//----------------------------------------------------------------------------//
Direct3D11Texture::Direct3D11Texture(IDevice11& device, const Size& sz) :
d_device(device),
d_texture(0),
d_resourceView(0),
d_size(0, 0),
d_dataSize(0, 0),
d_texelScaling(0, 0)
{
D3D11_TEXTURE2D_DESC tex_desc;
ZeroMemory(&tex_desc, sizeof(tex_desc));
tex_desc.Width = static_cast<UINT>(sz.d_width);
tex_desc.Height = static_cast<UINT>(sz.d_height);
tex_desc.ArraySize = 1;
tex_desc.SampleDesc.Count = 1;
tex_desc.SampleDesc.Quality = 0;
tex_desc.Format = DXGI_FORMAT_R8G8B8A8_UNORM;
tex_desc.Usage = D3D11_USAGE_DEFAULT;
tex_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE;
tex_desc.CPUAccessFlags = 0;
tex_desc.MiscFlags = 0;
tex_desc.MipLevels = 1;
if (FAILED(d_device.d_device->CreateTexture2D(&tex_desc, 0, &d_texture)))
CEGUI_THROW(RendererException(
"Direct3D11Texture: Failed to create texture with specified size."));
initialiseShaderResourceView();
d_dataSize = sz;
updateTextureSize();
updateCachedScaleValues();
}
//----------------------------------------------------------------------------//
void Direct3D11Texture::loadFromMemory(const void* buffer,
const Size& buffer_size,
PixelFormat pixel_format)
{
cleanupDirect3D11Texture();
const void* img_src = buffer;
if (pixel_format == PF_RGB)
{
const char* src = static_cast<const char*>(buffer);
char* dest = new char[buffer_size.d_width * buffer_size.d_height * 4];
for (int i = 0; i < buffer_size.d_width * buffer_size.d_height; ++i)
{
dest[i * 4 + 0] = src[i * 3 + 0];
dest[i * 4 + 1] = src[i * 3 + 1];
dest[i * 4 + 2] = src[i * 3 + 2];
dest[i * 4 + 3] = 0xFF;
}
img_src = dest;
}
D3D11_TEXTURE2D_DESC tex_desc;
ZeroMemory(&tex_desc, sizeof(tex_desc));
tex_desc.Width = static_cast<UINT>(buffer_size.d_width);
tex_desc.Height = static_cast<UINT>(buffer_size.d_height);
tex_desc.ArraySize = 1;
tex_desc.SampleDesc.Count = 1;
tex_desc.SampleDesc.Quality = 0;
tex_desc.Format = DXGI_FORMAT_R8G8B8A8_UNORM;
tex_desc.Usage = D3D11_USAGE_DEFAULT;
tex_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE;
tex_desc.CPUAccessFlags = 0;
tex_desc.MiscFlags = 0;
tex_desc.MipLevels = 1;
D3D11_SUBRESOURCE_DATA data;
ZeroMemory(&data, sizeof(D3D11_SUBRESOURCE_DATA));
data.pSysMem = img_src;
data.SysMemPitch = 4 * tex_desc.Width;
HRESULT hr = d_device.d_device->CreateTexture2D(&tex_desc, &data, &d_texture);
if (pixel_format == PF_RGB)
delete[] img_src;
if (FAILED(hr))
CEGUI_THROW(RendererException(
"Direct3D11Texture::loadFromMemory: Failed to "
"create texture from memory buffer."));
initialiseShaderResourceView();
d_dataSize = buffer_size;
updateTextureSize();
updateCachedScaleValues();
}
//----------------------------------------------------------------------------//
void Direct3D10Texture::setDirect3DTexture(ID3D10Texture2D* tex)
{
if (d_texture != tex)
{
cleanupDirect3D10Texture();
d_dataSize.d_width = d_dataSize.d_height = 0;
d_texture = tex;
if (d_texture)
d_texture->AddRef();
}
initialiseShaderResourceView();
updateTextureSize();
d_dataSize = d_size;
updateCachedScaleValues();
}
//----------------------------------------------------------------------------//
void Direct3D9Texture::createDirect3D9Texture(const Sizef sz, D3DFORMAT format)
{
cleanupDirect3D9Texture();
const Sizef tex_sz(d_owner.getAdjustedSize(sz));
HRESULT hr = D3DXCreateTexture(d_owner.getDevice(),
static_cast<UINT>(tex_sz.d_width),
static_cast<UINT>(tex_sz.d_height),
1, 0, format, D3DPOOL_MANAGED, &d_texture);
if (FAILED(hr))
CEGUI_THROW(RendererException("D3DXCreateTexture failed."));
d_dataSize = sz;
updateTextureSize();
updateCachedScaleValues();
}
//----------------------------------------------------------------------------//
