source: flair-src/trunk/lib/FlairSimulator/src/SimuCameraGL.cpp

Last change on this file was 224, checked in by Sanahuja Guillaume, 4 years ago

maj for armv5te

File size: 7.7 KB
Line 
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:    2014/03/07
6//  filename:   SimuCameraGL.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//              pbo code from Song Ho Ahn (song.ahn@gmail.com)
11//
12//  version:    $Id: $
13//
14//  purpose:    Class for a simulation camera
15//
16//
17/*********************************************************************/
18#ifdef GL
19
20#include "SimuCameraGL.h"
21#include "Model.h"
22#include <SharedMem.h>
23#include <TabWidget.h>
24#include <Tab.h>
25#include <DoubleSpinBox.h>
26#include <Vector3DSpinBox.h>
27#include <Gui.h>
28#include <Euler.h>
29
30#include <ISceneManager.h>
31#include <ICameraSceneNode.h>
32#include <IVideoDriver.h>
33
34#define PBO_COUNT 2
35
36using namespace irr;
37using namespace irr::scene;
38using namespace irr::core;
39using namespace flair::core;
40using namespace flair::gui;
41using namespace flair::simulator;
42
43namespace flair {
44namespace sensor {
45
46SimuCameraGL::SimuCameraGL(const Model *parent, std::string name, int width,
47                           int height, int x, int y, uint32_t modelId,uint32_t deviceId)
48    : SimuCamera(parent, name, width, height, 3, modelId,deviceId), SensorGL(parent) {
49  smgr = getGui()->getSceneManager();
50  camera = smgr->addCameraSceneNode();
51  camera->addAnimator(this);
52  camera->setAspectRatio((float)width /(float)height); // on force a cause du view port
53
54  this->width = width;
55  this->height = height;
56  this->x = x;
57  this->y = y;
58
59  index = 0;
60
61  // user interface
62  Tab *setup_tab = new Tab(parent->GetTabWidget(), name);
63  position = new Vector3DSpinBox(setup_tab->NewRow(), "position", -2, 2, .01);
64  direction = new Vector3DSpinBox(setup_tab->NewRow(), "direction", -2, 2, .01);
65  up = new Vector3DSpinBox(setup_tab->NewRow(), "up", -2, 2, .01);
66  fov = new DoubleSpinBox(setup_tab->NewRow(), "fov:", 0, 180, 5);
67
68  if (strcmp((char *)glGetString(GL_VENDOR),
69             "Intel Open Source Technology Center") == 0) {
70    //Thread::Warn("disabling cameras output for Intel card (bug with PBO)\n");
71    Warn("camera output for Intel card may have bugs with PBO\n");
72    //disable_output = true;
73    disable_output = false;
74  } else {
75    disable_output = false;
76  }
77
78  if (isGlExtensionSupported("GL_ARB_pixel_buffer_object")) {
79    use_pbo = true;
80    // create 2 pixel buffer objects, you need to delete them when program
81    // exits.
82    // glBufferDataARB with NULL pointer reserves only memory space.
83    pboIds = (GLuint *)malloc(PBO_COUNT * sizeof(GLuint));
84    glGenBuffersARB(PBO_COUNT, pboIds);
85    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[0]);
86    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3+sizeof(Time), 0,
87                    GL_STREAM_READ_ARB);
88    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[1]);
89    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3+sizeof(Time), 0,
90                    GL_STREAM_READ_ARB);
91
92    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
93  } else {
94    use_pbo = false;
95    buffer = (char *)malloc(width * height * 3+sizeof(Time));
96    Warn("GL_ARB_pixel_buffer_object is not suppoorted\n");
97  }
98  if (isGlExtensionSupported("GL_PACK_INVERT_MESA")) {
99    invert_pixel = false;
100    Warn("GL_PACK_INVERT_MESA is supported\n");
101  } else {
102    invert_pixel = true;
103  }
104}
105
106SimuCameraGL::~SimuCameraGL() {
107  if (use_pbo) {
108    glDeleteBuffersARB(PBO_COUNT, pboIds);
109    free(pboIds);
110  } else {
111    free(buffer);
112  }
113  camera->removeAnimator(this);
114  camera->drop();
115}
116
117void SimuCameraGL::setNearValue(float zn) { camera->setNearValue(zn); }
118
119void SimuCameraGL::setFarValue(float zf) { camera->setFarValue(zf); }
120
121void SimuCameraGL::UpdateFrom(const io_data *data) {
122  if (noGui() == false && data == NULL) {
123    smgr->setActiveCamera(camera);
124    smgr->getVideoDriver()->setViewPort(rect<s32>(x, y, x + width, y + height));
125    smgr->drawAll();
126    getImage();
127  }
