TrackItPipe/trackpoint-app/src/OSGWidget.cpp

// Include own headers
#include "OSGWidget.hpp"

// Include modules
#include "PickHandler.hpp"
#include "TrackPointRenderer.hpp"
#include "HudCallback.hpp"
#include "resources.hpp"
#include "MeshTools.hpp"

// Include dependencies
#include <osgViewer/Viewer>
#include <osg/ShapeDrawable>
#include <osg/Geode>
#include <osgDB/ReadFile>
#include <osg/Group>
#include <osg/Switch>
#include <osg/MatrixTransform>
#include <osg/Matrix>
#include <osgGA/TrackballManipulator>
#include <osgUtil/LineSegmentIntersector>
#include <osgUtil/IntersectionVisitor>
#include <osgUtil/MeshOptimizers>
#include <osg/PolygonMode>

#include <osgDB/WriteFile>
#include <osg/Material>
#include <osg/StateSet>

#include <cassert>

#include <stdexcept>
#include <vector>

#include <QDebug>
#include <QKeyEvent>
#include <QPainter>
#include <QWheelEvent>

namespace osgWidget {
  void Viewer::setupThreading() {
    if (_threadingModel == SingleThreaded) {
      if (_threadsRunning) {
        stopThreading();
      }
    } else {
      if (!_threadsRunning) {
        startThreading();
      }
    }
  }
}

void OSGWidget::fixMaterialState(osg::ref_ptr<osg::Node> node, osg::Vec4* color) {
  osg::StateSet* stateSet = node->getOrCreateStateSet();
  osg::Material* material = new osg::Material;

  material->setColorMode(osg::Material::AMBIENT_AND_DIFFUSE);
  if (color) {
    material->setDiffuse(osg::Material::FRONT_AND_BACK, *color);
  }
  stateSet->setAttributeAndModes(material, osg::StateAttribute::ON);
  stateSet->setMode(GL_DEPTH_TEST, osg::StateAttribute::ON);
}

OSGWidget::OSGWidget(QWidget* parent): QOpenGLWidget(parent),
  graphicsWindow_(new osgViewer::GraphicsWindowEmbedded(this->x(), this->y(), this->width(), this->height())),
  _viewer(new osgWidget::Viewer),
  selectionActive_(false),
  selectionFinished_(true)
{
  this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);

  // Root node of the scene
  _root = new osg::Group;

  // Create the camera
  float aspectRatio = static_cast<float>(this->width()) / static_cast<float>(this->height());
  auto pixelRatio = this->devicePixelRatio();
  osg::Camera* camera = new osg::Camera;
  camera->setViewport(0, 0, this->width() * pixelRatio, this->height() * pixelRatio);
  camera->setClearColor(osg::Vec4(0.2f, 0.1875f, 0.375f, 1.0f));
  camera->setProjectionMatrixAsPerspective(30.0f, aspectRatio, 1.0f, 1000.0f);
  camera->setGraphicsContext(graphicsWindow_);

  // Create the viewer
  _view = new osgViewer::View;
  _view->setCamera(camera);
  _view->setSceneData(_root);

  // Create coordinate axes
  _coordinateAxes = new osg::Group;
  osg::Vec4 axesColor = osg::Vec4(0.7f, 0.7f, 0.7f, 1.0f);

  osg::ref_ptr<osg::MatrixTransform> xRotation = new osg::MatrixTransform;
  xRotation->setMatrix(osg::Matrix::rotate(osg::Vec3f(0.0f, 0.0f, 1.0f), osg::Vec3f(1.0f, 0.0f, 0.0f)));
  osg::ref_ptr<osg::Geode> xAxis = new osg::Geode;
  osg::ref_ptr<osg::ShapeDrawable> xAxisShape = new osg::ShapeDrawable();
  xAxisShape->setShape(new osg::Cylinder(osg::Vec3(0.0f, 0.0f, 0.0f), 0.05f, 100.0f));
  xAxisShape->setColor(axesColor);
  xAxis->addDrawable(xAxisShape.get());
  osg::ref_ptr<osg::ShapeDrawable> xConeShape = new osg::ShapeDrawable();
  xConeShape->setShape(new osg::Cone(osg::Vec3(0.0f, 0.0f, 50.0f), 0.2f, 1.0f));
  xConeShape->setColor(axesColor);
  xAxis->addDrawable(xConeShape.get());
  xRotation->addChild(xAxis.get());

