Skip to content

Commit

Permalink
draw DH Parameters
Browse files Browse the repository at this point in the history
  • Loading branch information
@i-make-robots
i-make-robots committed Dec 20, 2023
1 parent 02668c2 commit 3e202e2
Show file tree
Hide file tree
Showing 5 changed files with 232 additions and 48 deletions.
184 changes: 184 additions & 0 deletions src/main/java/com/marginallyclever/ro3/render/renderpasses/DrawBoundingBoxes.java
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,184 @@
package com.marginallyclever.ro3.render.renderpasses;

import com.jogamp.opengl.GL3;
import com.jogamp.opengl.GLAutoDrawable;
import com.jogamp.opengl.GLContext;
import com.marginallyclever.convenience.AABB;
import com.marginallyclever.convenience.helpers.MatrixHelper;
import com.marginallyclever.convenience.helpers.OpenGLHelper;
import com.marginallyclever.convenience.helpers.ResourceHelper;
import com.marginallyclever.ro3.Registry;
import com.marginallyclever.ro3.node.Node;
import com.marginallyclever.ro3.node.nodes.Camera;
import com.marginallyclever.ro3.node.nodes.Material;
import com.marginallyclever.ro3.node.nodes.MeshInstance;
import com.marginallyclever.ro3.node.nodes.Pose;
import com.marginallyclever.ro3.render.RenderPass;
import com.marginallyclever.ro3.texture.TextureWithMetadata;
import com.marginallyclever.robotoverlord.components.shapes.Box;
import com.marginallyclever.robotoverlord.systems.render.ShaderProgram;
import com.marginallyclever.robotoverlord.systems.render.mesh.Mesh;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

import javax.vecmath.Matrix4d;
import javax.vecmath.Point3d;
import javax.vecmath.Vector3d;
import java.util.ArrayList;
import java.util.List;

/**
* Draw the bounding box of each {@link MeshInstance} in the scene.
*/
public class DrawBoundingBoxes implements RenderPass {
private static final Logger logger = LoggerFactory.getLogger(DrawBoundingBoxes.class);
private int activeStatus = ALWAYS;
private ShaderProgram shader;

private final Mesh mesh = new Mesh();
private int canvasWidth, canvasHeight;

public DrawBoundingBoxes() {
mesh.setRenderStyle(GL3.GL_LINES);
// add 8 points of a unit cube centered on the origin
mesh.addVertex(-0.5f, 0.5f, 0.5f);
mesh.addVertex( 0.5f, 0.5f, 0.5f);
mesh.addVertex( 0.5f,-0.5f, 0.5f);
mesh.addVertex(-0.5f,-0.5f, 0.5f);
mesh.addVertex(-0.5f, 0.5f,-0.5f);
mesh.addVertex( 0.5f, 0.5f,-0.5f);
mesh.addVertex( 0.5f,-0.5f,-0.5f);
mesh.addVertex(-0.5f,-0.5f,-0.5f);
// add index values
mesh.addIndex(0); mesh.addIndex(1);
mesh.addIndex(1); mesh.addIndex(2);
mesh.addIndex(2); mesh.addIndex(3);
mesh.addIndex(3); mesh.addIndex(0);

mesh.addIndex(4); mesh.addIndex(5);
mesh.addIndex(5); mesh.addIndex(6);
mesh.addIndex(6); mesh.addIndex(7);
mesh.addIndex(7); mesh.addIndex(4);

mesh.addIndex(0); mesh.addIndex(4);
mesh.addIndex(1); mesh.addIndex(5);
mesh.addIndex(2); mesh.addIndex(6);
mesh.addIndex(3); mesh.addIndex(7);
}

/**
* @return NEVER, SOMETIMES, or ALWAYS
*/
@Override
public int getActiveStatus() {
return activeStatus;
}

/**
* @param status NEVER, SOMETIMES, or ALWAYS
*/
@Override
public void setActiveStatus(int status) {
activeStatus = status;
}

/**
* @return the localized name of this overlay
*/
@Override
public String getName() {
return "Bounding Boxes";
}

@Override
public void init(GLAutoDrawable glAutoDrawable) {
GL3 gl3 = glAutoDrawable.getGL().getGL3();
try {
shader = new ShaderProgram(gl3,
ResourceHelper.readResource(this.getClass(), "mesh.vert"),
ResourceHelper.readResource(this.getClass(), "mesh.frag"));
} catch(Exception e) {
logger.error("Failed to load shader", e);
}
}

@Override
public void dispose(GLAutoDrawable glAutoDrawable) {
GL3 gl3 = glAutoDrawable.getGL().getGL3();
shader.delete(gl3);
}

@Override
public void reshape(GLAutoDrawable glAutoDrawable, int x, int y, int width, int height) {
canvasWidth = width;
canvasHeight = height;
}

