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OpenSpace/src/rendering/renderablefov.cpp
Anton Arbring 6cc21b3be7 Added image plane projection + shaders and dynamic ephemeris. 
The plane projection is now hard coded to target until it can be
returned from imagesequencer. The dynamic ephemeris is not used for
this at the moment but will come in handy later on.
2015-04-17 22:09:35 -04:00

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/*****************************************************************************************
* *
* OpenSpace *
* *
* Copyright (c) 2014-2015 *
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy of this *
* software and associated documentation files (the "Software"), to deal in the Software *
* without restriction, including without limitation the rights to use, copy, modify, *
* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to *
* permit persons to whom the Software is furnished to do so, subject to the following *
* conditions: *
* *
* The above copyright notice and this permission notice shall be included in all copies *
* or substantial portions of the Software. *
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, *
* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A *
* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT *
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF *
* CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE *
* OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. *
****************************************************************************************/
#include <openspace/rendering/renderablefov.h>
#include <openspace/engine/configurationmanager.h>
#include <openspace/engine/openspaceengine.h>
#include <openspace/util/constants.h>
#include <openspace/util/spicemanager.h>
#include <openspace/util/imagesequencer.h>
#include <ghoul/io/texture/texturereader.h>
#include <ghoul/opengl/textureunit.h>
#include <ghoul/filesystem/filesystem.h>
#include <openspace/query/query.h>
#include <openspace/util/spicemanager.h>
#include <iomanip>
#include <utility>
#include <chrono>
namespace {
const std::string _loggerCat = "RenderableFov";
//constants
const std::string keyBody = "Body";
const std::string keyFrame = "Frame";
const std::string keyPathModule = "ModulePath";
const std::string keyColor = "RGB";
const std::string keyInstrument = "Instrument.Name";
const std::string keyInstrumentMethod = "Instrument.Method";
const std::string keyInstrumentAberration = "Instrument.Aberration";
const std::string keyPotentialTargets = "PotentialTargets";
}
//#define DEBUG
namespace openspace{
// colors, move later
glm::vec4 col_sq;
glm::vec4 c_project;
glm::vec4 col_end;
glm::vec4 blue;
glm::vec4 col_gray;
glm::vec4 col_start;
RenderableFov::RenderableFov(const ghoul::Dictionary& dictionary)
: Renderable(dictionary)
, _lineWidth("lineWidth", "Line Width", 1.f, 1.f, 20.f)
, _programObject(nullptr)
, _texture(nullptr)
, _mode(GL_LINES){
bool success = dictionary.getValue(keyBody, _spacecraft);
ghoul_assert(success, "");
success = dictionary.getValue(keyFrame, _frame);
ghoul_assert(success, "");
success = dictionary.getValue(keyInstrument, _instrumentID);
ghoul_assert(success, "");
success = dictionary.getValue(keyInstrumentMethod, _method);
ghoul_assert(success, "");
success = dictionary.getValue(keyInstrumentAberration, _aberrationCorrection);
ghoul_assert(success, "");
ghoul::Dictionary potentialTargets;
success = dictionary.getValue(keyPotentialTargets, potentialTargets);
ghoul_assert(success, "");
_potentialTargets.resize(potentialTargets.size());
for (int i = 0; i < potentialTargets.size(); ++i) {
std::string target;
potentialTargets.getValue(std::to_string(i + 1), target);
_potentialTargets[i] = target;
}
addProperty(_lineWidth);
}
void RenderableFov::allocateData(){
int points = 8;
_stride[0] = points;
_isize[0] = points;
_iarray1[0] = new int[_isize[0]];
for (int i = 0; i < points; i++){
for (int j = 0; j < 4; j++){
_varray1.push_back(0); // pos
}
for (int j = 0; j < 4; j++){
_varray1.push_back(0); // col
}
_iarray1[0][i] = i;
}
_stride[0] = 8;
_vsize[0] = _varray1.size();
_vtotal[0] = static_cast<int>(_vsize[0] / _stride[0]);
// allocate second vbo data
int cornerPoints = 5;
_isize[1] = cornerPoints;
_iarray1[1] = new int[_isize[1]];
for (int i = 0; i < _isize[1]; i++){
_iarray1[1][i] = i;
}
_varray2.resize(40);
_vsize[1] = 40;
_vtotal[1] = 5;
_isteps = 10;
}
RenderableFov::~RenderableFov(){
deinitialize();
}
bool RenderableFov::initialize(){
bool completeSuccess = true;
if (_programObject == nullptr)
completeSuccess &= OsEng.ref().configurationManager()->getValue("FovProgram", _programObject);
completeSuccess &= OsEng.ref().configurationManager()->getValue("EphemerisProgram", _programObject);
allocateData();
sendToGPU();
return completeSuccess;
}
bool RenderableFov::deinitialize(){
return true;
}
bool RenderableFov::isReady() const {
return _programObject != nullptr;
}
void RenderableFov::sendToGPU(){
// Initialize and upload to graphics card
glGenVertexArrays(1, &_vaoID[0]);
glGenBuffers(1, &_vboID[0]);
glGenBuffers(1, &_iboID[0]);
glBindVertexArray(_vaoID[0]);
glBindBuffer(GL_ARRAY_BUFFER, _vboID[0]);
glBufferData(GL_ARRAY_BUFFER, _vsize[0] * sizeof(GLfloat), NULL, GL_STATIC_DRAW); // orphaning the buffer, sending NULL data.
