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Sandbox.cpp
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Sandbox.cpp
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/***********************************************************************
Sandbox - Vrui application to drive an augmented reality sandbox.
Copyright (c) 2012-2015 Oliver Kreylos
This file is part of the Augmented Reality Sandbox (SARndbox).
The Augmented Reality Sandbox is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the
License, or (at your option) any later version.
The Augmented Reality Sandbox is distributed in the hope that it will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
General Public License for more details.
You should have received a copy of the GNU General Public License along
with the Augmented Reality Sandbox; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
***********************************************************************/
#include "Sandbox.h"
#include <ctype.h>
#include <string.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fcntl.h>
#include <string>
#include <vector>
#include <stdexcept>
#include <iostream>
#include <Misc/SelfDestructPointer.h>
#include <Misc/FunctionCalls.h>
#include <Misc/FileNameExtensions.h>
#include <IO/File.h>
#include <IO/ValueSource.h>
#include <Math/Math.h>
#include <Math/Constants.h>
#include <Geometry/Point.h>
#include <Geometry/AffineCombiner.h>
#include <Geometry/HVector.h>
#include <Geometry/Plane.h>
#include <Geometry/GeometryValueCoders.h>
#include <Geometry/OutputOperators.h>
#include <GL/gl.h>
#include <GL/GLMaterialTemplates.h>
#include <GL/GLPrintError.h>
#include <GL/GLColorMap.h>
#include <GL/GLLightTracker.h>
#include <GL/Extensions/GLEXTFramebufferObject.h>
#include <GL/Extensions/GLARBTextureRectangle.h>
#include <GL/Extensions/GLARBTextureFloat.h>
#include <GL/Extensions/GLARBTextureRg.h>
#include <GL/Extensions/GLARBDepthTexture.h>
#include <GL/Extensions/GLARBShaderObjects.h>
#include <GL/Extensions/GLARBVertexShader.h>
#include <GL/Extensions/GLARBFragmentShader.h>
#include <GL/Extensions/GLARBMultitexture.h>
#include <GL/GLContextData.h>
#include <GL/GLGeometryWrappers.h>
#include <GL/GLTransformationWrappers.h>
#include <GLMotif/StyleSheet.h>
#include <GLMotif/WidgetManager.h>
#include <GLMotif/PopupMenu.h>
#include <GLMotif/Menu.h>
#include <GLMotif/PopupWindow.h>
#include <GLMotif/Margin.h>
#include <GLMotif/Label.h>
#include <GLMotif/TextField.h>
#include <Vrui/Vrui.h>
#include <Vrui/Lightsource.h>
#include <Vrui/LightsourceManager.h>
#include <Vrui/Viewer.h>
#include <Vrui/ToolManager.h>
#include <Vrui/DisplayState.h>
#include <Vrui/OpenFile.h>
#include <Kinect/Camera.h>
#define SAVEDEPTH 0
#if SAVEDEPTH
#include <Images/RGBImage.h>
#include <Images/WriteImageFile.h>
#endif
#include "FrameFilter.h"
#include "SurfaceRenderer.h"
#include "WaterTable2.h"
/*******************************************
Static elements of class Sandbox::WaterTool:
*******************************************/
Sandbox::WaterToolFactory* Sandbox::WaterTool::factory=0;
/***********************************
Methods of class Sandbox::WaterTool:
***********************************/
Sandbox::WaterToolFactory* Sandbox::WaterTool::initClass(Vrui::ToolManager& toolManager)
{
/* Create the tool factory: */
factory=new WaterToolFactory("WaterTool","Manage Water",0,toolManager);
/* Set up the tool class' input layout: */
factory->setNumButtons(2);
factory->setButtonFunction(0,"Rain");
factory->setButtonFunction(1,"Dry");
/* Register and return the class: */
toolManager.addClass(factory,Vrui::ToolManager::defaultToolFactoryDestructor);
return factory;
}
Sandbox::WaterTool::WaterTool(const Vrui::ToolFactory* factory,const Vrui::ToolInputAssignment& inputAssignment)
:Vrui::Tool(factory,inputAssignment)
{
}
Sandbox::WaterTool::~WaterTool(void)
{
}
const Vrui::ToolFactory* Sandbox::WaterTool::getFactory(void) const
{
return factory;
}
void Sandbox::WaterTool::buttonCallback(int buttonSlotIndex,Vrui::InputDevice::ButtonCallbackData* cbData)
{
GLfloat waterAmount=application->rainStrength;
if(!cbData->newButtonState)
waterAmount=-waterAmount;
if(buttonSlotIndex==1)
waterAmount=-waterAmount;
application->waterTable->setWaterDeposit(application->waterTable->getWaterDeposit()+waterAmount);
}
