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Diffstat (limited to 'src/uscxml/plugins/invoker/graphics/openscenegraph/converter/OSGConverter.cpp')
-rw-r--r--src/uscxml/plugins/invoker/graphics/openscenegraph/converter/OSGConverter.cpp611
1 files changed, 0 insertions, 611 deletions
diff --git a/src/uscxml/plugins/invoker/graphics/openscenegraph/converter/OSGConverter.cpp b/src/uscxml/plugins/invoker/graphics/openscenegraph/converter/OSGConverter.cpp
deleted file mode 100644
index 2a68be7..0000000
--- a/src/uscxml/plugins/invoker/graphics/openscenegraph/converter/OSGConverter.cpp
+++ /dev/null
@@ -1,611 +0,0 @@
-/**
- * @file
- * @author 2012-2013 Stefan Radomski (stefan.radomski@cs.tu-darmstadt.de)
- * @copyright Simplified BSD
- *
- * @cond
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the FreeBSD license as published by the FreeBSD
- * project.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *
- * You should have received a copy of the FreeBSD license along with this
- * program. If not, see <http://www.opensource.org/licenses/bsd-license>.
- * @endcond
- */
-
-#include "OSGConverter.h"
-#include <glog/logging.h>
-#include "uscxml/config.h"
-
-#include <osg/MatrixTransform>
-#include <osg/Node>
-#include <osg/Group>
-#include <osg/ComputeBoundsVisitor>
-#include <osgUtil/Optimizer>
-#include <osgDB/ReadFile>
-#include <osgDB/WriteFile>
-#include <osgDB/Registry>
-#include <osgGA/TrackballManipulator>
-#include <osgGA/AnimationPathManipulator>
-#include <osg/ShapeDrawable>
-
-#include <boost/lexical_cast.hpp>
-#include <boost/algorithm/string.hpp>
-
-#ifdef BUILD_AS_PLUGINS
-#include <Pluma/Connector.hpp>
-#endif
-
-#define EVAL_PARAM_EXPR(param, expr, key) \
-if (param.find(key) == param.end() && param.find(expr) != param.end() && _interpreter->getDataModel()) \
- param.insert(std::make_pair(key, Data(_interpreter->getDataModel().evalAsString(param.find(expr)->second.atom), Data::INTERPRETED)));
-
-#define CAST_PARAM(param, var, key, type) \
-if (param.find(key) != param.end()) { \
- try { var = boost::lexical_cast<type>(param.find(key)->second.atom); } \
- catch(...) { LOG(ERROR) << "Attribute " key " of sendrequest to osgconverter is of invalid format: " << param.find(key)->second.atom; } \
-}
-
-
-namespace uscxml {
-
-#ifdef BUILD_AS_PLUGINS
-PLUMA_CONNECTOR
-bool pluginConnect(pluma::Host& host) {
- host.add( new OSGConverterProvider() );
- return true;
-}
-#endif
-
-OSGConverter::OSGConverter() : _isRunning(false) {
-// osg::setNotifyLevel(osg::DEBUG_FP);
- osg::setNotifyLevel(osg::FATAL);
-}
-
-OSGConverter::~OSGConverter() {
- _isRunning = false;
- std::set<tthread::thread*>::iterator threadIter = _threads.begin();
- while(threadIter != _threads.end()) {
- (*threadIter)->join();
- }
-};
-
-boost::shared_ptr<InvokerImpl> OSGConverter::create(InterpreterImpl* interpreter) {
- boost::shared_ptr<OSGConverter> invoker = boost::shared_ptr<OSGConverter>(new OSGConverter());
- invoker->_interpreter = interpreter;
- return invoker;
-}
-
-Data OSGConverter::getDataModelVariables() {
- Data data;
- return data;
-}
-
-void OSGConverter::send(const SendRequest& req) {
-
- /**
- * we have to resolve all datamodel dependent strings first as
- * we cannot access the datamodel from within another thread without locking
- */
-
- // make a copy
- SendRequest actualReq(req);
-
- if (actualReq.params.find("source") == actualReq.params.end()) {
- // no explicit source
- if (actualReq.params.find("sourceexpr") != actualReq.params.end() && _interpreter->getDataModel()) {
- actualReq.params.insert(std::make_pair("source", _interpreter->getDataModel().getStringAsData(actualReq.params.find("sourceexpr")->second)));
- } else {
