//method that will be called when entering
//a new node
osg::Action::ResultE enter(osg::NodePtr& node)
{
if (node->getCore()->getType().isDerivedFrom(OSG::CharacterBase::getClassType()))
{
osg::CharacterPtr charac = osg::CharacterPtr::dcast(node->getCore());
std::string name;
if (getName(node))
{
name = getName(node);
}
else
{
osg::CharacterModelPtr model = charac->getModel();
name = model->getConfigFile();
std::cout << "character model file " << name << std::endl;
std::string::size_type slashpos = name.size()-1;
slashpos = name.find_last_of("/");
if(slashpos != name.npos)
name = name.substr(slashpos+1);
slashpos = name.size()-1;
slashpos = name.find_last_of("\\");
if(slashpos != name.npos)
name = name.substr(slashpos+1);
std::string::size_type dotpos = 0;
dotpos = name.find_last_of(".");
if(dotpos != name.npos)
name = name.substr(0, dotpos);
}
std::cout << name << " is a character" << std::endl;
return process(node, charac, name);
}
return osg::Action::Continue;
}
int main(int argc, char **argv)
{
OSG::NodePtr pRoot;
int i = 0;
OSG::osgInit(i, NULL);
OSG::Node::create();
if((argc > 2) && (OSG::stringcmp(argv[2], "pushNames") == 0))
{
OSG::SceneFileHandler::the().setOptions("wrl", "pushNames=true");
}
pRoot = OSG::SceneFileHandler::the().read(argv[1]);
std::cerr << "Tree : " << std::endl;
if(pRoot == OSG::NullFC)
{
std::cerr << "\t Empty" << std::endl;
}
else
{
pRoot->dump();
}
// char *szFilename = "stirnwand.wrl";
OSG::osgExit();
return 0;
}
OSG::NodePtr makePolygon(double pntData[][3], int numPoints) {
OSG::GeometryPtr geoPtr = OSG::Geometry::create();
OSG::NodePtr nodePtr = OSG::Node::create();
GeoPositions3fPtr pnts = GeoPositions3f::create();
GeoNormals3fPtr norms = GeoNormals3f::create();
GeoTexCoords2fPtr tex = GeoTexCoords2f::create();
GeoIndicesUI32Ptr indices = GeoIndicesUI32::create();
GeoPLengthsUI32Ptr lens = GeoPLengthsUI32::create();
GeoPTypesUI8Ptr types = GeoPTypesUI8::create();
//Set up the properties according to the geometry defined above
beginEditCP(pnts);
beginEditCP(norms);
for(int i = 0; i < numPoints; i++)
{
pnts->push_back(Pnt3f(pntData[i][0],
pntData[i][1],
pntData[i][2]));
indices->push_back(2*i);
norms->push_back(Vec3f(0.0, 0.0, pntData[i][2]));
indices->push_back(2*i + 1);
}
endEditCP(pnts);
endEditCP(norms);
beginEditCP(types);
beginEditCP(lens);
types->push_back(GL_POLYGON);
lens->push_back(numPoints);
endEditCP(types);
endEditCP(lens);
beginEditCP(geoPtr);
geoPtr->setMaterial(getDefaultMaterial());
geoPtr->setPositions(pnts);
geoPtr->setNormals(norms);
geoPtr->setIndices(indices);
geoPtr->editMFIndexMapping()->push_back(Geometry::MapPosition |
Geometry::MapNormal);
geoPtr->setTypes(types);
geoPtr->setLengths(lens);
endEditCP(geoPtr);
nodePtr->setCore(geoPtr);
return nodePtr;
}
void testObj::setActive( osg::NodePtr parent, bool active )
{
if ( _isActive && ! active )
{
osg::addRefCP( node );
parent->subChild( node );
}
else if ( ! _isActive && active )
parent->addChild( node );
_isActive = active;
}
void testNode(void)
{
#if 0
OSG::SFNodePtr sfNode;
OSG::MFNodePtr mfNode;
OSG::NodePtr pNode = OSG::Node::create();
sfNode.setValue(pNode);
mfNode.push_back(pNode);
/*
fprintf(stderr, "%p %p %p | %d %d\n",
pNode,
sfNode.getValue(),
mfNode[0],
OSG::Node::VolumeFieldId,
OSG::Node::TravMaskFieldId);
*/
OSG::NodePtr pNode1 = OSG::Node::create();
sfNode.setValue(pNode1);
mfNode.resize(2);
mfNode.replace(1, pNode1);
const OSG::Field *pF1 = pNode->getSFVolume();
OSG::Field *pF2 = pNode->editSFVolume();
OSG::GetFieldHandlePtr pRF1 = pNode->getField("volume");
OSG::EditFieldHandlePtr pRF2 = pNode->editField("volume");
fprintf(stderr, "#### Field %p %p | %p %p\n",
pF1,
pF2,
pRF1.get(),
pRF2.get());
// fprintf(stderr, "%p %p %p\n", pNode1, sfNode.getValue(), mfNode[1]);
const OSG::SFNodePtr constSFNode;
// fprintf(stderr, "%p %p\n", pNode1, constSFNode.getValue());
OSG::FieldContainerPtr pNodeClone = deepClone(pNode);
OSG::FieldContainerPtr pFC =
OSG::FieldContainerFactory::the()->createContainer("Billboard");
fprintf(stderr, "### FOO %p\n", getCPtr(pFC));
#endif
}
void addWithHull( osg::NodePtr testObj )
{
testGeom = osg::GeometryPtr::dcast( testObj->getCore() );
testHull = testGeom;
testHullObj = testHull.getGeomNode();
testHull.print();
// set material
osg::SimpleMaterialPtr mat = osg::SimpleMaterial::create();
mat->setDiffuse( osg::Color3f( 1.0,0.7,1.0 ) );
mat->setAmbient( osg::Color3f( 0.2,0.2,0.2 ) );
mat->setSpecular( osg::Color3f( 1,1,1 ) );
mat->setShininess( 20 );
testGeom->setMaterial( mat );
osg::GeometryPtr::dcast(testHullObj->getCore())->setMaterial( mat );
// add to scene graph
beginEditCP(root);
root->addChild( testObj );
root->addChild( testHullObj );
endEditCP(root);
}
Transform::Transform(OSG::NodePtr node) : Group(node)
{
_transform = OSG::cast_dynamic<OSG::TransformPtr>(node->getCore());
// OSG::beginEditCP(_node);
_node->setCore(_transform);
// OSG::endEditCP(_node);
}
Group::Group(OSG::NodePtr node) : NodeBase(node)
{
_group = OSG::cast_dynamic<OSG::GroupPtr>(node->getCore());
// OSG::beginEditCP(_node);
_node->setCore(_group);
// OSG::endEditCP(_node);
}
Geometry::Geometry(OSG::NodePtr node) : NodeBase(node)
{
_geometry = OSG::cast_dynamic<OSG::GeometryPtr>(node->getCore());
// OSG::beginEditCP(_node);
_node->setCore(_geometry);
// OSG::endEditCP(_node);
}
NodeBase NodeIterator::next(void)
{
while(!_stack.empty())
{
OSG::NodePtr act = _stack.back();
_stack.pop_back();
for(OSG::UInt32 i = 0; i < act->getNChildren(); ++i)
_stack.push_back(act->getChild(i));
if(act->getCore()->getType().isDerivedFrom(*_type))
{
return NodeBase(act);
}
}
PyErr_SetString(PyExc_StopIteration, "Out of Nodes");
boost::python::throw_error_already_set();
}
osg::Action::ResultE enter(osg::NodePtr& node)
{
//if (osg::getName(node))
if (node->getCore()->getType().isDerivedFrom(OSG::CharacterBase::getClassType()))
{
std::cout << osg::getName(node) << "is a character" << std::endl;
}
//else
//{
// std::cout << osg::getName(node) << "is not a character" << std::endl;
//}
return osg::Action::Continue;
}
void InventorLoader::checkForRedundancy( osg::NodePtr OSGGroup )
{
return;
// TODO: Check the type of the node and return, if it's not a node
// that should be discarded (discardable: group, not discardable: geometry)
// If the group node has no children, then let's kick it !
