1 /* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
2 *
3 * This library is open source and may be redistributed and/or modified under
4 * the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
5 * (at your option) any later version. The full license is in LICENSE file
6 * included with this distribution, and on the openscenegraph.org website.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 * OpenSceneGraph Public License for more details.
12 */
13
14 #include <osgViewer/config/SphericalDisplay>
15 #include <osgViewer/Renderer>
16 #include <osgViewer/View>
17 #include <osgViewer/GraphicsWindow>
18
19 #include <osg/io_utils>
20
21 #include <osg/TextureCubeMap>
22 #include <osg/TextureRectangle>
23 #include <osg/Texture1D>
24 #include <osg/Texture2D>
25 #include <osg/TexMat>
26 #include <osg/Stencil>
27 #include <osg/PolygonStipple>
28 #include <osg/ValueObject>
29
30 using namespace osgViewer;
31
create3DSphericalDisplayDistortionMesh(const osg::Vec3 & origin,const osg::Vec3 & widthVector,const osg::Vec3 & heightVector,double sphere_radius,double collar_radius,osg::Image * intensityMap,const osg::Matrix & projectorMatrix) const32 osg::Geometry* SphericalDisplay::create3DSphericalDisplayDistortionMesh(const osg::Vec3& origin, const osg::Vec3& widthVector, const osg::Vec3& heightVector, double sphere_radius, double collar_radius,osg::Image* intensityMap, const osg::Matrix& projectorMatrix) const
33 {
34 osg::Vec3d center(0.0,0.0,0.0);
35 osg::Vec3d eye(0.0,0.0,0.0);
36
37 double distance = sqrt(sphere_radius*sphere_radius - collar_radius*collar_radius);
38
39 bool centerProjection = false;
40
41 osg::Vec3d projector = eye - osg::Vec3d(0.0,0.0, distance);
42
43 OSG_INFO<<"create3DSphericalDisplayDistortionMesh : Projector position = "<<projector<<std::endl;
44 OSG_INFO<<"create3DSphericalDisplayDistortionMesh : distance = "<<distance<<std::endl;
45
46
47 // create the quad to visualize.
48 osg::Geometry* geometry = new osg::Geometry();
49
50 geometry->setSupportsDisplayList(false);
51
52 osg::Vec3 xAxis(widthVector);
53 float width = widthVector.length();
54 xAxis /= width;
55
56 osg::Vec3 yAxis(heightVector);
57 float height = heightVector.length();
58 yAxis /= height;
59
60 int noSteps = 50;
61
62 osg::Vec3Array* vertices = new osg::Vec3Array;
63 osg::Vec3Array* texcoords0 = new osg::Vec3Array;
64 osg::Vec2Array* texcoords1 = intensityMap==0 ? new osg::Vec2Array : 0;
65 osg::Vec4Array* colors = new osg::Vec4Array;
66
67 osg::Vec3 bottom = origin;
68 osg::Vec3 dx = xAxis*(width/((float)(noSteps-1)));
69 osg::Vec3 dy = yAxis*(height/((float)(noSteps-1)));
70
71 osg::Vec3d screenCenter = origin + widthVector*0.5f + heightVector*0.5f;
72 float screenRadius = heightVector.length() * 0.5f;
73
74 int i,j;
75
76 if (centerProjection)
77 {
78 for(i=0;i<noSteps;++i)
79 {
80 osg::Vec3 cursor = bottom+dy*(float)i;
81 for(j=0;j<noSteps;++j)
82 {
83 osg::Vec2 delta(cursor.x() - screenCenter.x(), cursor.y() - screenCenter.y());
84 double theta = atan2(-delta.y(), delta.x());
85 double phi = osg::PI_2 * delta.length() / screenRadius;
86 if (phi > osg::PI_2) phi = osg::PI_2;
87
88 phi *= 2.0;
89
90 if (theta<0.0) theta += 2.0*osg::PI;
91
92 // OSG_NOTICE<<"theta = "<<theta<< "phi="<<phi<<std::endl;
93
94 osg::Vec3 texcoord(sin(phi) * cos(theta),
95 sin(phi) * sin(theta),
96 cos(phi));
97
98 vertices->push_back(cursor);
99 texcoords0->push_back(texcoord * projectorMatrix);
100
101 osg::Vec2 texcoord1(theta/(2.0*osg::PI), 1.0f - phi/osg::PI_2);
102 if (intensityMap)
103 {
104 colors->push_back(intensityMap->getColor(texcoord1));
105 }
106 else
107 {
108 colors->push_back(osg::Vec4(1.0f,1.0f,1.0f,1.0f));
109 if (texcoords1) texcoords1->push_back( texcoord1 );
110 }
111
112 cursor += dx;
113 }
114 // OSG_NOTICE<<std::endl;
115 }
116 }
117 else
118 {
119 for(i=0;i<noSteps;++i)
120 {
121 osg::Vec3 cursor = bottom+dy*(float)i;
122 for(j=0;j<noSteps;++j)
123 {
124 osg::Vec2 delta(cursor.x() - screenCenter.x(), cursor.y() - screenCenter.y());
125 double theta = atan2(-delta.y(), delta.x());
126 double phi = osg::PI_2 * delta.length() / screenRadius;
127 if (phi > osg::PI_2) phi = osg::PI_2;
128 if (theta<0.0) theta += 2.0*osg::PI;
129
130 // OSG_NOTICE<<"theta = "<<theta<< "phi="<<phi<<std::endl;
131
