static void vx_world_buffer_destroy(vx_buffer_t * buffer)
{
vx_world_t * vw = buffer->world;
pthread_mutex_lock(&vw->buffer_mutex);
free(buffer->name);
zarray_vmap(buffer->back_objs, vx_object_dec_destroy);
zarray_destroy(buffer->back_objs);
zarray_vmap(buffer->pending_objs, vx_object_dec_destroy);
zarray_destroy(buffer->pending_objs);
zarray_vmap(buffer->front_objs, vx_object_dec_destroy);
zarray_destroy(buffer->front_objs);
zhash_vmap_values(buffer->front_resc, vx_resc_dec_destroy);
zhash_destroy(buffer->front_resc);
vx_code_output_stream_destroy(buffer->front_codes);
pthread_mutex_destroy(&buffer->mutex);
free(buffer);
pthread_mutex_unlock(&vw->buffer_mutex);
}
void
url_parser_destroy (url_parser_t *urlp)
{
free(urlp->protocol);
free(urlp->host);
free(urlp->path);
zarray_vmap(urlp->keys, free);
zarray_vmap(urlp->vals, free);
zarray_destroy(urlp->keys);
zarray_destroy(urlp->vals);
free(urlp);
}
void vx_util_unproject(double * winxyz, double * model_matrix, double * projection_matrix, int * viewport, double * vec3_out)
{
zarray_t * fp = zarray_create(sizeof(matd_t*));
matd_t * mm = matd_create_data(4, 4, model_matrix);
zarray_add(fp, &mm);
matd_t * pm = matd_create_data(4, 4, projection_matrix);
zarray_add(fp, &pm);
matd_t *invpm = matd_op("(MM)^-1", pm, mm);
zarray_add(fp, &invpm);
double v[4] = { 2*(winxyz[0]-viewport[0]) / viewport[2] - 1,
2*(winxyz[1]-viewport[1]) / viewport[3] - 1,
2*winxyz[2] - 1,
1 };
matd_t * vm = matd_create_data(4, 1, v);
zarray_add(fp, &vm);
matd_t * objxyzh = matd_op("MM", invpm, vm);
zarray_add(fp, &objxyzh);
vec3_out[0] = objxyzh->data[0] / objxyzh->data[3];
vec3_out[1] = objxyzh->data[1] / objxyzh->data[3];
vec3_out[2] = objxyzh->data[2] / objxyzh->data[3];
// cleanup
zarray_vmap(fp, matd_destroy);
zarray_destroy(fp);
}
void vx_util_project(double * xyz, double * M44, double * P44, int * viewport, double * win_out3)
{
zarray_t * fp = zarray_create(sizeof(matd_t*));
matd_t * M = matd_create_data(4,4, M44); zarray_add(fp, &M);
matd_t * P = matd_create_data(4,4, P44); zarray_add(fp, &P);
matd_t * xyzp = matd_create(4,1); zarray_add(fp, &xyzp);
memcpy(xyzp->data, xyz, 3*sizeof(double));
xyzp->data[3] = 1.0;
matd_t * p = matd_op("MMM", P, M, xyzp); zarray_add(fp, &p);
p->data[0] = p->data[0] / p->data[3];
p->data[1] = p->data[1] / p->data[3];
p->data[2] = p->data[2] / p->data[3];
double res[] = { viewport[0] + viewport[2]*(p->data[0]+1)/2.0,
viewport[1] + viewport[3]*(p->data[1]+1)/2.0,
(viewport[2] + 1)/2.0 };
memcpy(win_out3, res, 3*sizeof(double));
// cleanup
zarray_vmap(fp, matd_destroy);
zarray_destroy(fp);
}
void default_cam_mgr_rotate(default_cam_mgr_t * state, double *q, uint32_t animate_ms)
{
zarray_t * fp = zarray_create(sizeof(matd_t*));
matd_t * eye = matd_create_data(3,1,state->eye1); zarray_add(fp, &eye);
matd_t *lookat = matd_create_data(3,1,state->lookat1); zarray_add(fp, &lookat);
matd_t *up = matd_create_data(3,1,state->up1); zarray_add(fp, &up);
matd_t * toEye = matd_subtract(eye, lookat); zarray_add(fp, &toEye);
matd_t * nextToEye = matd_create(3,1); zarray_add(fp, &nextToEye);
vx_util_quat_rotate(q, toEye->data, nextToEye->data);
matd_t * nextEye = matd_add(lookat, nextToEye); zarray_add(fp, &nextEye);
matd_t * nextUp = matd_copy(up); zarray_add(fp, &nextUp);
vx_util_quat_rotate(q, up->data, nextUp->data);
// copy back results
memcpy(state->eye1, nextEye->data, sizeof(double)*3);
memcpy(state->up1, nextUp->data, sizeof(double)*3);
state->mtime1 = vx_util_mtime() + animate_ms;
// Disable any prior fit command
default_destroy_fit(state);
// cleanup
zarray_vmap(fp, matd_destroy);
zarray_destroy(fp);
default_cam_mgr_follow_disable(state);
}
void
getopt_destroy (getopt_t *gopt)
{
// free the extra arguments and container
zarray_vmap (gopt->extraargs, free);
zarray_destroy (gopt->extraargs);
// deep free of the getopt_option structs. Also frees key/values, so
// after this loop, hash tables will no longer work
zarray_vmap (gopt->options, getopt_option_destroy);
zarray_destroy (gopt->options);
// free tables
zhash_destroy (gopt->lopts);
zhash_destroy (gopt->sopts);
free (gopt);
}
void vx_util_lookat(double * _eye, double * _lookat, double * _up, double * _out44)
{
zarray_t * fp = zarray_create(sizeof(matd_t*));
matd_t * eye = matd_create_data(3,1, _eye);
zarray_add(fp, &eye);
matd_t * lookat = matd_create_data(3,1, _lookat);
zarray_add(fp, &lookat);
matd_t * up = matd_create_data(3,1, _up);
zarray_add(fp, &up);
up = matd_vec_normalize(up);
zarray_add(fp, &up); // note different pointer than before!