glBufferSubData(GL_ARRAY_BUFFER, 0, _vsize[0] * sizeof(GLfloat), &_varray1[0]);
GLsizei st = sizeof(GLfloat) * _stride[0];
glEnableVertexAttribArray(0);
glEnableVertexAttribArray(1);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, st, (void*)0);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, st, (void*)(4 * sizeof(GLfloat)));
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _iboID[0]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, _isize[0] * sizeof(int), _iarray1, GL_STATIC_DRAW);
glBindVertexArray(0);
// second vbo
glGenVertexArrays(1, &_vaoID[1]);
glGenBuffers(1, &_vboID[1]);
glGenBuffers(1, &_iboID[1]);
glBindVertexArray(_vaoID[1]);
glBindBuffer(GL_ARRAY_BUFFER, _vboID[1]);
glBufferData(GL_ARRAY_BUFFER, _vsize[1] * sizeof(GLfloat), NULL, GL_STATIC_DRAW); // orphaning the buffer, sending NULL data.
glBufferSubData(GL_ARRAY_BUFFER, 0, _vsize[1] * sizeof(GLfloat), &_varray2[0]);
glEnableVertexAttribArray(0);
glEnableVertexAttribArray(1);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, st, (void*)0);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, st, (void*)(4 * sizeof(GLfloat)));
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _iboID[1]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, _isize[1] * sizeof(int), _iarray1[1], GL_STATIC_DRAW);
glBindVertexArray(0);
}
// various helper methods
void RenderableFov::insertPoint(std::vector<float>& arr, psc p, glm::vec4 c){
for (int i = 0; i < 4; i++){
arr.push_back(p[i]);
}
for (int i = 0; i < 4; i++){
arr.push_back(c[i]);
}
_nrInserted++;
}
psc RenderableFov::pscInterpolate(psc p0, psc p1, float t){
assert(t >= 0 && t <= 1);
float t2 = (1.f - t);
return PowerScaledCoordinate(t2*p0[0] + t*p1[0],
t2*p0[1] + t*p1[1],
t2*p0[2] + t*p1[2],
t2*p0[3] + t*p1[3]);
}
glm::dvec3 RenderableFov::interpolate(glm::dvec3 p0, glm::dvec3 p1, float t){
assert(t >= 0 && t <= 1);
float t2 = (1.f - t);
return glm::dvec3(p0.x*t2 + p1.x*t, p0.y*t2 + p1.y*t, p0.z*t2 + p1.z*t);
}
// This method is the current bottleneck.
psc RenderableFov::checkForIntercept(glm::dvec3 ray){
double targetEt;
bool intercepted = false;
openspace::SpiceManager::ref().getSurfaceIntercept(_fovTarget, _spacecraft, _instrumentID,
_frame, _method, _aberrationCorrection,
_time, targetEt, ray, ipoint, ivec, intercepted);
_interceptVector = PowerScaledCoordinate::CreatePowerScaledCoordinate(ivec[0], ivec[1], ivec[2]);
_interceptVector[3] += 3;
return _interceptVector;
}
// Orthogonal projection next to planets surface, can also be optimized.
