forked from google-deepmind/mujoco
/
render_gl2.c
1274 lines (1062 loc) · 36.6 KB
/
render_gl2.c
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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "render/render_gl2.h"
#include <string.h>
#include <stdio.h>
#include <mujoco/mjmacro.h>
#include <mujoco/mujoco.h>
#include "engine/engine_array_safety.h"
#include "render/glad/glad.h"
#define STRING_BUFSIZE 100
//------------------------- OpenGL framebuffer operations ------------------------------------------
// set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN
// if only one buffer is available, set that buffer and ignore framebuffer argument
void mjr_setBuffer(int framebuffer, mjrContext* con) {
// no buffer: error
if (!con->windowAvailable && !con->offFBO) {
mju_error("No OpenGL framebuffer available");
}
// window only: set window
else if (con->windowAvailable && !con->offFBO) {
// bind window
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
// save
con->currentBuffer = mjFB_WINDOW;
}
// offscreen only: set offscreen
else if (!con->windowAvailable && con->offFBO) {
// bind offscreen
glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
// save
con->currentBuffer = mjFB_OFFSCREEN;
}
// both available: use selected framebuffer
else {
// bind selected buffer
if (framebuffer == mjFB_WINDOW) {
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
} else {
glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
}
// save
con->currentBuffer = framebuffer;
}
}
// make con->currentBuffer current again
void mjr_restoreBuffer(const mjrContext* con) {
if (con->currentBuffer == mjFB_WINDOW) {
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
} else {
glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
}
}
// read pixels from current OpenGL framebuffer to client buffer
// viewport is in OpenGL framebuffer; client buffer starts at (0,0)
void mjr_readPixels(unsigned char* rgb, float* depth,
mjrRect viewport, const mjrContext* con) {
// construct mask resolve-blit
GLbitfield mask = (rgb ? GL_COLOR_BUFFER_BIT : 0) |
(depth ? GL_DEPTH_BUFFER_BIT : 0);
// make sure we have something to do
if (!mask) {
return;
}
// read from window
if (con->currentBuffer == mjFB_WINDOW) {
// read rgb and depth
if (rgb) {
glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
GL_RGB, GL_UNSIGNED_BYTE, rgb);
}
if (depth) {
glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
GL_DEPTH_COMPONENT, GL_FLOAT, depth);
if (con->readDepthMap == mjDEPTH_ZERONEAR) {
int N_pixels = viewport.width * viewport.height;
for (int i = 0; i < N_pixels; i++) depth[i] = 1.0 - depth[i]; // Reverse the reversed Z buffer
}
if (con->readDepthMap == mjDEPTH_ZEROFAR && !mjGLAD_GL_ARB_clip_control) {
mju_warning("mjDEPTH_ZEROFAR requested but ARB_clip_control unavailable, depth accuracy will be limited");
}
if (con->readDepthMap == mjDEPTH_ZEROFAR) {
mju_warning("mjDEPTH_ZEROFAR requested but window depth buffer precision may be limited");
}
}
}
// read from offscreen
else {
// multisample: blit to resolve buffer and read from there
if (con->offSamples) {
// make sure blit is supported
if (!glBlitFramebuffer) {
return;
}
// prepare for resolve-blit
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO_r);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
// resolve-blit
glBlitFramebuffer(viewport.left, viewport.bottom,
viewport.left+viewport.width, viewport.bottom+viewport.height,
viewport.left, viewport.bottom,
viewport.left+viewport.width, viewport.bottom+viewport.height,
mask, GL_NEAREST);
// read from resolved
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO_r);
glReadBuffer(GL_COLOR_ATTACHMENT0);
}
// no multisample: read from offscreen
else {
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO);
glReadBuffer(GL_COLOR_ATTACHMENT0);
}
// read rgb and depth
if (rgb) {
glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
con->readPixelFormat, GL_UNSIGNED_BYTE, rgb);
}
if (depth) {
glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
