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#include "OSGConverter.h"
#include <glog/logging.h>
#include "uscxml/config.h"
#include <osg/MatrixTransform>
#include <osg/Node>
#include <osg/Group>
#include <osgDB/ReadFile>
#include <osgDB/WriteFile>
#include <osgDB/Registry>
#include <osgGA/TrackballManipulator>
#include <osg/ShapeDrawable>
#include <boost/lexical_cast.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, _interpreter->getDataModel().evalAsString(param.find(expr)->second)));
#define CAST_PARAM(param, var, key, type) \
if (param.find(key) != param.end()) { \
try { var = boost::lexical_cast<type>(param.find(key)->second); } \
catch(...) { LOG(ERROR) << "Attribute " key " of sendrequest to osgconverter is of invalid format: " << param.find(key)->second; } \
}
namespace uscxml {
#ifdef BUILD_AS_PLUGINS
PLUMA_CONNECTOR
bool connect(pluma::Host& host) {
host.add( new OSGConverterProvider() );
return true;
}
#endif
OSGConverter::OSGConverter() : _isRunning(false) {
// osg::setNotifyLevel(osg::DEBUG_FP);
}
OSGConverter::~OSGConverter() {
_isRunning = false;
std::set<tthread::thread*>::iterator threadIter = _threads.begin();
while(threadIter != _threads.end()) {
(*threadIter)->join();
}
};
boost::shared_ptr<IOProcessorImpl> OSGConverter::create(Interpreter* 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().evalAsString(actualReq.params.find("sourceexpr")->second)));
} else {
LOG(ERROR) << "SendRequests for osginvoker missing source or sourceExpr and datamodel";
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().evalAsString(actualReq.params.find("destexpr")->second)));
} else {
LOG(ERROR) << "SendRequests for osginvoker missing dest or destExpr and datamodel";
return;
}
}
if (actualReq.params.find("format") == actualReq.params.end()) {
// no explicit format
if (actualReq.params.find("formatexpr") != actualReq.params.end() && _interpreter->getDataModel()) {
actualReq.params.insert(std::make_pair("format", _interpreter->getDataModel().evalAsString(actualReq.params.find("formatexpr")->second)));
} else {
std::string format;
size_t lastDot;
std::string dest = req.params.find("dest")->second;
if ((lastDot = dest.find_last_of(".")) != std::string::npos) {
lastDot++;
format = dest.substr(lastDot, dest.length() - lastDot);
}
if (format.length() == 0 || format.find_last_of(PATH_SEPERATOR) != std::string::npos) {
// empty format or pathseperator in format
format = "png";
}
actualReq.params.insert(std::make_pair("format", format));
}
}
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");
// 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.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;
CAST_PARAM(req.params, width, "width", int);
CAST_PARAM(req.params, height, "height", int);
assert(req.params.find("source") != req.params.end());
assert(req.params.find("dest") != req.params.end());
assert(req.params.find("format") != req.params.end());
std::string source = req.params.find("source")->second;
std::string dest = req.params.find("dest")->second;
std::string format = req.params.find("format")->second;
osg::ref_ptr<osg::Node> sceneGraph = setupGraph(source);
osgDB::ReaderWriter::WriteResult result;
if (osgDB::Registry::instance()->getReaderWriterForExtension(format) != NULL) {
// write as another 3D file
result = osgDB::Registry::instance()->writeNode(*sceneGraph, dest, osgDB::Registry::instance()->getOptions());
}
if (result.error()) {
// make a screenshot
osgViewer::ScreenCaptureHandler::CaptureOperation* cOp = new NameRespectingWriteToFile(dest,
format,
osgViewer::ScreenCaptureHandler::WriteToFile::OVERWRITE
);
osgViewer::ScreenCaptureHandler* captureHandler = new osgViewer::ScreenCaptureHandler(cOp, -1);
osgViewer::Viewer viewer;
viewer.setSceneData(sceneGraph);
viewer.setCameraManipulator(new osgGA::TrackballManipulator());
viewer.addEventHandler(captureHandler);
captureHandler->startCapture();
osg::DisplaySettings* ds = osg::DisplaySettings::instance().get();
osg::ref_ptr<osg::GraphicsContext::Traits> traits = new osg::GraphicsContext::Traits(ds);
traits->width = width;
traits->height = height;
traits->pbuffer = true;
osg::ref_ptr<osg::GraphicsContext> gc = osg::GraphicsContext::createGraphicsContext(traits.get());
if (!gc.valid()) {
LOG(ERROR) << "Cannot create GraphicsContext!";
return;
}
GLenum pbuffer = gc->getTraits()->doubleBuffer ? GL_BACK : GL_FRONT;
viewer.getCamera()->setGraphicsContext(gc.get());
viewer.getCamera()->setViewport(new osg::Viewport(0,0,traits->width,traits->height));
viewer.getCamera()->setDrawBuffer(pbuffer);
viewer.getCamera()->setReadBuffer(pbuffer);
// set background color
viewer.getCamera()->setClearColor(osg::Vec4f(1.0f,1.0f,1.0f,1.0f));
viewer.getCamera()->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// viewer.getCamera()->setViewMatrix(requestToCamPose(req));
viewer.home();
((osg::MatrixTransform*)sceneGraph.get())->setMatrix(requestToModelPose(req));
// perform one viewer iteration
viewer.realize();
viewer.frame();
}
}
osg::Matrix OSGConverter::requestToModelPose(const SendRequest& req) {
double pitch = 0;
double roll = 0;
double yaw = 0;
double zoom = 1;
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, zoom, "zoom", double);
osg::Matrix m = osg::Matrix::scale(zoom, zoom, zoom) * eulerToMatrix(pitch, roll, yaw);
#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) {
/**
* root (model pose)
* - modelCenter (center model)
* - model (actual model)
*/
long now = tthread::chrono::system_clock::now();
{
// get some privacy
tthread::lock_guard<tthread::recursive_mutex> lock(_cacheMutex);
// 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 > 60000) {
_models.erase(modelIter++);
} else {
modelIter++;
}
}
#endif
}
osg::ref_ptr<osg::MatrixTransform> root = 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);
// move bounding sphere center into origin
osg::BoundingSphere bs = model->getBound();
modelCenter->setMatrix(osg::Matrix::translate(bs.center() *= -1));
// add to model pose matrix
root->addChild(modelCenter);
return root;
}
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;
}
}
void OSGConverter::NameRespectingWriteToFile::operator()(const osg::Image& image, const unsigned int context_id) {
osgDB::writeImageFile(image, _filename);
}
}
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