matd_t * tmp1 = matd_subtract(lookat, eye); zarray_add(fp, &tmp1);
matd_t * f = matd_vec_normalize(tmp1); zarray_add(fp, &f);
matd_t * s = matd_crossproduct(f, up); zarray_add(fp, &s);
matd_t * u = matd_crossproduct(s, f); zarray_add(fp, &u);
matd_t * M = matd_create(4,4); // set the rows of M with s, u, -f
zarray_add(fp, &M);
memcpy(M->data,s->data,3*sizeof(double));
memcpy(M->data + 4,u->data,3*sizeof(double));
memcpy(M->data + 8,f->data,3*sizeof(double));
for (int i = 0; i < 3; i++)
M->data[2*4 +i] *= -1;
M->data[3*4 + 3] = 1.0;
matd_t * T = matd_create(4,4);
T->data[0*4 + 3] = -eye->data[0];
T->data[1*4 + 3] = -eye->data[1];
T->data[2*4 + 3] = -eye->data[2];
T->data[0*4 + 0] = 1;
T->data[1*4 + 1] = 1;
T->data[2*4 + 2] = 1;
T->data[3*4 + 3] = 1;
zarray_add(fp, &T);
matd_t * MT = matd_op("MM",M,T);
zarray_add(fp, &MT);
memcpy(_out44, MT->data, 16*sizeof(double));
// cleanup
zarray_vmap(fp, matd_destroy);
zarray_destroy(fp);
}
// Do a quick swap:
void vx_buffer_swap(vx_buffer_t * buffer)
{
pthread_mutex_lock(&buffer->mutex);
{
// It's possible that the serialization is running behind,
// and may not have already serialized the pending_objs
// In that case, they are discarded here, momentarily blocking
// the calling thread.
if (zarray_size(buffer->pending_objs) > 0) {
// *+*+ corresponding decrement (if falling behind)
zarray_vmap(buffer->pending_objs, vx_object_dec_destroy);
zarray_clear(buffer->pending_objs);
static int once = 1;
if (once) {
once = 0;
printf("NFO: World serialization fell behind\n");
}
}
// swap
zarray_t * tmp = buffer->pending_objs;
buffer->pending_objs = buffer->back_objs;
buffer->back_objs = tmp;
}
pthread_mutex_unlock(&buffer->mutex);
// Now flag a swap on the serialization thread
pthread_mutex_lock(&buffer->world->queue_mutex);
{
// Ensure that the string is already in the queue, or add it if
// it isn't. Duplicates are prohibited
int index = -1;
for (int i = 0, sz = zarray_size(buffer->world->buffer_queue); i < sz; i++) {
char * test = NULL;
zarray_get(buffer->world->buffer_queue, i, &test);
if (strcmp(test, buffer->name) == 0) {
index = i;
break;
}
}
if (index < 0) {
zarray_add(buffer->world->buffer_queue, &buffer->name);
pthread_cond_signal(&buffer->world->queue_cond);
}
}
pthread_mutex_unlock(&buffer->world->queue_mutex);
}
void vx_util_angle_axis_to_quat(double theta, double * axis3, double * qout)
{
zarray_t * fp = zarray_create(sizeof(matd_t*));
matd_t * axis = matd_create_data(3,1, axis3); zarray_add(fp, &axis);
matd_t * axis_norm = matd_vec_normalize(axis); zarray_add(fp, &axis_norm);
qout[0] = cos(theta/2);
double s = sin(theta/2);
qout[1] = axis_norm->data[0] * s;
qout[2] = axis_norm->data[1] * s;
qout[3] = axis_norm->data[2] * s;
// cleanup
zarray_vmap(fp, matd_destroy);
zarray_destroy(fp);
}
vx_camera_pos_t * default_cam_mgr_get_cam_pos(default_cam_mgr_t * state, int * viewport, uint64_t mtime)
{
vx_camera_pos_t * p = calloc(1, sizeof(vx_camera_pos_t));
memcpy(p->viewport, viewport, 4*sizeof(int));
p->perspective_fovy_degrees = state->perspective_fovy_degrees;
p->zclip_near = state->zclip_near;
p->zclip_far = state->zclip_far;
// process a fit command if necessary:
if (state->fit != NULL) {
fit_t * f = state->fit;
// consume the fit command
state->fit = NULL; // XXX minor race condition, could lose a fit cmd
// XXX We can probably do better than this using the viewport...
