source: flair-src/trunk/lib/FlairSimulator/src/SimuCameraGL.cpp @ 70

Last change on this file since 70 was 15, checked in by Bayard Gildas, 6 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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