TransformGroup* GroundBasedComplexModelLoader::getGroundBasedComplexModels(const SCNXArchive &scnxArchive) const {
TransformGroup *complexModels = new TransformGroup();
// Get list of all ground based complex models.
vector<ComplexModel*> listOfComplexModels = scnxArchive.getListOfGroundBasedComplexModels();
// Iterate over all ground based complex models and try to build a transform group.
vector<ComplexModel*>::iterator jt = listOfComplexModels.begin();
while (jt != listOfComplexModels.end()) {
ComplexModel *cm = (*jt++);
SharedPointer<istream> in = scnxArchive.getModelData(cm->getModelFile());
if (in.isValid()) {
Node *model = NULL;
// Check model.
OBJXArchive *objxArchive = NULL;
if (cm->getModelFile().find(".objx") != string::npos) {
objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchive(*in);
} else if (cm->getModelFile().find(".obj") != string::npos) {
objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchiveFromPlainOBJFile(*in);
}
if (objxArchive != NULL) {
model = objxArchive->createTransformGroup(NodeDescriptor(cm->getName()));
if (model != NULL) {
clog << "OBJ model successfully opened." << endl;
clog << " Translation: " << cm->getPosition().toString() << endl;
clog << " Rotation: " << cm->getRotation().toString() << endl;
TransformGroup *complexModel = new TransformGroup();
// Translation.
Point3 translation(cm->getPosition());
complexModel->setTranslation(translation);
// TODO: Achsenprüfung!!
Point3 rotation(cm->getRotation().getX(), cm->getRotation().getZ(), cm->getRotation().getY());
complexModel->setRotation(rotation);
complexModel->addChild(model);
complexModels->addChild(complexModel);
} else {
clog << "OBJ model could not be opened." << endl;
}
OPENDAVINCI_CORE_DELETE_POINTER(objxArchive);
}
}
}
return complexModels;
}
void OBJXGLWidget::initScene() {
Lock l(m_modelMutex);
// Initialize.
m_model = new TransformGroup();
TransformGroup *tg = new TransformGroup();
// Add model to be shown.
tg->addChild(m_model);
tg->addChild(new XYZAxes(NodeDescriptor("XYZAxes"), 1, 12));
tg->addChild(new Grid(NodeDescriptor("Grid"), 10, 1));
m_root = tg;
}
Node* DecoratorFactory::decorate(scenario::SCNXArchive &scnxArchive, const bool &showLaneConnectors) {
TransformGroup *tg = new TransformGroup();
Scenario &scenario = scnxArchive.getScenario();
if (scnxArchive.getAerialImage() != NULL) {
clog << "AerialImage loaded." << endl;
Point3 origin(scenario.getGround().getAerialImage().getOriginX(), scenario.getGround().getAerialImage().getOriginY(), 0);
Point3 scaling(scenario.getGround().getAerialImage().getMeterPerPixelX(), scenario.getGround().getAerialImage().getMeterPerPixelY(), 0);
AerialImage *ai = new AerialImage(
NodeDescriptor("AerialImage"),
scnxArchive.getAerialImage(),
origin,
scaling,
static_cast<float> (scenario.getGround().getAerialImage().getRotationZ()));
tg->addChild(ai);
}
if (scnxArchive.getHeightImage() != NULL) {
clog << "HeightImage available but will be skipped." << endl;
/*
Point3 origin(scenario.getGround().getHeightImage().getOriginX(), scenario.getGround().getHeightImage().getOriginY(), 0);
Point3 scaling(scenario.getGround().getHeightImage().getMeterPerPixelX(), scenario.getGround().getHeightImage().getMeterPerPixelY(), 0);
HeightGrid *hg = new HeightGrid(NodeDescriptor("HeightGrid"), scnxArchive.getHeightImage(), origin, scaling, static_cast<float>(scenario.getGround().getHeightImage().getRotationZ()), static_cast<float>(scenario.getGround().getHeightImage().getGroundHeight()), static_cast<float>(scenario.getGround().getHeightImage().getMinimumHeight()), static_cast<float>(scenario.getGround().getHeightImage().getMaximumHeight()));
tg->addChild(hg);
*/
}
ScenarioOpenGLSceneTransformation scnOpenGL(showLaneConnectors);
scenario.accept(scnOpenGL);
tg->addChild(scnOpenGL.getRoot());
// Load complex models.
