diff options
Diffstat (limited to 'apps/graphics/traveler')
-rw-r--r-- | apps/graphics/traveler/Makefile | 2 | ||||
-rw-r--r-- | apps/graphics/traveler/include/trv_plane.h | 20 | ||||
-rw-r--r-- | apps/graphics/traveler/src/trv_rayprune.c | 1379 |
3 files changed, 1400 insertions, 1 deletions
diff --git a/apps/graphics/traveler/Makefile b/apps/graphics/traveler/Makefile index d927fd18e..5316efe4e 100644 --- a/apps/graphics/traveler/Makefile +++ b/apps/graphics/traveler/Makefile @@ -48,7 +48,7 @@ STACKSIZE = 2048 ASRCS = CSRCS = trv_bitmaps.c trv_color.c trv_doors.c trv_graphics.c trv_input.c CSRCS += trv_mem.c trv_plane.c trv_pov.c trv_rayavoid.c trv_raycast.c -CSRCS += trv_raycntl.c trv_rayrend.c trv_trigtbl.c +CSRCS += trv_raycntl.c trv_rayprune.c trv_rayrend.c trv_trigtbl.c MAINSRC = trv_main.c ifeq ($(CONFIG_NX),y) diff --git a/apps/graphics/traveler/include/trv_plane.h b/apps/graphics/traveler/include/trv_plane.h index b6f718bf9..1b9b585a9 100644 --- a/apps/graphics/traveler/include/trv_plane.h +++ b/apps/graphics/traveler/include/trv_plane.h @@ -42,6 +42,7 @@ ****************************************************************************/ #include "trv_types.h" +#include <stdio.h> /**************************************************************************** * Pre-processor Definitions @@ -138,4 +139,23 @@ extern struct trv_rect_list_s *g_rect_freelist; * Public Function Prototypes ****************************************************************************/ +uint8_t trv_initialize_planes(void); +void trv_release_planes(void); +uint8_t trv_load_planefile(FAR const char *wldfile); +uint8_t trv_load_planes(FAR FILE *fp); +uint8_t trv_save_planes(const char *wldfile); +FAR struct trv_rect_list_s *trv_new_plance(void); +void trv_add_plane(FAR struct trv_rect_list_s *rect, + FAR struct trv_rect_head_s *list); +void trv_merge_planelists(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist); +void trv_remove_plane(FAR struct trv_rect_list_s *rect, + FAR struct trv_rect_head_s *list); +void trv_move_plane(FAR struct trv_rect_list_s *rect, + FAR struct trv_rect_head_s *destlist, + FAR struct trv_rect_head_s *srclist); +struct trv_rect_list_s *trv_find_plane(trv_coord_t h, trv_coord_t v, + trv_coord_t plane, + FAR struct trv_rect_head_s *list); + #endif /* __APPS_GRAPHICS_TRAVELER_INCLUDE_TRV_PLANE_H */ diff --git a/apps/graphics/traveler/src/trv_rayprune.c b/apps/graphics/traveler/src/trv_rayprune.c new file mode 100644 index 000000000..ce1bb7a83 --- /dev/null +++ b/apps/graphics/traveler/src/trv_rayprune.c @@ -0,0 +1,1379 @@ +/******************************************************************************* + * apps/graphics/traveler/src/trv_rayprune.c + * + * Copyright (C) 2014 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included files + ****************************************************************************/ + +#include "trv_types.h" +#include "trv_world.h" +#include "trv_plane.h" +#include "trv_trigtbl.h" +#include "trv_raycast.h" +#include "trv_rayprune.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* These definitions are used to decompose a range of angles into quadrants */ + +#define START0 0x0001 +#define STARTQ1 0x0002 +#define START90 0x0004 +#define STARTQ2 0x0008 +#define START180 0x0010 +#define STARTQ3 0x0020 +#define START270 0x0040 +#define STARTQ4 0x0080 +#define END0 0x0100 +#define ENDQ1 0x0200 +#define END90 0x0400 +#define ENDQ2 0x0800 +#define END180 0x1000 +#define ENDQ3 0x2000 +#define END270 0x4000 +#define ENDQ4 0x8000 + +#define S0EQ1 (START0|ENDQ1) +#define SQ1EQ1 (STARTQ1|ENDQ1) +#define SQ1E90 (STARTQ1|END90) +#define SQ1EQ2 (STARTQ1|ENDQ2) +#define S90EQ2 (START90|ENDQ2) +#define SQ2EQ2 (STARTQ2|ENDQ2) +#define SQ2E180 (STARTQ2|END180) +#define SQ2EQ3 (STARTQ2|ENDQ3) +#define S180EQ3 (START180|ENDQ3) +#define SQ3EQ3 (STARTQ3|ENDQ3) +#define SQ3E270 (STARTQ3|END270) +#define SQ3EQ4 (STARTQ3|ENDQ4) +#define S270EQ4 (START270|ENDQ4) +#define SQ4EQ4 (STARTQ4|ENDQ4) +#define SQ4E0 (STARTQ4|END0) +#define SQ4EQ1 (STARTQ4|ENDQ1) + +/**************************************************************************** + * Private Type Declarations + ***************************************************************************/ + +enum working_plane_state_e +{ + WEMPTY = 0, + WTOP, + WBOTTOM +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static void trv_ray_yawxprune_14cw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_yawxprune_14ccw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_yawxprune_23cw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_yawxprune_23ccw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_yawyprune_12cw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_yawyprune_12ccw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_yawyprune_34cw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_yawyprune_34ccw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_mkplanelist(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw); +static void trv_ray_selectupper(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist); +static void