void Direct3D11Texture::loadFromMemory(const void* buffer,
const Sizef& buffer_size,
PixelFormat pixel_format)
{
if (!isPixelFormatSupported(pixel_format))
CEGUI_THROW(InvalidRequestException(
"Data was supplied in an unsupported pixel format."));
cleanupDirect3D11Texture();
const void* img_src = buffer;
if (pixel_format == PF_RGB)
{
const unsigned char* src = static_cast<const unsigned char*>(buffer);
unsigned char* dest = new unsigned char[static_cast<unsigned int>( buffer_size.d_width * buffer_size.d_height * 4 )];
for (int i = 0; i < buffer_size.d_width * buffer_size.d_height; ++i)
{
dest[i * 4 + 0] = src[i * 3 + 0];
dest[i * 4 + 1] = src[i * 3 + 1];
dest[i * 4 + 2] = src[i * 3 + 2];
dest[i * 4 + 3] = 0xFF;
}
img_src = dest;
}
D3D11_TEXTURE2D_DESC tex_desc;
ZeroMemory(&tex_desc, sizeof(tex_desc));
tex_desc.Width = static_cast<UINT>(buffer_size.d_width);
tex_desc.Height = static_cast<UINT>(buffer_size.d_height);
tex_desc.ArraySize = 1;
tex_desc.SampleDesc.Count = 1;
tex_desc.SampleDesc.Quality = 0;
tex_desc.Format = toD3DPixelFormat(pixel_format);
tex_desc.Usage = D3D11_USAGE_DEFAULT;
tex_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE;
tex_desc.CPUAccessFlags = 0;
tex_desc.MiscFlags = 0;
tex_desc.MipLevels = 1;
D3D11_SUBRESOURCE_DATA data;
ZeroMemory(&data, sizeof(D3D11_SUBRESOURCE_DATA));
data.pSysMem = img_src;
data.SysMemPitch = calculateDataWidth(tex_desc.Width, pixel_format);
HRESULT hr = d_device.d_device->CreateTexture2D(&tex_desc, &data, &d_texture);
if (pixel_format == PF_RGB)
delete[] img_src;
if (FAILED(hr))
CEGUI_THROW(RendererException(
"Failed to create texture from memory buffer."));
initialiseShaderResourceView();
d_dataSize = buffer_size;
updateTextureSize();
updateCachedScaleValues();
}
vrpn_HapticBoolean TexturePlane::collisionDetect(gstPHANToM *PHANToM)
{
vrpn_HapticPosition phantomPos, lastPhantPos, intersectionPoint;
double depth = 0;
vrpn_HapticPosition SCP;
vrpn_HapticVector SCPnormal;
double deltaT;
static double deltaDist;
vrpn_HapticPosition diff;
deltaT = PHANToM->getDeltaT();
if (fadeActive)
incrementFade(deltaT);
vrpn_HapticVector phantomForce = PHANToM->getReactionForce_WC();
PHANToM->getLastPosition_WC(lastPhantPos);
PHANToM->getPosition_WC(phantomPos);
diff = lastPhantPos - phantomPos;
deltaDist = diff.distToOrigin();
if (dataCB){
dataCB(data_time, lastPhantPos, phantomForce, userdata);
data_time += deltaT;
}
//if the plane node is not in effect
if(inEffect == FALSE){
safety_ineffect = TRUE;
return FALSE;
}
inContact = getStateForPHANToM(PHANToM);
#ifdef VRPN_USE_GHOST_31
if(!_touchableByPHANToM || _resetPHANToMContacts) {
#else // Ghost 4.0 (and the default case)
if(!isTouchableByPHANToM() || _resetPHANToMContacts) {
#endif
_resetPHANToMContacts = FALSE;
inContact = FALSE;
(void) updateStateForPHANToM(PHANToM,inContact);
//printf("in if incontact is false\n");
return inContact;
}
phantomPos = fromWorld(phantomPos);
//project the current phantomPosition onto the plane to get the SCP
// if we don't have the constant plane assumed by texture computing
// functions
if (!usingTexture || !usingAssumedTextureBasePlane(plane) ||
!dynamicParent){
depth = -(phantomPos[0]*plane.a() + phantomPos[1]*plane.b() +
phantomPos[2]*plane.c() + plane.d());
SCP = plane.projectPoint(phantomPos);
//set the SCPnormal to be the normal of the plane
SCPnormal = plane.normal();
texAmp = 0; // extra precaution in case plane happens to
// become (0,1,0,0) we don't want to suddenly add
// texture
} else {
// adjust things so plane update for parent node preserves
// projection of phantom position in our coordinate system
//
if (dynamicParent){
if (newCoordinates){
t_elapsed = 0;
