=0; j<shapes[i].F.size(); j++)
{
glNode.LineWidth(1.0f);
glNode.AddColor3(0.3f, 0.6f, 0.5f);
glNode.AddBegin("LINE_LOOP");
for(size_t k=0; k<shapes[i].F[j].Idx.size(); k++)
{
int idx = shapes[i].F[j].Idx[k];
Eigen::Matrix<Real,3,1> Vt = poses[i]*shapes[i].V[ idx ];
glNode.AddVertex(Vt.x(), Vt.y(), Vt.z());
}
glNode.AddEnd();
}
}
glNode.SendCMDbuffer();
ros::spinOnce();
common::PressEnterToContinue();
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Running PROMTS with A* search algorithm
std::cerr << "Running PROMTS with Depth Limited search algorithm..." << std::endl;
promts::ProblemDataStruct pds("Depth-Limited Search");
pds.m_glNodePtr = &glNode;
PoseVector refined_poses(shapes.size());
refinePoses_DLSearch(shapes, poses, ID, refined_poses, pds);
//
//////////////////////////////////////////////////////////////////////////////
return(0);
}
bool
BaselineInspector::maybeInfoForPropertyOp(jsbytecode *pc,
ShapeVector &nativeShapes,
ObjectGroupVector &unboxedGroups,
ObjectGroupVector &convertUnboxedGroups)
{
// Return lists of native shapes and unboxed objects seen by the baseline
// IC for the current op. Empty lists indicate no shapes/types are known,
// or there was an uncacheable access. convertUnboxedGroups is used for
// unboxed object groups which have been seen, but have had instances
// converted to native objects and should be eagerly converted by Ion.
MOZ_ASSERT(nativeShapes.empty());
MOZ_ASSERT(unboxedGroups.empty());
MOZ_ASSERT(convertUnboxedGroups.empty());
if (!hasBaselineScript())
return true;
MOZ_ASSERT(isValidPC(pc));
const ICEntry &entry = icEntryFromPC(pc);
ICStub *stub = entry.firstStub();
while (stub->next()) {
Shape *shape = nullptr;
ObjectGroup *group = nullptr;
if (stub->isGetProp_Native()) {
shape = stub->toGetProp_Native()->shape();
} else if (stub->isSetProp_Native()) {
shape = stub->toSetProp_Native()->shape();
} else if (stub->isGetProp_Unboxed()) {
group = stub->toGetProp_Unboxed()->group();
} else if (stub->isSetProp_Unboxed()) {
group = stub->toSetProp_Unboxed()->group();
} else {
nativeShapes.clear();
unboxedGroups.clear();
return true;
}
if (group && group->unboxedLayout().nativeGroup()) {
if (!VectorAppendNoDuplicate(convertUnboxedGroups, group))
return false;
shape = group->unboxedLayout().nativeShape();
group = nullptr;
}
if (shape) {
if (!VectorAppendNoDuplicate(nativeShapes, shape))
return false;
} else {
if (!VectorAppendNoDuplicate(unboxedGroups, group))
return false;
}
stub = stub->next();
}
if (stub->isGetProp_Fallback()) {
if (stub->toGetProp_Fallback()->hadUnoptimizableAccess()) {
nativeShapes.clear();
unboxedGroups.clear();
}
} else {
if (stub->toSetProp_Fallback()->hadUnoptimizableAccess()) {
nativeShapes.clear();
unboxedGroups.clear();
}
}
// Don't inline if there are more than 5 shapes/groups.
if (nativeShapes.length() + unboxedGroups.length() > 5) {
nativeShapes.clear();
unboxedGroups.clear();
}
return true;
}
