GPUSurfFeatureDetector::GPUSurfFeatureDetector(Ogre::Cuda::Root* root, int nbOctave, int nbFeatureMax)
: mCudaRoot(root)
{
mOgreIsAllocated = false;
mCudaIsAllocated = false;
mWidth = 0;
mHeight = 0;
mNbFeatureMax = nbFeatureMax;
mNbOctave = nbOctave;
mThreshold = 0.003f;
mNbFeatureFound = 0;
mGPGPURoot = new Ogre::GPGPU::Root;
mWebcamTexture = Ogre::TextureManager::getSingleton().createManual("WebcamVideoTexture", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D, 640, 480, 0, Ogre::PF_R8G8B8, Ogre::TU_RENDERTARGET);
//Create Webcam Material
Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().create("WebcamVideoMaterial", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Ogre::Technique *technique = material->createTechnique();
technique->createPass();
material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
material->getTechnique(0)->getPass(0)->createTextureUnitState("WebcamVideoTexture");
}
//--------------------------------------------------------------------------------
void MaterialUtil::updateSelectedVersion(const MaterialPtr& _material)
{
String name = _material->getName();
String selName = getSelectedVersionName(name);
MaterialPtr material, selectedMaterial;
if(selName == name)
{
name = getUnselectedVersionName(selName);
selectedMaterial = _material;
material = MaterialManager::getSingleton().getByName(name);
}
else
{
material = _material;
selectedMaterial = MaterialManager::getSingleton().getByName(selName);
}
if(!material.isNull() && !selectedMaterial.isNull())
{
material->copyDetailsTo(selectedMaterial);
Ogre::Technique* technique = selectedMaterial->getBestTechnique();
Pass* pass0 = technique->getPass(0);
Pass* passNew = technique->createPass();
passNew->setDiffuse(1, 1, 1, 1);
passNew->setPolygonMode(Ogre::PM_WIREFRAME);
if(pass0->getNumTextureUnitStates() != 0)
{
Ogre::TextureUnitState* tu = pass0->getTextureUnitState(0);
tu->setColourOperationEx(Ogre::LBX_MODULATE,
Ogre::LBS_TEXTURE, Ogre::LBS_MANUAL,
ColourValue::White, ColourValue(1, 0.6f, 0.6f, 1));
}
}
}
bool Simple::compileMaterial(Ogre::MaterialPtr material)
{
material->removeAllTechniques();
Ogre::Technique* technique = material->createTechnique();
for (SurfaceLayerStore::const_iterator I = mTerrainPageSurfaces.begin(); I != mTerrainPageSurfaces.end(); ++I) {
const TerrainPageSurfaceLayer* surfaceLayer = I->second;
if (I == mTerrainPageSurfaces.begin()) {
Ogre::Pass* pass = technique->createPass();
pass->setLightingEnabled(false);
//add the first layer of the terrain, no alpha or anything
Ogre::TextureUnitState * textureUnitState = pass->createTextureUnitState();
textureUnitState->setTextureScale(1.0f / surfaceLayer->getScale(), 1.0f / surfaceLayer->getScale());
textureUnitState->setTextureName(surfaceLayer->getDiffuseTextureName());
textureUnitState->setTextureCoordSet(0);
} else {
if (surfaceLayer->intersects(*mGeometry)) {
addPassToTechnique(*mGeometry, technique, surfaceLayer);
}
}
}
if (mTerrainPageShadow) {
addShadow(technique, mTerrainPageShadow, material);
}
material->load();
if (material->getNumSupportedTechniques() == 0) {
S_LOG_WARNING("The material '" << material->getName() << "' has no supported techniques. The reason for this is: \n" << material->getUnsupportedTechniquesExplanation());
return false;
}
return true;
}
bool Simple::compileMaterial(Ogre::MaterialPtr material, std::set<std::string>& managedTextures) const
{
material->removeAllTechniques();
Ogre::Technique* technique = material->createTechnique();
if (!mTerrainPageSurfaces.empty()) {
//First add a base pass
auto surfaceLayer = mTerrainPageSurfaces.begin()->second;
Ogre::Pass* pass = technique->createPass();
pass->setLightingEnabled(false);
Ogre::TextureUnitState * textureUnitState = pass->createTextureUnitState();
textureUnitState->setTextureScale(1.0f / surfaceLayer->getScale(), 1.0f / surfaceLayer->getScale());
textureUnitState->setTextureName(surfaceLayer->getDiffuseTextureName());
textureUnitState->setTextureCoordSet(0);
for (auto& layer : mLayers) {
addPassToTechnique(*mGeometry, technique, layer, managedTextures);
}
}
if (mTerrainPageShadow) {
addShadow(technique, mTerrainPageShadow, material, managedTextures);
}
// addLightingPass(technique, managedTextures);
material->load();
if (material->getNumSupportedTechniques() == 0) {
S_LOG_WARNING("The material '" << material->getName() << "' has no supported techniques. The reason for this is: \n" << material->getUnsupportedTechniquesExplanation());
return false;
}
return true;
}
bool OgreARAppLogic::initAR()
{
//INIT Realidad aumentada
if ( !userInit(this) ) return false; // user defined function to init AR
if(mWidth==0 || mHeight==0 || mBuffer==0) {
std::cout << "Image size or buffer not defined in user-defined init function" << std::endl;
return false;
}
// create background texture
mPixelBox = Ogre::PixelBox(mWidth, mHeight, 1, Ogre::PF_R8G8B8, mBuffer);
// Create Texture
mTexture = Ogre::TextureManager::getSingleton().createManual(
"CameraTexture",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,
mWidth,
mHeight,
0,
Ogre::PF_R8G8B8,
Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE);
//Create Camera Material
MaterialPtr material = MaterialManager::getSingleton().create("CameraMaterial", ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Ogre::Technique *technique = material->createTechnique();
technique->createPass();
material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
material->getTechnique(0)->getPass(0)->createTextureUnitState("CameraTexture");
return true;
}
//-----------------------------------------------------------------------
Ogre::TextureUnitState* MaterialTab::forceCreateFirstTexture(const Ogre::String textureName)
{
// Ignore some materials because they result in a crash while unloading
wxString materialName = mMaterialListBox->GetStringSelection();
if (materialName == wxT("DefaultSettings"))
return 0;
Ogre::Technique* technique = 0;
Ogre::TextureUnitState* texture = 0;
Ogre::Pass* pass = getFirstPass();
if (pass)
{
// There is a pass, check for textures or create one
if (pass->getNumTextureUnitStates() > 0)
{
pass->removeAllTextureUnitStates();
}
texture = pass->createTextureUnitState(textureName);
}
else
{
// There is no pass
wxString materialName = mMaterialListBox->GetStringSelection();
Ogre::String name = wx2ogre(materialName);
Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().getByName(name);
if (!material.isNull())
{
material->load();
if (material->getNumTechniques() > 0)
{
technique = material->getBestTechnique(); // Get the best technique
pass = technique->createPass();
texture = pass->createTextureUnitState(textureName);
}
else
{
// There is no technique, no pass and no textureunitstate
technique = material->createTechnique();
pass = technique->createPass();
texture = pass->createTextureUnitState(textureName);
}
}
}
return texture;
}
Ogre::Technique* GBufferSchemeHandler::handleSchemeNotFound(unsigned short schemeIndex,
const Ogre::String& schemeName, Ogre::Material* originalMaterial, unsigned short lodIndex,
const Ogre::Renderable* rend)
{
Ogre::MaterialManager& matMgr = Ogre::MaterialManager::getSingleton();
Ogre::String curSchemeName = matMgr.getActiveScheme();
matMgr.setActiveScheme(Ogre::MaterialManager::DEFAULT_SCHEME_NAME);
Ogre::Technique* originalTechnique = originalMaterial->getBestTechnique(lodIndex, rend);
matMgr.setActiveScheme(curSchemeName);
Ogre::Technique* gBufferTech = originalMaterial->createTechnique();
gBufferTech->removeAllPasses();
gBufferTech->setSchemeName(schemeName);
Ogre::Technique* noGBufferTech = originalMaterial->createTechnique();
noGBufferTech->removeAllPasses();
noGBufferTech->setSchemeName("NoGBuffer");
for (unsigned short i=0; i<originalTechnique->getNumPasses(); i++)
{
Ogre::Pass* originalPass = originalTechnique->getPass(i);
PassProperties props = inspectPass(originalPass, lodIndex, rend);
if (!props.isDeferred)
{
//Just copy the technique so it gets rendered regularly
Ogre::Pass* clonePass = noGBufferTech->createPass();
*clonePass = *originalPass;
continue;
}
Ogre::Pass* newPass = gBufferTech->createPass();
MaterialGenerator::Perm perm = getPermutation(props);
const Ogre::MaterialPtr& templateMat = mMaterialGenerator.getMaterial(perm);
//We assume that the GBuffer technique contains only one pass. But its true.
*newPass = *(templateMat->getTechnique(0)->getPass(0));
fillPass(newPass, originalPass, props);
}
return gBufferTech;
}
void OgreAppLogic::initTracking(int width, int height)
{
mWebcamBufferL8 = new unsigned char[width*height];
mTrackingSystem->init(width, height);
//Create Webcam Material
MaterialPtr material = MaterialManager::getSingleton().create("WebcamMaterial", ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Ogre::Technique *technique = material->createTechnique();
technique->createPass();
material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
material->getTechnique(0)->getPass(0)->createTextureUnitState(colorTextureName);
}
void MaterialEditor::OnNewPass(wxCommandEvent &e)
{
if(mMaterial.isNull())
return;
Ogre::Technique* pTechinque = m_MaterialTree->getSelecteTechnique();
if(pTechinque)
{
Ogre::Pass* pPass = pTechinque->createPass();
m_Frame->GetEffectObjectProperty()->InitMaterialEditor(mMaterial,mMaterialName);
m_MaterialTree->DeleteAllItems();
m_MaterialTree->AddMaterialToTree(mMaterial,mMaterialName);
m_MaterialTree->SelectePassItem(pPass);
}
}
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);
}
Ogre::MaterialPtr MaterialGenerator::create(bool renderCompositeMap, bool displayCompositeMap)
{
assert(!renderCompositeMap || !displayCompositeMap);
static int count = 0;
std::stringstream name;
name << "terrain/mat" << count++;
if (!mShaders)
{
Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(name.str(),
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Ogre::Technique* technique = mat->getTechnique(0);
technique->removeAllPasses();
if (displayCompositeMap)
{
Ogre::Pass* pass = technique->createPass();
pass->setVertexColourTracking(Ogre::TVC_AMBIENT|Ogre::TVC_DIFFUSE);
pass->createTextureUnitState(mCompositeMap)->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
}
else
{
assert(mLayerList.size() == mBlendmapList.size()+1);
std::vector<Ogre::TexturePtr>::iterator blend = mBlendmapList.begin();
for (std::vector<LayerInfo>::iterator layer = mLayerList.begin(); layer != mLayerList.end(); ++layer)
{
Ogre::Pass* pass = technique->createPass();
pass->setLightingEnabled(false);
pass->setVertexColourTracking(Ogre::TVC_NONE);
// TODO: How to handle fog?
