points_material_generator.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <rve_render_server/batching/points_material_generator.h>
#include <rve_render_server/material_definition.h>
#include <rve_render_server/ogre_material_generator.h>
#include <rve_render_server/batching/points_renderer_desc.h>
#include <rve_render_server/init.h>
#include <rve_render_server/renderer.h>

#include <rve_msgs/Points.h>

#include <sstream>

#include <OGRE/OgreRoot.h>
#include <OGRE/OgreMaterialManager.h>
#include <OGRE/OgreTextureManager.h>
#include <OGRE/OgreTexture.h>
#include <OGRE/OgreGpuProgramManager.h>
#include <OGRE/OgreHighLevelGpuProgramManager.h>
#include <OGRE/OgreTechnique.h>
#include <OGRE/OgrePass.h>

namespace rve_render_server
{

std::string descToStringID(const PointsRendererDesc& desc, bool alpha)
{
  std::stringstream ss;
  ss << "GenPoints_" << (uint32_t)desc.type;

  if (desc.has_orientations)
  {
    ss << "Orientation";
  }

  if (desc.has_scales)
  {
    ss << "Scales";
  }
  else
  {
    ss << "Scale " << std::setprecision(3) << desc.scale.x << desc.scale.y << desc.scale.z;
  }

  if (alpha)
  {
    ss << "Alpha";
  }

  return ss.str();
}

void fillGenericGPVP(ShaderDefinition& def)
{
  def.input("float4", "position", "POSITION");
  def.input("float4", "color", "COLOR");
  def.input("float4", "t0", "TEXCOORD0");
  def.input("float4", "t1", "TEXCOORD1");
  def.input("float4", "t2", "TEXCOORD2");
  def.input("float4", "point_id", "SPECULAR");
  def.outputs.push_back(def.inputs[0]);
  def.outputs.push_back(def.inputs[1]);
  def.outputs.push_back(def.inputs[2]);
  def.outputs.push_back(def.inputs[3]);
  def.outputs.push_back(def.inputs[4]);
  def.output("float4", "point_id", "TEXCOORD4");
  def.body =
      " out_position = in_position;\n"
      " out_color = in_color;\n"
      " out_t0 = in_t0;\n"
      " out_t1 = in_t1;\n"
      " out_t2 = in_t2;\n"
      " out_point_id = in_point_id;\n";
}

static std::string toString(uint32_t i)
{
  std::stringstream ss;
  ss << i;
  return ss.str();
}

void fillVertexShaderDefinition(const PointsRendererDesc& desc, ShaderDefinition& def)
{
  bool supports_geometry_programs = getRenderer()->useGeometryShaders();

  if (supports_geometry_programs && desc.type != rve_msgs::Points::TYPE_POINTS)
  {
    fillGenericGPVP(def);
    return;
  }

  def.include("quaternion.cg");

  if (desc.type == rve_msgs::Points::TYPE_POINTS)
  {
    // nothing to do
  }
  else if (desc.type == rve_msgs::Points::TYPE_BILLBOARDS
        || desc.type == rve_msgs::Points::TYPE_BILLBOARD_SPHERES)
  {
    def.include("point_cloud_billboard_vp.cg");
  }
  else if (desc.type == rve_msgs::Points::TYPE_BOXES)
  {
    def.include("point_cloud_box_vp.cg");
  }

  def.input("float4", "position", "POSITION");
  def.input("float4", "color", "COLOR");
  def.input("float4", "point_id", "SPECULAR");
  def.input("float3", "normal", "NORMAL");

  uint32_t tex_coord_index = 0;
  if (desc.type != rve_msgs::Points::TYPE_POINTS)
  {
    if (!supports_geometry_programs)
    {
      def.input("float3", "offset", "TEXCOORD" + toString(tex_coord_index++));
    }

    if (desc.has_normals)
    {
      def.input("float3", "face_normal", "TEXCOORD" + toString(tex_coord_index++));
    }

    if (desc.has_orientations)
    {
      def.input("float4", "orientation", "TEXCOORD" + toString(tex_coord_index++));
    }
  }
  else
  {
    if (desc.has_normals)
    {
      def.input("float3", "face_normal", "TEXCOORD" + toString(tex_coord_index++));
    }
  }

