C3DSScene.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
 
#include "opengl-precomp.h"  // Precompiled header
 
#include <mrpt/config.h>
 
#if MRPT_HAS_LIB3DS
// Include the lib3ds library:
#include <lib3ds/file.h>
#include <lib3ds/background.h>
#include <lib3ds/camera.h>
#include <lib3ds/mesh.h>
#include <lib3ds/node.h>
#include <lib3ds/material.h>
#include <lib3ds/matrix.h>
#include <lib3ds/vector.h>
#include <lib3ds/light.h>
#endif
 
#include <mrpt/opengl/C3DSScene.h>
#include <mrpt/opengl/CTexturedPlane.h>
 
#include <mrpt/compress/zip.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/vector_loadsave.h>
 
#include <mrpt/utils/CStringList.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/utils/CFileOutputStream.h>
#include <mrpt/utils/CFileInputStream.h>
 
#include "opengl_internals.h"
 
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE( C3DSScene, CRenderizableDisplayList, mrpt::opengl )
 
 
#if MRPT_HAS_LIB3DS
static void render_node(Lib3dsNode *node,Lib3dsFile     *file);
static void light_update(Lib3dsLight *l,Lib3dsFile      *file);
#endif
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void   C3DSScene::render_dl() const
{
#if MRPT_HAS_LIB3DS
#if MRPT_HAS_OPENGL_GLUT
        MRPT_START
 
        if (! m_3dsfile->file) return;  // No scene
 
        Lib3dsFile      *file = (Lib3dsFile*) m_3dsfile->file;
        if (!file) return;
 
        glEnable(GL_POLYGON_SMOOTH);
 
        glEnable(GL_CULL_FACE);
        glCullFace(GL_BACK);
 
 
        // Add an ambient light:
        if (m_enable_extra_lighting)
        {
                int li = GL_LIGHT7;
                const GLfloat a[] = {0.8f, 0.8f, 0.8f, 1.0f};
                GLfloat c[] = {0.5f, 0.5f, 0.5f, 0.5f};
 
                glLightfv(li, GL_AMBIENT, a);
                glLightfv(li, GL_DIFFUSE, c);
                glLightfv(li, GL_SPECULAR, c);
                glEnable(li);
        }
 
 
        glLightModelfv(GL_LIGHT_MODEL_AMBIENT, file->ambient);
 
        /* Lights.  Set them from light nodes if possible.  If not, use the
        * light objects directly.
        */
        {
                const GLfloat a[] = {0.1f, 0.1f, 0.1f, 1.0f};
                GLfloat c[] = {1.0f, 1.0f, 1.0f, 1.0f};
                GLfloat p[] = {0.0f, 0.0f, 0.0f, 1.0f};
 
                int li=GL_LIGHT0;
                for (Lib3dsLight *l=file->lights; l; l=l->next)
                {
                  glEnable(li);
 
                  light_update(l,file);
 
                  c[0] = l->color[0];
                  c[1] = l->color[1];
                  c[2] = l->color[2];
                  //c[3] = l->multiplier;
                  glLightfv(li, GL_AMBIENT, a);
                  glLightfv(li, GL_DIFFUSE, c);
                  glLightfv(li, GL_SPECULAR, c);
 
                  //float att = (1.0/m_scale_x)-1;
                  //glLightfv(li, GL_LINEAR_ATTENUATION, &att );
 
                  float att = 1.0/m_scale_x;
                  glLightfv(li, GL_CONSTANT_ATTENUATION, &att );
 
                  p[0] = l->position[0];
                  p[1] = l->position[1];
                  p[2] = l->position[2];
                  glLightfv(li, GL_POSITION, p);
 
                  if (l->spot_light)
                  {
                        p[0] = (l->spot[0] - l->position[0]);
                        p[1] = (l->spot[1] - l->position[1]);
                        p[2] = (l->spot[2] - l->position[2]);
                        glLightfv(li, GL_SPOT_DIRECTION, p);
                  }
                  ++li;
                }
        }
 
 
        for (Lib3dsNode *p=file->nodes; p!=0; p=p->next)
          render_node(p,file);
 
        glDisable(GL_CULL_FACE);
        MRPT_END
#endif
#else
        THROW_EXCEPTION("This class requires compiling MRPT against lib3ds");
#endif
}
 
#if MRPT_HAS_LIB3DS
 
// texture size: by now minimum standard
#define TEX_XSIZE       1024
#define TEX_YSIZE       1024
 
struct _player_texture
{
  int valid; // was the loading attempt successful ?
#ifdef  USE_SDL
  SDL_Surface *bitmap;
#else
  void *bitmap;
#endif
 