@Override
public void display(GLAutoDrawable glAutoDrawable) {}

@Override
public void draw() {
Camera camera = Registry.getActiveCamera();
if(camera==null) return;

GL3 gl3 = GLContext.getCurrentGL().getGL3();
shader.use(gl3);
shader.setMatrix4d(gl3,"viewMatrix",camera.getViewMatrix());
shader.setMatrix4d(gl3,"projectionMatrix",camera.getChosenProjectionMatrix(canvasWidth,canvasHeight));
Vector3d cameraWorldPos = MatrixHelper.getPosition(camera.getWorld());
shader.setVector3d(gl3,"cameraPos",cameraWorldPos); // Camera position in world space
shader.setVector3d(gl3,"lightPos",cameraWorldPos); // Light position in world space
shader.setVector3d(gl3,"lightColor",new Vector3d(1,1,1)); // Light color
shader.set4f(gl3,"objectColor",1,1,1,0.25f);
shader.setVector3d(gl3,"specularColor",new Vector3d(0.5,0.5,0.5));
shader.setVector3d(gl3,"ambientLightColor",new Vector3d(0.2,0.2,0.2));
shader.set1f(gl3,"useVertexColor",0);
shader.set1i(gl3,"useLighting",0);
shader.set1i(gl3,"diffuseTexture",0);
shader.set1i(gl3,"useTexture",0);
OpenGLHelper.checkGLError(gl3,logger);
gl3.glDisable(GL3.GL_TEXTURE_2D);
gl3.glDisable(GL3.GL_DEPTH_TEST);

// find all MeshInstance nodes in Registry
List<Node> toScan = new ArrayList<>(Registry.getScene().getChildren());
while(!toScan.isEmpty()) {
Node node = toScan.remove(0);

if(node instanceof MeshInstance meshInstance) {
// if they have a mesh, draw it.
Mesh mesh2 = meshInstance.getMesh();
if(mesh2==null) continue;

AABB boundingBox = mesh2.getBoundingBox();
Point3d max = boundingBox.getBoundsTop();
Point3d min = boundingBox.getBoundsBottom();
mesh.setVertex(0, min.x, max.y, max.z);
mesh.setVertex(1, max.x, max.y, max.z);
mesh.setVertex(2, max.x, min.y, max.z);
mesh.setVertex(3, min.x, min.y, max.z);
mesh.setVertex(4, min.x, max.y, min.z);
mesh.setVertex(5, max.x, max.y, min.z);
mesh.setVertex(6, max.x, min.y, min.z);
mesh.setVertex(7, min.x, min.y, min.z);
mesh.updateVertexBuffers(gl3);

// set the model matrix
//Pose pose = meshInstance.findParent(Pose.class);
//Matrix4d w = (pose==null) ? MatrixHelper.createIdentityMatrix4() : pose.getWorld();

Matrix4d w = meshInstance.getWorld();
w.transpose();
shader.setMatrix4d(gl3,"modelMatrix",w);
// draw it
mesh.render(gl3);

OpenGLHelper.checkGLError(gl3,logger);
}

toScan.addAll(node.getChildren());
}
gl3.glEnable(GL3.GL_DEPTH_TEST);
}
}
46 changes: 32 additions & 14 deletions src/main/java/com/marginallyclever/ro3/render/renderpasses/DrawDHParameters.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
import com.jogamp.opengl.GLAutoDrawable;
import com.jogamp.opengl.GLContext;
import com.marginallyclever.convenience.helpers.MatrixHelper;
import com.marginallyclever.convenience.helpers.OpenGLHelper;
import com.marginallyclever.convenience.helpers.ResourceHelper;
import com.marginallyclever.ro3.Registry;
import com.marginallyclever.ro3.node.Node;
Expand Down Expand Up @@ -36,11 +37,11 @@ public DrawDHParameters() {
// add mesh to a list that can be unloaded and reloaded as needed.
mesh.setRenderStyle(GL3.GL_LINES);
// line d
mesh.addColor(0,0,0,1); mesh.addVertex(0,0,0);
mesh.addColor(0,0,0,1); mesh.addVertex(0,0,0);
mesh.addColor(0,0,1,1); mesh.addVertex(0,0,0);
mesh.addColor(0,0,1,1); mesh.addVertex(0,0,0);
// line r
mesh.addColor(0,0,0,1); mesh.addVertex(0,0,0);
mesh.addColor(0,0,0,1); mesh.addVertex(0,0,0);
mesh.addColor(1,0,0,1); mesh.addVertex(0,0,0);
mesh.addColor(1,0,0,1); mesh.addVertex(0,0,0);
}