pass->setFog(true, Ogre::FOG_NONE);
bool first = (layer == mLayerList.begin());
Ogre::TextureUnitState* tus;
if (!first)
{
pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
pass->setDepthFunction(Ogre::CMPF_EQUAL);
tus = pass->createTextureUnitState((*blend)->getName());
tus->setAlphaOperation(Ogre::LBX_BLEND_TEXTURE_ALPHA,
Ogre::LBS_TEXTURE,
Ogre::LBS_TEXTURE);
tus->setColourOperationEx(Ogre::LBX_BLEND_DIFFUSE_ALPHA,
Ogre::LBS_TEXTURE,
Ogre::LBS_TEXTURE);
tus->setIsAlpha(true);
tus->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
float scale = (16/(16.f+1.f));
tus->setTextureScale(1.f/scale,1.f/scale);
}
// Add the actual layer texture on top of the alpha map.
tus = pass->createTextureUnitState(layer->mDiffuseMap);
if (!first)
tus->setColourOperationEx(Ogre::LBX_BLEND_DIFFUSE_ALPHA,
Ogre::LBS_TEXTURE,
Ogre::LBS_CURRENT);
tus->setTextureScale(1/16.f,1/16.f);
if (!first)
++blend;
}
if (!renderCompositeMap)
{
Ogre::Pass* lightingPass = technique->createPass();
lightingPass->setSceneBlending(Ogre::SBT_MODULATE);
lightingPass->setVertexColourTracking(Ogre::TVC_AMBIENT|Ogre::TVC_DIFFUSE);
lightingPass->setFog(true, Ogre::FOG_NONE);
}
}
return mat;
}
#if TERRAIN_USE_SHADER
else
{
sh::MaterialInstance* material = sh::Factory::getInstance().createMaterialInstance (name.str());
material->setProperty ("allow_fixed_function", sh::makeProperty<sh::BooleanValue>(new sh::BooleanValue(false)));
if (displayCompositeMap)
{
sh::MaterialInstancePass* p = material->createPass ();
p->setProperty ("vertex_program", sh::makeProperty<sh::StringValue>(new sh::StringValue("terrain_vertex")));
p->setProperty ("fragment_program", sh::makeProperty<sh::StringValue>(new sh::StringValue("terrain_fragment")));
p->mShaderProperties.setProperty ("is_first_pass", sh::makeProperty(new sh::BooleanValue(true)));
p->mShaderProperties.setProperty ("render_composite_map", sh::makeProperty(new sh::BooleanValue(false)));
p->mShaderProperties.setProperty ("display_composite_map", sh::makeProperty(new sh::BooleanValue(true)));
p->mShaderProperties.setProperty ("num_layers", sh::makeProperty (new sh::StringValue("0")));
p->mShaderProperties.setProperty ("num_blendmaps", sh::makeProperty (new sh::StringValue("0")));
p->mShaderProperties.setProperty ("normal_map_enabled", sh::makeProperty (new sh::BooleanValue(false)));
p->mShaderProperties.setProperty ("parallax_enabled", sh::makeProperty (new sh::BooleanValue(false)));
p->mShaderProperties.setProperty ("normal_maps",
sh::makeProperty (new sh::IntValue(0)));
sh::MaterialInstanceTextureUnit* tex = p->createTextureUnit ("compositeMap");
tex->setProperty ("direct_texture", sh::makeProperty (new sh::StringValue(mCompositeMap)));
tex->setProperty ("tex_address_mode", sh::makeProperty (new sh::StringValue("clamp")));
// shadow. TODO: repeated, put in function
if (mShadows)
{
for (int i = 0; i < (mSplitShadows ? 3 : 1); ++i)
{
sh::MaterialInstanceTextureUnit* shadowTex = p->createTextureUnit ("shadowMap" + Ogre::StringConverter::toString(i));
shadowTex->setProperty ("content_type", sh::makeProperty<sh::StringValue> (new sh::StringValue("shadow")));
}
}
p->mShaderProperties.setProperty ("shadowtexture_offset", sh::makeProperty (new sh::StringValue(
Ogre::StringConverter::toString(1))));
p->mShaderProperties.setProperty ("pass_index", sh::makeProperty(new sh::IntValue(0)));
}
else
{
bool shadows = mShadows && !renderCompositeMap;
int layerOffset = 0;
while (layerOffset < (int)mLayerList.size())
{
int blendmapOffset = (layerOffset == 0) ? 1 : 0; // the first layer of the first pass is the base layer and does not need a blend map
// Check how many layers we can fit in this pass
int numLayersInThisPass = 0;
int numBlendTextures = 0;
std::vector<std::string> blendTextures;
int remainingTextureUnits = OGRE_MAX_TEXTURE_LAYERS;
if (shadows)
remainingTextureUnits -= (mSplitShadows ? 3 : 1);
while (remainingTextureUnits && layerOffset + numLayersInThisPass < (int)mLayerList.size())
{
int layerIndex = numLayersInThisPass + layerOffset;
int neededTextureUnits=0;
int neededBlendTextures=0;
if (layerIndex != 0)
{
std::string blendTextureName = mBlendmapList[getBlendmapIndexForLayer(layerIndex)]->getName();
if (std::find(blendTextures.begin(), blendTextures.end(), blendTextureName) == blendTextures.end())
{
blendTextures.push_back(blendTextureName);
++neededBlendTextures;
++neededTextureUnits; // blend texture
}
}
++neededTextureUnits; // layer texture
// Check if this layer has a normal map
if (mNormalMapping && !mLayerList[layerIndex].mNormalMap.empty() && !renderCompositeMap)
++neededTextureUnits; // normal map
if (neededTextureUnits <= remainingTextureUnits)
{
// We can fit another!
remainingTextureUnits -= neededTextureUnits;
numBlendTextures += neededBlendTextures;
++numLayersInThisPass;
}
else
break; // We're full
}
sh::MaterialInstancePass* p = material->createPass ();
p->setProperty ("vertex_program", sh::makeProperty<sh::StringValue>(new sh::StringValue("terrain_vertex")));
p->setProperty ("fragment_program", sh::makeProperty<sh::StringValue>(new sh::StringValue("terrain_fragment")));
if (layerOffset != 0)
{
p->setProperty ("scene_blend", sh::makeProperty(new sh::StringValue("alpha_blend")));
// Only write if depth is equal to the depth value written by the previous pass.
p->setProperty ("depth_func", sh::makeProperty(new sh::StringValue("equal")));
}
p->mShaderProperties.setProperty ("render_composite_map", sh::makeProperty(new sh::BooleanValue(renderCompositeMap)));
p->mShaderProperties.setProperty ("display_composite_map", sh::makeProperty(new sh::BooleanValue(displayCompositeMap)));
p->mShaderProperties.setProperty ("num_layers", sh::makeProperty (new sh::StringValue(Ogre::StringConverter::toString(numLayersInThisPass))));
p->mShaderProperties.setProperty ("num_blendmaps", sh::makeProperty (new sh::StringValue(Ogre::StringConverter::toString(numBlendTextures))));
p->mShaderProperties.setProperty ("normal_map_enabled",
sh::makeProperty (new sh::BooleanValue(false)));
// blend maps
// the index of the first blend map used in this pass
int blendmapStart;
if (mLayerList.size() == 1) // special case. if there's only one layer, we don't need blend maps at all
blendmapStart = 0;
else
blendmapStart = getBlendmapIndexForLayer(layerOffset+blendmapOffset);
for (int i = 0; i < numBlendTextures; ++i)
{
sh::MaterialInstanceTextureUnit* blendTex = p->createTextureUnit ("blendMap" + Ogre::StringConverter::toString(i));
blendTex->setProperty ("direct_texture", sh::makeProperty (new sh::StringValue(mBlendmapList[blendmapStart+i]->getName())));
blendTex->setProperty ("tex_address_mode", sh::makeProperty (new sh::StringValue("clamp")));
}
// layer maps
bool anyNormalMaps = false;
bool anyParallax = false;
size_t normalMaps = 0;
for (int i = 0; i < numLayersInThisPass; ++i)
{
const LayerInfo& layer = mLayerList[layerOffset+i];
// diffuse map
sh::MaterialInstanceTextureUnit* diffuseTex = p->createTextureUnit ("diffuseMap" + Ogre::StringConverter::toString(i));
diffuseTex->setProperty ("direct_texture", sh::makeProperty (new sh::StringValue(layer.mDiffuseMap)));
// normal map (optional)
bool useNormalMap = mNormalMapping && !mLayerList[layerOffset+i].mNormalMap.empty() && !renderCompositeMap;
bool useParallax = useNormalMap && mParallaxMapping && layer.mParallax;
bool useSpecular = layer.mSpecular;
if (useNormalMap)
{
anyNormalMaps = true;
anyParallax = anyParallax || useParallax;
sh::MaterialInstanceTextureUnit* normalTex = p->createTextureUnit ("normalMap" + Ogre::StringConverter::toString(i));
normalTex->setProperty ("direct_texture", sh::makeProperty (new sh::StringValue(layer.mNormalMap)));
}
p->mShaderProperties.setProperty ("use_normal_map_" + Ogre::StringConverter::toString(i),
sh::makeProperty (new sh::BooleanValue(useNormalMap)));
p->mShaderProperties.setProperty ("use_parallax_" + Ogre::StringConverter::toString(i),
sh::makeProperty (new sh::BooleanValue(useParallax)));
p->mShaderProperties.setProperty ("use_specular_" + Ogre::StringConverter::toString(i),
sh::makeProperty (new sh::BooleanValue(useSpecular)));
boost::hash_combine(normalMaps, useNormalMap);
boost::hash_combine(normalMaps, useNormalMap && layer.mParallax);
boost::hash_combine(normalMaps, useSpecular);
if (i+layerOffset > 0)
{
int blendTextureIndex = getBlendmapIndexForLayer(layerOffset+i);
std::string blendTextureComponent = getBlendmapComponentForLayer(layerOffset+i);
p->mShaderProperties.setProperty ("blendmap_component_" + Ogre::StringConverter::toString(i),
sh::makeProperty (new sh::StringValue(Ogre::StringConverter::toString(blendTextureIndex-blendmapStart) + "." + blendTextureComponent)));
}
else
{
// just to make it shut up about blendmap_component_0 not existing in the first pass.
