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pxmlw6n2f/Gazebo_Distributed_MPI/gazebo/rendering/MovableText.cc

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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
/**
* File: MovableText.cpp
*
* description: This create create a billboarding object that display a text.
*
* @author 2003 by cTh see gavocanov@rambler.ru
* @update 2006 by barraq see nospam@barraquand.com
* @update 2007 by independentCreations see independentCreations@gmail.com
*/
#ifdef _WIN32
// Ensure that windows types like LONGLONG are defined
#include <windows.h>
#endif
#include <boost/thread/recursive_mutex.hpp>
#include "gazebo/common/common.hh"
#include "gazebo/common/Assert.hh"
#include "gazebo/math/gzmath.hh"
#include "gazebo/rendering/MovableText.hh"
#define POS_TEX_BINDING 0
#define COLOUR_BINDING 1
using namespace gazebo;
using namespace rendering;
//////////////////////////////////////////////////
MovableText::MovableText()
: camera(NULL),
renderWindow(NULL) ,
font(NULL) ,
viewportAspectCoef(0.75),
spaceWidth(0) ,
updateColors(true) ,
vertAlign(V_BELOW) ,
horizAlign(H_LEFT) ,
onTop(false) ,
baseline(0.0)
{
this->renderOp.vertexData = NULL;
this->dirty = true;
this->mutex = new boost::recursive_mutex();
this->aabb = new Ogre::AxisAlignedBox;
}
//////////////////////////////////////////////////
MovableText::~MovableText()
{
delete this->renderOp.vertexData;
delete this->mutex;
delete this->aabb;
}
//////////////////////////////////////////////////
void MovableText::Load(const std::string &name_,
const std::string &text_,
const std::string &fontName_,
float charHeight_,
const common::Color &color_)
{
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
this->text = text_;
this->color = color_;
this->fontName = fontName_;
this->charHeight = charHeight_;
this->mName = name_;
if (this->mName == "")
throw Ogre::Exception(Ogre::Exception::ERR_INVALIDPARAMS,
"Trying to create MovableText without name",
"MovableText::MovableText");
if (this->text == "")
throw Ogre::Exception(Ogre::Exception::ERR_INVALIDPARAMS,
"Trying to create MovableText without text",
"MovableText::MovableText");
this->dirty = true;
}
this->SetFontName(this->fontName);
this->_setupGeometry();
}
//////////////////////////////////////////////////
void MovableText::Update()
{
if (this->dirty)
{
this->_setupGeometry();
this->dirty = false;
}
}
//////////////////////////////////////////////////
void MovableText::SetFontName(const std::string &newFontName)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if ((Ogre::MaterialManager::getSingletonPtr()->resourceExists(
this->mName + "Material")))
{
Ogre::MaterialManager::getSingleton().remove(this->mName + "Material");
}
if (this->fontName != newFontName || this->material.isNull() || !this->font)
{
this->fontName = newFontName;
this->font = (Ogre::Font*)Ogre::FontManager::getSingleton().getByName(
this->fontName).getPointer();
if (!this->font)
{
throw Ogre::Exception(Ogre::Exception::ERR_ITEM_NOT_FOUND,
"Could not find font " + fontName,
"MovableText::setFontName");
}
this->font->load();
if (!this->material.isNull())
{
Ogre::MaterialManager::getSingletonPtr()->remove(
this->material->getName());
this->material.setNull();
}
this->material = this->font->getMaterial()->clone(this->mName + "Material");
if (!this->material->isLoaded())
this->material->load();
this->material->setDepthCheckEnabled(!this->onTop);
this->material->setDepthBias(!this->onTop, 0);
this->material->setDepthWriteEnabled(this->onTop);
this->material->setLightingEnabled(false);
this->needUpdate = true;
}
}
//////////////////////////////////////////////////