/**
Expand Down Expand Up @@ -72,8 +73,8 @@ public void init(GLAutoDrawable glAutoDrawable) {
GL3 gl3 = glAutoDrawable.getGL().getGL3();
try {
shader = new ShaderProgram(gl3,
ResourceHelper.readResource(this.getClass(),"dhParameter.vert"),
ResourceHelper.readResource(this.getClass(),"dhParameter.frag"));
ResourceHelper.readResource(this.getClass(), "mesh.vert"),
ResourceHelper.readResource(this.getClass(), "mesh.frag"));
} catch(IOException e) {
logger.error("Failed to create default shader.",e);
}
Expand Down Expand Up @@ -103,8 +104,22 @@ public void draw() {
gl3.glDisable(GL3.GL_DEPTH_TEST);
gl3.glDisable(GL3.GL_TEXTURE_2D);
shader.use(gl3);
shader.setMatrix4d(gl3,"projectionMatrix",camera.getChosenProjectionMatrix(canvasWidth,canvasHeight));
shader.setMatrix4d(gl3,"viewMatrix",camera.getViewMatrix());
shader.setMatrix4d(gl3,"projectionMatrix",camera.getChosenProjectionMatrix(canvasWidth,canvasHeight));
Vector3d cameraWorldPos = MatrixHelper.getPosition(camera.getWorld());
shader.setVector3d(gl3,"cameraPos",cameraWorldPos); // Camera position in world space
shader.setVector3d(gl3,"lightPos",cameraWorldPos); // Light position in world space
shader.setVector3d(gl3,"lightColor",new Vector3d(1,1,1)); // Light color
shader.set4f(gl3,"objectColor",1,1,1,1f);
shader.setVector3d(gl3,"specularColor",new Vector3d(0.5,0.5,0.5));
shader.setVector3d(gl3,"ambientLightColor",new Vector3d(0.2,0.2,0.2));
shader.set1f(gl3,"useVertexColor",1);
shader.set1i(gl3,"useLighting",0);
shader.set1i(gl3,"diffuseTexture",0);
shader.set1i(gl3,"useTexture",0);
OpenGLHelper.checkGLError(gl3,logger);
gl3.glDisable(GL3.GL_TEXTURE_2D);
gl3.glDisable(GL3.GL_DEPTH_TEST);

List<Node> toScan = new ArrayList<>();
toScan.add(Registry.getScene());
Expand All @@ -113,17 +128,20 @@ public void draw() {
toScan.addAll(node.getChildren());

if(node instanceof DHParameter parameter) {
double d = parameter.getD();
mesh.setVertex(1,0,0,d);
mesh.setVertex(2,0,0,d);
double s = Math.sin(Math.toRadians(parameter.getTheta()));
double c = Math.cos(Math.toRadians(parameter.getTheta()));
double r = parameter.getR();
mesh.setVertex(3,c*r,s*r,d);
mesh.updateVertexBuffers(gl3);

// set modelView to world
Pose parentPose = parameter.findParent(Pose.class);
Matrix4d w = (parentPose==null)
? MatrixHelper.createIdentityMatrix4()
: parentPose.getWorld();
Matrix4d w = (parentPose==null) ? MatrixHelper.createIdentityMatrix4() : parentPose.getWorld();
w.transpose();
shader.setMatrix4d(gl3,"modelMatrix",w);
shader.set1f(gl3,"d",(float)parameter.getD());
shader.set1f(gl3,"theta",(float)parameter.getTheta());
shader.set1f(gl3,"r",(float)parameter.getR());
//myShader.set1f(gl3,"alpha",(float)parameter.getAlpha());
mesh.render(gl3);
}
}
Expand Down
17 changes: 16 additions & 1 deletion src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -271,7 +271,10 @@ public void updateCuboid() {
AABB.setBounds(boundTop, boundBottom);
}

public AABB getCuboid() {
/**
* @return axially-aligned bounding box in the mesh's local space.
*/
public AABB getBoundingBox() {
return AABB;
}

Expand Down Expand Up @@ -419,4 +422,16 @@ private RayHit intersect(Ray ray,VertexProvider provider) {
}
return null;
}

public void setVertex(int i, double x, double y, double z) {
i*=3;
vertexArray.set(i++, (float)x);
vertexArray.set(i++, (float)y);
vertexArray.set(i++, (float)z);
}

public void updateVertexBuffers(GL3 gl3) {
if(VBO==null) return;
setupArray(gl3,0,3,getNumVertices(),vertexArray);
}
}
7 changes: 0 additions & 7 deletions src/main/resources/com/marginallyclever/ro3/render/renderpasses/dhParameter.frag
View file

This file was deleted.

26 changes: 0 additions & 26 deletions src/main/resources/com/marginallyclever/ro3/render/renderpasses/dhParameter.vert
View file

This file was deleted.

0 comments on commit 3e202e2

Please sign in to comment.