psc RenderableFov::orthogonalProjection(glm::dvec3 vecFov){
glm::dvec3 vecToTarget;
double lt;
SpiceManager::ref().getTargetPosition(_fovTarget, _spacecraft, _frame, _aberrationCorrection, _time, vecToTarget, lt);
openspace::SpiceManager::ref().frameConversion(vecFov, _instrumentID, _frame, _time);
glm::dvec3 p = openspace::SpiceManager::ref().orthogonalProjection(vecToTarget, vecFov);
psc projection = PowerScaledCoordinate::CreatePowerScaledCoordinate(p[0], p[1], p[2]);
projection[3] += 3;
return projection;
}
// Bisection method, simple recurtion
glm::dvec3 RenderableFov::bisection(glm::dvec3 p1, glm::dvec3 p2, double tolerance){
//check if point is on surface
double targetEt;
glm::dvec3 half = interpolate(p1, p2, 0.5f);
bool intercepted = false;
openspace::SpiceManager::ref().getSurfaceIntercept(_fovTarget, _spacecraft, _instrumentID,
_frame, _method, _aberrationCorrection,
_time, targetEt, half, ipoint, ivec, intercepted);
if (glm::distance(_previousHalf, half) < tolerance){
_previousHalf = glm::dvec3(0);
return half;
}
_previousHalf = half;
//recursive search
if (!intercepted){
return bisection(p1, half, tolerance);
}else{
return bisection(half, p2, tolerance);
}
}
/*
README:
There are 4 different cases as each boundary vector can either have detected
an intercept or is outside of the planets surface. When no such intercepts are
detected the algorithm performs an orthogonal projection to 'clip' the current
fov vector next to the planets surface. If two or more intercepts are detected
the algorithm continues with the bisection method O(logn) for points [Pn, Pn+1]
to locate the point Pb where the orthogonal plane meets the planets surface
(within ~20 iterations this will narrow down to centimeter resolution).
Upon finding Pb a linear interpolation is performed for [Pn, Pb], at this stage
the points are located on a straight line between the surface intercept and the
surface-bound fov-corner. In order to correctly place these points on the
targets surface, each consecutive point is queried for a surface intercept and
thereby moved to the hull.
*/
void RenderableFov::fovProjection(bool H[], std::vector<glm::dvec3> bounds){
_nrInserted = 0;
_varray2.clear();// empty the array
double t;
double tolerance = 0.0000001; // very low tolerance factor
glm::dvec3 mid;
glm::dvec3 interpolated;
glm::dvec3 current;
glm::dvec3 next;
glm::vec4 tmp(1);
for (int i = 0; i < 4; i++){
int k = (i + 1 > 3) ? 0 : i + 1;
current = bounds[i];
next = bounds[k];
if (H[i] == false){ // If point is non-interceptive, project it.
insertPoint(_varray2, orthogonalProjection(current), tmp);
}
if (H[i] == true && H[i + 1] == false){ // current point is interceptive, next is not
// find outer most point for interpolation
mid = bisection(current, next, tolerance);
for (int j = 1; j <= _isteps; j++){
t = ((double)j / _isteps);
// TODO: change the interpolate scheme to place points not on a straight line but instead
// using either slerp or some other viable method (goal: eliminate checkForIntercept -method)
interpolated = interpolate(current, mid, t);
_interceptVector = (j < _isteps) ? checkForIntercept(interpolated) : orthogonalProjection(interpolated);
insertPoint(_varray2, _interceptVector, col_sq);
}
}
if (H[i] == false && H[i+1] == true){ // current point is non-interceptive, next is
mid = bisection(next, current, tolerance);
for (int j = 1; j <= _isteps; j++){
t = ((double)j / _isteps);
interpolated = interpolate(mid, next, t);
_interceptVector = (j > 1) ? checkForIntercept(interpolated) : orthogonalProjection(interpolated);
insertPoint(_varray2, _interceptVector, col_sq);
}
}
if (H[i] == true && H[i + 1] == true){ // both points intercept
for (int j = 0; j <= _isteps; j++){
t = ((double)j / _isteps);
interpolated = interpolate(current, next, t);
_interceptVector = checkForIntercept(interpolated);
insertPoint(_varray2, _interceptVector, col_sq);
}
}
}
// only if new points are inserted are we interested in rebuilding the
// vbo. Note that this can be optimized but is left as is for now.
