/**
* update the Horde tentacle according to Smr _tentacleIK
*/
static void updateTentacle()
{
//set of floats storing Horde's tentacle joints state
float tx,ty,tz,rx,ry,rz,foo;
double rrx,rry,rrz;
// a Horde handle towards a tentacle Bone (joint)
H3DNode tentacleBone;
// and its corresponding node in Smr
SMRKinematicJoint* ikJoint;
//get the transformation parameters from the SmrTentacle
for( unsigned int i=0; i < _tentacleIK->getNumJoints()-1 ; i++)
{
ikJoint = _tentacleIK->getJoint(i);
//get Horde tentacle's corresponding joint joint (Horde)
h3dFindNodes(H3DRootNode,ikJoint->getName().c_str(), H3DNodeTypes::Joint);
tentacleBone = h3dGetNodeFindResult(0);
h3dGetNodeTransform(tentacleBone,&tx,&ty,&tz,&rx,&ry,&rz,&foo,&foo,&foo);
//put the rotation values into euler angles (in degrees)
ikJoint->getOrientation().toEulerAngles(rrx,rry,rrz);
// update tentacle's joint according to Smr kinematic chain equivalent
h3dSetNodeTransform( tentacleBone, tx, ty, tz, radToDeg( ((float)(rrx)) ), radToDeg( ((float)(rry)) ), radToDeg( ((float)(rrz)) ), foo, foo, foo );
}
// orientate Horde tentacles root joint correctly //No more in the new version !
ikJoint = _tentacleIK->getJoint(0);
h3dFindNodes(H3DRootNode,ikJoint->getName().c_str(), H3DNodeTypes::Joint);
tentacleBone = h3dGetNodeFindResult(0);
h3dGetNodeTransform(tentacleBone,&tx,&ty,&tz,&rx,&ry,&foo,&foo,&foo,&foo);
h3dSetNodeTransform(tentacleBone,tx,ty,tz,rx,ry,rz,foo,foo,foo);
}
Joint* Joint::getInstance(H3DNode model, const char *name)
{
h3dFindNodes( model, name, H3DNodeTypes::Joint );
H3DNode id = h3dGetNodeFindResult(0);
Joint* j = getInstance(id);
return j;
}
SCENEGRAPHPLUGINEXP void dllLoadScene( const char* sceneFile )
{
GameLog::logMessage("Setting Horde3D Paths");
XMLResults results;
XMLNode scene = XMLNode::parseFile( sceneFile, "Configuration", &results);
XMLNode& engineSettings(scene.getChildNode("EngineConfig"));
if ( !engineSettings.isEmpty() )
{
bool loadTextures =
_stricmp(engineSettings.getAttribute("loadTextures", "true"), "true") == 0 ||
_stricmp(engineSettings.getAttribute("loadTextures", "1"), "1") == 0;
GameLog::logMessage("LoadTextures: %s", loadTextures ? "enabled" : "disabled");
h3dSetOption( H3DOptions::LoadTextures, loadTextures ? 1.0f : 0.0f );
int shadowMapSize = atoi(engineSettings.getAttribute("shadowMapSize", "1024"));
GameLog::logMessage("ShadowMapSize: %d", shadowMapSize);
h3dSetOption( H3DOptions::ShadowMapSize, float( shadowMapSize) );
int anisotropyFactor = atoi(engineSettings.getAttribute("anisotropyFactor", "1"));
GameLog::logMessage("Anisotropy: %d", anisotropyFactor);
h3dSetOption( H3DOptions::MaxAnisotropy, float( anisotropyFactor ) );
bool texCompression =
_stricmp(engineSettings.getAttribute("texCompression", "true"), "true") == 0 ||
_stricmp(engineSettings.getAttribute("texCompression", "1"), "1") == 0;
GameLog::logMessage("TexCompression: %s", texCompression ? "enabled" : "disabled");
h3dSetOption( H3DOptions::TexCompression, texCompression );
int maxNumMessages = atoi(engineSettings.getAttribute("maxNumMessages", "1024"));
h3dSetOption( H3DOptions::MaxNumMessages, float( maxNumMessages ) );
