Revision: 8287
http://playerstage.svn.sourceforge.net/playerstage/?rev=8287&view=rev
Author: rtv
Date: 2009-10-13 20:10:23 +0000 (Tue, 13 Oct 2009)
Log Message:
-----------
performance tweaks
Modified Paths:
--------------
code/stage/trunk/CMakeLists.txt
code/stage/trunk/RELEASE.txt
code/stage/trunk/examples/ctrl/wander.cc
code/stage/trunk/libstage/block.cc
code/stage/trunk/libstage/blockgroup.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/todo.txt
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/simple.world
Modified: code/stage/trunk/CMakeLists.txt
===================================================================
--- code/stage/trunk/CMakeLists.txt 2009-10-13 03:20:17 UTC (rev 8286)
+++ code/stage/trunk/CMakeLists.txt 2009-10-13 20:10:23 UTC (rev 8287)
@@ -2,7 +2,7 @@
SET( V_MAJOR 3 )
SET( V_MINOR 2 )
-SET( V_BUGFIX 0 )
+SET( V_BUGFIX 1 )
SET( VERSION ${V_MAJOR}.${V_MINOR}.${V_BUGFIX} )
SET( APIVERSION ${V_MAJOR}.${V_MINOR} )
Modified: code/stage/trunk/RELEASE.txt
===================================================================
--- code/stage/trunk/RELEASE.txt 2009-10-13 03:20:17 UTC (rev 8286)
+++ code/stage/trunk/RELEASE.txt 2009-10-13 20:10:23 UTC (rev 8287)
@@ -1,3 +1,10 @@
+Version 3.2.1
+-------------
+
+Bugfix release, contains mainly bugfixes but some performance tweaks.
+
+Richard Vaughan (rtv) [email protected] - 2009.10.13
+
Version 3.2.0
-------------
Modified: code/stage/trunk/examples/ctrl/wander.cc
===================================================================
--- code/stage/trunk/examples/ctrl/wander.cc 2009-10-13 03:20:17 UTC (rev
8286)
+++ code/stage/trunk/examples/ctrl/wander.cc 2009-10-13 20:10:23 UTC (rev
8287)
@@ -23,11 +23,12 @@
extern "C" int Init( Model* mod, CtrlArgs* args )
{
// local arguments
- printf( "\nWander controller initialised with:\n"
- "\tworldfile string \"%s\"\n"
- "\tcmdline string \"%s\"",
- args->worldfile.c_str(),
- args->cmdline.c_str() );
+ /* printf( "\nWander controller initialised with:\n"
+ "\tworldfile string \"%s\"\n"
+ "\tcmdline string \"%s\"",
+ args->worldfile.c_str(),
+ args->cmdline.c_str() );
+ */
robot_t* robot = new robot_t;
Modified: code/stage/trunk/libstage/block.cc
===================================================================
--- code/stage/trunk/libstage/block.cc 2009-10-13 03:20:17 UTC (rev 8286)
+++ code/stage/trunk/libstage/block.cc 2009-10-13 20:10:23 UTC (rev 8287)
@@ -292,14 +292,9 @@
mpts[i] = BlockPointToModelMeters( pts[i] );
}
- // convert the mpts in model coords into global pixel coords
- //gpts.resize(pt_count);
- //for( unsigned int i=0; i<pt_count; i++ )
- //gpts[i] = mod->world->MetersToPixels( mod->LocalToGlobal( mpts[i] ));
-
gpts.clear();
mod->LocalToPixels( mpts, gpts );
-
+
for( unsigned int i=0; i<pt_count; i++ )
mod->world->ForEachCellInLine( gpts[i],
gpts[(i+1)%pt_count],
Modified: code/stage/trunk/libstage/blockgroup.cc
===================================================================
--- code/stage/trunk/libstage/blockgroup.cc 2009-10-13 03:20:17 UTC (rev
8286)
+++ code/stage/trunk/libstage/blockgroup.cc 2009-10-13 20:10:23 UTC (rev
8287)
@@ -238,7 +238,7 @@
void BlockGroup::CallDisplayList( Model* mod )
{
if( displaylist == 0 )
- BuildDisplayList( mod );
+ BuildDisplayList( mod );
glCallList( displaylist );
}
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-10-13 03:20:17 UTC (rev 8286)
+++ code/stage/trunk/libstage/model.cc 2009-10-13 20:10:23 UTC (rev 8287)
@@ -149,6 +149,8 @@
// static members
uint32_t Model::count = 0;
