Reactivated plugin system

1 files changed, 334 insertions, 31 deletions

diff --git a/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGInvoker.cpp b/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGInvoker.cpp
index 2b77baf..d732e63 100644
--- a/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGInvoker.cpp
+++ b/src/uscxml/plugins/invoker/graphics/openscenegraph/OSGInvoker.cpp
@@ -3,10 +3,36 @@
 #include "uscxml/UUID.h"
 #include <glog/logging.h>
 
+#include <osg/Shape>
+#include <osg/ShapeDrawable>
+#include <osg/Material>
+#include <osg/Depth>
+
 #ifdef BUILD_AS_PLUGINS
 #include <Pluma/Connector.hpp>
 #endif
 
+#define OSG_SET_MATERIAL \
+osg::ref_ptr<osg::Material> mat = getMaterial(element); \
+if (mat) { \
+	osg::ref_ptr<osg::StateSet> nodeSS = geode->getOrCreateStateSet(); \
+\
+	nodeSS->setAttribute(mat.get()); \
+	nodeSS->setMode( GL_BLEND, osg::StateAttribute::ON ); \
+/*	nodeSS->setRenderingHint( osg::StateSet::TRANSPARENT_BIN ); \
+	nodeSS->setMode( GL_DEPTH_TEST, osg::StateAttribute::ON ); \
+	osg::Depth* depth = new osg::Depth; \
+	depth->setWriteMask( false ); \
+	nodeSS->setAttributeAndModes( depth, osg::StateAttribute::ON ); \
+	nodeSS->setMode( GL_LIGHTING, osg::StateAttribute::OFF );*/ \
+}
+
+#define OSG_SET_COLOR \
+bool validColor = true; \
+osg::Vec4 color = getColor(element, "color", validColor); \
+if (validColor) \
+drawable->setColor(color);
+
 namespace uscxml {
 
 #ifdef BUILD_AS_PLUGINS
@@ -17,6 +43,12 @@ bool connect(pluma::Host& host) {
 }
 #endif
 
+#define OSG_TAG_HANDLE(tagName, procFunc) \
+} else if (boost::iequals(LOCALNAME(childs.item(i)), tagName) && \
+	validChildren.find(tagName) != validChildren.end()) { \
+		procFunc(childs.item(i));\
+
+	
 OSGInvoker::OSGInvoker() {
 }
 
@@ -35,6 +67,9 @@ Data OSGInvoker::getDataModelVariables() {
 }
 
 void OSGInvoker::send(const SendRequest& req) {
+	if (boost::iequals(req.name, "intersect")) {
+		
+	}
 }
 
 void OSGInvoker::cancel(const std::string sendId) {
@@ -43,6 +78,10 @@ void OSGInvoker::cancel(const std::string sendId) {
 void OSGInvoker::invoke(const InvokeRequest& req) {
 	tthread::lock_guard<tthread::recursive_mutex> lock(_mutex);
 
+	setupColors();
+	
+	std::cout << req.dom;
+	
 	// register default event handlers
 	Arabica::DOM::Events::EventTarget<std::string> evTarget = Arabica::DOM::Events::EventTarget<std::string>(req.dom);
 	evTarget.addEventListener("DOMSubtreeModified", *this, false);
@@ -52,9 +91,37 @@ void OSGInvoker::invoke(const InvokeRequest& req) {
 
 	std::set<std::string> validChilds;
 	validChilds.insert("display");
-	processChildren(validChilds, req.dom);
+	
+	// this is somewhat unfortunate, if content contains a single child, we will get that, otherwise its parent (<content>)
+	if (boost::iequals(LOCALNAME(req.dom), "display")) {
+		processChildren(validChilds, req.dom.getParentNode());
+	} else {
+		processChildren(validChilds, req.dom);
+	}
 }
 
