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Viewing changes to src/renderer/entities/OccupancyGrid3D.hh

  • Committer: Staffan Gimåker
  • Date: 2010-06-08 19:53:09 UTC
  • Revision ID: staffan@gimaker.se-20100608195309-sa9qhfcersr182xa
Clean up the 3D occupancy grid code.

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Lines of Context:
src/renderer/entities/OccupancyGrid3D.hh
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            void set_color_mapping(bool enable, float z_min, float z_max);
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        private:
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            class Batch
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            {
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            public:
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                Batch(
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                    PrepareRenderContext &context, size_t batch_size,
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                    bool use_colors);
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                ~Batch();
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                void add_cube(
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                    double x_c, double y_c, double z_c,
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                    double size,
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                    double r, double g, double b);
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            private:
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                inline void add_quad(
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                    Eigen::Vector3f * &vp,
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                    const Eigen::Vector3f *vertices,
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                    int i0, int i1, int i2, int i3)
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                {
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                    *(vp++) = vertices[i0];
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                    *(vp++) = vertices[i1];
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                    *(vp++) = vertices[i2];
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                    *(vp++) = vertices[i2];
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                    *(vp++) = vertices[i3];
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                    *(vp++) = vertices[i0];
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                }
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                void flush();
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                void allocate_buffers();
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            private:
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                PrepareRenderContext &m_context;
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                const size_t m_batch_size;
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                const bool m_use_colors;
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                size_t m_used;
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                float *m_vertices, *m_colors, *m_normals;
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            };
 
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            class TraversalContext;
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            class Node
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            {
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                }
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                void render_no_cull(
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                    Batch &batch,
 
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                    TraversalContext &tc,
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                    const Eigen::Vector3f &center,
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                    float node_size,
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                    const int order[],
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                    bool color_mapping_enabled,
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                    float z_min, float z_max) throw();
 
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                    float node_size) throw();
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                void render(
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                    Batch &batch,
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                    const Camera &camera,
 
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                    TraversalContext &tc,
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                    const Eigen::Vector3f &center,
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                    float node_size,
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                    const Frustum &frustum,
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                    const int order[],
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                    int plane_mask,
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                    bool color_mapping_enabled,
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                    float z_min, float z_max) throw();
 
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                    int plane_mask) throw();
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            private:
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                /**
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                 */
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                static void optimize(Node *node);
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                static void height_to_color(
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                    float z, const float z_min, const float z_max,
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                    float &r, float &g, float &b);
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            public:
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                Node *m_parent;
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            void calculate_bvs() throw();
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        private:
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            /**
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             * \brief The root node of the quad-tree.
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             * \invariant Always non-null (except in the constructor).
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            float m_cell_size;
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            float m_height_factor;
 
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            float m_root_cell_size;
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            Eigen::Vector3f m_root_cell_center;