void
viewerSetUp( osgViewer::Viewer& viewer, double aspect, osg::Node* node )
{
viewer.getCamera()->setComputeNearFarMode( osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR );
viewer.getCamera()->setProjectionMatrixAsPerspective( 35., aspect, .1, 50. );
viewer.getCamera()->setClearMask( 0 );
viewer.setSceneData( backdropFX::Manager::instance()->getManagedRoot() );
// No longer needed, apparently. Seems like Viewer used to focus the
// camera manipulator on the entire SkyDome, putting it too far away from
// the scene. This code compensated for that.
//osgGA::TrackballManipulator* tb = new osgGA::TrackballManipulator();
//viewer.setCameraManipulator( tb );
//tb->setNode( root.get() );
//tb->home( 0 );
viewer.addEventHandler( new osgViewer::StatsHandler );
viewer.addEventHandler( new osgViewer::ThreadingHandler );
osgGA::TrackballManipulator* tbm = new osgGA::TrackballManipulator;
viewer.setCameraManipulator( tbm );
tbm->setNode( node );
tbm->home( 0 );
}
void
viewerSetUp( osgViewer::Viewer& viewer, unsigned int width, unsigned int height, osg::Node* node )
{
double aspect = (double)width / (double)height;
viewer.setThreadingModel( osgViewer::ViewerBase::SingleThreaded );
viewer.getCamera()->setComputeNearFarMode( osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR );
viewer.getCamera()->setProjectionMatrix( createProjection( aspect ) );
viewer.getCamera()->setClearMask( 0 );
viewer.setSceneData( backdropFX::Manager::instance()->getManagedRoot() );
// No longer needed, apparently. Seems like Viewer used to focus the
// camera manipulator on the entire SkyDome, putting it too far away from
// the scene. This code compensated for that.
//osgGA::TrackballManipulator* tb = new osgGA::TrackballManipulator();
//viewer.setCameraManipulator( tb );
//tb->setNode( root.get() );
//tb->home( 0 );
viewer.addEventHandler( new osgViewer::StatsHandler );
viewer.addEventHandler( new osgViewer::ThreadingHandler );
viewer.addEventHandler( new ResizeHandler( viewer, width, height ) );
osgGA::TrackballManipulator* tbm = new osgGA::TrackballManipulator;
viewer.setCameraManipulator( tbm );
tbm->setNode( node );
tbm->home( 0 );
}
void AppState::updateNear()
{
// Assume that the viewing frustum is symmetric.
double fovy, aspectRatio, cNear, cFar;
viewer->getCamera()->getProjectionMatrixAsPerspective(fovy, aspectRatio,
cNear, cFar);
viewer->getCamera()->setProjectionMatrixAsPerspective(fovy, aspectRatio,
zNear, cFar);
stringstream nearStream;
nearStream << "near: " << zNear;
zNearText->setText(nearStream.str());
zNearText->update();
}
void updateUserStats(osgViewer::Viewer& viewer)
{
// Test the custom stats line by just adding up the update and cull
// times for the viewer main camera for the previous frame.
if (viewer.getViewerStats()->collectStats("update") && viewer.getCamera()->getStats()->collectStats("rendering"))
{
// First get the frame number. The code below assumes that
// updateUserStats() is called after advance(), so the frame number
// that will be returned is for the frame that has just started and is
// not rendered yet. The previous frame is framenumber-1, but we can't
// use that frame's timings because it's probably not finished
// rendering yet (in multithreaded viewer modes). So we'll use the
// timings for framenumber-2 for this demo.
int framenumber = viewer.getFrameStamp()->getFrameNumber();
// Get the update time and the viewer main camera's cull time. We use
// getAveragedAttribute() in order to get the actual time elapsed as
// calculated by the stats.
double update = 0.0, cull = 0.0;
viewer.getViewerStats()->getAveragedAttribute("Update traversal time taken", update);
viewer.getCamera()->getStats()->getAveragedAttribute("Cull traversal time taken", cull);
// Get various begin and end times, note these are not elapsed times
// in a frame but rather the simulation time at those moments.
double eventBegin = 0.0, updateBegin = 0.0, cullEnd = 0.0, drawEnd = 0.0;
viewer.getViewerStats()->getAttribute(framenumber-2, "Event traversal begin time", eventBegin);
viewer.getViewerStats()->getAttribute(framenumber-2, "Update traversal begin time", updateBegin);
viewer.getCamera()->getStats()->getAttribute(framenumber-2, "Cull traversal end time", cullEnd);
viewer.getCamera()->getStats()->getAttribute(framenumber-2, "Draw traversal end time", drawEnd);
// This line displays the frame number. It's not averaged, just displayed as is.
viewer.getViewerStats()->setAttribute(framenumber, frameNumberName, framenumber);
// This line displays the frame time (from beginning of event to end of draw). No bars.
viewer.getViewerStats()->setAttribute(framenumber-1, frameTimeName, drawEnd - eventBegin);
// This line displays the sum of update and main camera cull times.
viewer.getViewerStats()->setAttribute(framenumber-1, customTimeName + " time taken", update+cull);
// Since we give begin and end times that correspond to the begin of
// the update phase and the end of the cull phase, the bar in the
// graph will not correspond to the summed times above if something
// happened between update and cull (as in this demo). Also, we need
// to translate the updateBegin and cullEnd times by one frame since
// we're taking the times for framenumber-2 but using them to display
// in the framenumber-1 graph.