/************************************************
Static elements of class Sandbox::LocalWaterTool:
************************************************/
Sandbox::LocalWaterToolFactory* Sandbox::LocalWaterTool::factory=0;
/****************************************
Methods of class Sandbox::LocalWaterTool:
****************************************/
Sandbox::LocalWaterToolFactory* Sandbox::LocalWaterTool::initClass(Vrui::ToolManager& toolManager)
{
/* Create the tool factory: */
factory=new LocalWaterToolFactory("LocalWaterTool","Add Water Locally",0,toolManager);
/* Set up the tool class' input layout: */
factory->setNumButtons(2);
factory->setButtonFunction(0,"Rain");
factory->setButtonFunction(1,"Dry");
/* Register and return the class: */
toolManager.addClass(factory,Vrui::ToolManager::defaultToolFactoryDestructor);
return factory;
}
Sandbox::LocalWaterTool::LocalWaterTool(const Vrui::ToolFactory* factory,const Vrui::ToolInputAssignment& inputAssignment)
:Vrui::Tool(factory,inputAssignment),
addWaterFunction(0),
adding(0.0f)
{
}
Sandbox::LocalWaterTool::~LocalWaterTool(void)
{
}
void Sandbox::LocalWaterTool::initialize(void)
{
/* Register a render function with the water table: */
if(application->waterTable!=0)
{
addWaterFunction=Misc::createFunctionCall(this,&Sandbox::LocalWaterTool::addWater);
application->waterTable->addRenderFunction(addWaterFunction);
}
}
void Sandbox::LocalWaterTool::deinitialize(void)
{
/* Unregister the render function from the water table: */
if(application->waterTable!=0)
application->waterTable->removeRenderFunction(addWaterFunction);
delete addWaterFunction;
addWaterFunction=0;
}
const Vrui::ToolFactory* Sandbox::LocalWaterTool::getFactory(void) const
{
return factory;
}
void Sandbox::LocalWaterTool::buttonCallback(int buttonSlotIndex,Vrui::InputDevice::ButtonCallbackData* cbData)
{
GLfloat waterAmount=application->rainStrength;
if(!cbData->newButtonState)
waterAmount=-waterAmount;
if(buttonSlotIndex==1)
waterAmount=-waterAmount;
adding+=waterAmount;
}
void Sandbox::LocalWaterTool::glRenderActionTransparent(GLContextData& contextData) const
{
glPushAttrib(GL_ENABLE_BIT|GL_POLYGON_BIT);
/* Go to navigational coordinates: */
glPushMatrix();
glLoadMatrix(Vrui::getDisplayState(contextData).modelviewNavigational);
/* Get the current rain disk position and size in camera coordinates: */
Vrui::Point rainPos=Vrui::getInverseNavigationTransformation().transform(getButtonDevicePosition(0));
Vrui::Scalar rainRadius=Vrui::getPointPickDistance()*Vrui::Scalar(3);
/* Construct the rain cylinder: */
Vrui::Vector z=application->waterTable->getBaseTransform().inverseTransform(Vrui::Vector(0,0,1));
Vrui::Vector x=Geometry::normal(z);
Vrui::Vector y=Geometry::cross(z,x);
x.normalize();
y.normalize();
/* Set the rain cylinder's material: */
GLfloat diffuseCol[4]={0.0f,0.0f,1.0f,0.333f};
glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE,diffuseCol);
/* Render the back faces of the rain cylinder: */
glCullFace(GL_FRONT);
glBegin(GL_QUAD_STRIP);
for(int i=0;i<=32;++i)
{
Vrui::Scalar angle=Vrui::Scalar(2)*Math::Constants<Vrui::Scalar>::pi*Vrui::Scalar(i)/Vrui::Scalar(32);
glNormal(x*Math::cos(angle)+y*Math::sin(angle));
glVertex(rainPos+x*(Math::cos(angle)*rainRadius)+y*(Math::sin(angle)*rainRadius));
glVertex(rainPos+x*(Math::cos(angle)*rainRadius)+y*(Math::sin(angle)*rainRadius)-z*Vrui::Scalar(50));
}
glEnd();
/* Render the front faces of the rain cylinder: */
glCullFace(GL_BACK);
glBegin(GL_QUAD_STRIP);
for(int i=0;i<=32;++i)
{
Vrui::Scalar angle=Vrui::Scalar(2)*Math::Constants<Vrui::Scalar>::pi*Vrui::Scalar(i)/Vrui::Scalar(32);
glNormal(x*Math::cos(angle)+y*Math::sin(angle));
glVertex(rainPos+x*(Math::cos(angle)*rainRadius)+y*(Math::sin(angle)*rainRadius));
glVertex(rainPos+x*(Math::cos(angle)*rainRadius)+y*(Math::sin(angle)*rainRadius)-z*Vrui::Scalar(50));
}
glEnd();
glBegin(GL_POLYGON);
glNormal(z);
for(int i=0;i<32;++i)
{
Vrui::Scalar angle=Vrui::Scalar(2)*Math::Constants<Vrui::Scalar>::pi*Vrui::Scalar(i)/Vrui::Scalar(32);
glVertex(rainPos+x*(Math::cos(angle)*rainRadius)+y*(Math::sin(angle)*rainRadius));
}
glEnd();
glPopMatrix();
glPopAttrib();
}
void Sandbox::LocalWaterTool::addWater(GLContextData& contextData) const
{
if(adding!=0.0f)
{
glPushAttrib(GL_ENABLE_BIT);
glDisable(GL_CULL_FACE);
/* Get the current rain disk position and size in camera coordinates: */
