[10] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[10] | 4 | // %flair:license}
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[8] | 5 | // created: 2013/03/27
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| 6 | // filename: Gui.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe definissant une Gui
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| 14 | //
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| 15 | /*********************************************************************/
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| 16 | #ifdef GL
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| 17 |
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| 18 | #include "Gui_impl.h"
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| 19 | #include "Gui.h"
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| 20 | #include "Simulator.h"
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| 21 | #include "GenericObject.h"
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| 22 | #include "Model.h"
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| 23 | #include "Model_impl.h"
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[134] | 24 | #include "VisualizationCamera.h"
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| 25 | #include "FollowMeCamera.h"
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[8] | 26 | #include <Object.h>
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| 27 | #include <Euler.h>
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| 28 | #include <irrlicht.h>
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| 29 | #include <unistd.h>
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| 30 | #include <sstream>
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| 31 |
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| 32 | using namespace irr;
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| 33 | using namespace irr::video;
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| 34 | using namespace irr::core;
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| 35 | using namespace irr::scene;
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| 36 | using namespace irr::gui;
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| 37 | using namespace flair::core;
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| 38 | using namespace flair::simulator;
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| 39 |
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[15] | 40 | class MyEventReceiver : public IEventReceiver {
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| 41 | public:
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| 42 | // This is the one method that we have to implement
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[69] | 43 | bool OnEvent(const SEvent &event) {
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[15] | 44 | // Remember whether each key is down or up
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| 45 | if (event.EventType == EET_KEY_INPUT_EVENT)
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| 46 | KeyIsDown[event.KeyInput.Key] = event.KeyInput.PressedDown;
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[8] | 47 |
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[15] | 48 | if (model)
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| 49 | return model->OnEvent(event);
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| 50 |
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| 51 | return false;
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| 52 | }
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| 53 |
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| 54 | // This is used to check whether a key is being held down
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[69] | 55 | bool IsKeyDown(EKEY_CODE keyCode) {
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[15] | 56 | if (KeyIsDown[keyCode] == true) {
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| 57 | KeyIsDown[keyCode] = false;
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| 58 | return true;
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| 59 | } else {
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| 60 | return false;
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| 61 | }
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| 62 | }
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| 63 |
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[69] | 64 | MyEventReceiver(void) {
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[15] | 65 | model = NULL;
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| 66 | for (u32 i = 0; i < KEY_KEY_CODES_COUNT; ++i)
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| 67 | KeyIsDown[i] = false;
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| 68 | }
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| 69 | void SetModel(Model *model) { this->model = model; }
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| 70 |
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| 71 | private:
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| 72 | // We use this array to store the current state of each key
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| 73 | bool KeyIsDown[KEY_KEY_CODES_COUNT];
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| 74 | Model *model;
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[8] | 75 | };
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| 76 |
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[15] | 77 | Gui_impl::Gui_impl(Gui *self, int app_width, int app_height, int scene_width,
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| 78 | int scene_height, std::string media_path,
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| 79 | E_DRIVER_TYPE driver_type) {
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| 80 | this->self = self;
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| 81 | dbtFile_w = NULL;
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| 82 | dbtFile_r = NULL;
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| 83 | this->media_path = media_path;
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| 84 | this->scene_width = scene_width;
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| 85 | this->scene_height = scene_height;
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[8] | 86 |
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[365] | 87 | device = createDevice(driver_type, dimension2d<u32>(app_width, app_height),16, false, false, false);
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| 88 | if(device==NULL) self->Err("Irrlicht failed to create video device\n");
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[69] | 89 | receiver = new MyEventReceiver();
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[15] | 90 | device->setEventReceiver(receiver);
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| 91 | device->getLogger()->setLogLevel(ELL_NONE);
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[8] | 92 |
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[15] | 93 | device->getCursorControl()->setVisible(false);
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| 94 | device->setResizable(false);
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[8] | 95 |
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[15] | 96 | driver = device->getVideoDriver();
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| 97 | smgr = device->getSceneManager();
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[8] | 98 |
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[15] | 99 | smgr->setAmbientLight(video::SColorf(1, 1, 1));
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[8] | 100 |
