Revision: 6664
http://playerstage.svn.sourceforge.net/playerstage/?rev=6664&view=rev
Author: alexcb
Date: 2008-06-21 22:48:02 -0700 (Sat, 21 Jun 2008)
Log Message:
-----------
modified visualization of camera model to produce quads based off vertices
created with depth buffer
Modified Paths:
--------------
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-06-22 05:38:17 UTC (rev
6663)
+++ code/stage/trunk/libstage/model_camera.cc 2008-06-22 05:48:02 UTC (rev
6664)
@@ -14,10 +14,10 @@
#include <sstream>
-StgModelCamera::StgModelCamera( StgWorld* world,
-
StgModel* parent )
+StgModelCamera::StgModelCamera( StgWorld* world, StgModel* parent )
: StgModel( world, parent, MODEL_TYPE_CAMERA ),
-_frame_data( NULL ), _frame_color_data( NULL ), _vertexbuf( NULL ), _width( 0
), _height( 0 ), _yaw_offset( 0 )
+_frame_data( NULL ), _frame_color_data( NULL ),
+_vertexbuf_scaled( NULL ), _width( 0 ), _height( 0 ), _valid_vertexbuf_cache(
false ), _yaw_offset( 0 )
{
PRINT_DEBUG2( "Constructing StgModelCamera %d (%s)\n",
id, typestr );
@@ -48,7 +48,9 @@
if( _frame_data != NULL ) {
delete[] _frame_data;
delete[] _frame_color_data;
- delete[] _vertexbuf;
+ delete[] _vertexbuf_cache;
+ delete[] _vertexbuf_scaled;
+ delete[] _vertexbuf_scaled_index;
}
}
@@ -74,36 +76,6 @@
float* StgModelCamera::laser()
{
return NULL;
-// //TODO allow the h and w to be passed by user
-// int w = _width;
-// int h = 1;
-//
-// 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( w, h, 0.1, 40.0 );
-//
-// _camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
0.3 );
-// _camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 );
-// _camera.Draw();
-//
-// _canvas->renderFrame( true );
-//
-// glReadPixels(0, 0, w, h, 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( bool depth_buffer )
@@ -115,14 +87,18 @@
if( _frame_data != NULL ) {
delete[] _frame_data;
delete[] _frame_color_data;
- delete[] _vertexbuf;
+ delete[] _vertexbuf_cache;
+ delete[] _vertexbuf_scaled;
+ delete[] _vertexbuf_scaled_index;
}
- _frame_data = new char[ 4 * _width * _height ]; //assumes a max
of depth 4
- _frame_color_data = new char[ 3 * _width * _height ]; //for RGB
- _vertexbuf = new float[ 3 * _width * _height ]; //for RGB
+ _frame_data = new GLfloat[ _width * _height ]; //assumes a max
of depth 4
+ _frame_color_data = new GLubyte[ 4 * _width * _height ]; //for
RGBA
+
+ _vertexbuf_cache = new ColoredVertex[ _width * _height ]; //for
unit vectors
+ _vertexbuf_scaled = new ColoredVertex[ _width * _height ];
//scaled with z-buffer
+ _vertexbuf_scaled_index = new GLushort[ 4 * (_width-1) *
(_height-1) ]; //for indicies to draw a quad
}
-
glViewport( 0, 0, _width, _height );
_camera.update();
_camera.SetProjection();
@@ -145,13 +121,13 @@
//read color buffer
glReadPixels(0, 0, _width, _height,
- GL_RGB,
+ GL_RGBA,
GL_UNSIGNED_BYTE,
_frame_color_data );
_canvas->invalidate();
- return _frame_data;
+ return NULL; //_frame_data;
}
//TODO create lines outlineing camera frustrum, then iterate over each depth
measurement and create a square
@@ -171,14 +147,7 @@
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE ); //TODO this doesn't seem
to work.
