////  Cube.cpp//  interface////  Created by Philip on 12/31/12.//  Copyright (c) 2012 High Fidelity, Inc. All rights reserved.//#ifdef _WIN32#define _timeval_#define _USE_MATH_DEFINES#endif#include <cstring>#include <cmath>#include <iostream> // to load voxels from file#include <fstream> // to load voxels from file#include <SharedUtil.h>#include <PacketHeaders.h>#include <OctalCode.h>#include <pthread.h>#include "Log.h"#include "VoxelConstants.h" #include "VoxelSystem.h" float identityVertices[] = { 0,0,0, 1,0,0, 1,1,0, 0,1,0, 0,0,1, 1,0,1, 1,1,1, 0,1,1,                             0,0,0, 1,0,0, 1,1,0, 0,1,0, 0,0,1, 1,0,1, 1,1,1, 0,1,1,                             0,0,0, 1,0,0, 1,1,0, 0,1,0, 0,0,1, 1,0,1, 1,1,1, 0,1,1 }; GLfloat identityNormals[] = { 0,0,-1, 0,0,-1, 0,0,-1, 0,0,-1,                              0,0,+1, 0,0,+1, 0,0,+1, 0,0,+1,                              0,-1,0, 0,-1,0, 0,+1,0, 0,+1,0,                              0,-1,0, 0,-1,0, 0,+1,0, 0,+1,0,                              -1,0,0, +1,0,0, +1,0,0, -1,0,0,                              -1,0,0, +1,0,0, +1,0,0, -1,0,0 }; GLubyte identityIndices[] = { 0,2,1,    0,3,2,    // Z- .                              8,9,13,   8,13,12,  // Y-                              16,23,19, 16,20,23, // X-                              17,18,22, 17,22,21, // X+                              10,11,15, 10,15,14, // Y+                              4,5,6,    4,6,7 };  // Z+ . VoxelSystem::VoxelSystem() {    voxelsRendered = 0;    tree = new VoxelTree();    pthread_mutex_init(&bufferWriteLock, NULL);} VoxelSystem::~VoxelSystem() {    delete[] readVerticesArray;    delete[] writeVerticesArray;    delete[] readColorsArray;    delete[] writeColorsArray;    delete tree;    pthread_mutex_destroy(&bufferWriteLock);} //////////////////////////////////////////////////////////////////////////////////////////// Method:      VoxelSystem::loadVoxelsFile()// Description: Loads HiFidelity encoded Voxels from a binary file. The current file//              format is a stream of single voxels with NO color data. Currently//              colors are set randomly// Complaints:  Brad :)// To Do:       Need to add color data to the file.void VoxelSystem::loadVoxelsFile(const char* fileName, bool wantColorRandomizer) {     tree->loadVoxelsFile(fileName,wantColorRandomizer);     copyWrittenDataToReadArrays();} //////////////////////////////////////////////////////////////////////////////////////////// Method:      VoxelSystem::createSphere()// Description: Creates a sphere of voxels in the local system at a given location/radius// To Do:       Move this function someplace better? I put it here because we need a//              mechanism to tell the system to redraw it's arrays after voxels are done//              being added. This is a concept mostly only understood by VoxelSystem.// Complaints:  Brad :)void VoxelSystem::createSphere(float r,float xc, float yc, float zc, float s, bool solid, bool wantColorRandomizer) {     tree->createSphere(r,xc,yc,zc,s,solid,wantColorRandomizer);    setupNewVoxelsForDrawing();} long int VoxelSystem::getVoxelsCreated() {    return tree->voxelsCreated;} float VoxelSystem::getVoxelsCreatedPerSecondAverage() {    return (1 / tree->voxelsCreatedStats.getEventDeltaAverage());} long int VoxelSystem::getVoxelsColored() {    return tree->voxelsColored;} float VoxelSystem::getVoxelsColoredPerSecondAverage() {    return (1 / tree->voxelsColoredStats.getEventDeltaAverage());} long int VoxelSystem::getVoxelsBytesRead() {    return tree->voxelsBytesRead;} float VoxelSystem::getVoxelsBytesReadPerSecondAverage() {    return tree->voxelsBytesReadStats.getAverageSampleValuePerSecond();} int