source: flair-src/branches/mavlink/lib/FlairSimulator/src/Gui_impl.cpp@ 107

Last change on this file since 107 was 15, checked in by Bayard Gildas, 9 years ago

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2013/03/27
6// filename: Gui.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe definissant une Gui
14//
15/*********************************************************************/
16#ifdef GL
17
18#include "Gui_impl.h"
19#include "Gui.h"
20#include "Simulator.h"
21#include "GenericObject.h"
22#include "Model.h"
23#include "Model_impl.h"
24#include "AnimPoursuite.h"
25#include <Object.h>
26#include <Euler.h>
27#include <irrlicht.h>
28#include <unistd.h>
29#include <sstream>
30
31using namespace irr;
32using namespace irr::video;
33using namespace irr::core;
34using namespace irr::scene;
35using namespace irr::gui;
36using namespace flair::core;
37using namespace flair::simulator;
38
39class MyEventReceiver : public IEventReceiver {
40public:
41 // This is the one method that we have to implement
42 virtual bool OnEvent(const SEvent &event) {
43 // Remember whether each key is down or up
44 if (event.EventType == EET_KEY_INPUT_EVENT)
45 KeyIsDown[event.KeyInput.Key] = event.KeyInput.PressedDown;
46
47 // Send all other events to camera
48 if (event.EventType == EET_MOUSE_INPUT_EVENT && camera)
49 // return camera->OnEvent(event);
50 return camera->MouseMoved(event, cursorControl->getRelativePosition());
51
52 if (model)
53 return model->OnEvent(event);
54
55 return false;
56 }
57
58 // This is used to check whether a key is being held down
59 virtual bool IsKeyDown(EKEY_CODE keyCode) {
60 if (KeyIsDown[keyCode] == true) {
61 KeyIsDown[keyCode] = false;
62 return true;
63 } else {
64 return false;
65 }
66 }
67
68 MyEventReceiver(ICursorControl *cursorControl) {
69 this->cursorControl = cursorControl;
70 camera = NULL;
71 model = NULL;
72 for (u32 i = 0; i < KEY_KEY_CODES_COUNT; ++i)
73 KeyIsDown[i] = false;
74 }
75 void SetCamera(AnimPoursuite *camera) { this->camera = camera; }
76 void SetModel(Model *model) { this->model = model; }
77
78private:
79 // We use this array to store the current state of each key
80 bool KeyIsDown[KEY_KEY_CODES_COUNT];
81 AnimPoursuite *camera;
82 Model *model;
83 ICursorControl *cursorControl;
84};
85
86Gui_impl::Gui_impl(Gui *self, int app_width, int app_height, int scene_width,
87 int scene_height, std::string media_path,
88 E_DRIVER_TYPE driver_type) {
89 this->self = self;
90 dbtFile_w = NULL;
91 dbtFile_r = NULL;
92 this->media_path = media_path;
93 this->scene_width = scene_width;
94 this->scene_height = scene_height;
95
96 device = createDevice(driver_type, dimension2d<u32>(app_width, app_height),
97 16, false, false, false);
98 receiver = new MyEventReceiver(device->getCursorControl());
99 device->setEventReceiver(receiver);
100 device->getLogger()->setLogLevel(ELL_NONE);
101
102 device->getCursorControl()->setVisible(false);
103 device->setResizable(false);
104
105 // font = device->getGUIEnvironment()->getBuiltInFont();
106 driver = device->getVideoDriver();
107 smgr = device->getSceneManager();
108
109 smgr->setAmbientLight(video::SColorf(1, 1, 1));
110
111 /*
112env = device->getGUIEnvironment();
113IGUISkin* skin = env->getSkin();
114 font = env->getFont("./fonthaettenschweiler.bmp");
115
116 if (font)
117 skin->setFont(font);
118
119 // create menu
120
121 IGUIContextMenu* menu = env->addMenu();
122 menu->setMinSize(core::dimension2du(640,20));
123 menu->addItem(L"File", -1, true, true);
124 menu->addItem(L"View", -1, true, true);
125 menu->addItem(L"Camera", -1, true, true);
126 menu->addItem(L"Help", -1, true, true);
127
128 // disable alpha
129
130 for (s32 i=0; i<gui::EGDC_COUNT ; ++i)
131 {
132 video::SColor col =
133env->getSkin()->getColor((gui::EGUI_DEFAULT_COLOR)i);
134 col.setAlpha(255);
135 env->getSkin()->setColor((gui::EGUI_DEFAULT_COLOR)i, col);
136 }
137 */
138}
139
140Gui_impl::~Gui_impl() {
141 // printf("del Gui_impl\n");
142 device->drop();
143
144 delete receiver;
145 // printf("del Gui_impl ok\n");
146}
147