newCoordinates = FALSE;
} else {
t_elapsed += deltaT;
}
vrpn_HapticPosition posInPreviousCoordinates;
PHANToM->getPosition_WC(posInPreviousCoordinates);
posInPreviousCoordinates = dynamicParent->fromWorldLast(posInPreviousCoordinates);
posInPreviousCoordinates = fromParent(posInPreviousCoordinates);
if (posInPreviousCoordinates != phantomPos){
// if (t_elapsed > 0.0){
// printf("big t_elapsed: %f\n", t_elapsed);
// }
vrpn_HapticPosition currProj = plane.projectPoint(phantomPos);
vrpn_HapticPosition prevProj =
plane.projectPoint(posInPreviousCoordinates);
// this is the projection of the
// current position onto the
// previous plane (as defined by
// the parent transformation)
if (!dynamicParent->dynamicMoveThisServoLoop())
printf("error: dynamicParent move not detected\n");
textureOrigin[0] = textureOrigin[0] - prevProj[0] + currProj[0];
textureOrigin[1] = 0;
textureOrigin[2] = textureOrigin[2] - prevProj[2] + currProj[2];
}
}
// move textureOrigin from its current location towards current
// position in steps of length texWL until it is within texWL of
// the current position
updateTextureOrigin(phantomPos[0], phantomPos[2]);
// translate to texture coordinates - note: this is a translation in the plane of
// the phantom position
vrpn_HapticPosition texturePos = phantomPos - textureOrigin;
SCP = computeSCPfromGradient(texturePos);
vrpn_HapticPlane texPlane;
texPlane = computeTangentPlaneAt(texturePos);
depth = -(texturePos.x()*texPlane.a() + texturePos.y()*texPlane.b() +
texturePos.z()*texPlane.c() + texPlane.d());
// go back to untranslated (non-texture) plane coordinates
SCP = SCP + textureOrigin;
SCPnormal = texPlane.normal();
// if (|texturePos| is close to 0.25*texWL or 0.75*texWL then we
// are near a zero crossing so its relatively safe to
// update texture shape
double old_wl = texWL;
double radius = sqrt(texturePos[0]*texturePos[0] + texturePos[2]*texturePos[2]);// this is between 0 and texWL
if (fabs(radius - 0.25*texWL) < deltaDist ||
fabs(radius - 0.75*texWL) < deltaDist){
if (texWN_needs_update) updateTextureWavelength();
if (texAmp_needs_update) updateTextureAmplitude();
if (texSize_needs_update) updateTextureSize();
if (texAspect_needs_update) updateTextureAspectRatio();
if (old_wl != texWL && old_wl != 0){ // adjust to maintain phase continuity
textureOrigin[0] = -texWL*texturePos[0]/old_wl + phantomPos[0];
textureOrigin[2] = -texWL*texturePos[2]/old_wl + phantomPos[2];
}
}
}
if (depth <= 0) { // positive depth is below surface
inContact = FALSE;
lastDepth = 0;
safety_ineffect = FALSE;
(void) updateStateForPHANToM(PHANToM,inContact);
return inContact;
}
// if we suddenly get a new plane that causes the depth in the
// plane to be large then we don't want to let the phantom force
// get large
else if (safety_ineffect) {
inContact = FALSE;
lastDepth = 0;
(void) updateStateForPHANToM(PHANToM,inContact);
return inContact;
}
else if ((depth - lastDepth)*getSurfaceKspring() > MAX_FORCE){
inContact = FALSE;
lastDepth = 0;
fprintf(stderr, "Warning: exceeded max force change\n");
fprintf(stderr, " move out of surface to re-enable forces\n");
safety_ineffect = TRUE;
(void) updateStateForPHANToM(PHANToM,inContact);
return inContact;
}
else { // In contact
inContact = TRUE;
(void)updateStateForPHANToM(PHANToM, inContact);
addCollision(PHANToM,SCP,SCPnormal);
}
// this value is important for safety checks
lastDepth = depth;
return inContact;
}
#endif
void TexturePlane::incrementFade(double dT){
double curr_spr = getSurfaceKspring();
double next_spr = curr_spr - dT*dSpring_dt;
if (next_spr > 0)
setSurfaceKspring(next_spr);
else{
inEffect = FALSE;
fadeActive = FALSE;
setSurfaceKspring(fadeOldKspring);
}
}