state->lookat1[0] = (f->xy0[0] + f->xy1[0]) / 2;
state->lookat1[1] = (f->xy0[1] + f->xy1[1]) / 2;
state->lookat1[2] = 0;
// dimensions of fit
double Fw = f->xy1[0] - f->xy0[0];
double Fh = f->xy1[1] - f->xy0[1];
// aspect ratios
double Far = Fw / Fh;
double Var = p->viewport[2] * 1.0 / p->viewport[3];
double tAngle = tan(p->perspective_fovy_degrees/2*M_PI/180.0);
double height = fabs(0.5 * (Var > Far ? Fh : Fw / Var) / tAngle);
state->eye1[0] = state->lookat1[0];
state->eye1[1] = state->lookat1[1];
state->eye1[2] = height;
state->up1[0] = 0;
state->up1[1] = 1;
state->up1[2] = 0;
state->mtime1 = f->mtime;
free(f);
}
if (mtime > state->mtime1) {
memcpy(p->eye, state->eye1, 3*sizeof(double));
memcpy(p->up, state->up1, 3*sizeof(double));
memcpy(p->lookat, state->lookat1, 3*sizeof(double));
p->perspectiveness = state->perspectiveness1;
} else if (mtime <= state->mtime0) {
memcpy(p->eye, state->eye0, 3*sizeof(double));
memcpy(p->up, state->up0, 3*sizeof(double));
memcpy(p->lookat, state->lookat0, 3*sizeof(double));
p->perspectiveness = state->perspectiveness0;
} else {
double alpha1 = ((double) mtime - state->mtime0) / (state->mtime1 - state->mtime0);
double alpha0 = 1.0 - alpha1;
scaled_combination(state->eye0, alpha0, state->eye1, alpha1, p->eye, 3);
scaled_combination(state->up0, alpha0, state->up1, alpha1, p->up, 3);
scaled_combination(state->lookat0, alpha0, state->lookat1, alpha1, p->lookat, 3);
p->perspectiveness = state->perspectiveness0*alpha0 + state->perspectiveness1*alpha1;
// Tweak so eye-to-lookat is the right distance
{
zarray_t * fp = zarray_create(sizeof(matd_t*));
matd_t * eye = matd_create_data(3,1, p->eye); zarray_add(fp, &eye);
matd_t * lookat = matd_create_data(3,1, p->lookat); zarray_add(fp, &lookat);
matd_t * up = matd_create_data(3,1, p->up); zarray_add(fp, &up);
matd_t * eye0 = matd_create_data(3,1, state->eye0); zarray_add(fp, &eye0);
matd_t * lookat0 = matd_create_data(3,1, state->lookat0); zarray_add(fp, &lookat0);
matd_t * up0 = matd_create_data(3,1, state->up0); zarray_add(fp, &up0);
matd_t * eye1 = matd_create_data(3,1, state->eye1); zarray_add(fp, &eye1);
matd_t * lookat1 = matd_create_data(3,1, state->lookat1); zarray_add(fp, &lookat1);
matd_t * up1 = matd_create_data(3,1, state->up1); zarray_add(fp, &up1);
double dist0 = matd_vec_dist(eye0, lookat0);
double dist1 = matd_vec_dist(eye1, lookat1);
matd_t * dist = matd_create_scalar(dist0*alpha0 + dist1*alpha1); zarray_add(fp, &dist);
matd_t * eye2p = matd_subtract(eye,lookat); zarray_add(fp, &eye2p);
eye2p = matd_vec_normalize(eye2p); zarray_add(fp, &eye2p);
eye = matd_op("M + (M*M)", lookat, eye2p, dist);
// Only modified eye
memcpy(p->eye, eye->data, 3*sizeof(double));
zarray_vmap(fp, matd_destroy);
zarray_destroy(fp);
}
}
// Need to do more fixup depending on interface mode!
{
if (state->interface_mode <= 2.0) {
// stack eye on lookat:
p->eye[0] = p->lookat[0];
p->eye[1] = p->lookat[1];
p->lookat[2] = 0;
// skip fabs() for ENU/NED compat
//p->eye[2] = fabs(p->eye[2]);
{
matd_t * up = matd_create_data(3,1, p->up);
up->data[2] = 0; // up should never point in Z
matd_t * up_norm = matd_vec_normalize(up);
memcpy(p->up, up_norm->data, sizeof(double)*3);
matd_destroy(up);
matd_destroy(up_norm);
}
} else if (state->interface_mode == 2.5) {
zarray_t * fp = zarray_create(sizeof(matd_t*));
matd_t * eye = matd_create_data(3,1, p->eye); zarray_add(fp, &eye);
matd_t * lookat = matd_create_data(3,1, p->lookat); zarray_add(fp, &lookat);
matd_t * up = matd_create_data(3,1, p->up); zarray_add(fp, &up);
lookat->data[2] = 0.0;
// Level horizon
matd_t * dir = matd_subtract(lookat, eye); zarray_add(fp, &dir);
matd_t * dir_norm = matd_vec_normalize(dir); zarray_add(fp, &dir_norm);
matd_t * left = matd_crossproduct(up, dir_norm); zarray_add(fp, &left);
left->data[2] = 0.0;
left = matd_vec_normalize(left); zarray_add(fp, &left);
// Don't allow upside down
//up->data[2] = fmax(0.0, up->data[2]); // XXX NED?