trv_ray_selectlower(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist); + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +struct trv_rect_head_s g_ray_xplane; /* List of X=plane rectangles */ +struct trv_rect_head_s g_ray_yplane; /* List of Y=plane rectangles */ +struct trv_rect_head_s g_ray_zplane; /* List of Z=plane rectangles */ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static enum working_plane_state_e g_working_planestate; +static struct trv_rect_head_s g_working_xplane; /* List of X=plane rectangles */ +static struct trv_rect_head_s g_working_yplane; /* List of Y=plane rectangles */ + +static struct trv_rect_head_s g_candidate_xplane; /* List of X=plane rectangles */ +static struct trv_rect_head_s g_candidate_yplane; /* List of Y=plane rectangles */ +static struct trv_rect_head_s g_candidate_zplane; /* List of Z=plane rectangles */ + +static struct trv_rect_head_s g_discard_xplane; /* List of discarded X=plane + * rectangles */ +static struct trv_rect_head_s g_discard_yplane; /* List of discarded Y=plane + * rectangles */ +static struct trv_rect_head_s g_discard_zplane; /* List of discarded Z=plane + * rectangles */ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: trv_ray_yawxprune_14cw + * + * Description: + * This function casts a ray along the Y-Axis looking at points of + * intersection on the X-Axis. We are pointed toward in the "right" half + * of the view. The X ray cast will proceed positively along the X axis. + * Every plane in the input plane list that lies to the "right" of the + * camera position and "clockwise" of the current yaw is moved into + * the output X plane list. + * + ***************************************************************************/ + +static void trv_ray_yawxprune_14cw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current X plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next X plane + * rectangle */ + FAR struct trv_rect_data_s *rect; /* Points to the rectangle data */ + trv_coord_t relx; /* Relative position of the X plane */ + trv_coord_t absy; /* Absolute Y position at relx given yaw */ + trv_coord_t lastrelx = -1; /* Last relative X position processed */ + int32_t dydx; /* Rate of change of Y wrt X (double) */ + + /* Pre-calculate the rate of change of Y with respect to X */ + /* The tangent is equal to the rate of change of Y with respect to the + * X-axis. The tangent is stored at double the "normal" scaling. + */ + + dydx = TAN(yaw); + + /* Look at every rectangle lying in the X plane */ + /* This logic should be improved at some point so that non-visible planes + * are "pruned" from the list prior to ray casting! + */ + + for (entry = inlist->head; (entry); entry = next) + { + next = entry->flink; + rect = &entry->d; + + /* Search for a rectangle which lies "beyond" the current camera + * position + */ + + if (rect->plane > g_camera.x) + { + /* Get the X distance to the plane */ + + relx = rect->plane - g_camera.x; + + /* Calculate the Y position at this relative X position. We can + * skip this step if we are processing another rectangle at the + * same relx distance. + */ + + if (relx != lastrelx) + { + int32_t deltay; /* Scale == "triple" */ + + /* The dydx is stored at double the"normal" scaling -- so deltay + * is "triple" precision + */ + + deltay = dydx * ((int32_t) relx); + absy = tTOs(deltay) + g_camera.y; /* back to "single" */ + lastrelx = relx; + } + + /* Check if any part of this plane lies clockwise from this Y + * position. In quadrants 1 & 4, clockwise corresponds to smaller Y + * values + */ + + if (absy >= rect->hstart) + { + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } + } +} + +/**************************************************************************** + * Name: trv_ray_yawxprune_14ccw + * + * Description: + * This function casts a ray along the Y-Axis looking at points of + * intersection on the X-Axis. We are pointed toward in the "right" half + * of the view. The X ray cast will proceed positively along the X axis. + * Every plane in the input plane list that lies to the "right" of the + * camera position and "counterclockwise" of the current yaw is moved into + * the output X plane list. + * + ***************************************************************************/ + +static void trv_ray_yawxprune_14ccw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current X plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next X plane + * rectangle */ + FAR struct trv_rect_data_s *rect; /* Points to the rectangle data */ + trv_coord_t relx; /* Relative position of the X plane */ + trv_coord_t absy; /* Absolute Y position at relx given yaw */ + trv_coord_t lastrelx = -1; /* Last relative X position processed */ + int32_t dydx; /* Rate of change of Y wrt X (double) */ + + /* Pre-calculate the rate of change of Y with respect to X */ + /* The tangent is equal to the rate of change of Y with respect to the + * X-axis. The tangent is stored at double the "normal" scaling. + */ + + dydx = TAN(yaw); + + /* Look at every rectangle lying in the X plane */ + /* This logic should be improved at some point so that non-visible planes + * are "pruned" from the list prior to ray casting! + */ + + for (entry = inlist->head; (entry); entry = next) + { + next = entry->flink; + rect = &entry->d; + + /* Search for a rectangle which lies "beyond" the current camera + * position + */ + + if (rect->plane > g_camera.x) + { + /* Get the X distance to the plane */ + + relx = rect->plane - g_camera.x; + + /* Calculate the Y position at this relative X position. We can + * skip this step if we are processing another rectangle at the + * same relx distance. + */ + + if (relx != lastrelx) + { + int32_t deltay; /* Scale == "triple" */ + + /* The dydx is stored at double the"normal" scaling -- so deltay + * is "triple" precision + */ + + deltay = dydx * ((int32_t) relx); + absy = tTOs(deltay) + g_camera.y; /* back to "single" */ + lastrelx = relx; + } + + /* Check if any part of this plane lies counterclockwise from this Y + * position. In quadrants 1 & 4, counterclockwise corresponds to + * larger Y values + */ + + if (absy <= rect->hend) + { + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } + } +} + +/**************************************************************************** + * Name: rayYawYPrune23CW + * + * Description: + * This function casts a ray along the Y-Axis looking at points of + * intersection on the X-Axis. We are pointed toward in the "left" half + * of the view. The X ray cast will proceed negatively along the X axis. + * Every plane in the input X plane list that lies to the "left" of the + * camera position and "clockwise" of the current yaw is moved into + * the output X plane list. + * + ***************************************************************************/ + +static void trv_ray_yawxprune_23cw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current X plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next X plane + * rectangle */ + FAR struct trv_rect_data_s *rect; /* Points to the rectangle data */ + trv_coord_t relx; /* Relative position of the X plane */ + trv_coord_t absy; /* Absolute Y position at relx given yaw */ + trv_coord_t lastrelx = -1; /* Last relative X position processed */ + int32_t dydx; /* Rate of change of Y wrt X (double) */ + + /* Pre-calculate the rate of change of Y with respect to X */ + /* The negative tangent is equal to the rate of change of Y with respect + * to the X-axis. The tangent is stored at double the "normal" scaling. + */ + + dydx = -TAN(yaw); + + /* Look at every rectangle lying in the X plane */ + /* This logic should be improved at some point so that non-visible planes + * are "pruned" from the list prior to ray casting! + */ + + for (entry = inlist->tail; (entry); entry = next) + { + next = entry->blink; + rect = &entry->d; + + /* Search for a rectangle which lies "before" the current camera + * position + */ + + if (rect->plane < g_camera.x) + { + /* Get the X distance to the plane */ + + relx = g_camera.x - rect->plane; + + /* Calculate the Y position at this relative X position. We can + * skip this step if we are processing another rectangle at the + * same relx distance. + */ + + if (relx != lastrelx) + { + int32_t deltay; /* Scale == "triple" */ + + /* The dydx is stored at double the"normal" scaling -- so deltay + * is "triple" precision + */ + + deltay = dydx * ((int32_t) relx); + absy = tTOs(deltay) + g_camera.y; /* back to "single" */ + lastrelx = relx; + } + + /* Check if any part of this plane lies clockwise from this Y + * position. In quadrants 2 & 3, clockwise corresponds to larger Y + * values + */ + + if (absy <= rect->hend) + { + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } + } +} + +/**************************************************************************** + * Name: rayYawYPrune23CCW + * + * Description: + * This function casts a ray along the Y-Axis looking at points of + * intersection on the X-Axis. We are pointed toward in the "left" half + * of the view. The X ray cast will proceed negatively along the X axis. + * Every plane in the input X plane list that lies to the "left" of the + * camera position and "counterclockwise" of the current yaw is moved + * into the output X plane list. + * + ***************************************************************************/ + +static void trv_ray_yawxprune_23ccw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current X plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next X plane + * rectangle */ + FAR struct trv_rect_data_s *rect; /* Points to the rectangle data */ + trv_coord_t relx; /* Relative position of the X plane */ + trv_coord_t absy; /* Absolute Y position at relx given yaw */ + trv_coord_t lastrelx = -1; /* Last relative X position processed */ + int32_t dydx; /* Rate of change of Y wrt X (double) */ + + /* Pre-calculate the rate of change of Y with respect to X */ + /* The negative tangent is equal to the rate of change of Y with respect + * to the X-axis. The tangent is stored at double the "normal" scaling. + */ + + dydx = -TAN(yaw); + + /* Look at every rectangle lying in the X plane */ + /* This logic should be improved at some point so that non-visible planes + * are "pruned" from the list prior to ray casting! + */ + + for (entry = inlist->tail; (entry); entry = next) + { + next = entry->blink; + rect = &entry->d; + + /* Search for a rectangle which lies "before" the current camera + * position + */ + + if (rect->plane < g_camera.x) + { + /* Get the X distance to the plane */ + + relx = g_camera.x - rect->plane; + + /* Calculate the Y position at this relative X position. We can + * skip this step if we are processing another rectangle at the + * same relx distance. + */ + + if (relx != lastrelx) + { + int32_t deltay; /* Scale == "triple" */ + + /* The dydx is stored at double the"normal" scaling -- so deltay + * is "triple" precision + */ + + deltay = dydx * ((int32_t) relx); + absy = tTOs(deltay) + g_camera.y; /* back to "single" */ + lastrelx = relx; + } + + /* Check if any part of this plane lies counterclockwise from this Y + * position. In quadrants 2 & 3, counterclockwise corresponds to + * smaller Y values + */ + + if (absy >= rect->hstart) + { + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } + } +} + +/**************************************************************************** + * Name: trv_ray_yawyprune_12cw + * + * Description: + * This function casts a ray along the X-Axis looking at points of + * intersection on the Y-Axis. We are pointed toward in the "forward" half + * of the view. The Y ray cast will proceed positively along the Y axis. + * Every plane in the input plane list that lies to the "forward" of the + * camera position and "clockwise" of the current yaw is moved into + * the output Y plane list. + * + ***************************************************************************/ + +static void trv_ray_yawyprune_12cw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current Y plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next Y plane + * rectangle */ + FAR struct trv_rect_data_s *rect; /* Points to the rectangle data */ + trv_coord_t rely; /* Relative position of the Y plane */ + trv_coord_t absx; /* Absolute X position at rely given yaw */ + trv_coord_t lastrely = -1; /* Last relative Y position processed */ + int32_t dxdy; /* Rate of change of X wrt Y (double) */ + + /* Pre-calculate the rate of change of X with respect to Y */ + /* The inverted tangent is equal to the rate of change of X with respect + * to the Y-axis. The cotangent is stored at double the the "normal" + * scaling. + */ + + dxdy = g_cot_table(yaw); + + /* Look at every rectangle lying in the Y plane */ + /* This logic should be improved at some point so that non-visible planes + * are "pruned" from the list prior to ray casting! + */ + + for (entry = inlist->head; (entry); entry = next) + { + next = entry->flink; + rect = &entry->d; + + /* Search for a rectangle which lies "beyond" the current camera + * position + */ + + if (rect->plane > g_camera.y) + { + /* Get the Y distance to the plane */ + + rely = rect->plane - g_camera.y; + + /* Calculate the X position at this relative Y position. We can + * skip this step if we are processing another rectangle at the + * same rely distance. + */ + + if (rely != lastrely) + { + int32_t deltax; /* Scale == "triple" */ + + /* The dxdy is stored at double the"normal" scaling -- so deltax + * is "triple" precision + */ + + deltax = dxdy * ((int32_t) rely); + absx = tTOs(deltax) + g_camera.x; /* back to "single" */ + lastrely = rely; + } + + /* Check if any part of this plane lies clockwise from this X + * position. In quadrants 1 & 2, clockwise corresponds to larger + * X values + */ + + if (absx <= rect->hend) + { + + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } + } +} + +/**************************************************************************** + * Name: trv_ray_yawyprune_12ccw + * + * Description: + * This function casts a ray along the X-Axis looking at points of + * intersection on the Y-Axis. We are pointed toward in the "forward" half + * of the view. The Y ray cast will proceed positively along the Y axis. + * Every plane in the input plane list that lies to the "forward" of the + * camera position and "counterclockwise" of the current yaw is moved into + * the output Y plane list. + * + ***************************************************************************/ + +static void trv_ray_yawyprune_12ccw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current Y plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next Y plane + * rectangle */ + FAR struct trv_rect_data_s *rect; /* Points to the rectangle data */ + trv_coord_t rely; /* Relative position of the Y plane */ + trv_coord_t absx; /* Absolute X position at rely given yaw */ + trv_coord_t lastrely = -1; /* Last relative Y position processed */ + int32_t dxdy; /* Rate of change of X wrt Y (double) */ + + /* Pre-calculate the rate of change of X with respect to Y */ + /* The inverted tangent is equal to the rate of change of X with respect + * to the Y-axis. The cotangent is stored at double the the "normal" + * scaling. + */ + + dxdy = g_cot_table(yaw); + + /* Look at every rectangle lying in the Y plane */ + /* This logic should be improved at some point so that non-visible planes + * are "pruned" from the list prior to ray casting! + */ + + for (entry = inlist->head; (entry); entry = next) + { + next = entry->flink; + rect = &entry->d; + + /* Search for a rectangle which lies "beyond" the current camera + * position + */ + + if (rect->plane > g_camera.y) + { + /* Get the Y distance to the plane */ + + rely = rect->plane - g_camera.y; + + /* Calculate the X position at this relative Y position. We can + * skip this step if we are processing another rectangle at the + * same rely distance. + */ + + if (rely != lastrely) + { + int32_t deltax; /* Scale == "triple" */ + + /* The dxdy is stored at double the"normal" scaling -- so + * deltax is "triple" precision + */ + + deltax = dxdy * ((int32_t) rely); + absx = tTOs(deltax) + g_camera.x; /* back to "single" */ + lastrely = rely; + } + + /* Check if any part of this plane lies counterclockwise from this + * X position. In quadrants 1 & 2, counterclockwise corresponds + * to smaller X values + */ + + if (absx >= rect->hstart) + { + + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } + } +} + +/**************************************************************************** + * Name: trv_ray_yawyprune_34cw + * + * Description: + * This function casts a ray along the X-Axis looking at points of + * intersection on the Y-Axis. We are pointed toward in the "back" half + * of the view. The Y ray cast will proceed negatively along the Y axis. + * Every plane in the input plane list that lies to the "back" of the + * camera position and "clockwise" of the current yaw is moved into + * the output Y plane list. + * + ***************************************************************************/ + +static void trv_ray_yawyprune_34cw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current Y plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next Y plane + * rectangle */ + FAR struct trv_rect_data_s *rect; /* Points to the rectangle data */ + trv_coord_t rely; /* Relative position of the Y plane */ + trv_coord_t absx; /* Absolute X position at rely given yaw */ + trv_coord_t lastrely = -1; /* Last relative Y position processed */ + int32_t dxdy; /* Rate of change of X wrt Y (double) */ + + /* Pre-calculate the rate of change of X with respect to Y */ + /* The negative inverted tangent is equal to the rate of change of X with + * respect to the Y-axis. The cotangent is stored at double the the + * "normal" scaling. + */ + + dxdy = -g_cot_table(yaw - ANGLE_180); + + /* Look at every rectangle lying in the Y plane */ + /* This logic should be improved at some point so that non-visible planes + * are "pruned" from the list prior to ray casting! + */ + + for (entry = inlist->tail; (entry); entry = next) + { + next = entry->blink; + rect = &entry->d; + + /* Search for a rectangle which lies "before" the current camera + * position + */ + + if (rect->plane < g_camera.y) + { + /* Get the Y distance to the plane */ + + rely = g_camera.y - rect->plane; + + /* Calculate the X position at this relative Y position. We can skip + * this step if we are processing another rectangle at the same rely + * distance. + */ + + if (rely != lastrely) + { + int32_t deltax; /* Scale == "triple" */ + + /* The dxdy is stored at double the"normal" scaling -- so + * deltax is "triple" precision + */ + + deltax = dxdy * ((int32_t) rely); + absx = tTOs(deltax) + g_camera.x; /* back to "single" */ + lastrely = rely; + } + + /* Check if any part of this plane lies clockwise from this X + * position. In quadrants 3 & 4, clockwise corresponds to + * smaller X values + */ + + if (absx >= rect->hstart) + { + + /* Remove the plane from the input plane list and add it to + * the output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } + } +} + +/**************************************************************************** + * Name: trv_ray_yawyprune_34ccw + * + * Description: + * This function casts a ray along the X-Axis looking at points of + * intersection on the Y-Axis. We are pointed toward in the "back" half + * of the view. The Y ray cast will proceed negatively along the Y axis. + * Every plane in the input plane list that lies to the "back" of the + * camera position and "counterclockwise" of the current yaw is moved + * into the output Y plane list. + * + ***************************************************************************/ + +static void trv_ray_yawyprune_34ccw(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t yaw) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current Y plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next Y plane + * rectangle */ + FAR struct trv_rect_data_s *rect; /* Points to the rectangle data */ + trv_coord_t rely; /* Relative position of the Y plane */ + trv_coord_t absx; /* Absolute X position at rely given yaw */ + trv_coord_t lastrely = -1; /* Last relative Y position processed */ + int32_t dxdy; /* Rate of change of X wrt Y (double) */ + + /* Pre-calculate the rate of change of X with respect to Y */ + /* The negative inverted tangent is equal to the rate of change of X with + * respect to the Y-axis. The cotangent is stored at double the the + * "normal" scaling. + */ + + dxdy = -g_cot_table(yaw - ANGLE_180); + + /* Look at every rectangle lying in the Y plane */ + /* This logic should be improved at some point