viewer.getViewerStats()->setAttribute(framenumber-1, customTimeName + " begin", updateBegin + (1.0/60.0));
viewer.getViewerStats()->setAttribute(framenumber-1, customTimeName + " end", cullEnd + (1.0/60.0));
}
}
void setViewer(osgViewer::Viewer& viewer, float width, float height, float distance)
{
double vfov = osg::RadiansToDegrees(atan2(height/2.0f,distance)*2.0);
// double hfov = osg::RadiansToDegrees(atan2(width/2.0f,distance)*2.0);
viewer.getCamera()->setProjectionMatrixAsPerspective( vfov, width/height, 0.1, 1000.0);
}
int main(int argc, char* argv[]) {
ref_ptr<Group> root = new Group;
viewer.setUpViewInWindow(0, 0, 640, 480);
viewer.realize();
ref_ptr<Camera> cam = viewer.getCamera();
ref_ptr<Geode> geode = new Geode;
root->addChild(geode.get());
for (int i=0; i < 10; i++) {
osg::Sphere* sphere = new osg::Sphere( Vec3f(i+1,10,0), .1*i);
osg::ShapeDrawable* sphereDrawable = new osg::ShapeDrawable(sphere);
geode->addDrawable(sphereDrawable);
}
// osg::Sphere* sphere = new osg::Sphere( Vec3f(10,10,0), .2);
// osg::ShapeDrawable* sphereDrawable = new osg::ShapeDrawable(sphere);
// sphereDrawable->setColor(osg::Vec4f(1,0,0,1));
// geode->addDrawable(sphereDrawable);
ref_ptr<osgGA::TrackballManipulator> manip = new osgGA::TrackballManipulator();
viewer.setCameraManipulator(manip);
viewer.setSceneData(root.get());
cam->setViewMatrixAsLookAt(Vec3f(10,0,0), Vec3f(10,1,0), Vec3f(0,0,1));
//manip->setHomePosition(Vec3f(10,0,0), Vec3f(11,1,0), Vec3f(10,0,1));
// cam->setProjectionMatrixAsPerspective(49,640/480., .1, 10);
viewer.run();
}
void LevelMenu::loadLevels()
{
_itemsPat = new osg::PositionAttitudeTransform();
_itemsPat->setPosition(osg::Vec3(viewer.getCamera()->getViewport()->width() - 400, viewer.getCamera()->getViewport()->height() - 250, 0));
// load XML document
rapidxml::file<> mf(LEVEL_OVERVIEW_FILE);
rapidxml::xml_document<> xml_doc;
xml_doc.parse<0>(mf.data());
int itemIndex = 0;
// parse XML document
for(rapidxml::node_iterator<char> it(xml_doc.first_node()); it.dereference() != NULL; ++it, ++itemIndex)
{
if(strcmp(it->name(), "road") == 0)
{
std::string name = it->first_attribute("name")->value();
osg::Geode *itemNode = new osg::Geode();
osgText::Text *text = new osgText::Text();
text->setFont(MENU_FONT);
text->setPosition(osg::Vec3(0, - (itemIndex * MENU_ITEM_HEIGHT), 0));
text->setText(name);
itemNode->addDrawable(text);
_itemsPat->addChild(itemNode);
std::map<std::string, std::string> item;
item["name"] = it->first_attribute("name")->value();
item["filename"] = it->first_attribute("filename")->value();
item["besttime"] = it->first_attribute("besttime")->value();
item["completions"] = it->first_attribute("completions")->value();
item["deaths"] = it->first_attribute("deaths")->value();
_items.push_back(item);
}
else
{
throw std::runtime_error("Error: Unrecognized element in level file!");
}
}
_menuPat->addChild(_itemsPat);
}
void SetCameraProjectionMatrix (osgViewer::Viewer& viewer, dFloat viewAngleInDegress, dFloat aspectRatio, dFloat nearPlane, dFloat farPlane)
{
osg::Camera* const camera = viewer.getCamera();
camera->setProjectionMatrixAsPerspective (viewAngleInDegress, aspectRatio, nearPlane, farPlane);
// camera->setViewMatrixAsLookAt (osg::Vec3 (-3.0f, -5.0f, 2.0f), osg::Vec3 (0.0f, 0.0f, 2.0f), osg::Vec3 (0.0f, 0.0f, 1.0f));
camera->setViewMatrixAsLookAt (osg::Vec3 (-0.0f, -5.0f, 2.0f), osg::Vec3 (0.0f, 0.0f, 2.0f), osg::Vec3 (0.0f, 0.0f, 1.0f));
}
void setViewer(osgViewer::Viewer& viewer, float width, float height, float distance)
{
double vfov = osg::RadiansToDegrees(atan2(height/2.0f,distance)*2.0);
// double hfov = osg::RadiansToDegrees(atan2(width/2.0f,distance)*2.0);
viewer.getCamera()->setProjectionMatrixAsPerspective( vfov, width/height, 0.1, 1000.0);
OSG_NOTICE<<"setProjectionMatrixAsPerspective( "<<vfov<<", "<<width/height<<", "<<0.1<<", "<<1000.0<<");"<<std::endl;
}
void LevelMenu::initializeHeader()
{
osg::PositionAttitudeTransform *headerPat = new osg::PositionAttitudeTransform();
osg::Geode *headerGeode = new osg::Geode();
osg::Geometry *textureDrawable = new osg::Geometry();
osg::Texture2D *texture;
osg::Vec3Array *vertices = new osg::Vec3Array();
{
vertices->push_back(osg::Vec3(0, 0, 0));
vertices->push_back(osg::Vec3(436, 0, 0));
vertices->push_back(osg::Vec3(436, 75, 0));
vertices->push_back(osg::Vec3(0, 75, 0));
}
textureDrawable->setVertexArray( vertices );
osg::DrawElementsUInt *face = new osg::DrawElementsUInt(osg::PrimitiveSet::QUADS, 0);