132 double f = distance * sin(phi);
133 double e = distance * cos(phi) + sqrt( sphere_radius*sphere_radius - f*f);
134 double l = e * cos(phi);
135 double h = e * sin(phi);
136 double z = l - distance;
137
138 osg::Vec3 texcoord(h * cos(theta) / sphere_radius,
139 h * sin(theta) / sphere_radius,
140 z / sphere_radius);
141
142 vertices->push_back(cursor);
143 texcoords0->push_back(texcoord * projectorMatrix);
144
145 osg::Vec2 texcoord1(theta/(2.0*osg::PI), 1.0f - phi/osg::PI_2);
146 if (intensityMap)
147 {
148 colors->push_back(intensityMap->getColor(texcoord1));
149 }
150 else
151 {
152 colors->push_back(osg::Vec4(1.0f,1.0f,1.0f,1.0f));
153 if (texcoords1) texcoords1->push_back( texcoord1 );
154 }
155
156 cursor += dx;
157 }
158 // OSG_NOTICE<<std::endl;
159 }
160 }
161
162 // pass the created vertex array to the points geometry object.
163 geometry->setVertexArray(vertices);
164
165 geometry->setColorArray(colors, osg::Array::BIND_PER_VERTEX);
166
167 geometry->setTexCoordArray(0,texcoords0);
168 if (texcoords1) geometry->setTexCoordArray(1,texcoords1);
169
170 for(i=0;i<noSteps-1;++i)
171 {
172 osg::DrawElementsUShort* elements = new osg::DrawElementsUShort(osg::PrimitiveSet::QUAD_STRIP);
173 for(j=0;j<noSteps;++j)
174 {
175 elements->push_back(j+(i+1)*noSteps);
176 elements->push_back(j+(i)*noSteps);
177 }
178 geometry->addPrimitiveSet(elements);
179 }
180
181 return geometry;
182 }
183
configure(osgViewer::View & view) const184 void SphericalDisplay::configure(osgViewer::View& view) const
185 {
186 OSG_INFO<<"SphericalDisplay::configure(rad="<<_radius<<", cllr="<<_collar<<", sn="<<_screenNum<<", im="<<_intensityMap<<")"<<std::endl;
187 osg::GraphicsContext::WindowingSystemInterface* wsi = osg::GraphicsContext::getWindowingSystemInterface();
188 if (!wsi)
189 {
190 OSG_NOTICE<<"Error, no WindowSystemInterface available, cannot create windows."<<std::endl;
191 return;
192 }
193
194 osg::GraphicsContext::ScreenIdentifier si;
195 si.readDISPLAY();
196
197 // displayNum has not been set so reset it to 0.
198 if (si.displayNum<0) si.displayNum = 0;
199
200 si.screenNum = _screenNum;
201
202 unsigned int width, height;
203 wsi->getScreenResolution(si, width, height);
204
205
206 osg::ref_ptr<osg::GraphicsContext::Traits> traits = new osg::GraphicsContext::Traits;
207 traits->hostName = si.hostName;
208 traits->displayNum = si.displayNum;
209 traits->screenNum = si.screenNum;
210 traits->x = 0;
211 traits->y = 0;
212 traits->width = width;
213 traits->height = height;
214 traits->windowDecoration = false;
215 traits->doubleBuffer = true;
216 traits->sharedContext = 0;
217
218
219 osg::ref_ptr<osg::GraphicsContext> gc = osg::GraphicsContext::createGraphicsContext(traits.get());
220 if (!gc)
221 {
222 OSG_NOTICE<<"GraphicsWindow has not been created successfully."<<std::endl;
223 return;
224 }
225
226 bool applyIntensityMapAsColours = true;
227
228 int tex_width = 512;
229 int tex_height = 512;
230
231 int camera_width = tex_width;
232 int camera_height = tex_height;
233
234 osg::TextureCubeMap* texture = new osg::TextureCubeMap;
235
236 texture->setTextureSize(tex_width, tex_height);
237 texture->setInternalFormat(GL_RGB);
238 texture->setFilter(osg::Texture::MIN_FILTER,osg::Texture::LINEAR);
239 texture->setFilter(osg::Texture::MAG_FILTER,osg::Texture::LINEAR);
240 texture->setWrap(osg::Texture::WRAP_S,osg::Texture::CLAMP_TO_EDGE);
241 texture->setWrap(osg::Texture::WRAP_T,osg::Texture::CLAMP_TO_EDGE);
242 texture->setWrap(osg::Texture::WRAP_R,osg::Texture::CLAMP_TO_EDGE);
243
244 #if 0
245 osg::Camera::RenderTargetImplementation renderTargetImplementation = osg::Camera::SEPERATE_WINDOW;
246 GLenum buffer = GL_FRONT;
247 #else
248 osg::Camera::RenderTargetImplementation renderTargetImplementation = osg::Camera::FRAME_BUFFER_OBJECT;
249 GLenum buffer = GL_FRONT;
250 #endif
251
252 // front face
253 {
254 osg::ref_ptr<osg::Camera> camera = new osg::Camera;
255 camera->setName("Front face camera");
256 camera->setGraphicsContext(gc.get());
257 camera->setViewport(new osg::Viewport(0,0,camera_width, camera_height));
258 camera->setDrawBuffer(buffer);
259 camera->setReadBuffer(buffer);
260 camera->setAllowEventFocus(false);
261 // tell the camera to use OpenGL frame buffer object where supported.
