Main.cc

/*
 * Copyright (C) 2021 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.
 *
 */

#if defined(__APPLE__)
  #include <OpenGL/gl.h>
  #include <GLUT/glut.h>
#else
  #include <GL/glew.h>
  #include <GL/glut.h>
  #if _WIN32
    #define NOMINMAX
    #include <windows.h>
    #include <GL/glu.h>
  #else
    #include <GL/gl.h>
  #endif
#endif

#include <iostream>
#include <vector>

#include <gz/common/Console.hh>
#include <gz/rendering.hh>

#include "example_config.hh"

#include "GlutWindow.hh"

using namespace gz;
using namespace rendering;

const std::string vertexShaderGLSLFile = "vertex_shader.glsl";
const std::string fragmentShaderGLSLFile = "fragment_shader.glsl";

const std::string vertexShaderGLSL330File = "vertex_shader_330.glsl";
const std::string fragmentShaderGLSL330File = "fragment_shader_330.glsl";

const std::string vertexShaderMetalFile = "vertex_shader.metal";
const std::string fragmentShaderMetalFile = "fragment_shader.metal";

//! [init shaders variables]

const std::string RESOURCE_PATH =
    gz::common::joinPaths(std::string(PROJECT_BINARY_PATH), "media");

//////////////////////////////////////////////////
void buildScene(ScenePtr _scene,
    const std::string &_engineName,
    const std::map<std::string, std::string>& _params)
{
  // initialize _scene
  _scene->SetAmbientLight(0.3, 0.3, 0.3);
  VisualPtr root = _scene->RootVisual();

  // create directional light
  DirectionalLightPtr light0 = _scene->CreateDirectionalLight();
  light0->SetDirection(-0.5, 0.5, -1);
  light0->SetDiffuseColor(0.5, 0.5, 0.5);
  light0->SetSpecularColor(0.5, 0.5, 0.5);
  root->AddChild(light0);

  std::string vertexShaderFile;
  std::string fragmentShaderFile;
  if (_engineName == "ogre2")
  {
    auto it = _params.find("metal");
    if (it != _params.end() && it->second == "1")
    {
      vertexShaderFile = vertexShaderMetalFile;
      fragmentShaderFile = fragmentShaderMetalFile;
    }
    else
    {
      vertexShaderFile = vertexShaderGLSL330File;
      fragmentShaderFile = fragmentShaderGLSL330File;
    }
  }
  else
  {
    vertexShaderFile = vertexShaderGLSLFile;
    fragmentShaderFile = fragmentShaderGLSLFile;
  }

  // create shader materials
  // path to look for vertex and fragment shader parameters
  std::string vertexShaderPath = gz::common::joinPaths(
      RESOURCE_PATH, vertexShaderFile);

  std::string fragmentShaderPath = gz::common::joinPaths(
      RESOURCE_PATH, fragmentShaderFile);

  //! [add shader to visual]
  // create shader material
  gz::rendering::MaterialPtr shader = _scene->CreateMaterial();
  shader->SetVertexShader(vertexShaderPath);
  shader->SetFragmentShader(fragmentShaderPath);

  // create box visual
  VisualPtr box = _scene->CreateVisual("box");
  box->AddGeometry(_scene->CreateBox());
  box->SetOrigin(0.0, 0.0, 0.0);
  box->SetLocalPosition(0, 1, 0);
  box->SetLocalScale(2, 2, 2);
  box->SetMaterial(shader);
  root->AddChild(box);

  // create camera
  CameraPtr camera = _scene->CreateCamera("camera");
  camera->SetLocalPosition(0.0, 0.0, 0.0);
  camera->SetLocalRotation(0.0, 0.0, 0.0);
  camera->SetImageWidth(800);
  camera->SetImageHeight(600);
  camera->SetAntiAliasing(2);
  camera->SetAspectRatio(1.333);
  camera->SetHFOV(GZ_PI / 2);
  root->AddChild(camera);

  // track target
  camera->SetTrackTarget(box);
}

//////////////////////////////////////////////////
CameraPtr createCamera(const std::string &_engineName,
    const std::map<std::string, std::string>& _params)
{
  // create and populate scene
  RenderEngine *engine = rendering::engine(_engineName, _params);
  if (!engine)
  {
    std::cout << "Engine '" << _engineName
              << "' is not supported" << std::endl;
    return CameraPtr();
  }
  ScenePtr scene = engine->CreateScene("scene");
  buildScene(scene, _engineName, _params);

  // return camera sensor
  SensorPtr sensor = scene->SensorByName("camera");
  return std::dynamic_pointer_cast<Camera>(sensor);
}

//////////////////////////////////////////////////
int main(int _argc, char** _argv)
{
  glutInit(&_argc, _argv);


  // Expose engine name to command line because we can't instantiate both
  // ogre and ogre2 at the same time
  std::string ogreEngineName("ogre");
  if (_argc > 1)
  {
    ogreEngineName = _argv[1];
  }

  GraphicsAPI graphicsApi = defaultGraphicsAPI();
  if (_argc > 2)
  {
    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
  }

  common::Console::SetVerbosity(4);
  std::vector<std::string> engineNames;
  std::vector<CameraPtr> cameras;

  engineNames.push_back(ogreEngineName);

  for (auto engineName : engineNames)
  {
    try
    {
      std::map<std::string, std::string> params;
      if (engineName.compare("ogre2") == 0
          && graphicsApi == GraphicsAPI::METAL)
      {
        params["metal"] = "1";
      }

      CameraPtr camera = createCamera(engineName, params);
      if (camera)
      {
        cameras.push_back(camera);
      }
    }
    catch (...)
    {
      std::cerr << "Error starting up: " << engineName << std::endl;
    }
  }

  run(cameras);
  return 0;
}