void MovableText::SetText(const std::string &newText)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->text != newText)
{
this->text = newText;
this->needUpdate = true;
}
}
//////////////////////////////////////////////////
void MovableText::SetColor(const common::Color &newColor)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->color != newColor)
{
this->color = newColor;
this->updateColors = true;
}
}
//////////////////////////////////////////////////
void MovableText::SetCharHeight(float _height)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (!math::equal(this->charHeight, _height))
{
this->charHeight = _height;
this->needUpdate = true;
}
}
//////////////////////////////////////////////////
void MovableText::SetSpaceWidth(float _width)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (!math::equal(this->spaceWidth, _width))
{
this->spaceWidth = _width;
this->needUpdate = true;
}
}
//////////////////////////////////////////////////
void MovableText::SetTextAlignment(const HorizAlign &h, const VertAlign &v)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->horizAlign != h)
{
this->horizAlign = h;
this->needUpdate = true;
}
if (this->vertAlign != v)
{
this->vertAlign = v;
this->needUpdate = true;
}
}
//////////////////////////////////////////////////
void MovableText::SetBaseline(float _base)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (!math::equal(this->baseline, _base))
{
this->baseline = _base;
this->needUpdate = true;
}
}
//////////////////////////////////////////////////
void MovableText::SetShowOnTop(bool show)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->onTop != show && !this->material.isNull())
{
this->onTop = show;
this->material->setDepthBias(!this->onTop, 0);
this->material->setDepthCheckEnabled(!this->onTop);
this->material->setDepthWriteEnabled(this->onTop);
}
}
//////////////////////////////////////////////////
bool MovableText::GetShowOnTop() const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
return this->onTop;
}
//////////////////////////////////////////////////
math::Box MovableText::GetAABB(void)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
return math::Box(
math::Vector3(this->aabb->getMinimum().x,
this->aabb->getMinimum().y,
this->aabb->getMinimum().z),
math::Vector3(this->aabb->getMaximum().x,
this->aabb->getMaximum().y,
this->aabb->getMaximum().z));
}
//////////////////////////////////////////////////
void MovableText::_setupGeometry()
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
GZ_ASSERT(this->font, "font class member is null");
GZ_ASSERT(!this->material.isNull(), "material class member is null");
Ogre::VertexDeclaration *decl = NULL;
Ogre::VertexBufferBinding *bind = NULL;
Ogre::HardwareVertexBufferSharedPtr ptbuf;
Ogre::HardwareVertexBufferSharedPtr cbuf;
float *pVert = NULL;
float largestWidth = 0;
float left = 0;
float top = 0;
size_t offset = 0;
float maxSquaredRadius = 0.0f;
bool first = true;
std::string::iterator i;
bool newLine = true;
float len = 0.0f;
// for calculation of AABB
Ogre::Vector3 min(0, 0, 0);
Ogre::Vector3 max(0, 0, 0);
Ogre::Vector3 currPos(0, 0, 0);
unsigned int vertexCount = static_cast<unsigned int>(this->text.size() * 6);
if (this->renderOp.vertexData)
{
// Removed this test as it causes problems when replacing a caption
// of the same size: replacing "Hello" with "hello"
// as well as when changing the text alignment
// if (this->renderOp.vertexData->vertexCount != vertexCount)
{
delete this->renderOp.vertexData;
this->renderOp.vertexData = NULL;
this->updateColors = true;
}
}
if (!this->renderOp.vertexData)
this->renderOp.vertexData = new Ogre::VertexData();
this->renderOp.indexData = 0;
this->renderOp.vertexData->vertexStart = 0;
this->renderOp.vertexData->vertexCount = vertexCount;
