render_target.h
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00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVE_RENDER_SERVER_RENDER_TARGET_H
00031 #define RVE_RENDER_SERVER_RENDER_TARGET_H
00032 
00033 #include <rve_common/uuid.h>
00034 
00035 #include <OGRE/OgreTexture.h>
00036 #include <OGRE/OgreMaterial.h>
00037 
00038 #include <rve_msgs/RenderTargetFrameStats.h>
00039 
00040 #include <boost/shared_array.hpp>
00041 #include <boost/function.hpp>
00042 
00043 namespace Ogre
00044 {
00045 class RenderTarget;
00046 class RenderTexture;
00047 class RenderTarget;
00048 class MultiRenderTarget;
00049 class Rectangle2D;
00050 class SceneNode;
00051 class PlaneBoundedVolumeListSceneQuery;
00052 }
00053 
00054 namespace rve_render_server
00055 {
00056 
00057 class Camera;
00058 class Renderer;
00059 class RenderTargetToROSImage;
00060 class PickRenderValues;
00061 typedef std::vector<PickRenderValues> V_PickRenderValues;
00062 class ScreenRect;
00063 
00064 class RenderTarget
00065 {
00066 public:
00067   enum Type
00068   {
00069     Texture,
00070     Window
00071   };
00072 
00073   RenderTarget(const rve_common::UUID& id, Renderer* rend, uint32_t width, uint32_t height);
00074   virtual ~RenderTarget();
00075 
00076    const rve_common::UUID& getID();
00077    void attachCamera(Camera* cam);
00078    Camera* getCamera() { return cam_; }
00079 
00080   Ogre::RenderTarget* getOgreRenderTarget() { return final_target_; }
00081   const rve_msgs::RenderTargetFrameStats& getLastFrameStats() { return stats_; }
00082 
00083   typedef boost::function<void(V_PickRenderValues&)> PickCallback;
00084   void pick(uint32_t x0, uint32_t y0, uint32_t x1, uint32_t y1, const PickCallback& cb);
00085 
00086   bool renderNeeded() { return render_needed_; }
00087   void requestRender();
00088 
00089   virtual void beginRender();
00090   virtual void finishRender();
00091 
00092   virtual void resize(uint32_t width, uint32_t height) = 0;
00093   virtual Type getTargetType() = 0;
00094 
00095   uint32_t getWidth() { return width_; }
00096   uint32_t getHeight() { return height_; }
00097 
00098   ScreenRect* createScreenRect(const rve_common::UUID& id, uint32_t zorder, float x0, float y0, float x1, float y1);
00099   ScreenRect* getScreenRect(const rve_common::UUID& id);
00100   void destroyScreenRect(const rve_common::UUID& id);
00101 
00102 protected:
00103   void setTarget(Ogre::RenderTarget* target);
00104 
00105 private:
00106 
00107   struct PickRequest
00108   {
00109     PickRequest()
00110     : x0(0)
00111     , y0(0)
00112     , x1(0)
00113     , y1(0)
00114     {}
00115 
00116     PickRequest(uint32_t x0, uint32_t y0, uint32_t x1, uint32_t y1, const PickCallback& cb)
00117     : x0(x0)
00118     , y0(y0)
00119     , x1(x1)
00120     , y1(y1)
00121     , cb(cb)
00122     {}
00123 
00124     uint32_t x0;
00125     uint32_t y0;
00126     uint32_t x1;
00127     uint32_t y1;
00128     PickCallback cb;
00129   };
00130   typedef std::vector<PickRequest> V_PickRequest;
00131 
00132   typedef std::vector<Ogre::RenderTexture*> V_OgreRenderTexture;
00133   typedef std::vector<Ogre::TexturePtr> V_OgreTexture;
00134   typedef boost::shared_ptr<RenderTargetToROSImage> RenderTargetToROSImagePtr;
00135   typedef std::vector<RenderTargetToROSImagePtr> V_RenderTargetToROSImage;
00136   struct MRT
00137   {
00138     MRT()
00139     : mrt(0)
00140     {}
00141 
00142     Ogre::MultiRenderTarget* mrt;
00143     V_OgreRenderTexture rtts;
00144     V_OgreTexture textures;
00145     V_RenderTargetToROSImage ros_output;
00146   };
00147 
00148   void destroyResources();
00149   void createResources();
00150 
00151   void createMRT(MRT& mrt, const std::string& name, const std::string& scheme, uint32_t format);
00152   void destroyMRT(MRT& mrt);
00153 
00154   void setupRT(Ogre::RenderTarget* rt);
00155 
00156   void pick(const PickRequest& pr);
00157   void updatePickBuffer();
00158   void processPickRequests();
00159 
00160   rve_common::UUID id_;
00161   Ogre::RenderTarget* final_target_;
00162   RenderTargetToROSImagePtr final_target_out_;
00163   Renderer* renderer_;
00164   Camera* cam_;
00165   uint32_t width_;
00166   uint32_t height_;
00167   bool recreate_resources_;
00168   Ogre::Rectangle2D* screen_rect_;
00169   Ogre::MaterialPtr rect_material_;
00170 
00171   MRT gbuffer_target_;
00172   MRT weighted_average_alpha_target_;
00173 
00174   bool picked_;
00175   MRT picking_target_;
00176   bool pick_target_updated_this_frame_;
00177   bool pick_buffer_valid_;
00178   boost::shared_array<uint32_t> pick_buffer_;
00179   V_PickRequest pick_requests_;
00180   V_PickRequest new_pick_requests_;
00181   Ogre::PlaneBoundedVolumeListSceneQuery* pick_scene_query_;
00182 
00183   rve_msgs::RenderTargetFrameStats stats_;
00184 
00185   typedef std::vector<ScreenRect*> V_ScreenRect;
00186   V_ScreenRect screen_rects_;
00187 
00188   bool render_needed_;
00189   bool render_in_progress_;
00190 };
00191 
00192 } // namespace rve_render_server
00193 
00194 #endif // RVE_RENDER_SERVER_RENDER_TARGET_H


rve_render_server
Author(s): Josh Faust
autogenerated on Wed Dec 11 2013 14:31:15