// it might be retrieved, but will never survive the preprocessing step.
p->mShaderProperties.setProperty ("blendmap_component_" + Ogre::StringConverter::toString(i),
sh::makeProperty (new sh::StringValue("")));
}
}
p->mShaderProperties.setProperty ("normal_map_enabled",
sh::makeProperty (new sh::BooleanValue(anyNormalMaps)));
p->mShaderProperties.setProperty ("parallax_enabled",
sh::makeProperty (new sh::BooleanValue(anyParallax)));
// Since the permutation handler can't handle dynamic property names,
// combine normal map settings for all layers into one value
p->mShaderProperties.setProperty ("normal_maps",
sh::makeProperty (new sh::IntValue(normalMaps)));
// shadow
if (shadows)
{
for (int i = 0; i < (mSplitShadows ? 3 : 1); ++i)
{
sh::MaterialInstanceTextureUnit* shadowTex = p->createTextureUnit ("shadowMap" + Ogre::StringConverter::toString(i));
shadowTex->setProperty ("content_type", sh::makeProperty<sh::StringValue> (new sh::StringValue("shadow")));
}
}
p->mShaderProperties.setProperty ("shadowtexture_offset", sh::makeProperty (new sh::StringValue(
Ogre::StringConverter::toString(numBlendTextures + numLayersInThisPass))));
// Make sure the pass index is fed to the permutation handler, because blendmap components may be different
p->mShaderProperties.setProperty ("pass_index", sh::makeProperty(new sh::IntValue(layerOffset)));
assert ((int)p->mTexUnits.size() == OGRE_MAX_TEXTURE_LAYERS - remainingTextureUnits);
layerOffset += numLayersInThisPass;
}
}
}
#endif
return Ogre::MaterialManager::getSingleton().getByName(name.str());
}
void MaterialGenerator::generate()
{
mMaterial = prepareMaterial(mDef->getName());
// reset some attributes
resetTexUnitCounter();
// choose textures from list (depending on user iTexSize setting)
chooseTextures();
// -------------------------- Main technique ----------------------------- //
Ogre::Technique* technique = mMaterial->createTechnique();
// Main pass
Ogre::Pass* pass = technique->createPass();
pass->setAmbient( mDef->mProps->ambient.x, mDef->mProps->ambient.y, mDef->mProps->ambient.z );
pass->setDiffuse( mDef->mProps->diffuse.x, mDef->mProps->diffuse.y, mDef->mProps->diffuse.z, 1.0 );
// shader assumes shininess in specular w component
pass->setSpecular(mDef->mProps->specular.x, mDef->mProps->specular.y, mDef->mProps->specular.z, mDef->mProps->specular.w);
pass->setCullingMode(chooseCullingMode());
pass->setFog(true); // turn off fixed function fog, we use shaders
if (!mDef->mProps->lighting)
pass->setLightingEnabled(false);
if (mDef->mProps->sceneBlend == SBM_ALPHA_BLEND)
pass->setSceneBlending(SBT_TRANSPARENT_ALPHA);
else if (mDef->mProps->sceneBlend == SBM_COLOUR_BLEND)
pass->setSceneBlending(SBT_TRANSPARENT_COLOUR);
else if (mDef->mProps->sceneBlend == SBM_ADD)
pass->setSceneBlending(SBT_ADD);
else if (mDef->mProps->sceneBlend == SBM_MODULATE)
pass->setSceneBlending(SBT_MODULATE);
pass->setDepthWriteEnabled( mDef->mProps->depthWrite );
pass->setDepthCheckEnabled( mDef->mProps->depthCheck );
pass->setTransparentSortingEnabled( mDef->mProps->transparentSorting );
pass->setAlphaRejectFunction( mDef->mProps->alphaRejectFunc );
pass->setAlphaRejectValue( mDef->mProps->alphaRejectValue );
if (mDef->mProps->depthBias != 0.f)
pass->setDepthBias( mDef->mProps->depthBias );
createTexUnits(pass);
// create shaders
if (!mShaderCached)
{
try
{
mVertexProgram = createVertexProgram();
mFragmentProgram = createFragmentProgram();
}
catch (Ogre::Exception& e) {
LogO(e.getFullDescription());
}
//!todo put this code into a function for reusability in other material generators
if (mFragmentProgram.isNull() || mVertexProgram.isNull() ||
!mFragmentProgram->isSupported() || !mVertexProgram->isSupported())
{
LogO("[MaterialFactory] WARNING: shader for material '" + mDef->getName()
+ "' is not supported");
LogO("[MaterialFactory] Vertex program source: ");
StringUtil::StrStreamType vSourceStr;
generateVertexProgramSource(vSourceStr);
LogO(vSourceStr.str());
LogO("[MaterialFactory] Fragment program source: ");
StringUtil::StrStreamType fSourceStr;
generateFragmentProgramSource(fSourceStr);
LogO(fSourceStr.str());
mVertexProgram.setNull(); mFragmentProgram.setNull();
return;
}
}
pass->setVertexProgram(mVertexProgram->getName());
pass->setFragmentProgram(mFragmentProgram->getName());
//set shadow caster
technique->setShadowCasterMaterial(chooseShadowCasterMaterial());
if (mShaderCached)
{
// set individual material shader params
individualVertexProgramParams(pass->getVertexProgramParameters());
individualFragmentProgramParams(pass->getFragmentProgramParameters());
}
// ----------------------------------------------------------------------- //
createSSAOTechnique();
createOccluderTechnique();
// indicate we need enable/disable wind parameter
// only needed for trees (wind == 2) because the wind effect has to be disabled before rendering impostors
if (mShader->wind == 2)
mParent->windMtrs.push_back( mDef->getName() );
if (mDef->mProps->fog)
mParent->fogMtrs.push_back( mDef->getName() );
/// uncomment to export to .material
//LogO(mDef->getName());
/**
//if (mDef->getName() == "Water_cyan")
/*{
MaterialSerializer serializer;
serializer.exportMaterial(mMaterial, "water.material");
}
/**/
/// uncomment to see full shader source code in log
/**
LogO(mDef->getName());
if (StringUtil::startsWith(mDef->getName(), "FluidWater" )) //"water" //_cyan"
{
LogO("[MaterialFactory] Vertex program source: ");
StringUtil::StrStreamType vSourceStr;
generateVertexProgramSource(vSourceStr);
LogO(vSourceStr.str());
LogO("[MaterialFactory] Fragment program source: ");
StringUtil::StrStreamType fSourceStr;
generateFragmentProgramSource(fSourceStr);
LogO(fSourceStr.str());
}
/**/
}
/****************************************************************************
**
** Copyright (C) 2014
**
** This file is generated by the Magus toolkit
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
**
****************************************************************************/
// Include
#include "mainwindow.h"
#include "Editor_dockwidget.h"
#include "constants.h"
#include "sme_asset_material.h"
#include "sme_node_material.h"
#include "sme_asset_technique.h"
#include "sme_node_technique.h"
#include "sme_asset_pass.h"
#include "sme_node_pass.h"
#include "sme_asset_texture_unit.h"
#include "sme_node_texture_unit.h"
//****************************************************************************/
EditorDockWidget::EditorDockWidget(QString title, MainWindow* parent, Qt::WindowFlags flags) :
QDockWidget (title, parent, flags),
mParent(parent)
{
mInnerMain = new QMainWindow();
setWidget(mInnerMain);
// Perform standard functions
createActions();
createMenus();
createToolBars();
// Create the node editor widget.