Vrui::Point rainPos=Vrui::getInverseNavigationTransformation().transform(getButtonDevicePosition(0));
Vrui::Scalar rainRadius=Vrui::getPointPickDistance()*Vrui::Scalar(3);
/* Render the rain disk: */
Vrui::Vector z=application->waterTable->getBaseTransform().inverseTransform(Vrui::Vector(0,0,1));
Vrui::Vector x=Geometry::normal(z);
Vrui::Vector y=Geometry::cross(z,x);
x*=rainRadius/Geometry::mag(x);
y*=rainRadius/Geometry::mag(y);
glVertexAttrib1fARB(1,adding);
glBegin(GL_POLYGON);
for(int i=0;i<32;++i)
{
Vrui::Scalar angle=Vrui::Scalar(2)*Math::Constants<Vrui::Scalar>::pi*Vrui::Scalar(i)/Vrui::Scalar(32);
glVertex(rainPos+x*Math::cos(angle)+y*Math::sin(angle));
}
glEnd();
glPopAttrib();
}
}
/**********************************
Methods of class Sandbox::DataItem:
**********************************/
Sandbox::DataItem::DataItem(void)
:heightColorMapObject(0),heightColorMapVersion(0),
shadowFramebufferObject(0),shadowDepthTextureObject(0)
{
/* Check if all required extensions are supported: */
bool supported=GLEXTFramebufferObject::isSupported();
supported=supported&&GLARBTextureRectangle::isSupported();
supported=supported&&GLARBTextureFloat::isSupported();
supported=supported&&GLARBTextureRg::isSupported();
supported=supported&&GLARBDepthTexture::isSupported();
supported=supported&&GLARBShaderObjects::isSupported();
supported=supported&&GLARBVertexShader::isSupported();
supported=supported&&GLARBFragmentShader::isSupported();
supported=supported&&GLARBMultitexture::isSupported();
if(!supported)
Misc::throwStdErr("Sandbox: Not all required extensions are supported by local OpenGL");
/* Initialize all required extensions: */
GLEXTFramebufferObject::initExtension();
GLARBTextureRectangle::initExtension();
GLARBTextureFloat::initExtension();
GLARBTextureRg::initExtension();
GLARBDepthTexture::initExtension();
GLARBShaderObjects::initExtension();
GLARBVertexShader::initExtension();
GLARBFragmentShader::initExtension();
GLARBMultitexture::initExtension();
}
Sandbox::DataItem::~DataItem(void)
{
/* Delete all shaders, buffers, and texture objects: */
glDeleteTextures(1,&heightColorMapObject);
glDeleteFramebuffersEXT(1,&shadowFramebufferObject);
glDeleteTextures(1,&shadowDepthTextureObject);
}
/************************
Methods of class Sandbox:
************************/
void Sandbox::rawDepthFrameDispatcher(const Kinect::FrameBuffer& frameBuffer)
{
/* Pass the received frame to the frame filter and the rain maker's frame filter: */
if(frameFilter!=0&&!pauseUpdates)
frameFilter->receiveRawFrame(frameBuffer);
if(rmFrameFilter!=0)
rmFrameFilter->receiveRawFrame(frameBuffer);
}
void Sandbox::receiveFilteredFrame(const Kinect::FrameBuffer& frameBuffer)
{
/* Put the new frame into the frame input buffer: */
filteredFrames.postNewValue(frameBuffer);
/* Wake up the foreground thread: */
Vrui::requestUpdate();
}
void Sandbox::receiveRainObjects(const RainMaker::BlobList& newRainObjects)
{
/* Put the new object list into the object list buffer: */
rainObjects.postNewValue(newRainObjects);
/* Don't wake up the foreground thread; do it when a new filtered frame arrives: */
// Vrui::requestUpdate();
}
void Sandbox::addWater(GLContextData& contextData) const
{
/* Check if the most recent rain object list is not empty: */
if(!rainObjects.getLockedValue().empty())
{
/* Render all rain objects into the water table: */
glPushAttrib(GL_ENABLE_BIT);
glDisable(GL_CULL_FACE);
/* Create a local coordinate frame to render rain disks: */
Vrui::Vector z=waterTable->getBaseTransform().inverseTransform(Vrui::Vector(0,0,1));
Vrui::Vector x=Geometry::normal(z);
Vrui::Vector y=Geometry::cross(z,x);
x.normalize();
y.normalize();
glVertexAttrib1fARB(1,rainStrength/waterSpeed);
for(RainMaker::BlobList::const_iterator roIt=rainObjects.getLockedValue().begin();roIt!=rainObjects.getLockedValue().end();++roIt)
{
/* Render the rain object: */
glBegin(GL_POLYGON);
for(int i=0;i<32;++i)
{
Vrui::Scalar angle=Vrui::Scalar(2)*Math::Constants<Vrui::Scalar>::pi*Vrui::Scalar(i)/Vrui::Scalar(32);
glVertex(roIt->centroid+x*(Math::cos(angle)*roIt->radius)+y*(Math::sin(angle)*roIt->radius));
}
glEnd();
}
glPopAttrib();
}
}
void Sandbox::pauseUpdatesCallback(GLMotif::ToggleButton::ValueChangedCallbackData* cbData)
{
pauseUpdates=cbData->set;
}
void Sandbox::showWaterControlDialogCallback(Misc::CallbackData* cbData)