face->push_back(0);
face->push_back(1);
face->push_back(2);
face->push_back(3);
textureDrawable->addPrimitiveSet(face);
osg::Vec2Array* texcoords = new osg::Vec2Array(4);
{
(*texcoords)[0].set(0.0f, 0.0f);
(*texcoords)[1].set(1.0f, 0.0f);
(*texcoords)[2].set(1.0f, 1.0f);
(*texcoords)[3].set(0.0f, 1.0f);
textureDrawable->setTexCoordArray(0, texcoords);
}
texture = new osg::Texture2D;
texture->setDataVariance(osg::Object::DYNAMIC);
texture->setWrap(osg::Texture::WRAP_S, osg::Texture::REPEAT);
texture->setWrap(osg::Texture::WRAP_T, osg::Texture::REPEAT);
osg::StateSet* stateSet = new osg::StateSet();
stateSet->setTextureAttributeAndModes(0, texture, osg::StateAttribute::ON);
textureDrawable->setStateSet(stateSet);
headerGeode->addDrawable(textureDrawable);
headerPat->addChild(headerGeode);
_menuPat->addChild(headerPat);
headerPat->setPosition(osg::Vec3(100, viewer.getCamera()->getViewport()->height() - 125, -0.01));
osg::Image *image = osgDB::readImageFile(LEVEL_HEADER_TEXTURE);
texture->setImage(image);
}
void
viewerSetUp( osgViewer::Viewer& viewer, unsigned int width, unsigned int height, osg::Node* node )
{
double aspect = (double)width / (double)height;
viewer.setThreadingModel( osgViewer::ViewerBase::SingleThreaded );
viewer.getCamera()->setComputeNearFarMode( osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR );
viewer.getCamera()->setProjectionMatrix( createProjection( aspect ) );
viewer.getCamera()->setClearMask( 0 );
viewer.setSceneData( backdropFX::Manager::instance()->getManagedRoot() );
viewer.addEventHandler( new osgViewer::StatsHandler );
viewer.addEventHandler( new osgViewer::ThreadingHandler );
viewer.addEventHandler( new ResizeHandler( viewer, width, height ) );
osgGA::TrackballManipulator* tbm = new osgGA::TrackballManipulator;
viewer.setCameraManipulator( tbm );
tbm->setNode( node );
tbm->home( 0 );
}
void Sky::initializeCamera()
{
_camera = new osg::Camera();
_camera->setProjectionMatrix(osg::Matrix::ortho2D(0, viewer.getCamera()->getViewport()->width(), 0, viewer.getCamera()->getViewport()->height()));
_camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
_camera->setViewMatrix(osg::Matrix::identity());
_camera->setClearColor(osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f));
_camera->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
_camera->setRenderOrder(osg::Camera::PRE_RENDER);
_camera->addChild(_skyPat);
}
int main(void){
osg::DisplaySettings::instance()->setNumMultiSamples( 4 );
viewer.setUpViewInWindow( 100, 50, 800, 600 );
viewer.getCamera()->setClearColor( osg::Vec4( 0.5,0.5,0.5,1) );
viewer.addEventHandler(new osgViewer::StatsHandler);
scene = new osg::Group;
osg::ref_ptr<osg::LightSource> lumiere = new osg::LightSource;
lumiere->getLight()->setLightNum(0); // GL_LIGHT1
lumiere->getLight()->setPosition(osg::Vec4(1, -1, 10, 0)); // 0 = directionnel
lumiere->getLight()->setAmbient(osg::Vec4(0.5, 0.5, 0.5, 1.0));
lumiere->getLight()->setDiffuse(osg::Vec4(0.9, 0.9, 0.9, 1.0));
lumiere->getLight()->setSpecular(osg::Vec4(1.0, 1.0, 1.0, 1.0));
scene->addChild(lumiere.get());
terrain = creation_terrain();
scene->addChild(terrain.get());
scene->addChild(creation_foret(terrain, 500));
LECHARRR = creation_CHARRR(0,0,terrain);
scene->addChild(LECHARRR);
LECHARRR->accept(rechercheTourelle);
fumeeTank = new osgParticle::SmokeEffect;
fumeeTank->setTextureFileName("fumee.tga");
fumeeTank->setIntensity(2);
fumeeTank->setScale(4);
fumeeTank->setPosition(LECHARRR->getPosition());
scene->addChild(fumeeTank.get());
posCanonX = LECHARRR->getPosition().x();
posCanonY = LECHARRR->getPosition().y() + 3.5;
posCanonZ = LECHARRR->getPosition().z() + 4.0;
viewer.setSceneData(scene);
osg::ref_ptr<GestionEvenements> gestionnaire = new GestionEvenements();
viewer.addEventHandler(gestionnaire.get());
return viewer.run();
}
void LevelMenu::returnFromLevel()
{
if(_currentLevel->playerReachedFinish())
{
// update completions
{
std::stringstream ss;
ss << atoi(_items[_currentItemIndex]["completions"].c_str()) + 1;
_items[_currentItemIndex]["completions"] = ss.str();
}
// update best time
{
time_t t = _currentLevel->getTime();
if(_items[_currentItemIndex]["besttime"] == "" | t < atol(_items[_currentItemIndex]["besttime"].c_str()))
{
std::stringstream ss;
ss << t;
_items[_currentItemIndex]["besttime"] = ss.str();
}
}
}
// update number of deaths
{
std::stringstream ss;