// Find an 'up' direction perpendicular to left
matd_t * dot_scalar = matd_create_scalar(matd_vec_dot_product(up, left)); zarray_add(fp, &dot_scalar);
up = matd_op("M - (M*M)", up, left, dot_scalar); zarray_add(fp, &up);
up = matd_vec_normalize(up); zarray_add(fp, &up);
// Now find eye position by computing new lookat dir
matd_t * eye_dir = matd_crossproduct(up, left); zarray_add(fp, &eye_dir);
matd_t *eye_dist_scalar = matd_create_scalar(matd_vec_dist(eye, lookat)); zarray_add(fp, &eye_dist_scalar);
eye = matd_op("M + (M*M)", lookat, eye_dir, eye_dist_scalar); zarray_add(fp, &eye);
// export results back to p:
memcpy(p->eye, eye->data, sizeof(double)*3);
memcpy(p->lookat, lookat->data, sizeof(double)*3);
memcpy(p->up, up->data, sizeof(double)*3);
zarray_vmap(fp, matd_destroy);
zarray_destroy(fp);
}
}
// Fix up for bad zoom
if (1) {
matd_t * eye = matd_create_data(3,1, p->eye);
matd_t * lookat = matd_create_data(3,1, p->lookat);
matd_t * up = matd_create_data(3,1, p->up);
matd_t * lookeye = matd_subtract(lookat, eye);
matd_t * lookdir = matd_vec_normalize(lookeye);
double dist = matd_vec_dist(eye, lookat);
dist = fmin(state->zclip_far / 3.0, dist);
dist = fmax(state->zclip_near * 3.0, dist);
matd_scale_inplace(lookdir, dist);
matd_t * eye_fixed = matd_subtract(lookat, lookdir);
memcpy(p->eye, eye_fixed->data, sizeof(double)*3);
matd_destroy(eye);
matd_destroy(lookat);
matd_destroy(up);
matd_destroy(lookeye);
matd_destroy(lookdir);
matd_destroy(eye_fixed);
}
// copy the result back into 'state'
{
memcpy(state->eye0, p->eye, 3*sizeof(double));
memcpy(state->up0, p->up, 3*sizeof(double));
memcpy(state->lookat0, p->lookat, 3*sizeof(double));
state->perspectiveness0 = p->perspectiveness;
state->mtime0 = mtime;
}
return p;
}
static void * movie_run(void * params)
{
state_t * state = params;
zarray_t * frames = zarray_create(sizeof(movie_frame_t*));
char * last_filename = NULL;
char * current_filename = NULL;
gzFile gzMovie = NULL;
int movie_frames = 0;
int lost_frames = 0;
uint64_t movie_start_mtime = 0;
while (state->rendering) {
pthread_mutex_lock(&state->movie_mutex);
while (state->rendering && current_filename == state->movie_file && zarray_size(state->movie_pending) == 0)
pthread_cond_wait(&state->movie_cond, &state->movie_mutex);
if (!state->rendering) // exit signaled while waiting on cond
break;
for (int i = 0; i < zarray_size(state->movie_pending); i++) {
movie_frame_t * tmp = NULL;
zarray_get(state->movie_pending, i, &tmp);
zarray_add(frames, &tmp);
}
zarray_clear(state->movie_pending);
current_filename = state->movie_file;
pthread_mutex_unlock(&state->movie_mutex);
// Depending on setup, execute different actions
// 1) Open 2) Close 3) Write a frame
if (zarray_size(frames) > 0 && current_filename != NULL) {
// Write the most recent frame, dump the rest
movie_frame_t * movie_img = NULL;
zarray_get(frames, zarray_size(frames)-1, &movie_img);
zarray_remove_index(frames, zarray_size(frames)-1, 0);
char header[256];
sprintf(header, "#mtime=%"PRIu64"\nP6 %d %d %d\n", movie_img->mtime, movie_img->width, movie_img->height, 255);
int header_len = strlen(header);
int imglen = movie_img->stride*movie_img->height;// RGB format
gzwrite(gzMovie, header, header_len);
gzwrite(gzMovie, movie_img->buf, imglen);
int res = gzflush(gzMovie, Z_SYNC_FLUSH);
if (res != Z_OK) {
int errval = 0;
printf("Error writing movie %s. Closing file\n", gzerror(gzMovie, &errval));
gzclose(gzMovie);
free(current_filename);
current_filename = NULL;
}
movie_frames++;
movie_frame_destroy (movie_img);
}
// cleanup the frames:
lost_frames += zarray_size(frames);
zarray_vmap(frames, movie_frame_destroy);
zarray_clear(frames);
// Got a new filename, need to start recording
if (current_filename != NULL && last_filename == NULL)
{
gzMovie = gzopen(current_filename, "w3");
movie_frames = 0;
lost_frames = 0;
movie_start_mtime = vx_mtime();
printf("NFO: Starting movie at %s\n", current_filename);
if (gzMovie == NULL) {
printf("WRN: Unable to start movie at %s\n", current_filename);
free(current_filename); // XXX Would need to edit
// state->movie_file ?
current_filename = NULL;
}
}
if (current_filename == NULL && last_filename != NULL)
{
gzclose(gzMovie);
printf("NFO: Wrote/lost %d/%d movie frames at %.2f fps to %s\n",
movie_frames, lost_frames, 1e3 * movie_frames / (vx_mtime() - movie_start_mtime), last_filename);
free(last_filename);
}
last_filename = current_filename;
}
// XXX Cleanup? might shutdown while recording?
