added support for data path and vr mesh rendering of controller and hmd

cgv/base/import.cxx

@@ -58,7 +58,6 @@ std::string find_data_file_1(const std::string& base_path, const std::string& su
 
 std::string find_data_file(const std::string& file_name, const std::string& strategy, const std::string& sub_directory, const std::string& master_path)
 {
-//	std::cout << "find " << file_name << " in " << std::endl;
 	for (unsigned i=0; i<strategy.size(); ++i) {
 		switch (strategy[i]) {
 		case 'r' :

cgv/math/ftransform.h

@@ -63,6 +63,35 @@ namespace cgv {
 		template <typename T> fmat<T, 4, 4>
 			rotate4(const T& A, const T& ax, const T& ay, const T& az) { return rotate4(A, fvec<T, 3>(ax, ay, az)); }
 
+		/// construct 4x4 pose matrix from a 3x4 matrix
+		template <typename T> fmat<T, 4, 4>
+			pose4(const fmat<T,3,4>& M) { 
+				fmat<T, 4, 4> M4;
+				M4.set_col(0, fvec<T, 4>(M.col(0), 0));
+				M4.set_col(1, fvec<T, 4>(M.col(1), 0));
+				M4.set_col(2, fvec<T, 4>(M.col(2), 0));
+				M4.set_col(3, fvec<T, 4>(M.col(3), 1));
+				return M4;
+			}
+		/// construct 4x4 pose matrix from a 3x3 rotation matrix and translation vector
+		template <typename T> fmat<T, 4, 4>
+			pose4(const fmat<T, 3, 3>& R, const fvec<T, 3>& t) {
+				fmat<T, 4, 4> M4;
+				M4.set_col(0, fvec<T, 4>(R.col(0), 0));
+				M4.set_col(1, fvec<T, 4>(R.col(1), 0));
+				M4.set_col(2, fvec<T, 4>(R.col(2), 0));
+				M4.set_col(3, fvec<T, 4>(t, 1));
+				return M4;
+			}
+
+		/// construct 4x4 pose matrix from quaternion and translation vector
+		template <typename T> fmat<T, 4, 4>
+			pose4(const quaternion<T>& q, const fvec<T, 3>& t) {
+				fmat<T, 3, 3> R;
+				q.put_matrix(R);
+				return pose4<T>(R, t);
+			}
+
 		/// return rigid body transformation that performs look at transformation
 		template <typename T> fmat<T, 4, 4>
 			look_at4(const fvec<T, 3>& eye, const fvec<T, 3>& focus, const fvec<T, 3>& view_up_dir) {

cgv/media/illum/textured_surface_material.cxx

@@ -32,7 +32,7 @@ textured_surface_material::textured_surface_material(
 	normal_index = -1;
 	bump_index = -1;
 	specular_index = -1;
-	sRGBA_textures = true;
+	sRGBA_textures = false;
 }
 
 /// set whether textures are interpreted in sRGB format
@@ -44,6 +44,7 @@ void textured_surface_material::set_sRGBA_textures(bool do_set)
 /// convert obj material
 textured_surface_material::textured_surface_material(const obj_material& obj_mat)
 {
+	sRGBA_textures = false;
 	diffuse_index = -1;
 	roughness_index = -1;
 	metalness_index = -1;
@@ -57,7 +58,9 @@ textured_surface_material::textured_surface_material(const obj_material& obj_mat
 	set_name(obj_mat.get_name());
 	set_brdf_type(BrdfType(BT_LAMBERTIAN + BT_PHONG));
 	obj_material::color_type a = obj_mat.get_ambient(), d = obj_mat.get_diffuse();
-	set_ambient_occlusion(sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]) / sqrt(d[0] * d[0] + d[1] * d[1] + d[2] * d[2]));
+	float la = sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
+	float ld = sqrt(d[0] * d[0] + d[1] * d[1] + d[2] * d[2]);
+	set_ambient_occlusion(la >= ld ? la : la/ld);
 	set_diffuse_reflectance(obj_mat.get_diffuse());
 	set_specular_reflectance(obj_mat.get_specular());
 	set_emission(obj_mat.get_emission());

cgv/media/image/bmp_reader.cxx

@@ -61,7 +61,6 @@ bool bmp_reader::open(const std::string& file_name, data_format& df, std::vector
 	palette.clear();
 
