vpD3DRenderer.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://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:
 * D3D renderer for windows 32 display
 */
 
#ifndef VP_D3D_RENDERER_H
#define VP_D3D_RENDERER_H
 
#include <visp3/core/vpConfig.h>
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
#if (defined(VISP_HAVE_D3D9))
 
// Include WinSock2.h before windows.h to ensure that winsock.h is not
// included by windows.h since winsock.h and winsock2.h are incompatible
#include <WinSock2.h>
#include <d3dx9.h>
#include <visp3/core/vpDisplayException.h>
#include <visp3/gui/vpWin32Renderer.h>
#include <windows.h>
 
#include <iostream>
 
BEGIN_VISP_NAMESPACE
 
class VISP_EXPORT vpD3DRenderer : public vpWin32Renderer
{
  IDirect3D9 *pD3D;
 
  // The d3d device we will be working with.
  IDirect3DDevice9 *pd3dDevice;
 
  // Sprite used to render the texture.
  ID3DXSprite *pSprite;
 
  // The system memory texture :
  // The one we will be drawing on.
  IDirect3DTexture9 *pd3dText;
 
  // The video memory texture :
  // The one we will use for display.
  IDirect3DTexture9 *pd3dVideoText;
 
  // The texture's width.
  unsigned int textWidth;
 
  // The window's handle.
  HWND hWnd;
 
  // Colors for overlay drawn with d3d directly.
  unsigned long colors[vpColor::id_unknown];
 
  // Colors for overlay drawn with GDI.
  COLORREF colorsGDI[vpColor::id_unknown];
 
  // Font used for text drawing.
  HFONT hFont;
 
public:
  bool init(HWND hwnd, unsigned int width, unsigned int height);
  bool render();
 
  vpD3DRenderer();
  virtual ~vpD3DRenderer() VP_OVERRIDE;
 
  void setImg(const vpImage<vpRGBa> &im);
  void setImg(const vpImage<unsigned char> &im);
  void setImgROI(const vpImage<vpRGBa> &im, const vpImagePoint &iP, unsigned int width, unsigned int height);
  void setImgROI(const vpImage<unsigned char> &im, const vpImagePoint &iP, unsigned int width, unsigned int height);
 
  void setPixel(const vpImagePoint &iP, const vpColor &color);
 
  void drawLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness,
                int style = PS_SOLID);
 
  void drawRect(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
                bool fill = false, unsigned int thickness = 1);
 
  void clear(const vpColor &color);
 
  void drawCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
                  unsigned int thickness = 1);
 
  void drawText(const vpImagePoint &ip, const char *text, const vpColor &color);
 
  void drawCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
 
  void drawArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int w, unsigned int h,
                 unsigned int thickness = 1);
 
  void getImage(vpImage<vpRGBa> &I) VP_OVERRIDE;
 
private:
  void initView(float, float);
 
  void subDrawCircle(int i, int j, int x, int y, vpColor col, unsigned char *buf, unsigned int pitch, unsigned int maxX,
                     unsigned int maxY);
 
  void convert(const vpImage<vpRGBa> &I, unsigned char *imBuffer, unsigned int pitch);
  void convert(const vpImage<unsigned char> &I, unsigned char *imBuffer, unsigned int pitch);
  void convertROI(const vpImage<vpRGBa> &I, unsigned char *imBuffer, unsigned int pitch, int i_min, int j_min,
                  int i_max, int j_max);
  void convertROI(const vpImage<unsigned char> &I, unsigned char *imBuffer, unsigned int pitch, int i_min, int j_min,
                  int i_max, int j_max);
 
  inline void setBufferPixel(unsigned char *buf, unsigned int pitch, int x, int y, const vpColor &color,
                             unsigned int maxX, unsigned int maxY)
  {
    unsigned long c;
    if (color.id < vpColor::id_unknown)
      c = colors[color.id];
    else {
      c = D3DCOLOR_ARGB(0xFF, color.R, color.G, color.B);
    }
 
    if (x >= 0 && y >= 0 && x <= (int)maxX && y <= (int)maxY)
      *(unsigned long *)(buf + (y * pitch) + (x << 2)) = c; // colors[color];
  }
  inline void setBufferPixel(unsigned char *buf, unsigned int pitch, int x, int y, const vpColor &color)
  {
    unsigned long c;
    if (color.id < vpColor::id_unknown)
      c = colors[color.id];
    else {
      c = D3DCOLOR_ARGB(0xFF, color.R, color.G, color.B);
    }
 
    *(unsigned long *)(buf + (y * pitch) + (x << 2)) = c; // colors[color];
  }
 
  unsigned int supPowerOf2(unsigned int n);
};
#endif
 
END_VISP_NAMESPACE
 
#endif
#endif