  if (desc.has_scales)
  {
    def.input("float4", "scale", "TEXCOORD" + toString(tex_coord_index++));
  }

  def.output("float4", "position", "POSITION");
  def.output("float3", "view_pos", "TEXCOORD0");
  def.output("float3", "offset", "TEXCOORD1");
  def.output("float3", "normal", "TEXCOORD2");
  def.output("float4", "color", "TEXCOORD3");
  def.output("float4", "point_id", "TEXCOORD4");

  def.uniform("float4", "camera_pos", Ogre::GpuProgramParameters::ACT_CAMERA_POSITION_OBJECT_SPACE, 0);
  def.uniform("float4x4", "worldviewproj", Ogre::GpuProgramParameters::ACT_WORLDVIEWPROJ_MATRIX, 0);
  def.uniform("float4x4", "worldview", Ogre::GpuProgramParameters::ACT_WORLDVIEW_MATRIX, 0);


  std::stringstream ss;
  if (!desc.has_scales)
  {
    def.uniform("float4", "size", Ogre::GpuProgramParameters::ACT_CUSTOM, PointsRendererDesc::CustomParam_Size);
  }
  else
  {
    ss << " float4 size = in_scale;\n";
  }

  if (desc.type == rve_msgs::Points::TYPE_POINTS)
  {
    ss << " float4 pos = in_position;\n";
    if (desc.has_orientations)
    {
      ss << " float3 normal = quaternionRotate(in_orientation, float3(0.0, 0.0, -1.0));\n";
    }
    else if (desc.has_normals)
    {
      ss << " float3 normal = in_face_normal;\n";
    }
    else
    {
      ss << " float3 normal = normalize(camera_pos.xyz - pos.xyz);\n";
    }
  }
  else if (desc.type == rve_msgs::Points::TYPE_BILLBOARDS)
  {
    if (desc.has_orientations)
    {
      ss << " PosAndNormal posn = calculateBillboardVertexPositionAndNormalQuat(in_position, in_offset.xy, in_orientation, camera_pos, size);\n";
    }
    else if (desc.has_normals)
    {
      ss << " PosAndNormal posn = calculateBillboardVertexPositionAndNormal(in_position, in_offset.xy, in_face_normal, camera_pos, size);\n";
    }
    else
    {
      ss << " PosAndNormal posn = calculateBillboardVertexPositionAndNormal(in_position, in_offset.xy, camera_pos, size);\n";
    }
    ss << " float4 pos = posn.pos;\n";
    ss << " float3 normal = posn.normal;\n";
  }
  else if (desc.type == rve_msgs::Points::TYPE_BILLBOARD_SPHERES)
  {
    if (desc.has_orientations)
    {
      ss << " PosAndNormal posn = calculateBillboardSpheresVertexPositionAndNormalQuat(in_position, in_offset.xy, in_orientation, camera_pos, size);\n";
    }
    else if (desc.has_normals)
    {
      ss << " PosAndNormal posn = calculateBillboardSpheresVertexPositionAndNormal(in_position, in_offset.xy, in_face_normal, camera_pos, size);\n";
    }
    else
    {
      ss << " PosAndNormal posn = calculateBillboardSpheresVertexPositionAndNormal(in_position, in_offset.xy, camera_pos, size);\n";
    }
    ss << " float4 pos = posn.pos;\n";
    ss << " float3 normal = posn.normal;\n";
  }
  else if (desc.type == rve_msgs::Points::TYPE_BOXES)
  {
    if (desc.has_orientations)
    {
      ss << " PosAndNormal posn = calculateBoxVertexPositionAndNormal(in_position, in_offset.xyz, in_normal, in_orientation, worldviewproj, size);\n";
    }
    else
    {
      ss << " PosAndNormal posn = calculateBoxVertexPositionAndNormal(in_position, in_offset.xyz, in_normal, worldviewproj, size);\n";
    }
    ss << " float4 pos = posn.pos;\n";
    ss << " float3 normal = posn.normal;\n";
  }