GroundBasedComplexModelLoader gbcml;
TransformGroup *complexModels = gbcml.getGroundBasedComplexModels(scnxArchive);
if (complexModels != NULL) {
tg->addChild(complexModels);
}
return tg;
}
core::SharedPointer<core::wrapper::Image> OpenGLGrabber::getNextImage() {
if ( (m_sharedMemory.isValid()) && (m_sharedMemory->isValid()) ) {
m_sharedMemory->lock();
// Render the image right before grabbing it.
switch (m_render) {
case OpenGLGrabber::IN_CAR:
renderNextImageInCar();
m_FIFO_Obstacles.clear();
break;
case OpenGLGrabber::CHASE_CAR:
renderNextImageChaseCar();
m_FIFO_Obstacles.clear();
break;
case OpenGLGrabber::CHASE_CAR_SENSORS:
{
const uint32_t size = m_FIFO_Obstacles.getSize();
for(uint32_t i = 0; i < size; i++) {
Container c = m_FIFO_Obstacles.leave();
if (c.getDataType() == Container::OBSTACLE) {
Obstacle obstacle = c.getData<Obstacle>();
// Check if sensor FOV-"Obstacle":
if (obstacle.getID() >= 9000) {
switch (obstacle.getState()) {
case Obstacle::REMOVE:
{
// Remove obstacle.
map<uint32_t, Node*>::iterator result = m_mapOfObstacles.find(obstacle.getID());
if (result != m_mapOfObstacles.end()) {
// Remove child from scene graph node.
m_sensors->removeChild(result->second);
// Remove entry from map.
m_mapOfObstacles.erase(result);
}
}
break;
case Obstacle::UPDATE:
{
map<uint32_t, Node*>::iterator result = m_mapOfObstacles.find(obstacle.getID());
if (result != m_mapOfObstacles.end()) {
// Remove child from scene graph node.
m_sensors->removeChild(result->second);
// Remove entry from map.
m_mapOfObstacles.erase(result);
}
// Update obstacle.
TransformGroup *contourTG = new TransformGroup();
vector<Point3> contour = obstacle.getPolygon().getVertices();
// Close polygons.
Point3 p = contour.at(0);
contour.push_back(p);
for (uint32_t k = 0; k < contour.size() - 1; k++) {
Point3 A = contour.at(k); A.setZ(0.5);
Point3 B = contour.at(k+1); B.setZ(0.5);
contourTG->addChild(new hesperia::threeD::models::Line(NodeDescriptor(), A, B, Point3(0, 1, 0), 2));
}
m_mapOfObstacles[obstacle.getID()] = contourTG;
m_sensors->addChild(contourTG);
}
break;
}
}
}
}
renderNextImageChaseCarSensors();
}
break;
}
// TODO Read pixels using BGRA!!!
glReadBuffer(GL_BACK);
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glReadPixels(0, 0, m_image->getWidth(), m_image->getHeight(), GL_BGR, GL_UNSIGNED_BYTE, m_sharedMemory->getSharedMemory());
// Flip the image horizontally.
m_image->flipHorizontally();
m_sharedMemory->unlock();
}
return m_image;
}
void EnvironmentViewerGLWidget::nextContainer(Container &c) {
if (c.getDataType() == Container::EGOSTATE) {
m_numberOfReceivedEgoStates++;
if (m_egoStateNode != NULL) {
Lock l(m_rootMutex);
EgoState egostate = c.getData<EgoState>();
Point3 dir(0, 0, egostate.getRotation().getAngleXY());
m_egoStateNode->setRotation(dir);
m_egoStateNode->setTranslation(egostate.getPosition());
Position egoPosition;
egoPosition.setPosition(egostate.getPosition());
egoPosition.setRotation(egostate.getRotation());
m_mapOfCurrentPositions[m_egoStateNodeDescriptor] = egoPosition;
if ( (m_numberOfReceivedEgoStates % 30) == 0 ) {
NodeDescriptor nd("EgoCar (Trace)");
TransformGroup *tg = m_mapOfTraceablePositions[nd];
if (tg != NULL) {
Point3 color(0, 0, 1);
hesperia::threeD::models::Point *p = new hesperia::threeD::models::Point(NodeDescriptor("Trace"), egostate.getPosition(), color, 5);
tg->addChild(p);
}
}
}
}
if (c.getDataType() == Container::CONTOUREDOBJECTS) {
if (m_contouredObjectsNode != NULL) {
Lock l(m_rootMutex);
ContouredObjects cos = c.getData<ContouredObjects>();
vector<ContouredObject> listOfContouredObjects = cos.getContouredObjects();
vector<ContouredObject>::iterator it = listOfContouredObjects.begin();
m_contouredObjectsNode->deleteAllChildren();
while (it != listOfContouredObjects.end()) {
vector<Point3> contour = (*it).getContour();
vector<Point3>::iterator jt = contour.begin();
while (jt != contour.end()) {
m_contouredObjectsNode->addChild(new hesperia::threeD::models::Point(NodeDescriptor("Point"), (*jt), Point3(1, 0, 0), 2));
jt++;
}
it++;
}
}
}
if (c.getDataType() == Container::ROUTE) {
if (m_plannedRoute != NULL) {
Lock l(m_rootMutex);
Route r = c.getData<Route>();
vector<Point3> listOfVertices = r.getListOfPoints();
const uint32_t SIZE = listOfVertices.size();
if (SIZE > 0) {
m_plannedRoute->deleteAllChildren();
for (uint32_t i = 0; i < SIZE - 1; i++) {
Point3 posA = listOfVertices.at(i);
posA.setZ(0.05);
Point3 posB = listOfVertices.at(i+1);
posB.setZ(0.05);
m_plannedRoute->addChild(new hesperia::threeD::models::Line(NodeDescriptor(), posA, posB, Point3(0, 1, 0), 6));
}
}
}
}
if (c.getDataType() == Container::DRAW_LINE) {
if (m_lines != NULL) {
Lock l(m_rootMutex);
hesperia::data::environment::Line line = c.getData<Line>();
Point3 posA = line.getA();
posA.setZ(0.05);
Point3 posB = line.getB();
posB.setZ(0.05);
m_lines->addChild(new hesperia::threeD::models::Line(NodeDescriptor(), posA, posB, Point3(1, 0, 0), 6));
}
}
if (c.getDataType() == Container::OBSTACLE) {
if (m_obstaclesRoot != NULL) {
Lock l(m_rootMutex);
Obstacle obstacle = c.getData<Obstacle>();
switch (obstacle.getState()) {
case Obstacle::REMOVE:
{
// Remove obstacle.