148void Gui_impl::setMesh(std::string file, vector3df position, vector3df rotation,
149 vector3df scale) {
150 IAnimatedMesh *mesh = smgr->getMesh(file.c_str());
151
152 if (!mesh) {
153 // model could not be loaded
154 self->Err("Model %s could not be loaded\n", file.c_str());
155 return;
156 }
157
158 node = smgr->addOctreeSceneNode(mesh->getMesh(0), 0, -1, 1024);
159 node->setPosition(position);
160 rotation +=
161 irr::core::vector3df(90, 0, Euler::ToDegree(getSimulator()->Yaw()));
162 node->setRotation(rotation);
163 for (int i = 0; i < node->getMaterialCount(); i++) {
164 node->getMaterial(i).TextureLayer->TextureWrapU = video::ETC_REPEAT;
165 node->getMaterial(i).TextureLayer->TextureWrapV = video::ETC_REPEAT;
166 }
167 // Ceillig
168 // node->getMaterial(0).getTextureMatrix(0).setTextureScale(scale.X/2.0,scale.Z/2.0);
169 // Walls
170 node->getMaterial(1).getTextureMatrix(0).setTextureScale(1 / (scale.Y / 2.5),
171 1 / (scale.Z / 2.5));
172 // Floor
173 node->getMaterial(2).getTextureMatrix(0).setTextureScale(
174 1 / (scale.X / 20.0), 1 / (scale.Z / 20.0));
175
176 node->setScale(scale);
177 // selector
178 selector = smgr->createOctreeTriangleSelector(node->getMesh(), node, 128);
179 node->setTriangleSelector(selector);
180}
181
182void Gui_impl::RunGui(std::vector<Model *> models,
183 std::vector<GenericObject *> objects) {
184 int lastFPS = -1;
185 int cam_id = 0;
186
187 receiver->SetCamera(models.at(cam_id)->pimpl_->animator);
188 receiver->SetModel(models.at(cam_id));
189
190 for (size_t i = 0; i < models.size(); i++) {
191 models.at(i)->Draw();
192 }
193
194 for (size_t i = 0; i < models.size(); i++) {
195 models.at(i)->pimpl_->MetaTriangleSelector()->addTriangleSelector(selector);
196 for (size_t j = 0; j < objects.size(); j++) {
197 models.at(i)->pimpl_->MetaTriangleSelector()->addTriangleSelector(
198 objects.at(j)->TriangleSelector());
199 }
200 for (size_t j = 0; j < models.size(); j++) {
201 if (i == j)
202 continue;
203 models.at(i)->pimpl_->MetaTriangleSelector()->addTriangleSelector(
204 models.at(j)->pimpl_->TriangleSelector());
205 }
206 }
207
208 selector->drop(); // As soon as we're done with the selector, drop it.*/
209
210 // wait all models to be started
211 for (size_t i = 0; i < models.size(); i++) {
212 models.at(i)->pimpl_->SynchronizationPoint();
213 }
214
215 setWindowCaption(models.at(0), 0);
216
217 while (device->run()) {
218 if (dbtFile_r != NULL) // rejeu
219 {
220 takeScreenshot(); // on enregistre l'image precedente
221 road_time_t time;
222 road_timerange_t tr = 0;
223 if (read_hdfile(dbtFile_r, (void *)dbtbuf, &time, &tr) != 0) {
224 vector3df vect;
225 char *buf = dbtbuf;
226 for (size_t i = 0; i < models.size(); i++) {
227 models.at(i)->ReaddbtBuf(buf);
228 buf += models.at(i)->dbtSize();
229 }
230 } else {
231 // Printf("fin play\n");
232 close_hdfile(dbtFile_r);
233 dbtFile_r = NULL;
234 free(dbtbuf);
235 for (size_t i = 0; i < models.size(); i++) {
236 models.at(i)->pimpl_->Resume();
237 }
238 }
239 } else // mode normal
240 {
241 for (size_t i = 0; i < models.size(); i++) {
242 models.at(i)->pimpl_->UpdatePos();
243 }
244 }
245
246 driver->beginScene(true, true, video::SColor(255, 200, 200, 200));
247
248 // vue poursuite
249 smgr->setActiveCamera(models.at(cam_id)->pimpl_->camera);
250 driver->setViewPort(core::rect<s32>(0, 0, scene_width, scene_height));
251 smgr->drawAll(); // commente voir plus bas
252 /*
253 env->drawAll();
254 if (font)
255 {
256 font->draw(L"This demo shows that Irrlicht is also capable
257 of drawing 2D graphics.",
258 core::rect<s32>(130,10,300,50),
259 video::SColor(255,255,255,255));
260 }
261 else
262 {
263 printf("err\n");
264 }
265 device->setWindowCaption(L"toto");*/
266
267 if (dbtFile_r == NULL) // mode normal
268 {
269 for (size_t i = 0; i < models.size(); i++) {
270 models.at(i)->pimpl_->CheckCollision();
271 }
272 }
273
274 for (size_t i = 0; i < models.size(); i++) {
275 models.at(i)->ProcessUpdate(NULL);
276 }
277
278 // on fait ca ici, devrait etre un peu plus haut
279 // mais a priori souci avec models.at(i)->pimpl_->CheckCollision();
280 // (setelipsoid?)
