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ivp_clustering_visualizer.hxx
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// Copyright (C) Ipion Software GmbH 2000. All rights reserved.
// IVP_EXPORT_PROTECTED
class IVP_Clustering_Visualizer_Longrange_Data;
class IVP_Clustering_Visualizer_Longrange_Hash;
class IVP_Clustering_Visualizer_Object_Hash;
class IVP_Clustering_Visualizer_Shortrange_Objectdata;
class IVP_Compact_Ledgetree_Node;
/********************************************************************************
* Filename: ivp_clustering_visualizer.hxx
* Description: This file provides you with assisting classes to visualize
* the object-internal clustering of concave objects in the
* Ipion Virtual Physics Engine as well as the time-spheres
* around physical objects.
* Note: These are abstract classes, i.e. they do not perform any
* significant output at all. You can install an arbitrary
* number of callbacks (subclassed from
* 'IVP_Clustering_XXXrange_Visualizer_Callback_Interface',
* that can handle whatever visualisation you might need.
* Classes: IVP_Clustering_Visualizer_Shortrange
* IVP_Clustering_Visualizer_Longrange
********************************************************************************/
#ifndef IVP_CLUSTERING_VISUALIZER_INCLUDED
#define IVP_CLUSTERING_VISUALIZER_INCLUDED
enum IVP_CLUSTERING_VISUALIZER_FILTER {
ACCEPT = 1,
REJECT = 2
};
/*******************************************************************************
*******************************************************************************
*
* LONGRANGE CLUSTERING VISUALIZER
*
*******************************************************************************
******************************************************************************/
/********************************************************************************
* Name: IVP_Clustering_Visualizer_Longrange_Callback
* Description: A callback called whenever the clustering visualizer needs to
* update the time-sphere around an object.
********************************************************************************/
class IVP_Clustering_Visualizer_Longrange_Callback {
public:
IVP_BOOL enabled;
IVP_Real_Object * real_object;
IVP_U_Float_Point center;
IVP_DOUBLE radius;
virtual void visualize_request() = 0;
virtual void devisualize_request() = 0;
virtual void enable() = 0;
virtual void disable() = 0;
virtual ~IVP_Clustering_Visualizer_Longrange_Callback();
};
/********************************************************************************
* Class: IVP_Clustering_Visualizer_Longrange
* Description: Visualizer class to help you visualize the time-sphere of a
* supplied physical object.
*******************************************************************************/
class IVP_Clustering_Visualizer_Longrange {
private:
// global data
IVP_BOOL enabled;
IVP_U_Vector<IVP_Clustering_Visualizer_Longrange_Callback> graphics_callbacks; // list of user-definable callbacks
IVP_Clustering_Visualizer_Longrange_Hash * accept_filter;
IVP_Clustering_Visualizer_Longrange_Hash * reject_filter;
IVP_U_Vector<IVP_Clustering_Visualizer_Longrange_Data> visualize_data;
void remove_objectdata(IVP_Real_Object *real_object);
public:
// global data
IVP_BOOL use_accept_filter;
IVP_BOOL use_reject_filter;
IVP_BOOL visualize_moveable_objects;
IVP_BOOL visualize_unmoveable_objects;
void add_object_to_filter (IVP_Real_Object *obj, IVP_CLUSTERING_VISUALIZER_FILTER filter);
void remove_object_from_filter(IVP_Real_Object *obj, IVP_CLUSTERING_VISUALIZER_FILTER filter);
void add_object (IVP_Real_Object *real_object, IVP_U_Float_Point *center, IVP_DOUBLE radius);
void remove_object(IVP_Real_Object *real_object);
/******************************************************************************
* Method: visualize
* Description: Call this function to initiate the visualization
* of the object's time-sphere.
* Input: <real_object> the physical object
* <center> the center of the time-sphere
* <radius> the radius of the time-sphere
*****************************************************************************/
void visualize();
//void devisualize(IVP_Real_Object *real_object);
/******************************************************************************
* Method: install_visualize_callback / remove_visualize_callback
* Description: Used to install or remove a certain visualization callback.
* Input: <callback> callback to install/remove
*****************************************************************************/
void install_visualize_callback(IVP_Clustering_Visualizer_Longrange_Callback *callback);
void remove_visualize_callback (IVP_Clustering_Visualizer_Longrange_Callback *callback);
/******************************************************************************
* Method: enable / disable / get_state
* Description: Used to enable or disable the visualizer or to retrieve
* its current state.
*****************************************************************************/
void enable();
void disable();
IVP_BOOL get_state();
/******************************************************************************
* Method: Class constructor / destructor
* Description: Standard constructor / destructor.
*****************************************************************************/
IVP_Clustering_Visualizer_Longrange();
~IVP_Clustering_Visualizer_Longrange();
};
/*******************************************************************************
*******************************************************************************
*
* SHORTRANGE CLUSTERING VISUALIZER
*
*******************************************************************************
******************************************************************************/
/********************************************************************************
* Name: IVP_Clustering_Visualizer_Shortrange_Callback
* Description: A callback called whenever ...
