SkyBox.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#include <mvsim/World.h>
#include <mvsim/WorldElements/SkyBox.h>

//
#include <mrpt/version.h>
#if MRPT_VERSION >= 0x270
#include <mrpt/opengl/CSkyBox.h>  // class introduced in mrpt 2.7.0
#else
#endif

#include <rapidxml.hpp>

#include "xml_utils.h"

using namespace rapidxml;
using namespace mvsim;
using namespace std;

SkyBox::SkyBox(World* parent, const rapidxml::xml_node<char>* root)
        : WorldElementBase(parent)
{
        // Create opengl object: in this class, we'll store most state data directly
        // in the mrpt::opengl object.
        loadConfigFrom(root);
}

SkyBox::~SkyBox() = default;

void SkyBox::loadConfigFrom(const rapidxml::xml_node<char>* root)
{
        if (!root) return;      // Assume defaults

        std::string texturesPattern;

        TParameterDefinitions params;
        params["textures"] = TParamEntry("%s", &texturesPattern);

        parse_xmlnode_children_as_param(
                *root, params, world_->user_defined_variables());

        ASSERTMSG_(
                !texturesPattern.empty(),
                "Textures must be defined in a <textures>...</textures> tag.");

        ASSERTMSG_(
                texturesPattern.find("%s") != std::string::npos,
                "Texture pattern URI in <textures>...</textures> must contain one '%s' "
                "placeholder.");

#if MRPT_VERSION >= 0x270
        using mrpt::opengl::CUBE_TEXTURE_FACE;

        const std::vector<std::pair<CUBE_TEXTURE_FACE, const char*>> faceImages = {
                {CUBE_TEXTURE_FACE::FRONT, "Front"},
                {CUBE_TEXTURE_FACE::BACK, "Back"},
                {CUBE_TEXTURE_FACE::BOTTOM, "Down"},
                {CUBE_TEXTURE_FACE::TOP, "Up"},
                {CUBE_TEXTURE_FACE::LEFT, "Left"},
                {CUBE_TEXTURE_FACE::RIGHT, "Right"},
        };

        auto sb = mrpt::opengl::CSkyBox::Create();

        for (const auto& p : faceImages)
        {
                std::string fil = mrpt::format(texturesPattern.c_str(), p.second);

                // MRPT_LOG_DEBUG_STREAM("Loading face texture: " << fil);
                fil = world_->xmlPathToActualPath(fil);

                sb->assignImage(p.first, mrpt::img::CImage::LoadFromFile(fil));
        }

        glSkyBoxPrepared_ = sb;
#else
        std::cerr
                << "[mvsim::SkyBox] Ignoring SkyBox since MRPT>=2.7.0 is not available."
                << std::endl;
#endif
}

void SkyBox::internalGuiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
        [[maybe_unused]] bool childrenOnly)
{
        using namespace mrpt::math;

        // 1st call?
        if (!glSkyBox_ && viz && physical && glSkyBoxPrepared_)
        {
                glSkyBox_ = glSkyBoxPrepared_;
                viz->get().insert(glSkyBox_);
                physical->get().insert(glSkyBox_);
        }

        // No need to update, this is a static, "background" entity.
}