void CharacterModel::deactivateShader(void)
{
for(UInt32 i = 0; i < getMaterials().size(); ++i)
{
ChunkMaterialPtr m = getMaterials(i);
beginEditCP(m);
m->subChunk(getShader());
endEditCP(m);
}
}
void ModelRenderProcessor::deleteModelFromGpu(string modelPath) {
auto model = loader->getModelBy(modelPath);
auto materials = model->getMaterials();
for(auto& i : materials) {
auto program = loader->getProgramBy(i.getProgramName());
auto programName = program->getName();
if(!hasMaterialWithProgram(programName))
deleteProgramFromGpu(programName);
}
vector<Mesh3d>& meshes = model->getMeshes();
unordered_map<uint32_t, string> texturesToRemove;
for(auto& s : meshes) {
string mName = model->getUniqueMeshName(s);
deleteGeometryFromGpu(mName);
Texture2d& texture = model->getTextureBy(s);
texturesToRemove.emplace(s.getMaterialId(), texture.getPath());
}
for(auto& s : texturesToRemove) {
deleteTextureFromGpu(s.second);
}
}
bool ModelRenderProcessor::hasMaterialWithProgram(std::string name) {
for(auto& i : idToObject) {
View& object = i.second;
auto model = loader->getModelBy(object.getPath());
auto materials = model->getMaterials();
for(auto& j : materials) {
if(j.getProgramName() == name)
return true;
}
}
return false;
}
void FBXModel::loadMeshes(KFbxNode* node, const GraphicsDevice& device, KFbxGeometryConverter& converter)
{
const char* name = node->GetName();
if (node->GetNodeAttribute())
{
KFbxNodeAttribute::EAttributeType attributeType = node->GetNodeAttribute()->GetAttributeType();
if (attributeType == KFbxNodeAttribute::eMESH)
{
KFbxMesh* kfbxMesh = converter.TriangulateMesh((KFbxMesh*)node->GetNodeAttribute());
VertexCollection vertices = getVertices(kfbxMesh);
MaterialCollection materials = getMaterials(device, node);
unsigned long numFaces = kfbxMesh->GetPolygonCount();
unsigned long numVertices = kfbxMesh->GetControlPointsCount();
Mesh mesh = Mesh::create(device, numFaces, numVertices, FBXVertex::vertexElements, D3DXMESH_MANAGED | D3DXMESH_32BIT);
mesh.getVertexBuffer().setData(vertices);
mesh.getIndexBuffer().setData(kfbxMesh->GetPolygonVertices(), kfbxMesh->GetPolygonVertexCount());
KFbxLayerElementArrayTemplate<int>* materialIndices;
kfbxMesh->GetMaterialIndices(&materialIndices);
unsigned long* buffer = mesh.lockAttributeBuffer();
for(int i = 0; i < kfbxMesh->GetPolygonCount(); ++i)
buffer[i] = materialIndices->GetAt(i);
mesh.unlockAttributeBuffer();
Mesh::Adjacency adjacency = mesh.generateAdjacency();
mesh.clean(D3DXCLEAN_SIMPLIFICATION, adjacency);
mesh.optimizeInplace(D3DXMESHOPT_COMPACT | D3DXMESHOPT_ATTRSORT | D3DXMESHOPT_VERTEXCACHE, adjacency);
mesh.computeNormals(adjacency);
meshes[name] = FBXMesh(mesh, materials, name);
}
}
for (int i = 0; i < node->GetChildCount(); i++)
loadMeshes(node->GetChild(i), device, converter);
}
float PhysActor_PhysX::GetRestitution()
{
float result = 0.0f;
bool result_set = false;
auto nbShapes = impl->physActor->getNbShapes();
if (nbShapes <= 0)
return result;
physx::PxShape** shapes = new physx::PxShape*[nbShapes];
impl->physActor->getShapes(shapes, nbShapes);
for (size_t i = 0; i < nbShapes && !result_set; ++i)
{
auto shape = shapes[i];
if (!shape)
continue;
auto nbMaterials = shape->getNbMaterials();
if (nbMaterials <= 0)
continue;
physx::PxMaterial** materials = new physx::PxMaterial*[nbMaterials];
shape->getMaterials(materials, nbMaterials);
if (materials[0])
{
physx::PxMaterial* material = materials[0];