- LOG(ERROR) << "SendRequests for osginvoker missing source or sourceExpr and datamodel";
- reportFailure(req);
- return;
- }
- }
-
- if (actualReq.params.find("dest") == actualReq.params.end()) {
- // no explicit destination
- if (actualReq.params.find("destexpr") != actualReq.params.end() && _interpreter->getDataModel()) {
- actualReq.params.insert(std::make_pair("dest", _interpreter->getDataModel().getStringAsData(actualReq.params.find("destexpr")->second)));
- boost::algorithm::replace_all(actualReq.params.find("dest")->second.atom, "//", "/");
- boost::algorithm::replace_all(actualReq.params.find("dest")->second.atom, "\\\\", "\\");
- }
- }
-
- if (actualReq.params.find("autorotate") == actualReq.params.end()) {
- if (actualReq.params.find("autorotateexpr") != actualReq.params.end()) {
- if (_interpreter->getDataModel()) {
- actualReq.params.insert(std::make_pair("autorotate", _interpreter->getDataModel().getStringAsData(actualReq.params.find("autorotateexpr")->second)));
- } else {
- LOG(ERROR) << "SendRequests for osginvoker ncludes autorotateexpr but no datamodel is specified";
- reportFailure(req);
- return;
- }
- }
- }
-
- // support for multiple formats at the same time
- std::list<Data> formats;
- Event::getParam(req.params, "format", formats);
- for (std::list<Data>::const_iterator formatIter = formats.begin(); formatIter != formats.end(); formatIter++) {
- actualReq.params.insert(std::make_pair("format", *formatIter));
- }
-
- // format given as expression
- std::list<Data> formatExprs;
- Event::getParam(req.params, "formatexpr", formatExprs);
- for (std::list<Data>::const_iterator formatIter = formatExprs.begin(); formatIter != formatExprs.end(); formatIter++) {
- actualReq.params.insert(std::make_pair("format", _interpreter->getDataModel().getStringAsData(*formatIter)));
- }
-
- if (actualReq.params.find("format") == actualReq.params.end()) {
- // no explicit format, try to get from destination
- std::string dest;
- if (Event::getParam(actualReq.params, "dest", dest)) {
- std::string format;
- size_t lastDot;
- if ((lastDot = dest.find_last_of(".")) != std::string::npos) {
- lastDot++;
- format = dest.substr(lastDot, dest.length() - lastDot);
- actualReq.params.insert(std::make_pair("format", Data(format, Data::VERBATIM)));
- }
- }
- }
-
- if (actualReq.params.find("format") == actualReq.params.end()) {
- LOG(ERROR) << "missing format";
- reportFailure(req);
- return;
- }
-
- EVAL_PARAM_EXPR(actualReq.params, "heightexpr", "height");
- EVAL_PARAM_EXPR(actualReq.params, "widthexpr", "width");
- EVAL_PARAM_EXPR(actualReq.params, "pitchexpr", "pitch");
- EVAL_PARAM_EXPR(actualReq.params, "rollexpr", "roll");
- EVAL_PARAM_EXPR(actualReq.params, "yawexpr", "yaw");
- EVAL_PARAM_EXPR(actualReq.params, "zoomexpr", "zoom");
- EVAL_PARAM_EXPR(actualReq.params, "xexpr", "x");
- EVAL_PARAM_EXPR(actualReq.params, "yexpr", "y");
- EVAL_PARAM_EXPR(actualReq.params, "zexpr", "z");
-
-// process(actualReq);
- _workQueue.push(actualReq);
-}
-
-void OSGConverter::cancel(const std::string sendId) {
-}
-
-void OSGConverter::invoke(const InvokeRequest& req) {
- int nrThreads = 1;
-
- if (req.params.find("threads") != req.params.end() && isNumeric(req.params.find("threads")->second.atom.c_str(), 10)) {
- nrThreads = strTo<int>(req.params.find("threads")->second);
- }
-
- _isRunning = true;
- for (int i = 0; i < nrThreads; i++) {
- _threads.insert(new tthread::thread(OSGConverter::run, this));
- }
-}
-
-void OSGConverter::run(void* instance) {
- OSGConverter* INSTANCE = (OSGConverter*)instance;
- while(true) {
- SendRequest req = INSTANCE->_workQueue.pop();
- if (INSTANCE->_isRunning) {
- INSTANCE->process(req);
- } else {
- return;
- }
- }
-}
-