 	fp = cgv::base::open_data_file(file_name.c_str(), "rb");
-//	fp = fopen(file_name.c_str(), "rb");
 	if (!fp) {
 		last_error  = "could not open file: ";
 		last_error += file_name;

cgv/media/mesh/obj_reader.cxx

@@ -1,5 +1,6 @@
 #include "obj_reader.h"
 #include <cgv/utils/file.h>
+#include <cgv/base/import.h>
 #include <cgv/type/standard_types.h>
 #include <cgv/utils/advanced_scan.h>
 #include <cgv/utils/tokenizer.h>
@@ -177,7 +178,7 @@ template <typename T>
 bool obj_reader_generic<T>::read_obj(const std::string& file_name)
 {
 	std::string content;
-	if (!file::read(file_name, content, true))
+	if (!cgv::base::read_data_file(file_name, content, true))
 		return false;
 
 	path_name = file::get_path(file_name);

cgv/render/clipped_view.cxx

@@ -94,7 +94,12 @@ void clipped_view::compute_clipping_planes(const cgv::render::view& view, double
 		if (z_min > z_near)
 			z_near_derived = z_min;
 		if (z_max > z_near)
-			z_far_derived = 1.2*z_max;
+			z_far_derived = z_max;
+
+		if (clip_relative_to_extent) {
+			z_near_derived *= z_near;
+			z_far_derived *= z_far;
+		}
 	}
 	else if (clip_relative_to_extent) {
 		z_near_derived = y_extent_at_focus*z_near;

define_data_dir.bat

@@ -0,0 +1,32 @@
+@echo off
+setlocal EnableDelayedExpansion
+%~d0
+cd %~p0
+set my_path=%~dp0
+set cgvdir=%my_path:~0,-1%
+set cgvdata=%cgvdir%\data
+if [%1] == [] (
+   set param=""
+) else (
+   set param=%1
+)
+set param=%param:"=%
+if NOT [%1] == [] (
+   if EXIST "%param%\..\%~n1" (
+      call set cgvdata=%param%
+   ) else ( 
+      echo only directories valid as data path argument
+      echo "%param%\..\%~n1" does not exist
+      pause
+      goto:eof
+   )
+) else (
+   echo no cgv data directory dragged onto batch script
+   pause
+   goto:eof
+)
+call reg ADD HKEY_CURRENT_USER\Environment /v CGV_DATA /t REG_SZ /d "%cgvdata%" /f > nul 2> nul
+bin\setx CGV_DUMMY ""
+call reg DELETE HKEY_CURRENT_USER\Environment /v CGV_DUMMY /f  >nul 2> nul
+echo set CGV_DATA to %cgvdata%
+pause

define_support_dir.bat

@@ -21,7 +21,7 @@ if NOT [%1] == [] (
       goto:eof
    )
 ) else (
-   echo no cgv project directory dragged onto batch script
+   echo no cgv support directory dragged onto batch script
    pause
    goto:eof
 )

libs/cgv_gl/gl/mesh_render_info.h

@@ -33,6 +33,8 @@ namespace cgv {
 			mesh_render_info();
 			///
 			void destruct(cgv::render::context& ctx);
+			/// check whether info is constructed
+			bool is_constructed() const { return vbo.is_created(); }
 			///
 			void construct_base(cgv::render::context& c, const cgv::media::mesh::simple_mesh_base& mesh,
 				std::vector<idx_type>& vertex_indices, std::vector<vec3i>& unique_triples,

libs/cgv_gl/glsl/textured_surface.glfs

@@ -5,9 +5,10 @@ in vec3 position_eye;
 in vec4 color_fs;
 in vec2 texcoord_fs;
 
-out vec4 frag_color;
-
+//***** begin interface of fragment.glfs ***********************************
 uniform float gamma = 2.2;
+void finish_fragment(vec4 color);
+//***** end interface of fragment.glfs ***********************************
 
 //***** begin interface of surface.glsl ***********************************
 struct Material {
@@ -43,7 +44,5 @@ void main()
 	if (!keep_this_side(position_eye, normal, side))
 		discard;
 