+void OSGInvoker::setupColors() {
+	_colors["red"] =        osg::Vec4(1.0,    0.0,    0.0,    1.0);
+	_colors["cyan"] =       osg::Vec4(0.0,    1.0,    1.0,    1.0);
+	_colors["blue"] =       osg::Vec4(0.0,    0.0,    1.0,    1.0);
+	_colors["darkblue"] =   osg::Vec4(0.0,    0.0,    0.625,  1.0);
+	_colors["lightblue"] =  osg::Vec4(0.675,  0.84375,0.89844,1.0);
+	_colors["purple"] =     osg::Vec4(0.5,    0.0,    0.5,    1.0);
+	_colors["yellow"] =     osg::Vec4(1.0,    1.0,    0.0,    1.0);
+	_colors["lime"] =       osg::Vec4(0.0,    1.0,    0.0,    1.0);
+	_colors["magenta"] =    osg::Vec4(1.0,    0.0,    1.0,    1.0);
+	_colors["white"] =      osg::Vec4(1.0,    1.0,    1.0,    1.0);
+	_colors["silver"] =     osg::Vec4(0.75,   0.75,   0.75,   1.0);
+	_colors["grey"] =       osg::Vec4(0.5,    0.5,    0.5,    1.0);
+	_colors["gray"] =       osg::Vec4(0.5,    0.5,    0.5,    1.0);
+	_colors["black"] =      osg::Vec4(0.0,    0.0,    0.0,    1.0);
+	_colors["orange"] =     osg::Vec4(1.0,    0.644,  0.0,    1.0);
+	_colors["brown"] =      osg::Vec4(0.644,  0.164,  0.164,  1.0);
+	_colors["maroon"] =     osg::Vec4(0.5,    0.0,    0.0,    1.0);
+	_colors["green"] =      osg::Vec4(0.0,    0.5,    0.0,    1.0);
+	_colors["olive"] =      osg::Vec4(0.5,    0.5,    0.0,    1.0);
+}
+	
 void OSGInvoker::runOnMainThread() {
 	_displays_t::iterator dispIter = _displays.begin();
 	if (_mutex.try_lock()) {
@@ -70,7 +137,7 @@ void OSGInvoker::handleEvent(Arabica::DOM::Events::Event<std::string>& event) {
 //  std::cout << "Handling Event!" << std::endl;
 	Arabica::DOM::Node<std::string> node(event.getTarget());
 	if (_nodes.find(node) != _nodes.end()) {
-		osg::Node* osgNode = _nodes[node];
+		osg::ref_ptr<osg::Node> osgNode = _nodes[node];
 		if (false) {
 		} else if (boost::iequals(LOCALNAME(node), "rotation")) {
 			updateRotation(osgNode, event);
@@ -117,26 +184,39 @@ void OSGInvoker::processViewport(const Arabica::DOM::Node<std::string>& element)
 	unsigned int actualY = 0;
 	unsigned int actualWidth = 0;
 	unsigned int actualHeight = 0;
+	
 	getViewport(element, actualX, actualY, actualWidth, actualHeight, compDisp);
-
 	osg::Viewport* viewPort = new osg::Viewport(actualX, actualY, actualWidth, actualHeight);
 	compDisp->addView(name, viewPort, sceneView);
 
+	bool hasBGColor;
+	osg::Vec4 bgColor = getColor(element, "bgcolor", hasBGColor);
+	if (hasBGColor) {
+		sceneView->getCamera()->setClearColor(bgColor);
+	} else {
+		sceneView->getCamera()->setClearColor(_colors["white"]);
+	}
+	
 	std::set<std::string> validChilds;
 	validChilds.insert("camera");
 	validChilds.insert("translation");
 	validChilds.insert("rotation");
 	validChilds.insert("scale");
 	validChilds.insert("node");
+	validChilds.insert("sphere");
+	validChilds.insert("box");
+	validChilds.insert("capsule");
+	validChilds.insert("cone");
+	validChilds.insert("cylinder");
 	processChildren(validChilds, element);
 }
 
 void OSGInvoker::processCamera(const Arabica::DOM::Node<std::string>& element) {}
-void OSGInvoker::updateCamera(osg::Node* node, Arabica::DOM::Events::Event<std::string>& event) {}
+void OSGInvoker::updateCamera(osg::ref_ptr<osg::Node> node, Arabica::DOM::Events::Event<std::string>& event) {}
 
