vpSimulator.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Simulator based on Coin3d.
 *
 * Authors:
 * Eric Marchand
 * Anthony Saunier
 *
 *****************************************************************************/
#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_COIN3D_AND_GUI

#include <visp3/ar/vpSimulator.h>
#include <visp3/core/vpTime.h>

#include <visp3/core/vpImage.h>

#ifdef VISP_HAVE_MODULE_IO
#  include <visp3/io/vpImageIo.h>
#endif

/* Objets OIV. */
#include <Inventor/nodes/SoCone.h> /* Objet cone.                            */
#include <Inventor/nodes/SoCylinder.h> /* Objet cylindre.                    */
#include <Inventor/nodes/SoPointLight.h> /* Objet lumiere ponctuelle.        */
#include <Inventor/nodes/SoCoordinate3.h> /* Liste de points.                */
#include <Inventor/nodes/SoIndexedFaceSet.h> /* Liste de face.               */
#include <Inventor/nodes/SoTranslation.h> /* Trasnfo translation.            */
#include <Inventor/nodes/SoScale.h> /* Trasnfo mise a l'echelle.             */
#include <Inventor/nodes/SoRotationXYZ.h> /* Transfo rotation simple.       */

#include <Inventor/nodes/SoDirectionalLight.h> /* Objet lumiere directionnelle*/
#include <Inventor/nodes/SoMaterial.h> /* Matiere (couleur) des objets.     */
#include <Inventor/nodes/SoDrawStyle.h> /* Style de rendu.                  */
#include <Inventor/nodes/SoEnvironment.h> /* Eclairage ambiant.              */
#include <Inventor/nodes/SoGroup.h> /* Groupement de noeuds (sans separation)*/
#include <Inventor/actions/SoWriteAction.h>




// Positions of all of the vertices:
//
static float pyramidVertexes [5][3] =
  {
    {0.33f, 0.33f, 0.f},
    {-0.33f, 0.33f, 0.f},
    {-0.33f, -0.33f, 0.f},
    {0.33f, -0.33f, 0.f},

    {0.f, 0.f, -1.0f}
  };


static int32_t pyramidFaces[] =
  {
    0, 1, 2, 3, SO_END_FACE_INDEX, // top face

    0, 1, 4, SO_END_FACE_INDEX, // 4 faces about top
    1, 2, 4, SO_END_FACE_INDEX,
    2, 3, 4, SO_END_FACE_INDEX,
    3, 0, 4, SO_END_FACE_INDEX,
  };


// Routine to create a scene graph representing a dodecahedron
SoSeparator *
makePyramide()
{
  SoSeparator *result = new SoSeparator;
  result->ref();

  // Define coordinates for vertices
  SoCoordinate3 *myCoords = new SoCoordinate3;
  myCoords->point.setValues(0, 5, pyramidVertexes);
  result->addChild(myCoords);

  // Define the IndexedFaceSet, with indices into the vertices:
  SoIndexedFaceSet *myFaceSet = new SoIndexedFaceSet;
  myFaceSet->coordIndex.setValues (0, 21, (const int32_t*)pyramidFaces);
  result->addChild (myFaceSet);

  result->unrefNoDelete();
  return result;
}

/* Cree une fleche composee d'un cylindre et d'un cone.
 * La fleche a une hauteur total de <longueur>, dont
 * <proportionFleche>% pour la fleche. Le rayon du cylindre
 * est <radius>, et celui de la fleche <radius> * 5.
 * La fleche est oriente selon l'axe Y.
 */
static SoSeparator *
createArrow (float longueur,
         float proportionFleche,
         float radius)
{
  SoSeparator *fleche = new SoSeparator;
  fleche->ref();