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[15] | 101 | /*
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| 102 | env = device->getGUIEnvironment();
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[8] | 103 | IGUISkin* skin = env->getSkin();
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[15] | 104 | font = env->getFont("./fonthaettenschweiler.bmp");
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[8] | 105 |
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[15] | 106 | if (font)
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| 107 | skin->setFont(font);
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[8] | 108 |
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[15] | 109 | // create menu
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[8] | 110 |
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[15] | 111 | IGUIContextMenu* menu = env->addMenu();
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| 112 | menu->setMinSize(core::dimension2du(640,20));
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| 113 | menu->addItem(L"File", -1, true, true);
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| 114 | menu->addItem(L"View", -1, true, true);
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| 115 | menu->addItem(L"Camera", -1, true, true);
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| 116 | menu->addItem(L"Help", -1, true, true);
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[8] | 117 |
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[15] | 118 | // disable alpha
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[8] | 119 |
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[15] | 120 | for (s32 i=0; i<gui::EGDC_COUNT ; ++i)
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| 121 | {
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| 122 | video::SColor col =
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| 123 | env->getSkin()->getColor((gui::EGUI_DEFAULT_COLOR)i);
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| 124 | col.setAlpha(255);
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| 125 | env->getSkin()->setColor((gui::EGUI_DEFAULT_COLOR)i, col);
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| 126 | }
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| 127 | */
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[8] | 128 | }
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| 129 |
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[15] | 130 | Gui_impl::~Gui_impl() {
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| 131 | // printf("del Gui_impl\n");
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[162] | 132 | //device->drop();
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[8] | 133 |
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[15] | 134 | delete receiver;
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| 135 | // printf("del Gui_impl ok\n");
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[8] | 136 | }
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| 137 |
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[70] | 138 | void Gui_impl::AddVisualizationCamera(VisualizationCamera* camera) {
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| 139 | cameras.push_back(camera);
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| 140 | }
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| 141 |
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[15] | 142 | void Gui_impl::setMesh(std::string file, vector3df position, vector3df rotation,
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| 143 | vector3df scale) {
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| 144 | IAnimatedMesh *mesh = smgr->getMesh(file.c_str());
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[8] | 145 |
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[15] | 146 | if (!mesh) {
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| 147 | // model could not be loaded
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| 148 | self->Err("Model %s could not be loaded\n", file.c_str());
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| 149 | return;
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| 150 | }
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[8] | 151 |
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[15] | 152 | node = smgr->addOctreeSceneNode(mesh->getMesh(0), 0, -1, 1024);
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| 153 | node->setPosition(position);
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| 154 | rotation +=
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| 155 | irr::core::vector3df(90, 0, Euler::ToDegree(getSimulator()->Yaw()));
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| 156 | node->setRotation(rotation);
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| 157 | for (int i = 0; i < node->getMaterialCount(); i++) {
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| 158 | node->getMaterial(i).TextureLayer->TextureWrapU = video::ETC_REPEAT;
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| 159 | node->getMaterial(i).TextureLayer->TextureWrapV = video::ETC_REPEAT;
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| 160 | }
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| 161 | // Ceillig
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| 162 | // node->getMaterial(0).getTextureMatrix(0).setTextureScale(scale.X/2.0,scale.Z/2.0);
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| 163 | // Walls
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| 164 | node->getMaterial(1).getTextureMatrix(0).setTextureScale(1 / (scale.Y / 2.5),
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| 165 | 1 / (scale.Z / 2.5));
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| 166 | // Floor
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| 167 | node->getMaterial(2).getTextureMatrix(0).setTextureScale(
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| 168 | 1 / (scale.X / 20.0), 1 / (scale.Z / 20.0));
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[8] | 169 |
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[15] | 170 | node->setScale(scale);
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| 171 | // selector
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| 172 | selector = smgr->createOctreeTriangleSelector(node->getMesh(), node, 128);
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| 173 | node->setTriangleSelector(selector);
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[8] | 174 | }
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| 175 |
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[15] | 176 | void Gui_impl::RunGui(std::vector<Model *> models,
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| 177 | std::vector<GenericObject *> objects) {
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| 178 | int lastFPS = -1;
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| 179 | int cam_id = 0;
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[286] | 180 | ITexture* texture=0;
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| 181 | IGUIFont* font =0;
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[288] | 182 | VisualizationCamera::AxisType axisType=VisualizationCamera::AxisType::vrpn;
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[286] | 183 |
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| 184 | if (!driver->queryFeature(video::EVDF_RENDER_TO_TARGET)) {
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| 185 | self->Warn("rendering to texture is not possible, axis will not be displayed\n");
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| 186 | } else {