  osg::ref_ptr<osg::MatrixTransform> yRotation = new osg::MatrixTransform;
  yRotation->setMatrix(osg::Matrix::rotate(osg::Vec3f(0.0f, 0.0f, 1.0f), osg::Vec3f(0.0f, 1.0f, 0.0f)));
  osg::ref_ptr<osg::Geode> yAxis = new osg::Geode;
  osg::ref_ptr<osg::ShapeDrawable> yAxisShape = new osg::ShapeDrawable();
  yAxisShape->setShape(new osg::Cylinder(osg::Vec3(0.0f, 0.0f, 0.0f), 0.05f, 100.0f));
  yAxisShape->setColor(axesColor);
  yAxis->addDrawable(yAxisShape.get());
  osg::ref_ptr<osg::ShapeDrawable> yConeShape = new osg::ShapeDrawable();
  yConeShape->setShape(new osg::Cone(osg::Vec3(0.0f, 0.0f, 50.0f), 0.2f, 1.0f));
  yConeShape->setColor(axesColor);
  yAxis->addDrawable(yConeShape.get());
  yRotation->addChild(yAxis.get());

  osg::ref_ptr<osg::Geode> zAxis = new osg::Geode;
  osg::ref_ptr<osg::ShapeDrawable> zAxisShape = new osg::ShapeDrawable();
  zAxisShape->setShape(new osg::Cylinder(osg::Vec3(0.0f, 0.0f, 0.0f), 0.05f, 100.0f));
  zAxisShape->setColor(axesColor);
  osg::ref_ptr<osg::ShapeDrawable> zConeShape = new osg::ShapeDrawable();
  zConeShape->setShape(new osg::Cone(osg::Vec3(0.0f, 0.0f, 50.0f), 0.2f, 1.0f));
  zConeShape->setColor(axesColor);
  zAxis->addDrawable(zConeShape.get());
  zAxis->addDrawable(zAxisShape.get());

  _coordinateAxes->addChild(xRotation.get());
  _coordinateAxes->addChild(yRotation.get());
  _coordinateAxes->addChild(zAxis.get());

  OSGWidget::fixMaterialState(_coordinateAxes);

  _root->addChild(_coordinateAxes);

  // Add axes preview
  osg::ref_ptr<osg::Camera> hudCamera = new osg::Camera;
  int width = 1024;
  int height = 1024;
	hudCamera->setProjectionMatrixAsOrtho(0, width, 0, height, 1, 100);
	hudCamera->setRenderOrder(osg::Camera::POST_RENDER);
	hudCamera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
	hudCamera->setClearMask(GL_DEPTH_BUFFER_BIT);

  osg::ref_ptr<osg::Group> axesPreview = createAxesPreview();
	osg::MatrixTransform* pTM = new osg::MatrixTransform;
	pTM->addChild(axesPreview.get());
	axesPreview->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
	pTM->setMatrix(osg::Matrix::scale(osg::Vec3(width/12, width/12, width/12)) * osg::Matrix::translate(osg::Vec3(width/20, width/20, 1)));
	pTM->setUpdateCallback(new HudCallback(camera));
	hudCamera->addChild(pTM);
	hudCamera->setViewMatrixAsLookAt(osg::Vec3(0, 0, 1), osg::Vec3(0, 0, 0), osg::Vec3(0, 1, 0)); // opengl default camera position
  _root->addChild(hudCamera.release());

  // Attach a manipulator (it's usually done for us when we use viewer.run())
  osg::ref_ptr<osgGA::TrackballManipulator> tm = new osgGA::TrackballManipulator;
  tm->setAllowThrow(false);
  _view->setCameraManipulator(tm);

  _viewer->addView(_view);
  _viewer->setThreadingModel(osgViewer::CompositeViewer::SingleThreaded);
  _viewer->realize();

  _picker = new PickHandler(this, _root);
  _root->addChild(_picker->getPickerRoot());

  _view->addEventHandler(_picker);

  // This ensures that the widget will receive keyboard events. This focus
  // policy is not set by default. The default, Qt::NoFocus, will result in
  // keyboard events that are ignored.
  this->setFocusPolicy(Qt::StrongFocus);
  this->setMinimumSize(100, 100);

  // Ensures that the widget receives mouse move events even though no
  // mouse button has been pressed. We require this in order to let the
  // graphics window switch viewports properly.
  this->setMouseTracking(true);

  _verifyGroup = new osg::Group;
  _root->addChild(_verifyGroup.get());