if( OSGGroup->getNChildren() == 0 )
{
if(OSGGroup->getParent() != NullFC)
{
OSGGroup->getParent()->subChild(OSGGroup);
}
else
{
subRefCP(OSGGroup);
}
}
// If there's only one child, then add it to the parent of the group,
// copy the name and remove the group
else if ( OSGGroup->getNChildren() == 1 )
{
// Get parent and child
osg::NodePtr _Child = OSGGroup->getChild(0);
osg::NodePtr _Parent = OSGGroup->getParent();
// Copy the name
const char* _Name = getName(OSGGroup);
if( _Name )
setName( _Child, _Name );
// Add the child to the parent
_Parent->addChild( _Child );
// Remove the group node
_Parent->subChild( OSGGroup );
}
}
NodePtr createScoreBoards()
{
GeometryPtr geo;
NodePtr bg;
SimpleMaterialPtr m;
ScoreBoard1 = new TextStuff() ;
ScoreBoard2 = new TextStuff() ;
// First get the global group node
OSG::NodePtr scoreBoardsNodePtr = OSG::Node::create();
scoreBoardsNodePtr->setCore(OSG::Group::create());
// Setup text 1
ScoreBoard1->initialize();
ScoreBoard1->updateFace();
ScoreBoard1->updateScore(0,0);
// Setup text 2
ScoreBoard2->initialize();
ScoreBoard2->updateFace();
ScoreBoard2->updateScore(0,0);
////////// 1 /////////
// make its transform
TransformPtr trans1;
NodePtr trans_node1 = makeCoredNode<Transform>(&trans1);
beginEditCP(trans1);
trans1->getMatrix().setTransform(Vec3f(0,4,-10.5),Quaternion( Vec3f(0,1,0),deg2rad(0)));
endEditCP(trans1);
// make geometry
bg = makePlane(9.3, 1, 8,2);
m= SimpleMaterial::create();
beginEditCP(m);
{
m->setAmbient (Color3f(0,0,0));
m->setDiffuse (Color3f(0.0,0.0,0.0));
}
endEditCP (m);
geo = GeometryPtr::dcast(bg->getCore());
beginEditCP(geo);
geo->setMaterial(m);
beginEditCP(geo);
beginEditCP(bg);
bg->addChild(ScoreBoard1->mRootNode);
endEditCP(bg);
beginEditCP(trans_node1);
trans_node1->addChild(bg);
endEditCP(trans_node1);
////////// 2 /////////
// make its transform
TransformPtr trans2;
NodePtr trans_node2 = makeCoredNode<Transform>(&trans2);
beginEditCP(trans2);
trans2->getMatrix().setTransform(Vec3f(0,4,10.5),Quaternion( Vec3f(0,1,0),deg2rad(180)));
endEditCP(trans2);
// make geometry
bg = makePlane(9.3, 1, 8,2);
m = SimpleMaterial::create();
beginEditCP(m);
{
m->setAmbient (Color3f(0,0,0));
m->setDiffuse (Color3f(0.0,0.0,0.0));
}
endEditCP (m);
geo = GeometryPtr::dcast(bg->getCore());
beginEditCP(geo);
geo->setMaterial(m);
beginEditCP(geo);
beginEditCP(bg);
bg->addChild(ScoreBoard2->mRootNode);
endEditCP(bg);
beginEditCP(trans_node2);
trans_node2->addChild(bg);
endEditCP(trans_node2);
beginEditCP(scoreBoardsNodePtr);
scoreBoardsNodePtr->addChild(trans_node1);
scoreBoardsNodePtr->addChild(trans_node2);
endEditCP(scoreBoardsNodePtr);
return scoreBoardsNodePtr;
}
int main(int argc, char *argv[])
{/*
int j = 0;
// Allocate Sotrage
std::vector<std::vector<cv::Point3f> > object_points;
std::vector<std::vector<cv::Point2f> > image_points;
int numBoards = 20;
int numCornersHor = 9;
int numCornersVer = 6;
int numSquares = numCornersHor * numCornersVer;
cv::Size board_sz = cv::Size(numCornersVer, numCornersHor);
vector<cv::Point2f> corners;
int successes=0;
cv::Mat init_Image;
vector<cv::Point3f> obj;
for(int y(0); y < numCornersHor; ++y) {
double tmp (y * 60.0);
for(int x(0); x < numCornersVer; ++x){
obj.push_back(cv::Point3f(x * 60.0, tmp, 0));
cout << "::" << x * 60.0 << " - " << tmp << endl;
}
}
//cv::VideoCapture capture = cv::VideoCapture(0);
//while(successes < numBoards){
for(int i = 1 ; i< 518 ; i++){
// every 10 pictures
if(j != 1){
j++;
continue;
} else {
j=0;
}
stringstream stream;
stream << "pics/init/";
stream << i;
stream << ".bmp";
cout << "#### PICTURE NO. "<<i<<"####" << stream.str().c_str() <<endl;
init_Image = cvLoadImage(stream.str().c_str());
cv::Mat grayImage;
//capture >> init_Image;
cv::cvtColor(init_Image, grayImage, CV_BGR2GRAY);
bool found = cv::findChessboardCorners(grayImage, board_sz, corners, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE);
if(found)
{
cv::cornerSubPix(grayImage, corners, cv::Size(11, 11), cv::Size(-1, -1), cv::TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
cv::drawChessboardCorners(grayImage, board_sz, corners, found);
image_points.push_back(corners);
object_points.push_back(obj);
cout << "Snap stored!" << endl;
successes++;
if(successes>=numBoards)
break;
}
cv::imshow("Calib1",init_Image);
cv::imshow("Calib2",grayImage);
int key = cv::waitKey(1);
}
cout << "image point size : " << image_points.size() << endl;
cout << "object point size : " << object_points.size() << endl;
cv::Mat distCoeffs;
vector<cv::Mat> rvecs;
vector<cv::Mat> tvecs;
cv::Mat intrinsic;
cv::calibrateCamera(object_points, image_points, init_Image.size(), intrinsic, distCoeffs, rvecs, tvecs);
cout << "##INTRINSIC##" <<endl;
cout << intrinsic.ptr<double>(0)[0] << " " <<intrinsic.ptr<double>(0)[1]<<" " <<intrinsic.ptr<double>(0)[2]<< endl;
cout << intrinsic.ptr<double>(1)[0] << " " <<intrinsic.ptr<double>(1)[1]<< " " <<intrinsic.ptr<double>(1)[2] << endl;
cout << intrinsic.ptr<double>(2)[0] << " " <<intrinsic.ptr<double>(2)[1]<< " " <<intrinsic.ptr<double>(2)[2] << endl;
cout << "##DISTORTION##" <<endl;
cout << distCoeffs.ptr<double>(0)[0] << " " << distCoeffs.ptr<double>(0)[1] << " " << distCoeffs.ptr<double>(0)[2] << " "
<< distCoeffs.ptr<double>(0)[3] << " " << distCoeffs.ptr<double>(0)[4] << " " << distCoeffs.ptr<double>(0)[5] << " " <<endl;
for(int i = 1 ; i< 300 ; i++){
stringstream stream,s2;
stream << "pics/";
stream << i;
stream << ".bmp";
cout << "#### PICTURE NO. "<<i<<"####" << stream.str().c_str() <<endl;
cv:: Mat image = cvLoadImage(stream.str().c_str());
cv::Mat newI;
cv::undistort(image,newI,intrinsic,distCoeffs);
s2 << "pics/undist/";
s2 << i;
s2 << ".bmp";
cv::imwrite(s2.str().c_str(),newI);
}
exit(0);*/
// AR _BEGIN_
/*
const char *cparam_name = "pics/camera_para.dat";
ARParam cparam;
ARParam wparam;
// opencv-test