#if MRPT_HAS_OPENGL_GLUT
  GLuint tex_id; //OpenGL texture ID
#else
  unsigned int tex_id; //OpenGL texture ID
#endif
 
  float scale_x, scale_y; // scale the texcoords, as OpenGL thinks in TEX_XSIZE and TEX_YSIZE
};
 
typedef struct _player_texture Player_texture;
Player_texture *pt;
int tex_mode=0; // Texturing active ?
 
const char *datapath= ".";
 
/*
* Render node recursively, first children, then parent.
* Each node receives its own OpenGL display list.
*/
static void render_node(Lib3dsNode *node, Lib3dsFile    *file)
{
#if MRPT_HAS_OPENGL_GLUT
  {
    Lib3dsNode *p;
    for (p=node->childs; p!=0; p=p->next) {
      render_node(p,file);
    }
  }
  if (node->type==LIB3DS_OBJECT_NODE) {
    Lib3dsMesh *mesh;
 
    if (strcmp(node->name,"$$$DUMMY")==0) {
      return;
    }
 
    mesh = lib3ds_file_mesh_by_name(file, node->data.object.morph);
    if( mesh == NULL )
      mesh = lib3ds_file_mesh_by_name(file, node->name);
 
    if (!mesh->user.d) {
      ASSERT(mesh);
      if (!mesh) {
        return;
      }
 
      mesh->user.d=glGenLists(1);
      glNewList(mesh->user.d, GL_COMPILE);
 
      {
        unsigned p;
        Lib3dsVector *normalL=(Lib3dsVector *)malloc(3*sizeof(Lib3dsVector)*mesh->faces);
        Lib3dsMaterial *oldmat = (Lib3dsMaterial *)-1;
        {
          Lib3dsMatrix M;
          lib3ds_matrix_copy(M, mesh->matrix);
          lib3ds_matrix_inv(M);
          glMultMatrixf(&M[0][0]);
        }
        lib3ds_mesh_calculate_normals(mesh, normalL);
 
        for (p=0; p<mesh->faces; ++p) {
          Lib3dsFace *f=&mesh->faceL[p];
          Lib3dsMaterial *mat=0;
#ifdef  USE_SDL
          Player_texture *pt = NULL;
          int tex_mode = 0;
#endif
          if (f->material[0]) {
            mat=lib3ds_file_material_by_name(file, f->material);
          }
 
          if( mat != oldmat ) {
            if (mat) {
              if( mat->two_sided )
                glDisable(GL_CULL_FACE);
              else
                glEnable(GL_CULL_FACE);
 
              glDisable(GL_CULL_FACE);
 
              /* Texturing added by Gernot < gz@lysator.liu.se > */
 
/*
              if (mat->texture1_map.name[0]) {          // texture map?
                Lib3dsTextureMap *tex = &mat->texture1_map;
                if (!tex->user.p) {             // no player texture yet?
                  char texname[1024];
                  pt = (Player_texture*) malloc(sizeof(*pt));
                                  tex->user.p = pt;
                  snprintf(texname, sizeof(texname), "%s/%s", datapath, tex->name);
                  strcpy(texname, datapath);
                  strcat(texname, "/");
                  strcat(texname, tex->name);
#ifdef  DEBUG
                  printf("Loading texture map, name %s\n", texname);
#endif
#ifdef  USE_SDL
#ifdef  USE_SDL_IMG_load
                  pt->bitmap = IMG_load(texname);
#else
                  pt->bitmap = IMG_Load(texname);
#endif
 