  ss << " out_position = mul(worldviewproj, pos);\n" << std::endl;
  ss << " out_normal = mul(worldview, float4(normal, 0)).xyz;\n" << std::endl;
  ss << " out_view_pos = mul(worldview, pos).xyz;\n" << std::endl;
  ss << " out_color = in_color;\n";
  ss << " out_point_id = in_point_id;\n";
  if (!supports_geometry_programs && desc.type != rve_msgs::Points::TYPE_POINTS)
  {
    ss << " out_offset = in_offset;\n";
  }

  def.body = ss.str();
}

void fillFragmentShaderDefinition(const PointsRendererDesc& desc, ShaderDefinition& def)
{
  if (desc.type == rve_msgs::Points::TYPE_POINTS)
  {
    // nothing to do
  }
  else if (desc.type == rve_msgs::Points::TYPE_BILLBOARDS
        || desc.type == rve_msgs::Points::TYPE_BILLBOARD_SPHERES)
  {
    def.include("point_cloud_billboard_fp.cg");
  }
  else if (desc.type == rve_msgs::Points::TYPE_BOXES)
  {
    def.include("point_cloud_box_fp.cg");
  }

  def.input("float3", "view_pos", "TEXCOORD0");
  def.input("float3", "offset", "TEXCOORD1");
  def.input("float3", "normal", "TEXCOORD2");
  def.input("float4", "color", "TEXCOORD3");

  std::stringstream ss;
  ss << " float3 normal = in_normal;" << std::endl;
  if (desc.type == rve_msgs::Points::TYPE_POINTS)
  {
    ss << "float4 color = in_color;\n";
  }
  else if (desc.type == rve_msgs::Points::TYPE_BILLBOARDS)
  {
    ss << "float4 color = calculateBillboardColorWithEdge(in_color, in_offset);\n";
  }
  else if (desc.type == rve_msgs::Points::TYPE_BILLBOARD_SPHERES)
  {
    ss << "ColorAndNormal can = calculateBillboardSphereColorAndNormal(in_color, in_offset);\n";
    ss << "float4 color = can.color;\n";
    ss << "normal = can.normal;\n";
  }
  else if (desc.type == rve_msgs::Points::TYPE_BOXES)
  {
    ss << "float4 color = calculateBoxColorWithEdge(in_color, in_offset);\n";
  }

  def.body = ss.str();
}

void fillPickingFragmentShaderDefinition(const PointsRendererDesc& desc, ShaderDefinition& def)
{
  if (desc.type == rve_msgs::Points::TYPE_BILLBOARD_SPHERES)
  {
    def.include("point_cloud_billboard_fp.cg");
  }

  def.input("float4", "point_id", "TEXCOORD4");
  def.uniform("float4", "renderable_id", Ogre::GpuProgramParameters::ACT_CUSTOM, PointsRendererDesc::CustomParam_RenderableID);

  std::stringstream ss;
  ss << " float4 object_id = renderable_id;\n";
  ss << " float4 object_extra = in_point_id;\n";
  def.body = ss.str();
}

void fillGeometryShaderDefinition(const PointsRendererDesc& desc, ShaderDefinition& def)
{
  def.geom_input = "POINT";
  def.geom_output = "TRIANGLE_OUT";

  def.include("quaternion.cg");

  if (desc.type == rve_msgs::Points::TYPE_POINTS)
  {
    ROS_ASSERT_MSG(false, "Shouldn't be generating geometry shaders for TYPE_POINTS");
    // nothing to do
  }
  else if (desc.type == rve_msgs::Points::TYPE_BILLBOARDS
        || desc.type == rve_msgs::Points::TYPE_BILLBOARD_SPHERES)
  {
    def.include("point_cloud_billboard_gp.cg");
  }
  else if (desc.type == rve_msgs::Points::TYPE_BOXES)
  {
    def.include("point_cloud_box_gp.cg");
  }

  def.input("float4", "position", "POSITION");
  def.input("float4", "color", "COLOR");

  uint32_t tex_coord_num = 0;

  if (desc.has_normals)
  {
    def.input("float3", "normal", "TEXCOORD" + toString(tex_coord_num++));
  }
  else if (desc.has_orientations)
  {
    def.input("float4", "orientation", "TEXCOORD" + toString(tex_coord_num++));
  }