  _pointRoot = new osg::Group;
  _root->addChild(_pointRoot.get());
  _pointRenderer = new TrackPointRenderer(this, _pointRoot);
}

OSGWidget::~OSGWidget() {
}

void OSGWidget::renderBaseMesh(const osg::ref_ptr<osg::Vec3Array> vertices, const osg::ref_ptr<osg::Vec3Array> normals) {
  _root->removeChild(_mesh);

  _mesh = new osg::Geode;
  osg::ref_ptr<osg::Geometry> meshGeometry = new osg::Geometry;
  meshGeometry->setVertexArray(vertices.get());
  meshGeometry->setNormalArray(normals.get(), osg::Array::BIND_PER_VERTEX);
  meshGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::TRIANGLES, 0, vertices->getNumElements()));
  osgUtil::optimizeMesh(meshGeometry.get());
  _mesh->addDrawable(meshGeometry.get());

  OSGWidget::fixMaterialState(_mesh);

  _root->addChild(_mesh);

  _picker->updateRenderer();
}

osg::ref_ptr<osg::Geode> OSGWidget::getMesh() {
  return _mesh;
}

osg::ref_ptr<osg::Group> OSGWidget::getVerifyGroup() {
  return _verifyGroup;
}

PickHandler* OSGWidget::getPicker() {
  return _picker;
}

TrackPointRenderer* OSGWidget::getPointRenderer() {
  return _pointRenderer;
}

void OSGWidget::loadSteamvrThread() {
  if (!_steamvrLoaded) {
    std::vector<Lib3MF::sPosition> verticesBuffer;
    std::vector<Lib3MF::sTriangle> triangleBuffer;
    for (unsigned int i = 0; i < sizeof(steamvrthread_VERTICES) / sizeof(float); i += 3) {
      Lib3MF::sPosition vertex = {steamvrthread_VERTICES[i], steamvrthread_VERTICES[i + 1], steamvrthread_VERTICES[i + 2]};
      verticesBuffer.push_back(vertex);
    }
    for (unsigned int i = 0; i < sizeof(steamvrthread_TRIANGLES) / sizeof(unsigned int); i += 3) {
      Lib3MF::sTriangle triangle = {steamvrthread_TRIANGLES[i], steamvrthread_TRIANGLES[i + 1], steamvrthread_TRIANGLES[i + 2]};
      triangleBuffer.push_back(triangle);
    }
    osg::ref_ptr<osg::Vec3Array> vertices = new osg::Vec3Array;
    osg::ref_ptr<osg::Vec3Array> normals = new osg::Vec3Array;
    MeshTools::calculateNormals(verticesBuffer, triangleBuffer, vertices, normals);

    _steamvrThreadMesh = new osg::Geometry;
    _steamvrThreadMesh->setVertexArray(vertices.get());
    _steamvrThreadMesh->setNormalArray(normals.get(), osg::Array::BIND_PER_VERTEX);
    _steamvrThreadMesh->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::TRIANGLES, 0, vertices->getNumElements()));
    osgUtil::optimizeMesh(_steamvrThreadMesh.get());

    _steamvrLoaded = true;
  }
}

void OSGWidget::loadSteamvrCollision() {
  if (!_steamvrCollisionLoaded) {
    std::vector<Lib3MF::sPosition> verticesBuffer;
    std::vector<Lib3MF::sTriangle> triangleBuffer;
    for (unsigned int i = 0; i < sizeof(steamvrtracker_VERTICES) / sizeof(float); i += 3) {
      Lib3MF::sPosition vertex = {steamvrtracker_VERTICES[i], steamvrtracker_VERTICES[i + 1], steamvrtracker_VERTICES[i + 2]};
      verticesBuffer.push_back(vertex);
    }
    for (unsigned int i = 0; i < sizeof(steamvrtracker_TRIANGLES) / sizeof(unsigned int); i += 3) {
      Lib3MF::sTriangle triangle = {steamvrtracker_TRIANGLES[i], steamvrtracker_TRIANGLES[i + 1], steamvrtracker_TRIANGLES[i + 2]};
      triangleBuffer.push_back(triangle);
    }
    osg::ref_ptr<osg::Vec3Array> vertices = new osg::Vec3Array;
    osg::ref_ptr<osg::Vec3Array> normals = new osg::Vec3Array;
    MeshTools::calculateNormals(verticesBuffer, triangleBuffer, vertices, normals);

