vpSimulator.cpp

/*
 * 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:
 * Simulator based on Coin3d.
 */
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_COIN3D_AND_GUI
 
#include <visp3/ar/vpSimulator.h>
#include <visp3/core/vpDebug.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/SoCoordinate3.h>    /* Liste de points.                */
#include <Inventor/nodes/SoCylinder.h>       /* Objet cylindre.                    */
#include <Inventor/nodes/SoIndexedFaceSet.h> /* Liste de face.               */
#include <Inventor/nodes/SoPointLight.h>     /* Objet lumiere ponctuelle.        */
#include <Inventor/nodes/SoRotationXYZ.h>    /* Transfo rotation simple.       */
#include <Inventor/nodes/SoScale.h>          /* Trasnfo mise a l'echelle.             */
#include <Inventor/nodes/SoTranslation.h>    /* Trasnfo translation.            */
 
#include <Inventor/actions/SoWriteAction.h>
#include <Inventor/nodes/SoDirectionalLight.h> /* Objet lumiere directionnelle*/
#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/nodes/SoMaterial.h>         /* Matiere (couleur) des objets.     */
 
BEGIN_VISP_NAMESPACE
// 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(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 = nullptr;
  externalView = nullptr;
  image_background = nullptr;
 
  zoomFactor = 1;
  cameraPositionInitialized = false;
 
  // write image process
  realtime = nullptr;
  offScreenRenderer = nullptr;
  bufferView = nullptr;
  get = 1;
  typeImage = grayImage;
  mainThread = nullptr;
  scene = nullptr;
  internalRoot = nullptr;
  externalRoot = nullptr;
  internalCamera = nullptr;
  externalCamera = nullptr;
  internalCameraPosition = nullptr;
  extrenalCameraPosition = nullptr;
  internalCameraObject = nullptr;
#if defined(VISP_HAVE_SOWIN)
// mainWindow = ?;
#elif defined(VISP_HAVE_SOQT)
  mainWindow = nullptr;
#elif defined(VISP_HAVE_SOXT)
// mainWindow = ?;
#endif
}
void vpSimulator::kill()
{
  if (internalView != nullptr) {
    delete internalView;
    internalView = nullptr;
  }
  if (externalView != nullptr) {
    delete externalView;
    externalView = nullptr;
  }
  if (bufferView != nullptr) {
    delete[] bufferView;
    bufferView = nullptr;
  }
  if (image_background != nullptr) {
    free(image_background);
    image_background = nullptr;
  }
}
 
vpSimulator::vpSimulator()
  :
#if defined(VISP_HAVE_SOWIN)
  mainWindow(),
#elif defined(VISP_HAVE_SOQT)
  mainWindow(nullptr),
#elif defined(VISP_HAVE_SOXT)
  mainWindow(),
#endif
  mainWindowInitialized(false), typeImage(vpSimulator::grayImage), image_background(nullptr), internalView(nullptr),
  externalView(nullptr), mainThread(nullptr), internal_width(0), internal_height(0), external_width(0), external_height(0),
  scene(nullptr), internalRoot(nullptr), externalRoot(nullptr), internalCamera(nullptr), externalCamera(nullptr),
  internalCameraPosition(nullptr), extrenalCameraPosition(nullptr), internalCameraObject(nullptr), zoomFactor(0.),
  cameraPositionInitialized(false), cMf(), internalCameraParameters(), externalCameraParameters(), realtime(nullptr),
  offScreenRenderer(nullptr), bufferView(nullptr), 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 == nullptr) {
 
    SoDB::enableRealTimeSensor(FALSE);
    SoSceneManager::enableRealTimeUpdate(FALSE);
    realtime = (SbTime *)SoDB::getGlobalField("realTime");
    realtime->setValue(0.0);
  }
}
 
void vpSimulator::setZoomFactor(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(float zoomFactor, int index)
{
  SoScale *taille = (SoScale *)this->scene->getChild(index);
  taille->scaleFactor.setValue(zoomFactor, zoomFactor, zoomFactor);
  //  this->setZoomFactor(zoomFactor);
}
 
void vpSimulator::initInternalViewer(unsigned int width, 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(unsigned int width, 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 != nullptr) {
      this->externalView->render(); // call actualRedraw()
      //      vpHomogeneousMatrix c ;
      //      getExternalCameraPosition(c) ;
    }
    if (this->internalView != nullptr) {
      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 == nullptr) {
    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 (nullptr == 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, nullptr, 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, nullptr );
  // pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, nullptr);
  vpTime::wait(1000);
}
void vpSimulator::closeMainApplication()
{
  vpViewer::exitMainLoop();
  // pthread_exit (nullptr);
}
 
/* 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 (nullptr == 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 = nullptr;
  }
  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 (nullptr != width) {
    *width = size[0];
  }
  if (nullptr != 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;
}
END_VISP_NAMESPACE
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning: libvisp_ar.a(vpSimulator.cpp.o) has no symbols
void dummy_vpSimulator() { };
#endif