mNodeEditor = new Magus::QtNodeEditor(this);
mNodeEditor->setMenuSelectionToCompoundEnabled(false); // Enabling this makes it a bit more complicated
mNodeEditor->setMenuExpandCompoundsEnabled(false); // No compounds are used
connect(mNodeEditor, SIGNAL(nodeRemoved(QtNode*)), this, SLOT(nodeDeleted()));
connect(mNodeEditor, SIGNAL(nodeSelected(QtNode*)), this, SLOT(nodeSelected(QtNode*)));
mInnerMain->setCentralWidget(mNodeEditor);
mMaterialNode = 0;
}
//****************************************************************************/
EditorDockWidget::~EditorDockWidget(void)
{
}
//****************************************************************************/
void EditorDockWidget::createActions(void)
{
mMaterialHToolbarAction = new QAction(QIcon(ICON_MATERIAL), QString("Add a material node to the editor"), this);
connect(mMaterialHToolbarAction, SIGNAL(triggered()), this, SLOT(doMaterialHToolbarAction()));
mTechniqueHToolbarAction = new QAction(QIcon(ICON_TECHNIQUE), QString("Add a technique node to the editor"), this);
connect(mTechniqueHToolbarAction, SIGNAL(triggered()), this, SLOT(doTechniqueHToolbarAction()));
mPassHToolbarAction = new QAction(QIcon(ICON_PASS), QString("Add a pass node to the editor"), this);
connect(mPassHToolbarAction, SIGNAL(triggered()), this, SLOT(doPassHToolbarAction()));
mTextureHToolbarAction = new QAction(QIcon(ICON_TEXTURE), QString("Add a texture unit node to the editor"), this);
connect(mTextureHToolbarAction, SIGNAL(triggered()), this, SLOT(doTextureHToolbarAction()));
mCogHToolbarAction = new QAction(QIcon(ICON_COG), QString("Generate material"), this);
connect(mCogHToolbarAction, SIGNAL(triggered()), this, SLOT(doCogHToolbarAction()));
}
//****************************************************************************/
void EditorDockWidget::createMenus(void)
{
}
//****************************************************************************/
void EditorDockWidget::createToolBars(void)
{
mHToolBar = new QToolBar();
mInnerMain->addToolBar(Qt::TopToolBarArea, mHToolBar);
mHToolBar->setMinimumHeight(TB_ICON_AND_SPACING);
mHToolBar->setMinimumWidth(1200);
mHToolBar->addAction(mMaterialHToolbarAction);
mHToolBar->addAction(mTechniqueHToolbarAction);
mHToolBar->addAction(mPassHToolbarAction);
mHToolBar->addAction(mTextureHToolbarAction);
mHToolBar->addAction(mCogHToolbarAction);
}
//****************************************************************************/
void EditorDockWidget::doMaterialHToolbarAction(void)
{
// Add a material node; only 1 is allowed
if (!mMaterialNode)
{
mMaterialNode = new Magus::QtNodeMaterial(NODE_TITLE_MATERIAL);
mNodeEditor->addNode(mMaterialNode);
}
}
//****************************************************************************/
void EditorDockWidget::doTechniqueHToolbarAction(void)
{
// Add a technique node
Magus::QtNodeTechnique* techniqueNode = new Magus::QtNodeTechnique(NODE_TITLE_TECHNIQUE);
mNodeEditor->addNode(techniqueNode);
}
//****************************************************************************/
void EditorDockWidget::doPassHToolbarAction(void)
{
// Add a pass node
Magus::QtNodePass* passNode = new Magus::QtNodePass(NODE_TITLE_PASS);
mNodeEditor->addNode(passNode);
}
//****************************************************************************/
void EditorDockWidget::doTextureHToolbarAction(void)
{
// Add a texture unit node
Magus::QtNodeTextureUnit* textureUnitNode = new Magus::QtNodeTextureUnit(NODE_TITLE_TEXTURE_UNIT);
mNodeEditor->addNode(textureUnitNode);
}
//****************************************************************************/
void EditorDockWidget::doCogHToolbarAction(void)
{
if (!mMaterialNode)
return;
if (mMaterialNode->getMaterialName().isEmpty())
return;
// ---------------------------------------- Create a material ----------------------------------------
Ogre::LogManager* logManager = Ogre::LogManager::getSingletonPtr();
Ogre::MaterialManager* materialManager = Ogre::MaterialManager::getSingletonPtr();
Ogre::String materialName = mMaterialNode->getMaterialName().toStdString(); // Convert to std format
logManager->logMessage("SME: create Ogre material: " + materialName);
Ogre::MaterialPtr material = materialManager->create(materialName, "General");
// Remark: Sceneblending is done for each pass individually, although it is defined on material level
// ---------------------------------------- Add the technique ----------------------------------------
Magus::QtNode* node = mMaterialNode->getNodeConnectedToPort(PORT_TECHNIQUE_OUT);
if (!node)
{
logManager->logMessage("SME: No technique node available");
return;
}
Magus::QtNodeTechnique* techniqueNode = static_cast<Magus::QtNodeTechnique*>(node);
material->removeAllTechniques();
Ogre::Technique* technique = material->createTechnique();
technique->removeAllPasses();
logManager->logMessage("SME: Technique created" + Ogre::StringConverter::toString(material->getNumTechniques()));
// ---------------------------------------- Add the passes ----------------------------------------
Magus::QtNodePass* passNode;
Magus::QtNodeTextureUnit* textureUnitNode;
Ogre::Pass* pass;
Ogre::TextureUnitState* textureUnit;
for (unsigned int i = 1; i < 5; ++i)
{
node = techniqueNode->getNodeConnectedToPort(PORT_PASS_OUT, i); // node with the same name
if (node)
{
passNode = static_cast<Magus::QtNodePass*>(node);
pass = technique->createPass();
pass->removeAllTextureUnitStates();
logManager->logMessage("SME: Pass on port nr. " + Ogre::StringConverter::toString(i) + " created");
propagatePassNodeData(passNode, pass);
// ---------------------------------------- Add the texture units ----------------------------------------
for (unsigned int j = 1; j < 9; ++j)
{
node = passNode->getNodeConnectedToPort(PORT_TEXTURE_OUT, j);
if (node)
{
logManager->logMessage("SME: Texture unit on port nr. " +
Ogre::StringConverter::toString(j) +
" of Pass port nr. " +
Ogre::StringConverter::toString(i) +
" created");
textureUnitNode = static_cast<Magus::QtNodeTextureUnit*>(node);
textureUnit = pass->createTextureUnitState();
propagateTextureUnitNodeData(textureUnitNode, textureUnit);
}
}
}
}
// Assign the material to the ogrehead
material->compile();
material->load();
mParent->getOgreManager()->getOgreWidget(1)->mEntity->setMaterial(material);
}
void GActiveMarker::markerCallback(const visualization_msgs::Marker& marker)
{
int frameNo;
bool found, renew;
string name;
GActiveMarker * tAM;
vector<Gadget *>::iterator gadIt;
switch (marker.action)
{
case visualization_msgs::Marker::DELETE:
{
// Make an appropriate name based on the namespace and marker ID
name = marker.ns + boost::lexical_cast<std::string>(marker.id);
found = false;
for (gadIt = boss->gadgets.begin(); gadIt != boss->gadgets.end(); gadIt++)
{
if ((*gadIt)->name == name)
{
found = true;
break;
}
}
// No marker, leave without a sound
if (!found)
{
break;
}
(*gadIt)->killMe = true;
break;
}
// ROS has ADD and MODIFY have the same value...
case visualization_msgs::Marker::ADD:
//case visualization_msgs::Marker::MODIFY:
// Make an appropriate name based on the namespace and marker ID
name = marker.ns + boost::lexical_cast<std::string>(marker.id);
// Get the associated frame
frameNo = Frame::findFrame(marker.header.frame_id);
// If we can't find the frame, or it is invalid leave
if (frameNo < 0)
{
return;
}
if (!availableFrames[frameNo].valid)
{
return;
}
// Look for an existing Gadget with this name
found = false;
for (gadIt = boss->gadgets.begin(); gadIt != boss->gadgets.end(); gadIt++)
{
if ((*gadIt)->name == name)
{
found = true;
break;
}
}
if (found)
{
// We're modifying an existing marker
tAM = (GActiveMarker * )*gadIt;
}
else // !found
{
// Create a new marker
tAM = new GActiveMarker(name);
// Create the gadget for this marker
boss->addGadget(tAM);
// Have the active marker create a scene node (graphicNode)
tAM->show(true);
}
// Set the Gadget's frame
tAM->sourceFrame = frameNo;
// If the marker's nature changes, free up all its allocated graphic memory
if (found)
{
if (tAM->markerType != marker.type)
{
tAM->cleanup();
renew = true;
tAM->markerType = marker.type;
}
else
{
renew = false;
}
}
else
{
renew = true;
tAM->markerType = marker.type;
}
switch (marker.type)
{
case visualization_msgs::Marker::ARROW:
{
if (renew)
{
Shape * shape;
if (!tAM->subGraphicNode)
{
tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
}
shape = new Shape(Shape::Cone, tAM->scene, tAM->subGraphicNode);
tAM->shapes.push_back(shape);
shape = new Shape(Shape::RoughCylinder, tAM->scene, tAM->subGraphicNode);
tAM->shapes.push_back(shape);
}
Ogre::Vector3 startPoint;
Ogre::Vector3 endPoint;
if (marker.points.size() > 1)
{
startPoint[0] = marker.points[0].x;
startPoint[1] = marker.points[0].y,
startPoint[2] = marker.points[0].z;
endPoint[0] = marker.points[1].x;
endPoint[1] = marker.points[1].y;
endPoint[2] = marker.points[1].z;
}
else
{
if (marker.points.size() == 1)
{
tAM->publishStatus(Gadget::WARNING, "To few points to specify an arrow direction, 2 needed");
}
startPoint[0] = 0;
startPoint[1] = 0,
startPoint[2] = 0;
endPoint[0] = 1;
endPoint[1] = 0;
endPoint[2] = 0;
}
tAM->shapes[0]->alignToLineSegment(startPoint + (endPoint - startPoint) * 0.9,
endPoint,
1);
tAM->shapes[0]->setScale(Ogre::Vector3(marker.scale.y,
marker.scale.x * 0.2,
marker.scale.y));
tAM->shapes[1]->alignToLineSegment(startPoint,
endPoint,
1);
tAM->shapes[1]->setScale(Ogre::Vector3(marker.scale.y * 0.1,
marker.scale.x * 0.8,
marker.scale.y * 0.1));
// Set shape properties
tAM->shapes[0]->setColor(Ogre::ColourValue(marker.color.r, marker.color.g,
marker.color.b, marker.color.a));
tAM->subGraphicNode->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
tAM->subGraphicNode->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
if (renew)
{
tAM->publishStatus(Gadget::OKAY, "Successfully added arrow marker");
}
break;
}
case visualization_msgs::Marker::CUBE:
case visualization_msgs::Marker::SPHERE:
case visualization_msgs::Marker::CYLINDER:
{
if (renew)
{
Shape * shape;
switch (marker.type)
{
case visualization_msgs::Marker::CUBE:
shape = new Shape(Shape::Cube, tAM->scene, tAM->graphicNode);
break;
case visualization_msgs::Marker::SPHERE:
shape = new Shape(Shape::Sphere, tAM->scene, tAM->graphicNode);
break;
case visualization_msgs::Marker::CYLINDER:
shape = new Shape(Shape::Cylinder, tAM->scene, tAM->graphicNode);
break;
}
tAM->shapes.push_back(shape);
}
// Set shape properties
tAM->shapes[0]->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
tAM->shapes[0]->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
tAM->shapes[0]->setScale(Ogre::Vector3(marker.scale.x, marker.scale.y,
marker.scale.z));
tAM->shapes[0]->setColor(Ogre::ColourValue(marker.color.r, marker.color.g,
marker.color.b, marker.color.a));
if (renew)
{
switch (marker.type)
{
case visualization_msgs::Marker::CUBE:
tAM->publishStatus(Gadget::OKAY, "Successfully added cube marker");
break;
case visualization_msgs::Marker::SPHERE:
tAM->publishStatus(Gadget::OKAY, "Successfully added sphere marker");
break;
case visualization_msgs::Marker::CYLINDER:
tAM->publishStatus(Gadget::OKAY, "Successfully added cylinder marker");
break;
}
}
break;
}
case visualization_msgs::Marker::LINE_STRIP:
{
unsigned int N;
unsigned int i;
if (!tAM->subGraphicNode)
{
tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
}
// Line count
N = marker.points.size() - 1;
if (N < 1)
{
tAM->publishStatus(Gadget::ERROR, "Insufficient data to draw lines");
return;
}
// If the number of preallocated shapes is too many, cull a few
if (!renew && tAM->shapes.size() > N)
{
while (tAM->shapes.size() > N)
{
delete tAM->shapes[0];
tAM->shapes.erase(tAM->shapes.begin());
}
}
// Otherwise, if we have too few shapes preallocated, add a few
if (tAM->shapes.size() < N)
{
while (tAM->shapes.size() < N)
{
Shape * shape = new Shape(Shape::RoughCylinder, tAM->scene, tAM->subGraphicNode);
tAM->shapes.push_back(shape);
}
}
// Set shapes' properties
for (i = 0; i < N; i++)
{
tAM->shapes[i]->alignToLineSegment(Ogre::Vector3(marker.points[i].x,
marker.points[i].y,
marker.points[i].z),
Ogre::Vector3(marker.points[i + 1].x,
marker.points[i + 1].y,
marker.points[i + 1].z),
marker.scale.x);
}
// Set the shapes colors based on whether we're getting a list of colors
// or just a single color...