 void OSGInvoker::processTranslation(const Arabica::DOM::Node<std::string>& element) {
 	assert(_nodes.find(element.getParentNode()) != _nodes.end());
-	osg::Node* node = _nodes[element.getParentNode()];
+	osg::ref_ptr<osg::Node> node = _nodes[element.getParentNode()];
 
 	double x = 0, y = 0, z = 0;
 	if (HAS_ATTR(element, "x"))
@@ -159,12 +239,17 @@ void OSGInvoker::processTranslation(const Arabica::DOM::Node<std::string>& eleme
 	validChilds.insert("rotation");
 	validChilds.insert("scale");
 	validChilds.insert("node");
+	validChilds.insert("sphere");
+	validChilds.insert("box");
+	validChilds.insert("capsule");
+	validChilds.insert("cone");
+	validChilds.insert("cylinder");
 	processChildren(validChilds, element);
 }
 
 void OSGInvoker::processRotation(const Arabica::DOM::Node<std::string>& element) {
 	assert(_nodes.find(element.getParentNode()) != _nodes.end());
-	osg::Node* node = _nodes[element.getParentNode()];
+	osg::ref_ptr<osg::Node> node = _nodes[element.getParentNode()];
 
 	osg::Matrix rotation = rotationFromElement(element);
 	osg::MatrixTransform* transform = new osg::MatrixTransform();
@@ -177,11 +262,16 @@ void OSGInvoker::processRotation(const Arabica::DOM::Node<std::string>& element)
 	validChilds.insert("rotation");
 	validChilds.insert("scale");
 	validChilds.insert("node");
+	validChilds.insert("sphere");
+	validChilds.insert("box");
+	validChilds.insert("capsule");
+	validChilds.insert("cone");
+	validChilds.insert("cylinder");
 	processChildren(validChilds, element);
 }
 
-void OSGInvoker::updateRotation(osg::Node* node, Arabica::DOM::Events::Event<std::string>& event) {
-	osg::MatrixTransform* transform = static_cast<osg::MatrixTransform*>(node);
+void OSGInvoker::updateRotation(osg::ref_ptr<osg::Node> node, Arabica::DOM::Events::Event<std::string>& event) {
+	osg::ref_ptr<osg::MatrixTransform> transform = static_cast<osg::MatrixTransform*>(node->asTransform());
 	if (false) {
 	} else if (boost::iequals(event.getType(), "DOMAttrModified")) {
 		osg::Matrix rotation = rotationFromElement(Arabica::DOM::Node<std::string>(event.getTarget()));
@@ -232,7 +322,7 @@ osg::Matrix OSGInvoker::rotationFromElement(const Arabica::DOM::Node<std::string
 
 void OSGInvoker::processScale(const Arabica::DOM::Node<std::string>& element) {
 	assert(_nodes.find(element.getParentNode()) != _nodes.end());
-	osg::Node* node = _nodes[element.getParentNode()];
+	osg::ref_ptr<osg::Node> node = _nodes[element.getParentNode()];
 
 	double x = 1, y = 1, z = 1;
 	if (HAS_ATTR(element, "x"))
@@ -255,6 +345,11 @@ void OSGInvoker::processScale(const Arabica::DOM::Node<std::string>& element) {
 	validChilds.insert("rotation");
 	validChilds.insert("scale");
 	validChilds.insert("node");
+	validChilds.insert("sphere");
+	validChilds.insert("box");
+	validChilds.insert("capsule");
+	validChilds.insert("cone");
+	validChilds.insert("cylinder");
 	processChildren(validChilds, element);
 }
 
