lines_material_generator.cpp

Go to the documentation of this file.

/*
 * 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/lines_material_generator.h>
#include <rve_render_server/batching/lines_renderer_desc.h>
#include <rve_render_server/material_definition.h>
#include <rve_render_server/ogre_material_generator.h>
#include <rve_render_server/init.h>
#include <rve_render_server/renderer.h>

#include <rve_msgs/Lines.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 LinesRendererDesc& desc, bool alpha)
{
  std::stringstream ss;
  ss << "GenLines_" << (uint32_t)desc.type;

  ss << "Scale " << std::setprecision(3) << desc.scale.x << desc.scale.y << desc.scale.z;

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

  return ss.str();
}

void fillVertexShaderDefinition(const LinesRendererDesc& desc, ShaderDefinition& def)
{
  bool is_billboard = desc.type == rve_msgs::Lines::TYPE_BILLBOARD_LIST;

  def.input("float4", "position", "POSITION");
  def.input("float4", "color", "COLOR");
  if (is_billboard)
  {
    def.include("lines_billboard_vp.cg");
    def.input("float4", "offset_and_direction", "TEXCOORD0");
  }

  def.output("float4", "position", "POSITION");
  def.output("float4", "color", "COLOR");
  def.output("float3", "view_pos", "TEXCOORD0");
  def.output("float3", "normal", "TEXCOORD1");

  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);
  def.uniform("float4", "size", Ogre::GpuProgramParameters::ACT_CUSTOM, LinesRendererDesc::CustomParam_Size);

  std::stringstream ss;
  if (!is_billboard)
  {
    ss << " float4 pos = in_position;\n";
    ss << " float3 normal = normalize(camera_pos.xyz - pos.xyz);\n";
  }
  else
  {
    ss << " PosAndNormal posn = calculateBillboardVertexPositionAndNormal(in_position, in_offset_and_direction.w, in_offset_and_direction.xyz, camera_pos, 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";
  def.body = ss.str();
}

void fillFragmentShaderDefinition(const LinesRendererDesc& desc, ShaderDefinition& def)
{
  def.input("float4", "color", "COLOR");
  def.input("float3", "view_pos", "TEXCOORD0");
  def.input("float3", "normal", "TEXCOORD1");

  std::stringstream ss;
  ss << " float3 normal = in_normal;" << std::endl;
  ss << "float4 color = in_color;\n";
  //ss << "float4 color = float4(1.0, 0.0, 0.0, 1.0);\n";
  def.body = ss.str();
}

std::pair<Ogre::MaterialPtr, Ogre::MaterialPtr> generateMaterialsForLines(const LinesRendererDesc& 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);

  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