if (marker.colors.size() != marker.points.size())
{
for (i = 0; i < tAM->shapes.size(); i++)
{
tAM->shapes[i]->setColor(Ogre::ColourValue(marker.color.r, marker.color.g,
marker.color.b, marker.color.a));
}
}
else
{
for (i = 0; i < tAM->shapes.size(); i++)
{
tAM->shapes[i]->setColor(Ogre::ColourValue(marker.colors[i].r,
marker.colors[i].g,
marker.colors[i].b,
marker.colors[i].a));
}
}
tAM->subGraphicNode->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
tAM->subGraphicNode->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
if (renew)
{
tAM->publishStatus(Gadget::OKAY, "Successfully added line strip marker");
}
break;
}
case visualization_msgs::Marker::LINE_LIST:
{
unsigned int N;
unsigned int i;
if (!tAM->subGraphicNode)
{
tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
}
if (marker.points.size() % 2 != 0)
{
tAM->publishStatus(Gadget::ERROR, "Need 2xN points to draw N lines");
return;
}
// Line count
N = marker.points.size() / 2;
// If the number of preallocated shapes is too many, cull a few
if (!renew && tAM->shapes.size() > N)
{
while (tAM->shapes.size() > N)
{
delete tAM->shapes[0];
tAM->shapes.erase(tAM->shapes.begin());
}
}
// Otherwise, if we have too few shapes preallocated, add a few
if (tAM->shapes.size() < N)
{
while (tAM->shapes.size() < N)
{
Shape * shape = new Shape(Shape::RoughCylinder, tAM->scene, tAM->subGraphicNode);
tAM->shapes.push_back(shape);
}
}
// Set shapes' properties
for (i = 0; i < N; i++)
{
tAM->shapes[i]->alignToLineSegment(Ogre::Vector3(marker.points[i * 2].x,
marker.points[i * 2].y,
marker.points[i * 2].z),
Ogre::Vector3(marker.points[i * 2 + 1].x,
marker.points[i * 2 + 1].y,
marker.points[i * 2 + 1].z),
marker.scale.x);
}
// Set the shapes colors based on whether we're getting a list of colors
// or just a single color...
if (marker.colors.size() != marker.points.size())
{
for (i = 0; i < tAM->shapes.size(); i++)
{
tAM->shapes[i]->setColor(Ogre::ColourValue(marker.color.r, marker.color.g,
marker.color.b, marker.color.a));
}
}
else
{
for (i = 0; i < tAM->shapes.size(); i++)
{
tAM->shapes[i]->setColor(Ogre::ColourValue(marker.colors[i * 2].r,
marker.colors[i * 2].g,
marker.colors[i * 2].b,
marker.colors[i * 2].a));
}
}
tAM->subGraphicNode->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
tAM->subGraphicNode->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
if (renew)
{
tAM->publishStatus(Gadget::OKAY, "Successfully added line list marker");
}
break;
}
case visualization_msgs::Marker::SPHERE_LIST:
case visualization_msgs::Marker::CUBE_LIST:
{
int shapeType;
unsigned int i;
if (!tAM->subGraphicNode)
{
tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
}
switch (marker.type)
{
case visualization_msgs::Marker::SPHERE_LIST:
shapeType = Shape::Sphere;
break;
case visualization_msgs::Marker::CUBE_LIST:
shapeType = Shape::Cube;
break;
}
// If the number of preallocated shapes is too many, cull a few
if (!renew && tAM->shapes.size() > marker.points.size())
{
while (tAM->shapes.size() > marker.points.size())
{
delete tAM->shapes[0];
tAM->shapes.erase(tAM->shapes.begin());
}
}
// Otherwise, if we have too few shapes preallocated, add a few
if (tAM->shapes.size() < marker.points.size())
{
while (tAM->shapes.size() < marker.points.size())
{
Shape * shape = new Shape(shapeType, tAM->scene, tAM->subGraphicNode);
tAM->shapes.push_back(shape);
}
}
// Set shapes' properties
for (i = 0; i < marker.points.size(); i++)
{
tAM->shapes[i]->setPosition(Ogre::Vector3(marker.points[i].x,
marker.points[i].y, marker.points[i].z));
tAM->shapes[i]->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
tAM->shapes[i]->setScale(Ogre::Vector3(marker.scale.x, marker.scale.y,
marker.scale.z));
}
// Set the shapes colors based on whether we're getting a list of colors
// or just a single color...
if (marker.colors.size() != marker.points.size())
{
for (i = 0; i < tAM->shapes.size(); i++)
{
tAM->shapes[i]->setColor(Ogre::ColourValue(marker.color.r, marker.color.g,
marker.color.b, marker.color.a));
}
}
else
{
for (i = 0; i < tAM->shapes.size(); i++)
{
tAM->shapes[i]->setColor(Ogre::ColourValue(marker.colors[i].r, marker.colors[i].g,
marker.colors[i].b, marker.colors[i].a));
}
}
tAM->subGraphicNode->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
tAM->subGraphicNode->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
if (renew)
{
switch (marker.type)
{
case visualization_msgs::Marker::CUBE_LIST:
tAM->publishStatus(Gadget::OKAY, "Successfully added cube list marker");
break;
case visualization_msgs::Marker::SPHERE_LIST:
tAM->publishStatus(Gadget::OKAY, "Successfully added sphere list marker");
break;
}
}
}
break;
case visualization_msgs::Marker::POINTS:
{
unsigned int i;
unsigned int N;
if (renew)
{
tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
if (marker.points.size() > 0)
{
string materialName = name + "PointMat";
tAM->material = Ogre::MaterialManager::getSingleton().create(materialName.c_str(),
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
tAM->material->setPointSize(marker.scale.x);
Ogre::Technique* pT = tAM->material->getTechnique( 0 );
if( NULL == pT ) pT = tAM->material->createTechnique();
Ogre::Pass* pP = pT->getPass( 0 );
if( NULL == pP ) pP = pT->createPass();
// set parameters
pP->setVertexColourTracking(Ogre::TVC_AMBIENT);
pP->setLightingEnabled(false);
//pP->setDepthCheckEnabled(true);
//pP->setDepthWriteEnabled(false);
//pP->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
tAM->manual = tAM->scene->createManualObject(tAM->name + "_manual");
tAM->subGraphicNode->attachObject(tAM->manual);
tAM->manual->setDynamic(true);
tAM->manual->estimateVertexCount(1000);
tAM->manual->begin(materialName.c_str(), Ogre::RenderOperation::OT_POINT_LIST);
}
else
{
tAM->publishStatus(Gadget::WARNING, "No data in message");
}
}
else
{
if (marker.points.size() > 0)
{
tAM->material->setPointSize(marker.scale.x);
tAM->manual->beginUpdate(0);
}
else
{
tAM->publishStatus(Gadget::WARNING, "No data in message");
}
}
N = marker.points.size();
// Setting each point's color independently or not?
