static GfMatrix3d
_EulerXYZToMatrix3d(GfVec3d eulerXYZ)
{
GfMatrix3d result(GfRotation(GfVec3d::XAxis(),eulerXYZ[0]) *
GfRotation(GfVec3d::YAxis(),eulerXYZ[1]) *
GfRotation(GfVec3d::ZAxis(),eulerXYZ[2]));
return result;
}
GfMatrix4d
Hdx_UnitTestGLDrawing::GetViewMatrix() const
{
GfMatrix4d viewMatrix;
viewMatrix.SetIdentity();
// rotate from z-up to y-up
viewMatrix *= GfMatrix4d().SetRotate(GfRotation(GfVec3d(1.0,0.0,0.0), -90.0));
viewMatrix *= GfMatrix4d().SetRotate(GfRotation(GfVec3d(0, 1, 0), _rotate[1]));
viewMatrix *= GfMatrix4d().SetRotate(GfRotation(GfVec3d(1, 0, 0), _rotate[0]));
viewMatrix *= GfMatrix4d().SetTranslate(GfVec3d(_translate[0], _translate[1], _translate[2]));
return viewMatrix;
}
PXR_NAMESPACE_OPEN_SCOPE
// XXX:
// This implementation is ported from MfTransformablePrim::
// MatrixToVectorsWithPivotInvariant; needs to be generalized for arbitrary
// rotationOrder (which means lofting that concept to Gf), orthonormalization,
// etc.
static GfMatrix3d
_EulerXYZToMatrix3d(GfVec3d eulerXYZ)
{
GfMatrix3d result(GfRotation(GfVec3d::XAxis(),eulerXYZ[0]) *
GfRotation(GfVec3d::YAxis(),eulerXYZ[1]) *
GfRotation(GfVec3d::ZAxis(),eulerXYZ[2]));
return result;
}
void
Hd_TestDriver::_Init(HdReprSelector const &reprSelector)
{
_renderIndex = HdRenderIndex::New(&_renderDelegate);
TF_VERIFY(_renderIndex != nullptr);
_sceneDelegate = new HdUnitTestDelegate(_renderIndex,
SdfPath::AbsoluteRootPath());
_reprSelector = reprSelector;
GfMatrix4d viewMatrix = GfMatrix4d().SetIdentity();
viewMatrix *= GfMatrix4d().SetTranslate(GfVec3d(0.0, 1000.0, 0.0));
viewMatrix *= GfMatrix4d().SetRotate(GfRotation(GfVec3d(1.0, 0.0, 0.0), -90.0));
GfFrustum frustum;
frustum.SetPerspective(45, true, 1, 1.0, 10000.0);
GfMatrix4d projMatrix = frustum.ComputeProjectionMatrix();
SetCamera(viewMatrix, projMatrix, GfVec4d(0, 0, 512, 512));
// set depthfunc to default
_renderPassState->SetDepthFunc(HdCmpFuncLess);
}
GfRotation
GfMatrix3d::ExtractRotation() const
{
return GfRotation( ExtractRotationQuaternion() );
}
/* static */
GfMatrix4d
UsdGeomXformOp::GetOpTransform(UsdGeomXformOp::Type const opType,
VtValue const &opVal,
bool isInverseOp)
{
// This will be the most common case.