@@ -263,7 +358,7 @@ void OSGInvoker::processNode(const Arabica::DOM::Node<std::string>& element) {
 	assert(nodeIter != _nodes.end());
 
 	assert(_nodes.find(element.getParentNode()) != _nodes.end());
-	osg::Node* parent = _nodes[element.getParentNode()];
+	osg::ref_ptr<osg::Node> parent = _nodes[element.getParentNode()];
 
 	std::string filename;
 	if (HAS_ATTR(element, "src")) {
@@ -290,33 +385,241 @@ void OSGInvoker::processNode(const Arabica::DOM::Node<std::string>& element) {
 	}
 }
 
+void OSGInvoker::processSphere(const Arabica::DOM::Node<std::string>& element) {
+	assert(_nodes.find(element.getParentNode()) != _nodes.end());
+	osg::ref_ptr<osg::Node> parent = _nodes[element.getParentNode()];
+
+	float radius = 1;
+	osg::Vec3 center(0,0,0);
+	
+	if (HAS_ATTR(element, "radius")) {
+		radius = strTo<float>(ATTR(element, "radius"));
+	}
+	
+	osg::ref_ptr<osg::Sphere> sphere = new osg::Sphere(center, radius);
+	osg::ref_ptr<osg::ShapeDrawable> drawable = new osg::ShapeDrawable(sphere);
+	osg::ref_ptr<osg::Geode> geode = new osg::Geode();
+	geode->addDrawable(drawable);
+
+	OSG_SET_COLOR;
+	OSG_SET_MATERIAL;
+
+	_nodes[element] = geode;
+
+	parent->asGroup()->addChild(geode);
+}
+
+void OSGInvoker::updateSphere(osg::ref_ptr<osg::Node> node, Arabica::DOM::Events::Event<std::string>& event) {
+}
+
+void OSGInvoker::processBox(const Arabica::DOM::Node<std::string>& element) {
+	assert(_nodes.find(element.getParentNode()) != _nodes.end());
+	osg::ref_ptr<osg::Node> parent = _nodes[element.getParentNode()];
+	
+	float x = 1;
+	float y = 1;
+	float z = 1;
+	osg::Vec3 center(0,0,0);
+	
+	if (HAS_ATTR(element, "x")) x = strTo<float>(ATTR(element, "x"));
+	if (HAS_ATTR(element, "y")) y = strTo<float>(ATTR(element, "y"));
+	if (HAS_ATTR(element, "z")) z = strTo<float>(ATTR(element, "z"));
+	
+	osg::ref_ptr<osg::Box> box = new osg::Box(center, x, y, z);
+	osg::ref_ptr<osg::ShapeDrawable> drawable = new osg::ShapeDrawable(box);
+	osg::ref_ptr<osg::Geode> geode = new osg::Geode();
+	geode->addDrawable(drawable);
+	
+	OSG_SET_COLOR;
+	OSG_SET_MATERIAL;
+
+	_nodes[element] = geode;
+	
+	parent->asGroup()->addChild(geode);
+
+}
+void OSGInvoker::updateBox(osg::ref_ptr<osg::Node> node, Arabica::DOM::Events::Event<std::string>& event) {
+}
+void OSGInvoker::processCapsule(const Arabica::DOM::Node<std::string>& element) {
+	assert(_nodes.find(element.getParentNode()) != _nodes.end());
+	osg::ref_ptr<osg::Node> parent = _nodes[element.getParentNode()];
+	
+	float radius = 1;
+	float height = 1;
+	osg::Vec3 center(0,0,0);
+	
+	if (HAS_ATTR(element, "radius")) radius = strTo<float>(ATTR(element, "radius"));
+	if (HAS_ATTR(element, "height")) height = strTo<float>(ATTR(element, "height"));
+	
+	osg::ref_ptr<osg::Capsule> capsule = new osg::Capsule(center, radius, height);
+	osg::ref_ptr<osg::ShapeDrawable> drawable = new osg::ShapeDrawable(capsule);
+	osg::ref_ptr<osg::Geode> geode = new osg::Geode();
+	geode->addDrawable(drawable);
+	
+	OSG_SET_COLOR;
+	OSG_SET_MATERIAL;
+
+	_nodes[element] = geode;
+	parent->asGroup()->addChild(geode);
+}