ss << atoi(_items[_currentItemIndex]["deaths"].c_str()) + _currentLevel->getNumDeaths();
_items[_currentItemIndex]["deaths"] = ss.str();
}
viewer.setCameraManipulator(NULL);
viewer.getCamera()->setViewMatrixAsLookAt(MENU_CAMERA_HOME_EYE, MENU_CAMERA_HOME_CENTER, MENU_CAMERA_HOME_UP);
_currentLevel->resetScene();
viewer.setSceneData(this);
_currentLevel = NULL;
Player::getInstance()->reset();
updateDetails();
Sound::getInstance()->stop(LEVEL_MUSIC_FILE);
Sound::getInstance()->playInLoop(MENU_MUSIC_FILE);
}
void InitWindowsSystem (osgViewer::Viewer& viewer, const char* const title, int x, int y, int width, int height)
{
viewer.setUpViewInWindow(x, y, width, height);
//Get the traits of the current window
osg::ref_ptr< osg::GraphicsContext::Traits > traits = new osg::GraphicsContext::Traits( *viewer.getCamera()->getGraphicsContext()->getTraits());
//Set the title
traits->windowName = title;
// disable vertical sync
traits->vsync = false;
//Create a new graphics context with the modified traits
osg::ref_ptr< osg::GraphicsContext > gc = osg::GraphicsContext::createGraphicsContext( traits.get() );
gc->realize();
gc->makeCurrent();
// set the vertical black off by default
osgViewer::Viewer::Windows windows;
viewer.getWindows(windows);
for(osgViewer::Viewer::Windows::iterator itr = windows.begin(); itr != windows.end(); ++itr) {
osgViewer::GraphicsWindow* const graphicsWindow = (*itr);
graphicsWindow->setSyncToVBlank (false);
}
//Create the new camera which is a copy of the current camera in the viewer
osg::ref_ptr<osg::Camera> cam = new osg::Camera( *viewer.getCamera() );
//Set the cameras graphics context to the gc we made above
cam->setGraphicsContext( gc );
//assign the viewer the new camera
viewer.setCamera( cam.get() );
// int the camera default perspective matrix
SetCameraProjectionMatrix (viewer, 60.0f, dFloat (width) / height, 0.01, 1000.0f);
// set the file find callback
osg::ref_ptr<DemosFindFileCallback> filecallback = new DemosFindFileCallback;
osgDB::Registry::instance()->setFindFileCallback (filecallback.get());
}
LevelMenu::LevelMenu() :
_currentLevel(NULL),
_currentItemIndex(0)
{
_menuPat = new osg::PositionAttitudeTransform();
_menuPat->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
_keyboardHandler = new MenuKeyboardHandler(this);
viewer.addEventHandler(_keyboardHandler);
initializeCamera();
initializeHeader();
initializeBackgroundAnimation();
initializeSelector();
loadLevels();
updateDetails();
viewer.getCamera()->setUpdateCallback(new LevelMenuUpdater(this));
Sound::getInstance()->playInLoop(MENU_MUSIC_FILE);
}
void LevelMenu::resetCamera()
{
viewer.setCameraManipulator(NULL);
viewer.getCamera()->setViewMatrixAsLookAt(MENU_CAMERA_HOME_EYE, MENU_CAMERA_HOME_CENTER, MENU_CAMERA_HOME_UP);
}
Sky::Sky()
{
_skyPat = new osg::PositionAttitudeTransform();
_skyPat->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
initializeCamera();
osg::Geode* geode = new osg::Geode();
osg::Geometry *geometry = new osg::Geometry();
geode->addDrawable(geometry);
osg::Vec3Array *vertices = new osg::Vec3Array;
int screenWidth = viewer.getCamera()->getViewport()->width();
int screenHeight = viewer.getCamera()->getViewport()->height();
vertices->push_back( osg::Vec3(0, 0, 0) );
vertices->push_back( osg::Vec3(0, screenHeight, 0) );
vertices->push_back( osg::Vec3(screenWidth, screenHeight, 0) );
vertices->push_back( osg::Vec3(screenWidth, 0, 0) );
geometry->setVertexArray(vertices);
osg::DrawElementsUInt *rectangle = new osg::DrawElementsUInt(osg::PrimitiveSet::QUADS, 0);
rectangle->push_back(0);
rectangle->push_back(1);
rectangle->push_back(2);
rectangle->push_back(3);
geometry->addPrimitiveSet(rectangle);
osg::Vec2Array* texcoords = new osg::Vec2Array(4);
(*texcoords)[0].set(0.0f, 0.0f);
(*texcoords)[1].set(0.0f, 1.0f);
(*texcoords)[2].set(1.0f, 1.0f);
(*texcoords)[3].set(1.0f, 0.0f);
geometry->setTexCoordArray(0, texcoords);
osg::Texture2D *texture = new osg::Texture2D;
texture->setDataVariance(osg::Object::DYNAMIC);
osg::Image *image = osgDB::readImageFile(BACKGROUND_IMAGE);
if (!image)
{
std::cout << " couldn't find texture, quiting." << std::endl;
exit(0);
}
// assign image to texture
texture->setImage(image);
osg::StateSet* stateOne = new osg::StateSet();
stateOne->setTextureAttributeAndModes(0, texture,osg::StateAttribute::ON);
geode->setStateSet(stateOne);
_skyPat->addChild(geode);
}
//-----------------------------------------------------------------------------
// Dynamics plugin entry point.
