From 7dffdcbc80e9723c5b2161134d87e37baabd6132 Mon Sep 17 00:00:00 2001
From: Alexis Girault <alexis.girault@kitware.com>
Date: Thu, 7 Apr 2016 14:47:20 -0400
Subject: [PATCH] ENH: add Render mode option
- SIMULATION adds the object actors and set the
interactor style to no interactions.
- DEBUG adds additional actors to visualize
lights, the camera, axis, and set the interactor
style to trackball to interact with the scene.
---
Base/Rendering/CMakeLists.txt | 2 +
Base/Rendering/imstkRenderer.cpp | 149 ++++++++++++++++++
Base/Rendering/imstkRenderer.h | 70 ++++++++
Base/Rendering/imstkViewer.cpp | 121 +++++++-------
Base/Rendering/imstkViewer.h | 25 +--
.../imstkSimulationManager.cpp | 10 +-
.../imstkSimulationManager.h | 3 +-
Examples/Sandbox/main.cpp | 4 +-
8 files changed, 298 insertions(+), 86 deletions(-)
create mode 100644 Base/Rendering/imstkRenderer.cpp
create mode 100644 Base/Rendering/imstkRenderer.h
diff --git a/Base/Rendering/CMakeLists.txt b/Base/Rendering/CMakeLists.txt
index 489aa5c56..f9e62a9e3 100644
--- a/Base/Rendering/CMakeLists.txt
+++ b/Base/Rendering/CMakeLists.txt
@@ -5,12 +5,14 @@ include(imstkAddLibrary)
imstk_add_library( Rendering
H_FILES
imstkViewer.h
+ imstkRenderer.h
imstkRenderDelegate.h
imstkPlaneRenderDelegate.h
imstkSphereRenderDelegate.h
imstkCubeRenderDelegate.h
CPP_FILES
imstkViewer.cpp
+ imstkRenderer.cpp
imstkRenderDelegate.cpp
imstkPlaneRenderDelegate.cpp
imstkSphereRenderDelegate.cpp
diff --git a/Base/Rendering/imstkRenderer.cpp b/Base/Rendering/imstkRenderer.cpp
new file mode 100644
index 000000000..39537e516
--- /dev/null
+++ b/Base/Rendering/imstkRenderer.cpp
@@ -0,0 +1,149 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ 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.txt
+
+ 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.
+
+ =========================================================================*/
+
+#include "imstkRenderer.h"
+
+#include "imstkRenderDelegate.h"
+
+#include "vtkLight.h"
+#include "vtkLightActor.h"
+#include "vtkCamera.h"
+#include "vtkCameraActor.h"
+#include "vtkAxesActor.h"
+
+#include "g3log/g3log.hpp"
+
+
+namespace imstk {
+Renderer::Renderer(std::shared_ptr<Scene> scene)
+{
+ // Object actors
+ for ( const auto& obj : scene->getSceneObjects() )
+ {
+ auto geom = obj->getVisualGeometry();
+ auto delegate = RenderDelegate::make_delegate( geom );
+ m_objectVtkActors.push_back( delegate->getVtkActor() );
+ }
+
+ // Lights and light actors
+ for ( const auto& light : scene->getLights() )
+ {
+ m_vtkLights.push_back( light->getVtkLight() );
+ if( light->isPositional() )
+ {
+ auto lightActor = vtkSmartPointer<vtkLightActor>::New();
+ lightActor->SetLight( light->getVtkLight() );
+ m_debugVtkActors.push_back( lightActor );
+ }
+ }
+
+ // Camera and camera actor
+ m_sceneVtkCamera = scene->getCamera()->getVtkCamera();
+ auto camActor = vtkSmartPointer<vtkCameraActor>::New();
+ camActor->SetCamera( m_sceneVtkCamera );
+ m_debugVtkActors.push_back( camActor );
+
+ // Global Axis
+ auto axes = vtkSmartPointer<vtkAxesActor>::New();
+ m_debugVtkActors.push_back( axes );
+
+ ///TODO : based on scene properties
+ // Customize background colors
+ m_vtkRenderer->SetBackground(0.66,0.66,0.66);
+ m_vtkRenderer->SetBackground2(157.0/255.0*0.66,186/255.0*0.66,192.0/255.0*0.66);
+ m_vtkRenderer->GradientBackgroundOn();
+}
+
+vtkSmartPointer<vtkRenderer>
+Renderer::getVtkRenderer() const
+{
+ return m_vtkRenderer;
+}
+
+void
+Renderer::setup(Mode mode)
+{
+ if( mode == Mode::EMPTY && m_currentMode != Mode::EMPTY )
+ {
+ m_vtkRenderer->SetActiveCamera(m_defaultVtkCamera);
+
+ this->removeActors(m_objectVtkActors);
+ m_vtkRenderer->RemoveAllLights();
+
+ if( m_currentMode == Mode::DEBUG )
+ {
+ this->removeActors(m_debugVtkActors);
+ }
+ }
+ else if( mode == Mode::DEBUG && m_currentMode != Mode::DEBUG )
+ {
+ m_vtkRenderer->SetActiveCamera(m_defaultVtkCamera);
+
+ this->addActors(m_debugVtkActors);
+
+ if( m_currentMode == Mode::EMPTY )
+ {
+ this->addActors(m_objectVtkActors);
+ for ( const auto& light : m_vtkLights )
+ {
+ m_vtkRenderer->AddLight(light);
+ }
+ }
+ }