-void OSGConverter::process(const SendRequest& req) {
-
-// std::cout << req;
-
- int width = 640;
- int height = 480;
- Event::getParam(req.params, "width", width);
- Event::getParam(req.params, "height", height);
-
- assert(req.params.find("source") != req.params.end());
- assert(req.params.find("format") != req.params.end());
-
- std::string source;
- if (!Event::getParam(req.params, "source", source)) {
- reportFailure(req);
- LOG(ERROR) << "No source given for convert request";
- return;
- }
-
- std::string dest;
- Event::getParam(req.params, "dest", dest);
-
- std::list<Data> formats;
- if (!Event::getParam(req.params, "format", formats)) {
- reportFailure(req);
- LOG(ERROR) << "No format given for convert request";
- return;
- }
-
- bool autoRotate = true;
- if (req.params.find("autorotate") != req.params.end()) {
- if (iequals(req.params.find("autorotate")->second.atom, "off") ||
- iequals(req.params.find("autorotate")->second.atom, "0") ||
- iequals(req.params.find("autorotate")->second.atom, "false")) {
- autoRotate = false;
- }
- }
-
- bool optimizeGeometry = false;
- if (req.params.find("optimizegeometry") != req.params.end()) {
- if (iequals(req.params.find("optimizegeometry")->second.atom, "on") ||
- iequals(req.params.find("optimizegeometry")->second.atom, "1") ||
- iequals(req.params.find("optimizegeometry")->second.atom, "true")) {
- optimizeGeometry = true;
- }
- }
-
- bool antiAliased = true;
- if (req.params.find("antialiased") != req.params.end()) {
- if (iequals(req.params.find("antialiased")->second.atom, "off") ||
- iequals(req.params.find("antialiased")->second.atom, "0") ||
- iequals(req.params.find("antialiased")->second.atom, "false")) {
- antiAliased = false;
- }
- }
-
- // get the 3D scene
- osg::ref_ptr<osg::Node> model = setupGraph(source, autoRotate);
- if (model->asGroup()->getNumChildren() == 0) {
- reportFailure(req);
- LOG(ERROR) << "Could not setup scenegraph";
- return;
- }
-
- if (optimizeGeometry) {
- osgUtil::Optimizer optimizer;
- optimizer.optimize(model, osgUtil::Optimizer::ALL_OPTIMIZATIONS);
- }
-
- Data retContent;
-
- // setup scenegraph
- osg::ref_ptr<osg::Group> sceneGraph = new osg::Group();
- sceneGraph->addChild(model);
- ((osg::MatrixTransform*)model.get())->setMatrix(requestToModelPose(req));
- osg::BoundingSphere bs = model->getBound();
-
- for (std::list<Data>::iterator formatIter = formats.begin(); formatIter != formats.end(); formatIter++) {
- std::string format = *formatIter;
-
- osg::ref_ptr<osgDB::ReaderWriter> writer = osgDB::Registry::instance()->getReaderWriterForExtension(format);
-
- if (writer.valid()) {
- // conversion from 3d model to 3d model
- std::stringstream ss;
- osgDB::ReaderWriter::WriteResult result;
- osgDB::ReaderWriter::Options* rwOptions = new osgDB::ReaderWriter::Options();
-
- // pass option to disable tristrips when writing osgjs files
- if (strcmp(format.c_str(), "osgjs") == 0)
- rwOptions->setOptionString("disableTriStrip");
-
- result = writer->writeNode(*sceneGraph, ss, rwOptions);
- if (result.success()) {
- if (dest.length() > 0) {
- std::ofstream outFile(dest.c_str());
- outFile << ss.str();
- }
- retContent.compound[format] = Data(ss.str().c_str(), ss.str().size(), URL::getMimeType(format), false);
- continue;
- }
- }
-
- // conversion from 3d model to image
- tthread::lock_guard<tthread::recursive_mutex> lock(_viewerMutex);
- osgViewer::Viewer viewer;
- osg::Camera *camera = viewer.getCamera();
-
- osg::ref_ptr<osg::GraphicsContext::Traits> traits = new
- osg::GraphicsContext::Traits;
- traits->width = width;
- traits->height = height;
- traits->pbuffer = true;
-
- traits->readDISPLAY();
- if (antiAliased) {
- traits->samples = 4; // to make anti-aliased.