void init( int argc, char** argv ) {
//+++++++++++++++++++++++++++++++++++++++
dyn_error_log = log_c( FD_ERROR_LOG );
if( dyn_error_log.open( ) != LOG_ERROR_NONE ) {
// Note: this is not really necessary
printf( "(dynamics.cpp) ERROR: init(argc,argv) failed calling log_c.open() on FD_ERROR_LOG\n" );
}
//+++++++++++++++++++++++++++++++++++++++
const unsigned ONECHAR_ARG = 3, TWOCHAR_ARG = 4;
#ifdef USE_OSG
viewer.setThreadingModel(osgViewer::Viewer::SingleThreaded);
viewer_pointer = &viewer;
#endif
// setup some default options
std::string scene_path;
THREED_IVAL = 0;
IMAGE_IVAL = 0;
// check that syntax is ok
if (argc < 2) {
std::cerr << "syntax: driver [OPTIONS] <xml file>" << std::endl;
std::cerr << " (see README for OPTIONS)" << std::endl;
return;
}
// get all options
for (int i=1; i< argc-1; i++) {
// get the option
std::string option(argv[i]);
// process options
if (option == "-r") {
ONSCREEN_RENDER = true;
UPDATE_GRAPHICS = true;
check_osg();
} else if (option.find("-of") != std::string::npos) {
OUTPUT_FRAME_RATE = true;
} else if (option.find("-ot") != std::string::npos) {
OUTPUT_TIMINGS = true;
} else if (option.find("-oi") != std::string::npos) {
OUTPUT_ITER_NUM = true;
} else if (option.find("-or") != std::string::npos) {
OUTPUT_SIM_RATE = true;
} else if (option.find("-v=") != std::string::npos) {
UPDATE_GRAPHICS = true;
check_osg();
THREED_IVAL = std::atoi(&argv[i][ONECHAR_ARG]);
//assert(THREED_IVAL >= 0); // Note: remarked because always true
} else if (option.find("-i=") != std::string::npos) {
check_osg();
UPDATE_GRAPHICS = true;
IMAGE_IVAL = std::atoi(&argv[i][ONECHAR_ARG]);
//assert(IMAGE_IVAL >= 0); // Note: remarked because always true
} else if (option.find("-t") != std::string::npos) {
OUTPUT_TO_TIME = true;
} else if (option.find("-s=") != std::string::npos) {
STEP_SIZE = std::atof(&argv[i][ONECHAR_ARG]);
assert(STEP_SIZE >= 0.0 && STEP_SIZE < 1);
} else if (option.find("-lf=") != std::string::npos) {
std::string fname(&argv[i][TWOCHAR_ARG]);
OutputToFile::stream.open(fname.c_str());
} else if (option.find("-l=") != std::string::npos) {
LOG_REPORTING_LEVEL = std::atoi(&argv[i][ONECHAR_ARG]);
Log<OutputToFile>::reporting_level = LOG_REPORTING_LEVEL;
} else if (option.find("-lt=") != std::string::npos) {
LOG_START = std::atoi(&argv[i][TWOCHAR_ARG]);
} else if (option.find("-lp=") != std::string::npos) {
LOG_STOP = std::atoi(&argv[i][TWOCHAR_ARG]);
} else if (option.find("-mi=") != std::string::npos) {
MAX_ITER = std::atoi(&argv[i][TWOCHAR_ARG]);
assert(MAX_ITER > 0);
} else if (option.find("-mt=") != std::string::npos) {
MAX_TIME = std::atof(&argv[i][TWOCHAR_ARG]);
assert(MAX_TIME > 0);
} else if (option.find("-x=") != std::string::npos) {
check_osg();
scene_path = std::string(&argv[i][ONECHAR_ARG]);
} else if (option.find("-p=") != std::string::npos) {
/// read_plugin(&argv[i][ONECHAR_ARG]);
} else if (option.find("-y=") != std::string::npos) {
strcpy(THREED_EXT, &argv[i][ONECHAR_ARG]);
} else if (option.find("-vcp") != std::string::npos) {
RENDER_CONTACT_POINTS = true;
}
}
// setup the simulation
READ_MAP = XMLReader::read(std::string(argv[argc-1]));
// setup the offscreen renderer if necessary
#ifdef USE_OSG
if (IMAGE_IVAL > 0) {
// TODO: setup offscreen renderer here
}
#endif
// get the (only) simulation object
for (std::map<std::string, BasePtr>::const_iterator i = READ_MAP.begin(); i != READ_MAP.end(); i++) {
sim = boost::dynamic_pointer_cast<Simulator>(i->second);
if (sim)
break;
}
// make sure that a simulator was found
if (!sim) {
std::cerr << "driver: no simulator found in " << argv[argc-1] << std::endl;
//return -1;
return;
}
// setup osg window if desired
#ifdef USE_OSG
if (ONSCREEN_RENDER) {
// setup any necessary handlers here
viewer.setCameraManipulator(new osgGA::TrackballManipulator());
viewer.addEventHandler(new osgGA::StateSetManipulator(viewer.getCamera()->getOrCreateStateSet()));
viewer.addEventHandler(new osgViewer::WindowSizeHandler);
viewer.addEventHandler(new osgViewer::StatsHandler);
}
// init the main group
MAIN_GROUP = new osg::Group;
#endif
// look for a scene description file
#ifdef USE_OSG
if (scene_path != "") {
std::ifstream in(scene_path.c_str());
if (in.fail()) {
std::cerr << "driver: unable to find scene description from " << scene_path << std::endl;
add_lights();
} else {
in.close();
osg::Node* node = osgDB::readNodeFile(scene_path);
if (!node) {
std::cerr << "driver: unable to open scene description file!" << std::endl;
add_lights();
} else
MAIN_GROUP->addChild(node);
}
} else {
add_lights();
}
#endif
// process XML options
process_xml_options(std::string(argv[argc-1]));
// get the simulator visualization
#ifdef USE_OSG
MAIN_GROUP->addChild(sim->get_persistent_vdata());
MAIN_GROUP->addChild(sim->get_transient_vdata());
#endif
// setup the timers
FIRST_STEP_TIME = get_current_time();
LAST_STEP_TIME = FIRST_STEP_TIME;
// begin timing
start_time = clock();
// prepare to render
#ifdef USE_OSG