{
Vrui::popupPrimaryWidget(waterControlDialog);
}
void Sandbox::waterSpeedSliderCallback(GLMotif::TextFieldSlider::ValueChangedCallbackData* cbData)
{
waterSpeed=cbData->value;
}
void Sandbox::waterMaxStepsSliderCallback(GLMotif::TextFieldSlider::ValueChangedCallbackData* cbData)
{
waterMaxSteps=int(Math::floor(cbData->value+0.5));
}
void Sandbox::waterAttenuationSliderCallback(GLMotif::TextFieldSlider::ValueChangedCallbackData* cbData)
{
waterTable->setAttenuation(GLfloat(1.0-cbData->value));
}
GLMotif::PopupMenu* Sandbox::createMainMenu(void)
{
/* Create a popup shell to hold the main menu: */
GLMotif::PopupMenu* mainMenuPopup=new GLMotif::PopupMenu("MainMenuPopup",Vrui::getWidgetManager());
mainMenuPopup->setTitle("AR Sandbox");
/* Create the main menu itself: */
GLMotif::Menu* mainMenu=new GLMotif::Menu("MainMenu",mainMenuPopup,false);
/* Create a button to pause topography updates: */
pauseUpdatesToggle=new GLMotif::ToggleButton("PauseUpdatesToggle",mainMenu,"Pause Topography");
pauseUpdatesToggle->setToggle(false);
pauseUpdatesToggle->getValueChangedCallbacks().add(this,&Sandbox::pauseUpdatesCallback);
if(waterTable!=0)
{
/* Create a button to show the water control dialog: */
GLMotif::Button* showWaterControlDialogButton=new GLMotif::Button("ShowWaterControlDialogButton",mainMenu,"Show Water Simulation Control");
showWaterControlDialogButton->getSelectCallbacks().add(this,&Sandbox::showWaterControlDialogCallback);
}
/* Finish building the main menu: */
mainMenu->manageChild();
return mainMenuPopup;
}
GLMotif::PopupWindow* Sandbox::createWaterControlDialog(void)
{
const GLMotif::StyleSheet& ss=*Vrui::getWidgetManager()->getStyleSheet();
/* Create a popup window shell: */
GLMotif::PopupWindow* waterControlDialogPopup=new GLMotif::PopupWindow("WaterControlDialogPopup",Vrui::getWidgetManager(),"Water Simulation Control");
waterControlDialogPopup->setCloseButton(true);
waterControlDialogPopup->setResizableFlags(true,false);
waterControlDialogPopup->popDownOnClose();
GLMotif::RowColumn* waterControlDialog=new GLMotif::RowColumn("WaterControlDialog",waterControlDialogPopup,false);
waterControlDialog->setOrientation(GLMotif::RowColumn::VERTICAL);
waterControlDialog->setPacking(GLMotif::RowColumn::PACK_TIGHT);
waterControlDialog->setNumMinorWidgets(2);
new GLMotif::Label("WaterSpeedLabel",waterControlDialog,"Speed");
waterSpeedSlider=new GLMotif::TextFieldSlider("WaterSpeedSlider",waterControlDialog,8,ss.fontHeight*10.0f);
waterSpeedSlider->getTextField()->setFieldWidth(7);
waterSpeedSlider->getTextField()->setPrecision(4);
waterSpeedSlider->getTextField()->setFloatFormat(GLMotif::TextField::SMART);
waterSpeedSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
waterSpeedSlider->setValueRange(0.001,10.0,0.05);
waterSpeedSlider->getSlider()->addNotch(0.0f);
waterSpeedSlider->setValue(waterSpeed);
waterSpeedSlider->getValueChangedCallbacks().add(this,&Sandbox::waterSpeedSliderCallback);
new GLMotif::Label("WaterMaxStepsLabel",waterControlDialog,"Max Steps");
waterMaxStepsSlider=new GLMotif::TextFieldSlider("WaterMaxStepsSlider",waterControlDialog,8,ss.fontHeight*10.0f);
waterMaxStepsSlider->getTextField()->setFieldWidth(7);
waterMaxStepsSlider->getTextField()->setPrecision(0);
waterMaxStepsSlider->getTextField()->setFloatFormat(GLMotif::TextField::FIXED);
waterMaxStepsSlider->setSliderMapping(GLMotif::TextFieldSlider::LINEAR);
waterMaxStepsSlider->setValueType(GLMotif::TextFieldSlider::UINT);
waterMaxStepsSlider->setValueRange(0,200,1);
waterMaxStepsSlider->setValue(waterMaxSteps);
waterMaxStepsSlider->getValueChangedCallbacks().add(this,&Sandbox::waterMaxStepsSliderCallback);
new GLMotif::Label("FrameRateLabel",waterControlDialog,"Frame Rate");
GLMotif::Margin* frameRateMargin=new GLMotif::Margin("FrameRateMargin",waterControlDialog,false);
frameRateMargin->setAlignment(GLMotif::Alignment::LEFT);
frameRateTextField=new GLMotif::TextField("FrameRateTextField",frameRateMargin,8);
frameRateTextField->setFieldWidth(7);
frameRateTextField->setPrecision(2);
frameRateTextField->setFloatFormat(GLMotif::TextField::FIXED);
frameRateTextField->setValue(0.0);
frameRateMargin->manageChild();
new GLMotif::Label("WaterAttenuationLabel",waterControlDialog,"Attenuation");
waterAttenuationSlider=new GLMotif::TextFieldSlider("WaterAttenuationSlider",waterControlDialog,8,ss.fontHeight*10.0f);
waterAttenuationSlider->getTextField()->setFieldWidth(7);
waterAttenuationSlider->getTextField()->setPrecision(5);
waterAttenuationSlider->getTextField()->setFloatFormat(GLMotif::TextField::SMART);
waterAttenuationSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
waterAttenuationSlider->setValueRange(0.001,1.0,0.01);
waterAttenuationSlider->getSlider()->addNotch(Math::log10(1.0-double(waterTable->getAttenuation())));
waterAttenuationSlider->setValue(1.0-double(waterTable->getAttenuation()));
waterAttenuationSlider->getValueChangedCallbacks().add(this,&Sandbox::waterAttenuationSliderCallback);
waterControlDialog->manageChild();
return waterControlDialogPopup;
}
bool Sandbox::loadHeightColorMap(const char* heightColorMapFileName)
{
std::vector<GLColorMap::Color> heightMapColors;
std::vector<GLdouble> heightMapKeys;
IO::ValueSource heightMapSource(Vrui::openFile(heightColorMapFileName));
if(Misc::hasCaseExtension(heightColorMapFileName,".cpt"))
{
heightMapSource.setPunctuation("\n");
heightMapSource.skipWs();
while(!heightMapSource.eof())
{
/* Read the next color map key value: */
heightMapKeys.push_back(GLdouble(heightMapSource.readNumber()));
/* Read the next color map color value: */
GLColorMap::Color color;
for(int i=0;i<3;++i)
color[i]=GLColorMap::Color::Scalar(heightMapSource.readNumber()/255.0);
color[3]=GLColorMap::Color::Scalar(1);
heightMapColors.push_back(color);
if(!heightMapSource.isLiteral('\n'))
return false;
}
}
else
{
heightMapSource.setPunctuation(",\n");
heightMapSource.skipWs();
while(!heightMapSource.eof())
{
/* Read the next color map key value: */
heightMapKeys.push_back(GLdouble(heightMapSource.readNumber()));
if(!heightMapSource.isLiteral(','))
return false;
/* Read the next color map color value: */
GLColorMap::Color color;
for(int i=0;i<3;++i)
color[i]=GLColorMap::Color::Scalar(heightMapSource.readNumber());
color[3]=GLColorMap::Color::Scalar(1);
heightMapColors.push_back(color);
if(!heightMapSource.isLiteral('\n'))
return false;
}
}
/* Update the height color map: */
heightMap=GLColorMap(heightMapKeys.size(),&heightMapColors[0],&heightMapKeys[0]);
++heightMapVersion;
return true;
}
Sandbox::Sandbox(int& argc,char**& argv)
:Vrui::Application(argc,argv),
camera(0),
frameFilter(0),pauseUpdates(false),
surfaceMaterial(GLMaterial::Color(0.8f,0.8f,0.8f),GLMaterial::Color(1.0f,1.0f,1.0f),25.0f),
heightMapVersion(0),
surfaceRenderer(0),
waterTable(0),waterSpeed(1.0),waterMaxSteps(30),rainStrength(0.25f),
rmFrameFilter(0),rainMaker(0),addWaterFunction(0),addWaterFunctionRegistered(false),
fixProjectorView(false),hillshade(false),useShadows(false),useHeightMap(false),
waterRenderer(0),
sun(0),
mainMenu(0),pauseUpdatesToggle(0),waterControlDialog(0),
waterSpeedSlider(0),waterMaxStepsSlider(0),frameRateTextField(0),waterAttenuationSlider(0),
controlPipeFd(-1)
{
/* Initialize the custom tool classes: */
WaterTool::initClass(*Vrui::getToolManager());
LocalWaterTool::initClass(*Vrui::getToolManager());
addEventTool("Pause Topography",0,0);
/* Process command line parameters: */
bool printHelp=false;
int cameraIndex=0;
std::string sandboxLayoutFileName=CONFIGDIR;
sandboxLayoutFileName.push_back('/');
sandboxLayoutFileName.append("BoxLayout.txt");
bool useHeightMap=true;
std::string heightColorMapFileName=CONFIGDIR;
heightColorMapFileName.push_back('/');
heightColorMapFileName.append(DEFAULTHEIGHTCOLORMAPNAME);
double elevationMin=-1000.0;
double elevationMax=1000.0;
unsigned int validMin=0;
unsigned int validMax=2047;
int numAveragingSlots=30;
unsigned int minNumSamples=10;
unsigned int maxVariance=2;
float hysteresis=0.1f;
bool useContourLines=true;
GLfloat contourLineSpacing=0.75f;
unsigned int wtSize[2];
wtSize[0]=640U;
wtSize[1]=480U;
GLfloat waterOpacity=2.0f;
bool renderWaterSurface=false;
double rainElevationMin=-1000.0;
double rainElevationMax=1000.0;
double evaporationRate=0.0;
const char* controlPipeName=0;
for(int i=1;i<argc;++i)
{
if(argv[i][0]=='-')
{
if(strcasecmp(argv[i]+1,"h")==0)
printHelp=true;
else if(strcasecmp(argv[i]+1,"c")==0)
{
++i;
cameraIndex=atoi(argv[i]);
}
else if(strcasecmp(argv[i]+1,"slf")==0)
{
++i;
sandboxLayoutFileName=argv[i];
}
else if(strcasecmp(argv[i]+1,"er")==0)
{
++i;
elevationMin=atof(argv[i]);
++i;
elevationMax=atof(argv[i]);
}