    _steamvrTrackerMesh = new osg::Geometry;
    _steamvrTrackerMesh->setVertexArray(vertices.get());
    _steamvrTrackerMesh->setNormalArray(normals.get(), osg::Array::BIND_PER_VERTEX);
    _steamvrTrackerMesh->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::TRIANGLES, 0, vertices->getNumElements()));
    osgUtil::optimizeMesh(_steamvrTrackerMesh.get());

    _steamvrCollisionLoaded = true;
  }
}

void OSGWidget::clear() {
  _root->removeChild(_mesh);
}

void OSGWidget::paintEvent(QPaintEvent*) {
  this->makeCurrent();

  QPainter painter(this);
  painter.setRenderHint(QPainter::Antialiasing);

  this->paintGL();

  painter.end();

  this->doneCurrent();
}

void OSGWidget::paintGL() {
  _viewer->frame();
}

void OSGWidget::resizeGL(int width, int height) {
  auto pixelRatio = this->devicePixelRatio();
  this->getEventQueue()->windowResize(this->x(), this->y(), width * pixelRatio, height * pixelRatio);
  graphicsWindow_->resized(this->x(), this->y(), width * pixelRatio, height * pixelRatio);

  this->onResize(width, height);
}

void OSGWidget::keyPressEvent(QKeyEvent* event) {
  QString keyString = event->text();
  const char* keyData = keyString.toLocal8Bit().data();

  if (event->key() == Qt::Key_H) {
    this->onHome();
    return;
  }

  this->getEventQueue()->keyPress(osgGA::GUIEventAdapter::KeySymbol(*keyData));
}

void OSGWidget::keyReleaseEvent(QKeyEvent* event) {
  QString keyString = event->text();
  const char* keyData = keyString.toLocal8Bit().data();

  this->getEventQueue()->keyRelease(osgGA::GUIEventAdapter::KeySymbol(*keyData));
}

void OSGWidget::mouseMoveEvent(QMouseEvent* event) {
  auto pixelRatio = this->devicePixelRatio();
  this->getEventQueue()->mouseMotion(static_cast<float>(event->position().x() * pixelRatio), static_cast<float>(event->position().y() * pixelRatio));
}

void OSGWidget::mousePressEvent(QMouseEvent* event) {
  unsigned int button = 0;

  switch(event->button()) {
    case Qt::LeftButton:
      button = 1;
      break;

    case Qt::MiddleButton:
      button = 2;
      break;

    case Qt::RightButton:
      button = 3;
      break;

    default:
      break;
  }

  auto pixelRatio = this->devicePixelRatio();

  this->getEventQueue()->mouseButtonPress(static_cast<float>(event->position().x() * pixelRatio), static_cast<float>(event->position().y() * pixelRatio), button);
}

void OSGWidget::mouseReleaseEvent(QMouseEvent* event) {
  unsigned int button = 0;

  switch(event->button()) {
    case Qt::LeftButton:
      button = 1;
      break;

    case Qt::MiddleButton:
      button = 2;
      break;

    case Qt::RightButton:
      button = 3;
      break;

    default:
      break;
  }

  auto pixelRatio = this->devicePixelRatio();

  this->getEventQueue()->mouseButtonRelease(static_cast<float>(event->position().x() * pixelRatio), static_cast<float>(event->position().y() * pixelRatio), button);
}

void OSGWidget::wheelEvent(QWheelEvent* event) {
  event->accept();
  int delta = event->angleDelta().y();

  osgGA::GUIEventAdapter::ScrollingMotion motion = delta > 0 ? osgGA::GUIEventAdapter::SCROLL_UP : osgGA::GUIEventAdapter::SCROLL_DOWN;

  this->getEventQueue()->mouseScroll(motion);
}

bool OSGWidget::event(QEvent* event) {
  bool handled = QOpenGLWidget::event(event);

  // This ensures that the OSG widget is always going to be repainted after the
  // user performed some interaction. Doing this in the event handler ensures
  // that we don't forget about some event and prevents duplicate code.
  switch(event->type()) {
    case QEvent::KeyPress:
    case QEvent::KeyRelease:
    case QEvent::MouseButtonDblClick:
    case QEvent::MouseButtonPress:
    case QEvent::MouseButtonRelease:
    case QEvent::MouseMove:
    case QEvent::Wheel:
      this->update();
      break;

    case QEvent::Resize:
      this->onResize(this->width(), this->height());
      break;

    default:
      break;
  }

  return handled;
}

void OSGWidget::onHome() {
  osgViewer::ViewerBase::Views views;
  _viewer->getViews( views );