if (opType == TypeTransform) {
GfMatrix4d mat(1.);
bool isMatrixVal = true;
if (opVal.IsHolding<GfMatrix4d>()) {
mat = opVal.UncheckedGet<GfMatrix4d>();
} else if (opVal.IsHolding<GfMatrix4f>()) {
mat = GfMatrix4d(opVal.UncheckedGet<GfMatrix4f>());
} else {
isMatrixVal = false;
TF_CODING_ERROR("Invalid combination of opType (%s) "
"and opVal (%s). Returning identity matrix.",
TfEnum::GetName(opType).c_str(),
TfStringify(opVal).c_str());
return GfMatrix4d(1.);
}
if (isMatrixVal && isInverseOp) {
double determinant=0;
mat = mat.GetInverse(&determinant);
if (GfIsClose(determinant, 0.0, 1e-9)) {
TF_CODING_ERROR("Cannot invert singular transform op with "
"value %s.", TfStringify(opVal).c_str());
}
}
return mat;
}
double doubleVal = 0.;
bool isScalarVal = true;
if (opVal.IsHolding<double>()) {
doubleVal = opVal.UncheckedGet<double>();
} else if (opVal.IsHolding<float>()) {
doubleVal = opVal.UncheckedGet<float>();
} else if (opVal.IsHolding<GfHalf>()) {
doubleVal = opVal.UncheckedGet<GfHalf>();
} else {
isScalarVal = false;
}
if (isScalarVal) {
if (isInverseOp)
doubleVal = -doubleVal;
if (opType == TypeRotateX) {
return GfMatrix4d(1.).SetRotate(GfRotation(GfVec3d::XAxis(), doubleVal));
} else if (opType == TypeRotateY) {
return GfMatrix4d(1.).SetRotate(GfRotation(GfVec3d::YAxis(), doubleVal));
} else if (opType == TypeRotateZ) {
return GfMatrix4d(1.).SetRotate(GfRotation(GfVec3d::ZAxis(), doubleVal));
}
}
GfVec3d vec3dVal = GfVec3d(0.);
bool isVecVal = true;
if (opVal.IsHolding<GfVec3f>()) {
vec3dVal = opVal.UncheckedGet<GfVec3f>();
} else if (opVal.IsHolding<GfVec3d>()) {
vec3dVal = opVal.UncheckedGet<GfVec3d>();
} else if (opVal.IsHolding<GfVec3h>()) {
vec3dVal = opVal.UncheckedGet<GfVec3h>();
} else {
isVecVal = false;
}
if (isVecVal) {
switch(opType) {
case TypeTranslate:
if (isInverseOp)
vec3dVal = -vec3dVal;
return GfMatrix4d(1.).SetTranslate(vec3dVal);
case TypeScale:
if (isInverseOp) {
vec3dVal = GfVec3d(1/vec3dVal[0],
1/vec3dVal[1],
1/vec3dVal[2]);
}
return GfMatrix4d(1.).SetScale(vec3dVal);
default: {
if (isInverseOp)
vec3dVal = -vec3dVal;
// Must be one of the 3-axis rotates.
GfMatrix3d xRot(GfRotation(GfVec3d::XAxis(), vec3dVal[0]));
GfMatrix3d yRot(GfRotation(GfVec3d::YAxis(), vec3dVal[1]));
GfMatrix3d zRot(GfRotation(GfVec3d::ZAxis(), vec3dVal[2]));
GfMatrix3d rotationMat(1.);
switch (opType) {
case TypeRotateXYZ:
// Inv(ABC) = Inv(C) * Inv(B) * Inv(A)
rotationMat = !isInverseOp ? (xRot * yRot * zRot)
: (zRot * yRot * xRot);
break;
case TypeRotateXZY:
rotationMat = !isInverseOp ? (xRot * zRot * yRot)
: (yRot * zRot * xRot);
break;
case TypeRotateYXZ:
rotationMat = !isInverseOp ? (yRot * xRot * zRot)
: (zRot * xRot * yRot);
break;
case TypeRotateYZX:
rotationMat = !isInverseOp ? (yRot * zRot * xRot)
: (xRot * zRot * yRot);
break;
case TypeRotateZXY:
rotationMat = !isInverseOp ? (zRot * xRot * yRot)
: (yRot * xRot * zRot);
break;
case TypeRotateZYX:
rotationMat = !isInverseOp ? (zRot * yRot * xRot)
: (xRot * yRot * zRot);
break;
default:
TF_CODING_ERROR("Invalid combination of opType (%s) "
"and opVal (%s). Returning identity matrix.",
TfEnum::GetName(opType).c_str(),
TfStringify(opVal).c_str());
return GfMatrix4d(1.);
}
return GfMatrix4d(1.).SetRotate(rotationMat);
}
}
}
if (opType == TypeOrient) {
GfQuatd quatVal(0);
if (opVal.IsHolding<GfQuatd>())
quatVal = opVal.UncheckedGet<GfQuatd>();
else if (opVal.IsHolding<GfQuatf>()) {
const GfQuatf &quatf = opVal.UncheckedGet<GfQuatf>();
quatVal = GfQuatd(quatf.GetReal(), quatf.GetImaginary());
} else if (opVal.IsHolding<GfQuath>()) {
const GfQuath &quath = opVal.UncheckedGet<GfQuath>();
quatVal = GfQuatd(quath.GetReal(), quath.GetImaginary());
}
GfRotation quatRotation(quatVal);
if (isInverseOp)
quatRotation = quatRotation.GetInverse();
return GfMatrix4d(quatRotation, GfVec3d(0.));
}
TF_CODING_ERROR("Invalid combination of opType (%s) and opVal (%s). "
"Returning identity matrix.", TfEnum::GetName(opType).c_str(),
TfStringify(opVal).c_str());
return GfMatrix4d(1.);
}
bool
UsdGeomPointInstancer::ComputeInstanceTransformsAtTime(
VtArray<GfMatrix4d>* xforms,
const UsdTimeCode time,
const UsdTimeCode baseTime,
const ProtoXformInclusion doProtoXforms,
const MaskApplication applyMask) const
{
// XXX: Need to add handling of velocities/angularVelocities and baseTime.