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| 187 | texture= getGui()->getSceneManager()->getVideoDriver()->addRenderTargetTexture(dimension2d<u32>(128,128));
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| 188 | device->getGUIEnvironment()->addImage(texture,position2d<s32>(0,scene_height-texture->getSize().Height));
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| 189 | font = getGui()->getDevice()->getGUIEnvironment()->getFont((media_path+"/font/simu_axis_font.xml").c_str());
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| 190 | }
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[8] | 191 |
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[70] | 192 | receiver->SetModel(models.at(0));
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[8] | 193 |
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[15] | 194 | for (size_t i = 0; i < models.size(); i++) {
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| 195 | models.at(i)->Draw();
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| 196 | }
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[8] | 197 |
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[15] | 198 | for (size_t i = 0; i < models.size(); i++) {
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| 199 | models.at(i)->pimpl_->MetaTriangleSelector()->addTriangleSelector(selector);
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| 200 | for (size_t j = 0; j < objects.size(); j++) {
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| 201 | models.at(i)->pimpl_->MetaTriangleSelector()->addTriangleSelector(
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| 202 | objects.at(j)->TriangleSelector());
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| 203 | }
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| 204 | for (size_t j = 0; j < models.size(); j++) {
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[69] | 205 | if (i == j) continue;
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[15] | 206 | models.at(i)->pimpl_->MetaTriangleSelector()->addTriangleSelector(
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| 207 | models.at(j)->pimpl_->TriangleSelector());
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| 208 | }
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| 209 | }
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[8] | 210 |
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[15] | 211 | selector->drop(); // As soon as we're done with the selector, drop it.*/
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[8] | 212 |
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[15] | 213 | // wait all models to be started
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| 214 | for (size_t i = 0; i < models.size(); i++) {
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| 215 | models.at(i)->pimpl_->SynchronizationPoint();
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| 216 | }
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[8] | 217 |
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[70] | 218 | setWindowCaption(0, 0);
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[288] | 219 |
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| 220 | Printf("\nUsefull keys:\n");
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| 221 | Printf(" page up/down: circle between cameras\n");
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| 222 | Printf(" a: change axis display (VRPN, earth or none)\n");
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[8] | 223 |
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[15] | 224 | while (device->run()) {
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[162] | 225 | if (dbtFile_r != NULL) {// rejeu
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[15] | 226 | takeScreenshot(); // on enregistre l'image precedente
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| 227 | road_time_t time;
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| 228 | road_timerange_t tr = 0;
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| 229 | if (read_hdfile(dbtFile_r, (void *)dbtbuf, &time, &tr) != 0) {
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| 230 | vector3df vect;
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| 231 | char *buf = dbtbuf;
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| 232 | for (size_t i = 0; i < models.size(); i++) {
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| 233 | models.at(i)->ReaddbtBuf(buf);
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| 234 | buf += models.at(i)->dbtSize();
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| 235 | }
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| 236 | } else {
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| 237 | // Printf("fin play\n");
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| 238 | close_hdfile(dbtFile_r);
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| 239 | dbtFile_r = NULL;
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| 240 | free(dbtbuf);
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| 241 | for (size_t i = 0; i < models.size(); i++) {
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| 242 | models.at(i)->pimpl_->Resume();
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| 243 | }
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| 244 | }
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[166] | 245 | } else { // mode normal
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[15] | 246 | for (size_t i = 0; i < models.size(); i++) {
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| 247 | models.at(i)->pimpl_->UpdatePos();
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| 248 | }
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| 249 | }
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[8] | 250 |
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[15] | 251 | driver->beginScene(true, true, video::SColor(255, 200, 200, 200));
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[8] | 252 |
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[15] | 253 | // vue poursuite
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[70] | 254 | //smgr->setActiveCamera(models.at(cam_id)->getFollowMeCamera()->getCameraSceneNode());
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| 255 | smgr->setActiveCamera(cameras.at(cam_id)->getCameraSceneNode());
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[15] | 256 | driver->setViewPort(core::rect<s32>(0, 0, scene_width, scene_height));
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| 257 | smgr->drawAll(); // commente voir plus bas
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[286] | 258 |
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[162] | 259 | if (dbtFile_r == NULL) {// mode normal
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[15] | 260 | for (size_t i = 0; i < models.size(); i++) {
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| 261 | models.at(i)->pimpl_->CheckCollision();
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| 262 | }
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| 263 | }
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[8] | 264 |
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[286] | 265 | //render to texture for axis if possible
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| 266 | if (texture) {
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[288] | 267 | cameras.at(cam_id)->renderAxisToTexture(texture,font,axisType);
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[286] | 268 | }
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| 269 |
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| 270 | //process update for sensors (cam, us...)