result = material->getRestitution();
result_set = true;
}
delete[] materials;
}
delete[] shapes;
return result;
}
void ModelRenderProcessor::loadModelToGpu(string modelPath) {
auto model = loader->getModelBy(modelPath);
auto materials = model->getMaterials();
for(auto& i : materials) {
auto program = loader->getProgramBy(i.getProgramName());
auto programName = program->getName();
if(!hasMaterialWithProgram(programName))
loadProgramToGpu(programName, program);
}
vector<Mesh3d>& meshes = model->getMeshes();
for(auto& s : meshes) {
string meshName = model->getUniqueMeshName(s);
loadGeometryToGpu(meshName, s.getRawVertices(), s.getIndices());
Texture2d& texture = model->getTextureBy(s);
loadTextureToGpu(texture);
auto& buffer = meshToBuffer.at(meshName);
buffer.texture = textureToId.at(texture.getPath());
}
}
void PhysActor_PhysX::SetRestitution(float restitution)
{
auto nbShapes = impl->physActor->getNbShapes();
if (nbShapes <= 0)
return;
physx::PxShape** shapes = new physx::PxShape*[nbShapes];
impl->physActor->getShapes(shapes, nbShapes);
for (size_t i = 0; i < nbShapes; ++i)
{
auto shape = shapes[i];
if (!shape)
continue;
auto nbMaterials = shape->getNbMaterials();
if (nbMaterials <= 0)
continue;
physx::PxMaterial** materials = new physx::PxMaterial*[nbMaterials];
shape->getMaterials(materials, nbMaterials);
if (materials[0])
{
physx::PxMaterial* material = materials[0];
material->setRestitution(restitution);
}
delete[] materials;
}
delete[] shapes;
}
/*************************************************************************************
** Description: This is a virtual function that calculates the cost of a regular
** customer project.
**************************************************************************************/
double RegularProject::billAmount()
{
return (80.0 * getHours()) + getMaterials() + getTransportation(); //return the total cost of the project
}
void CharacterModel::convertMaterials(std::string configfile)
{
getMaterials().clear();
UInt32 mcnt = 0;
PathHandler ph;
ph.setBaseFile(configfile.c_str());
for(int mid = 0; mid < _coreModel->getCoreMaterialCount(); mid++)
{
CalCoreMaterial *coremat = _coreModel->getCoreMaterial(mid);
SimpleMaterialPtr mat = SimpleMaterial::create();
beginEditCP(mat);
CalCoreMaterial::Color &calamb = coremat->getAmbientColor();
CalCoreMaterial::Color &caldif = coremat->getDiffuseColor();
CalCoreMaterial::Color &calspec = coremat->getSpecularColor();
mat->setAmbient(Color3f(calamb.red / 255.0f, calamb.green / 255.0f, calamb.blue / 255.0f));
mat->setDiffuse(Color3f(caldif.red / 255.0f, caldif.green / 255.0f, caldif.blue / 255.0f));
mat->setSpecular(Color3f(calspec.red / 255.0f, calspec.green / 255.0f, calspec.blue / 255.0f));
mat->setShininess(coremat->getShininess() * 100.f);
mat->setLit(true);
mat->setColorMaterial(GL_NONE);
for(int mapId = 0; mapId < coremat->getMapCount(); mapId++)
{
std::string file = coremat->getMapFilename(mapId);
std::string pfile = ph.findFile(file.c_str());
SINFO << "Loading texture '" << pfile << "'..." << endLog;
ImagePtr img = Image::create();
if(!img->read(pfile.c_str()))
{
SWARNING << "CharacterModel::convertMaterials: error "
<< "loading image " << file << endLog;
}
else
{
// amz with my test scene paladin.cfg all textures were
// upside down so I disabled the vertical flipping perhaps
// they fixed the bug in Cal3D?
#if 0
beginEditCP(img);
{
// For some reason Cal3D expects textures upside down ???