GL_DEPTH_COMPONENT, GL_FLOAT, depth);
if (con->readDepthMap == mjDEPTH_ZERONEAR) {
int N_pixels = viewport.width * viewport.height;
for (int i = 0; i < N_pixels; i++) depth[i] = 1.0 - depth[i]; // Reverse the reversed Z buffer
}
if (con->readDepthMap == mjDEPTH_ZEROFAR && !mjGLAD_GL_ARB_clip_control) {
mju_warning("mjDEPTH_ZEROFAR requested but ARB_clip_control unavailable, depth accuracy will be limited");
}
if (con->readDepthMap == mjDEPTH_ZEROFAR && !mjGLAD_GL_ARB_depth_buffer_float) {
mju_warning("mjDEPTH_ZEROFAR requested but ARB_depth_buffer_float unavailable, depth accuracy will be limited");
}
}
// restore currentBuffer
mjr_restoreBuffer(con);
}
}
// draw pixels from client buffer to current OpenGL framebuffer
// viewport is in OpenGL framebuffer; client buffer starts at (0,0)
void mjr_drawPixels(const unsigned char* rgb, const float* depth,
mjrRect viewport, const mjrContext* con) {
// set raster position
glWindowPos2i(viewport.left, viewport.bottom);
// write rgb and depth
if (rgb) {
glDrawPixels(viewport.width, viewport.height, GL_RGB, GL_UNSIGNED_BYTE, rgb);
}
if (depth) {
glDrawPixels(viewport.width, viewport.height, GL_DEPTH_COMPONENT, GL_FLOAT, depth);
}
}
// blit from src viewpoint in current framebuffer to dst viewport in other framebuffer
// if src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR
void mjr_blitBuffer(mjrRect src, mjrRect dst,
int flg_color, int flg_depth, const mjrContext* con) {
// construct mask and filter for blit
GLbitfield mask = (flg_color ? GL_COLOR_BUFFER_BIT : 0) |
(flg_depth ? GL_DEPTH_BUFFER_BIT : 0);
GLenum filter = (!flg_depth && (src.width != dst.width || src.height != dst.height)) ?
GL_LINEAR : GL_NEAREST;
// make sure both buffers are available and we have something to do
if (!con->windowAvailable || !con->offFBO || !mask) {
return;
}
// make sure blit is supported
if (!glBlitFramebuffer) {
return;
}
// from window to offsreen
if (con->currentBuffer == mjFB_WINDOW) {
// offscreen is multisample: go through resolve
if (con->offSamples) {
// prepare to blit from window to resolve
glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO_r);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
// blit
glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
mask, filter);
// prepare to blit from resolve to offscreen
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO_r);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
// blit: both dst
glBlitFramebuffer(dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
mask, filter);
}
// otherwise direct
else {
// prepare
glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
// blit
glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
mask, filter);
}
}
// from offscreen to window
else {
// offscreen is multisample: go through resolve
if (con->offSamples) {
// prepare to blit from offscreen to resolve
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO_r);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
// blit: both src
glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
src.left, src.bottom, src.left+src.width, src.bottom+src.height,
mask, filter);
// prepare to blit from resolve to window
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO_r);
glReadBuffer(GL_COLOR_ATTACHMENT0);
}
// otherwise direct
else {
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO);
glReadBuffer(GL_COLOR_ATTACHMENT0);
}
// set target and blit
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
mask, filter);
}
// restore currentBuffer
mjr_restoreBuffer(con);
}
// Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
void mjr_setAux(int index, const mjrContext* con) {
// check index
if (index < 0 || index >= mjNAUX) {
mju_error("Invalid aux buffer index");
}
// set
if (con->auxFBO[index]) {
glBindFramebuffer(GL_FRAMEBUFFER, con->auxFBO[index]);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
} else {
mju_error("auxFBO %d does not exist", index);
}
}
// Blit from Aux buffer to con->currentBuffer.