262 camera->setRenderTargetImplementation(renderTargetImplementation);
263
264 // attach the texture and use it as the color buffer.
265 camera->attach(osg::Camera::COLOR_BUFFER, texture, 0, osg::TextureCubeMap::POSITIVE_Y);
266
267 view.addSlave(camera.get(), osg::Matrixd(), osg::Matrixd());
268 }
269
270
271 // top face
272 {
273 osg::ref_ptr<osg::Camera> camera = new osg::Camera;
274 camera->setName("Top face camera");
275 camera->setGraphicsContext(gc.get());
276 camera->setViewport(new osg::Viewport(0,0,camera_width, camera_height));
277 camera->setDrawBuffer(buffer);
278 camera->setReadBuffer(buffer);
279 camera->setAllowEventFocus(false);
280
281 // tell the camera to use OpenGL frame buffer object where supported.
282 camera->setRenderTargetImplementation(renderTargetImplementation);
283
284 // attach the texture and use it as the color buffer.
285 camera->attach(osg::Camera::COLOR_BUFFER, texture, 0, osg::TextureCubeMap::POSITIVE_Z);
286
287 view.addSlave(camera.get(), osg::Matrixd(), osg::Matrixd::rotate(osg::inDegrees(-90.0f), 1.0,0.0,0.0));
288 }
289
290 // left face
291 {
292 osg::ref_ptr<osg::Camera> camera = new osg::Camera;
293 camera->setName("Left face camera");
294 camera->setGraphicsContext(gc.get());
295 camera->setViewport(new osg::Viewport(0,0,camera_width, camera_height));
296 camera->setDrawBuffer(buffer);
297 camera->setReadBuffer(buffer);
298 camera->setAllowEventFocus(false);
299
300 // tell the camera to use OpenGL frame buffer object where supported.
301 camera->setRenderTargetImplementation(renderTargetImplementation);
302
303 // attach the texture and use it as the color buffer.
304 camera->attach(osg::Camera::COLOR_BUFFER, texture, 0, osg::TextureCubeMap::NEGATIVE_X);
305
306 view.addSlave(camera.get(), osg::Matrixd(), osg::Matrixd::rotate(osg::inDegrees(-90.0f), 0.0,1.0,0.0) * osg::Matrixd::rotate(osg::inDegrees(-90.0f), 0.0,0.0,1.0));
307 }
308
309 // right face
310 {
311 osg::ref_ptr<osg::Camera> camera = new osg::Camera;
312 camera->setName("Right face camera");
313 camera->setGraphicsContext(gc.get());
314 camera->setViewport(new osg::Viewport(0,0,camera_width, camera_height));
315 camera->setDrawBuffer(buffer);
316 camera->setReadBuffer(buffer);
317 camera->setAllowEventFocus(false);
318
319 // tell the camera to use OpenGL frame buffer object where supported.
320 camera->setRenderTargetImplementation(renderTargetImplementation);
321
322 // attach the texture and use it as the color buffer.
323 camera->attach(osg::Camera::COLOR_BUFFER, texture, 0, osg::TextureCubeMap::POSITIVE_X);
324
325 view.addSlave(camera.get(), osg::Matrixd(), osg::Matrixd::rotate(osg::inDegrees(90.0f), 0.0,1.0,0.0 ) * osg::Matrixd::rotate(osg::inDegrees(90.0f), 0.0,0.0,1.0));
326 }
327
328 // bottom face
329 {
330 osg::ref_ptr<osg::Camera> camera = new osg::Camera;
331 camera->setGraphicsContext(gc.get());
332 camera->setName("Bottom face camera");
333 camera->setViewport(new osg::Viewport(0,0,camera_width, camera_height));
334 camera->setDrawBuffer(buffer);
335 camera->setReadBuffer(buffer);
336 camera->setAllowEventFocus(false);
337
338 // tell the camera to use OpenGL frame buffer object where supported.