char *patt_name = "davit.patt";
std::cout << QDir::currentPath().toStdString() << endl;
cv::Mat m,n;
cv::namedWindow("looky looky");
ARUint8 *dataPtr;
int patt_id;
if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
cout << "Pattern load error" <<endl;
} else {
cout << "Pattern loaded... "<<endl;
}
// set the initial camera parameters
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
cout << "Camera parameter load error !!"<<endl;
exit(0);
} else {
cout << "Loaded Camera Parameter !! "<<endl;
}
//wparam.xsize = 1280;
//wparam.ysize = 1024;
//wparam.mat[0][0] = 1598.0;
//wparam.mat[1][1] = 1596.15;
//wparam.mat[0][2] = 555.006;
//wparam.mat[1][2] = 525.028;
//wparam.dist_factor[0] = -0.477959;
//wparam.dist_factor[1] = 1.83017;
//wparam.dist_factor[2] = -0.0036001;
//wparam.dist_factor[3] = -0.0001997;
//cout <<"RESET..."<<endl;
arParamChangeSize( &wparam, 1280, 1024, &cparam );
arInitCparam( &cparam );
cout << "*** Camera Parameter ***"<<endl;
arParamDisp( &cparam );
//open file
fstream file;
file.open("1280x1024Data.dat",ios::out);
cv::Mat RGB;
int v = 0;
for(int u=1;u<=200;++u){
file<<"#FRAME_"<<u<<endl;
//cout << "in loop..."<<endl;
stringstream stream;
stream << "pics/undist/";
stream << u;
stream << ".bmp";
RGB = cv::imread(stream.str().c_str());
cv::flip(RGB,RGB,0);
cv::Mat matAR(RGB.rows,RGB.cols,CV_8UC4);
cv::cvtColor(RGB,matAR,CV_BGR2BGRA);
cv::Mat newAR(RGB.rows,RGB.cols,CV_8UC4);
cv::Mat in[] = {matAR};
cv::Mat out[] = {newAR};
int from[] = {3,0,0,3,1,2,2,1};
cv::mixChannels(in,1,out,1,from,4);
dataPtr = (ARUint8*)newAR.data;
ARMarkerInfo *marker_info;
int marker_num;
if( dataPtr == NULL ) {
arUtilSleep(2);
cout << "No Image data found...";
return 2;
}
cout << "try detecting... " << u <<endl;
if( arDetectMarker(dataPtr, 45, &marker_info, &marker_num) < 0 ) {
cout << "No Markers found... :(";
//cleanup();
//exit(0);
return 4;
}
int j,k;
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
//cout << "k: " << k << endl;
double patt_width = 225.0;
double patt_center[2] = {0.0,0.0};
double patt_trans[3][4];
double quat[4];
double pos[3];
if(marker_num > 0 && k == 0){
//cout << "Marker found : " << marker_num << " " << v++ << " - k: " << k <<endl;
arGetTransMat(&marker_info[k],patt_center,patt_width,patt_trans);
if(arUtilMat2QuatPos(patt_trans,quat,pos) == 0){
cout << "quat worked" <<endl;
cout << "quat: " << quat[0] << " " << quat[1] << " " << quat[2] << " " << quat[3] << endl;
cout << "pos: " << pos[0] << " " << pos[1] << " " << pos[2] << endl;
cout <<endl;
}
file << patt_trans[0][0] << " " << patt_trans[0][1] << " " << patt_trans[0][2] << " " << patt_trans[0][3] << " "<<endl;
file << patt_trans[1][0] << " " << patt_trans[1][1] << " " << patt_trans[1][2] << " " << patt_trans[1][3] << " "<<endl;
file << patt_trans[2][0] << " " << patt_trans[2][1] << " " << patt_trans[2][2] << " " << patt_trans[2][3] << " "<<endl;
//file << patt_center[0] << " " << patt_center[1] <<endl;
//cout << "patt width: " << patt_width <<endl;
file << marker_info[k].pos[0] << " " << marker_info[k].pos[1] <<endl;
cout << "p1: " << marker_info[k].vertex[0][0] << " " << marker_info[k].vertex[0][1]<< endl;
cout << "p2: " << marker_info[k].vertex[1][0] << " " << marker_info[k].vertex[1][1]<< endl;
cout << "p3: " << marker_info[k].vertex[2][0] << " " << marker_info[k].vertex[2][1]<< endl;
cout << "p4: " << marker_info[k].vertex[3][0] << " " << marker_info[k].vertex[3][1]<< endl;
cv::line(newAR,cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),CV_RGB(255,0,0));
cv::waitKey(1);
}
stringstream stream2;
stream2 << "pics/new/";
stream2 << u;
stream2 << ".bmp";
//cv::imwrite(stream2.str().c_str(),RGB);
file<< "##"<<endl;
cv::imshow("looky looky",RGB);
cv::waitKey(1);
}
file.close();
*/
// AR _ENDE_ !!
//}
// QCoreApplication a(argc, argv);
OSG::osgInit(argc,argv);
cout << "argc " << argc <<endl;
for(int ar(0);ar<argc;++ar)
cout << argv[ar] << " ";
cout << endl;
int winid = setupGLUT(&argc,argv);
//GLUTWindowPtr gwin = GLUTWindow::create();
//gwin->setGlutId(winid);
//gwin->init();
OSG::NodePtr scene = SceneFileHandler::the().read("data/test__1.obj");
//OSG::NodePtr scene = SceneFileHandler::the().read("data/test3_4.obj");
//GroupPtr scene = GroupPtr::dcast(scene);
cout << "type: " << scene.getCore()->getTypeName()<< endl;
cout << "children in scene: " << scene->getNChildren()<<endl;
GeometryPtr geo = GeometryPtr::dcast(scene->getCore());
GeoPTypesPtr type = GeoPTypesUI8::create();
type->addValue(GL_LINE);
LineIterator lit;
int lines(0);
TEST = geo;
for(lit = geo->beginLines();lit != geo->endLines();++lit){
lines++;
}
cout << "lines: " << lines <<endl;
SimpleMaterialPtr mat = SimpleMaterial::create();
geo->setMaterial(mat);
// Create and setup our little friend - the SSM
mgr = new SimpleSceneManager;
//mgr->setWindow(gwin);
//mgr->setRoot(scene);
//mgr->showAll();
//glutCreateWindow("test");
glutMainLoop();
return 0;
}
osg::NodePtr InventorLoader::traverseGraph( SoNode* OIVNode,
osg::NodePtr OSGNode )
{
////////////////////////////////////////////////////////////////////////////
FDEBUG((" InventorLoader::traverseGraph( %x )\n",
OIVNode));
////////////////////////////////////////////////////////////////////////////
/////////////////
// Material node
/////////////////
if( OIVNode->isOfType( SoMaterial::getClassTypeId() ) )
{
// Convert current material
osg::SimpleMaterialPtr _Material;
_Material = convertMaterial( ( SoMaterial* ) OIVNode );
if( mMergeMaterial )
{
// Check if that material was already encountered
TMaterialSet::iterator _Iter;
for(_Iter = mMaterialSet.begin();
_Iter != mMaterialSet.end();
++_Iter )
{
if( compareMaterial( *_Iter, _Material, mMergeTolerance ) )
break;
}
if( _Iter != mMaterialSet.end() )
{
mCurrentState.Material = *_Iter;
// Delete the converted material from above as it isn't used.