if (ONSCREEN_RENDER) {
viewer.setSceneData(MAIN_GROUP);
viewer.realize();
}
#endif
// custom implementation follows
// Get reference to the pendulum for usage in the command publish and response
if( READ_MAP.find("pendulum") == READ_MAP.end() ) {
sprintf( strbuffer, "(dynamics.cpp) init(argc,argv) failed- unable to find pendulum in xml!\n" );
dyn_error_log.write( strbuffer );
// TODO : return error condition
}
pendulum = dynamic_pointer_cast<Moby::RCArticulatedBody>( READ_MAP.find("pendulum")->second );
if( !pendulum ) {
sprintf( strbuffer, "(dynamics.cpp) init(argc,argv)- unable to cast pendulum to type RCArticulatedBody\n" );
dyn_error_log.write( strbuffer );
// TODO : return error condition
}
// open the command buffer
dyn_amsgbuffer = actuator_msg_buffer_c( ACTUATOR_MSG_BUFFER_NAME, ACTUATOR_MSG_BUFFER_MUTEX_NAME, false );
if( dyn_amsgbuffer.open( ) != BUFFER_ERROR_NONE) {
sprintf( strbuffer, "(dynamics.cpp) init(argc,argv) failed calling actuator_msg_buffer_c.open(...,false)\n" );
dyn_error_log.write( strbuffer );
// TODO : return error condition
}
printf( "(dynamics::initialized)\n" );
}
void LevelMenu::initializeSelector()
{
osg::PositionAttitudeTransform *selectorPat = new osg::PositionAttitudeTransform();
osg::Geode *selectorGeode = new osg::Geode();
osg::Geometry *textureDrawable = new osg::Geometry();
osg::Texture2D *texture;
osg::Vec3Array *vertices = new osg::Vec3Array();
{
vertices->push_back(osg::Vec3(0, 0, 0));
vertices->push_back(osg::Vec3(682, 0, 0));
vertices->push_back(osg::Vec3(682, 172, 0));
vertices->push_back(osg::Vec3(0, 172, 0));
}
textureDrawable->setVertexArray( vertices );
osg::DrawElementsUInt *face = new osg::DrawElementsUInt(osg::PrimitiveSet::QUADS, 0);
face->push_back(0);
face->push_back(1);
face->push_back(2);
face->push_back(3);
textureDrawable->addPrimitiveSet(face);
osg::Vec2Array* texcoords = new osg::Vec2Array(4);
{
(*texcoords)[0].set(0.0f, 0.0f);
(*texcoords)[1].set(1.0f, 0.0f);
(*texcoords)[2].set(1.0f, 1.0f);
(*texcoords)[3].set(0.0f, 1.0f);
textureDrawable->setTexCoordArray(0, texcoords);
}
texture = new osg::Texture2D;
texture->setDataVariance(osg::Object::DYNAMIC);
texture->setWrap(osg::Texture::WRAP_S, osg::Texture::REPEAT);
texture->setWrap(osg::Texture::WRAP_T, osg::Texture::REPEAT);
osg::StateSet* stateSet = new osg::StateSet();
stateSet->setTextureAttributeAndModes(0, texture, osg::StateAttribute::ON);
textureDrawable->setStateSet(stateSet);
selectorGeode->addDrawable(textureDrawable);
selectorPat->addChild(selectorGeode);
_menuPat->addChild(selectorPat);
selectorPat->setPosition(osg::Vec3(viewer.getCamera()->getViewport()->width() - 900, viewer.getCamera()->getViewport()->height() - 325, -0.01));
osg::Image *image = osgDB::readImageFile(LEVEL_SELECTOR_TEXTURE);
texture->setImage(image);
//////////////////
osg::PositionAttitudeTransform *detailsPat = new osg::PositionAttitudeTransform();
// completions
{
osg::Geode *completionsNode = new osg::Geode();
_completionsText = new osgText::Text();
_completionsText->setFont(MENU_FONT);
_completionsText->setCharacterSize(MENU_DETAIL_FONT_SIZE);
_completionsText->setPosition(osg::Vec3(0, - MENU_ITEM_HEIGHT, 0));
completionsNode->addDrawable(_completionsText);
detailsPat->addChild(completionsNode);
}
// deaths
{
osg::Geode *deathsNode = new osg::Geode();
_deathsText = new osgText::Text();
_deathsText->setFont(MENU_FONT);
_deathsText->setCharacterSize(MENU_DETAIL_FONT_SIZE);
_deathsText->setPosition(osg::Vec3(0, - MENU_ITEM_HEIGHT * 2, 0));
deathsNode->addDrawable(_deathsText);
detailsPat->addChild(deathsNode);
}
// best time
{
osg::Geode *bestTimeNode = new osg::Geode();
_bestTimeText = new osgText::Text();
_bestTimeText->setFont(MENU_FONT);
_bestTimeText->setCharacterSize(MENU_DETAIL_FONT_SIZE);
_bestTimeText->setPosition(osg::Vec3(0, - MENU_ITEM_HEIGHT * 3, 0));
bestTimeNode->addDrawable(_bestTimeText);
detailsPat->addChild(bestTimeNode);
}
detailsPat->setPosition(osg::Vec3(viewer.getCamera()->getViewport()->width() - 860, viewer.getCamera()->getViewport()->height() - 170, 0));
_menuPat->addChild(detailsPat);
}
int Metrics::run(osgViewer::Viewer& viewer)
{
if (Metrics::enabled())
{
if (!viewer.isRealized())
{
viewer.realize();
}
// If Metrics are enabled, enable stats on the Viewer so that it we can report them for the Metrics
if (Metrics::enabled())
{
osgViewer::ViewerBase::Scenes scenes;
viewer.getScenes(scenes);
for (osgViewer::ViewerBase::Scenes::iterator itr = scenes.begin();
itr != scenes.end();
++itr)
{
osgViewer::Scene* scene = *itr;
osgDB::DatabasePager* dp = scene->getDatabasePager();
if (dp && dp->isRunning())
{
dp->resetStats();
}
}
viewer.getViewerStats()->collectStats("frame_rate", true);
viewer.getViewerStats()->collectStats("event", true);
viewer.getViewerStats()->collectStats("update", true);
viewer.getCamera()->getStats()->collectStats("rendering", true);
viewer.getCamera()->getStats()->collectStats("gpu", true);
}
// Report memory and fps every 10 frames.