  if (desc.has_scales)
  {
    def.input("float4", "scale", "TEXCOORD" + toString(tex_coord_num++));
  }
  else
  {
    def.uniform("float4", "size", Ogre::GpuProgramParameters::ACT_CUSTOM, PointsRendererDesc::CustomParam_Size);
  }

  def.input("float4", "point_id", "TEXCOORD4");

  def.uniform("float4", "camera_pos", Ogre::GpuProgramParameters::ACT_CAMERA_POSITION_OBJECT_SPACE, 0);
  def.uniform("float4x4", "worldviewproj", Ogre::GpuProgramParameters::ACT_WORLDVIEWPROJ_MATRIX, 0);
  def.uniform("float4x4", "worldview", Ogre::GpuProgramParameters::ACT_WORLDVIEW_MATRIX, 0);


  std::stringstream ss;

  if (desc.has_scales)
  {
    ss << " float4 size = in_scale[0];\n";
  }

  if (desc.type == rve_msgs::Points::TYPE_BILLBOARDS)
  {
    if (desc.has_orientations)
    {
      ss << " emitBillboardVerticesQuat(in_position[0], in_color[0], in_orientation[0], worldviewproj, worldview, camera_pos, size, in_point_id[0]);\n";
    }
    else if (desc.has_normals)
    {
      ss << " emitBillboardVertices(in_position[0], in_color[0], in_normal[0], worldviewproj, worldview, camera_pos, size, in_point_id[0]);\n";
    }
    else
    {
      ss << " emitBillboardVertices(in_position[0], in_color[0], worldviewproj, worldview, camera_pos, size, in_point_id[0]);\n";
    }
  }
  else if (desc.type == rve_msgs::Points::TYPE_BILLBOARD_SPHERES)
  {
    if (desc.has_orientations)
    {
      ss << " emitBillboardSphereVerticesQuat(in_position[0], in_color[0], in_orientation[0], worldviewproj, worldview, camera_pos, size, in_point_id[0]);\n";
    }
    else if (desc.has_normals)
    {
      ss << " emitBillboardSphereVertices(in_position[0], in_color[0], in_normal[0], worldviewproj, worldview, camera_pos, size, in_point_id[0]);\n";
    }
    else
    {
      ss << " emitBillboardSphereVertices(in_position[0], in_color[0], worldviewproj, worldview, camera_pos, size, in_point_id[0]);\n";
    }
  }
  else if (desc.type == rve_msgs::Points::TYPE_BOXES)
  {
    if (desc.has_orientations)
    {
      ss << " emitBoxVertices(in_position[0], in_color[0], in_orientation[0], worldviewproj, worldview, size);\n";
    }
    else
    {
      ss << " emitBoxVertices(in_position[0], in_color[0], worldviewproj, worldview, size);\n";
    }
  }

  def.body = ss.str();
}

std::pair<Ogre::MaterialPtr, Ogre::MaterialPtr> generateMaterialsForPoints(const PointsRendererDesc& desc)
{
  std::string material_name_opaque = descToStringID(desc, false);
  std::string material_name_alpha = descToStringID(desc, true);

  MaterialDefinition mat_def;
  fillVertexShaderDefinition(desc, mat_def.vertex_def);
  fillFragmentShaderDefinition(desc, mat_def.fragment_def);
  fillPickingFragmentShaderDefinition(desc, mat_def.picking_fragment_def);

  bool supports_geometry_programs = getRenderer()->useGeometryShaders();
  if (supports_geometry_programs && desc.type != rve_msgs::Points::TYPE_POINTS)
  {
    fillGeometryShaderDefinition(desc, mat_def.geometry_def);
    mat_def.has_geometry_shader = true;
  }

  mat_def.name = material_name_opaque;
  Ogre::MaterialPtr mat_opaque = generateOgreMaterial(mat_def);
  mat_opaque->setPointSize(5);
  mat_opaque->setCullingMode(Ogre::CULL_NONE);

  mat_def.name = material_name_alpha;
  mat_def.transparent = true;
  Ogre::MaterialPtr mat_alpha = generateOgreMaterial(mat_def);
  mat_alpha->setPointSize(5);
  mat_alpha->setCullingMode(Ogre::CULL_NONE);

  return std::make_pair(mat_opaque, mat_alpha);
}

} // namespace rve_render_server