128}
129
130void SimuCameraGL::getImage(void) {
131  if (disable_output)
132    return;
133  // convert from irrlicht top left origin to gl bottom left origin
134  int y = smgr->getVideoDriver()->getScreenSize().Height - height - this->y;
135
136  // We want to read the front buffer to get the latest render finished.
137  Time a = GetTime();
138  glReadBuffer(GL_FRONT);
139  if (use_pbo) // with PBO
140  {
141    // increment current index first then get the next index
142    // "index" is used to read pixels from a framebuffer to a PBO
143    // "nextIndex" is used to process pixels in the other PBO
144    index = (index + 1) % PBO_COUNT;
145    int nextIndex = (index + 1) % PBO_COUNT;
146
147    // copy pixels from framebuffer to PBO
148    // Use offset instead of pointer.
149    // OpenGL should perform asynch DMA transfer, so glReadPixels() will return
150    // immediately.
151    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[index]);
152    glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, 0);
153    Time time=GetTime();
154    // map the PBO that contain framebuffer pixels before processing it
155    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[nextIndex]);
156    GLubyte *src = (GLubyte *)glMapBufferARB(
157        GL_PIXEL_PACK_BUFFER_ARB, GL_READ_WRITE_ARB); // GL_READ_ONLY_ARB);
158    if (src) {
159      putImage((char *)src,time);
160      glUnmapBufferARB(
161          GL_PIXEL_PACK_BUFFER_ARB); // release pointer to the mapped buffer
162    }
163    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
164  } else {
165    glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, buffer);
166    putImage(buffer,GetTime());
167  }
168
169  glReadBuffer(GL_BACK);
170  Time b = GetTime();
171  Time c = b - a;
172  // printf("%s %f\n",Thread::ObjectName().c_str(),(float)(c/1000000.));
173}
174
175void SimuCameraGL::putImage(char *buf,Time imageTime) {
176  if (invert_pixel == true) {
177    // opengl images are horizontally flipped, so we have to fix that here.
178    const s32 pitch = width * 3;
179    char *pixels = buf;
180    char *p2 = pixels + (height - 1) * pitch;
181    char *tmpBuffer = new char[pitch];
182    for (int i = 0; i < height; i += 2) {
183      memcpy(tmpBuffer, pixels, pitch);
184      memcpy(pixels, p2, pitch);
185      memcpy(p2, tmpBuffer, pitch);
186      pixels += pitch;
187      p2 -= pitch;
188    }
189    delete[] tmpBuffer;
190  }
191  memcpy(buf+width * height * 3,&imageTime,sizeof(Time));
192  shmem->Write(buf, width * height * 3+sizeof(Time));
193}
194
195void SimuCameraGL::animateNode(ISceneNode *node, u32 timeMs) {
196  ICameraSceneNode *camera = static_cast<ICameraSceneNode *>(node);
197
198  matrix4 m;
199  m.setRotationDegrees(Node()->getRotation());
200
201  // transform forward vector of camera
202  vector3df frv = ToIrrlichtCoordinates(direction->Value());
203  m.transformVect(frv);
204
205  // transform upvector of camera
206  vector3df upv = ToIrrlichtCoordinates(up->Value());
207  m.transformVect(upv);
208
209  // transform camera offset (thanks to Zeuss for finding it was missing)
210  vector3df offset = ToIrrlichtCoordinates(position->Value());
211  m.transformVect(offset);
212
213  // set camera
214  camera->setPosition(Node()->getPosition() +
215                      offset); // position camera in front of the ship
216  camera->setUpVector(upv);    // set up vector of camera >> Zeuss - tested with
217  // +node->getPostion() and it didnt work, but this
218  // works fine.
219  camera->setTarget(Node()->getPosition() + offset + frv); // set target of
220                                                           // camera (look at
221                                                           // point) >> Zeuss -
222                                                           // Dont forget to add
223                                                           // the node positiob
224
225  camera->setFOV(Euler::ToRadian(fov->Value()));
226}
227
228ISceneNodeAnimator *SimuCameraGL::createClone(ISceneNode *node,
229                                              ISceneManager *newManager) {
230  return NULL;
231}
232
233} // end namespace sensor
234} // end namespace flair
235#endif
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