}
// Loading scene graph
XMLNode& sceneGraph(scene.getChildNode("SceneGraph"));
if ( sceneGraph.isEmpty() ) GameLog::errorMessage("No Scene Graph Node found!");
else
{
GameLog::logMessage("Loading SceneGraph %s", sceneGraph.getAttribute("path"));
// Environment
H3DRes sceneGraphID = h3dAddResource( H3DResTypes::SceneGraph, sceneGraph.getAttribute("path"), 0 );
GameLog::logMessage("Loading Resources...");
// Load resources
h3dutLoadResourcesFromDisk( "." );
GameLog::logMessage("Adding scene graph to root node");
// Add scene nodes
H3DNode newSceneID = h3dAddNodes( H3DRootNode, sceneGraphID);
SceneGraphManager::instance()->addNewHordeNode( newSceneID );
}
// Use the specified render cam
if (scene.getChildNode("ActiveCamera").getAttribute("name") && h3dFindNodes( H3DRootNode, scene.getChildNode("ActiveCamera").getAttribute("name"), H3DNodeTypes::Camera ) > 0)
SceneGraphManager::instance()->setActiveCam( h3dGetNodeFindResult(0) );
}
void SceneGraphComponent::setParentNode(H3DNode newParentNode, const Attach* data)
{
if (m_hordeID > 0)
{
if(data->Child && strcmp(data->Child,"") != 0 )
{
int nodes = h3dFindNodes( newParentNode, data->Child, H3DNodeTypes::Undefined );
H3DNode child = h3dGetNodeFindResult(0);
h3dSetNodeParent(m_hordeID, child);
}
else
{
h3dSetNodeParent(m_hordeID, newParentNode);
}
h3dSetNodeTransform(m_hordeID,data->Tx,data->Ty, data->Tz,
data->Rx, data->Ry, data->Rz,
data->Sx, data->Sy, data->Sz);
checkTransformation();
}
}
SCENEGRAPHPLUGINEXP void dllLoadScene( const char* sceneFile )
{
GameLog::logMessage("Setting Horde3D Configuration");
XMLResults results;
XMLNode scene = XMLNode::parseFile( sceneFile, "Configuration", &results);
const XMLNode& engineSettings(scene.getChildNode("EngineConfig"));
if ( !engineSettings.isEmpty() )
{
int maxLogLevel = atoi(engineSettings.getAttribute("maxLogLevel", "4"));
GameLog::logMessage("MaxLogLevel: %d", maxLogLevel);
h3dSetOption( H3DOptions::MaxLogLevel, float( maxLogLevel ) );
int maxNumMessages = atoi(engineSettings.getAttribute("maxNumMessages", "1024"));
GameLog::logMessage("MaxNumMessages: %d", maxNumMessages);
h3dSetOption( H3DOptions::MaxNumMessages, float( maxNumMessages ) );
int trilinearFiltering = atoi(engineSettings.getAttribute("trilinearFiltering", "1"));
GameLog::logMessage("TrilinearFiltering: %d", trilinearFiltering);
h3dSetOption( H3DOptions::TrilinearFiltering, float( trilinearFiltering ) );
int maxAnisotropy = atoi(engineSettings.getAttribute("maxAnisotropy", "1"));
GameLog::logMessage("MaxAnisotropy: %d", maxAnisotropy);
h3dSetOption( H3DOptions::MaxAnisotropy, float( maxAnisotropy ) );
bool sRGBLinearization =
_stricmp(engineSettings.getAttribute("sRGBLinearization", "0"), "true") == 0 ||
_stricmp(engineSettings.getAttribute("sRGBLinearization", "0"), "1") == 0;
GameLog::logMessage("SRGBLinearization: %s", sRGBLinearization ? "enabled" : "disabled");
h3dSetOption( H3DOptions::SRGBLinearization, sRGBLinearization );
bool texCompression =
_stricmp(engineSettings.getAttribute("texCompression", "0"), "true") == 0 ||
_stricmp(engineSettings.getAttribute("texCompression", "0"), "1") == 0;
