CAssimpModel.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

// This file contains portions of code from Assimp's example:
// "Sample_SimpleOpenGL.c"

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/CAssimpModel.h>

#if MRPT_HAS_ASSIMP
#if defined(MRPT_ASSIMP_VERSION_MAJOR) && MRPT_ASSIMP_VERSION_MAJOR < 3
#include <aiPostProcess.h>
#include <aiScene.h>
#include <assimp.h>
#else
#include <assimp/cimport.h>
#include <assimp/postprocess.h>
#include <assimp/scene.h>
#include <assimp/DefaultLogger.hpp>
#include <assimp/LogStream.hpp>
#endif
#endif

#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/filesystem.h>
#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace std;
using mrpt::img::CImage;

IMPLEMENTS_SERIALIZABLE(CAssimpModel, CRenderizableDisplayList, mrpt::opengl)

#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
void recursive_render(
    const aiScene* sc, const aiNode* nd,
    const std::vector<unsigned int>& textureIds,
    const std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap);
void apply_material(
    const aiMaterial* mtl, const std::vector<unsigned int>& textureIds,
    const std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap);
void set_float4(float f[4], float a, float b, float c, float d);
void color4_to_float4(const aiColor4D* c, float f[4]);
void get_bounding_box(const aiScene* sc, aiVector3D* min, aiVector3D* max);
void get_bounding_box_for_node(
    const aiScene* sc, const aiNode* nd, aiVector3D* min, aiVector3D* max,
    aiMatrix4x4* trafo);
void load_textures(
    const aiScene* scene, std::vector<unsigned int>& textureIds,
    std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap,
    const std::string& modelPath);
#endif  // MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP

/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
void CAssimpModel::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
    MRPT_START

    if (!m_assimp_scene->scene) return;  // No scene

    auto* scene = (aiScene*)m_assimp_scene->scene;

    glEnable(GL_TEXTURE_2D);
    glDisable(GL_CULL_FACE);
    // glFrontFace(GL_CW);

    glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);
    glEnable(GL_NORMALIZE);

    if (!m_textures_loaded)
    {
        load_textures(scene, m_textureIds, m_textureIdMap, m_modelPath);
        m_textures_loaded = true;
    }

    recursive_render(scene, scene->mRootNode, m_textureIds, m_textureIdMap);

    glDisable(GL_NORMALIZE);
    glDisable(GL_TEXTURE_2D);

    MRPT_END
#endif
}

uint8_t CAssimpModel::serializeGetVersion() const { return 0; }
void CAssimpModel::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);

    const bool empty = m_assimp_scene->scene != nullptr;
    out << empty;

    if (!empty)
    {
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
        // aiScene *scene = (aiScene *) m_assimp_scene->scene;
        THROW_EXCEPTION("MRPT can't serialize Assimp objects yet!");
#else
        THROW_EXCEPTION("MRPT compiled without OpenGL and/or Assimp");
#endif
    }
}

void CAssimpModel::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    THROW_EXCEPTION("MRPT can't serialize Assimp objects yet!");

    switch (version)
    {
        case 0:
        {
            readFromStreamRender(in);

            clear();
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    CRenderizableDisplayList::notifyChange();
}

CAssimpModel::CAssimpModel() : m_bbox_min(0, 0, 0), m_bbox_max(0, 0, 0)
{
    m_assimp_scene = std::make_shared<TImplAssimp>();
}

CAssimpModel::~CAssimpModel() { clear(); }
/*---------------------------------------------------------------
                            clear
  ---------------------------------------------------------------*/
void CAssimpModel::clear()
{
    CRenderizableDisplayList::notifyChange();
    m_assimp_scene = std::make_shared<TImplAssimp>();
    m_modelPath.clear();
    m_textures_loaded = false;