#else
                  pt->bitmap = NULL;
                  fputs("3dsplayer: Warning: No image loading support, skipping texture.\n", stderr);
#endif // USE_SDL
                  if (pt->bitmap) {     // could image be loaded ?
                    // this OpenGL texupload code is incomplete format-wise!
                                        // to make it complete, examine SDL_surface->format and
                    //  tell us @lib3ds.sf.net about your improvements :-)
                    //int upload_format = GL_RED; // safe choice, shows errors
#ifdef USE_SDL
                    int bytespp = pt->bitmap->format->BytesPerPixel;
                    void *pixel = NULL;
                    glGenTextures(1, &pt->tex_id);
#ifdef  DEBUG
                    printf("Uploading texture to OpenGL, id %d, at %d bytepp\n",
                      pt->tex_id, bytespp);
#endif
                    if (pt->bitmap->format->palette) {
                      pixel = convert_to_RGB_Surface(pt->bitmap);
                      upload_format = GL_RGBA;
                    }
                    else {
                      pixel = pt->bitmap->pixels;
                      // e.g. this could also be a color palette
                      if (bytespp == 1) upload_format = GL_LUMINANCE;
                      else if (bytespp == 3) upload_format = GL_RGB;
                      else if (bytespp == 4) upload_format = GL_RGBA;
                    }
                    glBindTexture(GL_TEXTURE_2D, pt->tex_id);
                    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA,
                      TEX_XSIZE, TEX_YSIZE, 0,
                      GL_RGBA, GL_UNSIGNED_BYTE, NULL);
                    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
                    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
                    glTexParameteri(GL_TEXTURE_2D,
                      GL_TEXTURE_MAG_FILTER, GL_LINEAR);
                    glTexParameteri(GL_TEXTURE_2D,
                      GL_TEXTURE_MIN_FILTER, GL_LINEAR);
                    glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
                    glTexSubImage2D(GL_TEXTURE_2D,
                      0, 0, 0, pt->bitmap->w, pt->bitmap->h,
                      upload_format, GL_UNSIGNED_BYTE, pixel);
                    pt->scale_x = (float)pt->bitmap->w/(float)TEX_XSIZE;
                    pt->scale_y = (float)pt->bitmap->h/(float)TEX_YSIZE;
#endif
                    pt->valid = 1;
                  }
                  else {
                    fprintf(stderr,
                      "Load of texture %s did not succeed "
                      "(format not supported !)\n",
                      texname);
                    pt->valid = 0;
                  }
                }
                else {
                  pt = (Player_texture *)tex->user.p;
                }
                tex_mode = pt->valid;
              }
              else */
              {
                tex_mode = 0;
              }
              glMaterialfv(GL_FRONT, GL_AMBIENT, mat->ambient);
              glMaterialfv(GL_FRONT, GL_DIFFUSE, mat->diffuse);
              glMaterialfv(GL_FRONT, GL_SPECULAR, mat->specular);
              glMaterialf(GL_FRONT, GL_SHININESS, pow(2.0, 10.0*mat->shininess));
            }
            else
            {
              static const Lib3dsRgba a={0.7f, 0.7f, 0.7f, 1.0f};
              static const Lib3dsRgba d={0.7f, 0.7f, 0.7f, 1.0f};
              static const Lib3dsRgba s={1.0f, 1.0f, 1.0f, 1.0f};
              glMaterialfv(GL_FRONT, GL_AMBIENT, a);
              glMaterialfv(GL_FRONT, GL_DIFFUSE, d);
              glMaterialfv(GL_FRONT, GL_SPECULAR, s);
              glMaterialf(GL_FRONT, GL_SHININESS, pow(2.0, 10.0*0.5));
            }
            oldmat = mat;
          }
          else if (mat != NULL && mat->texture1_map.name[0])
          {
            //Lib3dsTextureMap *tex = &mat->texture1_map;
            //if (tex != NULL && tex->user.p != NULL)
            //{
            //  pt = (Player_texture *)tex->user.p;
            //  tex_mode = pt->valid;
            //}
          }
 
          {
            int i;
 
            if (tex_mode) {
              //printf("Binding texture %d\n", pt->tex_id);
              glEnable(GL_TEXTURE_2D);
              glBindTexture(GL_TEXTURE_2D, pt->tex_id);
            }
 
            glBegin(GL_TRIANGLES);
            glNormal3fv(f->normal);
            for (i=0; i<3; ++i) {
              glNormal3fv(normalL[3*p+i]);
 
              if (tex_mode) {
                glTexCoord2f(mesh->texelL[f->points[i]][1]*pt->scale_x,
                  pt->scale_y - mesh->texelL[f->points[i]][0]*pt->scale_y);
              }
 
              glVertex3fv(mesh->pointL[f->points[i]].pos);
            }
            glEnd();
 
            if (tex_mode)
              glDisable(GL_TEXTURE_2D);
          }
        }
 
        free(normalL);
      }
 
      glEndList();
    }
 
    if (mesh->user.d) {
      Lib3dsObjectData *d;
 
      glPushMatrix();
      d=&node->data.object;
      glMultMatrixf(&node->matrix[0][0]);
      glTranslatef(-d->pivot[0], -d->pivot[1], -d->pivot[2]);
      glCallList(mesh->user.d);
      /* glutSolidSphere(50.0, 20,20); */
      glPopMatrix();
      //if( flush ) glFlush();
    }
  }
#else
    MRPT_UNUSED_PARAM(node); MRPT_UNUSED_PARAM(file);
        THROW_EXCEPTION("MRPT was compiled without OpenGL support")
#endif
}
 