-	frag_color = compute_reflected_appearance_texture(position_eye, normal, texcoord_fs, color_fs, side);
-	// perform inverse gamma correction
-	frag_color.rgb = pow(frag_color.rgb, vec3(gamma));
+	finish_fragment(compute_reflected_appearance_texture(position_eye, normal, texcoord_fs, color_fs, side));
 }

libs/cgv_gl/glsl/textured_surface.glpr

@@ -1,8 +1,9 @@
 files:textured_surface
-fragment_file:lights.glsl
-fragment_file:brdf.glsl
-fragment_file:bump_map.glfs
 vertex_file:brdf.glsl
 vertex_file:view.glsl
+fragment_file:fragment.glfs
 fragment_file:side.glsl
 fragment_file:surface.glsl
+fragment_file:lights.glsl
+fragment_file:brdf.glsl
+fragment_file:bump_map.glfs

plugins/crg_vr_view/vr_view_interactor.cxx

@@ -4,6 +4,7 @@
 #include <cgv/gui/trigger.h>
 #include <cgv/signal/rebind.h>
 #include <cgv/math/ftransform.h>
+#include <cgv/base/import.h>
 #include <cgv/math/inv.h>
 #include <iostream>
 #include <sstream>
@@ -26,6 +27,9 @@ vr_view_interactor::vr_view_interactor(const char* name) : stereo_view_interacto
 	fence_frequency = 5;
 	fence_line_width = 3;
 	show_vr_kits = true;
+	show_vr_kits_as_spheres = false;
+	show_vr_kits_as_meshes = true;
+
 	show_action_zone = false;
 	current_vr_handle = 0;
 	current_vr_handle_index = 0;
@@ -171,6 +175,21 @@ void vr_view_interactor::stream_stats(std::ostream& os)
 bool vr_view_interactor::init(cgv::render::context& ctx)
 {
 	cgv::render::ref_sphere_renderer(ctx, 1);
+	cgv::media::mesh::simple_mesh<float> M;
+	if (M.read(cgv::base::find_data_file("vr_controller_vive_1_5.obj", "D")))
+		MI_controller.construct(ctx, M);
+	cgv::media::mesh::simple_mesh<float> M2;
+	if (M2.read(cgv::base::find_data_file("generic_hmd.obj", "D")))
+		MI_hmd.construct(ctx, M2);
+
+	if (!MI_hmd.is_constructed() && !MI_controller.is_constructed()) {
+		show_vr_kits_as_meshes = false;
+		on_set(&show_vr_kits_as_meshes);
+		if (!show_vr_kits_as_spheres) {
+			show_vr_kits_as_spheres = true;
+			on_set(&show_vr_kits_as_spheres);
+		}
+	}
 	return stereo_view_interactor::init(ctx);
 }
 
@@ -434,53 +453,75 @@ void vr_view_interactor::draw(cgv::render::context& ctx)
 			vr::vr_kit_state state;
 			vr::vr_kit_state* state_ptr = &state;
 			if (handle == current_vr_handle)
-				state_ptr = &kit_states[current_vr_handle_index-1];
+				state_ptr = &kit_states[current_vr_handle_index - 1];
 			else if (!kit_ptr->query_state(state, 1))
 				continue;
-			float left_eye_to_head[12];
-			float right_eye_to_head[12];
-			kit_ptr->put_eye_to_head_matrix(0, left_eye_to_head);
-			kit_ptr->put_eye_to_head_matrix(1, right_eye_to_head);
-			const mat3& R_w_h = reinterpret_cast<const mat3&>(state_ptr->hmd.pose[0]);
-			const vec3& p_w_h = reinterpret_cast<const vec3&>(state_ptr->hmd.pose[9]);
 
+			if (show_vr_kits_as_meshes && MI_hmd.is_constructed()) {
+				if (kit_ptr != rendered_kit_ptr) {
+					ctx.push_modelview_matrix();
+					ctx.mul_modelview_matrix(
+						cgv::math::pose4<float>(reinterpret_cast<const mat34&>(state_ptr->hmd.pose[0]))*
+						cgv::math::translate4<float>(0, 0.1f, -0.1f)
+					);
+					MI_hmd.render_mesh(ctx);
+					ctx.pop_modelview_matrix();
+				}
+			}
+			if (show_vr_kits_as_spheres || !MI_hmd.is_constructed()) {
+				float left_eye_to_head[12];
+				float right_eye_to_head[12];
+				kit_ptr->put_eye_to_head_matrix(0, left_eye_to_head);
+				kit_ptr->put_eye_to_head_matrix(1, right_eye_to_head);
+				const mat3& R_w_h = reinterpret_cast<const mat3&>(state_ptr->hmd.pose[0]);
+				const vec3& p_w_h = reinterpret_cast<const vec3&>(state_ptr->hmd.pose[9]);
 