GameLog::logMessage("TexCompression: %s", texCompression ? "enabled" : "disabled");
h3dSetOption( H3DOptions::TexCompression, texCompression );
bool loadTextures =
_stricmp(engineSettings.getAttribute("loadTextures", "1"), "1") == 0
|| _stricmp(engineSettings.getAttribute("loadTextures", "1"), "true") == 0;
GameLog::logMessage("LoadTextures: %s", loadTextures ? "enabled" : "disabled");
h3dSetOption( H3DOptions::LoadTextures, loadTextures ? 1.0f : 0.0f );
const XMLNode& pathes(scene.getChildNode("EnginePath"));
if (!pathes.isEmpty())
{
GameLog::logMessage("AnimationPath: %s", pathes.getAttribute("animationpath", "animations"));
h3dutSetResourcePath(H3DResTypes::Animation, pathes.getAttribute("animationpath", "animations"));
}
const XMLNode& engineSettings(scene.getChildNode("EngineConfig"));
if ( !engineSettings.isEmpty() )
{
bool fastAnim =
_stricmp(engineSettings.getAttribute("fastAnimation", "false"), "true") == 0 ||
_stricmp(engineSettings.getAttribute("fastAnimation", "0"), "1") == 0;
GameLog::logMessage("FastAnimation: %s", fastAnim ? "enabled" : "disabled");
h3dSetOption( H3DOptions::FastAnimation, fastAnim ? 1.0f : 0.0f );
}
int shadowMapSize = atoi(engineSettings.getAttribute("shadowMapSize", "1024"));
GameLog::logMessage("ShadowMapSize: %d", shadowMapSize);
h3dSetOption( H3DOptions::ShadowMapSize, float( shadowMapSize) );
int sampleCount = atoi(engineSettings.getAttribute("sampleCount", "0"));
GameLog::logMessage("SampleCount: %d", sampleCount);
h3dSetOption( H3DOptions::SampleCount, float( sampleCount) );
bool wireframeMode =
_stricmp(engineSettings.getAttribute("wireframeMode", "0"), "1") == 0 ||
_stricmp(engineSettings.getAttribute("wireframeMode", "0"), "true") == 0;
GameLog::logMessage("WireframeMode: %s", wireframeMode ? "enabled" : "disabled");
h3dSetOption( H3DOptions::WireframeMode, wireframeMode );
bool debugViewMode =
_stricmp(engineSettings.getAttribute("debugViewMode", "0"), "1") == 0 ||
_stricmp(engineSettings.getAttribute("debugViewMode", "0"), "true") == 0;
GameLog::logMessage("DebugViewMode: %s", debugViewMode ? "enabled" : "disabled");
h3dSetOption( H3DOptions::DebugViewMode, debugViewMode );
bool dumpFailedShaders =
_stricmp(engineSettings.getAttribute("dumpFailedShaders", "0"), "1") == 0 ||
_stricmp(engineSettings.getAttribute("dumpFailedShaders", "0"), "true") == 0;
GameLog::logMessage("DumpFailedShaders: %s", dumpFailedShaders ? "enabled" : "disabled");
h3dSetOption( H3DOptions::DumpFailedShaders, dumpFailedShaders );
bool gatherTimeStats =
_stricmp(engineSettings.getAttribute("gatherTimeStats", "1"), "1") == 0 ||
_stricmp(engineSettings.getAttribute("gatherTimeStats", "1"), "true") == 0;
GameLog::logMessage("GatherTimeStats: %s", gatherTimeStats ? "enabled" : "disabled");
h3dSetOption( H3DOptions::GatherTimeStats, gatherTimeStats );
}
const XMLNode& stereoSettings(scene.getChildNode("StereoscopyConfig"));
if ( !stereoSettings.isEmpty() )
{
const char* modeC = stereoSettings.getAttribute("mode", "0");
unsigned int mode = 0;
if (_stricmp(modeC, "0") == 0 || _stricmp(modeC, "disabled") == 0)
mode = 0;
else if (_stricmp(modeC, "1") == 0 || _stricmp(modeC, "sideBySide") == 0)
