Revision: 6545
http://playerstage.svn.sourceforge.net/playerstage/?rev=6545&view=rev
Author: alexcb
Date: 2008-06-11 17:17:52 -0700 (Wed, 11 Jun 2008)
Log Message:
-----------
added perspective camera view option, and simulated laser model with opengl
depth buffer
Modified Paths:
--------------
code/stage/trunk/libstage/camera.cc
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/texture_manager.cc
code/stage/trunk/libstage/worldgui.cc
Modified: code/stage/trunk/libstage/camera.cc
===================================================================
--- code/stage/trunk/libstage/camera.cc 2008-06-11 20:54:18 UTC (rev 6544)
+++ code/stage/trunk/libstage/camera.cc 2008-06-12 00:17:52 UTC (rev 6545)
@@ -3,7 +3,6 @@
* Stage
*
* Created by Alex Couture-Beil on 06/06/08.
- * Copyright 2008 __MyCompanyName__. All rights reserved.
*
*/
@@ -14,15 +13,19 @@
//perspective camera
//perspective camera
+StgPerspectiveCamera::StgPerspectiveCamera( void ) :
+ _x( 0 ), _y( 0 ), _z( 0 ), _pitch( 90 ), _yaw( 0 ), _z_near(
0.1 ), _z_far( 20.0 )
+{
+}
+
void StgPerspectiveCamera::Draw( void ) const
{
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
-
+
glRotatef( - _pitch, 1.0, 0.0, 0.0 );
glRotatef( - _yaw, 0.0, 0.0, 1.0 );
- std::cout << "y: " << _z << std::endl;
glTranslatef( - _x, - _y, - _z );
//zooming needs to happen in the Projection code (don't use glScale for
zoom)
@@ -32,19 +35,25 @@
{
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
+
+ gluPerspective( 60.0, pixels_width/pixels_height, _z_near, _z_far );
+
+ glMatrixMode (GL_MODELVIEW);
+}
- gluPerspective( 120.0, pixels_width/pixels_height, 0.01, 100 );
-
+void StgPerspectiveCamera::SetProjection( float aspect ) const
+{
+ glMatrixMode (GL_PROJECTION);
+ glLoadIdentity ();
+
+ gluPerspective( 60.0, aspect, _z_near, _z_far );
+
glMatrixMode (GL_MODELVIEW);
}
void StgPerspectiveCamera::update( void )
{
- // _x = 0;
- // _y = 0;
- // _z = i;
- _pitch = 90.0;
- // _yaw = 90.0;
+
}
@@ -53,7 +62,6 @@
-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Ortho camera
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-11 20:54:18 UTC (rev 6544)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-12 00:17:52 UTC (rev 6545)
@@ -31,6 +31,10 @@
selected_models = NULL;
last_selection = NULL;
+ use_perspective_camera = false;
+ perspective_camera.setPose( -3.0, 0.0, 1.0 );
+ perspective_camera._pitch = 70.0; //look down
+
startx = starty = 0;
//panx = pany = stheta = sphi = 0.0;
//scale = 15.0;
@@ -169,7 +173,11 @@
}
else
{
- camera.scale( Fl::event_dy(), Fl::event_x(),
w(), Fl::event_y(), h() );
+ if( use_perspective_camera == true ) {
+ perspective_camera._z += Fl::event_dy()
/ 10.0;
+ } else {
+ camera.scale( Fl::event_dy(),
Fl::event_x(), w(), Fl::event_y(), h() );
+ }
invalidate();
}
return 1;
@@ -180,22 +188,35 @@
int dx = Fl::event_x() - startx;
int dy = Fl::event_y() - starty;
- camera.pitch( 0.5 * static_cast<double>( dy ) );
- camera.yaw( 0.5 * static_cast<double>( dx ) );
+ if( use_perspective_camera == true ) {
+ perspective_camera._yaw += -dx;
+ perspective_camera._pitch += -dy;
+ } else {
+ camera.pitch( 0.5 *
static_cast<double>( dy ) );
+ camera.yaw( 0.5 * static_cast<double>(
dx ) );
+ }
invalidate();
}
else if( Fl::event_state( FL_ALT ) )
- {
+ {
int dx = Fl::event_x() - startx;
int dy = Fl::event_y() - starty;
- camera.move( -dx, dy );
+ if( use_perspective_camera == true ) {
+ perspective_camera._x += -dx / 100.0 *
perspective_camera._z;
+ perspective_camera._y += dy / 100.0 *
perspective_camera._z;
+ } else {
+ camera.move( -dx, dy );
+
+ }
invalidate();
+
}
startx = Fl::event_x();
starty = Fl::event_y();
+
return 1;
case FL_PUSH: // button pressed
@@ -545,9 +566,13 @@
// install a font
gl_font( FL_HELVETICA, 12 );
- stg_bounds3d_t extent = world->GetExtent();