339 camera->setRenderTargetImplementation(renderTargetImplementation);
340
341 // attach the texture and use it as the color buffer.
342 camera->attach(osg::Camera::COLOR_BUFFER, texture, 0, osg::TextureCubeMap::NEGATIVE_Z);
343
344 view.addSlave(camera.get(), osg::Matrixd(), osg::Matrixd::rotate(osg::inDegrees(90.0f), 1.0,0.0,0.0) * osg::Matrixd::rotate(osg::inDegrees(180.0f), 0.0,0.0,1.0));
345 }
346
347 // back face
348 {
349 osg::ref_ptr<osg::Camera> camera = new osg::Camera;
350 camera->setName("Back face camera");
351 camera->setGraphicsContext(gc.get());
352 camera->setViewport(new osg::Viewport(0,0,camera_width, camera_height));
353 camera->setDrawBuffer(buffer);
354 camera->setReadBuffer(buffer);
355 camera->setAllowEventFocus(false);
356
357 // tell the camera to use OpenGL frame buffer object where supported.
358 camera->setRenderTargetImplementation(renderTargetImplementation);
359
360 // attach the texture and use it as the color buffer.
361 camera->attach(osg::Camera::COLOR_BUFFER, texture, 0, osg::TextureCubeMap::NEGATIVE_Y);
362
363 view.addSlave(camera.get(), osg::Matrixd(), osg::Matrixd::rotate(osg::inDegrees(180.0f), 1.0,0.0,0.0));
364 }
365
366 view.getCamera()->setProjectionMatrixAsPerspective(90.0f, 1.0, 1, 1000.0);
367
368 // distortion correction set up.
369 {
370 osg::Geode* geode = new osg::Geode();
371 geode->addDrawable(create3DSphericalDisplayDistortionMesh(osg::Vec3(0.0f,0.0f,0.0f), osg::Vec3(width,0.0f,0.0f), osg::Vec3(0.0f,height,0.0f), _radius, _collar, applyIntensityMapAsColours ? _intensityMap.get() : 0, _projectorMatrix));
372
373 // new we need to add the texture to the mesh, we do so by creating a
374 // StateSet to contain the Texture StateAttribute.
375 osg::StateSet* stateset = geode->getOrCreateStateSet();
376 stateset->setTextureAttributeAndModes(0, texture,osg::StateAttribute::ON);
377 stateset->setMode(GL_LIGHTING,osg::StateAttribute::OFF);
378
379 if (!applyIntensityMapAsColours && _intensityMap.valid())
380 {
381 stateset->setTextureAttributeAndModes(1, new osg::Texture2D(_intensityMap.get()), osg::StateAttribute::ON);
382 }
383
384 osg::ref_ptr<osg::Camera> camera = new osg::Camera;
385 camera->setGraphicsContext(gc.get());
386 camera->setClearMask(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT );
387 camera->setClearColor( osg::Vec4(0.0,0.0,0.0,1.0) );
388 camera->setViewport(new osg::Viewport(0, 0, width, height));
389 GLenum buffer = traits->doubleBuffer ? GL_BACK : GL_FRONT;
390 camera->setDrawBuffer(buffer);
391 camera->setReadBuffer(buffer);
392 camera->setReferenceFrame(osg::Camera::ABSOLUTE_RF);
393 camera->setAllowEventFocus(true);
394 camera->setInheritanceMask(camera->getInheritanceMask() & ~osg::CullSettings::CLEAR_COLOR & ~osg::CullSettings::COMPUTE_NEAR_FAR_MODE);
395 //camera->setComputeNearFarMode(osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR);
396
397 camera->setProjectionMatrixAsOrtho2D(0,width,0,height);
398 camera->setViewMatrix(osg::Matrix::identity());
399
400 // add subgraph to render
401 camera->addChild(geode);
402
403 camera->setName("DistortionCorrectionCamera");
404
405 view.addSlave(camera.get(), osg::Matrixd(), osg::Matrixd(), false);
406 }
407
408 view.getCamera()->setNearFarRatio(0.0001f);
409
410 if (view.getLightingMode()==osg::View::HEADLIGHT)
411 {
412 // set a local light source for headlight to ensure that lighting is consistent across sides of cube.
413 view.getLight()->setPosition(osg::Vec4(0.0f,0.0f,0.0f,1.0f));
414 }
415 }
416