48 |
|
|
49 |
|
|
50 |
|
static |
51 |
< |
groweyelim(gcl, gc, r0, r1) /* grow grid limits about eye point */ |
51 |
> |
groweyelim(gcl, gc, r0, r1, tight) /* grow grid limits about eye point */ |
52 |
|
register struct gclim *gcl; |
53 |
|
GCOORD *gc; |
54 |
|
double r0, r1; |
55 |
+ |
int tight; |
56 |
|
{ |
57 |
|
FVECT gp, ab; |
58 |
< |
double vlen, plen, dv0, dv1; |
59 |
< |
double rd2, dwall, gpos; |
60 |
< |
int eyeout; |
61 |
< |
register int i, g0, g1; |
62 |
< |
|
58 |
> |
double ab2, od, cfact; |
59 |
> |
double sqcoef[3], ctcoef[3], licoef[3], cnst; |
60 |
> |
int gw, gi[2]; |
61 |
> |
double wallpos, a, b, c, d, e, f; |
62 |
> |
double root[2], yex; |
63 |
> |
int n, i, j, nex; |
64 |
> |
/* point/view cone */ |
65 |
|
i = gc->w>>1; |
66 |
< |
if (gc->w&1) |
64 |
< |
eyeout = (gp[i] = gcl->hp->grid[i]) < gcl->egp[i]; |
65 |
< |
else |
66 |
< |
eyeout = (gp[i] = 0) > gcl->egp[i]; |
66 |
> |
gp[i] = gc->w&1 ? gcl->hp->grid[i] : 0; |
67 |
|
gp[hdwg0[gc->w]] = gc->i[0] + r0; |
68 |
|
gp[hdwg1[gc->w]] = gc->i[1] + r1; |
69 |
|
VSUB(ab, gcl->egp, gp); |
70 |
< |
rd2 = DOT(ab,ab); |
71 |
< |
if (rd2 <= gcl->erg2) { |
70 |
> |
ab2 = DOT(ab, ab); |
71 |
> |
gw = gcl->gc.w>>1; |
72 |
> |
if ((i==gw ? ab[gw]*ab[gw] : ab2) <= gcl->erg2 + FTINY) { |
73 |
|
gcl->gmin[0] = gcl->gmin[1] = -FHUGE; |
74 |
|
gcl->gmax[0] = gcl->gmax[1] = FHUGE; |
75 |
< |
return; |
75 |
> |
return; /* too close (to wall) */ |
76 |
|
} |
77 |
< |
rd2 = gcl->erg2 / rd2; |
78 |
< |
vlen = 1. - rd2; |
79 |
< |
plen = sqrt(rd2 * vlen); |
80 |
< |
g0 = gcl->gc.w>>1; |
81 |
< |
dwall = (gcl->gc.w&1 ? gcl->hp->grid[g0] : 0) - gp[g0]; |
82 |
< |
for (i = 0; i < 4; i++) { |
83 |
< |
if (i == 2) |
84 |
< |
plen = -plen; |
85 |
< |
g1 = (g0+(i&1)+1)%3; |
86 |
< |
dv0 = vlen*ab[g0] + plen*ab[g1]; |
87 |
< |
dv1 = vlen*ab[g1] - plen*ab[g0]; |
88 |
< |
if ((dv0 < 0 ^ dwall < 0 ^ eyeout) || |
89 |
< |
(dv0 <= FTINY && dv0 >= -FTINY)) { |
90 |
< |
if (eyeout) |
91 |
< |
dv1 = -dv1; |
92 |
< |
if (dv1 > FTINY) |
93 |
< |
gcl->gmax[i&1] = FHUGE; |
94 |
< |
else if (dv1 < -FTINY) |
95 |
< |
gcl->gmin[i&1] = -FHUGE; |
96 |
< |
} else { |
97 |
< |
gpos = gp[g1] + dv1*dwall/dv0; |
98 |
< |
if (gpos < gcl->gmin[i&1]) |
99 |
< |
gcl->gmin[i&1] = gpos; |
100 |
< |
if (gpos > gcl->gmax[i&1]) |
101 |
< |
gcl->gmax[i&1] = gpos; |
77 |
> |
ab2 = 1./ab2; /* 1/norm2(ab) */ |
78 |
> |
