vpPanda3DLight.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_LIGHT_H
#define VP_PANDA3D_LIGHT_H
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PANDA3D)
 
#include <string>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpRGBf.h>
#include <visp3/ar/vpPanda3DBaseRenderer.h>
 
#include "nodePath.h"
#include "ambientLight.h"
#include "directionalLight.h"
#include "pointLight.h"
#include "directionalLight.h"
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPanda3DLight
{
public:
  vpPanda3DLight(const std::string &name, const vpRGBf &color) : m_name(name), m_color(color) { }
 
  const std::string &getName() const { return m_name; }
  const vpRGBf &getColor() const { return m_color; }
 
  virtual void addToScene(NodePath &scene) const = 0;
 
protected:
  std::string m_name; 
  vpRGBf m_color; 
};
 
class VISP_EXPORT vpPanda3DAmbientLight : public vpPanda3DLight
{
public:
  vpPanda3DAmbientLight(const std::string &name, const vpRGBf &color) : vpPanda3DLight(name, color) { }
 
  void addToScene(NodePath &scene) const VP_OVERRIDE
  {
    PT(AmbientLight) light = new AmbientLight(m_name);
    light->set_color(LColor(m_color.R, m_color.G, m_color.B, 1));
    NodePath alnp = scene.attach_new_node(light);
    scene.set_light(alnp);
  }
};
 
class VISP_EXPORT vpPanda3DPointLight : public vpPanda3DLight
{
public:
  vpPanda3DPointLight(const std::string &name, const vpRGBf &color, const vpColVector &position, const vpColVector &attenuation)
    : vpPanda3DLight(name, color), m_attenuation(attenuation)
  {
    if (position.size() != 3) {
      throw vpException(vpException::dimensionError, "Point light position must be a 3 dimensional vector");
    }
    m_position.resize(4, false);
    m_position.insert(0, position);
    m_position[3] = 1.0;
    if (attenuation.size() != 3) {
      throw vpException(vpException::dimensionError, "Point light attenuation components must be a 3 dimensional vector");
    }
  }
 
  void addToScene(NodePath &scene) const VP_OVERRIDE
  {
    PT(PointLight) light = new PointLight(m_name);
    light->set_color(LColor(m_color.R, m_color.G, m_color.B, 1));
    light->set_attenuation(LVecBase3(m_attenuation[0], m_attenuation[1], m_attenuation[2]));
    NodePath np = scene.attach_new_node(light);
    //vpColVector posPanda = vpPanda3DBaseRenderer::vispPointToPanda(m_position);
    np.set_pos(m_position[0], m_position[1], m_position[2]);
    scene.set_light(np);
  }
 
private:
  vpColVector m_position; 
  vpColVector m_attenuation; 
};
class VISP_EXPORT vpPanda3DDirectionalLight : public vpPanda3DLight
{
public:
  vpPanda3DDirectionalLight(const std::string &name, const vpRGBf &color, const vpColVector &direction)
    : vpPanda3DLight(name, color), m_direction(direction)
  {
    if (m_direction.size() != 3) {
      throw vpException(vpException::dimensionError, "Direction light direction must be a 3 dimensional vector");
    }
    m_direction.normalize();
  }
 
  void addToScene(NodePath &scene) const VP_OVERRIDE
  {
    PT(DirectionalLight) light = new DirectionalLight(m_name);
    light->set_color(LColor(m_color.R, m_color.G, m_color.B, 1));
    vpColVector dir = vpPanda3DBaseRenderer::vispVectorToPanda(m_direction);
    light->set_direction(LVector3f(m_direction[0], m_direction[1], m_direction[2]));
    NodePath np = scene.attach_new_node(light);
    scene.set_light(np);
  }
 
private:
  vpColVector m_direction; 
};
 
class VISP_EXPORT vpPanda3DLightable
{
public:
  virtual ~vpPanda3DLightable() = default;
  virtual void addLight(const vpPanda3DLight &light) = 0;
};
class VISP_EXPORT vpPanda3DLightableScene : public vpPanda3DLightable
{
public:
  vpPanda3DLightableScene() : vpPanda3DLightable()
  { }
 
  vpPanda3DLightableScene(NodePath &scene) : vpPanda3DLightable(), m_lightableScene(scene)
  { }
 
  void addLight(const vpPanda3DLight &light) VP_OVERRIDE
  {
    if (m_lightableScene.is_empty()) {
      throw vpException(vpException::notInitialized, "Tried to add a light to a scene that is not initialized.");
    }
    light.addToScene(m_lightableScene);
  }
protected:
  void setLightableScene(NodePath &scene) { m_lightableScene = scene; }
private:
  NodePath m_lightableScene; 
};
 
END_VISP_NAMESPACE
 
#endif
#endif