return NULL;
}
// this loop tries to run at X fps, and issue render commands
static void * render_loop(void * foo)
{
state_t * state = foo;
if (verbose)printf("Starting render thread!\n");
uint64_t render_count = 0;
uint64_t last_mtime = vx_mtime();
double avgDT = 1.0f/state->target_frame_rate;
uint64_t avg_loop_us = 3000; // initial render time guess
while (state->rendering) {
int64_t sleeptime = (1000000 / state->target_frame_rate) - (int64_t) avg_loop_us;
if (sleeptime > 0)
usleep(sleeptime); // XXX fix to include render time
// Diagnostic tracking
uint64_t mtime_start = vx_mtime(); // XXX
avgDT = avgDT*.9 + .1 * (mtime_start - last_mtime)/1000;
last_mtime = mtime_start;
render_count++;
if (verbose) {
if (render_count % 100 == 0)
printf("Average render DT = %.3f FPS = %.3f avgloopus %"PRIu64" sleeptime = %"PRIi64"\n",
avgDT, 1.0/avgDT, avg_loop_us, sleeptime);
}
// prep the render data
render_buffer_t rbuf;
rbuf.state = state;
rbuf.width = gtku_image_pane_get_width(state->imagePane);
rbuf.height = gtku_image_pane_get_height(state->imagePane);
if (rbuf.width == 0 && rbuf.height == 0)
continue; // if the viewport is 0,0
// smartly reuse, or reallocate the output pixel buffer when resizing occurs
GdkPixbuf * pixbuf = state->pixbufs[state->cur_pb_idx];
if (pixbuf == NULL || gdk_pixbuf_get_width(pixbuf) != rbuf.width || gdk_pixbuf_get_height(pixbuf) != rbuf.height) {
if (pixbuf != NULL) {
g_object_unref(pixbuf);
free(state->pixdatas[state->cur_pb_idx]);
}
state->pixdatas[state->cur_pb_idx] = malloc(rbuf.width*rbuf.height*3); // can't stack allocate, can be too big (retina)
pixbuf = gdk_pixbuf_new_from_data(state->pixdatas[state->cur_pb_idx], GDK_COLORSPACE_RGB, FALSE, 8,
rbuf.width, rbuf.height, rbuf.width*3, NULL, NULL); // no destructor fn for pix data, handle manually
state->pixbufs[state->cur_pb_idx] = pixbuf;
}
// second half of init:
rbuf.out_buf = gdk_pixbuf_get_pixels(pixbuf);
rbuf.format = GL_RGB;
rbuf.rendered = 0;
// 1 compute all the viewports
render_info_t * rinfo = render_info_create();
rinfo->viewport[0] = rinfo->viewport[1] = 0;
rinfo->viewport[2] = rbuf.width;
rinfo->viewport[3] = rbuf.height;
{
zhash_iterator_t itr;
uint32_t layer_id = 0;
layer_info_t * linfo = NULL;
zhash_iterator_init(state->layer_info_map, &itr);
while(zhash_iterator_next(&itr, &layer_id, &linfo)){
zarray_add(rinfo->layers, &linfo);
}
zarray_sort(rinfo->layers, zvx_layer_info_compare);
}
zarray_t * fp = zarray_create(sizeof(matd_t*));
matd_t *mm = matd_create(4,4); zarray_add(fp, &mm);
matd_t *pm = matd_create(4,4); zarray_add(fp, &pm);
pthread_mutex_lock(&state->mutex);
for (int i = 0; i < zarray_size(rinfo->layers); i++) {
layer_info_t *linfo = NULL;
zarray_get(rinfo->layers, i, &linfo);
int * viewport = vx_viewport_mgr_get_pos(linfo->vp_mgr, rinfo->viewport, mtime_start);
vx_camera_pos_t *pos = default_cam_mgr_get_cam_pos(linfo->cam_mgr, viewport, mtime_start);
// store viewport, pos
zhash_put(rinfo->layer_positions, &linfo->layer_id, &viewport, NULL, NULL);
zhash_put(rinfo->camera_positions, &linfo->layer_id, &pos, NULL, NULL);
// feed the actual camera/projection matrix to the gl side
vx_camera_pos_model_matrix(pos,mm->data);
vx_camera_pos_projection_matrix(pos, pm->data);
matd_t * pmmm = matd_multiply(pm,mm); zarray_add(fp, &pmmm);
float pm16[16];
vx_util_copy_floats(pmmm->data, pm16, 16);
float eye3[16];
vx_util_copy_floats(pos->eye, eye3, 3);
vx_gl_renderer_set_layer_render_details(state->glrend, linfo->layer_id, viewport, pm16, eye3);
}
// 2 Render the data
task_thread_schedule_blocking(gl_thread, render_task, &rbuf);
render_info_t * old = state->last_render_info;
state->last_render_info = rinfo;
pthread_mutex_unlock(&state->mutex);
// 3 if a render occurred, then swap gtk buffers
if (rbuf.rendered) {
// point to the correct buffer for the next render:
state->cur_pb_idx = (state->cur_pb_idx +1 ) % 2;
// flip y coordinate in place:
vx_util_flipy(rbuf.width*3, rbuf.height, rbuf.out_buf);
// swap the image's backing buffer
g_object_ref(pixbuf); // XXX Since gtku always unrefs with each of these calls, increment accordingly
gtku_image_pane_set_buffer(state->imagePane, pixbuf);
}
// 3.1 If a movie is in progress, also need to serialize the frame
pthread_mutex_lock(&state->movie_mutex);
if (state->movie_file != NULL) {
int last_idx = (state->cur_pb_idx + 1) % 2;
GdkPixbuf * pb = state->pixbufs[last_idx];
movie_frame_t * movie_img = calloc(1, sizeof(movie_frame_t));
movie_img->mtime = mtime_start;
movie_img->width = gdk_pixbuf_get_width(pb);
movie_img->height = gdk_pixbuf_get_height(pb);
movie_img->stride = 3*movie_img->width;
movie_img->buf = malloc(movie_img->stride*movie_img->height);
memcpy(movie_img->buf, state->pixdatas[last_idx], movie_img->stride*movie_img->height);
// Alloc in this thread, dealloc in movie thread
zarray_add(state->movie_pending, & movie_img);
pthread_cond_signal(&state->movie_cond);
}
pthread_mutex_unlock(&state->movie_mutex);
// cleanup
if (old)
render_info_destroy(old);
zarray_vmap(fp, matd_destroy);
zarray_destroy(fp);
uint64_t mtime_end = vx_mtime();
avg_loop_us = (uint64_t)(.5*avg_loop_us + .5 * 1000 * (mtime_end - mtime_start));
}
if (verbose) printf("Render thread exiting\n");
pthread_exit(NULL);
}
vx_object_t * vxo_objmtl(const char * obj_filename)
{
int texture_flag = 0;
FILE * fp_obj = fopen(obj_filename, "r");
if (fp_obj == NULL)
return NULL;
#define LNSZ 1024
char line_buffer[LNSZ];
// Store 3D vertices by value
zarray_t * vertices = zarray_create(sizeof(float)*3);
zarray_t * textures = zarray_create(sizeof(float)*3);
zarray_t * normals = zarray_create(sizeof(float)*3);
wav_group_t * cur_group = NULL;
zarray_t * group_list = zarray_create(sizeof(wav_group_t*));
zhash_t * mtl_map = NULL; // created on reading mtllib entry
//zhash_t * obj_map = zhash_create(sizeof(char*), sizeof(vx_object_t*), zhash_str_hash, zhash_str_equals);
// Read in the entire file, save vertices, and indices for later processing.