#if MRPT_HAS_OPENGL_GLUT
    if (!m_textureIds.empty())
    {
        glDeleteTextures(m_textureIds.size(), &m_textureIds[0]);
        m_textureIds.clear();
    }
    m_textureIdMap.clear();
#endif
}

void CAssimpModel::loadScene(const std::string& filepath)
{
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
    clear();
    CRenderizableDisplayList::notifyChange();

    // we are taking one of the postprocessing presets to avoid
    // spelling out 20+ single postprocessing flags here.
    m_assimp_scene->scene = (void*)aiImportFile(
        filepath.c_str(), aiProcessPreset_TargetRealtime_MaxQuality);
    m_modelPath = filepath;

    if (m_assimp_scene->scene)
    {
        aiVector3D scene_min, scene_max;
        auto* scene = (aiScene*)m_assimp_scene->scene;
        get_bounding_box(scene, &scene_min, &scene_max);
        m_bbox_min.x = scene_min.x;
        m_bbox_min.y = scene_min.y;
        m_bbox_min.z = scene_min.z;
        m_bbox_max.x = scene_max.x;
        m_bbox_max.y = scene_max.y;
        m_bbox_max.z = scene_max.z;
    }

#else
    THROW_EXCEPTION("MRPT compiled without OpenGL and/or Assimp");
#endif
}

void CAssimpModel::evaluateAnimation(double time_anim)
{
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
// if (m_assimp_scene->file)
//{
//  CRenderizableDisplayList::notifyChange();
//  lib3ds_file_eval( (Lib3dsFile*) m_assimp_scene->file, time_anim );
//}
#endif
}

void CAssimpModel::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);
}

CAssimpModel::TImplAssimp::TImplAssimp() = default;
CAssimpModel::TImplAssimp::~TImplAssimp()
{
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
    if (scene)
    {
        // cleanup - calling 'aiReleaseImport' is important, as the library
        // keeps internal resources until the scene is freed again. Not
        // doing so can cause severe resource leaking.
        aiReleaseImport((aiScene*)scene);
        scene = nullptr;
    }
#endif
}

bool CAssimpModel::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
    // TODO
    return false;
}

#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP

// ----------------------------------------------------------------------------
void get_bounding_box_for_node(
    const aiScene* scene, const aiNode* nd, aiVector3D* min, aiVector3D* max,
    aiMatrix4x4* trafo)
{
    aiMatrix4x4 prev;
    unsigned int n = 0, t;

    prev = *trafo;
    aiMultiplyMatrix4(trafo, &nd->mTransformation);

    for (; n < nd->mNumMeshes; ++n)
    {
        const aiMesh* mesh = scene->mMeshes[nd->mMeshes[n]];
        for (t = 0; t < mesh->mNumVertices; ++t)
        {
            aiVector3D tmp = mesh->mVertices[t];
            aiTransformVecByMatrix4(&tmp, trafo);

            min->x = std::min(min->x, tmp.x);
            min->y = std::min(min->y, tmp.y);
            min->z = std::min(min->z, tmp.z);

            max->x = std::max(max->x, tmp.x);
            max->y = std::max(max->y, tmp.y);
            max->z = std::max(max->z, tmp.z);
        }
    }

    for (n = 0; n < nd->mNumChildren; ++n)
    {
        get_bounding_box_for_node(scene, nd->mChildren[n], min, max, trafo);
    }
    *trafo = prev;
}

// ----------------------------------------------------------------------------
void get_bounding_box(const aiScene* scene, aiVector3D* min, aiVector3D* max)
{
    aiMatrix4x4 trafo;
    aiIdentityMatrix4(&trafo);

    min->x = min->y = min->z = 1e10f;
    max->x = max->y = max->z = -1e10f;
    get_bounding_box_for_node(scene, scene->mRootNode, min, max, &trafo);
}

// ----------------------------------------------------------------------------
void color4_to_float4(const aiColor4D* c, float f[4])
{
    f[0] = c->r;
    f[1] = c->g;
    f[2] = c->b;
    f[3] = c->a;
}