void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con) {
// check index
if (index < 0 || index >= mjNAUX) {
mju_error("Invalid aux buffer index");
}
// make sure aux buffers is available
if (!con->auxFBO[index]) {
return;
}
// make sure blit is supported
if (!glBlitFramebuffer) {
return;
}
// resolve blit
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->auxFBO[index]);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->auxFBO_r[index]);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
src.left, src.bottom, src.left+src.width, src.bottom+src.height,
GL_COLOR_BUFFER_BIT, GL_NEAREST);
// set source
glBindFramebuffer(GL_READ_FRAMEBUFFER, con->auxFBO_r[index]);
glReadBuffer(GL_COLOR_ATTACHMENT0);
// set destination
if (con->currentBuffer == mjFB_WINDOW) {
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
} else {
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO);
glDrawBuffer(GL_COLOR_ATTACHMENT0);
}
// blit
glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
left, bottom, left+src.width, bottom+src.height,
GL_COLOR_BUFFER_BIT, GL_NEAREST);
// restore
mjr_restoreBuffer(con);
}
//---------------------------------- Text ----------------------------------------------------------
// init OpenGL for 2D
static void init2D(void) {
// set OpenGL options
glDisable(GL_NORMALIZE);
glDisable(GL_DEPTH_TEST);
glShadeModel(GL_FLAT);
glDisable(GL_CULL_FACE);
glDisable(GL_LIGHTING);
glDisable(GL_COLOR_MATERIAL);
glDisable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
// standard 2D projection
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, 1, 0, 1, -1, 1);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
// actual draw text, do not initialize OpenGL options
void mjr_textActual(int font, const char* txt, const mjrContext* con,
float x, float y, float z, float r, float g, float b) {
// return if font is not installed
if (!con->rangeFont) {
return;
}
// shadow text
if (font == mjFONT_SHADOW) {
// blend shadow with black
glListBase(con->baseFontShadow);
glColor4f(0, 0, 0, 0.5);
glRasterPos3f(x, y, z);
glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
// render text
glListBase(con->baseFontNormal);
glColor4f(r, g, b, 1);
glRasterPos3f(x, y, z);
glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
}
// regular text (normal or big)
else {
glListBase(font == mjFONT_BIG ? con->baseFontBig : con->baseFontNormal);
glColor4f(r, g, b, 1);
glRasterPos3f(x, y, z);
glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
}
}
// draw text at (x,y) in relative coordinates; font is mjtFont
void mjr_text(int font, const char* txt, const mjrContext* con,
float x, float y, float r, float g, float b) {
// init OpenGL
init2D();
// call actual drawing function
mjr_textActual(font, txt, con, x, y, 0, r, g, b);
}
// actual overlay drawing; used for each column; return width (used as skip for next call)
static int draw_overlay(int font, mjrRect viewport, int skip, int gridpos,
float red, float green, float blue,
const char* overlay, const mjrContext* con) {
int pos, ncthis, nc, nr, W, H, flg_big = (font == mjFONT_BIG);
int PAD = 5, sz = mjMIN(mjMAXOVERLAY, (int)strlen(overlay));
char text[mjMAXOVERLAY];
// count rows and columns of text rectangle in pixels
nr = flg_big ? con->charHeightBig : con->charHeight;
ncthis = nc = 0;
for (int i=0; i < sz; i++) {
// process this char
if (overlay[i] != '\n') {
ncthis += flg_big ? con->charWidthBig[(unsigned char)overlay[i]]
: con->charWidth[(unsigned char)overlay[i]];
nc = mjMAX(nc, ncthis);
}
// advance to next line
else {
nr += PAD + (flg_big ? con->charHeightBig : con->charHeight);
ncthis = 0;
}
}
// viewport width and height
W = PAD+nc+8;
H = PAD+nr;
// set viewport to specific grid position
switch (gridpos) {
case mjGRID_TOPLEFT:
glViewport(viewport.left+skip+PAD,
viewport.bottom+viewport.height-1-PAD-H, W, H);
break;
case mjGRID_TOPRIGHT:
glViewport(viewport.left+viewport.width-skip-1-PAD-W,
viewport.bottom+viewport.height-1-PAD-H, W, H);
break;
case mjGRID_BOTTOMLEFT:
glViewport(viewport.left+skip+PAD,
viewport.bottom+PAD, W, H);
break;
case mjGRID_BOTTOMRIGHT:
glViewport(viewport.left+viewport.width-skip-1-PAD-W,
viewport.bottom+PAD, W, H);
}
// set projection in pixels
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, W-1, 0, H-1, -1, 1);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// blend with black background