- camera.SetProjection( w(), h(), extent.y.min, extent.y.max );
- camera.Draw();
+ if( use_perspective_camera == true ) {
+ perspective_camera.SetProjection( w(), h(), 0.01, 0.5 );
+ } else {
+ stg_bounds3d_t extent = world->GetExtent();
+ camera.SetProjection( w(), h(), extent.y.min,
extent.y.max );
+ camera.Draw();
+ }
// enable vertex arrays
glEnableClientState( GL_VERTEX_ARRAY );
@@ -566,6 +591,10 @@
camera.Draw();
}
+ if( use_perspective_camera == true ) {
+ perspective_camera.Draw();
+ }
+
renderFrame();
}
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-06-11 20:54:18 UTC (rev
6544)
+++ code/stage/trunk/libstage/model_camera.cc 2008-06-12 00:17:52 UTC (rev
6545)
@@ -64,8 +64,41 @@
StgModel::Update();
}
+float* StgModelCamera::laser()
+{
+ int h = 32;
+ int w = 32;
+
+ static StgPerspectiveCamera camera;
-const char* StgModelCamera::GetFrame( int width, int height )
+ static GLfloat* data_gl = NULL;
+ static GLfloat* data = NULL;
+ if( data == NULL ) {
+ data = new GLfloat[ h * w ];
+ data_gl = new GLfloat[ h * w ];
+
+ }
+
+ glViewport( 0, 0, w, h );
+ camera.update();
+ camera.SetProjection( 1.0 );
+
+ camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
0.1 );
+ camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 );
+ camera.Draw();
+
+ _canvas->renderFrame( true );
+
+ glReadPixels(0, h / 2, w, 1, GL_DEPTH_COMPONENT, GL_FLOAT, data_gl );
+
+ for( int i = 0; i < w; i++ ) {
+ data[ w-1-i ] = camera.realDistance( data_gl[ i ] );
+ }
+ _canvas->invalidate();
+ return data;
+}
+
+const char* StgModelCamera::GetFrame( int width, int height, bool depth_buffer
)
{
static StgPerspectiveCamera camera; //shared between _ALL_ instances
@@ -75,24 +108,32 @@
if( width != _frame_data_width || height != _frame_data_height ) {
if( _frame_data != NULL )
delete _frame_data;
- _frame_data = new char[ 3 * width * height ];
+ _frame_data = new char[ 4 * width * height ]; //assumes a max
of depth 4
}
+
glViewport( 0, 0, width, height );
-
camera.update();
- camera.SetProjection( width, height, 0.01, 200.0 );
+ camera.SetProjection( width, height, 0.0, 0.0 );
camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
0.1 );
camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 );
camera.Draw();
_canvas->renderFrame( true );
- glReadPixels(0, 0, width, height,
- GL_RGB,
- GL_UNSIGNED_BYTE,
- _frame_data );
-
+ if( depth_buffer == true ) {
+ glReadPixels(0, 0, width, height,
+ GL_DEPTH_COMPONENT, //GL_RGB,
+ GL_FLOAT, //GL_UNSIGNED_BYTE,
+ _frame_data );
+ } else {
+ glReadPixels(0, 0, width, height,
+ GL_RGB,
+ GL_UNSIGNED_BYTE,
+ _frame_data );
+ }
+
+
_canvas->invalidate();
return _frame_data;
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-11 20:54:18 UTC (rev 6544)
+++ code/stage/trunk/libstage/stage.hh 2008-06-12 00:17:52 UTC (rev 6545)
@@ -1703,26 +1703,36 @@
StgCamera() { }
virtual ~StgCamera() { }
- virtual void Draw() const = 0;
+ virtual void Draw( void ) const = 0;
virtual void SetProjection( float pixels_width, float
pixels_height, float y_min, float y_max ) const = 0;
};
class StgPerspectiveCamera : public StgCamera
{
- private:
+ public: //TODO make this private
float _x, _y, _z;
float _pitch; //left-right (about y)
float _yaw; //up-down (about x)
+ private:
+ float _z_near;
+ float _z_far;
public:
- StgPerspectiveCamera( void ) : _x( 0 ), _y( 0 ), _z( 0 ),
_pitch( 0 ), _yaw( 0 ) { }
+ StgPerspectiveCamera( void );
- virtual void Draw() const;
- virtual void SetProjection( float pixels_width, float
pixels_height, float y_min, float y_max ) const;
+ virtual void Draw( void ) const;
+ virtual void SetProjection( float pixels_width, float
pixels_height, float y_min, float y_max ) const;
+ void SetProjection( float aspect ) const;
void update( void );