********************************************************************************/
class IVP_Clustering_Visualizer_Shortrange_Callback {
public:
IVP_Real_Object * private_property;
// these values define one single node
IVP_Compact_Ledgetree_Node * node; // address of IVP_Compact_Ledgetree_Node
IVP_U_Point position;
IVP_DOUBLE sphere_radius;
IVP_U_Point box_extents;
int n_touches; // only used when node is terminal!
IVP_BOOL reported_ledge; // IVP_TRUE if node is terminal and the corresponding ledge has been passed back from hierarchy check!
void * user_data;
virtual void visualize_request_for_node() = 0;
virtual void visualize_request_for_intruder_radius() = 0;
IVP_Clustering_Visualizer_Shortrange_Callback() {
this->user_data = NULL;
return;
};
virtual ~IVP_Clustering_Visualizer_Shortrange_Callback();
};
enum IVP_CLUSTERING_SHORTRANGE_VISUALIZER_BOXMODE {
TERMINALS_ONLY = 1, // report only the bounding boxes of terminals
ABORTED_BOXES = 2, // report all boxes that have been aborted during traversal
TRAVERSED_BOXES = 3 // report all visited boxes
};
class IVP_Clustering_Visualizer_Shortrange {
private:
// global data
IVP_BOOL enabled;
IVP_Clustering_Visualizer_Object_Hash * accept_filter_intruder;
IVP_Clustering_Visualizer_Object_Hash * reject_filter_intruder;
IVP_Clustering_Visualizer_Object_Hash * accept_filter_private_property;
IVP_Clustering_Visualizer_Object_Hash * reject_filter_private_property;
IVP_U_Vector<IVP_Clustering_Visualizer_Shortrange_Callback> output_callbacks; // list of user-definable callbacks
// temporary data
IVP_Real_Object * private_property;
IVP_Real_Object * intruder;
IVP_DOUBLE intruder_radius;
IVP_U_Matrix intruder_matrix;
IVP_U_Point intruder_position_in_private_property_cs; // position of intruder-object in private property's object's core coordinate-system
IVP_U_Vector<IVP_Clustering_Visualizer_Shortrange_Objectdata> pipelined_objects;
IVP_Clustering_Visualizer_Shortrange_Objectdata * pipelined_private_property_data;
void add_node_to_pipeline (const IVP_Compact_Ledgetree_Node *node, IVP_BOOL reported_ledge);
IVP_BOOL recursively_traverse_cluster(const IVP_Compact_Ledgetree_Node *);
public:
IVP_CLUSTERING_SHORTRANGE_VISUALIZER_BOXMODE boxmode; // see above
IVP_BOOL use_intruder_accept_filter;
IVP_BOOL use_intruder_reject_filter;
IVP_BOOL use_private_property_accept_filter;
IVP_BOOL use_private_property_reject_filter;
IVP_BOOL remove_longrange_visualization; // do not display longrange visualization if object hierarchy is traversed!
int stats_n_reported_ledges;
int stats_n_sphere_collisiontests;
int stats_n_box_collisiontests;
void visualize_collisions();
void analyze_collision(IVP_Real_Object *object0, IVP_DOUBLE radius0, IVP_Real_Object *object1, IVP_DOUBLE radius1);
void add_object_to_intruder_filter (IVP_Real_Object *obj, IVP_CLUSTERING_VISUALIZER_FILTER filter);
void add_object_to_private_property_filter (IVP_Real_Object *obj, IVP_CLUSTERING_VISUALIZER_FILTER filter);
void remove_object_from_intruder_filter (IVP_Real_Object *obj, IVP_CLUSTERING_VISUALIZER_FILTER filter);
void remove_object_from_private_property_filter(IVP_Real_Object *obj, IVP_CLUSTERING_VISUALIZER_FILTER filter);
/******************************************************************************
* Method: install_visualize_callback / remove_visualize_callback
* Description: Used to install or remove a certain visualization callback.
* Input: <callback> callback to install/remove
*****************************************************************************/
void install_visualize_callback(IVP_Clustering_Visualizer_Shortrange_Callback *callback);
void remove_visualize_callback (IVP_Clustering_Visualizer_Shortrange_Callback *callback);
/******************************************************************************
* Method: enable / disable / get_state
* Description: Used to enable or disable the visualizer or to retrieve
* its current state.
*****************************************************************************/
void enable();
void disable();
IVP_BOOL get_state();
/******************************************************************************
* Method: Class constructor / destructor
* Description: Standard constructor / destructor.
* Input: <object> the physical object to which the visualizer
* shall be attached.
*****************************************************************************/
IVP_Clustering_Visualizer_Shortrange();
~IVP_Clustering_Visualizer_Shortrange();
};
/*******************************************************************************
*******************************************************************************
*
* CLUSTERING VISUALIZER MANAGER
*
*******************************************************************************
******************************************************************************/
/********************************************************************************
* Class: IVP_Clustering_Visualizer
* Description: Main visualizer class.
*******************************************************************************/
class IVP_Clustering_Visualizer {
public:
IVP_Clustering_Visualizer_Shortrange shortrange;
IVP_Clustering_Visualizer_Longrange longrange;
};
#ifdef IVP_HOME_BUILD
extern IVP_Clustering_Visualizer ivp_global_clustering_visualizer;
#endif
#endif