gl_spider.h 8.37 KB
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411
#ifndef STIM_GL_SPIDER_H
#define STIM_GL_SPIDER_H

#include <GL/glew.h>
#include <GL/glut.h>
#include <cuda.h>
#include <cuda_gl_interop.h>
#include <cudaGL.h>
#include "gl_texture.h"
#include "../visualization/camera.h"
#include "./error.h"
#include "../math/vector.h"
#include "../math/rect.h"
#include "../cuda/cost.h"
#include "../cuda/glbind.h"

namespace stim
{

template<typename T>
class gl_spider : public virtual gl_texture<T>
{
	//doen't use gl_texture really, just needs the GLuint id.
	//doesn't even need the texture iD really.
	private:
		stim::camera rotator;
		stim::vec<float> position;  	//vector designating the position of the spider.
		stim::vec<float> direction;	//vector designating the orientation of the spider
						//always a unit vector.
		stim::vec<float> magnitude;	//magnitude of the direction vector.
						//mag[0] = length.
						//mag[1] = width.
		using gl_texture<T>::texID;
		//using image_stack<T>::S;
		cudaArray* c_Array;
		//void** devPtr;
		//size_t size;
		cudaGraphicsResource_t resource;
		GLuint fboID;
		GLuint texbufferID;

		void
		findOptimalDirection()
		{
			/* Method for finding the best direction for the spider.
			   Uses the camera to rotate. Then Calls Evaluate to find new cost.
			*/
		}

		void
		findOptimalPosition()
		{
			/* Method for finding the best direction for the spider.
			   Not sure if necessary since the next position for the spider
			   will be at direction * magnitude. */
		}
	
		void
		findOptimalScale()
		{
			/* Method for finding the best scale for the spider.
			   changes the x, y, z size of the spider to minimize the cost
			   function. */
		}

		void
		Evaluate()
		{	
			/* Uses uniform sampler2D in order to take a difference between
			   the colors of two textures. 1st texture is the spider template,
			   the 2nd is the location of the spider's overlap with the
			   gl_template 
	
			   does the spider need to track it's location? Prob not since
			   position can be set with gl_texture coordinates */
		
		}
		
		void
		Optimize()
		{
			/*find the optimum direction and scale */ 
		}
		/*
		void
		Step()
		{
			// move to the new position 
		}
		*/
	public:

		stim::rect<float> hor;
		stim::rect<float> ver;	



		gl_spider
		()
		{
			setPosition(0.0,0.0,0.0);
			setDirection(1.0,1.0,1.0);
			setMagnitude(0.1,0.1);
			//GenerateFBO(400,200);
			//Update();
		}

		gl_spider
		(vec<float> pos, vec<float> dir, vec<float> mag)
		{
			position = pos;
			direction = dir;
			magnitude = mag;
			//GenerateFBO(400,200);
			//Update();
		}
		//temporary cost for convenience.	
		gl_spider
		(float pos_x, float pos_y, float pos_z, float dir_x, float dir_y, float dir_z,
			float mag_x, float mag_y)
		{
			setPosition(pos_x, pos_y, pos_z);
			setDirection(dir_x, dir_y, dir_z);
			setMagnitude(mag_x, mag_y);
			//GenerateFBO(400,200);
			//Update();
		}
		
		void
		attachSpider(GLuint id)
		{
			texID = id;
			GenerateFBO(400,200);
			Update();
		}

		void
		Update()
		{
			vec<float> Y(1.0,0.0,0.0);
			if(cos(Y.dot(direction))< 0.087){
				Y[0] = 0.0; Y[1] = 1.0;}
			hor = stim::rect<float>(magnitude, position, direction.norm(),
				((Y.cross(direction)).cross(direction)).norm());
			ver = stim::rect<float>(magnitude, position, direction.norm(),
				 hor.n());
			UpdateBuffer();
		}
		
		vec<float>
		getPosition()
		{
			return position;
		}
	
		vec<float>
		getDirection()
		{
			return direction;
		}

		vec<float>
		getMagnitude()
		{
			return magnitude;
		}
	
		void
		setPosition(vec<float> pos)
		{
			position = pos;
		}
		
		void
		setPosition(float x, float y, float z)
		{
			position[0] = x;
			position[1] = y;
			position[2] = z;
		}

		void
		setDirection(vec<float> dir)
		{
			direction = dir;
		}
		
		void
		setDirection(float x, float y, float z)
		{
			direction[0] = x;
			direction[1] = y;
			direction[2] = z;
		}
		
		void
		setMagnitude(vec<float> mag)
		{
			magnitude = mag;
		}
		
		void
		setMagnitude(float x, float y)
		{
			magnitude[0] = x;
			magnitude[1] = y;
		}
	
		GLuint
		getFB()
		{
			return fboID;
		}

		void
		Step()
		{
			std::cout << position[0] << "," << position[1] << "," << position[1]
				<< std::endl;
			setPosition(direction*magnitude[1]/2+position);
			Update();
			std::cout << position[0] << "," << position[1] << "," << position[1]
				<< std::endl;
			
