void TheaRenderer::defineLights()
{
for( size_t objId = 0; objId < this->mtth_scene->lightList.size(); objId++)
{
mtth_MayaObject *obj = (mtth_MayaObject *)this->mtth_scene->lightList[objId];
MMatrix m = obj->transformMatrices[0] * this->mtth_renderGlobals->globalConversionMatrix;
MFnDependencyNode dn(obj->mobject);
MColor lightColor;
getColor("color", dn, lightColor);
float intensity = 1.0f;
getFloat("intensity", dn, intensity);
lightColor *= intensity;
TheaSDK::Transform lightPos;
matrixToTransform(m, lightPos);
if( this->mtth_renderGlobals->exportSceneFile )
{
if( obj->mobject.hasFn(MFn::kPointLight))
{
TheaSDK::XML::PointLight light;
light.name = obj->shortName.asChar();
light.frame = lightPos;
light.emitter=TheaSDK::XML::RgbTexture(lightColor.r, lightColor.g, lightColor.b);
sceneXML.addPointLight(light);
}
if( obj->mobject.hasFn(MFn::kSpotLight))
{
TheaSDK::XML::PointLight light;
light.name = obj->shortName.asChar();
light.frame = lightPos;
light.type = TheaSDK::XML::PointLight::Spot;
light.emitter=TheaSDK::XML::RgbTexture(lightColor.r, lightColor.g, lightColor.b);
sceneXML.addPointLight(light);
}
if( obj->mobject.hasFn(MFn::kDirectionalLight))
{
logger.warning(MString("Sorry, directional lights are not supported. Node: ") + obj->shortName);
}
}else{
if( obj->mobject.hasFn(MFn::kPointLight))
{}
if( obj->mobject.hasFn(MFn::kDirectionalLight))
{}
TheaSDK::Point3D lightPos(0.0f,0.0f,0.5f);
TheaSDK::AddOmniLight("My Light",lightPos,TheaSDK::Rgb(1,1,1),0,5000);
}
}
}
void TheaRenderer::defineCamera()
{
std::shared_ptr<MayaScene> mayaScene = MayaTo::getWorldPtr()->worldScenePtr;
std::shared_ptr<RenderGlobals> renderGlobals = MayaTo::getWorldPtr()->worldRenderGlobalsPtr;
for (auto obj : mayaScene->camList)
{
MFnCamera camFn(obj->mobject);
if (!isCameraRenderable(obj->mobject) && (!(obj->dagPath == mayaScene->uiCamera)))
{
continue;
}
MMatrix m = obj->transformMatrices[0] * renderGlobals->globalConversionMatrix;
uint width, height;
int width_, height_;
renderGlobals->getWidthHeight(width_, height_);
width = width_;
height = height_;
bool success = true;
float focalLen = camFn.focalLength();
float focusDistance = getFloatAttr("focusDistance", camFn, 10.0f);
focusDistance *= renderGlobals->scaleFactor;
float fStop = getFloatAttr("fStop", camFn, 5.6f);
TheaSDK::Transform cameraPos;
matrixToTransform(m, cameraPos);
TheaSDK::Transform tn;
cameraPos = cameraPos * tn.RotateX(-DegToRad(180.0));
if( renderGlobals->exportSceneFile )
{
TheaSDK::XML::Camera cam;
cam.name = obj->shortName.asChar();
cam.frame = cameraPos;
cam.focalLength = focalLen;
cam.pixels = width;
cam.lines = height;
cam.filmHeight = getFloatAttr("verticalFilmAperture", camFn, .9f) * 2.54f * 10.0f;
cam.shutterSpeed = getFloatAttr("mtth_shutter_speed", camFn, 250.0);
if( getBoolAttr("depthOfField", camFn, false))
{
if( renderGlobals->doDof)
{
cam.focusDistance = focusDistance;
cam.depthOfField = getFloatAttr("mtth_focusRange", camFn, 0.1);
cam.autofocus = getBoolAttr("mtth_autoFocus", camFn, false);
//cam.depthOfField = (focusDistance-nearFocusPlane)/focusDistance;
cam.blades = getIntAttr("mtth_diaphragm_blades", camFn, 4);
int diaType;
getEnum(MString("mtth_diaphragm_type"), camFn, diaType);
if( diaType == 0)
cam.diaphragm = TheaSDK::Diaphragm::CircularDiaphragm;
else
cam.diaphragm = TheaSDK::Diaphragm::PolygonalDiaphragm;
cam.fNumber = fStop;
}
}
sceneXML.addCamera(cam);
} else {
TheaSDK::CameraPointer cameraPtr = TheaSDK::AddStandardCamera(obj->shortName.asChar(), cameraPos, focalLen, width, height);
}
break; // only 1 cam at the moment
}
}
void PointRobotBSPProblemHelper::add_goal_constraint(OptProb& prob) {
VectorXd coeffs(6); coeffs << 1, 1, 1, 1, 1, 1;
VectorOfVectorPtr f(new CartPoseErrCalculator(matrixToTransform(goal_trans), rad, link));
prob.addConstraint(ConstraintPtr(new ConstraintFromFunc(f, state_vars.row(T), coeffs, EQ, "goal")));
}