this->renderOp.operationType = Ogre::RenderOperation::OT_TRIANGLE_LIST;
this->renderOp.useIndexes = false;
decl = this->renderOp.vertexData->vertexDeclaration;
bind = this->renderOp.vertexData->vertexBufferBinding;
// create/bind positions/tex.ccord. buffer
if (!decl->findElementBySemantic(Ogre::VES_POSITION))
decl->addElement(POS_TEX_BINDING, offset, Ogre::VET_FLOAT3,
Ogre::VES_POSITION);
offset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
if (!decl->findElementBySemantic(Ogre::VES_TEXTURE_COORDINATES))
decl->addElement(POS_TEX_BINDING, offset, Ogre::VET_FLOAT2,
Ogre::VES_TEXTURE_COORDINATES, 0);
ptbuf = Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
decl->getVertexSize(POS_TEX_BINDING),
this->renderOp.vertexData->vertexCount,
Ogre::HardwareBuffer::HBU_DYNAMIC_WRITE_ONLY);
bind->setBinding(POS_TEX_BINDING, ptbuf);
// Colours - store these in a separate buffer because they change less often
if (!decl->findElementBySemantic(Ogre::VES_DIFFUSE))
decl->addElement(COLOUR_BINDING, 0, Ogre::VET_COLOUR, Ogre::VES_DIFFUSE);
cbuf = Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
decl->getVertexSize(COLOUR_BINDING),
this->renderOp.vertexData->vertexCount,
Ogre::HardwareBuffer::HBU_DYNAMIC_WRITE_ONLY);
bind->setBinding(COLOUR_BINDING, cbuf);
pVert = static_cast<float*>(ptbuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));
// Derive space width from a capital A
if (math::equal(this->spaceWidth, 0.0f))
this->spaceWidth =
this->font->getGlyphAspectRatio('A') * this->charHeight * 2.0;
if (this->vertAlign == MovableText::V_ABOVE)
{
// Raise the first line of the caption
top += this->charHeight;
for (i = this->text.begin(); i != this->text.end(); ++i)
{
if (*i == '\n')
top += this->charHeight * 2.0;
}
}
for (i = this->text.begin(); i != this->text.end(); ++i)
{
if (newLine)
{
len = 0.0;
for (std::string::iterator j = i; j != this->text.end(); ++j)
{
Ogre::Font::CodePoint character = *j;
if (character == 0x000D // CR
|| character == 0x0085) // NEL
{
break;
}
else if (character == 0x0020) // space
{
len += this->spaceWidth;
}
else
{
len += this->font->getGlyphAspectRatio(character) *
this->charHeight * 2.0 * this->viewportAspectCoef;
}
}
newLine = false;
}
Ogre::Font::CodePoint character = (*i);
if (character == 0x000D // CR
|| character == 0x0085) // NEL
{
top -= this->charHeight * 2.0;
newLine = true;
// Also reduce tri count
this->renderOp.vertexData->vertexCount -= 6;
continue;
}
else if (character == 0x0020) // space
{
// Just leave a gap, no tris
left += this->spaceWidth;
// Also reduce tri count
this->renderOp.vertexData->vertexCount -= 6;
continue;
}
float horiz_height = this->font->getGlyphAspectRatio(character) *
this->viewportAspectCoef;
const Ogre::Font::UVRect& uvRect = this->font->getGlyphTexCoords(character);
// each vert is (x, y, z, u, v)
//------------------------------------------------------------------------
// First tri
//
// Upper left
if (this->horizAlign == MovableText::H_LEFT)
*pVert++ = left;
else
*pVert++ = left - (len/2.0);
*pVert++ = top;
*pVert++ = 0;
*pVert++ = uvRect.left;
*pVert++ = uvRect.top;
// Deal with bounds
if (this->horizAlign == MovableText::H_LEFT)
currPos = Ogre::Vector3(left, top, 0);
else
currPos = Ogre::Vector3(left - (len/2.0), top, 0);
if (first)
{
min = max = currPos;
maxSquaredRadius = currPos.squaredLength();
first = false;
}
else
{
min.makeFloor(currPos);
max.makeCeil(currPos);
maxSquaredRadius = std::max(maxSquaredRadius, currPos.squaredLength());
}
top -= this->charHeight * 2.0;
// Bottom left
if (this->horizAlign == MovableText::H_LEFT)
*pVert++ = left;
else
*pVert++ = left - (len / 2.0);
*pVert++ = top;
*pVert++ = 0;
*pVert++ = uvRect.left;