// ----------------------------------------------------------------------------
void set_float4(float f[4], float a, float b, float c, float d)
{
    f[0] = a;
    f[1] = b;
    f[2] = c;
    f[3] = d;
}

// ----------------------------------------------------------------------------
void apply_material(
    const aiMaterial* mtl, const std::vector<unsigned int>& textureIds,
    const std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap)
{
    float c[4];

    GLenum fill_mode;
    int ret1, ret2;
    aiColor4D diffuse;
    aiColor4D specular;
    aiColor4D ambient;
    aiColor4D emission;
    float shininess, strength;
    int two_sided;
    int wireframe;
    unsigned int max;

    int texIndex = 0;
    aiString texPath;  // contains filename of texture

    if (AI_SUCCESS ==
        mtl->GetTexture(aiTextureType_DIFFUSE, texIndex, &texPath))
    {
        // bind texture
        auto it = textureIdMap.find(texPath.data);
        if (it == textureIdMap.end())
        {
            std::cerr << "[CAssimpModel] Error: using un-loaded texture '"
                      << texPath.data << "'\n";
        }
        else
        {
            unsigned int texId = textureIds[it->second.id_idx];
            glBindTexture(GL_TEXTURE_2D, texId);
        }
    }

    set_float4(c, 0.8f, 0.8f, 0.8f, 1.0f);
    if (AI_SUCCESS ==
        aiGetMaterialColor(mtl, AI_MATKEY_COLOR_DIFFUSE, &diffuse))
        color4_to_float4(&diffuse, c);
    glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, c);

    set_float4(c, 0.0f, 0.0f, 0.0f, 1.0f);
    if (AI_SUCCESS ==
        aiGetMaterialColor(mtl, AI_MATKEY_COLOR_SPECULAR, &specular))
        color4_to_float4(&specular, c);
    glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, c);

    set_float4(c, 0.2f, 0.2f, 0.2f, 1.0f);
    if (AI_SUCCESS ==
        aiGetMaterialColor(mtl, AI_MATKEY_COLOR_AMBIENT, &ambient))
        color4_to_float4(&ambient, c);
    glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, c);

    set_float4(c, 0.0f, 0.0f, 0.0f, 1.0f);
    if (AI_SUCCESS ==
        aiGetMaterialColor(mtl, AI_MATKEY_COLOR_EMISSIVE, &emission))
        color4_to_float4(&emission, c);
    glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, c);

    max = 1;
    ret1 = aiGetMaterialFloatArray(mtl, AI_MATKEY_SHININESS, &shininess, &max);
    if (ret1 == AI_SUCCESS)
    {
        max = 1;
        ret2 = aiGetMaterialFloatArray(
            mtl, AI_MATKEY_SHININESS_STRENGTH, &strength, &max);
        if (ret2 == AI_SUCCESS)
            glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, shininess * strength);
        else
            glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, shininess);
    }
    else
    {
        glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 0.0f);
        set_float4(c, 0.0f, 0.0f, 0.0f, 0.0f);
        glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, c);
    }

    max = 1;
    if (AI_SUCCESS == aiGetMaterialIntegerArray(
                          mtl, AI_MATKEY_ENABLE_WIREFRAME, &wireframe, &max))
        fill_mode = wireframe ? GL_LINE : GL_FILL;
    else
        fill_mode = GL_FILL;
    glPolygonMode(GL_FRONT_AND_BACK, fill_mode);

    max = 1;
    if ((AI_SUCCESS == aiGetMaterialIntegerArray(
                           mtl, AI_MATKEY_TWOSIDED, &two_sided, &max)) &&
        two_sided)
        glDisable(GL_CULL_FACE);
    else
        glEnable(GL_CULL_FACE);
}

// Can't send color down as a pointer to aiColor4D because AI colors are ABGR.
void Color4f(const aiColor4D* color)
{
    glColor4f(color->r, color->g, color->b, color->a);
}

