triangles_renderer.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
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#include <rve_render_server/batching/triangles_renderer.h>
#include <rve_render_server/init.h>
#include <rve_render_server/renderer.h>
#include <rve_render_server/batching/triangles_material_generator.h>
#include <rve_render_server/convert.h>

#include <rve_msgs/Triangles.h>

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

#define TRIANGLES_PER_VBO (1024 * 8)

namespace rve_render_server
{

TrianglesRenderable::TrianglesRenderable(const TrianglesRendererDesc& desc, bool alpha)
: Parent(desc, alpha)
{
  mRenderOp.operationType = Ogre::RenderOperation::OT_TRIANGLE_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);

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

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

  Ogre::HardwareVertexBufferSharedPtr vbuf =
    Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
      mRenderOp.vertexData->vertexDeclaration->getVertexSize(0),
          TRIANGLES_PER_VBO * 3,
      Ogre::HardwareBuffer::HBU_DYNAMIC_WRITE_ONLY);

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

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

void TrianglesRenderable::add(const rve_common::UUID& id, const rve_msgs::Triangles& triangles, uint32_t start, uint32_t& out_start, uint32_t& out_count)
{
  ROS_ASSERT(triangles.positions.size() == triangles.colors.size());
  ROS_ASSERT(triangles.positions.size() % 3 == 0);
  ROS_ASSERT(triangles.normals.empty() || triangles.normals.size() == triangles.positions.size());

  uint32_t verts_per_triangle = 3;
  uint32_t triangle_stride = getVertexStride() * verts_per_triangle;
  bool alpha = alpha_;

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

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

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

  bool has_normals = triangles.normals.size() == triangles.positions.size();

  Ogre::Root* root = Ogre::Root::getSingletonPtr();

  rve_msgs::Triangles::_normals_type::const_iterator norm_it;
  if (has_normals)
  {
    norm_it = triangles.normals.begin() + start;
  }

  rve_msgs::Triangles::_positions_type::const_iterator pos_it = triangles.positions.begin() + start;
  rve_msgs::Triangles::_colors_type::const_iterator col_it = triangles.colors.begin() + start;
  for (uint32_t i = out_start; i < end;)
  {
    Ogre::Vector3 positions[3];
    Ogre::Vector3 normals[3];
    Ogre::ColourValue colors[3];

    for (uint32_t j = 0; j < 3; ++i, ++j, ++pos_it, ++col_it)
    {
      positions[j] = fromRobot(Ogre::Vector3(pos_it->x, pos_it->y, pos_it->z));
      colors[j] = Ogre::ColourValue(col_it->r, col_it->g, col_it->b, col_it->a);

      if (has_normals)
      {
        normals[j] = normalFromRobot(Ogre::Vector3(norm_it->x, norm_it->y, norm_it->z));
        normals[j].normalise();
        ++norm_it;
      }
    }

    bool has_alpha = colors[0].a < 0.99 || colors[1].a < 0.99 || colors[2].a < 0.99;

    if (has_alpha != alpha)
    {
      continue;
    }

    if (!has_normals)
    {
      Ogre::Vector3 v0 = positions[1] - positions[0];
      Ogre::Vector3 v1 = positions[2] - positions[1];
      Ogre::Vector3 n = v0.crossProduct(v1);
      n.normalise();
      normals[0] = n;
      normals[1] = n;
      normals[2] = n;
    }

    out_count += 3;

    for (uint32_t j = 0; j < 3; ++j)
    {
      mBox.merge(positions[j]);

      uint32_t color = 0;
      root->convertColourValue(colors[j], &color);

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

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

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

  vbuf->unlock();

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

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

  uint32_t verts_per_triangle = 3;
  uint32_t triangle_stride = getVertexStride() * verts_per_triangle;

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

  uint32_t total_vertices = verts_per_triangle * count;
  data = data + (triangle_stride * verts_per_triangle * 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 += triangle_stride;
  }

  count_ -= count;

  vbuf->unlock();

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

uint32_t TrianglesRenderable::getElementsPerVBO()
{
  return TRIANGLES_PER_VBO;
}

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



TrianglesRenderer::TrianglesRenderer(Ogre::SceneManager* scene_manager, const TrianglesRendererDesc& desc)
: Parent(scene_manager, desc)
{
}

std::pair<Ogre::MaterialPtr, Ogre::MaterialPtr> TrianglesRenderer::createMaterials(const TrianglesRendererDesc& desc)
{
  return generateMaterialsForTriangles(desc);
}

size_t TrianglesRenderer::getInputCount(const rve_msgs::Triangles& triangles)
{
  return triangles.positions.size();
}

} // namespace rve_render_server