TomGineThread.cpp

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#include <blort/ThreadObject/TomGineThread.h>
#include <blort/TomGine/tgEngine.h>
#include <blort/TomGine/tgShapeCreator.h>
#include <stdexcept>

using namespace TomGine;
using namespace std;

CTomGineThread::CTomGineThread(int width, int height)
{
        m_mutex.Lock();
                m_quit = false;
                m_use_campars = false;
                m_width = width;
                m_height = height;
        m_mutex.Unlock();
}

CTomGineThread::CTomGineThread(int width, int height, const TomGine::tgCamera::Parameter& tgCamParams)
{
        m_mutex.Lock();
                m_quit = false;
                m_use_campars = true;
                m_width = width;
                m_height = height;
                m_camPars = tgCamParams;
        m_mutex.Unlock();
}

CTomGineThread::~CTomGineThread()
{
        m_mutex.Lock();
                m_quit = true;
        m_mutex.Unlock();
        
        m_running.Wait();
}

void CTomGineThread::SetModel(const TomGine::tgModel& model)
{
        m_mutex.Lock();
        
                m_max_vertex_length = 0.0f;
                float l;
                for(unsigned int i=0; i<model.m_vertices.size(); i++){
                        l = model.m_vertices[i].pos.length();
                        
                        if( l > m_max_vertex_length )
                                m_max_vertex_length = l;
                }
                
                m_model = model;
        m_mutex.Unlock();
}

void CTomGineThread::SetPose(const TomGine::tgPose& pose)
{
        m_mutex.Lock();
                m_pose = pose;
        m_mutex.Unlock();
}

void CTomGineThread::AddSifts(const std::vector<blortRecognizer::Siftex>& sl)
{
        m_mutex.Lock();
                m_lastsiftexlist = sl;
                for(unsigned i=0; i<sl.size(); i++)
                  m_siftexlist.push_back(sl[i]);
        m_mutex.Unlock();
        
        double pos[3] = {0,0,0};
        double normal[3] = {0,0,0};
        double view[3] = {0,0,0};
        unsigned sc = sl.size();
        
        for(unsigned i=0; i<sc; i++){
          pos[0] += sl[i].pos.x;
          pos[1] += sl[i].pos.y;
          pos[2] += sl[i].pos.z;
          normal[0] += sl[i].normal.x;
          normal[1] += sl[i].normal.y;
          normal[2] += sl[i].normal.z;
          view[0] += sl[i].viewray.x;
          view[1] += sl[i].viewray.y;
          view[2] += sl[i].viewray.z;
        }
        
        vec3 vPos = vec3(float(pos[0]/sc), float(pos[1]/sc), float(pos[2]/sc)); 
        vec3 vNormal = vec3(float(normal[0]/sc), float(normal[1]/sc), float(normal[2]/sc)); 
        vec3 vView = vec3(float(view[0]/sc), float(view[1]/sc), float(view[2]/sc));
        
        vec3 p = vPos - vView;
//      vec3 p = sl[0].pos - sl[0].viewray;
        
        vec3 f = vView; f.normalize();
        vec3 u = vec3(0,0,1);
        vec3 s;
        s.cross(u,f); s.normalize();
        u.cross(f,s); u.normalize();

        float rad = 0.0f;
        for(unsigned i=0; i<sc; i++){
                vec3 d = vPos - sl[i].pos;
                float l = d.length();
                if(rad < l)
                  rad=l;
        }
        m_viewscale.push_back(vec3(rad, rad, vView.length()));

        float fR[9] = { s.x, s.y, s.z,
                                        u.x, u.y, u.z,
                                        f.x, f.y, f.z};
        mat3 R = mat3(fR);
        TomGine::tgPose pose;
        pose.SetPose(R, p);
        m_viewlist.push_back(pose);
}

void CTomGineThread::AddView(const TomGine::tgPose& view)
{
//      m_mutex.Lock();
//              m_viewlist.push_back(view);
//      m_mutex.Unlock();
}

BOOL CTomGineThread::OnTask()
{
        m_running.Lock();
        
        m_mutex.Lock();
                tgEngine m_engine(m_width, m_height, 5.0f, 0.01f, "TomGine", true);
                
                if(m_use_campars)
                {
                        TomGine::tgCamera cam;
                        cam.Load(m_camPars);
                        m_engine.SetCamera(cam);
                        m_engine.UpdateCameraViews(cam);
                }
        m_mutex.Unlock();
        
        tgMaterial matBlueBlend;
        matBlueBlend.Color(0.0f, 0.0f, 1.0f, 0.5f);
        m_cone.m_material = matBlueBlend;
        
        tgShapeCreator m_shape_creator;
        m_shape_creator.CreateSphere(m_sphere, 0.1, 5, ICOSAHEDRON);
        m_shape_creator.CreateCone(m_cone, 1.0, 1.0, 16, 1, false);
//      tgModel &model, float radius, float height, int slices, int stacks, bool closed
        
        glClearColor(1,1,1,0);
        
        while(!m_quit)
        {
                m_mutex.Lock();
                        
                        // Draw model
                        m_pose.Activate();
                                m_model.DrawFaces();
                                
//                              for(unsigned i=0; i<m_viewlist.size(); i++)
//                              {
//                                      m_viewlist[i].Activate();
//                                      m_cone.DrawFaces();
//                              }
                        
                        // TODO test if Siftex is visible
                        
                        
                        // Draw points
                        glColor3f(0.0f,1.0f,0.0f);
                        glDisable(GL_LIGHTING);
                        glPointSize(2);
                        glBegin(GL_POINTS);
                        for(unsigned int i=0; i<m_siftexlist.size(); i++)
                        {
                                glVertex3f(m_siftexlist[i].pos.x, m_siftexlist[i].pos.y, m_siftexlist[i].pos.z);
                        }
                        glEnd();
                        glEnable(GL_LIGHTING);
                        
                        // Draw normals
                        glColor3f(0.0f, 0.0f, 1.0f);
                        glDisable(GL_LIGHTING);
                        glBegin(GL_LINES);
                        for(unsigned int i=0; i<m_lastsiftexlist.size(); i++)
                        {
                                glVertex3f(m_lastsiftexlist[i].pos.x, m_lastsiftexlist[i].pos.y, m_lastsiftexlist[i].pos.z);
                                glVertex3f(     m_lastsiftexlist[i].pos.x - m_lastsiftexlist[i].viewray.x,
                                                                                m_lastsiftexlist[i].pos.y - m_lastsiftexlist[i].viewray.y,
                                                                                m_lastsiftexlist[i].pos.z - m_lastsiftexlist[i].viewray.z);
                        }
                        glEnd();
                        glEnable(GL_LIGHTING);
                        
                        for(unsigned i=0; i<m_viewlist.size(); i++)
                        {
                          m_viewlist[i].Activate();
                          
                          glPushMatrix();
                          glScalef(m_viewscale[i].x,m_viewscale[i].y,m_viewscale[i].z);
                          glEnable(GL_BLEND);
                          glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                          m_cone.DrawFaces();
                          glDisable(GL_BLEND);
                          glPopMatrix();
                          
                          m_viewlist[i].Deactivate();
                        }
                        
                        m_pose.Deactivate();
                m_mutex.Unlock();
                
                Sleep(10);
                
                m_engine.Update();
        }

        m_running.Unlock();
        return TRUE;
}