source: flair-src/trunk/lib/FlairSimulator/src/SimuCameraGL.cpp@ 23

Last change on this file since 23 was 15, checked in by Bayard Gildas, 9 years ago

sources reformatted with flair-format-dir script

File size: 7.4 KB
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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: 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, 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
53
54 this->width = width;
55 this->height = height;
56 this->x = x;
57 this->y = y;
58
59 index = 0;
60
61 buffer = (char *)malloc(width * height * 3);
62
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);
69
70 if (strcmp((char *)glGetString(GL_VENDOR),
71 "Intel Open Source Technology Center") == 0) {
72 Thread::Warn("disabling cameras output for Intel card (bug with PBO)\n");
73 disable_output = true;
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, 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, 0,
90 GL_STREAM_READ_ARB);
91
92 glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
93 } else {
94 use_pbo = false;
95 Thread::Warn("GL_ARB_pixel_buffer_object is not suppoorted\n");
96 }
97 if (isGlExtensionSupported("GL_PACK_INVERT_MESA")) {
98 invert_pixel = false;
99 Thread::Warn("GL_PACK_INVERT_MESA is suppoorted\n");
100 } else {
101 invert_pixel = true;
102 }
103}
104
105SimuCameraGL::~SimuCameraGL() {
106 free(buffer);
107
108 if (use_pbo) {
109 glDeleteBuffersARB(PBO_COUNT, pboIds);
110 free(pboIds);
111 }
112}
113
114void SimuCameraGL::setNearValue(float zn) { camera->setNearValue(zn); }
115
116void SimuCameraGL::setFarValue(float zf) { camera->setFarValue(zf); }
117
118void SimuCameraGL::UpdateFrom(const io_data *data) {
119 if (noGui() == false && data == NULL) {
120 smgr->setActiveCamera(camera);
121 smgr->getVideoDriver()->setViewPort(rect<s32>(x, y, x + width, y + height));
122 smgr->drawAll();
123 // use_pbo=false;
124 getImage();
125 }
126}
127
128void SimuCameraGL::getImage(void) {
129 if (disable_output)
130 return;
131 // convert from irrlicht top left origin to gl bottom left origin
132 int y = smgr->getVideoDriver()->getScreenSize().Height - height - this->y;
133
134 // We want to read the front buffer to get the latest render finished.
135 Time a = GetTime();
136 glReadBuffer(GL_FRONT);
137 if (use_pbo) // with PBO
138 {
139 // increment current index first then get the next index
140 // "index" is used to read pixels from a framebuffer to a PBO
141 // "nextIndex" is used to process pixels in the other PBO
142 index = (index + 1) % PBO_COUNT;
143 int nextIndex = (index + 1) % PBO_COUNT;
144
145 // copy pixels from framebuffer to PBO
146 // Use offset instead of pointer.
147 // OpenGL should perform asynch DMA transfer, so glReadPixels() will return
148 // immediately.
149 glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[index]);
150 glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, 0);
151
152 // map the PBO that contain framebuffer pixels before processing it
153 glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[nextIndex]);
154 GLubyte *src = (GLubyte *)glMapBufferARB(
155 GL_PIXEL_PACK_BUFFER_ARB, GL_READ_WRITE_ARB); // GL_READ_ONLY_ARB);
156 if (src) {
157 putImage((char *)src);
158 glUnmapBufferARB(
159 GL_PIXEL_PACK_BUFFER_ARB); // release pointer to the mapped buffer
160 }
161 glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
162 } else {
163 glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, buffer);
164 putImage(buffer);
165 }
166
167 glReadBuffer(GL_BACK);
168 Time b = GetTime();
169 Time c = b - a;
170 // printf("%s %f\n",Thread::ObjectName().c_str(),(float)(c/1000000.));
171}
172
173void SimuCameraGL::putImage(char *buf) {
174 if (invert_pixel == true) {
175 // opengl images are horizontally flipped, so we have to fix that here.
176 const s32 pitch = width * 3;
177 char *pixels = buf;
178 char *p2 = pixels + (height - 1) * pitch;
179 char *tmpBuffer = new char[pitch];
180 for (int i = 0; i < height; i += 2) {
181 memcpy(tmpBuffer, pixels, pitch);
182 memcpy(pixels, p2, pitch);
183 memcpy(p2, tmpBuffer, pitch);
184 pixels += pitch;
185 p2 -= pitch;
186 }
187 delete[] tmpBuffer;
188 }
189
190 shmem->Write(buf, width * height * 3);
191}
192
193void SimuCameraGL::animateNode(ISceneNode *node, u32 timeMs) {
194 ICameraSceneNode *camera = static_cast<ICameraSceneNode *>(node);
195
196 matrix4 m;
197 m.setRotationDegrees(Node()->getRotation());
198
199 // transform forward vector of camera
200 vector3df frv = ToIrrlichtCoordinates(direction->Value());
201 m.transformVect(frv);
202
203 // transform upvector of camera
204 vector3df upv = ToIrrlichtCoordinates(up->Value());
205 m.transformVect(upv);
206
207 // transform camera offset (thanks to Zeuss for finding it was missing)
208 vector3df offset = ToIrrlichtCoordinates(position->Value());
209 m.transformVect(offset);
210
211 // set camera
212 camera->setPosition(Node()->getPosition() +
213 offset); // position camera in front of the ship
214 camera->setUpVector(upv); // set up vector of camera >> Zeuss - tested with
215 // +node->getPostion() and it didnt work, but this
216 // works fine.
217 camera->setTarget(Node()->getPosition() + offset + frv); // set target of
218 // camera (look at
219 // point) >> Zeuss -
220 // Dont forget to add
221 // the node positiob
222
223 camera->setFOV(Euler::ToRadian(fov->Value()));
224}
225
226ISceneNodeAnimator *SimuCameraGL::createClone(ISceneNode *node,
227 ISceneManager *newManager) {
228 return NULL;
229}
230
231} // end namespace sensor
232} // end namespace flair
233#endif
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