while (1) {
int eof = fgets(line_buffer, LNSZ, fp_obj) == NULL;
char * line = str_trim(line_buffer);
// If possible, batch process the last group
if (str_starts_with(line, "g ") || eof) {
if (cur_group != NULL) {
assert(cur_group->group_idx != NULL);
zarray_add(group_list, &cur_group);
cur_group = NULL;
}
}
if (eof)
break;
if (str_starts_with(line, "#") || strlen(line) == 0 || !strcmp(line,"\r"))
continue;
if (str_starts_with(line, "g ")) {
assert(mtl_map != NULL);
char obj_name[LNSZ];
sscanf(line, "g %s", obj_name);
cur_group = calloc(1, sizeof(wav_group_t));
cur_group->group_idx = zarray_create(sizeof(tri_idx_t));
} else if (str_starts_with(line, "v ")) {
float vertex[3];
sscanf(line, "v %f %f %f", &vertex[0], &vertex[1], &vertex[2]);
zarray_add(vertices, &vertex);
} else if (str_starts_with(line, "vn ")) {
float normal[3];
sscanf(line, "vn %f %f %f", &normal[0], &normal[1], &normal[2]);
zarray_add(normals, &normal);
} else if (str_starts_with(line, "vt ")) {
texture_flag = 1;
float texture[3];
sscanf(line, "vt %f %f %f", &texture[0], &texture[1], &texture[2]);
zarray_add(textures, &texture);
} else if (str_starts_with(line, "f ")) {
tri_idx_t idxs;
if (texture_flag) {
sscanf(line, "f %d/%d/%d %d/%d/%d %d/%d/%d",
&idxs.vIdxs[0], &idxs.tIdxs[0], &idxs.nIdxs[0],
&idxs.vIdxs[1], &idxs.tIdxs[1], &idxs.nIdxs[1],
&idxs.vIdxs[2], &idxs.tIdxs[2], &idxs.nIdxs[2]);
}
else {
sscanf(line, "f %d//%d %d//%d %d//%d",
&idxs.vIdxs[0], &idxs.nIdxs[0],
&idxs.vIdxs[1], &idxs.nIdxs[1],
&idxs.vIdxs[2], &idxs.nIdxs[2]);
}
zarray_add(cur_group->group_idx, &idxs);
} else if (str_starts_with(line, "usemtl ")) {
char *mname = calloc(1, sizeof(char)*1024);
sscanf(line, "usemtl %s", mname);
zhash_get(mtl_map, &mname, &cur_group->material);
free(mname);
} else if (str_starts_with(line, "s ")) {
// No idea what to do with smoothing instructions
} else if (str_starts_with(line, "mtllib ")) {
char * cur_path = strdup(obj_filename);
const char * dir_name = dirname(cur_path);
char mtl_basename[LNSZ];
sscanf(line, "mtllib %s", mtl_basename);
char mtl_filename[LNSZ];
sprintf(mtl_filename,"%s/%s", dir_name, mtl_basename);
mtl_map = load_materials(mtl_filename);
if (mtl_map == NULL) {
zarray_destroy(vertices);
zarray_destroy(normals);
return NULL; // XXX cleanup!