- osg::DisplaySettings* ds = osg::DisplaySettings::instance();
- ds->setNumMultiSamples(4);
- viewer.setDisplaySettings(ds);
- }
- osg::GraphicsContext *gc =
- osg::GraphicsContext::createGraphicsContext(traits.get());
-
- camera->setGraphicsContext(gc);
- camera->setDrawBuffer(GL_FRONT);
- camera->setViewport(new osg::Viewport(0, 0, width, height));
-
- viewer.setSceneData(sceneGraph);
-
- viewer.setCameraManipulator(new osgGA::TrackballManipulator());
- viewer.getCamera()->setClearColor(osg::Vec4f(1.0f,1.0f,1.0f,1.0f));
- viewer.getCamera()->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- double zoom = 1;
- CAST_PARAM(req.params, zoom, "zoom", double);
-
- viewer.getCameraManipulator()->setByMatrix(osg::Matrix::lookAt(osg::Vec3d(0,0,bs.radius() * (-3.4 * zoom)), // eye
- (osg::Vec3d)bs.center(), // center
- osg::Vec3d(0,0,1))); // up
-
- osg::Image *image = new osg::Image();
- camera->attach(osg::Camera::COLOR_BUFFER0, image);
-
- viewer.setThreadingModel(osgViewer::Viewer::SingleThreaded);
- viewer.realize();
- viewer.frame();
-
- std::string tempFile = URL::getTmpFilename(format);
-
- if (!osgDB::writeImageFile(*image, tempFile)) {
- LOG(ERROR) << "Could write image file at " << tempFile;
- return;
- }
-
- // read file into buffer
- char* buffer = NULL;
- size_t length = 0;
- {
- std::ifstream file(tempFile.c_str());
-
- file.seekg(0, std::ios::end);
- length = file.tellg();
- file.seekg(0, std::ios::beg);
- buffer = (char*)malloc(length);
- file.read(buffer, length);
- }
-
- retContent.compound[format] = Data(buffer, length, URL::getMimeType(format), false);
- }
-
- if (retContent.compound.size()) {
- reportSuccess(req, retContent);
- } else {
- reportFailure(req);
- }
- return;
-}
-
-void OSGConverter::reportSuccess(const SendRequest& req, const Data& content) {
- Event event(req);
-
-// for (Event::params_t::const_iterator paramIter = req.params.begin(); paramIter != req.params.end(); paramIter++) {
-// Data foo = paramIter->second;
-// std::cout << paramIter->first << " = " << foo << std::endl;
-// }
-
- if (event.name.length() == 0)
- event.name = "convert";
- event.name += ".success";
-
- if (!content.empty())
- event.data.compound["content"] = content;
- returnEvent(event);
-}
-
-void OSGConverter::reportFailure(const SendRequest& req) {
- Event event(req);
- if (event.name.length() == 0)
- event.name = "convert";
- event.name += ".failure";
- returnEvent(event);
-}
-
-osg::Matrix OSGConverter::requestToModelPose(const SendRequest& req) {
- double pitch = 0;
- double roll = 0;
- double yaw = 0;
- double x = 0;
- double y = 0;
- double z = 0;
- CAST_PARAM(req.params, pitch, "pitch", double);
- CAST_PARAM(req.params, roll, "roll", double);
- CAST_PARAM(req.params, yaw, "yaw", double);
- CAST_PARAM(req.params, x, "x", double);
- CAST_PARAM(req.params, y, "y", double);