subRefCP( _Material );
}
else
{
mMaterialSet.insert( _Material );
mCurrentState.Material = _Material;
}
}
else
{
mCurrentState.Material = _Material;
}
// Return the old OSG node as the current OSG node
return OSGNode;
}
///////////////////
// Coordinate node
///////////////////
if( OIVNode->isOfType( SoCoordinate3::getClassTypeId() ) )
{
// Save current coordinates
mCurrentState.Positions = convertCoordinates((SoCoordinate3*)OIVNode);
// Return the old OSG node as the current OSG node
return OSGNode;
}
//////////////////////
// Normalbinding node
//////////////////////
if( OIVNode->isOfType( SoNormalBinding::getClassTypeId() ) )
{
// Save current normalbinding
SoNormalBinding* _Binding = ( SoNormalBinding* ) OIVNode;
mCurrentState.NormalBinding = _Binding->value.getValue();
// Return the old OSG node as the current OSG node
return OSGNode;
}
///////////////
// Normal node
///////////////
if( OIVNode->isOfType( SoNormal::getClassTypeId() ) )
{
// Save current normals
mCurrentState.Normals = convertNormals( ( SoNormal* ) OIVNode );
// Return the old OSG node as the current OSG node
return OSGNode;
}
///////////////////////
// Transformation node
///////////////////////
if( OIVNode->isOfType( SoTransform::getClassTypeId() ) )
{
osg::NodePtr _OSGTransform = convertTransformation( OIVNode );
// Add the transformation to the current OSG node
beginEditCP ( OSGNode, Node::ChildrenFieldMask );
{
OSGNode->addChild( _OSGTransform );
}
endEditCP ( OSGNode, Node::ChildrenFieldMask );
// Return the new transform node as the current OSG node
return _OSGTransform;
}
///////////////////////
// MatrixTransformation node
///////////////////////
if( OIVNode->isOfType( SoMatrixTransform::getClassTypeId() ) )
{
osg::NodePtr _OSGTransform = convertMatrixTransformation( OIVNode );
// Add the transformation to the current OSG node
beginEditCP ( OSGNode, Node::ChildrenFieldMask );
{
OSGNode->addChild( _OSGTransform );
}
endEditCP ( OSGNode, Node::ChildrenFieldMask );
// Return the new transform node as the current OSG node
return _OSGTransform;
}
////////////////////
// Indexed face set
////////////////////
if( OIVNode->isOfType( SoIndexedFaceSet::getClassTypeId() ) )
{
osg::NodePtr _OSGGeometry = convertIFSGeometry( OIVNode );
// Add the geometry to the current OSG node
beginEditCP ( OSGNode, Node::ChildrenFieldMask );
{
OSGNode->addChild( _OSGGeometry );
}
endEditCP ( OSGNode, Node::ChildrenFieldMask );
// Return the old OSG node as the current OSG node
return OSGNode;
}
////////////////////
// Face set
////////////////////
if( OIVNode->isOfType( SoFaceSet::getClassTypeId() ) )
{
osg::NodePtr _OSGGeometry = convertFSGeometry( OIVNode );
// Add the geometry to the current OSG node
beginEditCP ( OSGNode, Node::ChildrenFieldMask );
{
OSGNode->addChild( _OSGGeometry );
}
endEditCP ( OSGNode, Node::ChildrenFieldMask );
// Return the old OSG node as the current OSG node
return OSGNode;
}
//////////////////
// Separator node
//////////////////
if( OIVNode->isOfType( SoSeparator::getClassTypeId() ) )
{
SoGroup* _OIVGroup = ( SoGroup* ) OIVNode;
osg::NodePtr _OSGGroup = getGroupNode( OIVNode );
osg::NodePtr _CurrentNode = _OSGGroup;
// Add the group to the current OSG node
beginEditCP ( OSGNode, Node::ChildrenFieldMask );
{
OSGNode->addChild( _OSGGroup );
}
endEditCP ( OSGNode, Node::ChildrenFieldMask );
// Save the current state
TState _TmpState = mCurrentState;
// Traverse children
for( int i=0; i < _OIVGroup->getNumChildren(); ++i )
{
SoNode* _OIVChild = _OIVGroup->getChild( i );
_CurrentNode = traverseGraph( _OIVChild, _CurrentNode );
}
// Restore the state
mCurrentState = _TmpState;
// Check if the new group node has only one child
// --> then it's redundant and can be discarded
checkForRedundancy( _OSGGroup );
// Return the old OSG node as the current OSG node
return OSGNode;
}
//////////////
// Group node
//////////////
else if( OIVNode->isOfType( SoGroup::getClassTypeId() ) )
{
osg::NodePtr _CurrentNode = OSGNode;
SoGroup* _OIVGroup = ( SoGroup* ) OIVNode;
// Traverse children
for( int i=0; i < _OIVGroup->getNumChildren(); ++i )
{
SoNode* _OIVChild = _OIVGroup->getChild( i );
_CurrentNode = traverseGraph( _OIVChild, _CurrentNode );
}
// Return the end of the group as current OSG node
return _CurrentNode;
}
FWARNING (( "Unhandled Inventor node: %s\n",
OIVNode->getTypeId().getName().getString() ));
return OSGNode;
}
void parsecommandline( int argc, char *argv[] )
{
/* valid option characters; last char MUST be 0 ! */
char optionchar[] = { 'h', 'g', 'x', 'v', 'n', 'a', 'w', 'd', 'A',
'T', 'f', 'W', 'c', 'r', 'p', 0 };
int musthaveparam[] = { 0 , 1, 1, 1, 2, 1, 0, 2, 1,
0, 1, 0, 0, 1, 0, 0 };
int nopts;
int mhp[256];
int isopt[256];
int optchar;
nopts = strlen(optionchar);
if ( nopts > 50 )
{
fprintf(stderr, "\n\nparsecommandline: the option-chars string "
"seems to be\nVERY long (%d bytes) !\n\n", nopts );
exit(-1);
}
fill_n( isopt, 256, 0 );
fill_n( mhp, 256, 0 );
for ( int i = 0; i < nopts; i ++ )
{
if ( isopt[static_cast<int>(optionchar[i])] )
{
fprintf(stderr, "\n\nparsecommandline: Bug: option character '%c'"
" is specified twice in the\n"
"option character array !\n\n", optionchar[i] );
exit(-1);
}
isopt[ static_cast<int>(optionchar[i]) ] = 1;
mhp[ static_cast<int>(optionchar[i])] = musthaveparam[i];
}
++argv; --argc;
while ( argc > 0 )
{
if ( argv[0][0] == '-' )
{
optchar = argv[0][1];
if ( ! isopt[optchar] )
{
fprintf(stderr, "\nIs not a valid command line option\n");
commandlineerror( argv[0], NULL );
}
for ( int i = 0; i < mhp[optchar]; i ++ )
if ( ! argv[1+i] || argv[1+i][0] == '-' )
{
fprintf(stderr, "\nCommand line option -%c must "
"have %d parameter(s)\n",
argv[0][1], mhp[optchar] );
commandlineerror( argv[0], NULL );
argv += 1 + i;
argc -= 1 + i;
continue;
}
switch ( optchar )
{
case 'h': commandlineerror( NULL, NULL); break;
case 'w': With_window = true; break;
case 'T': No_timing = true; break;
case 'W': White_background = true; break;
case 'c': All_collisions = true; break;
case 'x': Complexity = atoi( argv[1] ); break;
