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OgreScene.cc
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OgreScene.cc
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/*
* Copyright (C) 2015 Open Source Robotics Foundation
*
* 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 <ignition/common/Console.hh>
#include "ignition/rendering/ogre/OgreArrowVisual.hh"
#include "ignition/rendering/ogre/OgreAxisVisual.hh"
#include "ignition/rendering/ogre/OgreCamera.hh"
#include "ignition/rendering/ogre/OgreDepthCamera.hh"
#include "ignition/rendering/ogre/OgreConversions.hh"
#include "ignition/rendering/ogre/OgreGeometry.hh"
#include "ignition/rendering/ogre/OgreGizmoVisual.hh"
#include "ignition/rendering/ogre/OgreGpuRays.hh"
#include "ignition/rendering/ogre/OgreGrid.hh"
#include "ignition/rendering/ogre/OgreIncludes.hh"
#include "ignition/rendering/ogre/OgreText.hh"
#include "ignition/rendering/ogre/OgreMaterial.hh"
#include "ignition/rendering/ogre/OgreMarker.hh"
#include "ignition/rendering/ogre/OgreLidarVisual.hh"
#include "ignition/rendering/ogre/OgreMeshFactory.hh"
#include "ignition/rendering/ogre/OgreParticleEmitter.hh"
#include "ignition/rendering/ogre/OgreRayQuery.hh"
#include "ignition/rendering/ogre/OgreRenderEngine.hh"
#include "ignition/rendering/ogre/OgreRenderTarget.hh"
#include "ignition/rendering/ogre/OgreRTShaderSystem.hh"
#include "ignition/rendering/ogre/OgreScene.hh"
#include "ignition/rendering/ogre/OgreStorage.hh"
#include "ignition/rendering/ogre/OgreThermalCamera.hh"
#include "ignition/rendering/ogre/OgreVisual.hh"
#include "ignition/rendering/ogre/OgreWireBox.hh"
namespace ignition
{
namespace rendering
{
inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
//
/// \class Subclassing the Ogre Rectangle2D class to create a gradient
/// colored rectangle. The class is setting colors at the four vertices
/// (corners) of the rectangle and Ogre/OpenGL then interpolates the colors
/// between the vertices.
/// \ref https://forums.ogre3d.org/viewtopic.php?f=2&t=60677
class ColoredRectangle2D : public Ogre::Rectangle2D
{
// Documentation inherited
public: explicit ColoredRectangle2D(
bool _includeTextureCoordinates = false)
: Ogre::Rectangle2D(_includeTextureCoordinates)
{
Ogre::VertexDeclaration* decl = mRenderOp.vertexData->vertexDeclaration;
decl->addElement(this->kColorBinding, 0,
Ogre::VET_COLOUR, Ogre::VES_DIFFUSE);
Ogre::VertexBufferBinding* bind =
mRenderOp.vertexData->vertexBufferBinding;
Ogre::HardwareVertexBufferSharedPtr vbuf =
Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
decl->getVertexSize(this->kColorBinding),
mRenderOp.vertexData->vertexCount,
Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY);
// Bind buffer
bind->setBinding(this->kColorBinding, vbuf);
}
/// \brief Class destructor.
public: ~ColoredRectangle2D()
{
}
/// \brief Set the degraded colors of the rectangle
/// \param[in] _topLeft Top left color
/// \param[in] _bottomLeft Bottom left color
/// \param[in] _topRight Top right color
/// \param[in] _bottomRight Bottom right color
public: void SetColors(const Ogre::ColourValue &_topLeft,
const Ogre::ColourValue &_bottomLeft,
const Ogre::ColourValue &_topRight,
const Ogre::ColourValue &_bottomRight)
{
Ogre::HardwareVertexBufferSharedPtr vbuf =
mRenderOp.vertexData->vertexBufferBinding->getBuffer(
this->kColorBinding);
unsigned int* pUint32 =
static_cast<unsigned int*>(vbuf->lock(
Ogre::HardwareBuffer::HBL_DISCARD));
const Ogre::VertexElementType srcType =
Ogre::VertexElement::getBestColourVertexElementType();
*pUint32++ = Ogre::VertexElement::convertColourValue(_topLeft, srcType);
*pUint32++ =
Ogre::VertexElement::convertColourValue(_bottomLeft, srcType);
*pUint32++ =
Ogre::VertexElement::convertColourValue(_topRight, srcType);
*pUint32++ =
Ogre::VertexElement::convertColourValue(_bottomRight, srcType);
vbuf->unlock();
}
/// \brief Index associated with the vertex buffer.