glEnable(GL_BLEND);
glColor4d(0, 0, 0, 0.5);
glBegin(GL_QUADS);
glNormal3d(0, 0, 1);
glVertex2d(0, 0);
glVertex2d(0, H);
glVertex2d(W, H);
glVertex2d(W, 0);
glEnd();
glDisable(GL_BLEND);
// draw text line by line
nr = flg_big ? con->charHeightBig : con->charHeight;
pos = 0;
for (int i=0; i < sz; i++) {
// terminate line and draw
if (overlay[i] == '\n' || i == sz-1) {
if (overlay[i] == '\n') {
text[pos] = 0;
} else {
text[pos] = overlay[i];
text[pos+1] = 0;
}
mjr_textActual(font, text, con, 3, H-nr, 0, red, green, blue);
// advance to next line
nr += PAD + (flg_big ? con->charHeightBig : con->charHeight);
pos = 0;
}
// copy char
else {
text[pos++] = overlay[i];
}
}
return W-2;
}
// draw text overlay; font is mjtFont; gridpos is mjtGridPos
void mjr_overlay(int font, int gridpos, mjrRect viewport,
const char* overlay, const char* overlay2, const mjrContext* con) {
int skip = 0;
// empty viewport: nothing to do
if (viewport.width <= 0 || viewport.height <= 0) {
return;
}
// init OpenGL once per overlay, set viewport later
init2D();
// two-column
if (overlay2 && overlay2[0]) {
// left side
if (gridpos == mjGRID_TOPLEFT || gridpos == mjGRID_BOTTOMLEFT) {
skip = draw_overlay(font, viewport, 0, gridpos, .7, .7, .7, overlay, con);
draw_overlay(font, viewport, skip, gridpos, 1, 1, 1, overlay2, con);
}
// right side
else {
skip = draw_overlay(font, viewport, 0, gridpos, 1, 1, 1, overlay2, con);
draw_overlay(font, viewport, skip, gridpos, .7, .7, .7, overlay, con);
}
}
// one-column
else {
draw_overlay(font, viewport, 0, gridpos, 1, 1, 1, overlay, con);
}
}
//------------------------------ 2D drawing --------------------------------------------------------
// get maximum viewport for active buffer
mjrRect mjr_maxViewport(const mjrContext* con) {
// init with offscreen
mjrRect res = {0, 0, con->offWidth, con->offHeight};
// window: get from scissor box
int dims[4];
if (con->currentBuffer == mjFB_WINDOW) {
glGetIntegerv(GL_SCISSOR_BOX, dims);
res.width = dims[2];
res.height = dims[3];
}
return res;
}
// draw rectangle
void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a) {
// empty viewport: nothing to do
if (viewport.width <= 0 || viewport.height <= 0) {
return;
}
// init OpenGL, set viewport
init2D();
glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
// draw rectangle
glEnable(GL_BLEND);
glColor4f(r, g, b, a);
glBegin(GL_QUADS);
glVertex2f(0, 0);
glVertex2f(0, 1);
glVertex2f(1, 1);
glVertex2f(1, 0);
glEnd();
glDisable(GL_BLEND);
}
// draw rectangle with centered text
void mjr_label(mjrRect viewport, int font, const char* txt,
float r, float g, float b, float a, float rt, float gt, float bt,
const mjrContext* con) {
// empty viewport: nothing to do
if (viewport.width <= 0 || viewport.height <= 0) {
return;
}
// set OpenGL options
glDisable(GL_NORMALIZE);
glDisable(GL_DEPTH_TEST);
glDisable(GL_CULL_FACE);
glDisable(GL_LIGHTING);
glDisable(GL_COLOR_MATERIAL);
glShadeModel(GL_FLAT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
// standard 2D projection, in framebuffer units
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, viewport.width, 0, viewport.height, -1, 1);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// set viewport
glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
// get sizes
int W = viewport.width;
int H = viewport.height;
// render
glBegin(GL_QUADS);
glColor4f(r, g, b, a);
glVertex2i(0, 0);
glVertex2i(W, 0);
glVertex2i(W, H);
glVertex2i(0, H);
glEnd();
// draw text
if (txt && con->rangeFont) {
// compute width
int i = 0, width = 0;
if (font == mjFONT_BIG) {
while (txt[i]) {
width += con->charWidthBig[(unsigned char)txt[i++]];
}
} else {
while (txt[i]) {
width += con->charWidth[(unsigned char)txt[i++]];
}
}
// compute center
int cx = (W - width)/2;
int cy = (H - (font == mjFONT_BIG ? con->charHeightBig : con->charHeight))/2;
// draw
glListBase(font == mjFONT_BIG ? con->baseFontBig : con->baseFontNormal);
glColor3f(rt, gt, bt);
glRasterPos2i(mjMAX(0, cx), cy);
glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
}
}
// make text, strip trailing zeros
static void maketext(const char* format, char* txt, float num, int txt_sz) {
int i, j;
// full text
snprintf(txt, txt_sz, format, num);
// locate trailing zeros
i = strlen(txt);
while (i > 0 && txt[i-1] == '0') {
i--;
}
if (i <= 1) {
return;
}
// strip if preceding char is '.'