UInt32 bpl = img->getBpp() * img->getWidth();
UChar8 *t = img->getData(),
*b = t + (img->getHeight() - 1) * bpl,
dum;
for(UInt32 y = img->getHeight() / 2; y > 0; --y)
{
for(UInt32 x = bpl; x > 0; --x, ++t, ++b)
{
dum = *t;
*t = *b;
*b = dum;
}
b -= bpl * 2;
}
}
endEditCP(img);
#endif
TextureChunkPtr tex = TextureChunk::create();
beginEditCP(tex);
tex->setImage(img);
tex->setEnvMode(GL_MODULATE);
endEditCP(tex);
mat->addChunk(tex);
}
}
endEditCP(mat);
coremat->setUserData((Cal::UserData)mcnt);
getMaterials().push_back(mat);
mcnt ++;
}
}
void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
ROS_ASSERT(new_message->type == visualization_msgs::Marker::MESH_RESOURCE);
bool need_color = false;
scene_node_->setVisible(false);
if( !entity_ ||
old_message->mesh_resource != new_message->mesh_resource ||
old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials )
{
reset();
if (new_message->mesh_resource.empty())
{
return;
}
if (loadMeshFromResource(new_message->mesh_resource).isNull())
{
std::stringstream ss;
ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
if ( owner_ )
{
owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
}
ROS_DEBUG("%s", ss.str().c_str());
return;
}
static uint32_t count = 0;
std::stringstream ss;
ss << "mesh_resource_marker_" << count++;
std::string id = ss.str();
entity_ = context_->getSceneManager()->createEntity(id, new_message->mesh_resource);
scene_node_->attachObject(entity_);
need_color = true;
// create a default material for any sub-entities which don't have their own.
ss << "Material";
Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create( ss.str(), ROS_PACKAGE_NAME );
default_material->setReceiveShadows(false);
default_material->getTechnique(0)->setLightingEnabled(true);
default_material->getTechnique(0)->setAmbient( 0.5, 0.5, 0.5 );
materials_.insert( default_material );
if ( new_message->mesh_use_embedded_materials )
{
// make clones of all embedded materials so selection works correctly
S_MaterialPtr materials = getMaterials();
S_MaterialPtr::iterator it;
for ( it = materials.begin(); it!=materials.end(); it++ )
{
if( (*it)->getName() != "BaseWhiteNoLighting" )
{
Ogre::MaterialPtr new_material = (*it)->clone( id + (*it)->getName() );
materials_.insert( new_material );
}
}
// make sub-entities use cloned materials
for (uint32_t i = 0; i < entity_->getNumSubEntities(); ++i)
{
std::string mat_name = entity_->getSubEntity(i)->getMaterialName();
if( mat_name != "BaseWhiteNoLighting" )
{
entity_->getSubEntity(i)->setMaterialName( id + mat_name );
}
else
{
// BaseWhiteNoLighting is the default material Ogre uses
// when it sees a mesh with no material. Here we replace
// that with our default_material which gets colored with
// new_message->color.
entity_->getSubEntity(i)->setMaterial( default_material );
}
}
}
else
{
entity_->setMaterial( default_material );
}
context_->getSelectionManager()->removeObject(coll_);
coll_ = context_->getSelectionManager()->createCollisionForEntity(entity_, SelectionHandlerPtr(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id))), coll_);
}
if( need_color ||
old_message->color.r != new_message->color.r ||
old_message->color.g != new_message->color.g ||
old_message->color.b != new_message->color.b ||
old_message->color.a != new_message->color.a )
{
float r = new_message->color.r;
float g = new_message->color.g;
float b = new_message->color.b;
float a = new_message->color.a;
// Old way was to ignore the color and alpha when using embedded
// materials, which meant you could leave them unset, which means
// 0. Since we now USE the color and alpha values, leaving them
// all 0 will mean the object will be invisible. Therefore detect
// the situation where RGBA are all 0 and treat that the same as
// all 1 (full white).
if( new_message->mesh_use_embedded_materials && r == 0 && g == 0 && b == 0 && a == 0 )
{
r = 1; g = 1; b = 1; a = 1;
}
Ogre::SceneBlendType blending;
bool depth_write;
if ( a < 0.9998 )
{
blending = Ogre::SBT_TRANSPARENT_ALPHA;
depth_write = false;
}
else
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
}
S_MaterialPtr::iterator it;
for( it = materials_.begin(); it != materials_.end(); it++ )
{
Ogre::Technique* technique = (*it)->getTechnique( 0 );
technique->setAmbient( r*0.5, g*0.5, b*0.5 );
technique->setDiffuse( r, g, b, a );
technique->setSceneBlending( blending );
technique->setDepthWriteEnabled( depth_write );
}
}
Ogre::Vector3 pos, scale;
Ogre::Quaternion orient;
transform(new_message, pos, orient, scale);
scene_node_->setVisible(true);
setPosition(pos);
setOrientation(orient);
// In Ogre, mesh surface normals are not normalized if object is not
// scaled. This forces the surface normals to be renormalized by
// invisibly tweaking the scale.