+void OSGInvoker::updateCapsule(osg::ref_ptr<osg::Node> node, Arabica::DOM::Events::Event<std::string>& event) {
+}
+	
+void OSGInvoker::processCone(const Arabica::DOM::Node<std::string>& element) {
+	assert(_nodes.find(element.getParentNode()) != _nodes.end());
+	osg::ref_ptr<osg::Node> parent = _nodes[element.getParentNode()];
+	
+	float radius = 1;
+	float height = 1;
+	osg::Vec3 center(0,0,0);
+	
+	if (HAS_ATTR(element, "radius")) radius = strTo<float>(ATTR(element, "radius"));
+	if (HAS_ATTR(element, "height")) height = strTo<float>(ATTR(element, "height"));
+	
+	osg::ref_ptr<osg::Cone> cone = new osg::Cone(center, radius, height);
+	osg::ref_ptr<osg::ShapeDrawable> drawable = new osg::ShapeDrawable(cone);
+	osg::ref_ptr<osg::Geode> geode = new osg::Geode();
+	geode->addDrawable(drawable);
+	
+	OSG_SET_COLOR;
+	OSG_SET_MATERIAL;
+
+	_nodes[element] = geode;
+	
+	parent->asGroup()->addChild(geode);
+
+}
+void OSGInvoker::updateCone(osg::ref_ptr<osg::Node> node, Arabica::DOM::Events::Event<std::string>& event) {
+}
+
+void OSGInvoker::processCylinder(const Arabica::DOM::Node<std::string>& element) {
+	assert(_nodes.find(element.getParentNode()) != _nodes.end());
+	osg::ref_ptr<osg::Node> parent = _nodes[element.getParentNode()];
+	
+	float radius = 1;
+	float height = 1;
+	osg::Vec3 center(0,0,0);
+	
+	if (HAS_ATTR(element, "radius")) radius = strTo<float>(ATTR(element, "radius"));
+	if (HAS_ATTR(element, "height")) height = strTo<float>(ATTR(element, "height"));
+	
+	osg::ref_ptr<osg::Cylinder> cylinder = new osg::Cylinder(center, radius, height);
+	osg::ref_ptr<osg::ShapeDrawable> drawable = new osg::ShapeDrawable(cylinder);
+	osg::ref_ptr<osg::Geode> geode = new osg::Geode();
+	geode->addDrawable(drawable);
+	
+	OSG_SET_COLOR;
+	OSG_SET_MATERIAL;
+
+	_nodes[element] = geode;
+	
+	parent->asGroup()->addChild(geode);
+
+}
+void OSGInvoker::updateCylinder(osg::ref_ptr<osg::Node> node, Arabica::DOM::Events::Event<std::string>& event) {
+}
+
+osg::Vec4 OSGInvoker::getColor(const Arabica::DOM::Node<std::string>& element, const std::string& attr, bool& valid) {
+	if (HAS_ATTR(element, attr)) {
+		std::string color = ATTR(element, attr);
+
+		// is this one of the predefined colors?
+		if (_colors.find(color) != _colors.end()) {
+			valid = true;
+			return _colors[color];
+		}
+		
+		// otherwise try to parse as rgba values
+		int i;
+		osg::Vec4 colorVec = parseVec4(color, i);
+		
+		if (i == 1) {
+			// only a single value was given, interpret as grey value
+			colorVec[1] = colorVec[2] = colorVec[0]; colorVec[3] = 1.0;
+			valid = true;
+			return colorVec;
+		}
+
+		if (i == 3) {
+			// three values were given, set opacity to max
+			colorVec[3] = 1.0;
+			valid = true;
+			return colorVec;
+		}
+	}
+	
+	// return empty reference
+	valid = false;
+	return osg::Vec4();
+}
+
+osg::ref_ptr<osg::Material> OSGInvoker::getMaterial(const Arabica::DOM::Node<std::string>& element) {
+
+	osg::ref_ptr<osg::Material> nodeMat;
+
+	// material color
+	bool hasMatColor;
+	osg::Vec4 matColor = getColor(element, "materialcolor", hasMatColor);
+	if (hasMatColor) {
+		if (!nodeMat)
+			nodeMat = new osg::Material;