  SoTranslation *poseCylindre = new SoTranslation;
  SoCylinder *line = new SoCylinder;
  SoTranslation *posePointe = new SoTranslation;
  SoCone *pointe = new SoCone;

  float l_cylindre = longueur * ( 1 - proportionFleche);
  float l_cone = longueur * proportionFleche;
  float radius_cylindre = radius;
  float radius_cone = radius * 5;

  line->radius.setValue (radius_cylindre);
  line->height.setValue (l_cylindre);

  poseCylindre->translation.setValue (0, l_cylindre / 2, 0);
  posePointe->translation.setValue (0.0, l_cylindre / 2 + l_cone / 2, 0);

  pointe->bottomRadius.setValue (radius_cone);
  pointe->height.setValue (l_cone);


  fleche->addChild (poseCylindre);
  fleche->addChild (line);
  fleche->addChild (posePointe);
  fleche->addChild (pointe);

  return fleche;
}


/*
  Cree un objet repere dans un noeud separator, et le renvoie.
  \return          : code d'erreur, SIMU_CODE_OK si tout s'est bien passe.
*/
#define LONGUEUR_FLECHE                           1.0f
#define RAYON_FLECHE                              0.002f
#define PROPORTION_FLECHE                         0.1f

SoSeparator *
createFrame (float longueurFleche = LONGUEUR_FLECHE    ,
         float proportionFleche = PROPORTION_FLECHE,
         float radiusFleche = RAYON_FLECHE)
{
  vpDEBUG_TRACE (15, "# Entree.");

  SoSeparator *frame = new SoSeparator;
  frame-> ref ();

  SoRotationXYZ *rotationY_X = new SoRotationXYZ;
  rotationY_X->axis = SoRotationXYZ::Z;
  rotationY_X->angle.setValue ((float)(- M_PI / 2));

  SoRotationXYZ *rotationX_Y = new SoRotationXYZ;
  rotationX_Y->axis = SoRotationXYZ::Z;
  rotationX_Y->angle.setValue ((float)(M_PI / 2));

  SoRotationXYZ *rotationY_Z = new SoRotationXYZ;
  rotationY_Z->axis = SoRotationXYZ::X;
  rotationY_Z->angle.setValue ((float)(M_PI / 2));

  SoMaterial *rouge = new SoMaterial;
  rouge->diffuseColor.setValue(1.0, 0.0, 0.0);
  rouge->emissiveColor.setValue(0.5, 0.0, 0.0);

  SoMaterial *vert = new SoMaterial;
  vert->diffuseColor.setValue(0.0, 1.0, 0.0);
  vert->emissiveColor.setValue(0.0, 0.5, 0.0);

  SoMaterial *bleu = new SoMaterial;
  bleu->diffuseColor.setValue(0.0, 0.0, 1.0);
  bleu->emissiveColor.setValue(0.0, 0.0, 0.5);

  SoSeparator *fleche = createArrow(longueurFleche,
                    proportionFleche,
                    radiusFleche);

  frame->addChild (rouge);
  frame->addChild (rotationY_X);
  frame->addChild (fleche);
  frame->addChild (vert);
  frame->addChild (rotationX_Y);
  frame->addChild (fleche);
  frame->addChild (bleu);
  frame->addChild (rotationY_Z);
  frame->addChild (fleche);

  frame-> unrefNoDelete ();

  vpDEBUG_TRACE (15, "# Sortie.");
  return frame;
}

SoSeparator *
createCameraObject (const float zoomFactor = 1.0)
{
  vpDEBUG_TRACE (15, "# Entree.");

  SoSeparator * cam = new SoSeparator;
  cam->ref ();

  SoMaterial *myMaterial = new SoMaterial;
  myMaterial->diffuseColor.setValue(1.0, 0.0, 0.0);
  myMaterial->emissiveColor.setValue(0.5, 0.0, 0.0);

  SoScale *taille = new SoScale;
  {
    float zoom = 0.1f * zoomFactor;
    taille->scaleFactor.setValue (zoom, zoom, zoom);
  }

  SoMaterial *couleurBlanc = new SoMaterial;
  couleurBlanc->diffuseColor.setValue(1.0, 1.0, 1.0);
  couleurBlanc->emissiveColor.setValue(1.0, 1.0, 1.0);
  SoDrawStyle * filDeFer = new SoDrawStyle;
  filDeFer->style.setValue (SoDrawStyle::LINES);
  filDeFer->lineWidth.setValue (1);

  SoSeparator * cone = new SoSeparator;
  cone->ref();
  cone->addChild (makePyramide());
  cone->addChild (couleurBlanc);
  cone->addChild (filDeFer);
  cone->addChild (makePyramide());
  cone->unrefNoDelete();

  cam->addChild(myMaterial);
  cam->addChild(taille);
  cam->addChild(cone);
  cam->addChild(createFrame(2.0f,0.1f,0.01f));