case 'a': Rot_vel = atof( argv[1] ); break;
case 'n': Ndistances = atoi( argv[1] );
Nrotations = atoi( argv[2] );
break;
case 'd': Dist_1 = atof( argv[1] );
Dist_2 = atof( argv[2] );
break;
case 'v': for ( unsigned int i = 0; i < strlen(argv[1]); i ++ )
switch ( argv[1][i] )
{
case 'v': col_verbose = true;
break;
case 'b': verbose |= VERBOSE_PRINT;
break;
case 'h': col_verboseShowHulls = true;
break;
default : commandlineerror(argv[0],argv[1]);
}
break;
case 'g': if ( ! strcmp(argv[1],"pl") )
geom_type = OBJ_PLANES;
else
if ( ! strcmp(argv[1],"sh") )
geom_type = OBJ_SPHERES;
else
if ( ! strcmp(argv[1],"to") )
geom_type = OBJ_TORUS;
else
if ( ! strcmp(argv[1],"file") )
geom_type = OBJ_FILE; // just a dummy
else
{
fputs("unrecognized obj type\n",stderr);
commandlineerror(argv[0],argv[1]);
}
break;
case 'A': if ( ! strcmp(argv[1],"do") )
Algorithm = col::ALGO_DOPTREE;
else
if ( ! strcmp(argv[1],"bx") )
Algorithm = col::ALGO_BOXTREE;
else
{
fputs("unrecognized algorithm\n",stderr);
commandlineerror(argv[0],argv[1]);
}
break;
case 'f': loadGeom( argv[1], &fixed_node );
moving_node = fixed_node->clone();
fixed_geom = col::getGeom( fixed_node );
moving_geom = col::getGeom( moving_node );
geom_type = OBJ_FILE;
// post: moving_geom == fixed_geom
break;
case 'r':
configFile = argv[1];
break;
case 'p':
print_pairs = true;
break;
default: fprintf(stderr, "\nBug in parsecommandline !\n");
commandlineerror( argv[0], NULL );
}
argv += 1 + mhp[optchar];
argc -= 1 + mhp[optchar];
}
else
{
/* command line arg doesn't start with '-' */
fprintf(stderr, "\nThis is not a valid command line option\n");
commandlineerror( argv[0], NULL );
/* or, load file instead .. */
}
}
// check sanity of options
if ( Complexity < 1 ||
(geom_type != OBJ_PLANES && Complexity < 3) ||
Complexity > 1000 )
{
fprintf(stderr,"complexity (%u) out of range!\n", Complexity );
exit(-1);
}
if ( Ndistances > MaxNumDistances )
{
fprintf(stderr,"too many (%u) distances!\n", Ndistances );
Ndistances = MaxNumDistances;
}
if ( Ndistances < 1 )
Ndistances = 1;
if ( Rot_vel < col::NearZero )
Rot_vel = 360.0f / Nrotations;
Rot_vel *= 2.0 * 3.1415926535 / 360.0;
if ( Ndistances > 1 )
// Dist_vel will be used like this:
// d = Dist_1 + dist_step * Dist_vel
Dist_vel = (Dist_2 - Dist_1) / (Ndistances - 1);
else
Dist_vel = 0.0;
if ( geom_type == OBJ_FILE &&
(moving_node == osg::NullFC || fixed_node == osg::NullFC) )
{
fputs("bench: '-g file' or '-f' option given,\n"
" but moving node or fixed node is still NULL!", stderr );
exit(-1);
}
}
void testRefCount(void)
{
#if 0
OSG::NodePtr pNode = OSG::Node::create();
OSG::NodePtr pNode1 = OSG::Node::create();
fprintf(stderr, "1\n");
//XX
#if 0
pNode.dump();
pNode1.dump();
#endif
pNode->addChild(pNode1);
fprintf(stderr, "2\n");
//XX
#if 0
pNode.dump();
pNode1.dump();
#endif
fprintf(stderr, "3\n");
//XX
#if 0
pNode.dump();
pNode1.dump();
#endif
applyToAspect(1, false);
applyToAspect(2);
fprintf(stderr, "4\n");
//XX
#if 0
pNode.dump();
pNode1.dump();
#endif
fprintf(stderr, "5\n");
//XX
#if 0
pNode.dump();
pNode1.dump();
#endif
applyToAspect(1, false);
fprintf(stderr, "6\n");
//XX
#if 0
pNode.dump();
pNode1.dump();
#endif
applyToAspect(2);
fprintf(stderr, "7\n");
#endif
}
int main( int argc, char *argv[] )
{
// OSG init
osg::osgLog().setLogLevel(osg::LOG_WARNING);
osg::osgInit(argc, argv);
// parse command line options
parsecommandline( argc, argv );
// disable display lists
osg::FieldContainerPtr pProto= osg::Geometry::getClassType().getPrototype();
osg::GeometryPtr pGeoProto = osg::GeometryPtr::dcast(pProto);
if ( pGeoProto != osg::NullFC )
pGeoProto->setDlistCache(false);
// create the graph
osg::NodePtr node;
// root
root = osg::Node::create();
beginEditCP(root);
root->setCore( osg::Group::create() );
// beacon for camera and light
osg::NodePtr beacon;
beacon = osg::Node::create();
beginEditCP(beacon);
beacon->setCore( osg::Group::create() );
endEditCP(beacon);
// light
light_node = osg::Node::create();
osg::DirectionalLightPtr light = osg::DirectionalLight::create();
beginEditCP( light_node );
light_node->setCore( light );
root->addChild( light_node );
beginEditCP(light);
light->setAmbient( .3, .3, .3, 1 );
light->setDiffuse( 1, 1, 1, 1 );
light->setDirection(0,0,1);
light->setBeacon( beacon );
endEditCP(light);
// transformation, parent of beacon
node = osg::Node::create();
cam_trans = osg::Transform::create();
beginEditCP(node);
node->setCore( cam_trans );
node->addChild( beacon );
endEditCP(node);
root->addChild( node );
// Camera
osg::PerspectiveCameraPtr cam = osg::PerspectiveCamera::create();
cam->setBeacon( beacon );
cam->setFov( 50 );
cam->setNear( 0.1 );
cam->setFar( 10000 );
// Background
osg::SolidBackgroundPtr background = osg::SolidBackground::create();
if ( White_background )
{
beginEditCP( background );
background->setColor(osg::Color3f(1,1,1));
endEditCP( background );
}
// Viewport
osg::ViewportPtr vp = osg::Viewport::create();
vp->setCamera( cam );
vp->setBackground( background );
vp->setRoot( root );
vp->setSize( 0,0, 1,1 );
if ( With_window )
{
// GLUT init
glutInitWindowSize( 400, 400 ); // before glutInit so user can
glutInitWindowPosition( 100, 100 ); // override with comannd line args
glutInit(&argc, argv);
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE);
int winid = glutCreateWindow("Collision Benchmark");
glutKeyboardFunc(key);
glutVisibilityFunc(vis);
glutReshapeFunc(reshape);
glutDisplayFunc(display);
glutMouseFunc(mouse);
glutMotionFunc(motion);
glutIdleFunc(display);
glEnable( GL_DEPTH_TEST );
glEnable( GL_LIGHTING );
glEnable( GL_LIGHT0 );
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, 1);
// Window
osg::GLUTWindowPtr gwin;
GLint glvp[4];
glGetIntegerv( GL_VIEWPORT, glvp );
gwin = osg::GLUTWindow::create();
gwin->setId(winid);
gwin->setSize( glvp[2], glvp[3] );
win = gwin;
win->addPort( vp );
// Action
render_action = osg::DrawAction::create();
// trackball
Vec3f min(-2.5,-2.5,-2.5), max(2.5,2.5,2.5);
trackball.setMode( osg::Trackball::OSGObject );