if (marker.colors.size() == marker.points.size())
{
for (i = 0; i < N; i++)
{
tAM->manual->position(marker.points[i].x,
marker.points[i].y,
marker.points[i].z);
tAM->manual->colour(Ogre::ColourValue(marker.colors[i].r,
marker.colors[i].g,
marker.colors[i].b,
marker.colors[i].a));
}
}
else
{
tAM->manual->colour(Ogre::ColourValue(marker.color.r,
marker.color.g,
marker.color.b,
marker.color.a));
for (i = 0; i < N; i++)
{
tAM->manual->position(marker.points[i].x,
marker.points[i].y,
marker.points[i].z);
}
}
tAM->manual->end();
//tAM->subGraphicNode->setScale(Ogre::Vector3(marker.scale.x, marker.scale.y,
// marker.scale.z));
tAM->subGraphicNode->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
tAM->subGraphicNode->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
}
if (renew)
{
tAM->publishStatus(Gadget::OKAY, "Successfully added points marker");
}
break;
case visualization_msgs::Marker::TEXT_VIEW_FACING:
{
// If we must abandon all of our preallocated data
if (renew)
{
tAM->text = new Ogre::MovableText("TextLabel" + boost::lexical_cast<std::string>(textNameNum),
marker.text);
// Create host scene nodes
tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
tAM->subGraphicNode->attachObject(tAM->text);
}
// Update movable text properties
tAM->text->setCaption(marker.text);
tAM->text->setColor(Ogre::ColourValue(marker.color.r, marker.color.g,
marker.color.b, marker.color.a));
tAM->subGraphicNode->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
tAM->text->setCharacterHeight(marker.scale.z);
if (renew)
{
tAM->publishStatus(Gadget::OKAY, "Successfully added view facing text marker");
}
break;
}
case visualization_msgs::Marker::TRIANGLE_LIST:
{
unsigned int i;
if (!tAM->subGraphicNode)
{
tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
}
// Make sure we 3xN points to make triangles
if (marker.points.size() % 3 == 0)
{
if (marker.points.size() > 0)
{
if (renew)
{
tAM->manual = tAM->scene->createManualObject(name + "_manual");
tAM->subGraphicNode->attachObject(tAM->manual);
tAM->manual->setDynamic(true);
tAM->manual->estimateVertexCount(1000);
tAM->manual->begin("Surfaces/FlatVertexColour", Ogre::RenderOperation::OT_TRIANGLE_LIST);
}
else
{
tAM->manual->beginUpdate(0);
}
}
else
{
tAM->publishStatus(Gadget::WARNING, "No point data");
return;
}
}
else
{
tAM->publishStatus(Gadget::ERROR, "Need 3xN points to draw N triangles");
return;
}
// Handle the cases of colors being populated correctly and not, separately
if (marker.colors.size() == marker.points.size())
{
for (i = 0; i < marker.points.size(); i++)
{
tAM->manual->position(marker.points[i].x,
marker.points[i].y,
marker.points[i].z);
tAM->manual->colour(Ogre::ColourValue(marker.colors[i].r,
marker.colors[i].g,
marker.colors[i].b,
marker.colors[i].a));
}
}
else
{
tAM->manual->colour(Ogre::ColourValue(marker.color.r,
marker.color.g,
marker.color.b,
marker.color.a));
for (i = 0; i < marker.points.size(); i++)
{
tAM->manual->position(marker.points[i].x,
marker.points[i].y,
marker.points[i].z);
}
}
tAM->manual->end();
tAM->subGraphicNode->setScale(Ogre::Vector3(marker.scale.x, marker.scale.y,
marker.scale.z));
tAM->subGraphicNode->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
tAM->subGraphicNode->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
if (renew)
{
tAM->publishStatus(Gadget::OKAY, "Successfully added triangle list marker");
}
break;
}
case visualization_msgs::Marker::MESH_RESOURCE:
// If something has changed free up old resources
if (!renew && (tAM->meshResource != marker.mesh_resource))
{
if (tAM->entity)
{
// TODO!! : Need to destroy scene nodes
tAM->scene->destroyEntity(tAM->entity);
tAM->entity = NULL;
}
renew = true;
}
if (renew)
{
// Load the mesh
int gotMaterial;
tAM->mesh = loadMesh(marker.mesh_resource, gotMaterial);
if (tAM->mesh.isNull())
{
tAM->publishStatus(Gadget::ERROR, "Failed to load mesh " + marker.mesh_resource);
return;
}
// Create Ogre entity to encapsulate it
tAM->entity = tAM->scene->createEntity((name + "_Ent").c_str(), marker.mesh_resource);
if (!gotMaterial)
{
Ogre::MaterialPtr templateMat = Ogre::MaterialManager::getSingleton().getByName("Template/WhiteNoBlend");
tAM->entity->setMaterial(templateMat);
tAM->publishStatus(Gadget::WARNING, "No material associated with mesh " + marker.mesh_resource);
}
tAM->meshResource = marker.mesh_resource;
if (!tAM->subGraphicNode)
{
tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
}
tAM->subGraphicNode->attachObject(tAM->entity);
}
// Update scale and position of the mesh
tAM->subGraphicNode->setScale(Ogre::Vector3(marker.scale.x, marker.scale.y,
marker.scale.z));
tAM->subGraphicNode->setOrientation(Ogre::Quaternion(marker.pose.orientation.w,
marker.pose.orientation.x, marker.pose.orientation.y,
marker.pose.orientation.z));
tAM->subGraphicNode->setPosition(Ogre::Vector3(marker.pose.position.x,
marker.pose.position.y, marker.pose.position.z));
// Update to ensure the graphic is placed at the correct location
tAM->update();
if (renew)
{
tAM->publishStatus(Gadget::OKAY, "Successfully added mesh marker");
}
break;
}
if (tAM->boundsVisible)
{
tAM->calculateBounds();
tAM->boundsChanged = true;
}
break;
}
}
int initOgreAR(aruco::CameraParameters camParams, unsigned char* buffer, std::string resourcePath)
{
/// INIT OGRE FUNCTIONS
#ifdef _WIN32
root = new Ogre::Root(resourcePath + "plugins_win.cfg", resourcePath + "ogre_win.cfg");
#elif __x86_64__ || __ppc64__
root = new Ogre::Root(resourcePath + "plugins_x64.cfg", resourcePath + "ogre.cfg");
#else
root = new Ogre::Root(resourcePath + "plugins.cfg", resourcePath + "ogre.cfg");
#endif
if (!root->showConfigDialog()) return -1;
Ogre::SceneManager* smgr = root->createSceneManager(Ogre::ST_GENERIC);
/// CREATE WINDOW, CAMERA AND VIEWPORT
Ogre::RenderWindow* window = root->initialise(true);
Ogre::Camera *camera;
Ogre::SceneNode* cameraNode;
camera = smgr->createCamera("camera");
camera->setNearClipDistance(0.01f);
camera->setFarClipDistance(10.0f);
camera->setProjectionType(Ogre::PT_ORTHOGRAPHIC);
camera->setPosition(0, 0, 0);
camera->lookAt(0, 0, 1);
double pMatrix[16];
camParams.OgreGetProjectionMatrix(camParams.CamSize,camParams.CamSize, pMatrix, 0.05,10, false);
Ogre::Matrix4 PM(pMatrix[0], pMatrix[1], pMatrix[2] , pMatrix[3],
pMatrix[4], pMatrix[5], pMatrix[6] , pMatrix[7],
pMatrix[8], pMatrix[9], pMatrix[10], pMatrix[11],
pMatrix[12], pMatrix[13], pMatrix[14], pMatrix[15]);
camera->setCustomProjectionMatrix(true, PM);
camera->setCustomViewMatrix(true, Ogre::Matrix4::IDENTITY);
window->addViewport(camera);
cameraNode = smgr->getRootSceneNode()->createChildSceneNode("cameraNode");
cameraNode->attachObject(camera);
/// CREATE BACKGROUND FROM CAMERA IMAGE
int width = camParams.CamSize.width;
int height = camParams.CamSize.height;
// create background camera image
mPixelBox = Ogre::PixelBox(width, height, 1, Ogre::PF_R8G8B8, buffer);
// Create Texture
mTexture = Ogre::TextureManager::getSingleton().createManual("CameraTexture",Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,width,height,0,Ogre::PF_R8G8B8,Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE);
//Create Camera Material
Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().create("CameraMaterial", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Ogre::Technique *technique = material->createTechnique();
technique->createPass();
material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
material->getTechnique(0)->getPass(0)->createTextureUnitState("CameraTexture");
Ogre::Rectangle2D* rect = new Ogre::Rectangle2D(true);
rect->setCorners(-1.0, 1.0, 1.0, -1.0);
rect->setMaterial("CameraMaterial");
// Render the background before everything else
rect->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND);
// Hacky, but we need to set the bounding box to something big, use infinite AAB to always stay visible
Ogre::AxisAlignedBox aabInf;
aabInf.setInfinite();
rect->setBoundingBox(aabInf);
// Attach background to the scene
Ogre::SceneNode* node = smgr->getRootSceneNode()->createChildSceneNode("Background");
node->attachObject(rect);
/// CREATE SIMPLE OGRE SCENE
// add sinbad.mesh
Ogre::ResourceGroupManager::getSingleton().addResourceLocation(resourcePath + "Sinbad.zip", "Zip", "Popular");
Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
for(int i=0; i<MAX_MARKERS; i++) {
Ogre::String entityName = "Marker_" + Ogre::StringConverter::toString(i);
Ogre::Entity* ogreEntity = smgr->createEntity(entityName, "Sinbad.mesh");
Ogre::Real offset = ogreEntity->getBoundingBox().getHalfSize().y;
ogreNode[i] = smgr->getRootSceneNode()->createChildSceneNode();
// add entity to a child node to correct position (this way, entity axis is on feet of sinbad)
Ogre::SceneNode *ogreNodeChild = ogreNode[i]->createChildSceneNode();
ogreNodeChild->attachObject(ogreEntity);
// Sinbad is placed along Y axis, we need to rotate to put it along Z axis so it stands up over the marker
// first rotate along X axis, then add offset in Z dir so it is over the marker and not in the middle of it
ogreNodeChild->rotate(Ogre::Vector3(1,0,0), Ogre::Radian(Ogre::Degree(90)));
ogreNodeChild->translate(0,0,offset,Ogre::Node::TS_PARENT);
// mesh is too big, rescale!