od = DOT(gp, ab); /* origin dot direction */ |
79 |
> |
cfact = 1./(1. - ab2*gcl->erg2); /* tan^2 + 1 of cone angle */ |
80 |
> |
for (i = 0; i < 3; i++) { /* compute cone equation */ |
81 |
> |
sqcoef[i] = ab[i]*ab[i]*cfact*ab2 - 1.; |
82 |
> |
ctcoef[i] = 2.*ab[i]*ab[(i+1)%3]*cfact*ab2; |
83 |
> |
licoef[i] = 2.*(gp[i] - ab[i]*cfact*od*ab2); |
84 |
> |
} |
85 |
> |
cnst = cfact*od*od*ab2 - DOT(gp,gp); |
86 |
> |
/* |
87 |
> |
* CONE: sqcoef[0]*x*x + sqcoef[1]*y*y + sqcoef[2]*z*z |
88 |
> |
* + ctcoef[0]*x*y + ctcoef[1]*y*z + ctcoef[2]*z*x |
89 |
> |
* + licoef[0]*x + licoef[1]*y + licoef[2]*z + cnst == 0 |
90 |
> |
*/ |
91 |
> |
/* equation for conic section in plane */ |
92 |
> |
gi[0] = hdwg0[gcl->gc.w]; |
93 |
> |
gi[1] = hdwg1[gcl->gc.w]; |
94 |
> |
wallpos = gcl->gc.w&1 ? gcl->hp->grid[gw] : 0; |
95 |
> |
a = sqcoef[gi[0]]; /* x2 */ |
96 |
> |
b = ctcoef[gi[0]]; /* xy */ |
97 |
> |
c = sqcoef[gi[1]]; /* y2 */ |
98 |
> |
d = ctcoef[gw]*wallpos + licoef[gi[0]]; /* x */ |
99 |
> |
e = ctcoef[gi[1]]*wallpos + licoef[gi[1]]; /* y */ |
100 |
> |
f = wallpos*(wallpos*sqcoef[gw] + licoef[gw]) + cnst; |
101 |
> |
for (i = 0; i < 2; i++) { |
102 |
> |
if (i) { /* swap x and y coefficients */ |
103 |
> |
register double t; |
104 |
> |
t = a; a = c; c = t; |
105 |
> |
t = d; d = e; e = t; |
106 |
|
} |
107 |
+ |
nex = 0; /* check global extrema */ |
108 |
+ |
n = quadratic(root, a*(4.*a*c-b*b), 2.*a*(2.*c*d-b*e), |
109 |
+ |
d*(c*d-b*e) + f*b*b); |
110 |
+ |
while (n-- > 0) { |
111 |
+ |
if (gc->w>>1 == gi[i] && |
112 |
+ |
(gc->w&1) ^ root[n] < gp[gc->w>>1]) { |
113 |
+ |
if (gc->w&1) |
114 |
+ |
gcl->gmin[i] = -FHUGE; |
115 |
+ |
else |
116 |
+ |
gcl->gmax[i] = FHUGE; |
117 |
+ |
nex++; |
118 |
+ |
continue; /* hyperbolic */ |
119 |
+ |
} |
120 |
+ |
if (tight) { |
121 |
+ |
yex = (-2.*a*root[n] - d)/b; |
122 |
+ |
if (yex < gcl->gc.i[1-i] || |
123 |
+ |
yex > gcl->gc.i[1-i]+1) |
124 |
+ |
continue; /* outside cell */ |
125 |
+ |
} |
126 |
+ |
if (root[n] < gcl->gmin[i]) |
127 |
+ |
gcl->gmin[i] = root[n]; |
128 |
+ |
if (root[n] > gcl->gmax[i]) |
129 |
+ |
gcl->gmax[i] = root[n]; |
130 |
+ |
nex++; |
131 |
+ |
} |
132 |
+ |
/* check local extrema */ |
133 |
+ |
for (j = nex < 2 ? 2 : 0; j--; ) { |
134 |
+ |
yex = gcl->gc.i[1-i] + j; |
135 |
+ |
n = quadratic(root, a, b*yex+d, yex*(yex*c+e)+f); |
136 |
+ |
while (n-- > 0) { |
137 |
+ |