}
free(cur_path);
} else {
printf("Did not parse: %s\n", line);
for (int i = 0; i < strlen(line); i++) {
printf("0x%x ", (int)line[i]);
}
printf("\n");
}
}
if (1) // useful to enable when compensating for model scale
print_bounds(vertices);
// Process the model sections in two passes -- first add all the
// objects which are not transparent. Then render transparent
// objects after
vx_object_t * vchain = vxo_chain_create();
zarray_t * sorted_groups = zarray_create(sizeof(wav_group_t*));
for (int i = 0, sz = zarray_size(group_list); i < sz; i++) {
wav_group_t * group = NULL;
zarray_get(group_list, i, &group);
// add to front if solid
if (group->material.d == 1.0f) {
zarray_insert(sorted_groups, 0, &group);
} else { // add to back if transparent
zarray_add(sorted_groups, &group);
}
}
int total_triangles = 0;
for (int i = 0, sz = zarray_size(sorted_groups); i < sz; i++) {
wav_group_t * group = NULL;
zarray_get(sorted_groups, i, &group);
int ntri = zarray_size(group->group_idx);
vx_resc_t * vert_resc = vx_resc_createf(ntri*9);
vx_resc_t * norm_resc = vx_resc_createf(ntri*9);
for (int j = 0; j < ntri; j++) {
tri_idx_t idxs;
zarray_get(group->group_idx, j, &idxs);
for (int i = 0; i < 3; i++) {
zarray_get(vertices, idxs.vIdxs[i]-1, &((float*)vert_resc->res)[9*j + i*3]);
zarray_get(normals, idxs.nIdxs[i]-1, &((float*)norm_resc->res)[9*j + i*3]);
}
}
vx_style_t * sty = vxo_mesh_style_fancy(group->material.Ka, group->material.Kd, group->material.Ks, group->material.d, group->material.Ns, group->material.illum);
vxo_chain_add(vchain, vxo_mesh(vert_resc, ntri*3, norm_resc, GL_TRIANGLES, sty));
total_triangles += ntri;
}
//Cleanup:
// 1. Materials, names are by reference, but materials are by value
zhash_vmap_keys(mtl_map, free);
zhash_destroy(mtl_map);
// 2. Geometry
zarray_destroy(vertices); // stored by value
zarray_destroy(normals); // stored by value
// 2b wav_group_t are stored by reference
zarray_vmap(group_list, wav_group_destroy);
zarray_destroy(group_list);
zarray_destroy(sorted_groups); // duplicate list, so don't need to free
fclose(fp_obj);
return vchain;
}
loc_t* fit_lines(image_u32_t* im, node_t* n, vx_buffer_t* buf, metrics_t met, loc_t* out)
{
// usleep(2000000);
srand(time(NULL));
// isolate valid entries
zarray_t* loc_arr = zarray_create(sizeof(loc_t*));
for(int i = 0; i < im->height; i++) {
if(n->sides[i].leftmost.x == im->width) continue; // not apart of blob
loc_t* loc = malloc(sizeof(loc_t));
loc->x = n->sides[i].leftmost.x;
loc->y = n->sides[i].leftmost.y;
loc->valid = 0;
zarray_add(loc_arr, &loc);
}
for(int i = 0; i < im->height; i++) {
if(n->sides[i].rightmost.x == -1) continue;
loc_t* loc = malloc(sizeof(loc_t));
loc->x = n->sides[i].rightmost.x;
loc->y = n->sides[i].rightmost.y;
loc->valid = 0;
zarray_add(loc_arr, &loc);
}
// printf("\n\nall\n");
// for(int i = 0; i < zarray_size(loc_arr); i++)
// {
// loc_t* p1;
// zarray_get(loc_arr, i, &p1);
// printf("(%d, %d)\n", p1->x, p1->y);
// }
// printf("\n\n");
int iterations = 0;
int best_score = 0;
int lines_found = 0;
loc_t line_match[8];
int max_iterations = 500;
while(lines_found < 2 && zarray_size(loc_arr) > met.num_outliers) // still a lot of points left
{
if(iterations > max_iterations) break;
// reset image and array
// vx_object_t *vim = vxo_image_from_u32(im, 0, 0);
// vx_buffer_add_back(buf, vxo_pix_coords(VX_ORIGIN_BOTTOM_LEFT, vim));
add_arr_of_locs_to_buffer(loc_arr, buf, 1.0, vx_black, met);
int num_outliers = met.num_outliers/met.consensus_accuracy;
while(best_score < ((zarray_size(loc_arr) - num_outliers)/(4 - lines_found)))
{
reset_locs(loc_arr);
// pick random sample (2 points)
loc_t* p1;
loc_t* p2;
zarray_get(loc_arr, (rand()%zarray_size(loc_arr)), &p1);
p2 = p1;
while(p1 == p2)
zarray_get(loc_arr, (rand()%zarray_size(loc_arr)), &p2); // don't get same point
// find consensus score of line from other points
// if inside consensus range add 1
int tmp_score = 0;
for(int j = 0; j < zarray_size(loc_arr); j++) {
loc_t* tmp;
zarray_get(loc_arr, j, &tmp);
if(fabs(dist_from_point_to_line(p1, p2, tmp)) < (double)met.consensus_accuracy)
{
tmp->valid = 1;
// printf("dist: (%d, %d, %d) %lf\n", tmp->x, tmp->y, tmp->valid,
// fabs(dist_from_point_to_line(p1, p2, tmp)));
tmp_score++;
}
}
// keep best line so far
if(tmp_score > best_score) {
if(lines_found != 0) { // if 2nd line intersects, throw it out and find another
loc_t intersect = get_line_intersection(line_match[0], line_match[1], *p1, *p2);
if(in_range(im, intersect.x, intersect.y)) continue;
}
best_score = tmp_score;
// printf(" score:%d, %d, %d %lf\n", best_score, ((zarray_size(loc_arr)-1)/(4-lines_found)),
// zarray_size(loc_arr), 10/met.std_dev_from_square);
line_match[lines_found*2] = *p1;
line_match[lines_found*2+1] = *p2;
}
iterations++;
if(iterations > max_iterations) break;
}
// loc_t ext_lines[2];