		}

		void
		UpdateBuffer()
		{	
			stim::vec<float>p1; 
        	        stim::vec<float>p2; 
	                stim::vec<float>p3; 
                	stim::vec<float>p4;	
			glBindFramebuffer(GL_FRAMEBUFFER, fboID);
			glFramebufferTexture2D(
				GL_FRAMEBUFFER,
				GL_COLOR_ATTACHMENT0,
				GL_TEXTURE_2D,
				texbufferID,
				0);
			glBindFramebuffer(GL_FRAMEBUFFER, fboID);
			GLenum DrawBuffers[1] = {GL_COLOR_ATTACHMENT0};
			glDrawBuffers(1, DrawBuffers);
			glBindTexture(GL_TEXTURE_2D, texbufferID);
			glClearColor(0,0,0,0);
			glClear(GL_COLOR_BUFFER_BIT);
			glMatrixMode(GL_PROJECTION);
			glLoadIdentity();
			glMatrixMode(GL_MODELVIEW);
			glLoadIdentity();
			glViewport(0,0,400,200);
			gluOrtho2D(0.0,2.0,0.0,2.0);
			glEnable(GL_TEXTURE_3D);
			glBindTexture(GL_TEXTURE_3D, texID);
			p1 = hor.p(1,1);
			p2 = hor.p(1,0);
			p3 = hor.p(0,0);
			p4 = hor.p(0,1);
			glBegin(GL_QUADS);
				glTexCoord3f(
					p1[0],
					p1[1],
					p1[2]
					);
				glVertex2f(0.0,0.0);
				glTexCoord3f(
					p2[0],
					p2[1],
					p2[2]
					);
				glVertex2f(1.0, 0.0);
				glTexCoord3f(
					p3[0],
					p3[1],
					p3[2]
					);
				glVertex2f(1.0, 2.0);
				glTexCoord3f(
					p4[0],
					p4[1],
					p4[2]
					);
				glVertex2f(0.0, 2.0);
			 glEnd();
			 p1 = ver.p(1,1);
			 p2 = ver.p(1,0);
			 p3 = ver.p(0,0);
			 p4 = ver.p(0,1);
		 	 glBegin(GL_QUADS);
				glTexCoord3f(
					p1[0],
					p1[1],
					p1[2]
					);
				glVertex2f(1.0, 0.0);
				glTexCoord3f(
					p2[0],
					p2[1],
					p2[2]
					);
				glVertex2f(2.0, 0.0);
				glTexCoord3f(
					p3[0],
					p3[1],
					p3[2]
					);
				glVertex2f(2.0, 2.0);
				glTexCoord3f(
					p4[0],
					p4[1],
					p4[2]
					);
				glVertex2f(1.0, 2.0);
			glEnd();
			glBindTexture(GL_TEXTURE_3D, 0);                      
			glDisable(GL_TEXTURE_3D);
			glBindFramebuffer(GL_FRAMEBUFFER,0);
			glBindTexture(GL_TEXTURE_2D, 0);
		}
                                                                   

		void
		GenerateFBO(unsigned int width, unsigned int height)
		{
			glGenFramebuffers(1, &fboID);
			glBindFramebuffer(GL_FRAMEBUFFER, fboID);
			int numChannels = 1;
			unsigned char* texels = new unsigned char[width * height * numChannels];
			glGenTextures(1, &texbufferID);
			glBindTexture(GL_TEXTURE_2D, texbufferID);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
			glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE,
				 width, height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, texels);   
			delete[] texels;
			glBindFramebuffer(GL_FRAMEBUFFER, 0); 
		}


		void
		initCuda()
		{	
	/*		cudaDeviceProp prop;
			int device;
			memset( &prop, 0, sizeof(cudaDeviceProp) );
			prop.major = 1;
			prop.minor = 0;
			HANDLE_ERROR( cudaChooseDevice (&device, &prop ) );
			HANDLE_ERROR( cudaGetDeviceProperties(&prop, device));
			printf("  device number: %d\n", device);
    			printf("  device name: %s\n", prop.name);
			printf("  device maxTexture3D: %d %d %d\n", prop.maxTexture3D[0] ,prop.maxTexture3D[0], prop.maxTexture3D[2]) ;
			HANDLE_ERROR( cudaGLSetGLDevice (device)); */
			stim::cudaSetDevice();
/*			HANDLE_ERROR(
				cudaGraphicsMapResources(1, &resource, 0)
				    ); 
			HANDLE_ERROR(
				cudaGraphicsResourceGetMappedPointer(
					&devPtr,
					size,
					resource));              
			HANDLE_ERROR(
				cudaGraphicsSubResourceGetMappedArray(
					 &c_Array,
					 resource,
					 0,0) 
				    );
			HANDLE_ERROR(
				cudaBindTextureToArray(fboID, c_Array)
				    );
			HANDLE_ERROR(
				cudaGraphicsUnmapResources(1, &resource, 0)
				    );	
			//need to move the constants to video memory.
*/			
		}
		
		void
		createResource()
		{
			HANDLE_ERROR(
				cudaGraphicsGLRegisterImage(
					 &resource,
				 	fboID,
				 	GL_TEXTURE_2D,
				 	CU_GRAPHICS_REGISTER_FLAGS_NONE)
			);
		} 
		
		void
		destroyResource()
		{
			HANDLE_ERROR(
				cudaGraphicsUnregisterResource(resource)
			);		
		}

		float
		getCost()
		{	
			createResource();
			float cost = 	get_cost(resource);
			destroyResource();
			return cost;
		}
};
}
#endif