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Changeset 3320 in orxonox.OLD for orxonox/branches/parenting


Ignore:
Timestamp:
Jan 3, 2005, 12:23:41 PM (20 years ago)
Author:
bensch
Message:

orxonox/branches/parenting: curve-optimizations. Now calculation should be about 5 times faster. especially for long tracks.

Location:
orxonox/branches/parenting/src
Files:
2 edited

Legend:

Unmodified
Added
Removed

  • orxonox/branches/parenting/src/curve.cc

    r3319 r3320  
    2424#include "curve.h"
    2525
    26 
     26#include <math.h>
     27#include <stdio.h>
    2728
    2829/**
    … …  
    3940  currentNode->next = 0; // not sure if this really points to NULL!!
    4041  currentNode->number = (++nodeCount);
     42  this->rebuild();
    4143  return;
    4244}
    … …  
    7779
    7880/**
     81   \brief Rebuilds a Curve
     82*/
     83void BezierCurve::rebuild(void)
     84{
     85  PathNode* tmpNode = firstNode;
     86
     87  int k=0;
     88  int binCoef = 1;
     89  while(tmpNode)
     90    {
     91      if (k+1 < nodeCount-k)
     92        binCoef *=(nodeCount-k)/(k+1);
     93      else
     94        binCoef /= (k+1)/(nodeCount-k);
     95      ++k;
     96      tmpNode->factor = binCoef;
     97      tmpNode = tmpNode->next;
     98    }
     99}
     100
     101/**
    79102   \brief calculates the Position on the curve
    80103   \param t The position on the Curve (0<=t<=1)
    … …  
    85108  if (nodeCount <=4)
    86109    {
    87       //      if (verbose >= 1)
     110      //    if (verbose >= 1)
    88111      //      printf ("Please define at least 4 nodes, until now you have only defined %i.\n", nodeCount);
    89112      return Vector(0,0,0);
    90113    }
    91114  PathNode* tmpNode = firstNode;
    92    
    93115  Vector ret = Vector(0.0,0.0,0.0);
    94   double factor;
    95   int k=0;
    96   while(tmpNode!=0)
     116  float factor = 1.0*pow(1.0-t,nodeCount);
     117  while(tmpNode)
    97118    {
    98       k++;
    99       factor = ncr (nodeCount, k);
    100      
    101       for (int j=0; j<nodeCount-k; j++)
    102         factor*=(1-t);
    103       for (int j=0; j<k; j++)
    104         factor*=t;
    105       ret.x += factor * tmpNode->position.x;
    106       ret.y += factor * tmpNode->position.y;
    107       ret.z += factor * tmpNode->position.z;
    108      
     119      factor *= t/(1.0-t); // same as pow but much faster.
     120      ret.x += tmpNode->factor * factor * tmpNode->position.x;
     121      ret.y += tmpNode->factor * factor * tmpNode->position.y;
     122      ret.z += tmpNode->factor * factor * tmpNode->position.z;
     123
    109124      tmpNode = tmpNode->next;
    110 
    111125    }
    112126  return ret;
    … …  
    160174  return curvePoint;
    161175}
    162 
    163 /**
    164    \brief ncr-calculator, did not find an other method
    165    \todo a c++ variante to do this
    166 */
    167 int ncr(int n, int i)
    168 {
    169   int ret = 1;
    170   for (int k=1; k<=n; k++)
    171     ret*=k;
    172   for (int k=1; k<=i; k++)
    173     ret/=k;
    174   for (int k=1; k<=n-i; k++)
    175     ret/=k;
    176 
    177   return ret;
    178 }
    179 

  • orxonox/branches/parenting/src/curve.h

    r3319 r3320  
    2525  {
    2626    int number;          //!< The N-th node of this curve.
     27    float factor;        //!< Curve specific multiplier factor.
    2728    Vector position;     //!< Vector Pointung to this curve-point.
    2829    PathNode* next;      //!< Pointer to the next Node.
    … …  
    3233  PathNode* currentNode; //!< The node we are working with (the Last node).
    3334
     35 private:
     36  virtual void rebuild(void) = 0;
    3437 public:
    3538  void addNode (const Vector& newNode);
    … …  
    4649{
    4750 private:
    48   // all from Curve-Class
     51  void rebuild(void);
    4952 public:
    50   BezierCurve (void);
    51   ~BezierCurve (void);
    52   Vector calcPos (float t);
    53   Vector calcDir (float t);
    54   Quaternion calcQuat (float t);
     53  BezierCurve(void);
     54  ~BezierCurve(void);
     55
     56  Vector calcPos(float t);
     57  Vector calcDir(float t);
     58  Quaternion calcQuat(float t);
    5559 
    5660 
    … …  
    7074
    7175
    72 int ncr(int n, int i);
    73 
    74 
    7576#endif /* _CURVE_H */
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