source: flair-src/trunk/lib/FlairSimulator/src/SimuCameraGL.cpp @ 147

Last change on this file since 147 was 147, checked in by Sanahuja Guillaume, 5 years ago

modif euler/lowpass

File size: 7.5 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[8]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
[15]43namespace flair {
44namespace sensor {
[8]45
[15]46SimuCameraGL::SimuCameraGL(const Model *parent, std::string name, int width,
47                           int height, int x, int y, int dev_id)
48    : SimuCamera(parent, name, width, height, 3, dev_id), SensorGL(parent) {
49  smgr = getGui()->getSceneManager();
50  camera = smgr->addCameraSceneNode();
51  camera->addAnimator(this);
52  camera->setAspectRatio(4.0f / 3.0f); // on force a cause du view port
[8]53
[15]54  this->width = width;
55  this->height = height;
56  this->x = x;
57  this->y = y;
[8]58
[15]59  index = 0;
[8]60
[15]61  buffer = (char *)malloc(width * height * 3);
[8]62
[15]63  // user interface
64  Tab *setup_tab = new Tab(parent->GetTabWidget(), name);
65  position = new Vector3DSpinBox(setup_tab->NewRow(), "position", -2, 2, .01);
66  direction = new Vector3DSpinBox(setup_tab->NewRow(), "direction", -2, 2, .01);
67  up = new Vector3DSpinBox(setup_tab->NewRow(), "up", -2, 2, .01);
68  fov = new DoubleSpinBox(setup_tab->NewRow(), "fov:", 0, 180, 5);
[8]69
[15]70  if (strcmp((char *)glGetString(GL_VENDOR),
71             "Intel Open Source Technology Center") == 0) {
[132]72    //Thread::Warn("disabling cameras output for Intel card (bug with PBO)\n");
73    Thread::Warn("camera output for Intel card may have bugs with PBO\n");
74    //disable_output = true;
75    disable_output = false;
[15]76  } else {
77    disable_output = false;
78  }
[8]79
[15]80  if (isGlExtensionSupported("GL_ARB_pixel_buffer_object")) {
81    use_pbo = true;
82    // create 2 pixel buffer objects, you need to delete them when program
83    // exits.
84    // glBufferDataARB with NULL pointer reserves only memory space.
85    pboIds = (GLuint *)malloc(PBO_COUNT * sizeof(GLuint));
86    glGenBuffersARB(PBO_COUNT, pboIds);
87    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[0]);
88    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3, 0,
89                    GL_STREAM_READ_ARB);
90    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[1]);
91    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3, 0,
92                    GL_STREAM_READ_ARB);
[8]93
[15]94    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
95  } else {
96    use_pbo = false;
97    Thread::Warn("GL_ARB_pixel_buffer_object is not suppoorted\n");
98  }
99  if (isGlExtensionSupported("GL_PACK_INVERT_MESA")) {
100    invert_pixel = false;
101    Thread::Warn("GL_PACK_INVERT_MESA is suppoorted\n");
102  } else {
103    invert_pixel = true;
104  }
[8]105}
106
[15]107SimuCameraGL::~SimuCameraGL() {
108  free(buffer);
[8]109
[15]110  if (use_pbo) {
111    glDeleteBuffersARB(PBO_COUNT, pboIds);
112    free(pboIds);
113  }
[8]114}
115
[15]116void SimuCameraGL::setNearValue(float zn) { camera->setNearValue(zn); }
[8]117
[15]118void SimuCameraGL::setFarValue(float zf) { camera->setFarValue(zf); }
[8]119
[15]120void SimuCameraGL::UpdateFrom(const io_data *data) {
121  if (noGui() == false && data == NULL) {
122    smgr->setActiveCamera(camera);
123    smgr->getVideoDriver()->setViewPort(rect<s32>(x, y, x + width, y + height));
124    smgr->drawAll();
125    // use_pbo=false;
126    getImage();
127  }
[8]128}
129
[15]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;
[8]135
[15]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;
[8]146
[15]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);
[8]153
[15]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);
160      glUnmapBufferARB(
161          GL_PIXEL_PACK_BUFFER_ARB); // release pointer to the mapped buffer
[8]162    }
[15]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);
167  }
[8]168
[15]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.));
[8]173}
174
[15]175void SimuCameraGL::putImage(char *buf) {
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;
[8]188    }
[15]189    delete[] tmpBuffer;
190  }
[8]191
[15]192  shmem->Write(buf, width * height * 3);
[8]193}
194
[15]195void SimuCameraGL::animateNode(ISceneNode *node, u32 timeMs) {
196  ICameraSceneNode *camera = static_cast<ICameraSceneNode *>(node);
[8]197
[15]198  matrix4 m;
199  m.setRotationDegrees(Node()->getRotation());
[8]200
[15]201  // transform forward vector of camera
202  vector3df frv = ToIrrlichtCoordinates(direction->Value());
203  m.transformVect(frv);
[8]204
[15]205  // transform upvector of camera
206  vector3df upv = ToIrrlichtCoordinates(up->Value());
207  m.transformVect(upv);
[8]208
[15]209  // transform camera offset (thanks to Zeuss for finding it was missing)
210  vector3df offset = ToIrrlichtCoordinates(position->Value());
211  m.transformVect(offset);
[8]212
[15]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
[8]224
[15]225  camera->setFOV(Euler::ToRadian(fov->Value()));
[8]226}
227
[15]228ISceneNodeAnimator *SimuCameraGL::createClone(ISceneNode *node,
229                                              ISceneManager *newManager) {
230  return NULL;
[8]231}
232
233} // end namespace sensor
234} // end namespace flair
235#endif
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