- CAST_PARAM(req.params, z, "z", double);
-
- osg::Matrix m = eulerToMatrix(pitch, roll, yaw) * osg::Matrix::translate(-1 * x, -1 * y, -1 * z);
-#if 0
- dumpMatrix(m);
-#endif
- return m;
-}
-
-osg::Matrix OSGConverter::requestToCamPose(const SendRequest& req) {
-// double zoom = 1;
-// CAST_PARAM(req.params, zoom, "zoom", double);
-// osg::Matrix scale = osg::Matrix::scale(zoom, zoom, zoom);
-// return scale;
- osg::Matrix identity;
- identity.makeIdentity();
- return identity;
-}
-
-osg::ref_ptr<osg::Node> OSGConverter::setupGraph(const std::string filename, bool autoRotate) {
-
- // get some privacy
- tthread::lock_guard<tthread::recursive_mutex> lock(_cacheMutex);
-
- /**
- * root (model pose)
- * - rotate (autoRotate to face largest side)
- * - modelCenter (center model)
- * - model (actual model)
- */
-
- long now = tthread::chrono::system_clock::now();
-
- {
-
- // do we have it in the cache?
- if (_models.find(filename) == _models.end()) {
- osg::ref_ptr<osg::Node> model = osgDB::readNodeFile(filename);
- if (!model.valid()) {
- LOG(ERROR) << "Cannot load model from " << filename;
- return new osg::MatrixTransform();
- }
- _models[filename] = std::make_pair(now, model);
- }
- _models[filename].first = now;
-
-#if 1
- // remove old models from cache
- std::map<std::string, std::pair<long, osg::ref_ptr<osg::Node> > >::iterator modelIter = _models.begin();
- while(modelIter != _models.end()) {
- // delete every model unused for 1 minutes
- if (now - modelIter->second.first > 6000) {
- _models.erase(modelIter++);
- } else {
- modelIter++;
- }
- }
-
-#endif
- }
-
- osg::ref_ptr<osg::MatrixTransform> root = new osg::MatrixTransform();
- osg::ref_ptr<osg::MatrixTransform> rotate = new osg::MatrixTransform();
- osg::ref_ptr<osg::Node> model = _models[filename].second;
-
- // translation matrix to move model into center
- osg::ref_ptr<osg::MatrixTransform> modelCenter = new osg::MatrixTransform();
- modelCenter->addChild(model);
- rotate->addChild(modelCenter);
-
- // move bounding sphere center into origin
- osg::BoundingSphere bs = model->getBound();
- modelCenter->setMatrix(osg::Matrix::translate(bs.center() *= -1));
-
- // get bounding box
- osg::ComputeBoundsVisitor cbv;
- osg::BoundingBox& bb(cbv.getBoundingBox());
- modelCenter->accept(cbv);
-
- if (autoRotate) {
- double depth = bb.zMax() - bb.zMin();
- double width = bb.xMax() - bb.xMin();
- double height = bb.yMax() - bb.yMin();
-
- double frontArea = width * height;
- double sideArea = depth * height;
- double topArea = depth * width;
-
- // rotate by multiples of 90deg to face largest area
- if (frontArea < sideArea || frontArea < topArea) {
- if (sideArea < topArea) {
- // top needs to come to front -> rotate on x
- rotate->setMatrix(osg::Matrix::rotate(M_PI_2, osg::Vec3f(1.0,0,0)));