+		nodeMat->setDiffuse(osg::Material::FRONT, matColor);
+		nodeMat->setDiffuse(osg::Material::BACK, matColor);
+	}
+	
+	// translucency
+	if (HAS_ATTR(element, "transparency")) {
+		std::string transparency = ATTR(element, "transparency");
+		float trans = strTo<float>(transparency);
+		if (!nodeMat)
+			nodeMat = new osg::Material;
+		nodeMat->setTransparency(osg::Material::FRONT, trans);
+		nodeMat->setTransparency(osg::Material::BACK, trans);
+	}
+	
+	return nodeMat;
+}
+
+osg::Vec4 OSGInvoker::parseVec4(const std::string& coeffs, int& i) {
+	
+	// otherwise try to parse as rgba values
+	std::string coeff;
+	std::stringstream coeffSS(coeffs);
+	
+	osg::Vec4 vec;
+	
+	i = 0;
+	while(std::getline(coeffSS, coeff, ',')) {
+		boost::trim(coeff);
+		if (coeff.length() == 0)
+			continue;
+		if (!isNumeric(coeff.c_str(), 10))
+			continue;
+		
+		vec[i] = strTo<float>(coeff);
+		i++;
+	}
+	return vec;
+}
+	
 void OSGInvoker::processChildren(const std::set<std::string>& validChildren, const Arabica::DOM::Node<std::string>& element) {
 	Arabica::DOM::NodeList<std::string> childs = element.getChildNodes();
 	for (int i = 0; i < childs.getLength(); ++i) {
 		if (childs.item(i).getNodeType() != Arabica::DOM::Node_base::ELEMENT_NODE)
 			continue;
 		if (false) {
-		} else if (boost::iequals(LOCALNAME(childs.item(i)), "node") &&
-		           validChildren.find("node") != validChildren.end()) {
-			processNode(childs.item(i));
-		} else if (boost::iequals(LOCALNAME(childs.item(i)), "translation") &&
-		           validChildren.find("translation") != validChildren.end()) {
-			processTranslation(childs.item(i));
-		} else if (boost::iequals(LOCALNAME(childs.item(i)), "rotation") &&
-		           validChildren.find("rotation") != validChildren.end()) {
-			processRotation(childs.item(i));
-		} else if (boost::iequals(LOCALNAME(childs.item(i)), "scale") &&
-		           validChildren.find("scale") != validChildren.end()) {
-			processScale(childs.item(i));
-		} else if (boost::iequals(LOCALNAME(childs.item(i)), "viewport") &&
-		           validChildren.find("viewport") != validChildren.end()) {
-			processViewport(childs.item(i));
-		} else if (boost::iequals(LOCALNAME(childs.item(i)), "camera") &&
-		           validChildren.find("camera") != validChildren.end()) {
-			processCamera(childs.item(i));
-		} else if (boost::iequals(LOCALNAME(childs.item(i)), "display") &&
-		           validChildren.find("display") != validChildren.end()) {
-			processDisplay(childs.item(i));
+			OSG_TAG_HANDLE("node", processNode);
+			OSG_TAG_HANDLE("translation", processTranslation);
+			OSG_TAG_HANDLE("rotation", processRotation);
+			OSG_TAG_HANDLE("scale", processScale);
+			OSG_TAG_HANDLE("viewport", processViewport);
+			OSG_TAG_HANDLE("camera", processCamera);
+			OSG_TAG_HANDLE("display", processDisplay);
+			OSG_TAG_HANDLE("sphere", processSphere);
+			OSG_TAG_HANDLE("box", processBox);
+			OSG_TAG_HANDLE("cone", processCone);
+			OSG_TAG_HANDLE("capsule", processCapsule);
+			OSG_TAG_HANDLE("cylinder", processCylinder);
 		} else {
 			LOG(INFO) << "Unknown XML element " << TAGNAME(childs.item(i));
 		}