VoxelSystem::parseData(unsigned char* sourceBuffer, int numBytes) {     unsigned char command = *sourceBuffer;    unsigned char *voxelData = sourceBuffer + 1;     switch(command) {        case PACKET_HEADER_VOXEL_DATA:            // ask the VoxelTree to read the bitstream into the tree            tree->readBitstreamToTree(voxelData, numBytes - 1);        break;        case PACKET_HEADER_ERASE_VOXEL:            // ask the tree to read the "remove" bitstream            tree->processRemoveVoxelBitstream(sourceBuffer, numBytes);        break;        case PACKET_HEADER_Z_COMMAND:             // the Z command is a special command that allows the sender to send high level semantic            // requests, like erase all, or add sphere scene, different receivers may handle these            // messages differently            char* packetData = (char *)sourceBuffer;            char* command = &packetData[1]; // start of the command            int commandLength = strlen(command); // commands are null terminated strings            int totalLength = 1+commandLength+1;             printLog("got Z message len(%d)= %s\n", numBytes, command);             while (totalLength <= numBytes) {                if (0==strcmp(command,(char*)"erase all")) {                    printLog("got Z message == erase all\n");                    tree->eraseAllVoxels();                }                if (0==strcmp(command,(char*)"add scene")) {                    printLog("got Z message == add scene - NOT SUPPORTED ON INTERFACE\n");                }                totalLength += commandLength+1;            }        break;    }     setupNewVoxelsForDrawing();    return numBytes;} void VoxelSystem::setupNewVoxelsForDrawing() {    // reset the verticesEndPointer so we're writing to the beginning of the array    writeVerticesEndPointer = writeVerticesArray;    // call recursive function to populate in memory arrays    // it will return the number of voxels added    glm::vec3 treeRoot = glm::vec3(0,0,0);    voxelsRendered = treeToArrays(tree->rootNode, treeRoot);    // copy the newly written data to the arrays designated for reading    copyWrittenDataToReadArrays();} void VoxelSystem::copyWrittenDataToReadArrays() {    // lock on the buffer write lock so we can't modify the data when the GPU is reading it    pthread_mutex_lock(&bufferWriteLock);    // store a pointer to the current end so it doesn't change during copy    GLfloat *endOfCurrentVerticesData = writeVerticesEndPointer;    // copy the vertices and colors    memcpy(readVerticesArray, writeVerticesArray, (endOfCurrentVerticesData - writeVerticesArray) * sizeof(GLfloat));    memcpy(readColorsArray, writeColorsArray, (endOfCurrentVerticesData - writeVerticesArray) * sizeof(GLubyte));    // set the read vertices end pointer to the correct spot so the GPU knows how much to pull    readVerticesEndPointer = readVerticesArray + (endOfCurrentVerticesData - writeVerticesArray);    pthread_mutex_unlock(&bufferWriteLock);} int VoxelSystem::treeToArrays(VoxelNode* currentNode, const glm::vec3&  nodePosition) {    int voxelsAdded = 0;    float halfUnitForVoxel = powf(0.5, *currentNode->octalCode) * (0.5 * TREE_SCALE);    glm::vec3 viewerPosition = _camera->getPosition(); //_viewerAvatar->getPosition();     // debug LOD code    glm::vec3 debugNodePosition;    copyFirstVertexForCode(currentNode->octalCode,(float*)&debugNodePosition);     float distanceToVoxelCenter = sqrtf(powf(viewerPosition.x - nodePosition[0] - halfUnitForVoxel, 2) +                                        powf(viewerPosition.y - nodePosition[1] - halfUnitForVoxel, 2) +                                        powf(viewerPosition.z - nodePosition[2] - halfUnitForVoxel, 