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| 271 | //also draws embedded cameras (see SimuCameraGL::UpdateFrom)
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[145] | 272 | for (size_t i = 0; i < models.size(); i++) {
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| 273 | models.at(i)->ProcessUpdate(NULL);
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| 274 | }
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[286] | 275 |
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[15] | 276 | // on fait ca ici, devrait etre un peu plus haut
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| 277 | // mais a priori souci avec models.at(i)->pimpl_->CheckCollision();
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| 278 | // (setelipsoid?)
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[70] | 279 | //smgr->setActiveCamera(models.at(cam_id)->getFollowMeCamera()->getCameraSceneNode());
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| 280 | smgr->setActiveCamera(cameras.at(cam_id)->getCameraSceneNode());
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[15] | 281 | driver->setViewPort(core::rect<s32>(0, 0, scene_width, scene_height));
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| 282 | smgr->drawAll();
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[286] | 283 |
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| 284 | driver->setViewPort(core::rect<s32>(0, 0, smgr->getVideoDriver()->getScreenSize().Width, smgr->getVideoDriver()->getScreenSize().Height));
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| 285 | device->getGUIEnvironment()->drawAll();
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[15] | 286 | driver->endScene();
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[286] | 287 |
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[15] | 288 | int fps = driver->getFPS();
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[70] | 289 |
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[15] | 290 | if (lastFPS != fps) {
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[70] | 291 | setWindowCaption(cam_id, fps);
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[15] | 292 | lastFPS = fps;
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| 293 | }
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[8] | 294 |
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[15] | 295 | if (receiver->IsKeyDown(KEY_PRIOR)) {
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| 296 | cam_id++;
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[70] | 297 | if (cam_id >= (int)cameras.size()) cam_id = 0;
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| 298 | receiver->SetModel(getModelFromVisualizationCamera(models,cameras.at(cam_id)));
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| 299 | setWindowCaption(cam_id, fps);
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[15] | 300 | }
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| 301 | if (receiver->IsKeyDown(KEY_NEXT)) {
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| 302 | cam_id--;
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[70] | 303 | if (cam_id < 0) cam_id = cameras.size() - 1;
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| 304 | receiver->SetModel(getModelFromVisualizationCamera(models,cameras.at(cam_id)));
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| 305 | setWindowCaption(cam_id, fps);
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[15] | 306 | }
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[288] | 307 | if (receiver->IsKeyDown(KEY_KEY_A)) {
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| 308 | switch(axisType) {
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| 309 | case VisualizationCamera::AxisType::vrpn:
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| 310 | axisType=VisualizationCamera::AxisType::earth;
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| 311 | break;
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| 312 | case VisualizationCamera::AxisType::earth:
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| 313 | axisType=VisualizationCamera::AxisType::none;
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| 314 | break;
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| 315 | case VisualizationCamera::AxisType::none:
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| 316 | axisType=VisualizationCamera::AxisType::vrpn;
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| 317 | break;
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| 318 | }
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| 319 | }
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[8] | 320 |
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[15] | 321 | // enregistrement DBT
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| 322 | if (receiver->IsKeyDown(KEY_KEY_R) && dbtFile_w == NULL) {
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| 323 | dbtFile_w = inithdFile((char *)"./record.dbt", UAV, dbtSize(models));
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| 324 | dbtbuf = (char *)malloc(dbtSize(models));
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| 325 | }
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| 326 | if (receiver->IsKeyDown(KEY_KEY_S) && dbtFile_w != NULL) {
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| 327 | close_hdfile(dbtFile_w);
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| 328 | dbtFile_w = NULL;
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| 329 | free(dbtbuf);
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| 330 | // rt_printf("stop rec\n");
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| 331 | }
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| 332 | if (dbtFile_w != NULL) {
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| 333 | Time time = GetTime();
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| 334 | vector3df vect;
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| 335 | char *buf = dbtbuf;
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[8] | 336 |
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[15] | 337 | for (size_t i = 0; i < models.size(); i++) {
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| 338 | models.at(i)->WritedbtBuf(buf);
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| 339 | buf += models.at(i)->dbtSize();
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| 340 | }
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[8] | 341 |
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[15] | 342 | write_hdfile(dbtFile_w, dbtbuf, (road_time_t)(time / 1000),