if (_nrInserted == 0){
_rebuild = false;
}else{
_rebuild = true;
//update size etc;
_vtotal[1] = _nrInserted;
_isize[1] = _nrInserted;
_vsize[1] = _varray2.size();
_iarray1[1] = new int[_isize[1]];
for (int i = 0; i < _isize[1]; i++)
_iarray1[1][i] = i;
}
}
void RenderableFov::updateData(){
glBindBuffer(GL_ARRAY_BUFFER, _vboID[0]);
glBufferSubData(GL_ARRAY_BUFFER, 0, _vsize[0] * sizeof(GLfloat), &_varray1[0]);
if (!_rebuild){
glBindBuffer(GL_ARRAY_BUFFER, _vboID[1]);
glBufferSubData(GL_ARRAY_BUFFER, 0, _vsize[1] * sizeof(GLfloat), &_varray2[0]);
}else{
glBindVertexArray(_vaoID[1]);
glBindBuffer(GL_ARRAY_BUFFER, _vboID[1]);
glBufferData(GL_ARRAY_BUFFER, _vsize[1] * sizeof(GLfloat), NULL, GL_STATIC_DRAW); // orphaning the buffer, sending NULL data.
glBufferSubData(GL_ARRAY_BUFFER, 0, _vsize[1] * sizeof(GLfloat), &_varray2[0]);
GLsizei st = sizeof(GLfloat) * _stride[0];
glEnableVertexAttribArray(0);
glEnableVertexAttribArray(1);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, st, (void*)0);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, st, (void*)(4 * sizeof(GLfloat)));
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _iboID[1]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, _isize[1] * sizeof(int), _iarray1[1], GL_STATIC_DRAW);
glBindVertexArray(0);
}
}
void RenderableFov::computeColors(){
double t2 = openspace::ImageSequencer::ref().getNextCaptureTime();
double diff = (t2 - _time);
double t = 0.0;
if (diff <= 7.0) t = 1.f - diff / 7.0;
if (diff < 0) t = 0.0;
c_project = glm::vec4(0.0, 1.0, 0.00,1);
col_end = glm::vec4(1.00, 0.29, 0.00, 1);
blue = glm::vec4(0, 0.5, 0.7, 1);
col_gray = glm::vec4(0.3, 0.3, 0.3, 1);
col_start = glm::vec4(1.00, 0.89, 0.00, 1);
col_sq = glm::vec4(1.00, 0.29, 0.00, 1);
col_end.x = c_project.x*t + col_end.x*(1 - t);
col_end.y = c_project.y*t + col_end.y*(1 - t);
col_end.z = c_project.z*t + col_end.z*(1 - t);
blue.x = c_project.x*t + blue.x*(1 - t);
blue.y = c_project.y*t + blue.y*(1 - t);
blue.z = c_project.z*t + blue.z*(1 - t);
col_sq.x = c_project.x*t + col_sq.x*(1 - t);
col_sq.y = c_project.y*t + col_sq.y*(1 - t);
col_sq.z = c_project.z*t + col_sq.z*(1 - t);
}
void RenderableFov::render(const RenderData& data){
assert(_programObject);
_programObject->activate();
// fetch data
glm::mat4 transform(1);
glm::mat4 tmp = glm::mat4(1);
for (int i = 0; i < 3; i++){
for (int j = 0; j < 3; j++){
tmp[i][j] = _stateMatrix[i][j];
}
}
// setup the data to the shader
_programObject->setUniform("ViewProjection", data.camera.viewProjectionMatrix());
_programObject->setUniform("ModelTransform", transform);
setPscUniforms(_programObject, &data.camera, data.position);
ImageSequencer::ref().findActiveInstrument(_time);
std::string instrument = ImageSequencer::ref().getActiveInstrument();
bool drawFOV = false;
if (instrument == "MVIC"){
if (_instrumentID == "NH_RALPH_MVIC_PAN1" ||
_instrumentID == "NH_RALPH_MVIC_PAN2" ||
_instrumentID == "NH_RALPH_MVIC_RED" ||
_instrumentID == "NH_RALPH_MVIC_BLUE" ||
_instrumentID == "NH_RALPH_MVIC_FT"){
drawFOV = true;
}
}
else if (instrument == _instrumentID){
drawFOV = true;
}
if (drawFOV){
// update only when time progresses.