  //  cam->unref() ;
  vpDEBUG_TRACE (15, "# Sortie.");
  return cam;
}


//--------------------------------------------------------------
void
vpSimulator::init()
{
  internal_width = 200;
  internal_height= 200;
  external_width = 200;
  external_height= 200;

  mainWindowInitialized = false ;
  internalView = NULL ;
  externalView = NULL ;
  image_background = NULL ;

  zoomFactor = 1 ;
  cameraPositionInitialized = false ;

  // write image process
  realtime=NULL ;
  offScreenRenderer = NULL ;
  bufferView = NULL;
  get = 1 ;
  typeImage = grayImage;
  mainThread = NULL;
  scene = NULL;
  internalRoot = NULL;
  externalRoot = NULL;
  internalCamera = NULL;
  externalCamera = NULL;
  internalCameraPosition = NULL;
  extrenalCameraPosition = NULL;
  internalCameraObject = NULL;
#if defined(VISP_HAVE_SOWIN)
  // mainWindow = ?;
#elif defined(VISP_HAVE_SOQT)
  mainWindow = NULL;
#elif defined(VISP_HAVE_SOXT)
  // mainWindow = ?;
#endif

}
void
vpSimulator::kill()
{
  if (internalView !=NULL) {delete internalView ; internalView = NULL;}
  if (externalView !=NULL) {delete externalView ; externalView = NULL;}
  if (bufferView!=NULL) {delete[] bufferView ; bufferView = NULL;}
  if (image_background != NULL) {
    free (image_background);
    image_background = NULL;
  }

}

vpSimulator::vpSimulator()
  :
#if defined(VISP_HAVE_SOWIN)
    mainWindow(),
#elif defined(VISP_HAVE_SOQT)
    mainWindow(NULL),
#elif defined(VISP_HAVE_SOXT)
    mainWindow(),
#endif
    mainWindowInitialized(false), typeImage(vpSimulator::grayImage),
    image_background(NULL), internalView(NULL), externalView(NULL),
    mainThread(NULL), internal_width(0), internal_height(0),
    external_width(0), external_height(0), scene(NULL), internalRoot(NULL),
    externalRoot(NULL), internalCamera(NULL), externalCamera(NULL),
    internalCameraPosition(NULL), extrenalCameraPosition(NULL), internalCameraObject(NULL),
    zoomFactor(0.), cameraPositionInitialized(false), cMf(), internalCameraParameters(),
    externalCameraParameters(), realtime(NULL), offScreenRenderer(NULL), bufferView(NULL),
    get(0)
{
  vpSimulator::init() ;
}

vpSimulator::~vpSimulator()
{
  vpSimulator::kill() ;
}

void
vpSimulator::initSoApplication()
{
  mainWindow = vpViewer::init("");
  mainWindowInitialized = true ;
}

void
vpSimulator::initSceneGraph()
{
  this->scene = new SoSeparator;
  this->internalRoot = new SoSeparator;
  this->externalRoot = new SoSeparator;

  this->scene->ref();
  this->internalRoot->ref();
  this->externalRoot->ref();

  // define the camera SoPerspectiveCamera
  this->internalCamera = new SoPerspectiveCamera ;
  this->externalCamera = new SoPerspectiveCamera ;
  
  
  this->internalCameraPosition = new SoTransform;
  this->internalCameraObject = createCameraObject(zoomFactor);

  internalCamera->farDistance.setValue(100);
  internalCamera->nearDistance.setValue(0.0001f);



  // link between camera and internal root
  this->internalRoot->addChild (this->internalCamera);
  this->internalRoot->addChild (this->scene);

  this->externalRoot->addChild (this->externalCamera);
  this->externalRoot->addChild (this->scene);


  SoSeparator * camera = new SoSeparator;
  camera->ref();
  camera->addChild (this->internalCameraPosition);
  camera->addChild (this->internalCameraObject);
  this->externalRoot->addChild (camera);


  //this->externalRoot->addChild (internalCameraPosition);
  //  this->externalRoot->addChild (internalCameraObject);
  SoCube *cube = new SoCube ;
  cube->width=0.01f ;
  cube->depth=0.01f ;
  cube->height=0.01f ;

  this->externalRoot->addChild (cube);

  if (realtime==NULL)
  {

    SoDB::enableRealTimeSensor(FALSE);
    SoSceneManager::enableRealTimeUpdate(FALSE);
    realtime = (SbTime *) SoDB::getGlobalField("realTime");
    realtime->setValue(0.0);