 
/*!
* Update information about a light.  Try to find corresponding nodes
* if possible, and copy values from nodes into light struct.
*/
static void light_update(Lib3dsLight *l,Lib3dsFile      *file)
{
  Lib3dsNode *ln, *sn;
 
  ln = lib3ds_file_node_by_name(file, l->name, LIB3DS_LIGHT_NODE);
  sn = lib3ds_file_node_by_name(file, l->name, LIB3DS_SPOT_NODE);
 
  if( ln != NULL ) {
    memcpy(l->color, ln->data.light.col, sizeof(Lib3dsRgb));
    memcpy(l->position, ln->data.light.pos, sizeof(Lib3dsVector));
  }
 
  if( sn != NULL )
    memcpy(l->spot, sn->data.spot.pos, sizeof(Lib3dsVector));
}
#endif
 
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  C3DSScene::writeToStream(mrpt::utils::CStream &out,int *version) const
{
#if MRPT_HAS_LIB3DS
        if (version)
                *version = 2;
        else
        {
                writeToStreamRender(out);
 
                CMemoryChunk chunk;
                if (m_3dsfile && m_3dsfile->file)
                {
                        const string    tmpFil = mrpt::system::getTempFileName();
                        lib3ds_file_save( (Lib3dsFile*) m_3dsfile->file, tmpFil.c_str() );
                        chunk.loadBufferFromFile( tmpFil  );
                        mrpt::system::deleteFile( tmpFil );
                }
 
                // Write the "3dsfile":
                out << chunk;
 
                out << m_enable_extra_lighting; // Added in version 1
        }
#else
        THROW_EXCEPTION("This class requires compiling MRPT against lib3ds");
#endif
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  C3DSScene::readFromStream(mrpt::utils::CStream &in,int version)
{
#if MRPT_HAS_LIB3DS
        switch(version)
        {
        case 0:
        case 1:
        case 2:
                {
                        readFromStreamRender(in);
 
                        // Read the memory block, save to a temp. "3dsfile" and load...
                        clear();
 
                        CMemoryChunk chunk;
                        in >> chunk;
 
                        if (chunk.getTotalBytesCount())
                        {
                                const string    tmpFil = mrpt::system::getTempFileName();
                                if (!chunk.saveBufferToFile( tmpFil ) )
                                        THROW_EXCEPTION("Error saving temporary 3ds file");
 
                                try
                                {
                                        loadFrom3DSFile( tmpFil );
                                }
                                catch (...)
                                {
                                        THROW_EXCEPTION("Error loading temporary 3ds file");
                                }
                                mrpt::system::deleteFile( tmpFil );
                        }
 
 
                        if (version>=1)
                        {
                                if (version==1)
                                {
                                        double dummy_scale;
                                        in >> dummy_scale >> dummy_scale >> dummy_scale;
                                }
                                in >> m_enable_extra_lighting;
                        }
                        else
                        {
                                m_enable_extra_lighting = false;
                        }
 
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
 
        };
        CRenderizableDisplayList::notifyChange();
#else
THROW_EXCEPTION("This class requires compiling MRPT against lib3ds");
#endif
}
 
/*---------------------------------------------------------------
                                        initializeAllTextures
  ---------------------------------------------------------------*/
void  C3DSScene::initializeAllTextures()
{
#if MRPT_HAS_OPENGL_GLUT
 
#endif
}
 
C3DSScene::C3DSScene() :
        m_bbox_min(0,0,0),
        m_bbox_max(0,0,0),
        m_enable_extra_lighting(false)
{
        m_3dsfile.reset( new TImpl3DS() );
}
 
C3DSScene::~C3DSScene()
{
        clear();
}
 
/*---------------------------------------------------------------
                                                        clear
  ---------------------------------------------------------------*/
void   C3DSScene::clear()
{
        CRenderizableDisplayList::notifyChange();
        m_3dsfile.reset( new TImpl3DS() );
}
 
void C3DSScene::loadFrom3DSFile( const std::string &filepath )
{
#if MRPT_HAS_LIB3DS
        clear();
        CRenderizableDisplayList::notifyChange();
 
        Lib3dsFile *file=0;
 
        // Normal file, or .gz file?
        if (mrpt::system::extractFileExtension(filepath)=="gz")
        {
                // Load compressed file:
                vector_byte             out_data;
                if (!mrpt::compress::zip::decompress_gz_file(filepath, out_data))
                        THROW_EXCEPTION_FMT("Error loading compressed file: %s",filepath.c_str())
 