if (txt[i-1] == '.') {
txt[i-1] = 0;
}
// otherwise find earlier '.'
else {
// find regular preceding digits
j = i-1;
while (j >= 0 && txt[j] >= '0' && txt[j] <= '9') {
j--;
}
// '.' found: strip
if (j >= 0 && txt[j] == '.') {
txt[i] = 0;
}
}
}
// compute text width in pixels
static int textwidth(const mjrContext* con, const char* text) {
int i = 0, width = 0;
// add character widths
while (text[i]) {
width += con->charWidth[(unsigned char)text[i++]];
}
return width;
}
// draw 2D figure
void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
float range[2][2];
float griddata[100];
const float minrange = 1e-5, offset = 0.001;
const int PAD = con->charHeight/2;
char datatxt[STRING_BUFSIZE];
// empty viewport: nothing to do
if (viewport.width <= 0 || viewport.height <= 0) {
return;
}
// init OpenGL, set viewport
init2D();
glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
// clear background and blend
glEnable(GL_BLEND);
glColor4fv(fig->figurergba);
glBegin(GL_QUADS);
glVertex2d(0, 0);
glVertex2d(0, 1);
glVertex2d(1, 1);
glVertex2d(1, 0);
glEnd();
glDisable(GL_BLEND);
// determine range along (x,y)
for (int axis=0; axis < 2; axis++) {
// init ranges, set flag
range[axis][0] = fig->range[axis][0];
range[axis][1] = fig->range[axis][1];
int flg;
if (fig->range[axis][0] < fig->range[axis][1]) {
flg = 1;
} else {
flg = 0;
}
// determine range: scan line data, find min and max
if (!flg || fig->flg_extend) {
for (int n=0; n < mjMAXLINE; n++) {
for (int i=0; i < fig->linepnt[n]; i++) {
// get data
float ldata = fig->linedata[n][2*i+axis];
// skip if not finite
if (!isfinite(ldata)) {
continue;
}
// copy first finite data point
if (!flg) {
range[axis][0] = ldata;
range[axis][1] = ldata;
flg = 1;
}
// otherwise regular update
else {
// update minimum
if (range[axis][0] > ldata) {
range[axis][0] = ldata;
}
// update maximum
if (range[axis][1] < ldata) {
range[axis][1] = ldata;
}
}
}
}
}
// make sure range is not too small
if (range[axis][1]-range[axis][0] < minrange) {
float needed = minrange - (range[axis][1]-range[axis][0]);
range[axis][0] -= 0.5f*needed;
range[axis][1] += 0.5f*needed;
}
// make y-range symmetric
if (fig->flg_symmetric) {
float ymax = mjMAX(fabsf(range[1][0]), fabsf(range[1][1]));
range[1][0] = -ymax;
range[1][1] = +ymax;
}
}
// save ranges
fig->xaxisdata[0] = range[0][0];
fig->xaxisdata[1] = range[0][1];
fig->yaxisdata[0] = range[1][0];
fig->yaxisdata[1] = range[1][1];
// set projection in pixels
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
if (viewport.width <= 1 || viewport.height <= 1) {
return;
}
glOrtho(0, viewport.width-1, 0, viewport.height-1, -1, 1);
// draw title, save vertical size
int sy_title = 0;
if (fig->title[0]) {
// find address of selected subplot title
int subadr = 0, subcnt = 0;
while (subcnt < fig->subplot && subadr < 1000 && fig->title[subadr]) {
// skip non-space
while (subadr < 1000 && fig->title[subadr] && fig->title[subadr] != ' ') {
subadr++;
}
// skip space, count
int cntspace = 0;
while (subadr < 1000 && fig->title[subadr] == ' ') {
subadr++;
cntspace++;
}
// count subplot if 2+ spaces
if (cntspace > 1) {
subcnt++;
}
}
// find length of selected subplot title (skip non-space or single space)
int sublen = 0;
