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 GZ_RENDERING_OGRE2_OGRE2GPURAYS_HH_
#define GZ_RENDERING_OGRE2_OGRE2GPURAYS_HH_
 
#include <functional>
#include <string>
#include <memory>
 
#include "gz/rendering/RenderTypes.hh"
#include "gz/rendering/base/BaseGpuRays.hh"
#include "gz/rendering/ogre2/Export.hh"
#include "gz/rendering/ogre2/Ogre2RenderTarget.hh"
#include "gz/rendering/ogre2/Ogre2RenderTypes.hh"
#include "gz/rendering/ogre2/Ogre2Scene.hh"
#include "gz/rendering/ogre2/Ogre2Sensor.hh"
 
#include "gz/common/Event.hh"
#include "gz/common/Console.hh"
 
namespace Ogre
{
  class Material;
  class RenderTarget;
  class Texture;
  class Viewport;
}
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    // Forward declaration
    class Ogre2GpuRaysPrivate;
 
    class GZ_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