- } else {
- // side needs to come to front
- rotate->setMatrix(osg::Matrix::rotate(M_PI_2, osg::Vec3f(0,1.0,0)));
- }
- }
- }
-
- // add rotation to root
- root->addChild(rotate);
- return root;
-}
-
-osg::ref_ptr<osg::Node> OSGConverter::getOrigin() {
- osg::Geode* geode = new osg::Geode();
-// osg::StateSet* stateset = new osg::StateSet();
-// stateset->setMode(GL_LIGHTING, osg::StateAttribute::ON);
-// geode->setStateSet(stateset);
-
- geode->addDrawable(new osg::ShapeDrawable(new osg::Sphere(osg::Vec3(0.0f,0.0f,0.0f),1)));
- geode->addDrawable(new osg::ShapeDrawable(new osg::Box(osg::Vec3(10.0f,0.0f,0.0f),0.5)));
- geode->addDrawable(new osg::ShapeDrawable(new osg::Box(osg::Vec3(0.0f,10.0f,0.0f),2)));
- geode->addDrawable(new osg::ShapeDrawable(new osg::Box(osg::Vec3(0.0f,0.0f,10.0f),4)));
- // geode->addDrawable(new osg::ShapeDrawable(new osg::Cone(osg::Vec3(4.0f,0.0f,0.0f),radius,height),hints));
-
- return geode;
-}
-
-osg::Matrix OSGConverter::eulerToMatrix(double pitch, double roll, double yaw) {
- // see http://www.flipcode.com/documents/matrfaq.html#Q36
- osg::Matrix m;
- m.makeIdentity();
-
- double A = cos(pitch);
- double B = sin(pitch);
- double C = cos(roll);
- double D = sin(roll);
- double E = cos(yaw);
- double F = sin(yaw);
-
- double AD = A * D;
- double BD = B * D;
-
- m(0,0) = C * E;
- m(0,1) = -C * F;
- m(0,2) = -D;
- m(1,0) = -BD * E + A * F;
- m(1,1) = BD * F + A * E;
- m(1,2) = -B * C;
- m(2,0) = AD * E + B * F;
- m(2,1) = -AD * F + B * E;
- m(2,2) = A * C;
-
- m(0,3) = m(1,3) = m(2,3) = m(3,0) = m(3,1) = m(3,2) = 0;
- m(3,3) = 1;
-
- return m;
-}
-
-void OSGConverter::matrixToEuler(const osg::Matrix& m, double& pitch, double& roll, double& yaw) {
- // see: http://www.flipcode.com/documents/matrfaq.html#Q37
- double angle_x, angle_z;
- double D = -1 * asin(m(0,2)); /* Calculate Y-axis angle */
- double angle_y = D;
- double C = cos(angle_y);
-
- /* Gimball lock? */
- if ( fabs( C ) > 0.005 ) {
- double tr_x = m(2,2) / C; /* No, so get X-axis angle */
- double tr_y = -1 * m(1,2) / C;
- angle_x = atan2( tr_y, tr_x );
- tr_x = m(0,0) / C; /* Get Z-axis angle */
- tr_y = -1 * m(0,1) / C;
- angle_z = atan2( tr_y, tr_x );
- } else {
- /* Gimball lock has occurred */
- angle_x = 0; /* Set X-axis angle to zero */
- double tr_x = m(1,1); /* And calculate Z-axis angle */
- double tr_y = m(1,0);
- angle_z = atan2( tr_y, tr_x );
- }
-
- pitch = fmod(angle_x, 2 * M_PI ); /* Clamp all angles to range */
- roll = fmod( angle_y, 2 * M_PI );
- yaw = fmod( angle_z, 2 * M_PI );
-}
-
-void OSGConverter::dumpMatrix(const osg::Matrix& m) {
- for (int i = 0; i < 4; i++) {
- for (int j = 0; j < 4; j++) {
- std::cout << ", " << m(i, j);
- }
- std::cout << std::endl;
- }
-}
-
-
-} \ No newline at end of file
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