float d = max[2] + (max[2]-min[2]);
trackball.setStartPosition( 0, 0, d, true );
trackball.setSum( true );
trackball.setTranslationMode( osg::Trackball::OSGFree );
}
// create moving objects
if ( geom_type != OBJ_FILE )
createGeom( geom_type, Complexity, &fixed_node, &fixed_geom );
// else: has been loaded from file
light_node->addChild( fixed_node );
if ( geom_type != OBJ_FILE )
createGeom( geom_type, Complexity, &moving_node, &moving_geom );
//#define DOPTREE_NUM_ORI 16
double pi = 3.141592653589793f;
vector<Vec3f> translates;
vector<Vec3f> rotation_xyzs;
vector<float> rotates;
//string config("");
if(configFile.length() == 0)
{
printf("config file is null, use -r configFileName\n");
return 0;
}
ifstream fin(configFile.data());
string line;
int i = 0;
int angle;
float x,y,z;
while(std::getline(fin, line))
{
stringstream ss;
ss << line;
if(i & 0x1) // tranls
{
ss >> x >> y >> z;
translates.push_back(Vec3f(x,y,z));
}else //angle rot
{
int main( int argc, char *argv[] )
{
// parse command line options
parsecommandline( argc, argv );
// OSG init
osg::osgLog().setLogLevel(osg::LOG_WARNING);
osg::osgInit(argc, argv);
// disable display lists
osg::FieldContainerPtr pProto= osg::Geometry::getClassType().getPrototype();
osg::GeometryPtr pGeoProto = osg::GeometryPtr::dcast(pProto);
if ( pGeoProto != osg::NullFC )
pGeoProto->setDlistCache(false);
// create the graph
osg::NodePtr node;
// root
root = osg::Node::create();
beginEditCP(root);
root->setCore( osg::Group::create() );
// beacon for camera and light
osg::NodePtr beacon;
beacon = osg::Node::create();
beginEditCP(beacon);
beacon->setCore( osg::Group::create() );
endEditCP(beacon);
// light
light_node = osg::Node::create();
osg::DirectionalLightPtr light = osg::DirectionalLight::create();
beginEditCP( light_node );
light_node->setCore( light );
endEditCP( light_node );
root->addChild( light_node );
beginEditCP(light);
light->setAmbient( .3, .3, .3, 1 );
light->setDiffuse( 1, 1, 1, 1 );
light->setDirection(0,0,1);
light->setBeacon( beacon );
endEditCP(light);
// transformation, parent of beacon
node = osg::Node::create();
cam_trans = osg::Transform::create();
beginEditCP(node);
node->setCore( cam_trans );
node->addChild( beacon );
endEditCP(node);
root->addChild( node );
// finish scene graph
endEditCP(root);
// Camera
osg::PerspectiveCameraPtr cam = osg::PerspectiveCamera::create();
cam->setBeacon( beacon );
cam->setFov( 50 );
cam->setNear( 0.1 );
cam->setFar( 10000 );
// Background
osg::SolidBackgroundPtr background = osg::SolidBackground::create();
// Viewport
osg::ViewportPtr vp = osg::Viewport::create();
vp->setCamera( cam );
vp->setBackground( background );
vp->setRoot( root );
vp->setSize( 0,0, 1,1 );
if ( with_window )
{
// GLUT init
glutInitWindowSize( 400, 400 ); // before glutInit so user can
glutInitWindowPosition( 100, 100 ); // override with comannd line args
glutInit(&argc, argv);
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE);
int winid = glutCreateWindow("Polygon Intersection Check Test");
glutKeyboardFunc(key);
glutVisibilityFunc(vis);
glutReshapeFunc(reshape);
glutDisplayFunc(display);
glutMouseFunc(mouse);
glutMotionFunc(motion);
glutIdleFunc(display);
glEnable( GL_DEPTH_TEST );
glEnable( GL_LIGHTING );
glEnable( GL_LIGHT0 );
// Window
osg::GLUTWindowPtr gwin;
GLint glvp[4];
glGetIntegerv( GL_VIEWPORT, glvp );
gwin = osg::GLUTWindow::create();
gwin->setId(winid);
gwin->setSize( glvp[2], glvp[3] );
win = gwin;
win->addPort( vp );
// Action
render_action = osg::DrawAction::create();
// trackball
Vec3f min(-1,-1,-1), max(1,1,1);
// root->updateVolume();
// const osg::BoxVolume &vol = dynamic_cast<const osg::BoxVolume &>(root->getVolume());
// // in the long term, the abstract volume will be able to provide min/max
// vol.getBounds( min, max );
trackball.setMode( osg::Trackball::OSGObject );
float d = max[2] + (max[2]-min[2])*1.5;
trackball.setStartPosition( 0, 0, d, true );
trackball.setSum( true );
trackball.setTranslationMode( osg::Trackball::OSGFree );
// run...
glutMainLoop();
}
else
{
// run in batch mode
int phase = 0;
do
testcase( &phase );
while ( phase > 0 );
}
return 0;
}
void SimulationEngine::createChildVisualEntity(osg::NodePtr parentNode,
/*osg::TransformPtr trans,*/ const opal::ShapeData* data, const std::string& name,
const std::string& materialName)
{
// Create an Ogre SceneNode for the Entity.
osg::Matrix m;
opal::Point3r offsetPos = data->offset.getPosition();
//Ogre::Vector3 translationOffset(offsetPos[0], offsetPos[1],
//offsetPos[2]);
opal::Quaternion offsetQuat = data->offset.getQuaternion();
//Ogre::Quaternion rotationOffset;
//rotationOffset.x = offsetQuat.x;
//rotationOffset.y = offsetQuat.y;
//rotationOffset.z = offsetQuat.z;
//rotationOffset.w = offsetQuat.w;
//Ogre::SceneNode* newChildNode = NULL;
//Ogre::Entity* e = NULL;
// OSG covention: we need one new node and transformation
osg::NodePtr newChildNode; //= osg::Node::create();
osg::TransformPtr newTransCore = osg::Transform::create();
osg::beginEditCP(newTransCore);
m.setIdentity();
m.setTranslate(
(osg::Real32)offsetPos[0],
(osg::Real32)offsetPos[1],
(osg::Real32)offsetPos[2]);
m.setRotate(
osg::Quaternion(
osg::Vec3f(
(osg::Real32)offsetQuat[1],
(osg::Real32)offsetQuat[2],
(osg::Real32)offsetQuat[3]),
(osg::Real32)offsetQuat[0]));
newTransCore->setMatrix(m);
osg::endEditCP(newTransCore);
switch(data->getType())
{
case opal::BOX_SHAPE:
{
//newChildNode = parentNode->createChildSceneNode(name,
//translationOffset, rotationOffset);
// Scale the object according to the given dimensions.
opal::Vec3r boxDim = static_cast<const opal::BoxShapeData*>
(data)->dimensions;
//Ogre::Vector3 dimensions(boxDim[0], boxDim[1], boxDim[2]);
//newChildNode->scale(dimensions[0], dimensions[1],
//dimensions[2]);
//create the geometry which we will assign a texture to
newChildNode = osg::makeBox((osg::Real32)boxDim[0],
(osg::Real32)boxDim[1],
(osg::Real32)boxDim[2],1,1,1);
// Create an Ogre Entity using a cube mesh. This mesh must be
// stored as a box with dimensions 1x1x1.