(void)baseTime;
if (!xforms) {
TF_WARN("%s -- null container passed to ComputeInstanceTransformsAtTime()",
GetPrim().GetPath().GetText());
return false;
}
VtIntArray protoIndices;
if (!GetProtoIndicesAttr().Get(&protoIndices, time)) {
TF_WARN("%s -- no prototype indices",
GetPrim().GetPath().GetText());
return false;
}
if (protoIndices.empty()) {
xforms->clear();
return true;
}
VtVec3fArray positions;
if (!GetPositionsAttr().Get(&positions, time)) {
TF_WARN("%s -- no positions",
GetPrim().GetPath().GetText());
return false;
}
if (positions.size() != protoIndices.size()) {
TF_WARN("%s -- positions.size() [%zu] != protoIndices.size() [%zu]",
GetPrim().GetPath().GetText(),
positions.size(),
protoIndices.size());
return false;
}
VtVec3fArray scales;
GetScalesAttr().Get(&scales, time);
if (!scales.empty() && scales.size() != protoIndices.size()) {
TF_WARN("%s -- scales.size() [%zu] != protoIndices.size() [%zu]",
GetPrim().GetPath().GetText(),
scales.size(),
protoIndices.size());
return false;
}
VtQuathArray orientations;
GetOrientationsAttr().Get(&orientations, time);
if (!orientations.empty() && orientations.size() != protoIndices.size()) {
TF_WARN("%s -- orientations.size() [%zu] != protoIndices.size() [%zu]",
GetPrim().GetPath().GetText(),
orientations.size(),
protoIndices.size());
return false;
}
// If we're going to include the prototype transforms, verify that we have
// prototypes and that all of the protoIndices are in bounds.
SdfPathVector protoPaths;
if (doProtoXforms == IncludeProtoXform) {
const UsdRelationship prototypes = GetPrototypesRel();
if (!prototypes.GetTargets(&protoPaths) || protoPaths.empty()) {
TF_WARN("%s -- no prototypes",
GetPrim().GetPath().GetText());
return false;
}
TF_FOR_ALL(iter, protoIndices) {
const int protoIndex = *iter;
if (protoIndex < 0 || static_cast<size_t>(protoIndex) >= protoPaths.size()) {
TF_WARN("%s -- invalid prototype index: %d. Should be in [0, %zu)",
GetPrim().GetPath().GetText(),
protoIndex,
protoPaths.size());
return false;
}
}
}
// Compute the mask only if applyMask says we should, otherwise we leave
// mask empty so that its application below is a no-op.
std::vector<bool> mask;
if (applyMask == ApplyMask) {
mask = ComputeMaskAtTime(time);
if (!mask.empty() && mask.size() != protoIndices.size()) {
TF_WARN("%s -- mask.size() [%zu] != protoIndices.size() [%zu]",
GetPrim().GetPath().GetText(),
mask.size(),
protoIndices.size());
return false;
}
}
UsdStageWeakPtr stage = GetPrim().GetStage();
UsdGeomXformCache xformCache(time);
xforms->assign(protoIndices.size(), GfMatrix4d(1.0));
for (size_t instanceId = 0; instanceId < protoIndices.size(); ++instanceId) {
if (!mask.empty() && !mask[instanceId]) {
continue;
}
GfTransform instanceTransform;
if (!scales.empty()) {
instanceTransform.SetScale(scales[instanceId]);
}
if (!orientations.empty()) {
instanceTransform.SetRotation(GfRotation(orientations[instanceId]));
}
instanceTransform.SetTranslation(positions[instanceId]);
GfMatrix4d protoXform(1.0);
if (doProtoXforms == IncludeProtoXform) {
const int protoIndex = protoIndices[instanceId];
const SdfPath& protoPath = protoPaths[protoIndex];
const UsdPrim& protoPrim = stage->GetPrimAtPath(protoPath);
if (protoPrim) {
// Get the prototype's local transformation.