  }


}



void
vpSimulator::setZoomFactor (const float zoom)
{
  zoomFactor = zoom;
  static bool firstTime = true;
  if(firstTime){
    SoScale *taille = new SoScale;
    taille->scaleFactor.setValue (zoomFactor, zoomFactor, zoomFactor);
    this->scene->addChild(taille);
    firstTime = false;
  }
  else{
    SoScale * taille = (SoScale*)this->scene->getChild(0);
    taille->scaleFactor.setValue (zoomFactor, zoomFactor, zoomFactor);  
  }
}

void 
vpSimulator::changeZoomFactor(const float zoomFactor, const int index)
{
  SoScale * taille = (SoScale*)this->scene->getChild(index);
  taille->scaleFactor.setValue (zoomFactor, zoomFactor, zoomFactor);
//  this->setZoomFactor(zoomFactor);
}

void
vpSimulator::initInternalViewer(const unsigned int width, const unsigned int height)
{
  internal_width = width;
  internal_height = height;

  if (mainWindowInitialized==false)
  {
    initSoApplication() ;
    initSceneGraph() ;
  }

  internalView = new vpViewer(mainWindow, this,vpViewer::internalView);

  // set the scene to render from this view
  internalView->setSceneGraph(internalRoot);

  // set the title
  internalView->setTitle("Internal camera view") ;

  //If the view mode is on, user events will be caught and used to influence
  //the camera position / orientation. in this viewer we do not want that,
  //we set it to false
  internalView->setViewing(false);

  // Turn the viewer decorations
  internalView->setDecoration(false) ;

  internalView->resize((int)width, (int)height, true) ;
  
  // open the window
  internalView->show();

  bufferView = new unsigned char[3*width*height] ;

}

void
vpSimulator::initExternalViewer(const unsigned int width, const unsigned int height)
{

  external_width = width;
  external_height = height;

  if (mainWindowInitialized==false)
  {
    initSoApplication() ;
    initSceneGraph() ;
  }

  externalView = new vpViewer(mainWindow,this, vpViewer::externalView);

  // set the scene to render this view
  externalView->setSceneGraph(externalRoot);

  // set the title
  externalView->setTitle("External View") ;
  externalView->resize((int)width, (int)height, false) ;
  // the goal here is to see all the scene and not to determine
  // a manual viewpoint
  externalView->viewAll ();

  // open the window
  externalView->show();
}

void
vpSimulator::setInternalCameraParameters(vpCameraParameters &_cam)
{
  internalCameraParameters = _cam ;


  float px = (float)_cam.get_px();
  float py = (float)_cam.get_py();
  float v  = internal_height/(2.f*py);

  internalCamera->ref() ;
  internalCamera->heightAngle = 2*atan(v);
  internalCamera->aspectRatio=(internal_width/internal_height)*(px/py);
  internalCamera->nearDistance = 0.001f ;

  internalCamera->farDistance = 1000;
  internalCamera->unrefNoDelete() ;
}

void
vpSimulator::setExternalCameraParameters(vpCameraParameters &_cam)
{
//   SoPerspectiveCamera *camera ;
//   camera  = (SoPerspectiveCamera *)this->externalView->getCamera() ;
  externalCameraParameters = _cam ;

  float px = (float)_cam.get_px();
  float py = (float)_cam.get_py();
  float v  = external_height/(2*py);

  externalCamera->ref() ;
  externalCamera->heightAngle = 2*atan(v);
  externalCamera->aspectRatio=(external_width/external_height)*(px/py);
  externalCamera->nearDistance = 0.001f ;
  externalCamera->farDistance = 1000;
  externalCamera->unrefNoDelete() ;

}

void
vpSimulator::getExternalCameraPosition(vpHomogeneousMatrix &cMf)
{
/*  SoCamera *camera ;
  camera  = this->externalView->getCamera() ;*/
  SoSFVec3f     position = externalCamera->position ;

  // get the rotation
  SoSFRotation  orientation = externalCamera->orientation;
  SbVec3f axis ;  float angle ;
  orientation.getValue(axis,angle) ;
  SbRotation rotation(axis,angle) ;