so that non-visible planes + * are "pruned" from the list prior to ray casting! + */ + + for (entry = inlist->tail; (entry); entry = next) + { + next = entry->blink; + rect = &entry->d; + + /* Search for a rectangle which lies "before" the current camera + * position + */ + + if (rect->plane < g_camera.y) + { + /* Get the Y distance to the plane */ + + rely = g_camera.y - rect->plane; + + /* Calculate the X position at this relative Y position. We can + * skip this step if we are processing another rectangle at the + * same rely distance. + */ + + if (rely != lastrely) + { + int32_t deltax; /* Scale == "triple" */ + + /* The dxdy is stored at double the"normal" scaling -- so + * deltax is "triple" precision + */ + + deltax = dxdy * ((int32_t) rely); + absx = tTOs(deltax) + g_camera.x; /* back to "single" */ + lastrely = rely; + } + + /* Check if any part of this plane lies counterclockwise from this X + * position. In quadrants 3 & 4, counterclockwise corresponds to + * larger X values + */ + + if (absx <= rect->hend) + { + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } + } +} + +/**************************************************************************** + * Name: trv_ray_mkplanelist + * + * Description: + * This function creates a "fake" plane list based on the current working + * plane list. The "head" of the "fake" plane list points to the first + * entry "beyond" the current camera position; the "tail" point to the + * first plane "before" the current position. + * + ****************************************************************************/ + +static void trv_ray_mkplanelist(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist, + int16_t pos) +{ + FAR struct trv_rect_list_s *list; /* Points to the current plane rectangle */ + + /* Look at every rectangle lying in the specified "in" plane starting at + * the beginning of the list. + */ + + outlist->head = NULL; + for (list = inlist->head; list; list = list->flink) + { + /* Search for the first rectangle which lies "beyond" the current + * camera position + */ + + if (list->d.plane > pos) + { + outlist->head = list; + break; + } + } + + /* Look at every rectangle lying in the specified "in" plane starting at + * the end of the list + */ + + outlist->tail = NULL; + for (list = inlist->tail; list; list = list->blink) + { + /* Search for the first rectangle which lies "before" the current + * camera position + */ + + if (list->d.plane < pos) + { + outlist->tail = list; + break; + } + } +} + +/**************************************************************************** + * Name: trv_ray_selectupper + * + * Description: + * Transfer each plane that lies (at least in part) above the level viewing + * angle from the inlist to the outlist). + * + ****************************************************************************/ + +static void trv_ray_selectupper(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current Y plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next Y plane + * rectangle */ + + /* Look at every rectangle lying in the inlist */ + + for (entry = inlist->head; (entry); entry = next) + { + next = entry->flink; + + /* If the "top" of the rectangle lies above the camera Z level, then + * some (or all) of the rectangle is above the level viewing angle. + */ + + if (entry->d.vend >= g_camera.z) + { + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } +} + +/**************************************************************************** + * Name: trv_ray_selectlower + * + * Description: + * Transfer each plane that lies (at least in part) above the level viewing + * angle from the inlist to the outlist). + * + ****************************************************************************/ + +static void trv_ray_selectlower(FAR struct trv_rect_head_s *outlist, + FAR struct trv_rect_head_s *inlist) +{ + FAR struct trv_rect_list_s *entry; /* Points to the current Y plane + * rectangle */ + FAR struct trv_rect_list_s *next; /* Points to the next Y plane + * rectangle */ + + /* Look at every rectangle lying in the inlist */ + + for (entry = inlist->head; (entry); entry = next) + { + next = entry->flink; + + /* If the "bottom" of the rectangle lies below the camera Z level, then + * some (or all) of the rectangle is above the level viewing angle. + */ + + if (entry->d.vstart < g_camera.z) + { + /* Remove the plane from the input plane list and add it to the + * output plane list + */ + + trv_move_plane(entry, outlist, inlist); + } + } +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: trv_ray_yawprune + * + * Description: + * This function may be called at the beginning of each rending cycle to + * prepare ray casting data. This function "prunes" out all planes that + * may be visible in the specified yaw range. + * + ****************************************************************************/ + +void trv_ray_yawprune(int16_t yawstart, int16_t yawend) +{ + uint16_t quadrants; + + /* Nullify the working plane lists */ + + g_working_xplane.head = g_working_xplane.tail = NULL; + g_working_xplane.head = g_working_xplane.tail = NULL; + g_working_planestate = WEMPTY; + + /* Nullify the