int main(int argc, char* argv[])
{
ros::init(argc, argv, "mental_perspective_transformer");
ros::NodeHandle nh;
ros::NodeHandle nhPriv("~");
if(!nhPriv.hasParam("fovy")) {
nhPriv.setParam("fovy", 90.0);
}
MentalPerspectiveTransformer transform_node(nh, nhPriv);
(void) transform_node;
TransformedPerspectiveVisualizer vis_node(nh, nhPriv, "human_perspective");
(void) vis_node;
ros::spin();
return 0;
}
void Camera::override_transform(const mat4& matrix)
{
transform_node()->override_transform(matrix);
}
MStatus ScbWriter::dumpData()
{
MStatus status;
MDagPath dag_path;
MDagPath mesh_dag_path;
MFnSkinCluster fn_skin_cluster;
MSelectionList selection_list;
if (MStatus::kSuccess != MGlobal::getActiveSelectionList(selection_list))
FAILURE("ScbWriter: MGlobal::getActiveSelectionList()");
MItSelectionList it_selection_list(selection_list, MFn::kMesh, &status);
if (status != MStatus::kSuccess)
FAILURE("ScbWriter: it_selection_list()");
if (it_selection_list.isDone())
FAILURE("ScbWriter: no mesh selected!");
it_selection_list.getDagPath(mesh_dag_path);
it_selection_list.next();
if (!it_selection_list.isDone())
FAILURE("ScbWriter: more than one mesh selected!");
MFnMesh mesh(mesh_dag_path);
strcpy_s(data_.name, ScbData::kNameLen, mesh.name().asChar());
// get shaders
int instance_num = 0;
if (mesh_dag_path.isInstanced())
instance_num = mesh_dag_path.instanceNumber();
MObjectArray shaders;
MIntArray shader_indices;
mesh.getConnectedShaders(instance_num, shaders, shader_indices);
int shader_count = shaders.length();
MGlobal::displayInfo(MString("shaders for this mesh : ") + shader_count);
// check for holes
MIntArray hole_info_array;
MIntArray hole_vertex_array;
mesh.getHoles(hole_info_array, hole_vertex_array);
if (hole_info_array.length() != 0)
FAILURE("ScbWriter: mesh contains holes");
// check for triangulation
MItMeshPolygon mesh_polygon_iter(mesh_dag_path);
for (mesh_polygon_iter.reset(); !mesh_polygon_iter.isDone(); mesh_polygon_iter.next())
{
if (!mesh_polygon_iter.hasValidTriangulation())
FAILURE("ScbWriter: a poly has no valid triangulation");
}
// get transform
MFnTransform transform_node(mesh.parent(0));
MVector pos = transform_node.getTranslation(MSpace::kTransform);
// get vertices
int num_vertices = mesh.numVertices();
data_.num_vtxs = num_vertices;
MFloatPointArray vertex_array;
mesh.getPoints(vertex_array, MSpace::kWorld); // kObject is done by removing translation values
// that way scales and rotations are kept.
for (int i = 0; i < num_vertices; i++)
{
ScbVtx vtx;
vtx.x = vertex_array[i].x - static_cast<float>(pos.x);
vtx.y = vertex_array[i].y - static_cast<float>(pos.y);
vtx.z = vertex_array[i].z - static_cast<float>(pos.z);
// check for min
if (vtx.x < data_.bbx || i == 0)
data_.bbx = vtx.x;
if (vtx.y < data_.bby || i == 0)
data_.bby = vtx.y;
if (vtx.z < data_.bbz || i == 0)
data_.bbz = vtx.z;
// check for max
if (vtx.x > data_.bbdx || i == 0)
data_.bbdx = vtx.x;
if (vtx.y > data_.bbdy || i == 0)
data_.bbdy = vtx.y;
if (vtx.z > data_.bbdz || i == 0)
data_.bbdz = vtx.z;
data_.vertices.push_back(vtx);
}
// bbd is the size so :
data_.bbdx -= data_.bbx;
data_.bbdy -= data_.bby;
data_.bbdz -= data_.bbz;
// get UVs
MFloatArray u_array;
MFloatArray v_array;
mesh.getUVs(u_array, v_array);
MIntArray uv_counts;
MIntArray uv_ids;
mesh.getAssignedUVs(uv_counts, uv_ids);
// get triangles
MIntArray triangle_counts;
MIntArray triangle_vertices;
mesh.getTriangles(triangle_counts, triangle_vertices);
int numPolys = mesh.numPolygons();
// fill data
int cur = 0;
for (int i = 0; i < numPolys; i++)
{
int triangle_count = triangle_counts[i];
int shader = shader_indices[i];
for (int j = 0; j < triangle_count; j++)
data_.shader_per_triangle.push_back(shader);
for (int j = 0; j < triangle_count * 3; j++)
{
data_.indices.push_back(triangle_vertices[cur]);
data_.u_vec.push_back(u_array[uv_ids[cur]]);
data_.v_vec.push_back(1 - v_array[uv_ids[cur]]);
cur++;
}
}
data_.num_indices = cur;
// fill materials
for (int i = 0; i < shader_count; i++)
{
ScbMaterial material;
// get the plug for SurfaceShader
MPlug shader_plug = MFnDependencyNode(shaders[i]).findPlug("surfaceShader");
// get the connections to this plug
MPlugArray plug_array;
shader_plug.connectedTo(plug_array, true, false, &status);
// first connection is material.
MFnDependencyNode surface_shader(plug_array[0].node());
strcpy_s(material.name, ScbMaterial::kNameLen, surface_shader.name().asChar());
data_.materials.push_back(material);
}
return MS::kSuccess;
}