  // get the translation
  SbVec3f t ;
  t = position.getValue() ;

  SbMatrix matrix ;
  matrix.setRotate(rotation) ;

  vpHomogeneousMatrix fMc ;
  SbMatrix rotX;
  rotX.setRotate (SbRotation (SbVec3f(1.0f, 0.0f, 0.0f), (float)M_PI));
  matrix.multLeft (rotX);
  for(unsigned int i=0;i<4;i++)
    for(unsigned int j=0;j<4;j++)
      fMc[j][i]=matrix[(int)i][(int)j];
  fMc[0][3] = t[0] ;
  fMc[1][3] = t[1] ;
  fMc[2][3] = t[2] ;

  cMf = fMc.inverse() ;
}


void
vpSimulator::setCameraPosition(vpHomogeneousMatrix &_cMf)
{
  cameraPositionInitialized = true ;
  cMf = _cMf ;
}
void
vpSimulator::moveInternalCamera(vpHomogeneousMatrix &cMf)
{

  SbMatrix matrix;
  SbRotation rotCam;
  SbMatrix rotX;
  rotX.setRotate (SbRotation (SbVec3f(1.0f, 0.0f, 0.0f), (float)M_PI));
  for(unsigned int i=0;i<4;i++)
    for(unsigned int j=0;j<4;j++)
      matrix[(int)j][(int)i]=(float)cMf[i][j];

  matrix= matrix.inverse();
  matrix.multLeft (rotX);
  rotCam.setValue(matrix);


  internalCamera->ref() ;
  internalCamera->orientation.setValue(rotCam);
  internalCamera->position.setValue(matrix[3][0],matrix[3][1],matrix[3][2]);
  internalCamera->unref() ;

  rotX.setRotate (SbRotation (SbVec3f(-1.0f, 0.0f, 0.0f), (float)M_PI));
  matrix.multLeft (rotX);
  rotCam.setValue(matrix);
  internalCameraPosition->ref() ;
  internalCameraPosition->rotation.setValue(rotCam);
  internalCameraPosition->translation.setValue(matrix[3][0],matrix[3][1],matrix[3][2]);
  internalCameraPosition->unref() ;
}


void
vpSimulator::redraw()
{

  //  if (this->cameraPositionInitialized==true)
  {
    if (this->externalView != NULL)
    {
      this->externalView->render() ; //call actualRedraw()
      //      vpHomogeneousMatrix c ;
      //      getExternalCameraPosition(c) ;
    }
    if (this->internalView != NULL)
    {
      this->moveInternalCamera(this->cMf) ;
      this->internalView->render() ; //call actualRedraw()
    }
  }
}

// This function is called 20 times each second.
static void
timerSensorCallback(void *data , SoSensor *)
{
  vpSimulator * simulator = (vpSimulator *)data ;

  simulator->redraw() ;

}


void
vpSimulator::mainLoop()
{
  if (mainWindowInitialized==false)
  {
    vpERROR_TRACE("main window is not opened ") ;
  }

  vpTime::wait(1000) ;

  // Timer sensor
  SoTimerSensor * timer = new SoTimerSensor(timerSensorCallback, (void *)this);
  timer->setInterval(0.01);
  timer->schedule();
  vpViewer::mainLoop() ;
}


//-----------------------------------------------------------------
// scene stuff
//-----------------------------------------------------------------

void
vpSimulator::load(const char *file_name)
{

  SoInput input;
  if (!input.openFile(file_name))
  {
    vpERROR_TRACE("Erreur cannot open file %s",file_name);
  }

  SoSeparator *newscene=SoDB::readAll(&input);
  newscene->ref() ;
  if (newscene==NULL)
  {
    vpERROR_TRACE("Error while reading %s",file_name);
  }
  
  SoScale *taille = new SoScale;
  taille->scaleFactor.setValue (zoomFactor, zoomFactor, zoomFactor);

//  newscene->addChild(taille);

//  std::cout << "this->scene->getNumChildren() = " << this->scene->getNumChildren() << std::endl;

  this->scene->addChild(taille);
  this->scene->addChild(newscene);
  newscene->unref() ;

}


void
vpSimulator::save(const char *name,bool binary)
{
  // get a pointer to the object "name"
  SoOutput output ;
  output.openFile(name) ;

  if (binary==true)  output.setBinary(TRUE) ;

