Ogre2GpuRays.hh

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/*
 * Copyright (C) 2018 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef IGNITION_RENDERING_OGRE2_OGRE2GPURAYS_HH_
#define IGNITION_RENDERING_OGRE2_OGRE2GPURAYS_HH_

#include <string>
#include <memory>

#include "ignition/rendering/RenderTypes.hh"
#include "ignition/rendering/base/BaseGpuRays.hh"
#include "ignition/rendering/ogre2/Ogre2RenderTarget.hh"
#include "ignition/rendering/ogre2/Ogre2RenderTypes.hh"
#include "ignition/rendering/ogre2/Ogre2Scene.hh"
#include "ignition/rendering/ogre2/Ogre2Sensor.hh"

namespace ignition
{
  namespace rendering
  {
    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
    //
    // Forward declaration
    class Ogre2GpuRaysPrivate;

    class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2GpuRays :
      public BaseGpuRays<Ogre2Sensor>
    {
      protected: Ogre2GpuRays();

      public: virtual ~Ogre2GpuRays();

      // Documentation inherited
      public: virtual void Init() override;

      // Documentation inherited
      public: virtual void Destroy() override;

      public: virtual void CreateRenderTexture();

      // Documentation inherited
      public: virtual void PreRender() override;

      // Documentation inherited
      public: virtual void PostRender() override;

      // Documentation inherited
      public: virtual const float *Data() const override;

      // Documentation inherited.
      public: virtual void Copy(float *_data) override;

      // Documentation inherited.
      public: virtual common::ConnectionPtr ConnectNewGpuRaysFrame(
                  std::function<void(const float *_frame, unsigned int _width,
                  unsigned int _height, unsigned int _channels,
                  const std::string &_format)> _subscriber) override;

      // Documentation inherited.
      public: virtual RenderTargetPtr RenderTarget() const override;

      private: virtual void Set1stTextureSize(const unsigned int _w,
          const unsigned int _h = 1);

      private: virtual void SetRangeCount(const unsigned int _w,
          const unsigned int _h = 1);

      // Documentation inherited.
      private: virtual void Render() override;

      private: void ConfigureCamera();

      private: void CreateCamera();

      private: virtual void CreateGpuRaysTextures();

      private: void UpdateRenderTarget1stPass();

      private: void UpdateRenderTarget2ndPass();

      private: void CreateSampleTexture();

      private: void Setup1stPass();

      private: void Setup2ndPass();

      private: math::Vector2d SampleCubemap(const math::Vector3d &_v,
          unsigned int &_faceIndex);

      private: std::unique_ptr<Ogre2GpuRaysPrivate> dataPtr;

      private: friend class Ogre2Scene;
    };
    }
  }
}
#endif