-			const mat3& R_h_l = reinterpret_cast<const mat3&>(left_eye_to_head[0]);
-			const vec3& p_h_l = reinterpret_cast<const vec3&>(left_eye_to_head[9]);
 
-			const mat3& R_h_r = reinterpret_cast<const mat3&>(right_eye_to_head[0]);
-			const vec3& p_h_r = reinterpret_cast<const vec3&>(right_eye_to_head[9]);
+				const mat3& R_h_l = reinterpret_cast<const mat3&>(left_eye_to_head[0]);
+				const vec3& p_h_l = reinterpret_cast<const vec3&>(left_eye_to_head[9]);
 
-			vec4 s_l(0, 0, 0, 0.012f);
-			vec4 s_r = s_l;
-			reinterpret_cast<vec3&>(s_l) = R_w_h * p_h_l + p_w_h;
-			reinterpret_cast<vec3&>(s_r) = R_w_h * p_h_r + p_w_h;
+				const mat3& R_h_r = reinterpret_cast<const mat3&>(right_eye_to_head[0]);
+				const vec3& p_h_r = reinterpret_cast<const vec3&>(right_eye_to_head[9]);
 
-			if (kit_ptr != rendered_kit_ptr || rendered_eye != 0) {
-				spheres.push_back(s_l);
-				sphere_colors.push_back(rgb(1, 0, 0));
-			}
-			if (kit_ptr != rendered_kit_ptr || rendered_eye != 1) {
-				spheres.push_back(s_r);
-				sphere_colors.push_back(rgb(0, 0, 1));
+				vec4 s_l(0, 0, 0, 0.012f);
+				vec4 s_r = s_l;
+				reinterpret_cast<vec3&>(s_l) = R_w_h * p_h_l + p_w_h;
+				reinterpret_cast<vec3&>(s_r) = R_w_h * p_h_r + p_w_h;
+
+				if (kit_ptr != rendered_kit_ptr || rendered_eye != 0) {
+					spheres.push_back(s_l);
+					sphere_colors.push_back(rgb(1, 0, 0));
+				}
+				if (kit_ptr != rendered_kit_ptr || rendered_eye != 1) {
+					spheres.push_back(s_r);
+					sphere_colors.push_back(rgb(0, 0, 1));
+				}
 			}
 			for (unsigned i = 0; i < 2; ++i) {
-				const mat3& R_ci = reinterpret_cast<const mat3&>(state_ptr->controller[i].pose[0]);
-				const vec3& p_ci = reinterpret_cast<const vec3&>(state_ptr->controller[i].pose[9]);
-				spheres.push_back(vec4(p_ci, 0.04f));
-				spheres.push_back(vec4(p_ci + 0.05f*R_ci.col(0), 0.01f));
-				spheres.push_back(vec4(p_ci - 0.05f*R_ci.col(0), 0.01f));
-				spheres.push_back(vec4(p_ci + 0.05f*R_ci.col(1), 0.01f));
-				spheres.push_back(vec4(p_ci - 0.05f*R_ci.col(1), 0.01f));
-				spheres.push_back(vec4(p_ci + 0.05f*R_ci.col(2), 0.01f));
-				spheres.push_back(vec4(p_ci - 0.05f*R_ci.col(2), 0.01f));
-				sphere_colors.push_back(rgb(0.5f + (1 - i)*0.5f, 0.5f, 0.5f + 0.5f*i));
-				sphere_colors.push_back(rgb(1, 0, 0));
-				sphere_colors.push_back(rgb(1, 0.5f, 0.5f));
-				sphere_colors.push_back(rgb(0, 1, 0));
-				sphere_colors.push_back(rgb(0.5f, 1, 0.5f));
-				sphere_colors.push_back(rgb(0, 0, 1));
-				sphere_colors.push_back(rgb(0.5f, 0.5f, 1));
+				if (show_vr_kits_as_meshes && MI_controller.is_constructed()) {
+					ctx.push_modelview_matrix();
+					ctx.mul_modelview_matrix(cgv::math::pose4<float>(reinterpret_cast<const mat34&>(state_ptr->controller[i].pose[0])));
+					MI_controller.render_mesh(ctx);