candidate plane lists */ + + g_candidate_xplane.head = g_candidate_xplane.tail = NULL; + g_candidate_yplane.head = g_candidate_yplane.tail = NULL; + g_candidate_zplane.head = g_candidate_zplane.tail = NULL; + + /* Nullify the discard plane lists */ + + g_discard_xplane.head = g_discard_xplane.tail = NULL; + g_discard_yplane.head = g_discard_yplane.tail = NULL; + g_discard_zplane.head = g_discard_zplane.tail = NULL; + + /* Determine the quadrant(s) spanned by yawstart and yawend */ + + if (yawstart == ANGLE_0) + { + quadrants = START0; + } + else if (yawstart < ANGLE_90) + { + quadrants = STARTQ1; + } + else if (yawstart == ANGLE_90) + { + quadrants = START90; + } + else if (yawstart < ANGLE_180) + { + quadrants = STARTQ2; + } + else if (yawstart == ANGLE_180) + { + quadrants = START180; + } + else if (yawstart < ANGLE_270) + { + quadrants = STARTQ3; + } + else if (yawstart == ANGLE_270) + { + quadrants = START270; + } + else + { + quadrants = STARTQ4; + } + + if (yawend == ANGLE_0) + { + quadrants |= END0; + } + else if (yawend < ANGLE_90) + { + quadrants |= ENDQ1; + } + else if (yawend == ANGLE_90) + { + quadrants |= END90; + } + else if (yawend < ANGLE_180) + { + quadrants |= ENDQ2; + } + else if (yawend == ANGLE_180) + { + quadrants |= END180; + } + else if (yawend < ANGLE_270) + { + quadrants |= ENDQ3; + } + else if (yawend == ANGLE_270) + { + quadrants |= END270; + } + else + { + quadrants |= ENDQ4; + } + + /* Now, perform the pruning based upon the quadrant(s) spanned by yawstart + * and yawend + */ + + switch (quadrants) + { + case S0EQ1: + trv_ray_yawxprune_14ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_14cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_12cw(&g_candidate_yplane, &g_yplane, yawend); + break; + + case SQ1EQ1: + trv_ray_yawxprune_14ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_14cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_12ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_12cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case SQ1E90: + trv_ray_yawxprune_14ccw(&g_candidate_xplane, &g_xplane, yawstart); + trv_ray_yawyprune_12ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_12cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case SQ1EQ2: + trv_ray_yawxprune_14ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_23cw(&g_candidate_xplane, &g_xplane, yawend); + trv_merge_planelists(&g_candidate_xplane, &g_discard_xplane); + trv_ray_yawyprune_12ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_12cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case S90EQ2: + trv_ray_yawxprune_23cw(&g_candidate_xplane, &g_xplane, yawend); + trv_ray_yawyprune_12ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_12cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case SQ2EQ2: + trv_ray_yawxprune_23ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_23cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_12ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_12cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case SQ2E180: + trv_ray_yawxprune_23ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_23cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_12ccw(&g_candidate_yplane, &g_yplane, yawstart); + break; + + case SQ2EQ3: + trv_ray_yawxprune_23ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_23cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_12ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_34cw(&g_candidate_yplane, &g_yplane, yawend); + trv_merge_planelists(&g_candidate_yplane, &g_discard_yplane); + break; + + case S180EQ3: + trv_ray_yawxprune_23ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_23cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_34cw(&g_candidate_yplane, &g_yplane, yawend); + break; + + case SQ3EQ3: + trv_ray_yawxprune_23ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_23cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_34ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_34cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case SQ3E270: + trv_ray_yawxprune_23ccw(&g_candidate_xplane, &g_xplane, yawend); + trv_ray_yawyprune_34ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_34cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case SQ3EQ4: + trv_ray_yawxprune_23ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_14cw(&g_candidate_xplane, &g_xplane, yawend); + trv_merge_planelists(&g_candidate_xplane, &g_discard_xplane); + trv_ray_yawyprune_34ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_34cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case S270EQ4: + trv_ray_yawxprune_14cw(&g_candidate_xplane, &g_xplane, yawend); + trv_ray_yawyprune_34ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_34cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case SQ4EQ4: + trv_ray_yawxprune_14ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_14cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_34ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_34cw(&g_candidate_yplane, &g_discard_yplane, yawend); + break; + + case SQ4E0: + trv_ray_yawxprune_14ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_14cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_34ccw(&g_candidate_yplane, &g_yplane, yawstart); + break; + + case SQ4EQ1: + trv_ray_yawxprune_14ccw(&g_discard_xplane, &g_xplane, yawstart); + trv_ray_yawxprune_14cw(&g_candidate_xplane, &g_discard_xplane, yawend); + trv_ray_yawyprune_34ccw(&g_discard_yplane, &g_yplane, yawstart); + trv_ray_yawyprune_12cw(&g_candidate_yplane, &g_yplane, yawend); + trv_merge_planelists(&g_candidate_yplane, &g_discard_yplane); + break; + + default: /* No other combination should occur if the range is < 90 deg */ + break; + } + + /* Create the special plane lists for the raycaster */ + + trv_ray_mkplanelist(&g_ray_xplane, &g_candidate_xplane, g_camera.x); + trv_ray_mkplanelist(&g_ray_yplane, &g_candidate_yplane, g_camera.y); + trv_ray_mkplanelist(&g_ray_zplane, &g_zplane, g_camera.z); +} + +/**************************************************************************** + * Name: trv_ray_pitchprune + * + * Description: + * This function may be called at each "horizontal" pitch swathe to + * prepare ray casting data. This function "prunes" out all planes that + * may be visible in the specified pitch range. + * + ****************************************************************************/ + +void trv_ray_pitchprune(int16_t pitchstart, int16_t pitchend) +{ + /* Check the current pitch range */ + + if (pitchend <= ANGLE_180) + { + /* The entire view is in the upper hemisphere */ + + if (g_working_planestate != WTOP) + { + if (g_working_planestate == WBOTTOM) + { + /* Merge the workingPlane lists with the candidate plane lists */ + + trv_merge_planelists(&g_candidate_xplane, &g_working_xplane); + trv_merge_planelists(&g_candidate_yplane, &g_working_yplane); + } + + /* Select the rectangles which lie above the level line of sight */ + + trv_ray_selectupper(&g_working_xplane, &g_candidate_xplane); + trv_ray_selectupper(&g_working_yplane, &g_candidate_yplane); + + /* Create the special plane lists for the raycaster */ + + trv_ray_mkplanelist(&g_ray_xplane, &g_working_xplane, g_camera.x); + trv_ray_mkplanelist(&g_ray_yplane, &g_working_yplane, g_camera.y); + + g_working_planestate = WTOP; + } + } + else if (pitchstart <= ANGLE_180) + { + /* The view is split between the upper and lower hemispheres */ + + if (g_working_planestate != WEMPTY) + { + /* Merge the workingPlane lists with the candidate plane lists */ + + trv_merge_planelists(&g_candidate_xplane, &g_working_xplane); + trv_merge_planelists(&g_candidate_yplane, &g_working_yplane); + + /* Create the special plane lists for the raycaster */ + + trv_ray_mkplanelist(&g_ray_xplane, &g_candidate_xplane, g_camera.x); + trv_ray_mkplanelist(&g_ray_yplane, &g_candidate_yplane, g_camera.y); + + g_working_planestate = WEMPTY; + } + } + else + { + /* The entire view is in the lower hemisphere */ + + if (g_working_planestate != WBOTTOM) + { + if (g_working_planestate == WTOP) + { + /* Merge the workingPlane lists with the candidate plane lists */ + + trv_merge_planelists(&g_candidate_xplane, &g_working_xplane); + trv_merge_planelists(&g_candidate_yplane, &g_working_yplane); + } + + /* Select the rectangles which lie below the level line of sight */ + + trv_ray_selectlower(&g_working_xplane, &g_candidate_xplane); + trv_ray_selectlower(&g_working_yplane, &g_candidate_yplane); + + /* Create the special plane lists for the raycaster */ + + trv_ray_mkplanelist(&g_ray_xplane, &g_working_xplane, g_camera.x); + trv_ray_mkplanelist(&g_ray_yplane, &g_working_yplane, g_camera.y); + + g_working_planestate = WBOTTOM; + } + } +} + +/**************************************************************************** + * Name: trv_ray_pitchunprune + * + * Description: + * This function may be called at the end of each rending cycle to + * restore the environment which was perturbed by trv_ray_pitchprune. + * + ****************************************************************************/ + +void trv_ray_pitchunprune(void) +{ +} + +/**************************************************************************** + * Name: trv_ray_yawunprune + * + * Description: + * This function may be called at the end of each rending cycle to + * restore the environment which was perturbed by trv_ray_yawprune. + * + ****************************************************************************/ + +void trv_ray_yawunprune(void) +{ + /* Merge the working X plane list with the discarded X plane list */ + + trv_merge_planelists(&g_discard_xplane, &g_working_xplane); + + /* Merge the candidate X plane list with the discarded X plane list */ + + trv_merge_planelists(&g_discard_xplane, &g_candidate_xplane); + + /* Merge the discarded X plane list with the original "raw" X plane list */ + + trv_merge_planelists(&g_xplane, &g_discard_xplane); + + /* Merge the working Y plane list with the discarded Y plane list */ + + trv_merge_planelists(&g_discard_yplane, &g_working_yplane); + + /* Merge the candidate X plane list with the discarded X plane list */ + + trv_merge_planelists(&g_discard_yplane, &g_candidate_yplane); + + /* Merge the discarded Y plane list with the original "raw" Y plane list */ + + trv_merge_planelists(&g_yplane, &g_discard_yplane); +} |