if( scale.x == 1.0 && scale.y == 1.0 && scale.z == 1.0 )
{
scale.z = 1.0001;
}
scene_node_->setScale(scale);
}
void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
ROS_ASSERT(new_message->type == visualization_msgs::Marker::MESH_RESOURCE);
// flag indicating if the mesh material color needs to be updated
bool update_color = false;
scene_node_->setVisible(false);
if (!entity_ ||
old_message->mesh_resource != new_message->mesh_resource ||
old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials)
{
reset();
if (new_message->mesh_resource.empty())
{
return;
}
if (loadMeshFromResource(new_message->mesh_resource).isNull())
{
std::stringstream ss;
ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
if (owner_)
{
owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
}
ROS_DEBUG("%s", ss.str().c_str());
return;
}
static uint32_t count = 0;
std::stringstream ss;
ss << "mesh_resource_marker_" << count++;
std::string id = ss.str();
entity_ = context_->getSceneManager()->createEntity(id, new_message->mesh_resource);
scene_node_->attachObject(entity_);
// create a default material for any sub-entities which don't have their own.
ss << "Material";
Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create(ss.str(), ROS_PACKAGE_NAME);
default_material->setReceiveShadows(false);
default_material->getTechnique(0)->setLightingEnabled(true);
default_material->getTechnique(0)->setAmbient(0.5, 0.5, 0.5);
materials_.insert(default_material);
if (new_message->mesh_use_embedded_materials)
{
// make clones of all embedded materials so selection works correctly
S_MaterialPtr materials = getMaterials();
S_MaterialPtr::iterator it;
for (it = materials.begin(); it != materials.end(); it++)
{
if ((*it)->getName() != "BaseWhiteNoLighting")
{
Ogre::MaterialPtr new_material = (*it)->clone(id + (*it)->getName());
materials_.insert(new_material);
}
}
// make sub-entities use cloned materials
for (uint32_t i = 0; i < entity_->getNumSubEntities(); ++i)
{
std::string mat_name = entity_->getSubEntity(i)->getMaterialName();
if (mat_name != "BaseWhiteNoLighting")
{
entity_->getSubEntity(i)->setMaterialName(id + mat_name);
}
else
{
// BaseWhiteNoLighting is the default material Ogre uses
// when it sees a mesh with no material. Here we replace
// that with our default_material which gets colored with
// new_message->color.
entity_->getSubEntity(i)->setMaterial(default_material);
}
}
}
else
{
entity_->setMaterial(default_material);
}
// add a pass to every material to perform the color tinting
S_MaterialPtr::iterator material_it;
for (material_it = materials_.begin(); material_it != materials_.end(); material_it++)
{
Ogre::Technique* technique = (*material_it)->getTechnique(0);
color_tint_passes_.push_back(technique->createPass());
}
// always update color on resource change
update_color = true;
handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
handler_->addTrackedObject(entity_);
}
else
{
// underlying mesh resource has not changed but if the color has
// then we need to update the materials color
if (!old_message
|| old_message->color.r != new_message->color.r
|| old_message->color.g != new_message->color.g
|| old_message->color.b != new_message->color.b
|| old_message->color.a != new_message->color.a)
{
update_color = true;
}
}
// update material color
// if the mesh_use_embedded_materials is true and color is non-zero
// then the color will be used to tint the embedded materials
if (update_color)
{
float r = new_message->color.r;
float g = new_message->color.g;
float b = new_message->color.b;
float a = new_message->color.a;
Ogre::SceneBlendType blending;
bool depth_write;
if (a < 0.9998)
{
blending = Ogre::SBT_TRANSPARENT_ALPHA;
depth_write = false;
}
else
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
}
for (std::vector<Ogre::Pass*>::iterator it = color_tint_passes_.begin();
it != color_tint_passes_.end();
++it)
{
(*it)->setAmbient(0.5 * r, 0.5 * g, 0.5 * b);
(*it)->setDiffuse(r, g, b, a);
(*it)->setSceneBlending(blending);
(*it)->setDepthWriteEnabled(depth_write);
(*it)->setLightingEnabled(true);
}
}
Ogre::Vector3 pos, scale;
Ogre::Quaternion orient;
transform(new_message, pos, orient, scale);
scene_node_->setVisible(true);
setPosition(pos);
setOrientation(orient);
scene_node_->setScale(scale);
}