while ((subadr+sublen < 1000 &&
fig->title[subadr+sublen] &&
fig->title[subadr+sublen] != ' ') ||
(subadr+sublen+1 < 1000 && fig->title[subadr+sublen+1] &&
fig->title[subadr+sublen+1] != ' ')) {
sublen++;
}
// proceed if non-empty
if (sublen) {
// save vertical size
sy_title = con->charHeight;
// get title size
int sx_title = 0;
for (int i=subadr; i < subadr+sublen; i++) {
sx_title += con->charWidth[(unsigned char)fig->title[i]];
}
// compute left edge of title
int left = mjMAX(0, viewport.width/2-sx_title/2);
// compute left edge and address of extended title
int left1 = left, subadr1 = subadr;
while (subadr1 > 0 && left1 >= con->charWidth[(unsigned char)fig->title[subadr1-1]]) {
left1 -= con->charWidth[(unsigned char)fig->title[subadr1-1]];
subadr1--;
}
// compute right edge and length of extended title
int sublen1 = 0, right1 = left1;
while (sublen1+subadr1 < 1000 && fig->title[subadr1+sublen1] &&
right1+con->charWidth[(unsigned char)fig->title[subadr1+sublen1]] < viewport.width) {
right1 += con->charWidth[(unsigned char)fig->title[subadr1+sublen1]];
sublen1++;
}
// extended title
glListBase(con->baseFontNormal);
glColor4f(0.4*fig->textrgb[0]+0.6*fig->figurergba[0],
0.4*fig->textrgb[1]+0.6*fig->figurergba[1],
0.4*fig->textrgb[2]+0.6*fig->figurergba[2], 1);
glRasterPos3f(left1, viewport.height-PAD-sy_title, 0);
glCallLists((GLsizei)sublen1, GL_UNSIGNED_BYTE, fig->title+subadr1);
// actual title
glListBase(con->baseFontNormal);
glColor4f(fig->textrgb[0], fig->textrgb[1], fig->textrgb[2], 1);
glRasterPos3f(left, viewport.height-PAD-sy_title, 0);
glCallLists((GLsizei)sublen, GL_UNSIGNED_BYTE, fig->title+subadr);
}
}
// draw xlabel, save size
int sx_label = 0, sy_label = 0;
if (fig->xlabel[0]) {
// get xlabel size
sx_label = textwidth(con, fig->xlabel);
sy_label = con->charHeight;
// render xlabel
mjr_textActual(mjFONT_NORMAL, fig->xlabel, con,
mjMAX(0, viewport.width/2-sx_label/2), PAD, 0,
fig->textrgb[0], fig->textrgb[1], fig->textrgb[2]);
}
// reduce viewport to account for title and xlabel vertical size
if (sy_title || sy_label) {
// reduce viewport
viewport.bottom += (sy_label ? sy_label + PAD/2 : 0);
viewport.height -= (sy_label ? sy_label + PAD/2 : 0) + (sy_title ? sy_title + PAD : 0);
if (viewport.width <= 0 || viewport.height <= 0) {
return;
}
glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
// set matrix projection in pixels
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, viewport.width-1, 0, viewport.height-1, -1, 1);
}
// draw optional tick labels, reduce viewport
if (fig->gridsize[0] > 1 && fig->gridsize[1] > 1) {
char txt[STRING_BUFSIZE];
// determine xtick height
int xtick_height = 0;
if (fig->flg_ticklabel[0]) {
xtick_height = con->charHeight + PAD;
}
// determine ytick width
int ytick_width = 0;
if (fig->flg_ticklabel[1]) {
// start with minwidth
if (fig->minwidth[0]) {
ytick_width = textwidth(con, fig->minwidth);
}
// limit to 20 ticks
int n = mjMIN(20, fig->gridsize[1]);
// generate all strings, find max width
for (int i=0; i < n; i++) {
const int txt_sz = mjSIZEOFARRAY(txt);
maketext(fig->yformat, txt, range[1][0] + (range[1][1]-range[1][0])*i/(float)(n-1),
txt_sz);
ytick_width = mjMAX(ytick_width, textwidth(con, txt));
}
ytick_width += PAD;
}