void MeshViewer :: addMeshToVertexBufferObject(const ntk::Mesh& mesh, const Pose3D& pose, MeshViewerMode mode)
{
#if defined(NESTK_USE_GLEW) || defined(USE_GLEW)
GLuint vbo_id = -1, vbo_faces_id = -1;
glGenBuffersARB(1, &vbo_id);
if (mesh.hasFaces())
glGenBuffersARB(1, &vbo_faces_id);
VertexBufferObject vbo;
pose.cvCameraTransform().copyTo(vbo.model_view_matrix);
// Transpose the matrix for OpenGL column-major.
vbo.model_view_matrix = vbo.model_view_matrix.t();
vbo.nb_faces = 0;
vbo.vertex_id = vbo_id;
vbo.faces_id = vbo_faces_id;
vbo.has_faces = mesh.hasFaces();
vbo.has_color = mesh.hasColors();
vbo.has_texcoords = mesh.hasTexcoords();
vbo.has_normals = mesh.hasNormals();
vbo.rendering_mode = mode;
vbo.color_offset = mesh.vertices.size()*sizeof(Vec3f);
vbo.normals_offset = vbo.color_offset + mesh.colors.size()*sizeof(Vec3b);
vbo.texture_offset = vbo.normals_offset + mesh.normals.size() * sizeof(Vec3f);
vbo.nb_vertices = mesh.vertices.size();
glBindBufferARB(GL_ARRAY_BUFFER_ARB, vbo.vertex_id);
glBufferDataARB(GL_ARRAY_BUFFER_ARB,
mesh.colors.size() * sizeof(Vec3b)
+ mesh.normals.size() * sizeof(Vec3f)
+ mesh.vertices.size() * sizeof(Vec3f)
+ mesh.texcoords.size() * sizeof(Point2f), // size
0, // null pointer: just allocate memory
GL_STATIC_DRAW_ARB);
glBufferSubDataARB(GL_ARRAY_BUFFER_ARB, 0, mesh.vertices.size()*sizeof(Vec3f), &mesh.vertices[0]);
if (vbo.has_color)
glBufferSubDataARB(GL_ARRAY_BUFFER_ARB, vbo.color_offset, mesh.colors.size()*sizeof(Vec3b), &mesh.colors[0]);
if (vbo.has_normals)
glBufferSubDataARB(GL_ARRAY_BUFFER_ARB, vbo.normals_offset, mesh.normals.size()*sizeof(Vec3f), &mesh.normals[0]);
if (vbo.has_texcoords)
glBufferSubDataARB(GL_ARRAY_BUFFER_ARB, vbo.texture_offset, mesh.texcoords.size()*sizeof(Point2f), &mesh.texcoords[0]);
if (vbo.has_faces)
{
vbo.nb_faces = mesh.faces.size();
glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, vbo.faces_id);
glBufferDataARB(GL_ELEMENT_ARRAY_BUFFER_ARB,
mesh.faces.size() * 3 * sizeof(GLuint), // size
(GLuint*)&mesh.faces[0],
GL_STATIC_DRAW_ARB);
}
m_upcoming_vertex_buffer_objects.push_back(vbo);
#endif
}
void MeshViewer :: addMeshToDisplayList(const ntk::Mesh& mesh, const Pose3D& pose, MeshViewerMode mode)
{
int new_list_index = glGenLists(1);
glNewList(new_list_index, GL_COMPILE);
if (mesh.texture.data)
{
// Last texture id was just created
GLuint texture = m_upcoming_textures[m_upcoming_textures.size()-1];
glEnable(GL_TEXTURE_2D);
glBindTexture( GL_TEXTURE_2D, texture );
}
else
{
glDisable(GL_TEXTURE_2D);
}
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(pose.cvTranslation()[0], pose.cvTranslation()[1], pose.cvTranslation()[2]);
Vec3f euler_angles = pose.cvEulerRotation();
glRotatef(rad_to_deg(euler_angles[0]), 1, 0, 0);
glRotatef(rad_to_deg(euler_angles[1]), 0, 1, 0);
glRotatef(rad_to_deg(euler_angles[2]), 0, 0, 1);
if (mode & WIREFRAME)
{
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
}
else
{
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
}
int64 point_start_time = ntk::Time::getMillisecondCounter();
if (mesh.faces.size() == 0)
{
glBegin(GL_POINTS);
for (int i = 0; i < mesh.vertices.size(); ++i)
{
const Point3f& v = mesh.vertices[i];
// if (i % 1000 == 0)
// ntk_dbg_print(v, 1);
if (mesh.hasColors())
glColor3f(mesh.colors[i][0]/255.0, mesh.colors[i][1]/255.0, mesh.colors[i][2]/255.0);
glVertex3f(v.x, v.y, v.z);
}
glEnd();
}
int64 point_end_time = ntk::Time::getMillisecondCounter();
ntk_dbg_print(point_end_time-point_start_time, 1);
{
glBegin(GL_TRIANGLES);
for (int i = 0; i < mesh.faces.size(); ++i)
{
int i1 = mesh.faces[i].indices[0];
int i2 = mesh.faces[i].indices[1];
int i3 = mesh.faces[i].indices[2];
const Point3f& v1 = mesh.vertices[i1];
const Point3f& v2 = mesh.vertices[i2];
const Point3f& v3 = mesh.vertices[i3];
Vec3f nm = (Vec3f(v2-v1).cross(v3-v2));
normalize(nm);
if (!mesh.hasColors())
glColor3f(1.0f, 0.0f, 0.0f);
if (mesh.hasColors())
glColor3f(mesh.colors[i1][0]/255.0, mesh.colors[i1][1]/255.0, mesh.colors[i1][2]/255.0);
if (mesh.hasTexcoords())
glTexCoord2f(mesh.texcoords[i1].x, mesh.texcoords[i1].y);
glVertex3f(v1.x, v1.y, v1.z);
glNormal3f(nm[0], nm[1], nm[2]);
if (mesh.hasColors())
glColor3f(mesh.colors[i2][0]/255.0, mesh.colors[i2][1]/255.0, mesh.colors[i2][2]/255.0);
if (mesh.hasTexcoords())
glTexCoord2f(mesh.texcoords[i2].x, mesh.texcoords[i2].y);
glVertex3f(v2.x, v2.y, v2.z);
glNormal3f(nm[0], nm[1], nm[2]);
if (mesh.hasColors())
glColor3f(mesh.colors[i3][0]/255.0, mesh.colors[i3][1]/255.0, mesh.colors[i3][2]/255.0);
if (mesh.hasTexcoords())
glTexCoord2f(mesh.texcoords[i3].x, mesh.texcoords[i3].y);
glVertex3f(v3.x, v3.y, v3.z);
glNormal3f(nm[0], nm[1], nm[2]);
}
glEnd();
}
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glEndList();
m_upcoming_display_lists.push_back(new_list_index);
}