-// float z = cos( dtor( h_fov / 2.0 ) ) * length;
- glColor4f(1.0, 0.0, 0.0, 1.0 );
-
- static float foo = 0.0;
- foo += 1.0;
-
- const float* data = ( float* )( _frame_data ); //TODO use static_cast
here
int w = _width;
int h = _height;
float a;
@@ -187,74 +156,100 @@
float vert_a_space = h_fov / h; //degrees between each vertical sample
float x, y, z;
float tmp_x, tmp_y, tmp_z;
- float *buf;
- glBegin( GL_POINTS );
- for( int i = 0; i < w; i++ ) {
+
+ //TODO - there are still some vertices which aren't accurate - possibly
due to a buffer overflow / memory corruption.
+ //In some cases the vertices appear to be below the floor which
shouldn't be possible once the unit vectors are scaled (and should simply hit
the floor, but not pass beneath them)
+ if( _valid_vertexbuf_cache == false ) {
for( int j = 0; j < h; j++ ) {
- float length = data[ i + j * h ];
-
- a = start_fov - static_cast< float >( i ) * a_space;
- vert_a = start_vert_fov - static_cast< float >( j ) *
vert_a_space;
-
- x = length;
- y = 0;
- z = 0;
-
- tmp_x = x * cos( dtor( a ) ); // - y *sin( but y=0)
- tmp_y = x * sin( dtor( a ) ); // + y * cos( but y=0 )
- tmp_z = z;
-
- x = tmp_x; y = tmp_y; z = tmp_z;
-
- tmp_z = - x * sin( dtor( vert_a ) );
- tmp_x = x * cos( dtor( vert_a ) );
+ for( int i = 0; i < w; i++ ) {
+
+ a = start_fov - static_cast< float >( i ) *
a_space;
+ vert_a = start_vert_fov - static_cast< float >(
j ) * vert_a_space;
+
+ //calculate based on a unit vector, which is
scaled later on (this reduces all the sin/cos/dtor calls)
+ x = 1;
+ y = 0;
+ z = 0;
- x = tmp_x; y = tmp_y; z = tmp_z;
+ //rotate about z by a
+ tmp_x = x * cos( dtor( a ) ); // - y *sin( but
y=0)
+ tmp_y = x * sin( dtor( a ) ); // + y * cos( but
y=0 )
+ tmp_z = z;
+
+ x = tmp_x; y = tmp_y; z = tmp_z;
+
+ //rotate about x
+ tmp_z = - x * sin( dtor( vert_a ) );
+ tmp_x = x * cos( dtor( vert_a ) );
+
+ x = tmp_x;
+ y = tmp_y;
+ z = tmp_z;
+
+ int index = i + j * w;
+ ColoredVertex* vertex = _vertexbuf_cache +
index;
+
+ vertex->x = x;
+ vertex->y = y;
+ vertex->z = z;
+
+ //TODO move the quad generate to the same
section as scalling code, and only insert a quad when the distance between
vertices isn't too large (i.e. spanning from a wall to sky)
+ //It might also be possible to write a shader
which would scale vertices and create quads instead of doing it here on the CPU.