const float scale = 0.006675f;
ogreNode[i]->setScale(scale, scale, scale);
// Init animation
ogreEntity->getSkeleton()->setBlendMode(Ogre::ANIMBLEND_CUMULATIVE);
if(i==0)
{
baseAnim[i] = ogreEntity->getAnimationState("HandsClosed");
topAnim[i] = ogreEntity->getAnimationState("HandsRelaxed");
}
else if(i==1)
{
baseAnim[i] = ogreEntity->getAnimationState("Dance");
topAnim[i] = ogreEntity->getAnimationState("Dance");
}
else if(i==2)
{
baseAnim[i] = ogreEntity->getAnimationState("RunBase");
topAnim[i] = ogreEntity->getAnimationState("RunTop");
}
else
{
baseAnim[i] = ogreEntity->getAnimationState("IdleBase");
topAnim[i] = ogreEntity->getAnimationState("IdleTop");
}
baseAnim[i]->setLoop(true);
topAnim[i]->setLoop(true);
baseAnim[i]->setEnabled(true);
topAnim[i]->setEnabled(true);
}
/// KEYBOARD INPUT READING
size_t windowHnd = 0;
window->getCustomAttribute("WINDOW", &windowHnd);
im = OIS::InputManager::createInputSystem(windowHnd);
keyboard = static_cast<OIS::Keyboard*>(im->createInputObject(OIS::OISKeyboard, true));
return 1;
}
Camera::Camera(Event::Lane& lane,
GameHandle cameraHandle,
Ogre::SceneNode* camNode,
Ogre::RenderTarget* renderTarget,
u32 width,
u32 height,
const v3& position,
const qv4& orientation,
GameHandle parent) :
mSubLane(lane.createSubLane()),
mCameraNode(camNode),
mRenderTarget(renderTarget),
mHandle(cameraHandle),
mNodeCreated(false),
mRenderTargetCreated(false)
{
Ogre::SceneManager* sceneMgr = Ogre::Root::getSingleton().getSceneManager(BFG_SCENEMANAGER);
if (mCameraNode == NULL) // Create SceneNode
{
if (sceneMgr->hasSceneNode(stringify(mHandle)))
{
mCameraNode = sceneMgr->getSceneNode(stringify(mHandle));
}
else
{
mCameraNode = sceneMgr->getRootSceneNode()->createChildSceneNode(stringify(mHandle));
mNodeCreated = true;
}
}
mCameraNode->setOrientation(toOgre(orientation));
mCameraNode->setPosition(toOgre(position));
v3 target = toBFG(mCameraNode->getOrientation().zAxis());
norm(target);
Ogre::Camera* cam;
cam = sceneMgr->createCamera(stringify(mHandle));
cam->setFOVy(Ogre::Degree(60.0f));
cam->setNearClipDistance(0.1f);
cam->setFarClipDistance(250000.0f);
cam->lookAt(toOgre(target)*10);
mCameraNode->attachObject(cam);
infolog << "Camera: " << stringify(mHandle) << " created.";
if (mRenderTarget == NULL)
{
// Create renderToTexture RenderTarget
if (width == 0 || height == 0)
{
throw std::logic_error("Too few information to create a render target.");
}
cam->setAspectRatio((f32)width / (f32)height);
Ogre::TexturePtr texture = Ogre::TextureManager::getSingleton().createManual
(
stringify(mHandle),
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,
width,
height,
0,
Ogre::PF_R8G8B8,
Ogre::TU_RENDERTARGET
);
mRenderTarget = texture->getBuffer()->getRenderTarget();
prepareRenderTarget();
mRenderTarget->addViewport(cam);
mRenderTarget->getViewport(0)->setClearEveryFrame(true);
mRenderTarget->getViewport(0)->setBackgroundColour(Ogre::ColourValue::Black);
mRenderTarget->getViewport(0)->setOverlaysEnabled(false);
Ogre::MaterialPtr mat =
Ogre::MaterialManager::getSingleton().getByName(stringify(mHandle));
if (mat.isNull())
{
mat = Ogre::MaterialManager::getSingleton().create(
stringify(mHandle),
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
}
Ogre::Technique* tech = mat->getTechnique(0);
if (!tech)
{
tech = mat->createTechnique();
}
Ogre::Pass* pass = tech->getPass(0);
if (!pass)
{
pass = tech->createPass();
}
pass->setLightingEnabled(false);
if (pass->getNumTextureUnitStates() > 0)
{
Ogre::TextureUnitState* txState = NULL;
txState = pass->getTextureUnitState(0);
txState->setTextureName(stringify(mHandle));
}
else
{
pass->createTextureUnitState(stringify(mHandle));
}
mRenderTarget->setAutoUpdated(true);
mRenderTargetCreated = true;
infolog << "Rendertarget: " << stringify(mHandle) << " created.";
}
else
{
prepareRenderTarget();
f32 width = static_cast<f32>(mRenderTarget->getWidth());
f32 height = static_cast<f32>(mRenderTarget->getHeight());
cam->setAspectRatio(width / height);
mRenderTarget->addViewport(cam);
}
// mSubLane->connect(ID::VE_UPDATE_POSITION, this, &Camera::updatePosition, mHandle);
// mSubLane->connect(ID::VE_UPDATE_ORIENTATION, this, &Camera::updateOrientation, mHandle);
mSubLane->connect(ID::VE_SET_CAMERA_TARGET, this, &Camera::onSetTarget, mHandle);
if (parent != NULL_HANDLE)
{
onSetTarget(parent);
}
}
void ParticleMaterialGenerator::generate()
{
mMaterial = prepareMaterial(mDef->getName());
// reset some attributes
resetTexUnitCounter();
// choose textures from list (depending on user iTexSize setting)
chooseTextures();
// -------------------------- Main technique ----------------------------- //
Ogre::Technique* technique = mMaterial->createTechnique();
// particledepth pass
Ogre::Pass* particleDepthPass = technique->createPass();
particleDepthPass->setAmbient( mDef->mProps->ambient.x, mDef->mProps->ambient.y, mDef->mProps->ambient.z );
particleDepthPass->setDiffuse( mDef->mProps->diffuse.x, mDef->mProps->diffuse.y, mDef->mProps->diffuse.z, 1.0 );
particleDepthPass->setSpecular(mDef->mProps->specular.x, mDef->mProps->specular.y, mDef->mProps->specular.z, mDef->mProps->specular.w);
particleDepthPass->setFog(true); // actually this disables fog
if (!mDef->mProps->lighting)
particleDepthPass->setLightingEnabled(false);
if (mDef->mProps->sceneBlend == SBM_ALPHA_BLEND)
particleDepthPass->setSceneBlending(SBT_TRANSPARENT_ALPHA);
else if (mDef->mProps->sceneBlend == SBM_COLOUR_BLEND)
particleDepthPass->setSceneBlending(SBT_TRANSPARENT_COLOUR);
else if (mDef->mProps->sceneBlend == SBM_ADD)
particleDepthPass->setSceneBlending(SBT_ADD);
else if (mDef->mProps->sceneBlend == SBM_MODULATE)
particleDepthPass->setSceneBlending(SBT_MODULATE);
particleDepthPass->setDepthWriteEnabled( mDef->mProps->depthWrite );
particleDepthPass->setDepthCheckEnabled( mDef->mProps->depthCheck );
particleDepthPass->setTransparentSortingEnabled( mDef->mProps->transparentSorting );
particleDepthPass->setAlphaRejectFunction( mDef->mProps->alphaRejectFunc );
particleDepthPass->setAlphaRejectValue( mDef->mProps->alphaRejectValue );
Ogre::TextureUnitState* tu = particleDepthPass->createTextureUnitState( mDiffuseMap );
tu->setName("diffuseMap");
tu->setTextureAddressingMode(mDef->mProps->textureAddressMode);
tu = particleDepthPass->createTextureUnitState();
tu->setName("depthMap");
tu->setTextureAddressingMode(mDef->mProps->textureAddressMode);
// create shaders
HighLevelGpuProgramPtr fragmentProg, vertexProg;
try
{
vertexProg = createSoftParticleVertexProgram();
fragmentProg = createSoftParticleFragmentProgram();
}
catch (Ogre::Exception& e) {
LogO(e.getFullDescription());
}
if (fragmentProg.isNull() || vertexProg.isNull() ||
!fragmentProg->isSupported() || !vertexProg->isSupported())
{
LogO("[MaterialFactory] WARNING: ambient shader for material '" + mDef->getName()
+ "' is not supported.");
}
else
{
particleDepthPass->setVertexProgram(vertexProg->getName());
particleDepthPass->setFragmentProgram(fragmentProg->getName());
}
createSSAOTechnique();
createOccluderTechnique();
// indicate we need depth buffer set every frame
mParent->softMtrs.push_back(mDef->getName());
}
void WaterMaterialGenerator::generate()
{
mMaterial = prepareMaterial(mDef->getName());
resetTexUnitCounter();
// we need a lot of uniform constants, disabling shadows reduces them significantly so that it can still run on PS2
const RenderSystemCapabilities *caps = Root::getSingleton().getRenderSystem()->getCapabilities();
if(!caps->isShaderProfileSupported("ps_4_0") && !caps->isShaderProfileSupported("fp40"))
mDef->mProps->receivesShadows = false;
// -------------------------- Main technique ----------------------------- //
Ogre::Technique* technique = mMaterial->createTechnique();
// Main pass -----------------------------------------------------------
Ogre::Pass* pass = technique->createPass();
pass->setCullingMode(CULL_NONE);
pass->setDepthWriteEnabled(true);
if (!mParent->getRefract())
pass->setSceneBlending(SBT_TRANSPARENT_ALPHA);
Ogre::TextureUnitState* tu;
// normal map
mNormalMap = pickTexture(&mDef->mProps->normalMaps);
tu = pass->createTextureUnitState( mNormalMap );
tu->setName("normalMap");
mNormalTexUnit = mTexUnit_i; mTexUnit_i++;
// global terrain lightmap (static)
if (needTerrainLightMap())
{
tu = pass->createTextureUnitState(""); // texture name set later (in changeShadows)
tu->setName("terrainLightMap");
mTerrainLightTexUnit = mTexUnit_i; mTexUnit_i++;
}
if (mParent->getRefract())
{
tu = pass->createTextureUnitState( "PlaneRefraction" );
tu->setName("refractionMap");
tu->setTextureAddressingMode(TextureUnitState::TAM_CLAMP);
mScreenRefrUnit = mTexUnit_i++;
}
if (mParent->getReflect())
{
tu = pass->createTextureUnitState( "PlaneReflection" );
tu->setName("reflectionMap");
tu->setTextureAddressingMode(TextureUnitState::TAM_CLAMP);
mScreenReflUnit = mTexUnit_i++;
}
//else
{
// retrieve sky texture name from scene
std::string skyTexName;
if (mParent->pApp->terrain)
{
MaterialPtr mtrSky = MaterialManager::getSingleton().getByName(mParent->pApp->sc.skyMtr);
if(!mtrSky.isNull())
{
Pass* passSky = mtrSky->getTechnique(0)->getPass(0);
TextureUnitState* tusSky = passSky->getTextureUnitState(0);
skyTexName = tusSky->getTextureName();
}
}
else skyTexName = String("white.png");
tu = pass->createTextureUnitState( skyTexName );
tu->setName("skyMap");
tu->setTextureAddressingMode(TextureUnitState::TAM_MIRROR);
mEnvTexUnit = mTexUnit_i++;
}
// waterDepth
tu = pass->createTextureUnitState( "waterDepth.png" );
tu->setName("depthMap");
tu->setTextureAddressingMode(TextureUnitState::TAM_BORDER);
tu->setTextureBorderColour(ColourValue::White); // outside tex water always visible
mWaterDepthUnit = mTexUnit_i; mTexUnit_i++;
// realtime shadow maps
if (needShadows())
{
mShadowTexUnit_start = mTexUnit_i;
for (int i = 0; i < mParent->getNumShadowTex(); ++i)
{
tu = pass->createTextureUnitState();
tu->setName("shadowMap" + toStr(i));
tu->setContentType(TextureUnitState::CONTENT_SHADOW);
tu->setTextureAddressingMode(TextureUnitState::TAM_BORDER);
tu->setTextureBorderColour(ColourValue::White);
mTexUnit_i++;
}
}
// shader
if (!mShaderCached)
{
mVertexProgram = createVertexProgram();
mFragmentProgram = createFragmentProgram();
}
pass->setVertexProgram(mVertexProgram->getName());
pass->setFragmentProgram(mFragmentProgram->getName());
if (mShaderCached)
{
individualFragmentProgramParams(pass->getFragmentProgramParameters());
individualVertexProgramParams(pass->getFragmentProgramParameters());
}
// ----------------------------------------------------------------------- //
createSSAOTechnique();
createOccluderTechnique();
// indicate we need 'time' parameter set every frame
mParent->timeMtrs.push_back(mDef->getName());
/*
if (mDef->getName() == "Grease_jelly")
{
LogO("[MaterialFactory] Vertex program source: ");
StringUtil::StrStreamType vSourceStr;
generateVertexProgramSource(vSourceStr);
LogO(vSourceStr.str());
LogO("[MaterialFactory] Fragment program source: ");
StringUtil::StrStreamType fSourceStr;
generateFragmentProgramSource(fSourceStr);
LogO(fSourceStr.str());
}
/**/
}
void Game::setupScene()
{
// Init stuff for render to texture - Minimap
// First the texture
rtt_texture_minimap = Ogre::TextureManager::getSingleton().createManual("RttTex",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D,
OgreFW::getSingletonPtr()->m_pRenderWnd->getWidth(),
OgreFW::getSingletonPtr()->m_pRenderWnd->getHeight(),
0, Ogre::PF_R8G8B8, Ogre::TU_RENDERTARGET);
// Then, get its render target
renderTextureTarget = rtt_texture_minimap->getBuffer()->getRenderTarget();
renderTextureTarget->addViewport(OgreFW::getSingletonPtr()->m_pCamera);
renderTextureTarget->getViewport(0)->setClearEveryFrame(true);
renderTextureTarget->getViewport(0)->setBackgroundColour(Ogre::ColourValue::Black);
renderTextureTarget->getViewport(0)->setOverlaysEnabled(false);
// Set it active!