// extend_lines_to_edge_of_image(im, line_match[lines_found*2], line_match[lines_found*2+1], ext_lines);
// add_line_to_buffer(im, buf, 2.0, ext_lines[0], ext_lines[1], vx_yellow);
// delete all points associated with the found line
zarray_t* endpoints_arr = zarray_create(sizeof(loc_t*));
for(int i = 0; i < zarray_size(loc_arr); i++) {
loc_t* tmp;
zarray_get(loc_arr, i, &tmp);
// printf("removed: (%d, %d, %d) \n", tmp->x, tmp->y, tmp->valid);
if(tmp->valid)
{
// add_circle_to_buffer(buf, 1.0, *tmp, vx_red);
zarray_add(endpoints_arr, &tmp);
zarray_remove_index(loc_arr, i, 0);
i--;
}
}
// find endpoints of line
loc_t ext_lines[2];
extend_lines_to_edge_of_image(im, line_match[lines_found*2], line_match[lines_found*2+1], ext_lines);
line_t endpoints = find_line_endpoints(endpoints_arr, &ext_lines[0], &ext_lines[1]);
add_circle_to_buffer(buf, 2.0, endpoints.start, vx_red);
add_circle_to_buffer(buf, 2.0, endpoints.end, vx_red);
line_match[lines_found*2] = endpoints.start;
line_match[lines_found*2+1] = endpoints.end;
lines_found++;
best_score = 0;
// vx_buffer_swap(buf);
// usleep(500000);
}
loc_t* ret = calloc(lines_found*2, sizeof(loc_t));
for(int i = 0; i < lines_found; i++) {
ret[i*2] = line_match[i*2];
ret[i*2+1] = line_match[i*2+1];
loc_t ext_lines[2];
extend_lines_to_edge_of_image(im, line_match[i*2], line_match[i*2+1], ext_lines);
add_line_to_buffer(im, buf, 2.0, ext_lines[0], ext_lines[1], vx_blue);
}
zarray_vmap(loc_arr, free);
zarray_destroy(loc_arr);
return(ret);
// int corners_found = 0;
// loc_t corners[4];
// find_corners_from_lines(im,line_match, 4, &corners_found, corners);
// for(int i = 0; i < corners_found; i++) {
// printf("(%d, %d)\n", corners[i].x, corners[i].y);
// add_circle_to_buffer(buf, 3.0, corners[i], vx_blue);
// }
// printf("(%d, %d) (%d, %d) %lf\n", line_match[0].x, line_match[0].y,
// line_match[1].x, line_match[1].y,
// (double)best_score/N);
}
// Call this only from the serialization thread
//
static void delayed_swap(vx_buffer_t * buffer)
{
if (!buffer->front_objs)
return; // buffer has not yet finished initialization
if (verbose) printf("DBG: swap %s\n", buffer->name);
pthread_mutex_lock(&buffer->mutex);
{
// clear existing front
buffer->front_codes->pos = 0; // reset
// *+*+ corresponding decrement (if keeping up)
zarray_vmap(buffer->front_objs, vx_object_dec_destroy);
zarray_clear(buffer->front_objs);
// swap out the pending objects without tying up this mutex for too long
zarray_t * tmp = buffer->front_objs;
buffer->front_objs = buffer->pending_objs;
buffer->pending_objs = tmp; // empty
}
pthread_mutex_unlock(&buffer->mutex);
vx_world_t * world = buffer->world;
zhash_t * old_resources = buffer->front_resc;
// Serialize each object into resources and opcodes
vx_code_output_stream_t * codes = buffer->front_codes;
codes->write_uint32(codes, OP_BUFFER_CODES);
codes->write_uint32(codes, world->worldID);
codes->write_str(codes, buffer->name);
codes->write_uint32(codes, buffer->draw_order); // XXX We should move this op code elsewhere
zhash_t * resources = zhash_create(sizeof(uint64_t),sizeof(vx_resc_t*), zhash_uint64_hash, zhash_uint64_equals);
for (int i = 0; i < zarray_size(buffer->front_objs); i++) {
vx_object_t * obj = NULL;
zarray_get(buffer->front_objs, i, &obj);
obj->append(obj, resources, codes);
}
// *&&* we will hold on to these until next swap() call
zhash_vmap_values(resources, vx_resc_inc_ref);
zhash_t * all_resources = zhash_copy(resources);
addAll(all_resources, old_resources);
// Claim use of the union of the last frame, and the current frame
// this avoids a race condition where another buffer (maybe in another world)
// could force deallocation of some resources before the new render codes arrive
if (verbose) printf("DBG: claim union via codes\n");
if (verbose > 1) {
printf(" claimed %d IDS ", zhash_size(all_resources));
zhash_vmap_values(all_resources, _print_id);
printf("\n");
}
send_buffer_resource_codes(buffer, all_resources);
if (verbose) printf("DBG: Send actual resources\n");
if (verbose > 1) {
printf(" send %d IDS ", zhash_size(all_resources));
zhash_vmap_values(all_resources, _print_id);
printf("\n");
}
notify_listeners_send_resources(world, all_resources);
if (verbose) printf("DBG: send render codes\n");
notify_listeners_codes(world, codes);
// Claim the actual set of resources which are in use now, which may result in some
// resources being deleted from the gl context
if (verbose) printf("DBG: reduce claim to actual in use\n");
if (verbose > 1) {
printf(" actual %d IDS ", zhash_size(resources));
zhash_vmap_values(resources, _print_id);
printf("\n\n");
}
send_buffer_resource_codes(buffer, resources);
buffer->front_resc = resources; // set of current resources
zhash_destroy(all_resources);
// *&&* corresponding decrement of resources
zhash_vmap_values(old_resources, vx_resc_dec_destroy);
zhash_destroy(old_resources);
}