+uint32_t Model::trail_length = 50;
+uint64_t Model::trail_interval = 5;
std::map<stg_id_t,Model*> Model::modelsbyid;
std::map<std::string, creator_t> Model::name_map;
std::map<void*, std::set<Model::stg_cb_t> > Model::callbacks;
@@ -288,8 +290,6 @@
subs(0),
thread_safe( false ),
trail(),
- trail_length(50),
- trail_interval(5),
type(type),
event_queue_num( 0 ),
used(false),
@@ -582,12 +582,16 @@
void Model::LocalToPixels( const std::vector<stg_point_t>& local,
std::vector<stg_point_int_t>& global) const
{
+ Pose gpose = GetGlobalPose() + geom.pose;
+
FOR_EACH( it, local )
- global.push_back( world->MetersToPixels( LocalToGlobal( *it )));
+ {
+ Pose ptpose = gpose + Pose( it->x, it->y, 0, 0 );
+ global.push_back( stg_point_int_t( (int32_t)floor(
ptpose.x * world->ppm) ,
+
(int32_t)floor( ptpose.y * world->ppm) ));
+ }
}
-
-
void Model::MapWithChildren()
{
UnMap();
@@ -898,16 +902,16 @@
// ConditionalMove() returns a pointer to the model we hit, or
// NULL. We use this as a boolean for SetStall()
SetStall( ConditionalMove( pose + p ) );
-
- if( trail_length > 0 && world->updates % trail_interval == 0 )
- {
- trail.push_back( TrailItem( world->sim_time, GetGlobalPose(),
color ) );
-
- if( trail.size() > trail_length )
- trail.pop_front();
- }
}
+void Model::UpdateTrail()
+{
+ trail.push_back( TrailItem( world->sim_time, GetGlobalPose(), color )
);
+
+ if( trail.size() > trail_length )
+ trail.pop_front();
+}
+
Model* Model::GetUnsubscribedModelOfType( const std::string& type ) const
{
if( (this->type == type) && (this->subs == 0) )
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2009-10-13 03:20:17 UTC (rev
8286)
+++ code/stage/trunk/libstage/model_laser.cc 2009-10-13 20:10:23 UTC (rev
8287)
@@ -73,9 +73,9 @@
ModelLaser::ModelLaser( World* world,
- Model* parent,
- const
std::string& type ) :
- Model( world, parent, type ),
+
Model* parent,
+
const std::string& type ) :
+ Model( world, parent, type ),
vis( world ),
sample_count( DEFAULT_SAMPLES ),
samples(),
@@ -84,7 +84,7 @@
resolution( DEFAULT_RESOLUTION )
{
PRINT_DEBUG2( "Constructing ModelLaser %d (%s)\n",
- id, typestr );
+ id, typestr );
SetGeom( Geom( Pose(0,0,0,0), DEFAULT_SIZE) );
@@ -148,8 +148,8 @@
}
static bool laser_raytrace_match( Model* hit,
- Model* finder,
- const void*
dummy )
+
Model* finder,
+
const void* dummy )
{
// Ignore the model that's looking and things that are invisible to
// lasers
@@ -184,39 +184,39 @@
// trace the ray, incrementing its heading for each sample
for( unsigned int t(0); t<sample_count; t += resolution )
{
- stg_raytrace_result_t r( world->Raytrace( ray ) );
- samples[t].range = r.range;
+ stg_raytrace_result_t r( world->Raytrace( ray ) );
+ samples[t].range = r.range;
// if we hit a model and it reflects brightly, we set
// reflectance high, else low
if( r.mod && ( r.mod->vis.laser_return >= LaserBright ) )
- samples[t].reflectance = 1;
+ samples[t].reflectance = 1;
else
- samples[t].reflectance = 0;
+ samples[t].reflectance = 0;
- // point the ray to the next angle
- ray.origin.a += sample_incr;
+ // point the ray to the next angle
+ ray.origin.a += sample_incr;
}
// we may need to interpolate the samples we skipped
if( resolution > 1 )
{
for( unsigned int t( resolution); t<sample_count; t+=resolution )
- for( unsigned int g(1); g<resolution; g++ )
- {
- if( t >= sample_count )
- break;
+ for( unsigned int g(1); g<resolution; g++ )
+ {
+ if( t >= sample_count )
+ break;
- // copy the rightmost sample data into this point
- samples[t-g] = samples[t-resolution];
+ // copy the rightmost sample