unsigned int reportEvery = 10;
while (!viewer.done())
{
{
METRIC_SCOPED_EX("frame", 1, "number", toString<int>(viewer.getFrameStamp()->getFrameNumber()).c_str());
{
METRIC_SCOPED("advance");
viewer.advance();
}
{
METRIC_SCOPED("event");
viewer.eventTraversal();
}
{
METRIC_SCOPED("update");
viewer.updateTraversal();
}
{
METRIC_SCOPED("render");
viewer.renderingTraversals();
}
}
// Report memory and fps periodically. periodically.
if (viewer.getFrameStamp()->getFrameNumber() % reportEvery == 0)
{
// Only report the metrics if they are enabled to avoid computing the memory.
if (Metrics::enabled())
{
Metrics::counter("Memory::WorkingSet", "WorkingSet", Memory::getProcessPhysicalUsage() / 1048576);
Metrics::counter("Memory::PrivateBytes", "PrivateBytes", Memory::getProcessPrivateUsage() / 1048576);
Metrics::counter("Memory::PeakPrivateBytes", "PeakPrivateBytes", Memory::getProcessPeakPrivateUsage() / 1048576);
}
}
double eventTime = 0.0;
if (viewer.getViewerStats()->getAttribute(viewer.getViewerStats()->getLatestFrameNumber(), "Event traversal time taken", eventTime))
{
Metrics::counter("Viewer::Event", "Event", eventTime * 1000.0);
}
double updateTime = 0.0;
if (viewer.getViewerStats()->getAttribute(viewer.getViewerStats()->getLatestFrameNumber(), "Update traversal time taken", updateTime))
{
Metrics::counter("Viewer::Update", "Update", updateTime * 1000.0);
}
double cullTime = 0.0;
if (viewer.getCamera()->getStats()->getAttribute(viewer.getCamera()->getStats()->getLatestFrameNumber(), "Cull traversal time taken", cullTime))
{
Metrics::counter("Viewer::Cull", "Cull", cullTime * 1000.0);
}
double drawTime = 0.0;
if (viewer.getCamera()->getStats()->getAttribute(viewer.getCamera()->getStats()->getLatestFrameNumber(), "Draw traversal time taken", drawTime))
{
Metrics::counter("Viewer::Draw", "Draw", drawTime * 1000.0);
}
double gpuTime = 0.0;
if (viewer.getCamera()->getStats()->getAttribute(viewer.getCamera()->getStats()->getLatestFrameNumber()-1, "GPU draw time taken", gpuTime))
{
Metrics::counter("Viewer::GPU", "GPU", gpuTime * 1000.0);
}
double frameRate = 0.0;
if (viewer.getViewerStats()->getAttribute(viewer.getViewerStats()->getLatestFrameNumber() - 1, "Frame rate", frameRate))
{
Metrics::counter("Viewer::FPS", "FPS", frameRate);
}
}
return 0;
}
else
{
return viewer.run();
}
}
// dynamics plugin entry point, signature per tas plugin requirement as defined in coordinator
void init( int argc, char** argv ) {
const unsigned ONECHAR_ARG = 3, TWOCHAR_ARG = 4;
#ifdef USE_OSG
viewer.setThreadingModel(osgViewer::Viewer::SingleThreaded);
viewer_pointer = &viewer;
#endif
// setup some default options
std::string scene_path;
THREED_IVAL = 0;
IMAGE_IVAL = 0;
// check that syntax is ok
if (argc < 2)
{
std::cerr << "syntax: driver [OPTIONS] <xml file>" << std::endl;
std::cerr << " (see README for OPTIONS)" << std::endl;
//return -1;
return;
}
// get all options
for (int i=1; i< argc-1; i++)
{
// get the option
std::string option(argv[i]);
// process options
if (option == "-r")
{
ONSCREEN_RENDER = true;
UPDATE_GRAPHICS = true;
check_osg();
}
else if (option.find("-of") != std::string::npos)
OUTPUT_FRAME_RATE = true;
else if (option.find("-ot") != std::string::npos)
OUTPUT_TIMINGS = true;
else if (option.find("-oi") != std::string::npos)
OUTPUT_ITER_NUM = true;
else if (option.find("-or") != std::string::npos)
OUTPUT_SIM_RATE = true;
else if (option.find("-v=") != std::string::npos)
{
UPDATE_GRAPHICS = true;
check_osg();
THREED_IVAL = std::atoi(&argv[i][ONECHAR_ARG]);
assert(THREED_IVAL >= 0);
}
else if (option.find("-i=") != std::string::npos)
{
check_osg();
UPDATE_GRAPHICS = true;
IMAGE_IVAL = std::atoi(&argv[i][ONECHAR_ARG]);
assert(IMAGE_IVAL >= 0);
}
else if (option.find("-t") != std::string::npos)
OUTPUT_TO_TIME = true;
else if (option.find("-s=") != std::string::npos)
{
STEP_SIZE = std::atof(&argv[i][ONECHAR_ARG]);
assert(STEP_SIZE >= 0.0 && STEP_SIZE < 1);
}
else if (option.find("-lf=") != std::string::npos)
{