  for(std::size_t i = 0; i < views.size(); i++) {
    osgViewer::View* view = views.at(i);
    view->home();
  }
}

void OSGWidget::onResize(int width, int height) {
  std::vector<osg::Camera*> cameras;
  _viewer->getCameras(cameras);

  assert(cameras.size() == 1);

  auto pixelRatio = this->devicePixelRatio();

  cameras[0]->setViewport(0, 0, width * pixelRatio, height * pixelRatio);
}

osgGA::EventQueue* OSGWidget::getEventQueue() const {
  osgGA::EventQueue* eventQueue = graphicsWindow_->getEventQueue();
  if (eventQueue) {
    return eventQueue;
  } else {
    throw std::runtime_error("Unable to obtain valid event queue");
  }
}

osg::ref_ptr<osg::Group> OSGWidget::createAxesPreview() {
  osg::ref_ptr<osg::Group> axesPreview = new osg::Group;

  osg::Vec4 red = osg::Vec4(1.0f, 0.0f, 0.0f, 1.0f);
  osg::Vec4 green = osg::Vec4(0.0f, 1.0f, 0.0f, 1.0f);
  osg::Vec4 blue = osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f);

  osg::ref_ptr<osg::MatrixTransform> xRotation = new osg::MatrixTransform;
  xRotation->setMatrix(osg::Matrix::rotate(osg::Vec3f(0.0f, 0.0f, 1.0f), osg::Vec3f(1.0f, 0.0f, 0.0f)));
  osg::ref_ptr<osg::Geode> xAxis = new osg::Geode;
  osg::ref_ptr<osg::ShapeDrawable> xAxisShape = new osg::ShapeDrawable();
  xAxisShape->setShape(new osg::Cylinder(osg::Vec3(0.0f, 0.0f, 0.5f), 0.01f, 1.0f));
  xAxisShape->setColor(red);
  xAxis->addDrawable(xAxisShape.get());
  osg::ref_ptr<osg::ShapeDrawable> xConeShape = new osg::ShapeDrawable();
  xConeShape->setShape(new osg::Cone(osg::Vec3(0.0f, 0.0f, 1.0f), 0.05f, 0.2f));
  xConeShape->setColor(red);
  xAxis->addDrawable(xConeShape.get());
  xRotation->addChild(xAxis.get());

  osg::ref_ptr<osg::MatrixTransform> yRotation = new osg::MatrixTransform;
  yRotation->setMatrix(osg::Matrix::rotate(osg::Vec3f(0.0f, 0.0f, 1.0f), osg::Vec3f(0.0f, 1.0f, 0.0f)));
  osg::ref_ptr<osg::Geode> yAxis = new osg::Geode;
  osg::ref_ptr<osg::ShapeDrawable> yAxisShape = new osg::ShapeDrawable();
  yAxisShape->setShape(new osg::Cylinder(osg::Vec3(0.0f, 0.0f, 0.5f), 0.01f, 1.0f));
  yAxisShape->setColor(green);
  yAxis->addDrawable(yAxisShape.get());
  osg::ref_ptr<osg::ShapeDrawable> yConeShape = new osg::ShapeDrawable();
  yConeShape->setShape(new osg::Cone(osg::Vec3(0.0f, 0.0f, 1.0f), 0.05f, 0.2f));
  yConeShape->setColor(green);
  yAxis->addDrawable(yConeShape.get());
  yRotation->addChild(yAxis.get());

  osg::ref_ptr<osg::Geode> zAxis = new osg::Geode;
  osg::ref_ptr<osg::ShapeDrawable> zAxisShape = new osg::ShapeDrawable();
  zAxisShape->setShape(new osg::Cylinder(osg::Vec3(0.0f, 0.0f, 0.5f), 0.01f, 1.0f));
  zAxisShape->setColor(blue);
  osg::ref_ptr<osg::ShapeDrawable> zConeShape = new osg::ShapeDrawable();
  zConeShape->setShape(new osg::Cone(osg::Vec3(0.0f, 0.0f, 1.0f), 0.05f, 0.2f));
  zConeShape->setColor(blue);
  zAxis->addDrawable(zConeShape.get());
  zAxis->addDrawable(zAxisShape.get());

  axesPreview->addChild(xRotation.get());
  axesPreview->addChild(yRotation.get());
  axesPreview->addChild(zAxis.get());

  OSGWidget::fixMaterialState(axesPreview);

  return axesPreview;
}