data into this point
+ samples[t-g] =
samples[t-resolution];
- double left( samples[t].range );
- double right( samples[t-resolution].range );
+ double left( samples[t].range );
+ double right(
samples[t-resolution].range );
- // linear range interpolation between the left and
right samples
- samples[t-g].range = (left-g*(left-right)/resolution);
- }
- }
+ // linear range interpolation
between the left and right samples
+ samples[t-g].range =
(left-g*(left-right)/resolution);
+ }
+ }
// removed MapFromRoot() optimization - though neat, it breaks
// thread-safety by messing with the Cell contents - rtv
@@ -243,12 +243,12 @@
printf( "\tRanges[ " );
for( unsigned int i=0; i<sample_count; i++ )
- printf( "%.2f ", samples[i].range );
+ printf( "%.2f ", samples[i].range );
puts( " ]" );
printf( "\tReflectance[ " );
for( unsigned int i=0; i<sample_count; i++ )
- printf( "%.2f ", samples[i].reflectance );
+ printf( "%.2f ", samples[i].reflectance );
puts( " ]" );
}
@@ -302,74 +302,74 @@
glPointSize( 2 );
for( unsigned int s(0); s<sample_count; s++ )
- {
- double ray_angle = (s * (laser->fov / (sample_count-1))) -
laser->fov/2.0;
- pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
- pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );
+ {
+ double ray_angle = (s * (laser->fov /
(sample_count-1))) - laser->fov/2.0;
+ pts[2*s+2] = (float)(samples[s].range * cos(ray_angle)
);
+ pts[2*s+3] = (float)(samples[s].range * sin(ray_angle)
);
- // if the sample is unusually bright, draw a little blob
- if( samples[s].reflectance > 0 )
- {
- glBegin( GL_POINTS );
- glVertex2f( pts[2*s+2], pts[2*s+3] );
- glEnd();
- }
- }
+ // if the sample is unusually bright, draw a little blob
+ if( samples[s].reflectance > 0 )
+ {
+ glBegin( GL_POINTS );
+ glVertex2f( pts[2*s+2], pts[2*s+3] );
+ glEnd();
+ }
+ }
glVertexPointer( 2, GL_FLOAT, 0, &pts[0] );
laser->PopColor();
if( showArea )
- {
- // draw the filled polygon in transparent blue
- laser->PushColor( 0, 0, 1, 0.1 );
- glDrawArrays( GL_POLYGON, 0, sample_count+1 );
- laser->PopColor();
- }
+ {
+ // draw the filled polygon in transparent blue
+ laser->PushColor( 0, 0, 1, 0.1 );
+ glDrawArrays( GL_POLYGON, 0, sample_count+1 );
+ laser->PopColor();
+ }
glDepthMask( GL_TRUE );
if( showStrikes )
- {
- // draw the beam strike points
- laser->PushColor( 0, 0, 1, 0.8 );
- glDrawArrays( GL_POINTS, 0, sample_count+1 );
- laser->PopColor();
- }
+ {
+ // draw the beam strike points
+ laser->PushColor( 0, 0, 1, 0.8 );
+ glDrawArrays( GL_POINTS, 0, sample_count+1 );
+ laser->PopColor();
+ }
if( showFov )
- {
- for( unsigned int s(0); s<sample_count; s++ )
{
- double ray_angle((s * (laser->fov / (sample_count-1))) -
laser->fov/2.0);
- pts[2*s+2] = (float)(laser->range_max * cos(ray_angle) );
- pts[2*s+3] = (float)(laser->range_max * sin(ray_angle) );
- }
+ for( unsigned int s(0); s<sample_count; s++ )
+ {
+ double ray_angle((s * (laser->fov /
(sample_count-1))) - laser->fov/2.0);
+ pts[2*s+2] = (float)(laser->range_max *
cos(ray_angle) );
+ pts[2*s+3] = (float)(laser->range_max *
sin(ray_angle) );
+ }
- glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
- laser->PushColor( 0, 0, 1, 0.5 );
- glDrawArrays( GL_POLYGON, 0, sample_count+1 );
- laser->PopColor();
- }
+ glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
+ laser->PushColor( 0, 0, 1, 0.5 );
+ glDrawArrays( GL_POLYGON, 0, sample_count+1 );
+ laser->PopColor();
+ }
if( showBeams )
- {
- laser->PushColor( 0, 0, 1, 0.5 );
- glBegin( GL_LINES );
+ {
+ laser->PushColor( 0, 0, 1, 0.5 );