else if(strcasecmp(argv[i]+1,"nas")==0)
{
++i;
numAveragingSlots=atoi(argv[i]);
}
else if(strcasecmp(argv[i]+1,"sp")==0)
{
++i;
minNumSamples=atoi(argv[i]);
++i;
maxVariance=atoi(argv[i]);
}
else if(strcasecmp(argv[i]+1,"he")==0)
{
++i;
hysteresis=float(atof(argv[i]));
}
else if(strcasecmp(argv[i]+1,"nhm")==0)
{
useHeightMap=false;
}
else if(strcasecmp(argv[i]+1,"hcm")==0)
{
++i;
heightColorMapFileName=argv[i];
}
else if(strcasecmp(argv[i]+1,"ncl")==0)
{
useContourLines=false;
}
else if(strcasecmp(argv[i]+1,"cls")==0)
{
++i;
contourLineSpacing=GLfloat(atof(argv[i]));
}
else if(strcasecmp(argv[i]+1,"wts")==0)
{
for(int j=0;j<2;++j)
{
++i;
wtSize[j]=(unsigned int)(atoi(argv[i]));
}
}
else if(strcasecmp(argv[i]+1,"ws")==0)
{
++i;
waterSpeed=atof(argv[i]);
++i;
waterMaxSteps=atoi(argv[i]);
}
else if(strcasecmp(argv[i]+1,"wo")==0)
{
++i;
waterOpacity=GLfloat(atof(argv[i]));
}
else if(strcasecmp(argv[i]+1,"rer")==0)
{
++i;
rainElevationMin=atof(argv[i]);
++i;
rainElevationMax=atof(argv[i]);
}
else if(strcasecmp(argv[i]+1,"rs")==0)
{
++i;
rainStrength=GLfloat(atof(argv[i]));
}
else if(strcasecmp(argv[i]+1,"evr")==0)
{
++i;
evaporationRate=atof(argv[i]);
}
else if(strcasecmp(argv[i]+1,"fpv")==0)
fixProjectorView=true;
else if(strcasecmp(argv[i]+1,"hs")==0)
hillshade=true;
else if(strcasecmp(argv[i]+1,"us")==0)
useShadows=true;
else if(strcasecmp(argv[i]+1,"uhm")==0)
useHeightMap=true;
else if(strcasecmp(argv[i]+1,"rws")==0)
renderWaterSurface=true;
else if(strcasecmp(argv[i]+1,"cp")==0)
{
++i;
controlPipeName=argv[i];
}
}
}
if(printHelp)
{
std::cout<<"Usage: SARndbox [option 1] ... [option n]"<<std::endl;
std::cout<<" Options:"<<std::endl;
std::cout<<" -h"<<std::endl;
std::cout<<" Prints this help message"<<std::endl;
std::cout<<" -c <camera index>"<<std::endl;
std::cout<<" Selects the local Kinect camera of the given index (0: first camera"<<std::endl;
std::cout<<" on USB bus)"<<std::endl;
std::cout<<" Default: 0"<<std::endl;
std::cout<<" -slf <sandbox layout file name>"<<std::endl;
std::cout<<" Loads the sandbox layout file of the given name"<<std::endl;
std::cout<<" Default: "<<CONFIGDIR<<"/BoxLayout.txt"<<std::endl;
std::cout<<" -er <min elevation> <max elevation>"<<std::endl;
std::cout<<" Sets the range of valid sand surface elevations relative to the"<<std::endl;
std::cout<<" ground plane in cm"<<std::endl;
std::cout<<" Default: Range of elevation color map"<<std::endl;
std::cout<<" -nas <num averaging slots>"<<std::endl;
std::cout<<" Sets the number of averaging slots in the frame filter; latency is"<<std::endl;
std::cout<<" <num averaging slots> * 1/30 s"<<std::endl;
std::cout<<" Default: 30"<<std::endl;
std::cout<<" -sp <min num samples> <max variance>"<<std::endl;
std::cout<<" Sets the frame filter parameters minimum number of valid samples"<<std::endl;
std::cout<<" and maximum sample variance before convergence"<<std::endl;
std::cout<<" Default: 10 2"<<std::endl;
std::cout<<" -he <hysteresis envelope>"<<std::endl;
std::cout<<" Sets the size of the hysteresis envelope used for jitter removal"<<std::endl;
std::cout<<" Default: 0.1"<<std::endl;
std::cout<<" -nhm"<<std::endl;
std::cout<<" Disables elevation color mapping"<<std::endl;
std::cout<<" -hcm <elevation color map file name>"<<std::endl;
std::cout<<" Sets the name of the elevation color map"<<std::endl;
std::cout<<" Default: "<<CONFIGDIR<<"/"<<DEFAULTHEIGHTCOLORMAPNAME<<std::endl;
std::cout<<" -ncl"<<std::endl;
std::cout<<" Disables topographic contour lines"<<std::endl;
std::cout<<" -cls <contour line spacing>"<<std::endl;
std::cout<<" Sets the elevation distance between adjacent topographic contour"<<std::endl;
std::cout<<" lines in cm"<<std::endl;
std::cout<<" Default: 0.75"<<std::endl;
std::cout<<" -wts <water grid width> <water grid height>"<<std::endl;
std::cout<<" Sets the width and height of the water flow simulation grid"<<std::endl;
std::cout<<" Default: 640 480"<<std::endl;
std::cout<<" -ws <water speed> <water max steps>"<<std::endl;
std::cout<<" Sets the relative speed of the water simulation and the maximum"<<std::endl;
std::cout<<" number of simulation steps per frame"<<std::endl;
std::cout<<" Default: 1.0 30"<<std::endl;
std::cout<<" -wo <water opacity>"<<std::endl;
std::cout<<" Sets the water depth at which water appears opaque in cm"<<std::endl;
std::cout<<" Default: 2.0"<<std::endl;