  SoWriteAction writeAction(&output) ;
  writeAction.apply(scene) ;
  output.closeFile() ;

}

void
vpSimulator::addFrame (const vpHomogeneousMatrix &fMo, float zoom)
{

  SoScale *taille = new SoScale;
  taille->scaleFactor.setValue (zoom, zoom, zoom);

  SoSeparator * frame = new SoSeparator;
  frame->ref();
  frame->addChild(taille);
  frame->addChild(createFrame (LONGUEUR_FLECHE*zoom, PROPORTION_FLECHE*zoom, RAYON_FLECHE*zoom));
  this->addObject(frame, fMo, externalRoot) ;
  // frame->unref();
}

void
vpSimulator::addAbsoluteFrame (float zoom)
{
  scene->addChild(createFrame (LONGUEUR_FLECHE*zoom, PROPORTION_FLECHE*zoom, RAYON_FLECHE*zoom)) ;
}

void
vpSimulator::load(const char * iv_filename,const vpHomogeneousMatrix &fMo)
{

  SoInput in;
  SoSeparator * newObject;

  if (! in.openFile (iv_filename))
  {
    vpERROR_TRACE ("Erreur lors de la lecture du fichier %s.", iv_filename);
  }

  newObject = SoDB::readAll (&in);
  if (NULL == newObject)
  {
    vpERROR_TRACE ("Problem reading data for file <%s>.", iv_filename);
  }

  try
  {
    this->addObject (newObject, fMo) ;
  }
  catch(...)
  {
    vpERROR_TRACE("Error adding object from file <%s> ",iv_filename) ;
    throw ;
  }

}


void
vpSimulator::addObject(SoSeparator * newObject, const vpHomogeneousMatrix &fMo)
{
  try
  {
    this->addObject(newObject, fMo , scene);
  }
  catch(...)
  {
    vpERROR_TRACE("Error adding object in scene graph ") ;
    throw ;
  }
}





void
vpSimulator::addObject(SoSeparator * object,
               const vpHomogeneousMatrix &fMo,
               SoSeparator * root)
{

  bool identity = true ;
  for (unsigned int i=0 ; i <4 ;i++){
    for (unsigned int j=0 ; j < 4 ; j++){
      if (i==j){
          if  (fabs(fMo[i][j] -1) > 1e-6)  identity=false ;
      }
      else{
        if (fabs(fMo[i][j]) > 1e-6)  identity=false ;
      }
    }
  }

  if (identity==true)
  {
    root->addChild (object);
  }
  else
  {
    SbMatrix matrix;
    SbRotation rotation;
    for(unsigned int i=0;i<4;i++)
      for(unsigned int j=0;j<4;j++)
        matrix[(int)j][(int)i]=(float)fMo[i][j];

    //  matrix= matrix.inverse();
    rotation.setValue(matrix);

    SoTransform *displacement = new SoTransform;
    SoSeparator *newNode =  new SoSeparator;

    displacement->rotation.setValue(rotation);
    displacement->translation.setValue(matrix[3][0],
                       matrix[3][1],
                       matrix[3][2]);

    root->addChild (newNode);
    newNode->addChild (displacement);
    newNode->addChild (object);

  }
}


void
vpSimulator::initApplication(void *(*start_routine)(void *))
{
  //pthread_create (&mainThread, NULL, start_routine, (void *)this);
  mainThread  = SbThread::create (start_routine, (void *)this);
}

void
vpSimulator::initApplication(void *(*start_routine)(void *), void* data)
{
  mainThread  = SbThread::create (start_routine, (void *)data);
}

void
vpSimulator::initMainApplication()
{
  //pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL );
  //pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
  vpTime::wait(1000) ;
}
void
vpSimulator::closeMainApplication()
{
  vpViewer::exitMainLoop() ;
  //pthread_exit (NULL);
}





/* Initialise le SoOffScreenRenderer si necessaire, puis realise le rendu.
 * Quand la fonction rend la main, le buffer est pret et n'a plus qu'a etre
 * enregistre ou passe a l'utilisateur.
 * INPUT:
 *   - vueInterne est vrai ssi il faut rendre la vue interne, faux ssi
 * il faut rendre la vue externe.
 * OUTPUT:
 *   - width : largeur de l'image dans le buffer.
 *   - height : hauteur de l'image dans le buffer.
 */
void
vpSimulator::offScreenRendering(vpSimulatorViewType view, int * width, int * height)
{