2));     int renderLevel = *currentNode->octalCode + 1;    int boundaryPosition = boundaryDistanceForRenderLevel(renderLevel);    bool alwaysDraw = false; // XXXBHG - temporary debug code. Flip this to true to disable LOD blurring     if (alwaysDraw || distanceToVoxelCenter < boundaryPosition) {        for (int i = 0; i < 8; i++) {            // check if there is a child here            if (currentNode->children[i] != NULL) {                 glm::vec3 childNodePosition;                copyFirstVertexForCode(currentNode->children[i]->octalCode,(float*)&childNodePosition);                childNodePosition *= (float)TREE_SCALE; // scale it up                voxelsAdded += treeToArrays(currentNode->children[i], childNodePosition);            }        }    }     // if we didn't get any voxels added then we're a leaf (XXXBHG - Stephen can you explain this to me????)    // add our vertex and color information to the interleaved array    if (voxelsAdded == 0 && currentNode->isColored()) {        float startVertex[3];        copyFirstVertexForCode(currentNode->octalCode,(float*)&startVertex);        float voxelScale = 1 / powf(2, *currentNode->octalCode);         // populate the array with points for the 8 vertices        // and RGB color for each added vertex        for (int j = 0; j < VERTEX_POINTS_PER_VOXEL; j++ ) {            *writeVerticesEndPointer = startVertex[j % 3] + (identityVertices[j] * voxelScale);            *(writeColorsArray + (writeVerticesEndPointer - writeVerticesArray)) = currentNode->getColor()[j % 3];             writeVerticesEndPointer++;        }        voxelsAdded++;    }     return voxelsAdded;} VoxelSystem* VoxelSystem::clone() const {    // this still needs to be implemented, will need to be used if VoxelSystem is attached to agent    return NULL;} void VoxelSystem::init() {    // prep the data structures for incoming voxel data    writeVerticesEndPointer = writeVerticesArray = new GLfloat[VERTEX_POINTS_PER_VOXEL * MAX_VOXELS_PER_SYSTEM];    readVerticesEndPointer = readVerticesArray = new GLfloat[VERTEX_POINTS_PER_VOXEL * MAX_VOXELS_PER_SYSTEM];    writeColorsArray = new GLubyte[VERTEX_POINTS_PER_VOXEL * MAX_VOXELS_PER_SYSTEM];    readColorsArray = new GLubyte[VERTEX_POINTS_PER_VOXEL * MAX_VOXELS_PER_SYSTEM];     GLuint *indicesArray = new GLuint[INDICES_PER_VOXEL * MAX_VOXELS_PER_SYSTEM];     // populate the indicesArray    // this will not change given new voxels, so we can set it all up now    for (int n = 0; n < MAX_VOXELS_PER_SYSTEM; n++) {        // fill the indices array        int voxelIndexOffset = n * INDICES_PER_VOXEL;        GLuint *currentIndicesPos = indicesArray + voxelIndexOffset;        int startIndex = (n * VERTICES_PER_VOXEL);         for (int i = 0; i < INDICES_PER_VOXEL; i++) {            // add indices for this side of the cube            currentIndicesPos[i] = startIndex + identityIndices[i];        }    }     GLfloat *normalsArray = new GLfloat[VERTEX_POINTS_PER_VOXEL * MAX_VOXELS_PER_SYSTEM];    GLfloat *normalsArrayEndPointer = normalsArray;     // populate the normalsArray    for (int n = 0; n < MAX_VOXELS_PER_SYSTEM; n++) {        for (int i = 0; i < VERTEX_POINTS_PER_VOXEL; i++) {            *(normalsArrayEndPointer++) = identityNormals[i];        }    }     // VBO for the verticesArray    glGenBuffers(1, &vboVerticesID);    glBindBuffer(GL_ARRAY_BUFFER, vboVerticesID);    glBufferData(GL_ARRAY_BUFFER, VERTEX_POINTS_PER_VOXEL * sizeof(GLfloat) * MAX_VOXELS_PER_SYSTEM, NULL, GL_DYNAMIC_DRAW);     // VBO for the normalsArray    glGenBuffers(1, &vboNormalsID);    glBindBuffer(GL_ARRAY_BUFFER, vboNormalsID);    glBufferData(GL_ARRAY_BUFFER,                 VERTEX_POINTS_PER_VOXEL * sizeof(GLfloat) * MAX_VOXELS_PER_SYSTEM,                 normalsArray, GL_STATIC_DRAW);     // VBO for colorsArray    glGenBuffers(1, &vboColorsID);    glBindBuffer(GL_ARRAY_BUFFER, vboColorsID);    glBufferData(GL_ARRAY_BUFFER, VERTEX_POINTS_PER_VOXEL * sizeof(GLubyte) * MAX_VOXELS_PER_SYSTEM, NULL, GL_DYNAMIC_DRAW);     // VBO for the indicesArray    glGenBuffers(1, &vboIndicesID);    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vboIndicesID);    glBufferData(GL_ELEMENT_ARRAY_BUFFER,                 INDICES_PER_VOXEL * sizeof(GLuint) * MAX_VOXELS_PER_SYSTEM,                 indicesArray, GL_STATIC_DRAW);     // delete the indices and normals arrays that are no longer needed    delete[] indicesArray;    delete[] normalsArray;} void VoxelSystem::render() {     glPushMatrix();     if (readVerticesEndPointer != readVerticesArray) {        // try to lock on the buffer write        // just avoid pulling new data if it is currently being written        if (pthread_mutex_trylock(&bufferWriteLock) == 0) {             glBindBuffer(GL_ARRAY_BUFFER, vboVerticesID);            glBufferSubData(GL_ARRAY_BUFFER, 0, (readVerticesEndPointer - readVerticesArray) * sizeof(GLfloat), readVerticesArray);             glBindBuffer(GL_ARRAY_BUFFER, vboColorsID);            glBufferSubData(GL_ARRAY_BUFFER, 0, (readVerticesEndPointer - readVerticesArray) * sizeof(GLubyte), readColorsArray);             readVerticesEndPointer = readVerticesArray;             pthread_mutex_unlock(&bufferWriteLock);        }    }     // tell OpenGL where to find vertex and color information    glEnableClientState(GL_VERTEX_ARRAY);    glEnableClientState(GL_NORMAL_ARRAY);    glEnableClientState(GL_COLOR_ARRAY);     glBindBuffer(GL_ARRAY_BUFFER, vboVerticesID);    glVertexPointer(3, GL_FLOAT, 0, 0);     glBindBuffer(GL_ARRAY_BUFFER, vboNormalsID);    glNormalPointer(GL_FLOAT, 0, 0);     glBindBuffer(GL_ARRAY_BUFFER, vboColorsID);    glColorPointer(3, GL_UNSIGNED_BYTE, 0, 0);     // draw the number of voxels we have    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vboIndicesID);    glScalef(10, 10, 10);    glDrawElements(GL_TRIANGLES, 36 * voxelsRendered, GL_UNSIGNED_INT, 0);     // deactivate vertex and color arrays after drawing    glDisableClientState(GL_VERTEX_ARRAY);    glDisableClientState(GL_NORMAL_ARRAY);    glDisableClientState(GL_COLOR_ARRAY);     // bind with 0 to switch back to normal operation    glBindBuffer(GL_ARRAY_BUFFER, 0);    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);     // scale back down to 1 so heads aren't massive    glPopMatrix();} void VoxelSystem::simulate(float deltaTime) { } int VoxelSystem::_nodeCount = 0; bool VoxelSystem::randomColorOperation(VoxelNode* node, bool down, void* extraData) {     // we do our operations on the way up!    if (down) {        return true;    }     _nodeCount++;    if (node->isColored()) {        nodeColor newColor = { 0,0,0,1 };        newColor[0] = randomColorValue(150);        newColor[1] = randomColorValue(150);        newColor[1] = randomColorValue(150);        node->setColor(newColor);    }    return true;} void VoxelSystem::randomizeVoxelColors() {    _nodeCount = 0;    tree->recurseTreeWithOperation(randomColorOperation);    printLog("setting randomized true color for %d nodes\n",_nodeCount);    setupNewVoxelsForDrawing();} bool VoxelSystem::falseColorizeRandomOperation(VoxelNode* node, bool down, void* extraData) {     // we do our operations on the way up!    if (down) {        return true;    }     _nodeCount++;     // always false colorize    unsigned char newR = randomColorValue(150);    unsigned char newG = randomColorValue(150);    unsigned char newB = randomColorValue(150);    node->setFalseColor(newR,newG,newB);     return true; // keep going!