bool resetsXformStack;
protoXform = xformCache.GetLocalTransformation(protoPrim,
&resetsXformStack);
}
}
(*xforms)[instanceId] = protoXform * instanceTransform.GetMatrix();
}
return ApplyMaskToArray(mask, xforms);
}
void
My_TestGLDrawing::DrawTest(bool offscreen)
{
std::cout << "My_TestGLDrawing::DrawTest()\n";
HdPerfLog& perfLog = HdPerfLog::GetInstance();
perfLog.Enable();
// Reset all counters we care about.
perfLog.ResetCache(HdTokens->extent);
perfLog.ResetCache(HdTokens->points);
perfLog.ResetCache(HdTokens->topology);
perfLog.ResetCache(HdTokens->transform);
perfLog.SetCounter(UsdImagingTokens->usdVaryingExtent, 0);
perfLog.SetCounter(UsdImagingTokens->usdVaryingPrimvar, 0);
perfLog.SetCounter(UsdImagingTokens->usdVaryingTopology, 0);
perfLog.SetCounter(UsdImagingTokens->usdVaryingVisibility, 0);
perfLog.SetCounter(UsdImagingTokens->usdVaryingXform, 0);
int width = GetWidth(), height = GetHeight();
double aspectRatio = double(width)/height;
GfFrustum frustum;
frustum.SetPerspective(60.0, aspectRatio, 1, 100000.0);
GfMatrix4d viewMatrix;
viewMatrix.SetIdentity();
viewMatrix *= GfMatrix4d().SetRotate(GfRotation(GfVec3d(0, 1, 0), _rotate[0]));
viewMatrix *= GfMatrix4d().SetRotate(GfRotation(GfVec3d(1, 0, 0), _rotate[1]));
viewMatrix *= GfMatrix4d().SetTranslate(GfVec3d(_translate[0], _translate[1], _translate[2]));
GfMatrix4d projMatrix = frustum.ComputeProjectionMatrix();
GfMatrix4d modelViewMatrix = viewMatrix;
if (UsdGeomGetStageUpAxis(_stage) == UsdGeomTokens->z) {
// rotate from z-up to y-up
modelViewMatrix =
GfMatrix4d().SetRotate(GfRotation(GfVec3d(1.0,0.0,0.0), -90.0)) *
modelViewMatrix;
}
GfVec4d viewport(0, 0, width, height);
_engine->SetCameraState(modelViewMatrix, projMatrix, viewport);
size_t i = 0;
TF_FOR_ALL(timeIt, GetTimes()) {
UsdTimeCode time = *timeIt;
if (*timeIt == -999) {
time = UsdTimeCode::Default();
}
UsdImagingGLRenderParams params;
params.drawMode = GetDrawMode();
params.enableLighting = IsEnabledTestLighting();
params.enableIdRender = IsEnabledIdRender();
params.frame = time;
params.complexity = _GetComplexity();
params.cullStyle = IsEnabledCullBackfaces() ?
UsdImagingGLCullStyle::CULL_STYLE_BACK :
UsdImagingGLCullStyle::CULL_STYLE_NOTHING;
glViewport(0, 0, width, height);
glEnable(GL_DEPTH_TEST);
if(IsEnabledTestLighting()) {
if(UsdImagingGLEngine::IsHydraEnabled()) {
_engine->SetLightingState(_lightingContext);
} else {
_engine->SetLightingStateFromOpenGL();
}
}
if (!GetClipPlanes().empty()) {
params.clipPlanes = GetClipPlanes();
for (size_t i=0; i<GetClipPlanes().size(); ++i) {
glEnable(GL_CLIP_PLANE0 + i);
}
}
GfVec4f const &clearColor = GetClearColor();
GLfloat clearDepth[1] = { 1.0f };
// Make sure we render to convergence.
TfErrorMark mark;
do {
glClearBufferfv(GL_COLOR, 0, clearColor.data());
glClearBufferfv(GL_DEPTH, 0, clearDepth);
_engine->Render(_stage->GetPseudoRoot(), params);
} while (!_engine->IsConverged());
TF_VERIFY(mark.IsClean(), "Errors occurred while rendering!");
std::cout << "itemsDrawn " << perfLog.GetCounter(HdTokens->itemsDrawn) << std::endl;
std::cout << "totalItemCount " << perfLog.GetCounter(HdTokens->totalItemCount) << std::endl;
std::string imageFilePath = GetOutputFilePath();
if (!imageFilePath.empty()) {
if (time != UsdTimeCode::Default()) {
std::stringstream suffix;
suffix << "_" << std::setw(3) << std::setfill('0') << params.frame << ".png";
imageFilePath = TfStringReplace(imageFilePath, ".png", suffix.str());
}
std::cout << imageFilePath << "\n";
WriteToFile("color", imageFilePath);
}
i++;
}