mode = 1;
else if (_stricmp(modeC, "2") == 0 || _stricmp(modeC, "quadBuffering") == 0)
mode = 2;
SceneGraphManager::instance()->setStereoscopyMode(mode);
const char* methodC = stereoSettings.getAttribute("method", "0");
unsigned int method = 0;
if (_stricmp(methodC, "0") == 0 || _stricmp(methodC, "toedIn") == 0)
method = 0;
else if (_stricmp(methodC, "1") == 0 || _stricmp(methodC, "asymmetricFrustum") == 0)
method = 1;
SceneGraphManager::instance()->setStereoscopyMethod(method);
SceneGraphManager::instance()->setStereoscopyParams((float)atof(stereoSettings.getAttribute("eyeOffset", "0.05")),
(float)atof(stereoSettings.getAttribute("strabismus", "2.5")), (float)atof(stereoSettings.getAttribute("focalLength", "1")));
const char* stereoPipeline = stereoSettings.getAttribute("renderPipeline");
if (stereoPipeline)
{
int resID = h3dAddResource( H3DResTypes::Pipeline, stereoPipeline, 0 );
h3dutLoadResourcesFromDisk( "." );
if (resID > 0)
SceneGraphManager::instance()->setStereoPipelineResource(resID);
}
const char* stereoOverlayMaterial = stereoSettings.getAttribute("overlayMaterial");
if (stereoOverlayMaterial)
{
int materialId = h3dAddResource( H3DResTypes::Material, stereoOverlayMaterial, 0 );
h3dutLoadResourcesFromDisk( "." );
if (materialId > 0)
SceneGraphManager::instance()->setStereoOverlayMaterial(materialId);
}
}
// Loading scene graph
const XMLNode& sceneGraph(scene.getChildNode("SceneGraph"));
if ( sceneGraph.isEmpty() )
GameLog::errorMessage("No Scene Graph Node found!");
else
{
GameLog::logMessage("Loading SceneGraph %s", sceneGraph.getAttribute("path"));
// Environment
H3DRes sceneGraphID = h3dAddResource( H3DResTypes::SceneGraph, sceneGraph.getAttribute("path"), 0 );
GameLog::logMessage("Loading Resources...");
// Load resources
h3dutLoadResourcesFromDisk( "." );
GameLog::logMessage("Adding scene graph to root node");
// Add scene nodes
H3DNode newSceneID = h3dAddNodes( H3DRootNode, sceneGraphID);
SceneGraphManager::instance()->addNewHordeNode( newSceneID );
}
// Use the specified render cam
if (scene.getChildNode("ActiveCamera").getAttribute("name") && h3dFindNodes( H3DRootNode, scene.getChildNode("ActiveCamera").getAttribute("name"), H3DNodeTypes::Camera ) > 0)
SceneGraphManager::instance()->setActiveCam( h3dGetNodeFindResult(0) );
}
// This function's code is from the RecastDemo project's main.cpp file by Mikko Mononen
void MyRecastDemo::guiRender()
{
GLdouble proj[16];
GLdouble model[16];
GLint view[4];
glGetDoublev(GL_PROJECTION_MATRIX, proj);
glGetDoublev(GL_MODELVIEW_MATRIX, model);
glGetIntegerv(GL_VIEWPORT, view);
GLdouble x, y, z;
gluUnProject(m_mouseX, m_mouseY, 0.0f, model, proj, view, &x, &y, &z);
m_rays[0] = (float)x; m_rays[1] = (float)y; m_rays[2] = (float)z;
gluUnProject(m_mouseX, m_mouseY, 1.0f, model, proj, view, &x, &y, &z);
m_raye[0] = (float)x; m_raye[1] = (float)y; m_raye[2] = (float)z;
glDisable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0, m_width, 0, m_height);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glColor4ub(255,255,255,255);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
m_mouseOverMenu = false;