if (_oldTime != _time){
std::string shape, instrument;
std::vector<glm::dvec3> bounds;
glm::dvec3 boresight;
// fetch data for specific instrument (shape, boresight, bounds etc)
bool found = openspace::SpiceManager::ref().getFieldOfView(_instrumentID, shape, instrument, boresight, bounds);
if (!found) {
LERROR("Could not locate instrument");
return;
}
float size = 4 * sizeof(float);
int indx = 0;
_fovTarget = _potentialTargets[0]; //default
for (int i = 0; i < _potentialTargets.size(); i++){
bool success = openspace::SpiceManager::ref().targetWithinFieldOfView(
_instrumentID,
_potentialTargets[i],
_spacecraft,
_method,
_aberrationCorrection,
_time,
_withinFOV);
if (success && _withinFOV){
_fovTarget = _potentialTargets[i];
break;
}
}
computeColors();
double targetEpoch;
// for each FOV vector
for (int i = 0; i < 4; i++){
// compute surface intercept
openspace::SpiceManager::ref().getSurfaceIntercept(_fovTarget, _spacecraft, _instrumentID,
_frame, _method, _aberrationCorrection,
_time, targetEpoch, bounds[i], ipoint, ivec, _interceptTag[i]);
// if not found, use the orthogonal projected point
if (!_interceptTag[i]) _projectionBounds[i] = orthogonalProjection(bounds[i]);
// VBO1 : draw vectors representing outer points of FOV.
if (_interceptTag[i]){
_interceptVector = PowerScaledCoordinate::CreatePowerScaledCoordinate(ivec[0], ivec[1], ivec[2]);
_interceptVector[3] += 3;
//_interceptVector = pscInterpolate(_interceptVector, bsvec, t);
// INTERCEPTIONS
memcpy(&_varray1[indx], glm::value_ptr(glm::vec4(0)), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(col_start), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(_interceptVector.vec4()), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(col_end), size);
indx += 4;
}
else if (_withinFOV){
// FOV OUTSIDE OBJECT
memcpy(&_varray1[indx], glm::value_ptr(glm::vec4(0)), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(glm::vec4(0, 0, 1, 1)), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(_projectionBounds[i].vec4()), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(blue), size);
indx += 4;
}
else{
glm::vec4 corner(bounds[i][0], bounds[i][1], bounds[i][2], data.position[3] + 1);
corner = tmp*corner;
// "INFINITE" FOV
memcpy(&_varray1[indx], glm::value_ptr(glm::vec4(0)), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(col_gray), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(corner), size);
indx += 4;
memcpy(&_varray1[indx], glm::value_ptr(glm::vec4(0)), size);
indx += 4;
}
}
_interceptTag[4] = _interceptTag[0]; // 0 & 5 same point
fovProjection(_interceptTag, bounds);
updateData();
}
_oldTime = _time;
glLineWidth(_lineWidth);
glBindVertexArray(_vaoID[0]);
glDrawArrays(_mode, 0, _vtotal[0]);
glBindVertexArray(0);
//render points
glPointSize(2.f);
glBindVertexArray(_vaoID[0]);
glDrawArrays(GL_POINTS, 0, _vtotal[0]);
glBindVertexArray(0);
/*
//second vbo
if (_withinFOV){
glLineWidth(1.f);
glBindVertexArray(_vaoID[1]);
glDrawArrays(GL_LINE_LOOP, 0, _vtotal[1]);
glBindVertexArray(0);
}
glLineWidth(1.f);
*/
/*glPointSize(5.f);
glBindVertexArray(_vaoID2);
glDrawArrays(GL_POINTS, 0, _vtotal2);
glBindVertexArray(0);
*/
}
_programObject->deactivate();
}
void RenderableFov::update(const UpdateData& data){
double lightTime;
_time = data.time;
openspace::SpiceManager::ref().getPositionTransformMatrix(_instrumentID, _frame, data.time, _stateMatrix);
}
}
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