+
+ //skip top and left boarders
+ if( i == 0 || j == 0 )
+ continue;
+
+ //decrement i and j, since the first boarders
were skipped
+ //note: the width of this array is (w-1) since
it contains QUADS between the vertices
+ GLushort* p = _vertexbuf_scaled_index + ( (i-1)
+ (j-1) * (w-1) ) * 4;
+
+ //create quad growing adjacent point on top
left (use width of `w' since these are VERTICES)
+ p[ 0 ] = i + j * w;
+ p[ 1 ] = i - 1 + j * w;
+ p[ 2 ] = i - 1 + ( j - 1 ) * w;
+ p[ 3 ] = i + ( j - 1 ) * w;
+
+ }
+ }
+ _valid_vertexbuf_cache = true;
+ }
+
+ //Scale cached unit vectors with depth-buffer
+ float* depth_data = ( float* )( _frame_data );
+ for( int j = 0; j < h; j++ ) {
+ for( int i = 0; i < w; i++ ) {
+ int index = i + j * w;
+ const ColoredVertex* unit_vertex = _vertexbuf_cache +
index;
+ ColoredVertex* scaled_vertex = _vertexbuf_scaled +
index;
+ const GLubyte* color = _frame_color_data + index * 4;
//TODO might be buggy indexing
+ const float length = depth_data[ index ];
- buf = _vertexbuf + ( i + j * h ) * 3;
+ //scale unitvectors with depth-buffer
+ scaled_vertex->x = unit_vertex->x * length;
+ scaled_vertex->y = unit_vertex->y * length;
+ scaled_vertex->z = unit_vertex->z * length;
- buf[ 0 ] = x;
- buf[ 1 ] = y;
- buf[ 2 ] = z;
+ //colour the points
+ //TODO color is buggy
+ scaled_vertex->r = 0x00; //color[ 0 ];
+ scaled_vertex->g = 0x00; //color[ 1 ];
+ scaled_vertex->b = 0x00; //color[ 2 ];
+ scaled_vertex->a = 0xFF;
- //TODO push into a buffer
- //glVertex3f( x, y, z );
-
}
}
- glEnd();
-
- //TODO use vertex array buffer
- glEnableClientState( GL_VERTEX_ARRAY );
- glVertexPointer( 3, GL_FLOAT, 0, _vertexbuf );
- glDrawArrays( GL_POINTS, 0, _width * _height );
-
- glDisableClientState( GL_VERTEX_ARRAY );
-
-// for( int i = 0; i < w; i++ ) {
-// float z_a = h_fov / _width * static_cast< float >( i );
-// for( int j = 0; j < h; j++ ) {
-// float length = data[ i + j * w ];
-// float a;
-// //float z = cos( z_a ) * length;
-// //TODO rename j to not conflict with loop
-// int j = i + 1;
-// if( j < _width/2 )
-// a = center_horiz - w_fov / _width *
static_cast< float >( _width/2 - 1 - j );
-// else
-// a = center_horiz + w_fov / _width *
static_cast< float >( j - _width/2 );
-// x = sin( dtor( a ) ) * length;
-// y = cos( dtor( a ) ) * length;
-// glBegin( GL_LINE_LOOP );
-// glVertex3f( 0.0, 0.0, 0.0 );
-// glVertex3f( x, y, 0.0 );
-// glEnd();
-//
-// }
-// }
-
+
+ //draw then camera data
+ glPushClientAttrib( GL_CLIENT_VERTEX_ARRAY_BIT );
+ glPolygonMode( GL_FRONT_AND_BACK, GL_LINE ); //Can also be GL_FILL -
but harder to debug
+ glInterleavedArrays( GL_C4UB_V3F, 0, _vertexbuf_scaled );
+ glDrawElements( GL_QUADS, 4 * (w-1) * (h-1), GL_UNSIGNED_SHORT,
_vertexbuf_scaled_index );
+ glPopClientAttrib();
+
+
}
void StgModelCamera::Draw( uint32_t flags, StgCanvas* canvas )
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-22 05:38:17 UTC (rev 6663)
+++ code/stage/trunk/libstage/stage.hh 2008-06-22 05:48:02 UTC (rev 6664)
@@ -2457,14 +2457,25 @@
};
// CAMERA MODEL ----------------------------------------------------
+typedef struct {
+ // GL_C4UB_V3F
+ GLubyte r, g, b, a;
+ GLfloat x, y, z;
+} ColoredVertex;
+
class StgModelCamera : public StgModel
{
private:
StgCanvas* _canvas;
- char* _frame_data; //opengl read buffer
- char* _frame_color_data; //opengl read buffer
- float* _vertexbuf; //vertex buffer for visualiation
+ GLfloat* _frame_data; //opengl read buffer
+ GLubyte* _frame_color_data; //opengl read buffer
+
+ bool _valid_vertexbuf_cache;
+ ColoredVertex* _vertexbuf_cache; //cached unit vectors with
appropriate rotations (these must be scalled by z-buffer length)
+ ColoredVertex* _vertexbuf_scaled; //vertex buffer for
visualiation
+ GLushort* _vertexbuf_scaled_index; //indecies for scaled buffer
+
int _width; //width of buffer
int _height; //height of buffer
static const int _depth = 4;
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