imguiBeginFrame( m_mouseX,m_mouseY,m_mouseBut,m_mouseScroll );
const char msg[] = "W/S/A/D: move (+ shift) | F1: toggle recast gui | F2: toggle node names | F12: invert mouse";
imguiDrawText(280, m_height-20, IMGUI_ALIGN_LEFT, msg, imguiRGBA(255,255,255,200));
if (m_showMenu)
{
if (m_sample)
{
m_sample->handleRenderOverlay((double*)proj, (double*)model, (int*)view);
}
if (imguiBeginScrollArea("Properties", m_width-250-10, 10, 250, m_height-20, &m_propScroll))
m_mouseOverMenu = true;
if (imguiCheck("Show Log", m_showLog))
m_showLog = !m_showLog;
if (imguiCheck("Show Tools", m_showTools))
m_showTools = !m_showTools;
imguiSeparator();
imguiLabel("Sample");
if (imguiButton(m_sampleName))
{
if (m_showSample)
{
m_showSample = false;
}
else
{
m_showSample = true;
m_showConfig = false;
}
}
imguiSeparator();
imguiLabel("Config File");
if (imguiButton(m_configName))
{
if (m_showConfig)
{
m_showConfig = false;
}
else
{
m_showSample = false;
m_showConfig = true;
scanDirectory("Content", ".xml", m_files);
}
}
if (m_geom)
{
char text[64];
snprintf(text, 64, "Verts: %.1fk Tris: %.1fk",
m_geom->getMesh()->getVertCount()/1000.0f,
m_geom->getMesh()->getTriCount()/1000.0f);
imguiValue(text);
}
imguiSeparator();
if (m_geom && m_sample)
{
imguiSeparatorLine();
m_sample->handleSettings();
if (imguiButton("Build"))
{
m_ctx.resetLog();
if (!m_sample->handleBuild())
{
m_showLog = true;
m_logScroll = 0;
}
m_ctx.dumpLog("Build log %s:", m_configName);
}
imguiSeparator();
}
if (m_sample)
{
imguiSeparatorLine();
m_sample->handleDebugMode();
}
imguiEndScrollArea();
}
// Sample selection dialog.
if (m_showSample)
{
static int levelScroll = 0;
if (imguiBeginScrollArea("Choose Sample", m_width-10-250-10-200, m_height-10-250, 200, 250, &levelScroll))
m_mouseOverMenu = true;
Sample* newSample = 0;
for (int i = 0; i < g_nsamples; ++i)
{
if (imguiItem(g_samples[i].name))
{
newSample = g_samples[i].create();
if (newSample)
strcpy(m_sampleName, g_samples[i].name);
}
}
if (newSample)
{
delete m_geom;
m_geom = 0;
delete m_sample;
m_sample = newSample;
m_sample->setContext(&m_ctx);
if (m_geom && m_sample)
{
m_sample->handleMeshChanged(m_geom);
}
else if(!m_geom)
{
m_geom = new InputGeom();
m_geom->loadMesh( &m_ctx, m_configXmlFile.c_str() );
}
if( m_geom && m_sample )
{
m_sample->handleMeshChanged(m_geom);
m_sample->handleSettings();
}
m_showSample = false;
}
imguiEndScrollArea();
}
// Config selection dialog.
if (m_showConfig)
{
static int levelScroll = 0;
if (imguiBeginScrollArea("Choose Config File", m_width-10-250-10-200, m_height-10-450, 200, 450, &levelScroll))
m_mouseOverMenu = true;
int levelToLoad = -1;
for (int i = 0; i < m_files.size; ++i)
{
if (imguiItem(m_files.files[i]))
levelToLoad = i;
}
if (levelToLoad != -1)
{
strncpy(m_configName, m_files.files[levelToLoad], sizeof(m_configName));
m_configName[sizeof(m_configName)-1] = '\0';
m_showConfig = false;
delete m_geom;
m_geom = 0;
char path[256];
strcpy(path, "Content/");
strcat(path, m_configName);
m_configXmlFile = path;
m_geom = new InputGeom();
if( m_loadedSceneGraphRes )
{
// Remove previously loaded scene .
// Every scene.xml file loaded should group its children in a GroupNode.