std::cout<<" -rer <min rain elevation> <max rain elevation>"<<std::endl;
std::cout<<" Sets the elevation range of the rain cloud level relative to the"<<std::endl;
std::cout<<" ground plane in cm"<<std::endl;
std::cout<<" Default: Above range of elevation color map"<<std::endl;
std::cout<<" -rs <rain strength>"<<std::endl;
std::cout<<" Sets the strength of global or local rainfall in cm/s"<<std::endl;
std::cout<<" Default: 0.25"<<std::endl;
std::cout<<" -evr <evaporation rate>"<<std::endl;
std::cout<<" Water evaporation rate in cm/s"<<std::endl;
std::cout<<" Default: 0.0"<<std::endl;
std::cout<<" -fpv"<<std::endl;
std::cout<<" Fixes the navigation transformation so that Kinect camera and"<<std::endl;
std::cout<<" projector are aligned, as defined by the projector calibration file"<<std::endl;
std::cout<<" -hs"<<std::endl;
std::cout<<" Enables hill shading"<<std::endl;
std::cout<<" -us"<<std::endl;
std::cout<<" Enables shadows"<<std::endl;
std::cout<<" -uhm"<<std::endl;
std::cout<<" Enables elevation color mapping"<<std::endl;
std::cout<<" -rws"<<std::endl;
std::cout<<" Renders water surface as geometric surface"<<std::endl;
std::cout<<" -cp <control pipe name>"<<std::endl;
std::cout<<" Sets the name of a named POSIX pipe from which to read control commands"<<std::endl;
}
/* Enable background USB event handling: */
usbContext.startEventHandling();
/* Open the Kinect camera device: */
camera=new Kinect::Camera(usbContext,cameraIndex);
camera->setCompressDepthFrames(true);
camera->setSmoothDepthFrames(false);
for(int i=0;i<2;++i)
frameSize[i]=camera->getActualFrameSize(Kinect::FrameSource::DEPTH)[i];
/* Get the camera's per-pixel depth correction parameters: */
Misc::SelfDestructPointer<Kinect::FrameSource::DepthCorrection> depthCorrection(camera->getDepthCorrectionParameters());
/* Get the camera's intrinsic parameters: */
cameraIps=camera->getIntrinsicParameters();
/* Read the sandbox layout file: */
Geometry::Plane<double,3> basePlane;
Geometry::Point<double,3> basePlaneCorners[4];
{
IO::ValueSource layoutSource(Vrui::openFile(sandboxLayoutFileName.c_str()));
layoutSource.skipWs();
std::string s=layoutSource.readLine();
basePlane=Misc::ValueCoder<Geometry::Plane<double,3> >::decode(s.c_str(),s.c_str()+s.length());
basePlane.normalize();
for(int i=0;i<4;++i)
{
layoutSource.skipWs();
s=layoutSource.readLine();
basePlaneCorners[i]=Misc::ValueCoder<Geometry::Point<double,3> >::decode(s.c_str(),s.c_str()+s.length());
}
}
/* Load the height color map: */
if(!loadHeightColorMap(heightColorMapFileName.c_str()))
Misc::throwStdErr("Sandbox::Sandbox: Format error in height color map %s",heightColorMapFileName.c_str());
/* Limit the valid elevation range to the extent of the height color map: */
if(elevationMin<heightMap.getScalarRangeMin())
elevationMin=heightMap.getScalarRangeMin();
if(elevationMax>heightMap.getScalarRangeMax())
elevationMax=heightMap.getScalarRangeMax();
/* Create the frame filter object: */
frameFilter=new FrameFilter(frameSize,numAveragingSlots,cameraIps.depthProjection,basePlane);
frameFilter->setDepthCorrection(*depthCorrection);
frameFilter->setValidElevationInterval(cameraIps.depthProjection,basePlane,elevationMin,elevationMax);
frameFilter->setStableParameters(minNumSamples,maxVariance);
frameFilter->setHysteresis(hysteresis);
frameFilter->setSpatialFilter(true);
frameFilter->setOutputFrameFunction(Misc::createFunctionCall(this,&Sandbox::receiveFilteredFrame));
/* Limit the valid rain elevation range to above the valid elevation range: */
if(rainElevationMin<elevationMax)
rainElevationMin=elevationMax;
if(rainElevationMax<rainElevationMin)
rainElevationMax=rainElevationMin;
/* Create the rain maker object: */
rainMaker=new RainMaker(frameSize,camera->getActualFrameSize(Kinect::FrameSource::COLOR),cameraIps.depthProjection,cameraIps.colorProjection,basePlane,rainElevationMin,rainElevationMax,20);
rainMaker->setDepthIsFloat(true);
rainMaker->setOutputBlobsFunction(Misc::createFunctionCall(this,&Sandbox::receiveRainObjects));
/* Create a second frame filter for the rain maker: */
rmFrameFilter=new FrameFilter(frameSize,10,cameraIps.depthProjection,basePlane);
rmFrameFilter->setDepthCorrection(*depthCorrection);
rmFrameFilter->setValidElevationInterval(cameraIps.depthProjection,basePlane,rainElevationMin,rainElevationMax);