inline void setPose( float x, float y, float z ) { _x = x; _y =
y; _z = z; }
inline void setYaw( float yaw ) { _yaw = yaw; }
+
+ inline float realDistance( float z_buf_val ) const {
+ //formulat found at
http://www.cs.unc.edu/~hoff/techrep/openglz.html
+ //Z = Zn*Zf / (Zf - z*(Zf-Zn))
+ return _z_near * _z_far / ( _z_far - z_buf_val * (
_z_far - _z_near ) );
+ }
};
class StgOrthoCamera : public StgCamera
@@ -1738,7 +1748,6 @@
virtual void Draw() const;
virtual void SetProjection( float pixels_width, float
pixels_height, float y_min, float y_max ) const;
-
inline void move( float x, float y ) {
//convert screen points into world points
x = x / ( _scale );
@@ -1794,6 +1803,8 @@
GlColorStack colorstack;
StgOrthoCamera camera;
+ StgPerspectiveCamera perspective_camera;
+ bool use_perspective_camera;
int startx, starty;
bool dragging;
@@ -2369,7 +2380,10 @@
virtual void Draw( uint32_t flags, StgCanvas* canvas );
///Take a screenshot from the camera's perspective
- const char* GetFrame( int width, int height );
+ const char* GetFrame( int width, int height, bool depth_buffer
);
+
+ ///Imiate laser scan
+ float* laser();
// static wrapper for the constructor - all models must
implement
// this method and add an entry in typetable.cc
@@ -2379,7 +2393,7 @@
char* typestr )
{
return (StgModel*)new StgModelCamera( world, parent,
id, typestr );
- }
+ }
};
// POSITION MODEL --------------------------------------------------------
Modified: code/stage/trunk/libstage/texture_manager.cc
===================================================================
--- code/stage/trunk/libstage/texture_manager.cc 2008-06-11 20:54:18 UTC
(rev 6544)
+++ code/stage/trunk/libstage/texture_manager.cc 2008-06-12 00:17:52 UTC
(rev 6545)
@@ -3,7 +3,6 @@
* Stage
*
* Created by Alex Couture-Beil on 03/06/08.
- * Copyright 2008 __MyCompanyName__. All rights reserved.
*
*/
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-06-11 20:54:18 UTC (rev
6544)
+++ code/stage/trunk/libstage/worldgui.cc 2008-06-12 00:17:52 UTC (rev
6545)
@@ -116,6 +116,7 @@
static const char* MITEM_VIEW_BLOCKSRISING = "&View/T&rails/&Blocks rising";
static const char* MITEM_VIEW_ARROWS = "&View/T&rails/&Arrows rising";
static const char* MITEM_VIEW_TRAILS = "&View/&Trail";
+static const char* MITEM_VIEW_PERSPECTIVE = "&View/Perspective camera";
// hack - get this from somewhere sensible, like CMake's config file
const char* PACKAGE_STRING = "Stage-3.dev";
@@ -158,7 +159,9 @@
mbar->add( MITEM_VIEW_FOLLOW, 'f', (Fl_Callback*)view_toggle_cb,
(void*)canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_FOLLOW ?
FL_MENU_VALUE : 0 ));
mbar->add( MITEM_VIEW_CLOCK, 'c', (Fl_Callback*)view_toggle_cb,
(void*)canvas,
- FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_CLOCK ?
FL_MENU_VALUE : 0 ));
+ FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_CLOCK ?
FL_MENU_VALUE : 0 ));
+ mbar->add( MITEM_VIEW_PERSPECTIVE, 'r', (Fl_Callback*)view_toggle_cb,
(void*)canvas,
+ FL_MENU_TOGGLE| (canvas->use_perspective_camera ));
mbar->add( MITEM_VIEW_TRAILS, 't', (Fl_Callback*)view_toggle_cb,
(void*)canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_TRAILS ?
FL_MENU_VALUE : 0 ));
@@ -398,6 +401,7 @@
else if( strcmp(picked, MITEM_VIEW_ARROWS ) == 0 ) canvas->InvertView(
STG_SHOW_ARROWS );
else if( strcmp(picked, MITEM_VIEW_TRAILS ) == 0 ) canvas->InvertView(
STG_SHOW_TRAILS );
else if( strcmp(picked, MITEM_VIEW_BLOCKSRISING ) == 0 )
canvas->InvertView( STG_SHOW_TRAILRISE );
+ else if( strcmp(picked, MITEM_VIEW_PERSPECTIVE ) == 0 ) {
canvas->use_perspective_camera = ! canvas->use_perspective_camera;
canvas->invalidate(); }
else PRINT_ERR1( "Unrecognized menu item \"%s\" not handled", picked );
//printf( "value: %d\n", item->value() );
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