private: const int kColorBinding = 3;
};
}
}
}
using namespace ignition;
using namespace rendering;
//////////////////////////////////////////////////
OgreScene::OgreScene(unsigned int _id, const std::string &_name) :
BaseScene(_id, _name),
rootVisual(nullptr),
meshFactory(nullptr),
ogreRoot(nullptr),
ogreSceneManager(nullptr)
{
this->backgroundColor = math::Color::Black;
this->gradientBackgroundColor = {math::Color::Black, math::Color::Black,
math::Color::Black, math::Color::Black};
}
//////////////////////////////////////////////////
OgreScene::~OgreScene()
{
}
//////////////////////////////////////////////////
void OgreScene::Fini()
{
}
//////////////////////////////////////////////////
RenderEngine *OgreScene::Engine() const
{
return OgreRenderEngine::Instance();
}
//////////////////////////////////////////////////
VisualPtr OgreScene::RootVisual() const
{
return this->rootVisual;
}
//////////////////////////////////////////////////
math::Color OgreScene::AmbientLight() const
{
Ogre::ColourValue ogreColor = this->ogreSceneManager->getAmbientLight();
return OgreConversions::Convert(ogreColor);
}
//////////////////////////////////////////////////
void OgreScene::SetAmbientLight(const math::Color &_color)
{
Ogre::ColourValue ogreColor = OgreConversions::Convert(_color);
this->ogreSceneManager->setAmbientLight(ogreColor);
}
//////////////////////////////////////////////////
void OgreScene::SetBackgroundColor(const math::Color &_color)
{
this->backgroundColor = _color;
// TODO(anyone): clean up code
unsigned int count = this->SensorCount();
for (unsigned int i = 0; i < count; ++i)
{
SensorPtr sensor = this->SensorByIndex(i);
OgreCameraPtr camera = std::dynamic_pointer_cast<OgreCamera>(sensor);
if (camera) camera->SetBackgroundColor(_color);
}
}
//////////////////////////////////////////////////
void OgreScene::SetGradientBackgroundColor(
const std::array<math::Color, 4> &_colors)
{
ColoredRectangle2D* rect = nullptr;
Ogre::SceneNode *backgroundNodePtr = nullptr;
// Check if we have created the scene node to render the gradient background
if (!this->ogreSceneManager->hasSceneNode("Background"))
{
// Create background material
Ogre::MaterialPtr material =
Ogre::MaterialManager::getSingleton().create("Background", "General");
material->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false);
material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
// Create background rectangle covering the whole screen
rect = new ColoredRectangle2D();
rect->setCorners(-1.0, 1.0, 1.0, -1.0);
#if OGRE_VERSION_LT_1_11_0
rect->setMaterial("Background");
#else
rect->setMaterial(material);
#endif
// Render the background before everything else
rect->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND);
// Use infinite AAB to always stay visible
Ogre::AxisAlignedBox aabInf;
aabInf.setInfinite();
rect->setBoundingBox(aabInf);
// Attach background to the scene
backgroundNodePtr = this->ogreSceneManager->getRootSceneNode()->
createChildSceneNode("Background");
backgroundNodePtr->attachObject(rect);
}
backgroundNodePtr = this->ogreSceneManager->getSceneNode("Background");
auto coloredRectangle2D = backgroundNodePtr->getAttachedObject(0);
if (!coloredRectangle2D)
{
ignerr << "Unable to find the background attached object" << std::endl;
return;
}
rect = dynamic_cast<ColoredRectangle2D *>(coloredRectangle2D);
if (!rect)
{
ignerr << "Unable to cast from Ogre::MovableObject to ColouredRectangle2D"
<< std::endl;
return;
}
// Convert the ignition::math::Color to Ogre::ColourValue.
std::array<Ogre::ColourValue, 4> ogreColors;
for (auto i = 0u; i < 4; ++i)
ogreColors[i].setAsRGBA(_colors[i].AsRGBA());
rect->SetColors(ogreColors[0], ogreColors[1], ogreColors[2], ogreColors[3]);
rect->setVisible(true);
this->gradientBackgroundColor = _colors;
this->isGradientBackgroundColor = true;
}
//////////////////////////////////////////////////
void OgreScene::RemoveGradientBackgroundColor()
{
// If the gradient background color is set, we should make it invisible,
// otherwise the background color will not be visible.