281 smgr->setActiveCamera(models.at(cam_id)->pimpl_->camera);
282 driver->setViewPort(core::rect<s32>(0, 0, scene_width, scene_height));
283 smgr->drawAll();
284
285 driver->endScene();
286
287 int fps = driver->getFPS();
288 // printf("fps %i\n",fps);
289 if (lastFPS != fps) {
290 setWindowCaption(models.at(cam_id), fps);
291 lastFPS = fps;
292 }
293
294 if (receiver->IsKeyDown(KEY_PRIOR)) {
295 cam_id++;
296 if (cam_id >= (int)models.size())
297 cam_id = 0;
298 receiver->SetCamera(models.at(cam_id)->pimpl_->animator);
299 receiver->SetModel(models.at(cam_id));
300 setWindowCaption(models.at(cam_id), fps);
301 }
302 if (receiver->IsKeyDown(KEY_NEXT)) {
303 cam_id--;
304 if (cam_id < 0)
305 cam_id = models.size() - 1;
306 receiver->SetCamera(models.at(cam_id)->pimpl_->animator);
307 receiver->SetModel(models.at(cam_id));
308 setWindowCaption(models.at(cam_id), fps);
309 }
310
311 // enregistrement DBT
312 if (receiver->IsKeyDown(KEY_KEY_R) && dbtFile_w == NULL) {
313 dbtFile_w = inithdFile((char *)"./record.dbt", UAV, dbtSize(models));
314 dbtbuf = (char *)malloc(dbtSize(models));
315 }
316 if (receiver->IsKeyDown(KEY_KEY_S) && dbtFile_w != NULL) {
317 close_hdfile(dbtFile_w);
318 dbtFile_w = NULL;
319 free(dbtbuf);
320 // rt_printf("stop rec\n");
321 }
322 if (dbtFile_w != NULL) {
323 Time time = GetTime();
324 vector3df vect;
325 char *buf = dbtbuf;
326
327 for (size_t i = 0; i < models.size(); i++) {
328 models.at(i)->WritedbtBuf(buf);
329 buf += models.at(i)->dbtSize();
330 }
331
332 write_hdfile(dbtFile_w, dbtbuf, (road_time_t)(time / 1000),
333 (road_timerange_t)(time % 1000), dbtSize(models));
334 }
335
336 // lecture dbt
337 if (receiver->IsKeyDown(KEY_KEY_P) && dbtFile_r == NULL) {
338 dbtFile_r = open_hdfile((char *)"./record.dbt", READ_MODE);
339 dbtbuf = (char *)malloc(dbtSize(models));
340 // on suspend les models pour ne pas interferer
341 for (size_t i = 0; i < models.size(); i++) {
342 models.at(i)->pimpl_->Suspend();
343 }
344 }
345 if (receiver->IsKeyDown(KEY_KEY_S) && dbtFile_r != NULL) {
346 // rt_printf("stop play\n");
347 close_hdfile(dbtFile_r);
348 dbtFile_r = NULL;
349 free(dbtbuf);
350 // on resume les models
351 for (size_t i = 0; i < models.size(); i++) {
352 models.at(i)->pimpl_->Resume();
353 }
354 }
355 }
356
357 receiver->SetCamera(NULL);
358 receiver->SetModel(NULL);
359}
360
361void Gui_impl::setWindowCaption(Object *object, int fps) {
362 std::ostringstream text;
363 text << "Cam: " << object->ObjectName().c_str()
364 << ", Kbd: " << object->ObjectName().c_str() << ", FPS: " << fps;
365
366 device->setWindowCaption(stringw(text.str().c_str()).c_str());
367}
368
369void Gui_impl::takeScreenshot(void) {
370 static int cpt = 0;
371 // get image from the last rendered frame
372 IImage *const image = driver->createScreenShot();
373 if (image) // should always be true, but you never know. ;)
374 {
375 // construct a filename, consisting of local time and file extension
376 c8 filename[64];
377 // snprintf(filename, 64, "screenshot_%u.png",
378 // device->getTimer()->getRealTime());
379 snprintf(filename, 64, "screenshot_%u.png", cpt);
380 cpt++;
381 // write screenshot to file
382 if (!driver->writeImageToFile(image, filename))
383 device->getLogger()->log(L"Failed to take screenshot.", ELL_WARNING);
384
385 // Don't forget to drop image since we don't need it anymore.
386 image->drop();
387 }
388}
389
390size_t Gui_impl::dbtSize(std::vector<Model *> models) {
391 size_t size = 0;
392 for (size_t i = 0; i < models.size(); i++) {
393 size += models.at(i)->dbtSize();
394 }
395
396 return size;
397}
398#endif // GL
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