                // Save to tmp file & load:
                string  tmpFil = mrpt::system::getTempFileName();
 
                mrpt::system::vectorToBinaryFile(out_data,tmpFil);
                out_data.clear();
 
                file=lib3ds_file_load(tmpFil.c_str());
 
                mrpt::system::deleteFile( tmpFil );
        }
        else
        {
                // Uncompressed file:
                file=lib3ds_file_load(filepath.c_str());
        }
 
        if (!file)
        {
                THROW_EXCEPTION_FMT("Error loading 3DS file: %s", filepath.c_str() );
        }
 
 
  /* No nodes?  Fabricate nodes to display all the meshes. */
  if( !file->nodes )
  {
    for(Lib3dsMesh *mesh = file->meshes; mesh != NULL; mesh = mesh->next)
    {
      Lib3dsNode *node = lib3ds_node_new_object();
      strcpy(node->name, mesh->name);
      node->parent_id = LIB3DS_NO_PARENT;
      lib3ds_file_insert_node(file, node);
    }
  }
 
  lib3ds_file_eval(file, 1.0f);         // Eval in time
 
 
        Lib3dsVector bmin, bmax;
        float   sx, sy, sz, size;       /* bounding box dimensions */
        float   cx, cy, cz;             /* bounding box center */
 
        lib3ds_file_bounding_box_of_nodes(file, LIB3DS_TRUE, LIB3DS_FALSE, LIB3DS_FALSE, bmin, bmax);
 
        for (int k=0;k<3;k++) {
                m_bbox_min[k] = bmin[k];
                m_bbox_max[k] = bmax[k];
        }
 
        sx = bmax[0] - bmin[0];
        sy = bmax[1] - bmin[1];
        sz = bmax[2] - bmin[2];
        size = max(sx, sy);
        size = max(size, sz);
        cx = (bmin[0] + bmax[0])/2;
        cy = (bmin[1] + bmax[1])/2;
        cz = (bmin[2] + bmax[2])/2;
 
  /* No lights in the file?  Add some. */
 
  if (file->lights == NULL)
  {
    Lib3dsLight *light;
 
    light = lib3ds_light_new("light0");
    light->spot_light = 0;
    light->see_cone = 0;
    light->color[0] = light->color[1] = light->color[2] = .6f;
    light->position[0] = cx + size * .75;
    light->position[1] = cy - size * 1.;
    light->position[2] = cz + size * 1.5;
      // Out of bounds? //light->position[3] = 0.;
    light->outer_range = 100;
    light->inner_range = 10;
    light->multiplier = 1;
    lib3ds_file_insert_light(file, light);
 
    light = lib3ds_light_new("light1");
    light->spot_light = 0;
    light->see_cone = 0;
    light->color[0] = light->color[1] = light->color[2] = .3f;
    light->position[0] = cx - size;
    light->position[1] = cy - size;
    light->position[2] = cz + size * .75;
  // Out of bounds?    light->position[3] = 0.;
    light->outer_range = 100;
    light->inner_range = 10;
    light->multiplier = 1;
    lib3ds_file_insert_light(file, light);
 
    light = lib3ds_light_new("light2");
    light->spot_light = 0;
    light->see_cone = 0;
    light->color[0] = light->color[1] = light->color[2] = .3f;
    light->position[0] = cx;
    light->position[1] = cy + size;
    light->position[2] = cz + size;
      // Out of bounds? light->position[3] = 0.;
    light->outer_range = 100;
    light->inner_range = 10;
    light->multiplier = 1;
    lib3ds_file_insert_light(file, light);
  }
 
  lib3ds_file_eval(file,0.);
 
  m_3dsfile->file = file;
#else
THROW_EXCEPTION("This class requires compiling MRPT against lib3ds");
#endif
}
 
void C3DSScene::evaluateAnimation( double time_anim )
{
#if MRPT_HAS_LIB3DS
        if (m_3dsfile->file)
        {
                CRenderizableDisplayList::notifyChange();
                lib3ds_file_eval( (Lib3dsFile*) m_3dsfile->file, time_anim );
        }
#else
THROW_EXCEPTION("This class requires compiling MRPT against lib3ds");
#endif
}
 
void C3DSScene::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min = m_bbox_min;
        bb_max = m_bbox_max;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}
 
 
C3DSScene::TImpl3DS::TImpl3DS() : file(NULL)
{
}
 
C3DSScene::TImpl3DS::~TImpl3DS()
{
#if MRPT_HAS_LIB3DS
        if (file)
        {
                lib3ds_file_free( (Lib3dsFile*) file);
                file= NULL;
        }
#endif
}
 
bool C3DSScene::traceRay(const mrpt::poses::CPose3D &o,double &dist) const      {
        MRPT_UNUSED_PARAM(o); MRPT_UNUSED_PARAM(dist);
        //TODO
        return false;
}