*pVert++ = uvRect.bottom;
// Deal with bounds
if (this->horizAlign == MovableText::H_LEFT)
currPos = Ogre::Vector3(left, top, 0);
else
currPos = Ogre::Vector3(left - (len/2), top, 0);
min.makeFloor(currPos);
max.makeCeil(currPos);
maxSquaredRadius = std::max(maxSquaredRadius, currPos.squaredLength());
top += this->charHeight * 2.0;
left += horiz_height * this->charHeight * 2.0;
// Top right
if (this->horizAlign == MovableText::H_LEFT)
*pVert++ = left;
else
*pVert++ = left - (len/2.0);
*pVert++ = top;
*pVert++ = 0;
*pVert++ = uvRect.right;
*pVert++ = uvRect.top;
// Deal with bounds
if (this->horizAlign == MovableText::H_LEFT)
currPos = Ogre::Vector3(left, top, 0);
else
currPos = Ogre::Vector3(left - (len/2), top, 0);
min.makeFloor(currPos);
max.makeFloor(currPos);
maxSquaredRadius = std::max(maxSquaredRadius, currPos.squaredLength());
//------------------------------------------------------------------------
//------------------------------------------------------------------------
// Second tri
//
// Top right (again)
if (this->horizAlign == MovableText::H_LEFT)
*pVert++ = left;
else
*pVert++ = left - (len/2.0);
*pVert++ = top;
*pVert++ = 0;
*pVert++ = uvRect.right;
*pVert++ = uvRect.top;
// Deal with bounds
currPos = Ogre::Vector3(left, top, 0);
min.makeFloor(currPos);
max.makeFloor(currPos);
maxSquaredRadius = std::max(maxSquaredRadius, currPos.squaredLength());
top -= this->charHeight * 2.0;
left -= horiz_height * this->charHeight * 2.0;
// Bottom left (again)
if (this->horizAlign == MovableText::H_LEFT)
*pVert++ = left;
else
*pVert++ = left - (len/2.0);
*pVert++ = top;
*pVert++ = 0;
*pVert++ = uvRect.left;
*pVert++ = uvRect.bottom;
// Deal with bounds
currPos = Ogre::Vector3(left, top, 0);
min.makeFloor(currPos);
max.makeFloor(currPos);
maxSquaredRadius = std::max(maxSquaredRadius, currPos.squaredLength());
left += horiz_height * this->charHeight * 2.0;
// Bottom right
if (this->horizAlign == MovableText::H_LEFT)
*pVert++ = left;
else
*pVert++ = left - (len/2.0);
*pVert++ = top;
*pVert++ = 0;
*pVert++ = uvRect.right;
*pVert++ = uvRect.bottom;
// Deal with bounds
currPos = Ogre::Vector3(left, top, 0);
min.makeFloor(currPos);
max.makeFloor(currPos);
maxSquaredRadius = std::max(maxSquaredRadius, currPos.squaredLength());
//-------------------------------------------------------------------------
// Go back up with top
top += this->charHeight * 2.0;
float currentWidth = (left + 1.0)/2.0;
if (currentWidth > largestWidth)
{
largestWidth = currentWidth;
}
}
// Unlock vertex buffer
ptbuf->unlock();
// update AABB/Sphere radius
this->aabb->setMinimum(min);
this->aabb->setMaximum(max);
this->radius = Ogre::Math::Sqrt(maxSquaredRadius);
if (this->updateColors)
this->_updateColors();
this->needUpdate = false;
}
//////////////////////////////////////////////////
void MovableText::_updateColors(void)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
Ogre::RGBA clr;
Ogre::HardwareVertexBufferSharedPtr vbuf;
Ogre::RGBA *pDest = NULL;
unsigned int i;
GZ_ASSERT(this->font, "font class member is null");
GZ_ASSERT(!this->material.isNull(), "material class member is null");
// Convert to system-specific
Ogre::ColourValue cv(this->color.r, this->color.g,
this->color.b, this->color.a);
Ogre::Root::getSingleton().convertColourValue(cv, &clr);
vbuf = this->renderOp.vertexData->vertexBufferBinding->getBuffer(
COLOUR_BINDING);
pDest = static_cast<Ogre::RGBA*>(
vbuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));
for (i = 0; i < this->renderOp.vertexData->vertexCount; ++i)
{
*pDest++ = clr;
}
vbuf->unlock();
this->updateColors = false;
}
//////////////////////////////////////////////////