if (this->ogreSceneManager->hasSceneNode("Background"))
{
auto backgroundNodePtr = this->ogreSceneManager->getSceneNode("Background");
auto coloredRectangle2D = backgroundNodePtr->getAttachedObject(0);
if (coloredRectangle2D && coloredRectangle2D->isVisible())
coloredRectangle2D->setVisible(false);
}
this->isGradientBackgroundColor = false;
}
//////////////////////////////////////////////////
void OgreScene::PreRender()
{
BaseScene::PreRender();
OgreRTShaderSystem::Instance()->Update();
}
//////////////////////////////////////////////////
void OgreScene::Clear()
{
BaseScene::Clear();
}
//////////////////////////////////////////////////
void OgreScene::Destroy()
{
BaseScene::Destroy();
// ogre scene manager is destroyed when ogre root is deleted
// removing here seems to cause the system to freeze on deleting rthsader
// system when unloading the engine
this->ogreSceneManager = nullptr;
}
//////////////////////////////////////////////////
Ogre::SceneManager *OgreScene::OgreSceneManager() const
{
return this->ogreSceneManager;
}
//////////////////////////////////////////////////
bool OgreScene::LoadImpl()
{
return true;
}
//////////////////////////////////////////////////
bool OgreScene::InitImpl()
{
this->CreateContext();
this->CreateRootVisual();
this->CreateStores();
this->CreateMeshFactory();
OgreRTShaderSystem::Instance()->AddScene(this->SharedThis());
OgreRTShaderSystem::Instance()->ApplyShadows(this->SharedThis());
return true;
}
//////////////////////////////////////////////////
LightStorePtr OgreScene::Lights() const
{
return this->lights;
}
//////////////////////////////////////////////////
SensorStorePtr OgreScene::Sensors() const
{
return this->sensors;
}
//////////////////////////////////////////////////
VisualStorePtr OgreScene::Visuals() const
{
return this->visuals;
}
//////////////////////////////////////////////////
MaterialMapPtr OgreScene::Materials() const
{
return this->materials;
}
//////////////////////////////////////////////////
DirectionalLightPtr OgreScene::CreateDirectionalLightImpl(unsigned int _id,
const std::string &_name)
{
OgreDirectionalLightPtr light(new OgreDirectionalLight);
bool result = this->InitObject(light, _id, _name);
return (result) ? light : nullptr;
}
//////////////////////////////////////////////////
PointLightPtr OgreScene::CreatePointLightImpl(unsigned int _id,
const std::string &_name)
{
OgrePointLightPtr light(new OgrePointLight);
bool result = this->InitObject(light, _id, _name);
return (result) ? light : nullptr;
}
//////////////////////////////////////////////////
SpotLightPtr OgreScene::CreateSpotLightImpl(unsigned int _id,
const std::string &_name)
{
OgreSpotLightPtr light(new OgreSpotLight);
bool result = this->InitObject(light, _id, _name);
return (result) ? light : nullptr;
}
//////////////////////////////////////////////////
CameraPtr OgreScene::CreateCameraImpl(unsigned int _id,
const std::string &_name)
{
OgreCameraPtr camera(new OgreCamera);
bool result = this->InitObject(camera, _id, _name);
camera->SetBackgroundColor(this->backgroundColor);
return (result) ? camera : nullptr;
}
//////////////////////////////////////////////////
DepthCameraPtr OgreScene::CreateDepthCameraImpl(const unsigned int _id,
const std::string &_name)
{
OgreDepthCameraPtr camera(new OgreDepthCamera);
bool result = this->InitObject(camera, _id, _name);
return (result) ? camera : nullptr;
}
//////////////////////////////////////////////////
ThermalCameraPtr OgreScene::CreateThermalCameraImpl(const unsigned int _id,
const std::string &_name)
{
OgreThermalCameraPtr camera(new OgreThermalCamera);
bool result = this->InitObject(camera, _id, _name);
return (result) ? camera : nullptr;
}
///////////////////////////////////////////////////
GpuRaysPtr OgreScene::CreateGpuRaysImpl(const unsigned int _id,
const std::string &_name)