renderTextureTarget->setActive(true);
// Last, the mini rectangle
mMiniScreen = new Ogre::Rectangle2D(true);
mMiniScreen->setCorners(0.75f, -0.75f, 1.0f, -1.0f);
mMiniScreen->setBoundingBox(Ogre::AxisAlignedBox(-100000.0f * Ogre::Vector3::UNIT_SCALE, 100000.0f * Ogre::Vector3::UNIT_SCALE));
// Scenenode, then add
mMiniScreenSN = OgreFW::getSingletonPtr()->m_pSceneMgr->getRootSceneNode()->createChildSceneNode("MiniScreenNode");
mMiniScreenSN->attachObject(mMiniScreen);
// The texture needs its material
Ogre::MaterialPtr renderMaterial = Ogre::MaterialManager::getSingleton().create("RttMat", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Ogre::Technique* matTechnique = renderMaterial->createTechnique();
matTechnique->createPass();
renderMaterial->getTechnique(0)->getPass(0)->setLightingEnabled(false);
renderMaterial->getTechnique(0)->getPass(0)->createTextureUnitState("RttTex");
mMiniScreen->setMaterial("RttMat");
//Register this as a listener
renderTextureTarget->addListener(this);
// Init the CollisionHandler
GameCollisionHandler = new CollisionHandler(OgreFW::getSingletonPtr()->m_pSceneMgr);
// Init the first level
myLevel = myLevelFactory->create();
// Pass the LevelObjects to the collision_handler
std::vector<LevelBlock*> levobjs = myLevel->getLevelObjects();
for (std::vector<LevelBlock*>::iterator i = levobjs.begin(); i != levobjs.end(); ++i) {
GameCollisionHandler->addNewObject(*i);
}
// The skybox!
OgreFW::getSingletonPtr()->m_pSceneMgr->setSkyDome(true, "Examples/CloudySky");
// Activate shadows
OgreFW::getSingletonPtr()->m_pSceneMgr->setShadowTechnique(Ogre::SHADOWTYPE_STENCIL_MODULATIVE);
// Create Lights
// Set the ambient light
OgreFW::getSingletonPtr()->m_pSceneMgr->setAmbientLight(Ogre::ColourValue(0.15, 0.15, 0.15));
// Create a Directional light
Ogre::Light* lptr = OgreFW::getSingletonPtr()->m_pSceneMgr->createLight("dirLight");
lptr->setType(Ogre::Light::LT_DIRECTIONAL);
lptr->setDiffuseColour(Ogre::ColourValue(0.4, 0.4, 0));
lptr->setSpecularColour(Ogre::ColourValue(0.4, 0.4, 0));
lptr->setDirection(Ogre::Vector3( 0, -1, 0 ));
sceneLights.push_back(lptr);
// Create a Point Light
Ogre::Light* lptrpoint = OgreFW::getSingletonPtr()->m_pSceneMgr->createLight("pointLight");
lptrpoint->setType(Ogre::Light::LT_POINT);
lptrpoint->setPosition(Ogre::Vector3(0, OBJ_SIZE_Y * myLevel->getHeight() * 2, 0));
lptrpoint->setDiffuseColour(1.0, 0.0, 0.0);
lptrpoint->setSpecularColour(1.0, 0.0, 0.0);
sceneLights.push_back(lptrpoint);
// Camera settings - TODO
//OgreFW::getSingletonPtr()->moveCameraToPos(Ogre::Vector3( OBJ_SIZE_X, OBJ_SIZE_Y, OBJ_SIZE_Z));
OgreFW::getSingletonPtr()->moveCameraToPos(Ogre::Vector3( myLevel->getWidth() * OBJ_SIZE_X / 2, OBJ_SIZE_Y * myLevel->getHeight() / 2, OBJ_SIZE_Z * 5));
//OgreFW::getSingletonPtr()->setCameraLookAt(Ogre::Vector3(OBJ_SIZE_X * myLevel->getWidth() /2, OBJ_SIZE_Y, 0.0f));
OgreFW::getSingletonPtr()->setCameraLookAt(Ogre::Vector3( myLevel->getWidth() * OBJ_SIZE_X / 2, OBJ_SIZE_Y * (myLevel->getHeight() -1) / 2, 0.0f));
// Set the camerapos for rendering the minimap
cameraPosMap = Ogre::Vector3(OBJ_SIZE_X * myLevel->getWidth() / 2, OBJ_SIZE_Y * myLevel->getHeight() / 2, OBJ_SIZE_Z * 10);
// Request a sunEffect for creating the sun
EffectsFactory::getSingletonPtr()->createSunEffect(myLevel->getWidth() * myLevel->getObjectSide() / 2 , myLevel->getHeight() * myLevel->getObjectSide() / 2 , -60.0f);
// We move to the first game state
currentGameStage = MAIN_MENU_STATE;
// Load the GUI sheet
OgreFW::getSingletonPtr()->mGUIRootWindow = CEGUI::WindowManager::getSingleton().loadWindowLayout("myL2.layout");
//CEGUI::Window *guiRoot = CEGUI::WindowManager::getSingleton().getWindow(
CEGUI::System::getSingleton().setGUISheet(OgreFW::getSingletonPtr()->mGUIRootWindow);
CEGUI::Window* eventButton = OgreFW::getSingletonPtr()->mGUIRootWindow->getChild("MainMenuRoot/LocalGame");
if (eventButton) {
std::cout << "Yes I got it" << std::endl;
// Register handler
eventButton->subscribeEvent(CEGUI::PushButton::EventClicked, CEGUI::SubscriberSlot(&Game::setupLocalGame, this));
//std::cout << "Text: " << eventButton->getText() << std::endl;
}
eventButton = OgreFW::getSingletonPtr()->mGUIRootWindow->getChild("MainMenuRoot/NetClient");
if (eventButton) {
eventButton->subscribeEvent(CEGUI::PushButton::EventClicked, CEGUI::SubscriberSlot(&Game::setupClientGame, this));
}
eventButton = OgreFW::getSingletonPtr()->mGUIRootWindow->getChild("MainMenuRoot/NetServer");
if (eventButton) {
eventButton->subscribeEvent(CEGUI::PushButton::EventClicked, CEGUI::SubscriberSlot(&Game::setupServerGame, this));
}
}
OgrePass::OgrePass (OgreMaterial* parent, const std::string& configuration, unsigned short lodIndex)
: Pass()
{
Ogre::Technique* t = parent->getOgreTechniqueForConfiguration(configuration, lodIndex);
mPass = t->createPass();
}
/*!
Create a color background to show the real scene.
\param I : This parameter is here only used to initialize a color background.
*/
void vpAROgre::createBackground(vpImage<vpRGBa> & /* I */)
{
// Create a rectangle to show the incoming images from the camera
mBackground = new Ogre::Rectangle2D(true); // true = textured
mBackground->setCorners(-1.0, 1.0, 1.0, -1.0); // Spread all over the window
mBackground->setBoundingBox(Ogre::AxisAlignedBox(-100000.0*Ogre::Vector3::UNIT_SCALE, 100000.0*Ogre::Vector3::UNIT_SCALE)); // To be shown everywhere
// Texture options
Ogre::MaterialManager::getSingleton().setDefaultTextureFiltering(Ogre::TFO_NONE);
Ogre::MaterialManager::getSingleton().setDefaultAnisotropy(1);
// Dynamic texture
// If we are using opengl we can boost a little bit performances with a dynamic texture
if(mRoot->getRenderSystem()->getName() == "OpenGL Rendering Subsystem") {
Ogre::TextureManager::getSingleton().createManual("BackgroundTexture",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,
mBackgroundWidth,//width
mBackgroundHeight,//height
0, // num of mip maps
//Ogre::PF_BYTE_RGBA,
Ogre::PF_BYTE_BGRA,
Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE);
}
else{ // As that texture does not seem to work properly with direct3D we use a default texture
Ogre::TextureManager::getSingleton().createManual("BackgroundTexture",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,
mBackgroundWidth,//width
mBackgroundHeight,//height
0, // num of mip maps
//Ogre::PF_BYTE_RGBA,
Ogre::PF_BYTE_BGRA,
Ogre::TU_DEFAULT);
}
// Pointer to the dynamic texture
Ogre::TexturePtr dynTexPtr =
Ogre::TextureManager::getSingleton().getByName("BackgroundTexture");
//#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
// .dynamicCast<Ogre::Texture>();// Get the pixel buffer
//#else
// ;
//#endif
// Get the pixel buffer
mPixelBuffer = dynTexPtr->getBuffer();
// Material to apply the texture to the background
Ogre::MaterialPtr Backgroundmaterial
= Ogre::MaterialManager::getSingleton().create("BackgroundMaterial",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
//#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
// .dynamicCast<Ogre::Material>();
//#else
// ;
//#endif
Ogre::Technique *Backgroundtechnique = Backgroundmaterial->createTechnique();
Backgroundtechnique->createPass();
Backgroundmaterial->getTechnique(0)->getPass(0)->setLightingEnabled(false);
Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
mBackground->setMaterial("BackgroundMaterial"); // Attach the material to the rectangle
mBackground->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND); // To be rendered in Background
// Add the background to the Scene Graph so it will be rendered
Ogre::SceneNode *BackgroundNode = mSceneMgr->getRootSceneNode()->createChildSceneNode("BackgoundNode");
BackgroundNode->attachObject(mBackground);
}