  SbVec2s size(320,200);
  SoNode * thisroot;

  {
    if (view==vpSimulator::INTERNAL)
    {
      size = this ->internalView ->getViewportRegion().getWindowSize();
      thisroot = this ->internalView->getSceneManager()->getSceneGraph() ;
    }
    else
    {
      size = this ->externalView ->getViewportRegion().getWindowSize();
      thisroot =  this ->externalView->getSceneManager()->getSceneGraph() ;
    }
  }
  SbViewportRegion myViewPort(size);

  // Creation du rendu si necessaire.
  if (NULL == this ->offScreenRenderer)
  {
    //Init du SoOffscreenRenderer
    this ->offScreenRenderer = new SoOffscreenRenderer(myViewPort);
  }
  else
  {
    // Redefini le view port
    this ->offScreenRenderer ->setViewportRegion (myViewPort);
  }

  // Rendu offscreen
  if (! this ->offScreenRenderer ->render(thisroot))
  {
    vpERROR_TRACE("La scene n'a pas pu etre rendue offscreen.");
    delete this ->offScreenRenderer;
    this ->offScreenRenderer = NULL;
  }
  else
  {


    /*
      if (view==vpSimulator::INTERNAL)
      {
      //Recopie du buffer contenant l'image, dans bufferView
      int length = 3*size [0]*size[1];
      delete [] bufferView;
      bufferView = new unsigned char [length];
      for(int i=0; i<length; i++)
      {
      bufferView[i] = this ->offScreenRenderer->getBuffer()[i];
      }
      }*/

  }

  //  exit(1) ;
  if (NULL != width) { * width = size [0]; }
  if (NULL != height) { * height = size [1]; }


}


/* Enregistre l'image de vue interne ou externe dans un fichier RGB.
 * Effectue le rendu dans un buffer plutot qu'a l'ecran, puis sauvegarde
 * ce buffer au format PS (copie directe).
 * INPUT
 *   - fileName: nom du fichier dans lequel placer le resultat.
 * OUTPUT
 *   - RETURN : Code d'erreur CODE_OK si tout s'est bien passe.
 */

#ifdef VISP_HAVE_MODULE_IO
void
vpSimulator::write (const char * fileName)
{

  while (get==0) {  vpTRACE("%d ",get); }
  get =2 ;
  /*  FILE *fp = fopen(fileName, "w");
      fprintf(fp,"P6 \n %d %d \n 255",internal_width,internal_height) ;
      fwrite(bufferView, sizeof(unsigned char), internal_width*internal_height*3, fp) ;*/
  vpImage<vpRGBa> I(internal_height, internal_width) ;


  for(unsigned int i=0 ; i < internal_height ; i++)
    for(unsigned int j=0 ; j < internal_width ; j++)
    {
      unsigned char r,g,b ;
      unsigned int index = 3*((internal_height-i-1)* internal_width + j );
      r = *(bufferView+index);
      g = *(bufferView+index+1);
      b = *(bufferView+index+2);
      I[i][j].R =r ;
      I[i][j].G =g ;
      I[i][j].B =b ;
    }
  vpImageIo::write(I,fileName) ;
  // fclose (fp);
  get =1 ;
}
#endif

void
vpSimulator::getSizeInternalView(int& width, int& height)
{
  SbVec2s size = this ->internalView ->getViewportRegion().getWindowSize();
  width = size [0];
  height = size[1];
}

void
vpSimulator::getInternalImage(vpImage<vpRGBa> &I)
{
  //while (get==0) {;}
  get =2 ;
  I.resize(internal_height,internal_width) ;
  vpImageConvert::RGBToRGBa(bufferView,(unsigned char*)I.bitmap,internal_width,internal_height,true);
  get =1 ;
}

void
vpSimulator::getInternalImage(vpImage<unsigned char> &I)
{
  //while (get==0) {;}
  get =2 ;
  I.resize(internal_height,internal_width) ;
  vpImageConvert::RGBToGrey(bufferView,I.bitmap,internal_width,internal_height,true);
  get =1 ;
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_ar.a(vpSimulator.cpp.o) has no symbols
void dummy_vpSimulator() {};
#endif