int nrFoundNodes = h3dFindNodes( H3DRootNode, "", H3DNodeTypes::Group);
for( int i = 0; i<2; ++i )
{
int node = h3dGetNodeFindResult(i);
const char* name = h3dGetNodeParamStr( node, H3DNodeParams::NameStr);
std::string camName(name);
// Do not delete nodes directly under the root node (e.g. the demo's camera)
if( camName.compare("RootNode") != 0)
{
h3dRemoveNode( h3dGetNodeFindResult(i) );
}
}
int a = h3dRemoveResource( m_loadedSceneGraphRes );
h3dReleaseUnusedResources();
}
if( !loadSceneFileFromConfig( path) )
{
m_showLog = true;
m_logScroll = 0;
m_ctx.log(RC_LOG_ERROR, "Error loading resources from specified scene file.");
}
if (!m_geom || !m_geom->loadMesh(&m_ctx, m_configXmlFile.c_str()) )
{
delete m_geom;
m_geom = 0;
m_showLog = true;
m_logScroll = 0;
m_ctx.log(RC_LOG_ERROR, "Error loading nav mesh geometry from: \"%s\"", m_configName);
m_ctx.dumpLog("Config: Geom load log %s:", m_configName);
}
if (m_sample && m_geom)
{
m_sample->handleMeshChanged(m_geom);
}
}
imguiEndScrollArea();
}
// Log
if (m_showLog && m_showMenu)
{
if (imguiBeginScrollArea("Log", 250+20, 10, m_width - 300 - 250, 200, &m_logScroll))
m_mouseOverMenu = true;
for (int i = 0; i < m_ctx.getLogCount(); ++i)
imguiLabel(m_ctx.getLogText(i));
imguiEndScrollArea();
}
// Tools
if (!m_showTestCases && m_showTools && m_showMenu) // && m_geom && m_sample)
{
if (imguiBeginScrollArea("Tools", 10, 10, 250, m_height-20, &m_toolsScroll))
m_mouseOverMenu = true;
if (m_sample)
m_sample->handleTools();
imguiEndScrollArea();
}
m_wasMouseOverMenu = m_mouseOverMenu;
if(!m_wasMouseOverMenu)
{
// In case we move a GUI slider and leave the menu area
m_mouseBut = 0;
}
m_mouseScroll = 0;
imguiEndFrame();
imguiRenderGLDraw();
glDisable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
}
void GazeComponent::headShake(int axis, float extent, int count, float speed, float duration)
{
//get head position
h3dFindNodes( m_hID, Config::getParamS( Agent_Param::HeadName_S ), H3DNodeTypes::Joint );
int head_hID = h3dGetNodeFindResult(0);
if(head_hID <= 0)
return;
const float *head_absArray;
h3dGetNodeTransMats( head_hID, 0, &head_absArray );
Vec3f head_pos(head_absArray[12], head_absArray[13], head_absArray[14]);
//check parameters
if(count < 0) count = Config::getParamI(Agent_Param::DfltHeadShakeReps_I);
if(extent < 0) extent = Config::getParamF(Agent_Param::DfltHeadShakeExt_F);
if(speed < 0) speed = Config::getParamF(Agent_Param::DfltHeadShakeSpd_F);
if(duration < 0) duration = Config::getParamF(Agent_Param::DfltHeadShakeDur_F);
if(axis < 0 || axis > 2) axis = Config::getParamI(Agent_Param::DfltHeadShakeAxis_I);
Vec3f deviation(0,0,0);
switch((utils::Axis::List)axis)
{
case utils::Axis::X:
deviation.x = extent;
break;
case utils::Axis::Y:
deviation.y = extent;
break;
case utils::Axis::Z:
deviation.z = extent;
break;
}
Vec3f p,r,s;
Matrix4f head_absMat(head_absArray);
head_absMat.decompose(p,r,s);
Vec3f currentGaze = getGazeCoord();
//convert current gaze to head coord sys
currentGaze = head_absMat.inverted() * currentGaze;
//compute target vectors
Vec3f targetGaze1 = currentGaze - deviation;
Vec3f targetGaze2 = currentGaze + deviation;
//conver them to world coord sys
targetGaze1 = head_absMat * targetGaze1;
targetGaze2 = head_absMat * targetGaze2;
std::list<Gaze*> nodes;
for(int i=0; i<count; i++)
{
nodes.push_back( new Gaze(this, getGazeCoord(), (i%2 == 0)? targetGaze1 : targetGaze2, (speed >= 0)? speed : m_speed, duration) );
}
//now add the new gaze nodes to the gaze stack (in reverse order ... 'cause it's a stack)
std::list<Gaze*>::reverse_iterator riter = nodes.rbegin();
while(riter != nodes.rend())
{
if((*riter)->isValid()) m_gazeNodes.push( (*riter) );
++riter;
}
}