{
OgreGpuRaysPtr gpuRays(new OgreGpuRays);
bool result = this->InitObject(gpuRays, _id, _name);
return (result) ? gpuRays : nullptr;
}
////////////////////////////////////////////////
VisualPtr OgreScene::CreateVisualImpl(unsigned int _id,
const std::string &_name)
{
OgreVisualPtr visual(new OgreVisual);
bool result = this->InitObject(visual, _id, _name);
return (result) ? visual : nullptr;
}
//////////////////////////////////////////////////
ArrowVisualPtr OgreScene::CreateArrowVisualImpl(unsigned int _id,
const std::string &_name)
{
OgreArrowVisualPtr visual(new OgreArrowVisual);
bool result = this->InitObject(visual, _id, _name);
return (result) ? visual : nullptr;
}
//////////////////////////////////////////////////
AxisVisualPtr OgreScene::CreateAxisVisualImpl(unsigned int _id,
const std::string &_name)
{
OgreAxisVisualPtr visual(new OgreAxisVisual);
bool result = this->InitObject(visual, _id, _name);
return (result) ? visual : nullptr;
}
//////////////////////////////////////////////////
GizmoVisualPtr OgreScene::CreateGizmoVisualImpl(unsigned int _id,
const std::string &_name)
{
OgreGizmoVisualPtr visual(new OgreGizmoVisual);
bool result = this->InitObject(visual, _id, _name);
return (result) ? visual : nullptr;
}
//////////////////////////////////////////////////
GeometryPtr OgreScene::CreateBoxImpl(unsigned int _id,
const std::string &_name)
{
return this->CreateMeshImpl(_id, _name, "unit_box");
}
//////////////////////////////////////////////////
GeometryPtr OgreScene::CreateConeImpl(unsigned int _id,
const std::string &_name)
{
return this->CreateMeshImpl(_id, _name, "unit_cone");
}
//////////////////////////////////////////////////
GeometryPtr OgreScene::CreateCylinderImpl(unsigned int _id,
const std::string &_name)
{
return this->CreateMeshImpl(_id, _name, "unit_cylinder");
}
//////////////////////////////////////////////////
GeometryPtr OgreScene::CreatePlaneImpl(unsigned int _id,
const std::string &_name)
{
return this->CreateMeshImpl(_id, _name, "unit_plane");
}
//////////////////////////////////////////////////
GeometryPtr OgreScene::CreateSphereImpl(unsigned int _id,
const std::string &_name)
{
return this->CreateMeshImpl(_id, _name, "unit_sphere");
}
//////////////////////////////////////////////////
MeshPtr OgreScene::CreateMeshImpl(unsigned int _id, const std::string &_name,
const std::string &_meshName)
{
MeshDescriptor descriptor(_meshName);
return this->CreateMeshImpl(_id, _name, descriptor);
}
//////////////////////////////////////////////////
MeshPtr OgreScene::CreateMeshImpl(unsigned int _id, const std::string &_name,
const MeshDescriptor &_desc)
{
OgreMeshPtr mesh = this->meshFactory->Create(_desc);
if (nullptr == mesh)
return nullptr;
bool result = this->InitObject(mesh, _id, _name);
return (result) ? mesh : nullptr;
}
//////////////////////////////////////////////////
GridPtr OgreScene::CreateGridImpl(unsigned int _id, const std::string &_name)
{
OgreGridPtr grid(new OgreGrid);
bool result = this->InitObject(grid, _id, _name);
return (result) ? grid: nullptr;
}
//////////////////////////////////////////////////
WireBoxPtr OgreScene::CreateWireBoxImpl(unsigned int _id,
const std::string &_name)
{
OgreWireBoxPtr wireBox(new OgreWireBox);
bool result = this->InitObject(wireBox, _id, _name);
return (result) ? wireBox: nullptr;
}
//////////////////////////////////////////////////
MarkerPtr OgreScene::CreateMarkerImpl(unsigned int _id,
const std::string &_name)
{
OgreMarkerPtr marker(new OgreMarker);
bool result = this->InitObject(marker, _id, _name);
return (result) ? marker: nullptr;
}
//////////////////////////////////////////////////
LidarVisualPtr OgreScene::CreateLidarVisualImpl(unsigned int _id,
const std::string &_name)
{
OgreLidarVisualPtr lidar(new OgreLidarVisual);
bool result = this->InitObject(lidar, _id, _name);