const Ogre::Quaternion & MovableText::getWorldOrientation(void) const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
GZ_ASSERT(this->camera, "camera class member is null");
return const_cast<Ogre::Quaternion&>(this->camera->getDerivedOrientation());
// return mParentNode->_getDerivedOrientation();
}
//////////////////////////////////////////////////
const Ogre::Vector3 & MovableText::getWorldPosition(void) const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
GZ_ASSERT(mParentNode, "mParentNode class member is null");
return mParentNode->_getDerivedPosition();
}
//////////////////////////////////////////////////
const Ogre::AxisAlignedBox &MovableText::getBoundingBox(void) const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
return *this->aabb;
}
//////////////////////////////////////////////////
const Ogre::String &MovableText::getMovableType() const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
static Ogre::String movType = "MovableText";
return movType;
}
//////////////////////////////////////////////////
void MovableText::getWorldTransforms(Ogre::Matrix4 * xform) const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->isVisible() && this->camera)
{
Ogre::Matrix3 rot3x3, scale3x3 = Ogre::Matrix3::IDENTITY;
// store rotation in a matrix
this->camera->getDerivedOrientation().ToRotationMatrix(rot3x3);
// mParentNode->_getDerivedOrientation().ToRotationMatrix(rot3x3);
// parent node position
Ogre::Vector3 ppos = mParentNode->_getDerivedPosition() +
Ogre::Vector3::UNIT_Z * this->baseline;
// apply scale
scale3x3[0][0] = mParentNode->_getDerivedScale().x / 2;
scale3x3[1][1] = mParentNode->_getDerivedScale().y / 2;
scale3x3[2][2] = mParentNode->_getDerivedScale().z / 2;
// apply all transforms to xform
*xform = (rot3x3 * scale3x3);
xform->setTrans(ppos);
}
}
//////////////////////////////////////////////////
float MovableText::getBoundingRadius() const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
return this->radius;
}
//////////////////////////////////////////////////
float MovableText::getSquaredViewDepth(const Ogre::Camera * /*cam_*/) const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
return 0;
}
//////////////////////////////////////////////////
void MovableText::getRenderOperation(Ogre::RenderOperation & op)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->isVisible())
{
if (this->needUpdate)
this->_setupGeometry();
if (this->updateColors)
this->_updateColors();
op = this->renderOp;
}
}
//////////////////////////////////////////////////
const Ogre::MaterialPtr &MovableText::getMaterial(void) const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
GZ_ASSERT(!this->material.isNull(), "material class member is null");
return this->material;
}
//////////////////////////////////////////////////
const Ogre::LightList &MovableText::getLights(void) const
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
return this->lightList;
}
//////////////////////////////////////////////////
void MovableText::_notifyCurrentCamera(Ogre::Camera *cam)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
this->camera = cam;
}
//////////////////////////////////////////////////
void MovableText::_updateRenderQueue(Ogre::RenderQueue* queue)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->isVisible())
{
if (this->needUpdate)
this->_setupGeometry();
if (this->updateColors)
this->_updateColors();
queue->addRenderable(this, mRenderQueueID,
OGRE_RENDERABLE_DEFAULT_PRIORITY);
}
}
//////////////////////////////////////////////////
void MovableText::visitRenderables(Ogre::Renderable::Visitor* /*visitor*/,
bool /*debug*/)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
return;
}
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