lines_renderer.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
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#include <rve_render_server/batching/lines_renderer.h>
#include <rve_render_server/init.h>
#include <rve_render_server/renderer.h>
#include <rve_render_server/batching/lines_material_generator.h>
#include <rve_render_server/convert.h>

#include <rve_msgs/Lines.h>

#include <OGRE/OgreRoot.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreHardwareBufferManager.h>
#include <OGRE/OgreHardwareVertexBuffer.h>

#define LINES_PER_VBO (1024 * 8)

namespace rve_render_server
{

static float g_billboard_offsets[6] =
{
  -0.5f,
  0.5f,
  -0.5f,
  0.5f,
  -0.5f,
  0.5f,
};

LinesRenderable::LinesRenderable(const LinesRendererDesc& desc, bool alpha)
: Parent(desc, alpha)
{
  Ogre::Vector4 size(desc_.scale.x, desc_.scale.y, desc_.scale.z, 0.0f);
  setCustomParameter(LinesRendererDesc::CustomParam_Size, size);

  mRenderOp.operationType = isBillboard() ? Ogre::RenderOperation::OT_TRIANGLE_LIST : Ogre::RenderOperation::OT_LINE_LIST;
  mRenderOp.useIndexes = false;
  mRenderOp.vertexData = new Ogre::VertexData;
  mRenderOp.vertexData->vertexStart = 0;
  mRenderOp.vertexData->vertexCount = 0;

  Ogre::VertexDeclaration *decl = mRenderOp.vertexData->vertexDeclaration;
  size_t offset = 0;

  decl->addElement(0, offset, Ogre::VET_FLOAT3, Ogre::VES_POSITION);
  offset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);

  uint32_t tex_coord_num = 0;
  if (isBillboard())
  {
    decl->addElement(0, offset, Ogre::VET_FLOAT4, Ogre::VES_TEXTURE_COORDINATES, tex_coord_num++);
    offset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT4);
  }

  decl->addElement(0, offset, Ogre::VET_COLOUR, Ogre::VES_DIFFUSE);

  Ogre::HardwareVertexBufferSharedPtr vbuf =
    Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
      mRenderOp.vertexData->vertexDeclaration->getVertexSize(0),
          LINES_PER_VBO * getVerticesPerLine(),
      Ogre::HardwareBuffer::HBU_DYNAMIC_WRITE_ONLY);

  // Bind buffer
  mRenderOp.vertexData->vertexBufferBinding->setBinding(0, vbuf);
}

LinesRenderable::~LinesRenderable()
{
  delete mRenderOp.vertexData;
  delete mRenderOp.indexData;
}

void LinesRenderable::add(const rve_common::UUID& id, const rve_msgs::Lines& lines, uint32_t start, uint32_t& out_start, uint32_t& out_count)
{
  ROS_ASSERT(lines.positions.size() == lines.colors.size());
  ROS_ASSERT(!isList() || lines.positions.size() % 2 == 0);

  uint32_t verts_per_vertex = getVerticesPerVertex();
  uint32_t verts_per_line = getVerticesPerLine();
  uint32_t line_stride = getVertexStride() * verts_per_line;
  bool alpha = alpha_;

  Ogre::HardwareVertexBufferSharedPtr vbuf = mRenderOp.vertexData->vertexBufferBinding->getBuffer(0);
  out_start = (mRenderOp.vertexData->vertexStart / verts_per_line) + (mRenderOp.vertexData->vertexCount / verts_per_line);

  uint32_t end = std::min((size_t)LINES_PER_VBO, out_start + (lines.positions.size() - start));
  out_count = 0;

  uint32_t lock_start = out_start * line_stride * verts_per_line;
  uint32_t lock_size = end * line_stride * verts_per_line;
  void* data = vbuf->lock(lock_start, lock_size, Ogre::HardwareVertexBuffer::HBL_NO_OVERWRITE);
  float* fptr = (float*)data;

  if (isBillboard())
  {
    outputBillboards(lines, fptr, start, out_start, end, alpha, out_count);
  }
  else
  {
    outputLines(lines, fptr, start, out_start, end, alpha, out_count);
  }

  vbuf->unlock();

  mRenderOp.vertexData->vertexCount += out_count * verts_per_vertex;
  count_ += out_count;
}

void LinesRenderable::outputLines(const rve_msgs::Lines& lines, float* fptr, uint32_t line_start, uint32_t vert_start, uint32_t end, bool alpha, uint32_t& out_count)
{
  Ogre::Root* root = Ogre::Root::getSingletonPtr();

  rve_msgs::Lines::_positions_type::const_iterator pos_it = lines.positions.begin() + line_start;
  rve_msgs::Lines::_colors_type::const_iterator col_it = lines.colors.begin() + line_start;
  for (uint32_t i = vert_start; i < end; ++i, ++pos_it, ++col_it)
  {
    float a = col_it->a;
    if ((a < 0.99) != alpha)
    {
      continue;
    }

    Ogre::Vector3 pos = fromRobot(Ogre::Vector3(pos_it->x, pos_it->y, pos_it->z));
    mBox.merge(pos);

    float r = col_it->r;
    float g = col_it->g;
    float b = col_it->b;

    uint32_t color = 0;
    root->convertColourValue(Ogre::ColourValue(r, g, b, a), &color);

    ++out_count;