return (result) ? lidar: nullptr;
}
//////////////////////////////////////////////////
TextPtr OgreScene::CreateTextImpl(unsigned int _id, const std::string &_name)
{
OgreTextPtr text(new OgreText);
bool result = this->InitObject(text, _id, _name);
return (result) ? text: nullptr;
}
//////////////////////////////////////////////////
MaterialPtr OgreScene::CreateMaterialImpl(unsigned int _id,
const std::string &_name)
{
OgreMaterialPtr material(new OgreMaterial);
bool result = this->InitObject(material, _id, _name);
return (result) ? material : nullptr;
}
//////////////////////////////////////////////////
RenderTexturePtr OgreScene::CreateRenderTextureImpl(unsigned int _id,
const std::string &_name)
{
OgreRenderTexturePtr renderTexture(new OgreRenderTexture);
bool result = this->InitObject(renderTexture, _id, _name);
return (result) ? renderTexture : nullptr;
}
//////////////////////////////////////////////////
RenderWindowPtr OgreScene::CreateRenderWindowImpl(unsigned int _id,
const std::string &_name)
{
OgreRenderWindowPtr renderWindow(new OgreRenderWindow);
bool result = this->InitObject(renderWindow, _id, _name);
return (result) ? renderWindow: nullptr;
}
//////////////////////////////////////////////////
RayQueryPtr OgreScene::CreateRayQueryImpl(unsigned int _id,
const std::string &_name)
{
OgreRayQueryPtr rayQuery(new OgreRayQuery);
bool result = this->InitObject(rayQuery, _id, _name);
return (result) ? rayQuery : nullptr;
}
//////////////////////////////////////////////////
ParticleEmitterPtr OgreScene::CreateParticleEmitterImpl(unsigned int _id,
const std::string &_name)
{
OgreParticleEmitterPtr visual(new OgreParticleEmitter);
bool result = this->InitObject(visual, _id, _name);
return (result) ? visual : nullptr;
}
//////////////////////////////////////////////////
bool OgreScene::InitObject(OgreObjectPtr _object, unsigned int _id,
const std::string &_name)
{
// assign needed varibles
_object->id = _id;
_object->name = _name;
_object->scene = this->SharedThis();
// initialize object
_object->Load();
_object->Init();
return true;
}
//////////////////////////////////////////////////
void OgreScene::CreateContext()
{
Ogre::Root *root = OgreRenderEngine::Instance()->OgreRoot();
this->ogreSceneManager = root->createSceneManager(Ogre::ST_GENERIC);
#if (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))
this->ogreSceneManager->addRenderQueueListener(
OgreRenderEngine::Instance()->OverlaySystem());
#endif
}
//////////////////////////////////////////////////
void OgreScene::CreateRootVisual()
{
// create unregistered visual
this->rootVisual = OgreVisualPtr(new OgreVisual);
unsigned int rootId = this->CreateObjectId();
std::string rootName = this->CreateObjectName(rootId, "_ROOT_");
// check if root visual created successfully
if (!this->InitObject(this->rootVisual, rootId, rootName))
{
ignerr << "Unable to create root visual" << std::endl;
this->rootVisual = nullptr;
}
// add visual node to actual ogre root
Ogre::SceneNode *ogreRootNode = this->rootVisual->Node();
this->ogreSceneManager->getRootSceneNode()->addChild(ogreRootNode);
}
//////////////////////////////////////////////////
void OgreScene::CreateMeshFactory()
{
OgreScenePtr sharedThis = this->SharedThis();
this->meshFactory = OgreMeshFactoryPtr(new OgreMeshFactory(sharedThis));
}
//////////////////////////////////////////////////
void OgreScene::CreateStores()
{
this->lights = OgreLightStorePtr(new OgreLightStore);
this->sensors = OgreSensorStorePtr(new OgreSensorStore);
this->visuals = OgreVisualStorePtr(new OgreVisualStore);
this->materials = OgreMaterialMapPtr(new OgreMaterialMap);
}
//////////////////////////////////////////////////
OgreScenePtr OgreScene::SharedThis()
{
ScenePtr sharedBase = this->shared_from_this();
return std::dynamic_pointer_cast<OgreScene>(sharedBase);
}