+ glBegin( GL_LINES );
- for( unsigned int s(0); s<sample_count; s++ )
- {
+ for( unsigned int s(0); s<sample_count; s++ )
+ {
- glVertex2f( 0,0 );
- double ray_angle((s * (laser->fov / (sample_count-1))) -
laser->fov/2.0);
- glVertex2f( samples[s].range * cos(ray_angle),
- samples[s].range * sin(ray_angle) );
+ glVertex2f( 0,0 );
+ double ray_angle((s * (laser->fov /
(sample_count-1))) - laser->fov/2.0);
+ glVertex2f( samples[s].range *
cos(ray_angle),
+
samples[s].range * sin(ray_angle) );
- }
- glEnd();
- laser->PopColor();
- }
+ }
+ glEnd();
+ laser->PopColor();
+ }
glPopMatrix();
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-10-13 03:20:17 UTC (rev 8286)
+++ code/stage/trunk/libstage/stage.hh 2009-10-13 20:10:23 UTC (rev 8287)
@@ -1825,11 +1825,14 @@
/** The maxiumum length of the trail drawn. Default is 20, but can
be set in the world file using the tail_length model
property. */
- unsigned int trail_length;
+ static unsigned int trail_length;
/** Number of world updates between trail records. */
- uint64_t trail_interval;
+ static uint64_t trail_interval;
+ /** Record the current pose in our trail. Delete the trail head
if it is full. */
+ void UpdateTrail();
+
//stg_model_type_t type;
const std::string type;
/** The index into the world's vector of event queues. Initially
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-10-13 03:20:17 UTC (rev 8286)
+++ code/stage/trunk/libstage/world.cc 2009-10-13 20:10:23 UTC (rev 8287)
@@ -556,7 +556,11 @@
FOR_EACH( it, active_energy )
(*it)->UpdateCharge();
-
+
+ if( Model::trail_length > 0 && updates % Model::trail_interval == 0 )
+ FOR_EACH( it, active_velocity )
+ (*it)->UpdateTrail();
+
if( show_clock && ((this->updates % show_clock_interval) == 0) )
{
printf( "\r[Stage: %s]", ClockString().c_str() );
Modified: code/stage/trunk/todo.txt
===================================================================
--- code/stage/trunk/todo.txt 2009-10-13 03:20:17 UTC (rev 8286)
+++ code/stage/trunk/todo.txt 2009-10-13 20:10:23 UTC (rev 8287)
@@ -16,8 +16,8 @@
19.94 (rev 8210 - new event queue is slower but more powerful and
elegant)
MBA 17.3
+MBA 23.2
-
** 3.2.0 RELEASE *
- visualizer option state in worldfile
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-10-13 03:20:17 UTC (rev 8286)
+++ code/stage/trunk/worlds/fasr.world 2009-10-13 20:10:23 UTC (rev 8287)
@@ -10,8 +10,8 @@
paused 1
# time at which to pause (in GUI mode) or quit (in headless mode) the
simulation
-#quit_time 3600 # 1 hour of simulated time
-quit_time 1800 # hour of simulated time
+quit_time 3600 # 1 hour of simulated time
+#quit_time 1800 # hour of simulated time
resolution 0.02
@@ -102,6 +102,9 @@
joules_capacity 400000
fiducial_return 0
charging_bump( fiducial( range_max 5 pose [ 0 0 -0.100 0 ] ) )
+
+ # small speed optimization
+ trail_length 0
)
autorob( pose [7.062 -1.563 0 152.684] joules 300000 name "r0" )
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2009-10-13 03:20:17 UTC (rev
8286)
+++ code/stage/trunk/worlds/simple.world 2009-10-13 20:10:23 UTC (rev
8287)
@@ -17,8 +17,7 @@
window
(
size [ 635.000 666.000 ] # in pixels
- scale 37.481
- # pixels per meteri
+ scale 37.481 # pixels per meter
center [ -0.019 -0.282 ]
rotate [ 0 0 ]
@@ -29,11 +28,9 @@
floorplan
(
name "cave"
- #size [16.000 16.000 0.800]
- size [ 66 66 0.800]
+ size [16.000 16.000 0.800]
pose [0 0 0 0]
- #bitmap "bitmaps/cave.png"
- bitmap "bitmaps/circle.png"
+ bitmap "bitmaps/cave.png"
)
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