if (gc->w>>1 == gi[i] && |
138 |
+ |
(gc->w&1) ^ root[n] < gp[gc->w>>1]) |
139 |
+ |
continue; |
140 |
+ |
if (root[n] < gcl->gmin[i]) |
141 |
+ |
gcl->gmin[i] = root[n]; |
142 |
+ |
if (root[n] > gcl->gmax[i]) |
143 |
+ |
gcl->gmax[i] = root[n]; |
144 |
+ |
} |
145 |
+ |
} |
146 |
|
} |
147 |
|
} |
148 |
|
|
177 |
|
register float *rod; |
178 |
|
register PACKET *p; |
179 |
|
{ |
180 |
+ |
#if 0 |
181 |
+ |
double dist2sum = 0.; |
182 |
+ |
FVECT vt; |
183 |
+ |
#endif |
184 |
|
int nretries = p->nr + 2; |
185 |
|
struct gclim eyelim; |
186 |
|
short rrng0[2][2], rrng1[2][2]; |
194 |
|
error(CONSISTENCY, "bad beam index in packrays"); |
195 |
|
if ((useyelim = myeye.rng > FTINY)) { |
196 |
|
initeyelim(&eyelim, hdlist[p->hd], gc); |
197 |
< |
groweyelim(&eyelim, gc+1, 0., 0.); |
198 |
< |
groweyelim(&eyelim, gc+1, 1., 1.); |
199 |
< |
useyelim &= clipeyelim(rrng0, &eyelim); |
197 |
> |
groweyelim(&eyelim, gc+1, 0., 0., 0); |
198 |
> |
groweyelim(&eyelim, gc+1, 1., 1., 0); |
199 |
> |
useyelim = clipeyelim(rrng0, &eyelim); |
200 |
> |
#ifdef DEBUG |
201 |
> |
if (!useyelim) |
202 |
> |
error(WARNING, "no eye overlap in packrays"); |
203 |
> |
#endif |
204 |
|
} |
205 |
|
for (i = 0; i < p->nr; i++) { |
206 |
|
retry: |
212 |
|
+ rrng0[1][0]; |
213 |
|
groweyelim(&eyelim, gc, |
214 |
|
(1./256.)*(p->ra[i].r[0][0]+.5), |
215 |
< |
(1./256.)*(p->ra[i].r[0][1]+.5)); |
215 |
> |
(1./256.)*(p->ra[i].r[0][1]+.5), 1); |
216 |
|
if (!clipeyelim(rrng1, &eyelim)) { |
217 |
< |
useyelim &= nretries-- > 0; |
217 |
> |
useyelim = nretries-- > 0; |
218 |
> |
#ifdef DEBUG |
219 |
> |
if (!useyelim) |
220 |
> |
error(WARNING, |
221 |
> |
"exceeded retry limit in packrays"); |
222 |
> |
#endif |
223 |
|
goto retry; |
224 |
|
} |
225 |
|
p->ra[i].r[1][0] = (int)(frandom()*rrng1[0][1]) |
233 |
|
p->ra[i].r[1][1] = frandom() * 256.; |
234 |
|
} |
235 |
|
d = hdray(ro, rd, hdlist[p->hd], gc, p->ra[i].r); |
236 |
+ |
#if 0 |
237 |
+ |
VSUM(vt, ro, rd, d); |
238 |
+ |
dist2sum += dist2line(myeye.vpt, ro, vt); |
239 |
+ |
#endif |
240 |
|
if (p->offset != NULL) { |
241 |
|
if (!vdef(OBSTRUCTIONS)) |
242 |
|
d *= frandom(); /* random offset */ |
248 |
|
VCOPY(rod, rd); |
249 |
|
rod += 3; |
250 |
|
} |
251 |
+ |
#if 0 |
252 |
+ |
fprintf(stderr, "%f RMS (%d retries)\t", sqrt(dist2sum/p->nr), |
253 |
+ |
p->nr + 2 - nretries); |
254 |
+ |
#endif |
255 |
|
} |
256 |
|
|
257 |
|
|