vpPanda3DBaseRenderer.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.
 */
 
#ifndef VP_PANDA3D_BASE_RENDERER_H
#define VP_PANDA3D_BASE_RENDERER_H
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PANDA3D)
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/ar/vpPanda3DRenderParameters.h>
 
#include <pandaFramework.h>
#include <pandaSystem.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPanda3DBaseRenderer
{
public:
  vpPanda3DBaseRenderer(const std::string &rendererName)
    : m_name(rendererName), m_renderOrder(-100), m_framework(nullptr), m_window(nullptr), m_camera(nullptr)
  {
    setVerticalSyncEnabled(false);
  }
 
  virtual ~vpPanda3DBaseRenderer() = default;
 
  virtual void initFramework();
  virtual void initFromParent(std::shared_ptr<PandaFramework> framework, PointerTo<WindowFramework> window);
  virtual void initFromParent(const vpPanda3DBaseRenderer &renderer);
 
  virtual void beforeFrameRendered() { }
  virtual void renderFrame();
  virtual void afterFrameRendered()
  {
    GraphicsOutput *mainBuffer = getMainOutputBuffer();
    if (mainBuffer != nullptr) {
      m_framework->get_graphics_engine()->extract_texture_data(mainBuffer->get_texture(), mainBuffer->get_gsg());
    }
  }
 
  const std::string &getName() const { return m_name; }
 
  void setName(const std::string &name) { m_name = name; }
 
  NodePath &getRenderRoot() { return m_renderRoot; }
 
  virtual void setRenderParameters(const vpPanda3DRenderParameters &params);
 
  virtual bool isRendering3DScene() const { return true; }
 
  int getRenderOrder() const { return m_renderOrder; }
 
  void setRenderOrder(int order)
  {
    int previousOrder = m_renderOrder;
    m_renderOrder = order;
    for (GraphicsOutput *buffer: m_buffers) {
      buffer->set_sort(buffer->get_sort() + (order - previousOrder));
    }
  }
 
  virtual void setCameraPose(const vpHomogeneousMatrix &wTc);
 
  virtual vpHomogeneousMatrix getCameraPose();
 
  virtual void setNodePose(const std::string &name, const vpHomogeneousMatrix &wTo);
 
  virtual void setNodePose(NodePath &object, const vpHomogeneousMatrix &wTo);
 
  virtual vpHomogeneousMatrix getNodePose(const std::string &name);
 
  virtual vpHomogeneousMatrix getNodePose(NodePath &object);
 
  void computeNearAndFarPlanesFromNode(const std::string &name, float &near, float &far, bool fast);
 
  NodePath loadObject(const std::string &nodeName, const std::string &modelPath);
 
  virtual void addNodeToScene(const NodePath &object);
 
  void setVerticalSyncEnabled(bool useVsync);
  void setAbortOnPandaError(bool abort);
  void enableDebugLog();
 
  static vpColVector vispPointToPanda(const vpColVector &point);
  static vpColVector vispVectorToPanda(const vpColVector &vec);
 
  void printStructure();
 
  virtual GraphicsOutput *getMainOutputBuffer() { return nullptr; }
 
  virtual void enableSharedDepthBuffer(vpPanda3DBaseRenderer &sourceBuffer);
 
protected:
 
  virtual void setupScene();
 
  virtual void setupCamera();
 
  virtual void setupRenderTarget() { }
 
  const static vpHomogeneousMatrix VISP_T_PANDA; 
  const static vpHomogeneousMatrix PANDA_T_VISP; 
 
protected:
  std::string m_name; 
  int m_renderOrder; 
  std::shared_ptr<PandaFramework> m_framework; 
  PointerTo<WindowFramework> m_window; 
  vpPanda3DRenderParameters m_renderParameters; 
  NodePath m_renderRoot; 
  PointerTo<Camera> m_camera;
  NodePath m_cameraPath; 
  std::vector<GraphicsOutput *> m_buffers; 
};
 
END_VISP_NAMESPACE
#endif //VISP_HAVE_PANDA3D
#endif