map<uint32_t, Node*>::iterator result = m_mapOfObstacles.find(obstacle.getID());
if (result != m_mapOfObstacles.end()) {
// Remove child from scene graph node.
m_obstaclesRoot->removeChild(result->second);
// Remove entry from map.
m_mapOfObstacles.erase(result);
}
}
break;
case Obstacle::UPDATE:
{
map<uint32_t, Node*>::iterator result = m_mapOfObstacles.find(obstacle.getID());
if (result != m_mapOfObstacles.end()) {
// Remove child from scene graph node.
m_obstaclesRoot->removeChild(result->second);
// Remove entry from map.
m_mapOfObstacles.erase(result);
}
// Update obstacle.
TransformGroup *contourTG = new TransformGroup();
vector<Point3> contour = obstacle.getPolygon().getVertices();
// Close polygons.
Point3 p = contour.at(0);
contour.push_back(p);
for (uint32_t k = 0; k < contour.size() - 1; k++) {
Point3 A = contour.at(k); A.setZ(0.5);
Point3 B = contour.at(k+1); B.setZ(0.5);
contourTG->addChild(new hesperia::threeD::models::Line(NodeDescriptor(), A, B, Point3(0, 1, 0), 2));
}
m_mapOfObstacles[obstacle.getID()] = contourTG;
m_obstaclesRoot->addChild(contourTG);
}
break;
}
}
}
}
bool PraetoriansTerrainWater::loadPackedMedia(const char* path)
{
unsigned int signature;
unsigned short chunkid;
unsigned int chunklength;
unsigned int texturescount;///use one in this version
unsigned int watercount;
unsigned int vertexcount;
unsigned int indexcount;
Tuple3f* vertices;
unsigned short* indices;
Tuple4ub* colors;
Tuple2f* txcoords;
ArchivedFile* file;
WaterDatabase* wdatabase;
if (!(file = FileSystem::checkOut(path)))
return Logger::writeErrorLog(String("Could not load -> ") + path);
wdatabase = Gateway::getWaterDatabase();
file->read(&signature, 4);
file->read(&chunkid, 2);
file->read(&chunklength, 4);
file->read(&texturescount, 4);
for (unsigned int i = 0; i < texturescount; i++)
file->seek((256 * 256 * 4) + 6, SEEKD);
file->read(&watercount, 4);
for (unsigned int i = 0; i < watercount; i++)
{
file->read(&chunkid, 2);
file->read(&chunklength, 4);
file->seek(48, SEEKD);
file->read(&vertexcount, 4);
vertices = new Tuple3f[vertexcount];
colors = new Tuple4ub[vertexcount];
txcoords = new Tuple2f[vertexcount];
for (unsigned int j = 0; j < vertexcount; j++)
{
file->read(vertices[j], 12);
Swap(vertices[j].x, vertices[j].z);
file->read(colors[j], 4);
Swap(colors[j].x, colors[j].z);
file->read(txcoords[j], 8);
}
file->read(&indexcount, 4);
indices = new unsigned short[indexcount];
file->read(indices, indexcount * 2);
String watername = String("H2O_") + int(wdatabase->getWatersCount());
Geometry* geometry;
geometry = new Geometry(watername, indexcount, vertexcount);
geometry->setIndices(indices, false);
geometry->setVertices(vertices, false);
geometry->setColors(colors, false);
geometry->setTextureElements(txcoords, 2, false);
geometry->computeBounds();
Appearance* appearance = new Appearance();
appearance->setBlendAttributes(BlendAttributes(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA));
appearance->setTexture(0, wdatabase->getWaterTexture());
Model* model = new Model();
model->setAppearance(appearance);
model->setGeometry(geometry);
TransformGroup* group = new TransformGroup();
group->addChild(model);
group->updateBoundsDescriptor();
wdatabase->addWaterModel(group);
deleteArray(vertices);
deleteArray(indices);
deleteArray(colors);
deleteArray(txcoords);
}
FileSystem::checkIn(file);
return true;
}