std::string fname(&argv[i][TWOCHAR_ARG]);
OutputToFile::stream.open(fname.c_str());
}
else if (option.find("-l=") != std::string::npos)
{
LOG_REPORTING_LEVEL = std::atoi(&argv[i][ONECHAR_ARG]);
Log<OutputToFile>::reporting_level = LOG_REPORTING_LEVEL;
}
else if (option.find("-lt=") != std::string::npos)
{
LOG_START = std::atoi(&argv[i][TWOCHAR_ARG]);
}
else if (option.find("-lp=") != std::string::npos)
{
LOG_STOP = std::atoi(&argv[i][TWOCHAR_ARG]);
}
else if (option.find("-mi=") != std::string::npos)
{
MAX_ITER = std::atoi(&argv[i][TWOCHAR_ARG]);
assert(MAX_ITER > 0);
}
else if (option.find("-mt=") != std::string::npos)
{
MAX_TIME = std::atof(&argv[i][TWOCHAR_ARG]);
assert(MAX_TIME > 0);
}
else if (option.find("-x=") != std::string::npos)
{
check_osg();
scene_path = std::string(&argv[i][ONECHAR_ARG]);
}
else if (option.find("-p=") != std::string::npos) {
/// read_plugin(&argv[i][ONECHAR_ARG]);
} else if (option.find("-y=") != std::string::npos)
{
strcpy(THREED_EXT, &argv[i][ONECHAR_ARG]);
} else if (option.find("-vcp") != std::string::npos)
RENDER_CONTACT_POINTS = true;
}
// setup the simulation
READ_MAP = XMLReader::read(std::string(argv[argc-1]));
// setup the offscreen renderer if necessary
#ifdef USE_OSG
if (IMAGE_IVAL > 0)
{
// TODO: setup offscreen renderer here
}
#endif
// get the (only) simulation object
for (std::map<std::string, BasePtr>::const_iterator i = READ_MAP.begin(); i != READ_MAP.end(); i++)
{
sim = boost::dynamic_pointer_cast<Simulator>(i->second);
if (sim)
break;
}
// make sure that a simulator was found
if (!sim)
{
std::cerr << "driver: no simulator found in " << argv[argc-1] << std::endl;
//return -1;
return;
}
// setup osg window if desired
#ifdef USE_OSG
if (ONSCREEN_RENDER)
{
// setup any necessary handlers here
viewer.setCameraManipulator(new osgGA::TrackballManipulator());
viewer.addEventHandler(new osgGA::StateSetManipulator(viewer.getCamera()->getOrCreateStateSet()));
viewer.addEventHandler(new osgViewer::WindowSizeHandler);
viewer.addEventHandler(new osgViewer::StatsHandler);
}
// init the main group
MAIN_GROUP = new osg::Group;
#endif
/**
// Note: In this architecture, Moby doesn't have any direct relationship to
// controllers, so the ability to load control plugins is removed
// call the initializers, if any
if (!INIT.empty())
{
#ifdef USE_OSG
BOOST_FOREACH(init_t i, INIT)
(*i)(MAIN_GROUP, READ_MAP, STEP_SIZE);
#else
BOOST_FOREACH(init_t i, INIT)
(*i)(NULL, READ_MAP, STEP_SIZE);
#endif
}
*/
// look for a scene description file
#ifdef USE_OSG
if (scene_path != "")
{
std::ifstream in(scene_path.c_str());
if (in.fail())
{
std::cerr << "driver: unable to find scene description from " << scene_path << std::endl;
add_lights();
}
else
{
in.close();
osg::Node* node = osgDB::readNodeFile(scene_path);
if (!node)
{
std::cerr << "driver: unable to open scene description file!" << std::endl;
add_lights();
}
else
MAIN_GROUP->addChild(node);
}
}
else
add_lights();
#endif
// process XML options
process_xml_options(std::string(argv[argc-1]));
// get the simulator visualization
#ifdef USE_OSG
MAIN_GROUP->addChild(sim->get_persistent_vdata());
MAIN_GROUP->addChild(sim->get_transient_vdata());
#endif
// setup the timers
FIRST_STEP_TIME = get_current_time();
LAST_STEP_TIME = FIRST_STEP_TIME;
// begin timing
start_time = clock();
// prepare to render
#ifdef USE_OSG
if (ONSCREEN_RENDER)
{
viewer.setSceneData(MAIN_GROUP);
viewer.realize();
}
#endif
// custom implementation follows
// Get reference to the pendulum for usage in the command publish and response
if( READ_MAP.find("pendulum") == READ_MAP.end() )
printf( "dynamics.cpp:init()- unable to find pendulum!\n" );
pendulum = dynamic_pointer_cast<Moby::RCArticulatedBody>( READ_MAP.find("pendulum")->second );
if( !pendulum )
printf( "dynamics.cpp:init()- unable to cast pendulum to type RCArticulatedBody\n" );
// open the command buffer
cmdbuffer = CommandBuffer( getpid( ) );
cmdbuffer.open(); // TODO : sanity/safety checking
//printf( "(dynamics::initialized)\n" );
}