// ----------------------------------------------------------------------------
void recursive_render(
    const aiScene* sc, const aiNode* nd,
    const std::vector<unsigned int>& textureIds,
    const std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap)
{
    unsigned int i;
    unsigned int n = 0, t;
    aiMatrix4x4 m = nd->mTransformation;

    // update transform
    m.Transpose();
    glPushMatrix();
    glMultMatrixf((float*)&m);

    // draw all meshes assigned to this node
    for (; n < nd->mNumMeshes; ++n)
    {
        const struct aiMesh* mesh = sc->mMeshes[nd->mMeshes[n]];

        apply_material(
            sc->mMaterials[mesh->mMaterialIndex], textureIds, textureIdMap);

        if (mesh->mNormals == nullptr)
            glDisable(GL_LIGHTING);
        else
            glEnable(GL_LIGHTING);

        if (mesh->mColors[0] != nullptr)
            glEnable(GL_COLOR_MATERIAL);
        else
            glDisable(GL_COLOR_MATERIAL);

        for (t = 0; t < mesh->mNumFaces; ++t)
        {
            const struct aiFace* face = &mesh->mFaces[t];
            GLenum face_mode;

            switch (face->mNumIndices)
            {
                case 1:
                    face_mode = GL_POINTS;
                    break;
                case 2:
                    face_mode = GL_LINES;
                    break;
                case 3:
                    face_mode = GL_TRIANGLES;
                    break;
                default:
                    face_mode = GL_POLYGON;
                    break;
            }

            glBegin(face_mode);

            for (i = 0; i < face->mNumIndices;
                 i++)  // go through all vertices in face
            {
                int vertexIndex =
                    face->mIndices[i];  // get group index for current index
                if (mesh->mColors[0] != nullptr)
                    Color4f(&mesh->mColors[0][vertexIndex]);

                if (mesh->HasTextureCoords(
                        0))  // HasTextureCoords(texture_coordinates_set)
                {
                    glTexCoord2f(
                        mesh->mTextureCoords[0][vertexIndex].x,
                        1 - mesh->mTextureCoords[0][vertexIndex]
                                .y);  // mTextureCoords[channel][vertex]
                }

                if (mesh->mNormals)
                {
                    glNormal3fv(&mesh->mNormals[vertexIndex].x);
                }
                glVertex3fv(&mesh->mVertices[vertexIndex].x);
            }
            glEnd();
        }
    }

    // draw all children
    for (n = 0; n < nd->mNumChildren; ++n)
        recursive_render(sc, nd->mChildren[n], textureIds, textureIdMap);

    glPopMatrix();
}

// http://stackoverflow.com/questions/3418231/replace-part-of-a-string-with-another-string
void replaceAll(
    std::string& str, const std::string& from, const std::string& to)
{
    if (from.empty()) return;
    size_t start_pos = 0;
    while ((start_pos = str.find(from, start_pos)) != std::string::npos)
    {
        str.replace(start_pos, from.length(), to);
        start_pos += to.length();  // In case 'to' contains 'from', like
        // replacing 'x' with 'yx'
    }
}

void load_textures(
    const aiScene* scene, std::vector<unsigned int>& textureIds,
    std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap,
    const std::string& modelPath)
{
    if (scene->HasTextures())
        THROW_EXCEPTION(
            "Support for meshes with embedded textures is not implemented");

    textureIdMap.clear();

    /* getTexture Filenames and no. of Textures */
    for (unsigned int m = 0; m < scene->mNumMaterials; m++)
    {
        int texIndex = 0;
        for (;;)
        {
            aiString path;  // filename
            aiReturn texFound = scene->mMaterials[m]->GetTexture(
                aiTextureType_DIFFUSE, texIndex, &path);
            if (texFound == AI_SUCCESS)
            {
                CAssimpModel::TInfoPerTexture& ipt = textureIdMap[path.data];
                ipt.id_idx = std::string::npos;  // fill map with textures,
                // pointers still nullptr yet
                texIndex++;
            }
            else
                break;
        }
    }

    int numTextures = textureIdMap.size();