//e = mOgreSceneMgr->createEntity(name, "cube.mesh");
//e->setMaterialName(materialName);
// Keep the normals normalized even after scaling.
//e->setNormaliseNormals(true);
// Attach the Entity to the SceneNode.
//newChildNode->attachObject(e);
//osg::beginEditCP(parentNode, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
osg::beginEditCP(parentNode);
parentNode->setCore(newTransCore);
parentNode->addChild(newChildNode);
osg::endEditCP(parentNode);
//osg::endEditCP(parentNode, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
break;
}
case opal::SPHERE_SHAPE:
{
//newChildNode = parentNode->createChildSceneNode(name,
//translationOffset, rotationOffset);
// Scale the object according to the given dimensions.
//Ogre::Real radius = static_cast<const opal::SphereShapeData*>
//(data)->radius;
//newChildNode->scale(radius, radius, radius);
opal::real radius = static_cast<const opal::SphereShapeData*>
(data)->radius;
newChildNode = osg::makeSphere(3, (osg::Real32)radius);
// Create an Ogre Entity using a sphere mesh. This mesh must be
// stored as a sphere with radius 1.
//e = mOgreSceneMgr->createEntity(name, "sphere.mesh");
//e->setMaterialName(materialName);
// Keep the normals normalized even after scaling.
//e->setNormaliseNormals(true);
// Attach the Entity to the SceneNode.
//newChildNode->attachObject(e);
//osg::beginEditCP(parentNode, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
osg::beginEditCP(parentNode);
parentNode->setCore(newTransCore);
parentNode->addChild(newChildNode);
osg::endEditCP(parentNode);
//osg::endEditCP(parentNode, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
break;
}
case opal::CAPSULE_SHAPE:
{
osg::NodePtr capsule = osg::Node::create();
osg::NodePtr topcap = osg::Node::create();
osg::NodePtr botcap = osg::Node::create();
// Create an Ogre SceneNode for the cylinder Entity.
std::string subObjectName = "cylinder" + name;
//newChildNode = parentNode->createChildSceneNode(
//subObjectName, translationOffset, rotationOffset);
// Scale the object according to the given dimensions. This
// will also scale the transforms for the child nodes, but
// we disable the "inherit scale" option for child nodes
// here so the shapes themselves don't get scaled.
//Ogre::Real radius = static_cast<const opal::CapsuleShapeData*>
//(data)->radius;
opal::real radius = static_cast<const opal::CapsuleShapeData*>
(data)->radius;
//Ogre::Real length = static_cast<const opal::CapsuleShapeData*>
//(data)->length;
opal::real length = static_cast<const opal::CapsuleShapeData*>
(data)->length;
//newChildNode->scale(radius, radius, length);
osg::NodePtr cyl = osg::makeCylinder((osg::Real32)length,
(osg::Real32)radius,
40,true,false,false);
// This mesh must be stored as a cylinder with length 1 and
// radius 1.
//e = mOgreSceneMgr->createEntity(subObjectName, "cylinder.mesh");
//e->setMaterialName(materialName);
//e->setNormaliseNormals(true);
//newChildNode->attachObject(e);
// The spheres must use separate scene nodes that are offset
// from the cylinder's scene node.
// This mesh must be stored as a sphere with radius 1.
subObjectName = "sphere0" + name;
//Ogre::SceneNode* sphereNode = newChildNode->createChildSceneNode(
//subObjectName);
//sphereNode->setInheritScale(false);
//sphereNode->translate(0, 0, -0.5);
//sphereNode->scale(radius, radius, radius);
//e = mOgreSceneMgr->createEntity(subObjectName, "sphere.mesh");
//e->setMaterialName(materialName);
//e->setNormaliseNormals(true);
//sphereNode->attachObject(e);
osg::NodePtr topGeo = osg::makeSphere(3,(osg::Real32)radius);
//one geometry and one transform node
osg::TransformPtr topTr = osg::Transform::create();
osg::Matrix _m;
//osg::beginEditCP(tChimney, osg::Transform::MatrixFieldMask);
osg::beginEditCP(topTr);
_m.setIdentity();
_m.setTranslate(0,(osg::Real32)length/2.0,0);
topTr->setMatrix(_m);
osg::endEditCP(topTr);
//osg::endEditCP(tChimney, osg::Transform::MatrixFieldMask);
//osg::beginEditCP(chimneyTrans, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
osg::beginEditCP(topcap);
topcap->setCore(topTr);
topcap->addChild(topGeo);
osg::endEditCP(topcap);
//osg::endEditCP(chimneyTrans, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
subObjectName = "sphere1" + name;
//sphereNode = newChildNode->createChildSceneNode(subObjectName);
//sphereNode->setInheritScale(false);
//sphereNode->translate(0, 0, 0.5);
//sphereNode->scale(radius, radius, radius);
//e = mOgreSceneMgr->createEntity(subObjectName, "sphere.mesh");
//e->setMaterialName(materialName);
//e->setNormaliseNormals(true);
//sphereNode->attachObject(e);
osg::NodePtr botGeo = osg::makeSphere(3,(osg::Real32)radius);
osg::TransformPtr botTr = osg::Transform::create();
osg::Matrix _n;
//osg::beginEditCP(tChimney, osg::Transform::MatrixFieldMask);
osg::beginEditCP(botTr);
_n.setIdentity();
_n.setTranslate(0,-(osg::Real32)length/2.0,0);
botTr->setMatrix(_n);
osg::endEditCP(botTr);
//osg::endEditCP(tChimney, osg::Transform::MatrixFieldMask);
//osg::beginEditCP(chimneyTrans, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
osg::beginEditCP(botcap);
botcap->setCore(botTr);
botcap->addChild(botGeo);
osg::endEditCP(botcap);
//osg::endEditCP(chimneyTrans, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
// Finally Compose everything to a Capsule!!
osg::beginEditCP(capsule);
capsule->setCore(osg::Group::create());
capsule->addChild(cyl);
capsule->addChild(topcap);
capsule->addChild(botcap);
osg::endEditCP(capsule);
// OK send to new scene noe
newChildNode = capsule;
//osg::beginEditCP(parentNode, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
osg::beginEditCP(parentNode);
parentNode->setCore(newTransCore);
parentNode->addChild(newChildNode);
osg::endEditCP(parentNode);
//osg::endEditCP(parentNode, osg::Node::CoreFieldMask | osg::Node::ChildrenFieldMask);
break;
}
default:
assert(false);
break;
}
}
// No arguments: batch convert all vt* files
// switch argument: batch convert all vt* files into one osb file with a switch
// file argument: convert only the specified file
int main (int argc, char const* argv[])
{
vector<string> filenames;
bool useSwitch = false;
if (argc == 2)
{
if (string(argv[1]).find("switch") != string::npos)
useSwitch = true;
else
filenames.push_back(string(argv[1]));
}
if (useSwitch || filenames.empty())
{
const boost::regex e(".+\\.vt[a-z]");
directory_iterator end;
for (directory_iterator it("./"); it != end; ++it)
{
string curFile = it->path().filename().string();
if (regex_match(curFile, e))
filenames.push_back(curFile);
}
}
OSG::osgInit(0, NULL);
vtkPolyDataMapper* mapper = vtkPolyDataMapper::New();
OSG::NodePtr switchNode = OSG::Node::create();
OSG::SwitchPtr switchCore = OSG::Switch::create();
beginEditCP(switchCore);
switchCore->setChoice(0);
endEditCP(switchCore);
beginEditCP(switchNode);
switchNode->setCore(switchCore);
endEditCP(switchNode);
for (vector<string>::const_iterator it = filenames.begin(); it != filenames.end(); ++it)
{
string filename(*it);
cout << "Opening file " << filename << " ... " << endl << flush;
string fileExt = getFileExt(filename);
vtkXMLDataReader* reader = NULL;
vtkGenericDataObjectReader* oldStyleReader = NULL;
if (fileExt.find("vti") != string::npos)
{
reader = vtkXMLImageDataReader::New();
vtkSmartPointer<vtkImageDataGeometryFilter> geoFilter =
vtkSmartPointer<vtkImageDataGeometryFilter>::New();
geoFilter->SetInputConnection(reader->GetOutputPort());
mapper->SetInputConnection(geoFilter->GetOutputPort());
}
if (fileExt.find("vtr") != string::npos)
{
reader = vtkXMLRectilinearGridReader::New();
vtkSmartPointer<vtkGeometryFilter> geoFilter =
vtkSmartPointer<vtkGeometryFilter>::New();
geoFilter->SetInputConnection(reader->GetOutputPort());
mapper->SetInputConnection(geoFilter->GetOutputPort());
}
else if (fileExt.find("vts") != string::npos)
{
reader = vtkXMLStructuredGridReader::New();
vtkSmartPointer<vtkGeometryFilter> geoFilter =
vtkSmartPointer<vtkGeometryFilter>::New();
geoFilter->SetInputConnection(reader->GetOutputPort());
mapper->SetInputConnection(geoFilter->GetOutputPort());
}
else if (fileExt.find("vtp") != string::npos)
{
reader = vtkXMLPolyDataReader::New();
mapper->SetInputConnection(reader->GetOutputPort());
}
else if (fileExt.find("vtu") != string::npos)
{
reader = vtkXMLUnstructuredGridReader::New();
vtkSmartPointer<vtkGeometryFilter> geoFilter =
vtkSmartPointer<vtkGeometryFilter>::New();
geoFilter->SetInputConnection(reader->GetOutputPort());
mapper->SetInputConnection(geoFilter->GetOutputPort());
}
else if (fileExt.find("vtk") != string::npos)
{
oldStyleReader = vtkGenericDataObjectReader::New();
oldStyleReader->SetFileName(filename.c_str());
oldStyleReader->Update();
if(oldStyleReader->IsFilePolyData())
mapper->SetInputConnection(oldStyleReader->GetOutputPort());
else
{
vtkSmartPointer<vtkGeometryFilter> geoFilter =
vtkSmartPointer<vtkGeometryFilter>::New();
geoFilter->SetInputConnection(oldStyleReader->GetOutputPort());
mapper->SetInputConnection(geoFilter->GetOutputPort());
}
}
else
{
cout << "Not a valid vtk file ending (vti, vtr, vts, vtp, vtu, vtk)" <<
endl;
return 1;
}
if (fileExt.find("vtk") == string::npos)
{
reader->SetFileName(filename.c_str());
reader->Update();
}
vtkActor* actor = vtkActor::New();
actor->SetMapper(mapper);
vtkOsgConverter converter(actor);
converter.SetVerbose(true);
//converter->SetMapper(mapper);
converter.WriteAnActor();
OSG::NodePtr node = converter.GetOsgNode();
replaceExt(filename, "osb");
if (useSwitch)
{
beginEditCP(switchNode);
switchNode->addChild(node);
endEditCP(switchNode);
}
else
OSG::SceneFileHandler::the().write(node, filename.c_str());
if (reader)
reader->Delete();
if (oldStyleReader)
oldStyleReader->Delete();
}
if (useSwitch)
{
string filename(filenames[0]);
replaceExt(filename, "osb");
OSG::SceneFileHandler::the().write(switchNode, filename.c_str());
}
//mapper->Delete(); // TODO crashes
OSG::osgExit();
cout << "File conversion finished" << endl;
return 0;
}
CameraPtr Camera::init()
{
// Create a transform to contain the location and orientation of the camera.
mTransform = OSG::Transform::create();
OSG::NodePtr beacon = OSG::Node::create();
#if OSG_MAJOR_VERSION < 2
OSG::CPEditor be(beacon, OSG::Node::CoreFieldMask);
#endif
beacon->setCore(mTransform);
mLeftTexture = tex_chunk_t::create();
#if OSG_MAJOR_VERSION < 2
OSG::CPEditor lte(mLeftTexture);
mLeftTexture->setEnvMode(GL_MODULATE);
#else
mLeftTexEnv = OSG::TextureEnvChunk::create();
mLeftTexEnv->setEnvMode(GL_MODULATE);
#endif
mRightTexture = tex_chunk_t::create();
#if OSG_MAJOR_VERSION < 2
OSG::CPEditor rte(mRightTexture);
mRightTexture->setEnvMode(GL_MODULATE);
#else
mRightTexEnv = OSG::TextureEnvChunk::create();
mRightTexEnv->setEnvMode(GL_MODULATE);
#endif
mCurrentTexture = mLeftTexture;
#if OSG_MAJOR_VERSION >= 2
mCurrentTexEnv = mLeftTexEnv;
#endif
// setup camera
mCamera = OSG::PerspectiveCamera::create();
#if OSG_MAJOR_VERSION < 2
OSG::CPEditor ce(mCamera);
#endif
mCamera->setFov(
#if OSG_MAJOR_VERSION < 2
OSG::osgdegree2rad(60.0)
#else
OSG::osgDegree2Rad(60.0)
#endif
);
mCamera->setNear(0.01);
mCamera->setFar(10000);
mCamera->setBeacon(beacon);
mLeftImage = OSG::Image::create();
mRightImage = OSG::Image::create();
OSG::ImagePtr img;
// Set up FBO textures.
img = mLeftImage;
mLeftTexture->setMinFilter(GL_LINEAR);
mLeftTexture->setMagFilter(GL_LINEAR);
mLeftTexture->setTarget(GL_TEXTURE_2D);
mLeftTexture->setInternalFormat(GL_RGBA8);
mLeftTexture->setImage(img);
img = mRightImage;
mRightTexture->setMinFilter(GL_LINEAR);
mRightTexture->setMagFilter(GL_LINEAR);
mRightTexture->setTarget(GL_TEXTURE_2D);
mRightTexture->setInternalFormat(GL_RGBA8);
mRightTexture->setImage(img);
mCurrentImage = mLeftImage;
return shared_from_this();
}