+					ctx.pop_modelview_matrix();
+				}
+				if (show_vr_kits_as_spheres || !MI_controller.is_constructed()) {
+					const mat3& R_ci = reinterpret_cast<const mat3&>(state_ptr->controller[i].pose[0]);
+					const vec3& p_ci = reinterpret_cast<const vec3&>(state_ptr->controller[i].pose[9]);
+					spheres.push_back(vec4(p_ci, 0.04f));
+					spheres.push_back(vec4(p_ci + 0.05f*R_ci.col(0), 0.01f));
+					spheres.push_back(vec4(p_ci - 0.05f*R_ci.col(0), 0.01f));
+					spheres.push_back(vec4(p_ci + 0.05f*R_ci.col(1), 0.01f));
+					spheres.push_back(vec4(p_ci - 0.05f*R_ci.col(1), 0.01f));
+					spheres.push_back(vec4(p_ci + 0.05f*R_ci.col(2), 0.01f));
+					spheres.push_back(vec4(p_ci - 0.05f*R_ci.col(2), 0.01f));
+					sphere_colors.push_back(rgb(0.5f + (1 - i)*0.5f, 0.5f, 0.5f + 0.5f*i));
+					sphere_colors.push_back(rgb(1, 0, 0));
+					sphere_colors.push_back(rgb(1, 0.5f, 0.5f));
+					sphere_colors.push_back(rgb(0, 1, 0));
+					sphere_colors.push_back(rgb(0.5f, 1, 0.5f));
+					sphere_colors.push_back(rgb(0, 0, 1));
+					sphere_colors.push_back(rgb(0.5f, 0.5f, 1));
+				}
 			}
 		}
 		if (!spheres.empty()) {
@@ -558,7 +599,9 @@ void vr_view_interactor::create_gui()
 			align("\b");
 			end_tree_node(fence_color1);
 		}
-		add_member_control(this, "show_vr_kits", show_vr_kits, "check");
+		add_member_control(this, "show kits", show_vr_kits, "toggle", "w=62", " ");
+		add_member_control(this, "as meshes", show_vr_kits_as_meshes, "toggle", "w=61", " ");
+		add_member_control(this, "as spheres", show_vr_kits_as_spheres, "toggle", "w=61");
 		if (begin_tree_node("sphere styles", srs, false, "level=3")) {
 			align("\a");
 			add_gui("sphere style", srs);

plugins/crg_vr_view/vr_view_interactor.h

@@ -5,6 +5,7 @@
 #include <cg_vr/vr_server.h>
 #include <cgv_gl/box_renderer.h>
 #include <cgv_gl/sphere_renderer.h>
+#include <cgv_gl/gl/mesh_render_info.h>
 #include <stereo_view_interactor.h>
 
 #include "lib_begin.h"
@@ -54,6 +55,8 @@ bool your_class::init(cgv::render::context& ctx)
 class CGV_API vr_view_interactor : 
 	public stereo_view_interactor	
 {
+public:
+	typedef cgv::math::fmat<float,3,4> mat34;
 protected:
 	/// whether the window shows a separate view onto the scene or the one of the current vr kit
 	bool separate_view;
@@ -65,6 +68,8 @@ class CGV_API vr_view_interactor :
 	int rendered_eye;
 	vr::vr_kit* rendered_kit_ptr;
 	int rendered_kit_index;
+	cgv::render::mesh_render_info MI_controller, MI_hmd;
+
 	cgv::gui::VREventTypeFlags event_flags;
 	static dmat4 hmat_from_pose(float pose_matrix[12]);
 
@@ -73,6 +78,8 @@ class CGV_API vr_view_interactor :
 
 	// visualization of kits and action zone
 	bool show_vr_kits;
+	bool show_vr_kits_as_spheres;
+	bool show_vr_kits_as_meshes;
 	bool show_action_zone;
 	rgb fence_color1, fence_color2;
 	float fence_frequency;