rmFrameFilter->setStableParameters(5,3);
rmFrameFilter->setRetainValids(false);
rmFrameFilter->setInstableValue(2047.0f);
rmFrameFilter->setSpatialFilter(false);
rmFrameFilter->setOutputFrameFunction(Misc::createFunctionCall(rainMaker,&RainMaker::receiveRawDepthFrame));
/* Start streaming depth frames: */
camera->startStreaming(Misc::createFunctionCall(rainMaker,&RainMaker::receiveRawColorFrame),Misc::createFunctionCall(this,&Sandbox::rawDepthFrameDispatcher));
/* Load the projector transformation: */
if(fixProjectorView)
{
std::string transformFileName=CONFIGDIR;
transformFileName.push_back('/');
transformFileName.append("ProjectorMatrix.dat");
try
{
IO::FilePtr transformFile=Vrui::openFile(transformFileName.c_str(),IO::File::ReadOnly);
transformFile->setEndianness(Misc::LittleEndian);
double pt[16];
transformFile->read(pt,16);
projectorTransform=PTransform::fromRowMajor(pt);
}
catch(std::runtime_error err)
{
std::cerr<<"Cannot fix projector view due to exception "<<err.what()<<std::endl;
fixProjectorView=false;
}
}
/* Calculate a bounding box around all potential surfaces: */
bbox=Box::empty;
for(int i=0;i<4;++i)
{
bbox.addPoint(basePlane.project(basePlaneCorners[i])+basePlane.getNormal()*elevationMin);
bbox.addPoint(basePlane.project(basePlaneCorners[i])+basePlane.getNormal()*elevationMax);
}
/* Initialize the water flow simulator: */
waterTable=new WaterTable2(wtSize[0],wtSize[1],basePlane,basePlaneCorners);
waterTable->setElevationRange(elevationMin,rainElevationMax);
waterTable->setWaterDeposit(evaporationRate);
/* Register a render function with the water table: */
addWaterFunction=Misc::createFunctionCall(this,&Sandbox::addWater);
waterTable->addRenderFunction(addWaterFunction);
addWaterFunctionRegistered=true;
/* Initialize the surface renderer: */
surfaceRenderer=new SurfaceRenderer(frameSize,cameraIps.depthProjection,basePlane);
surfaceRenderer->setUseHeightMap(useHeightMap);
surfaceRenderer->setHeightMapRange(heightMap.getNumEntries(),heightMap.getScalarRangeMin(),heightMap.getScalarRangeMax());
surfaceRenderer->setDrawContourLines(useContourLines);
surfaceRenderer->setContourLineDistance(contourLineSpacing);
if(hillshade)
surfaceRenderer->setIlluminate(true);
if(waterTable!=0&&waterSpeed>0.0)
{
if(renderWaterSurface)
{
/* Create a second surface renderer to render the water surface directly: */
SurfaceRenderer::PTransform waterTransform(1);
WaterTable2::Box wd=waterTable->getDomain();
waterTransform.getMatrix()(0,0)=SurfaceRenderer::Scalar(wd.max[0]-wd.min[0])/SurfaceRenderer::Scalar(wtSize[0]);
waterTransform.getMatrix()(0,3)=SurfaceRenderer::Scalar(wd.min[0]);
waterTransform.getMatrix()(1,1)=SurfaceRenderer::Scalar(wd.max[1]-wd.min[1])/SurfaceRenderer::Scalar(wtSize[1]);
waterTransform.getMatrix()(1,3)=SurfaceRenderer::Scalar(wd.min[1]);
waterTransform.getMatrix()(2,3)=SurfaceRenderer::Scalar(-0.01);
waterTransform.leftMultiply(Geometry::invert(waterTable->getBaseTransform()));
waterRenderer=new SurfaceRenderer(wtSize,waterTransform,basePlane);
waterRenderer->setUsePreboundDepthTexture(true);
waterRenderer->setUseHeightMap(false);
waterRenderer->setDrawContourLines(false);
waterRenderer->setIlluminate(true);
}
else
{
surfaceRenderer->setWaterTable(waterTable);
surfaceRenderer->setAdvectWaterTexture(true);
surfaceRenderer->setWaterOpacity(waterOpacity);
}
}
#if 0
/* Create a fixed-position light source: */
sun=Vrui::getLightsourceManager()->createLightsource(true);
for(int i=0;i<Vrui::getNumViewers();++i)
Vrui::getViewer(i)->setHeadlightState(false);
sun->enable();
sun->getLight().position=GLLight::Position(1,0,1,0);
#endif
/* Create the GUI: */
mainMenu=createMainMenu();
Vrui::setMainMenu(mainMenu);
if(waterTable!=0)
waterControlDialog=createWaterControlDialog();
if(controlPipeName!=0)
{
/* Open the control pipe in non-blocking mode: */
controlPipeFd=open(controlPipeName,O_RDONLY|O_NONBLOCK);
if(controlPipeFd<0)
std::cerr<<"Unable to open control pipe "<<controlPipeName<<"; ignoring"<<std::endl;
}
/* Initialize the navigation transformation: */
Vrui::Point::AffineCombiner cc;
for(int i=0;i<4;++i)
cc.addPoint(Vrui::Point(basePlane.project(basePlaneCorners[i])));
Vrui::Point c=cc.getPoint();
Vrui::Scalar maxDist(0);
for(int i=0;i<4;++i)
{
Vrui::Scalar dist=Geometry::dist(Vrui::Point(basePlane.project(basePlaneCorners[i])),c);
if(maxDist<dist)