} void VoxelSystem::falseColorizeRandom() {    _nodeCount = 0;    tree->recurseTreeWithOperation(falseColorizeRandomOperation);    printLog("setting randomized false color for %d nodes\n",_nodeCount);    setupNewVoxelsForDrawing();} bool VoxelSystem::trueColorizeOperation(VoxelNode* node, bool down, void* extraData) {     // we do our operations on the way up!    if (down) {        return true;    }     _nodeCount++;    node->setFalseColored(false);    return true;} void VoxelSystem::trueColorize() {    _nodeCount = 0;    tree->recurseTreeWithOperation(trueColorizeOperation);    printLog("setting true color for %d nodes\n",_nodeCount);    setupNewVoxelsForDrawing();} // Will false colorize voxels that are not in viewbool VoxelSystem::falseColorizeInViewOperation(VoxelNode* node, bool down, void* extraData) {     // we do our operations on the way up!    if (down) {        return true;    }     const ViewFrustum* viewFrustum = (const ViewFrustum*) extraData;     _nodeCount++;     // only do this for truely colored voxels...    if (node->isColored()) {        // If the voxel is outside of the view frustum, then false color it red        if (!node->isInView(*viewFrustum)) {            // Out of view voxels are colored RED            unsigned char newR = 255;            unsigned char newG = 0;            unsigned char newB = 0;            node->setFalseColor(newR,newG,newB);        }    }     return true; // keep going!} void VoxelSystem::falseColorizeInView(ViewFrustum* viewFrustum) {    _nodeCount = 0;    tree->recurseTreeWithOperation(falseColorizeInViewOperation,(void*)viewFrustum);    printLog("setting in view false color for %d nodes\n",_nodeCount);    setupNewVoxelsForDrawing();} // Will false colorize voxels based on distance from viewbool VoxelSystem::falseColorizeDistanceFromViewOperation(VoxelNode* node, bool down, void* extraData) {     // we do our operations on the way up!    if (down) {        return true;    }     ViewFrustum* viewFrustum = (ViewFrustum*) extraData;     // only do this for truly colored voxels...    if (node->isColored()) {         // We need our distance for both up and down        glm::vec3 nodePosition;        float* startVertex = firstVertexForCode(node->octalCode);        nodePosition.x = startVertex[0];        nodePosition.y = startVertex[1];        nodePosition.z = startVertex[2];        delete startVertex;         // scale up the node position        nodePosition = nodePosition*(float)TREE_SCALE;         float halfUnitForVoxel = powf(0.5, *node->octalCode) * (0.5 * TREE_SCALE);        glm::vec3 viewerPosition = viewFrustum->getPosition();         float distance = sqrtf(powf(viewerPosition.x - nodePosition.x - halfUnitForVoxel, 2) +                                            powf(viewerPosition.y - nodePosition.y - halfUnitForVoxel, 2) +                                            powf(viewerPosition.z - nodePosition.z - halfUnitForVoxel, 2));         // actually colorize        _nodeCount++;         float distanceRatio = (_minDistance==_maxDistance) ? 1 : (distance - _minDistance)/(_maxDistance - _minDistance);         // We want to colorize this in 16 bug chunks of color        const unsigned char maxColor = 255;        const unsigned char colorBands = 16;        const unsigned char gradientOver = 128;        unsigned char colorBand = (colorBands*distanceRatio);        unsigned char newR = (colorBand*(gradientOver/colorBands))+(maxColor-gradientOver);        unsigned char newG = 0;        unsigned char newB = 0;        node->setFalseColor(newR,newG,newB);

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