    *fptr++ = pos.x;
    *fptr++ = pos.y;
    *fptr++ = pos.z;

    uint32_t* iptr = (uint32_t*)fptr;
    *iptr = color;
    ++fptr;
  }
}

void LinesRenderable::outputBillboards(const rve_msgs::Lines& lines, float* fptr, uint32_t line_start, uint32_t vert_start, uint32_t end, bool alpha, uint32_t& out_count)
{
  Ogre::Root* root = Ogre::Root::getSingletonPtr();

  float* offsets = getOffsets();

  rve_msgs::Lines::_positions_type::const_iterator pos_it = lines.positions.begin() + line_start;
  rve_msgs::Lines::_colors_type::const_iterator col_it = lines.colors.begin() + line_start;
  for (uint32_t i = vert_start; i < end; i += 2, ++pos_it, ++col_it)
  {
    Ogre::Vector3 pos0 = fromRobot(Ogre::Vector3(pos_it->x, pos_it->y, pos_it->z));
    ++pos_it;
    Ogre::Vector3 pos1 = fromRobot(Ogre::Vector3(pos_it->x, pos_it->y, pos_it->z));
    mBox.merge(pos0);
    mBox.merge(pos1);

    Ogre::Vector3 line_dir = pos1 - pos0;
    line_dir.normalise();

    uint32_t color0 = 0;
    uint32_t color1 = 0;
    root->convertColourValue(Ogre::ColourValue(col_it->r, col_it->g, col_it->b, col_it->a), &color0);
    bool has_alpha = col_it->a < 0.99;
    ++col_it;
    root->convertColourValue(Ogre::ColourValue(col_it->r, col_it->g, col_it->b, col_it->a), &color1);
    has_alpha = col_it->a < 0.99;
    if (has_alpha != alpha)
    {
      continue;
    }

    Ogre::Vector3 positions[6] =
    {
      pos0,
      pos0,
      pos1,
      pos1,
      pos1,
      pos0
    };

    uint32_t colors[6] =
    {
     color0,
     color0,
     color1,
     color1,
     color1,
     color0
    };

    out_count += 2;

    for (uint32_t j = 0; j < 6; ++j)
    {
      *fptr++ = positions[j].x;
      *fptr++ = positions[j].y;
      *fptr++ = positions[j].z;

      *fptr++ = line_dir.x;
      *fptr++ = line_dir.y;
      *fptr++ = line_dir.z;
      *fptr++ = offsets[j];

      uint32_t* iptr = (uint32_t*)fptr;
      *iptr = colors[j];
      ++fptr;
    }
  }
}

void LinesRenderable::remove(uint32_t start, uint32_t count)
{
  ROS_ASSERT_MSG(count <= count_, "count = %d, count_ = %d", count, count_);
  ROS_ASSERT_MSG(start + count < LINES_PER_VBO, "start = %d, count = %d, LINES_PER_VBO = %d", start, count, LINES_PER_VBO);

  uint32_t verts_per_line = getVerticesPerLine();
  uint32_t line_stride = getVertexStride() * verts_per_line;

  Ogre::HardwareVertexBufferSharedPtr vbuf = mRenderOp.vertexData->vertexBufferBinding->getBuffer(0);
  uint8_t* data = (uint8_t*)vbuf->lock(start * line_stride * verts_per_line, count * line_stride * verts_per_line, Ogre::HardwareVertexBuffer::HBL_NORMAL);

  uint32_t total_vertices = verts_per_line * count;
  data = data + (line_stride * verts_per_line * start);
  for (uint32_t i = 0; i < total_vertices; ++i)
  {
    // Assign positions outside the viewable area
    float* fptr = (float*)data;
    *fptr++ = 99999999.0f;
    *fptr++ = 99999999.0f;
    *fptr++ = 99999999.0f;

    data += line_stride;
  }

  count_ -= count;

  vbuf->unlock();

  if (isEmpty())
  {
    mBox.setNull();
  }
}

uint32_t LinesRenderable::getElementsPerVBO()
{
  return LINES_PER_VBO;
}

uint32_t LinesRenderable::getVertexStride()
{
  return mRenderOp.vertexData->vertexDeclaration->getVertexSize(0);
}

float* LinesRenderable::getOffsets()
{
  if (isBillboard())
  {
    return g_billboard_offsets;
  }

  return 0;
}

uint32_t LinesRenderable::getVerticesPerVertex()
{
  if (isBillboard())
  {
    return 3;
  }

  return 1;
}

uint32_t LinesRenderable::getVerticesPerLine()
{
  return 2 * getVerticesPerVertex();
}

bool LinesRenderable::isList()
{
  return true;
}

bool LinesRenderable::isBillboard()
{
  return desc_.type == rve_msgs::Lines::TYPE_BILLBOARD_LIST;
}


LinesRenderer::LinesRenderer(Ogre::SceneManager* scene_manager, const LinesRendererDesc& desc)
: Parent(scene_manager, desc)
{
}

std::pair<Ogre::MaterialPtr, Ogre::MaterialPtr> LinesRenderer::createMaterials(const LinesRendererDesc& desc)
{
  return generateMaterialsForLines(desc);
}

size_t LinesRenderer::getInputCount(const rve_msgs::Lines& lines)
{
  return lines.positions.size();
}

} // namespace rve_render_server