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| 343 | (road_timerange_t)(time % 1000), dbtSize(models));
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| 344 | }
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| 345 |
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| 346 | // lecture dbt
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| 347 | if (receiver->IsKeyDown(KEY_KEY_P) && dbtFile_r == NULL) {
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| 348 | dbtFile_r = open_hdfile((char *)"./record.dbt", READ_MODE);
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| 349 | dbtbuf = (char *)malloc(dbtSize(models));
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| 350 | // on suspend les models pour ne pas interferer
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| 351 | for (size_t i = 0; i < models.size(); i++) {
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| 352 | models.at(i)->pimpl_->Suspend();
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| 353 | }
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| 354 | }
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| 355 | if (receiver->IsKeyDown(KEY_KEY_S) && dbtFile_r != NULL) {
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| 356 | // rt_printf("stop play\n");
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| 357 | close_hdfile(dbtFile_r);
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| 358 | dbtFile_r = NULL;
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| 359 | free(dbtbuf);
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| 360 | // on resume les models
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| 361 | for (size_t i = 0; i < models.size(); i++) {
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| 362 | models.at(i)->pimpl_->Resume();
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| 363 | }
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| 364 | }
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| 365 | }
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| 366 |
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| 367 | receiver->SetModel(NULL);
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[8] | 368 | }
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| 369 |
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[70] | 370 | Model *Gui_impl::getModelFromVisualizationCamera(std::vector<Model *> models,VisualizationCamera *camera) {
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| 371 | for (size_t i = 0; i < models.size(); i++) {
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| 372 | if(models.at(i)->getFollowMeCamera()==camera) return models.at(i);
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| 373 | }
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| 374 | return NULL;
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| 375 | }
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| 376 |
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| 377 | void Gui_impl::setWindowCaption(int cam_id, int fps) {
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[15] | 378 | std::ostringstream text;
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[8] | 379 |
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[294] | 380 | text << getSimulator()->ObjectName().c_str() << ", active cam: " << cameras.at(cam_id)->getName().c_str()
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[70] | 381 | << ", FPS: " << fps;
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| 382 |
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[15] | 383 | device->setWindowCaption(stringw(text.str().c_str()).c_str());
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[8] | 384 | }
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| 385 |
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[15] | 386 | void Gui_impl::takeScreenshot(void) {
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| 387 | static int cpt = 0;
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| 388 | // get image from the last rendered frame
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| 389 | IImage *const image = driver->createScreenShot();
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| 390 | if (image) // should always be true, but you never know. ;)
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| 391 | {
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| 392 | // construct a filename, consisting of local time and file extension
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| 393 | c8 filename[64];
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| 394 | // snprintf(filename, 64, "screenshot_%u.png",
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| 395 | // device->getTimer()->getRealTime());
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| 396 | snprintf(filename, 64, "screenshot_%u.png", cpt);
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| 397 | cpt++;
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| 398 | // write screenshot to file
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| 399 | if (!driver->writeImageToFile(image, filename))
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| 400 | device->getLogger()->log(L"Failed to take screenshot.", ELL_WARNING);
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[8] | 401 |
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[15] | 402 | // Don't forget to drop image since we don't need it anymore.
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| 403 | image->drop();
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| 404 | }
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[8] | 405 | }
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| 406 |
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[15] | 407 | size_t Gui_impl::dbtSize(std::vector<Model *> models) {
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| 408 | size_t size = 0;
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| 409 | for (size_t i = 0; i < models.size(); i++) {
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| 410 | size += models.at(i)->dbtSize();
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| 411 | }
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[8] | 412 |
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[15] | 413 | return size;
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[8] | 414 | }
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[15] | 415 | #endif // GL
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