    /* create and fill array with GL texture ids */
    textureIds.resize(numTextures);
    if (numTextures)
    {
        glGenTextures(
            numTextures, &textureIds[0]); /* Texture name generation */
    }

    /* get iterator */
    auto itr = textureIdMap.begin();

    std::string basepath = mrpt::system::filePathSeparatorsToNative(
        mrpt::system::extractFileDirectory(modelPath));
    for (int i = 0; i < numTextures; i++)
    {
        // save IL image ID
        std::string filename = itr->first;  // get filename
        CAssimpModel::TInfoPerTexture& ipt = itr->second;
        ipt.id_idx = i;  // save texture id for filename in map
        ++itr;  // next texture

        const std::string fileloc =
            mrpt::system::filePathSeparatorsToNative(basepath + filename);

        ipt.img_rgb = mrpt::img::CImage::Create();
        ipt.img_alpha = mrpt::img::CImage::Create();
        mrpt::img::CImage* img_rgb = ipt.img_rgb.get();
        mrpt::img::CImage* img_a = ipt.img_alpha.get();

        // Load images:
        // TGA is handled specially since it's not supported by OpenCV:
        bool load_ok;
        if (mrpt::system::lowerCase(
                mrpt::system::extractFileExtension(fileloc)) == string("tga"))
        {
            load_ok = CImage::loadTGA(fileloc, *img_rgb, *img_a);
        }
        else
        {
            load_ok = img_rgb->loadFromFile(fileloc);
        }

        if (load_ok)
        {
            // success = ilConvertImage(IL_RGB, IL_UNSIGNED_BYTE); /* Convert
            // every colour component into unsigned byte. If your image contains
            // alpha channel you can replace IL_RGB with IL_RGBA */
            glBindTexture(
                GL_TEXTURE_2D, textureIds[i]); /* Binding of texture name */
            // redefine standard texture values
            glTexParameteri(
                GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); /* We will use
                                      linear interpolation for magnification
                                      filter */
            glTexParameteri(
                GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); /* We will use
                                      linear interpolation for minifying filter
                                    */
            // glTexImage2D(
            //  GL_TEXTURE_2D,
            //  0,
            //  8 /*ilGetInteger(IL_IMAGE_BPP)*/,
            //  /* ilGetInteger(IL_IMAGE_WIDTH)*/,
            //  /*ilGetInteger(IL_IMAGE_HEIGHT)*/,
            //  0,
            //  /*ilGetInteger(IL_IMAGE_FORMAT)*/,
            //  GL_UNSIGNED_BYTE,
            //  ilGetData()); /* Texture specification */

            const int width = img_rgb->getWidth();
            const int height = img_rgb->getHeight();

            // Prepare image data types:
            const GLenum img_type = GL_UNSIGNED_BYTE;
            const int nBytesPerPixel = img_rgb->isColor() ? 3 : 1;
            // Reverse RGB <-> BGR order?
            const bool is_RGB_order = (img_rgb->getChannelsOrder() == "RGB");
            const GLenum img_format = nBytesPerPixel == 3
                                          ? (is_RGB_order ? GL_RGB : GL_BGR)
                                          : GL_LUMINANCE;

            // Send image data to OpenGL:
            glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
            glPixelStorei(
                GL_UNPACK_ROW_LENGTH, img_rgb->getRowStride() / nBytesPerPixel);
            glTexImage2D(
                GL_TEXTURE_2D, 0 /*level*/, 3 /* RGB components */, width,
                height, 0 /*border*/, img_format, img_type,
                img_rgb->ptrLine<uint8_t>(0));
            glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);  // Reset
        }
        else
        {
            /* Error occured */
            const std::string sError = mrpt::format(
                "[CAssimpModel] Couldn't load texture image: '%s'",
                fileloc.c_str());
            cout << sError << endl;
#ifdef _MSC_VER
            OutputDebugStringA(&sError[0]);
#endif
        }
    }
}

#endif  // MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP