1 | // created: 2014/03/07
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2 | // filename: SimuCameraGL.cpp
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3 | //
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4 | // author: Guillaume Sanahuja
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5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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6 | // pbo code from Song Ho Ahn (song.ahn@gmail.com)
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7 | //
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8 | // version: $Id: $
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9 | //
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10 | // purpose: Class for a simulation camera
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11 | //
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12 | //
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13 | /*********************************************************************/
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14 | #ifdef GL
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15 |
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16 | #include "SimuCameraGL.h"
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17 | #include "Model.h"
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18 | #include <SharedMem.h>
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19 | #include <TabWidget.h>
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20 | #include <Tab.h>
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21 | #include <DoubleSpinBox.h>
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22 | #include <Vector3DSpinBox.h>
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23 | #include <Gui.h>
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24 | #include <Euler.h>
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25 |
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26 | #include <ISceneManager.h>
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27 | #include <ICameraSceneNode.h>
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28 | #include <IVideoDriver.h>
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29 |
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30 | #define PBO_COUNT 2
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31 |
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32 | using namespace irr;
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33 | using namespace irr::scene;
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34 | using namespace irr::core;
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35 | using namespace flair::core;
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36 | using namespace flair::gui;
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37 | using namespace flair::simulator;
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38 |
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39 | namespace flair
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40 | {
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41 | namespace sensor
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42 | {
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43 |
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44 | SimuCameraGL::SimuCameraGL(const Model* parent,std::string name,int width,int height,int x,int y,int dev_id) :SimuCamera(parent,name,width,height,3,dev_id),SensorGL(parent)
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45 | {
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46 | smgr=getGui()->getSceneManager();
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47 | camera=smgr->addCameraSceneNode();
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48 | camera->addAnimator(this);
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49 | camera->setAspectRatio(4.0f/3.0f);//on force a cause du view port
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50 |
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51 | this->width=width;
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52 | this->height=height;
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53 | this->x=x;
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54 | this->y=y;
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55 |
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56 | index = 0;
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57 |
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58 | buffer=(char*)malloc(width*height*3);
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59 |
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60 | //user interface
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61 | Tab* setup_tab=new Tab(parent->GetTabWidget(),name);
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62 | position=new Vector3DSpinBox(setup_tab->NewRow(),"position",-2,2,.01);
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63 | direction=new Vector3DSpinBox(setup_tab->NewRow(),"direction",-2,2,.01);
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64 | up=new Vector3DSpinBox(setup_tab->NewRow(),"up",-2,2,.01);
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65 | fov=new DoubleSpinBox(setup_tab->NewRow(),"fov:",0,180,5);
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66 |
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67 | if(strcmp((char*)glGetString(GL_VENDOR),"Intel Open Source Technology Center")==0) {
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68 | Thread::Warn("disabling cameras output for Intel card (bug with PBO)\n");
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69 | disable_output=true;
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70 | } else {
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71 | disable_output=false;
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72 | }
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73 |
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74 | if(isGlExtensionSupported("GL_ARB_pixel_buffer_object"))
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75 | {
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76 | use_pbo=true;
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77 | // create 2 pixel buffer objects, you need to delete them when program exits.
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78 | // glBufferDataARB with NULL pointer reserves only memory space.
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79 | pboIds=(GLuint*)malloc(PBO_COUNT*sizeof(GLuint));
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80 | glGenBuffersARB(PBO_COUNT, pboIds);
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81 | glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[0]);
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82 | glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width*height*3, 0, GL_STREAM_READ_ARB);
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83 | glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[1]);
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84 | glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width*height*3, 0, GL_STREAM_READ_ARB);
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85 |
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86 | glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
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87 | }
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88 | else
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89 | {
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90 | use_pbo=false;
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91 | Thread::Warn("GL_ARB_pixel_buffer_object is not suppoorted\n");
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92 | }
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93 | if(isGlExtensionSupported("GL_PACK_INVERT_MESA"))
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94 | {
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95 | invert_pixel=false;
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96 | Thread::Warn("GL_PACK_INVERT_MESA is suppoorted\n");
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97 | }
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98 | else
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99 | {
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100 | invert_pixel=true;
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101 | }
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102 | }
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103 |
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104 | SimuCameraGL::~SimuCameraGL()
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105 | {
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106 | free(buffer);
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107 |
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108 | if(use_pbo)
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109 | {
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110 | glDeleteBuffersARB(PBO_COUNT, pboIds);
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111 | free(pboIds);
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112 | }
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113 | }
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114 |
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115 | void SimuCameraGL::setNearValue(float zn) {
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116 | camera->setNearValue(zn);
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117 | }
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118 |
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119 |
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120 | void SimuCameraGL::setFarValue(float zf) {
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121 | camera->setFarValue(zf);
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122 | }
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123 |
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124 |
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125 | void SimuCameraGL::UpdateFrom(const io_data *data)
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126 | {
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127 | if(noGui()==false && data==NULL)
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128 | {
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129 | smgr->setActiveCamera(camera);
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130 | smgr->getVideoDriver()->setViewPort(rect<s32>(x,y,x+width,y+height));
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131 | smgr->drawAll();
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132 | //use_pbo=false;
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133 | getImage();
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134 | }
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135 | }
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136 |
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137 | void SimuCameraGL::getImage(void)
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138 | {
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139 | if(disable_output) return;
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140 | //convert from irrlicht top left origin to gl bottom left origin
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141 | int y=smgr->getVideoDriver()->getScreenSize().Height-height-this->y;
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142 |
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143 | // We want to read the front buffer to get the latest render finished.
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144 | Time a=GetTime();
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145 | glReadBuffer(GL_FRONT);
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146 | if(use_pbo) // with PBO
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147 | {
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148 | // increment current index first then get the next index
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149 | // "index" is used to read pixels from a framebuffer to a PBO
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150 | // "nextIndex" is used to process pixels in the other PBO
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151 | index = (index + 1) % PBO_COUNT;
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152 | int nextIndex = (index + 1) % PBO_COUNT;
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153 |
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154 | // copy pixels from framebuffer to PBO
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155 | // Use offset instead of pointer.
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156 | // OpenGL should perform asynch DMA transfer, so glReadPixels() will return immediately.
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157 | glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[index]);
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158 | glReadPixels(x,y,width,height, GL_BGR, GL_UNSIGNED_BYTE, 0);
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159 |
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160 | // map the PBO that contain framebuffer pixels before processing it
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161 | glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[nextIndex]);
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162 | GLubyte* src = (GLubyte*)glMapBufferARB(GL_PIXEL_PACK_BUFFER_ARB,GL_READ_WRITE_ARB);//GL_READ_ONLY_ARB);
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163 | if(src)
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164 | {
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165 | putImage((char*)src);
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166 | glUnmapBufferARB(GL_PIXEL_PACK_BUFFER_ARB); // release pointer to the mapped buffer
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167 | }
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168 | glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
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169 | }
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170 | else
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171 | {
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172 | glReadPixels(x,y,width,height, GL_BGR, GL_UNSIGNED_BYTE, buffer);
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173 | putImage(buffer);
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174 | }
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175 |
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176 | glReadBuffer(GL_BACK);
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177 | Time b=GetTime();
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178 | Time c=b-a;
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179 | //printf("%s %f\n",Thread::ObjectName().c_str(),(float)(c/1000000.));
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180 | }
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181 |
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182 | void SimuCameraGL::putImage(char* buf)
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183 | {
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184 | if(invert_pixel==true)
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185 | {
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186 | // opengl images are horizontally flipped, so we have to fix that here.
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187 | const s32 pitch=width*3;
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188 | char* pixels = buf;
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189 | char* p2 = pixels + (height - 1) * pitch;
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190 | char* tmpBuffer = new char[pitch];
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191 | for (int i=0; i < height; i += 2)
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192 | {
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193 | memcpy(tmpBuffer, pixels, pitch);
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194 | memcpy(pixels, p2, pitch);
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195 | memcpy(p2, tmpBuffer, pitch);
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196 | pixels += pitch;
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197 | p2 -= pitch;
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198 | }
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199 | delete [] tmpBuffer;
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200 | }
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201 |
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202 | shmem->Write(buf,width*height*3);
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203 | }
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204 |
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205 | void SimuCameraGL::animateNode(ISceneNode* node, u32 timeMs)
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206 | {
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207 | ICameraSceneNode* camera = static_cast<ICameraSceneNode*>(node);
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208 |
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209 | matrix4 m;
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210 | m.setRotationDegrees(Node()->getRotation());
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211 |
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212 | // transform forward vector of camera
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213 | vector3df frv =ToIrrlichtCoordinates(direction->Value());
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214 | m.transformVect(frv);
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215 |
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216 | // transform upvector of camera
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217 | vector3df upv =ToIrrlichtCoordinates(up->Value());
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218 | m.transformVect(upv);
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219 |
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220 | // transform camera offset (thanks to Zeuss for finding it was missing)
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221 | vector3df offset = ToIrrlichtCoordinates(position->Value());
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222 | m.transformVect(offset);
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223 |
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224 | // set camera
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225 | camera->setPosition(Node()->getPosition() + offset); //position camera in front of the ship
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226 | camera->setUpVector(upv); //set up vector of camera >> Zeuss - tested with +node->getPostion() and it didnt work, but this works fine.
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227 | camera->setTarget(Node()->getPosition() + offset+frv); //set target of camera (look at point) >> Zeuss - Dont forget to add the node positiob
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228 |
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229 | camera->setFOV(Euler::ToRadian(fov->Value()));
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230 | }
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231 |
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232 | ISceneNodeAnimator* SimuCameraGL::createClone(ISceneNode* node,
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233 | ISceneManager* newManager)
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234 | {
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235 | return NULL;
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236 | }
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237 |
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238 | } // end namespace sensor
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239 | } // end namespace flair
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240 | #endif
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