+ else if ( mode == Mode::SIMULATION && m_currentMode != Mode::SIMULATION )
+ {
+ m_vtkRenderer->SetActiveCamera(m_sceneVtkCamera);
+
+ if( m_currentMode == Mode::EMPTY )
+ {
+ this->addActors(m_objectVtkActors);
+ for ( const auto& light : m_vtkLights )
+ {
+ m_vtkRenderer->AddLight(light);
+ }
+ }
+ else if( m_currentMode == Mode::DEBUG )
+ {
+ this->removeActors(m_debugVtkActors);
+ }
+ }
+
+ m_currentMode = mode;
+}
+
+void
+Renderer::removeActors(const std::vector<vtkSmartPointer<vtkProp>>& actorList)
+{
+ for ( const auto& actor : actorList )
+ {
+ m_vtkRenderer->RemoveActor(actor);
+ }
+}
+
+void
+Renderer::addActors(const std::vector<vtkSmartPointer<vtkProp>>& actorList)
+{
+ for ( const auto& actor : actorList )
+ {
+ m_vtkRenderer->AddActor(actor);
+ }
+}
+}
diff --git a/Base/Rendering/imstkRenderer.h b/Base/Rendering/imstkRenderer.h
new file mode 100644
index 000000000..8804cfea6
--- /dev/null
+++ b/Base/Rendering/imstkRenderer.h
@@ -0,0 +1,70 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ 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.txt
+
+ 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 imstkRenderer_h
+#define imstkRenderer_h
+
+#include <memory>
+#include <vector>
+
+#include "imstkScene.h"
+
+#include "vtkSmartPointer.h"
+#include "vtkRenderer.h"
+#include "vtkProp.h"
+
+namespace imstk {
+
+class Renderer
+{
+public:
+
+ enum Mode
+ {
+ EMPTY,
+ DEBUG,
+ SIMULATION
+ };
+
+ Renderer(std::shared_ptr<Scene> scene);
+ ~ Renderer() = default;
+
+ void setup(Mode mode);
+
+ vtkSmartPointer<vtkRenderer> getVtkRenderer() const;
+
+protected:
+
+ void removeActors(const std::vector<vtkSmartPointer<vtkProp>>& actorList);
+ void addActors(const std::vector<vtkSmartPointer<vtkProp>>& actorList);
+
+ vtkSmartPointer<vtkRenderer> m_vtkRenderer = vtkSmartPointer<vtkRenderer>::New();
+ vtkSmartPointer<vtkCamera> m_defaultVtkCamera = vtkSmartPointer<vtkCamera>::New();
+ vtkSmartPointer<vtkCamera> m_sceneVtkCamera;
+ std::vector<vtkSmartPointer<vtkLight>> m_vtkLights;
+ std::vector<vtkSmartPointer<vtkProp>> m_objectVtkActors;
+ std::vector<vtkSmartPointer<vtkProp>> m_debugVtkActors;
+
+ Mode m_currentMode = Mode::EMPTY;
+};
+}
+
+#endif // ifndef imstkRenderer_h
diff --git a/Base/Rendering/imstkViewer.cpp b/Base/Rendering/imstkViewer.cpp
index a12eb89a6..10e3458a4 100644
--- a/Base/Rendering/imstkViewer.cpp
+++ b/Base/Rendering/imstkViewer.cpp
@@ -21,12 +21,6 @@
#include "imstkViewer.h"
-#include "vtkRenderer.h"
-#include "vtkLight.h"
-#include "vtkLightActor.h"
-#include "vtkCamera.h"
-#include "vtkCameraActor.h"
-#include "vtkAxesActor.h"
#include "vtkInteractorStyleTrackballCamera.h"
#include "g3log/g3log.hpp"
@@ -34,96 +28,87 @@
#include "imstkRenderDelegate.h"
namespace imstk {
+std::shared_ptr<Scene>
+Viewer::getCurrentScene() const
+{
+ return m_currentScene;
+}
+
void
-Viewer::initRenderer()
+Viewer::setCurrentScene(std::shared_ptr<Scene>scene)
{
- // Check current Scene
- if (m_currentScene == nullptr)
+ // If already current scene
+ if( scene == m_currentScene )
{
- LOG(WARNING) << "No scene specified, nothing to render.";
+ LOG(WARNING) << scene->getName() << " already is the viewer current scene.";
return;
}
- // Create and add renderer
- auto renderer = vtkSmartPointer<vtkRenderer>::New();
- //renderer->UseShadowsOn();
- m_renderWindow->AddRenderer(renderer);
-
- // Create and add actors
- for (const auto& obj : m_currentScene->getSceneObjects())
- {
- auto geom = obj->getVisualGeometry();
- auto delegate = RenderDelegate::make_delegate(geom);
- renderer->AddActor(delegate->getVtkActor());
- }
-
- // Add lights
- for (const auto& light : m_currentScene->getLights())
+ // If the current scene has a renderer, remove it
+ if( m_currentScene )
{
- renderer->AddLight( light->getVtkLight() );
- if( light->isPositional() )
+ auto vtkRenderer = m_rendererMap.at(m_currentScene)->getVtkRenderer();
+ if(m_vtkRenderWindow->HasRenderer(vtkRenderer))
{
- auto lightActor = vtkSmartPointer<vtkLightActor>::New();
- lightActor->SetLight( light->getVtkLight() );
- renderer->AddActor( lightActor );
+ m_vtkRenderWindow->RemoveRenderer(vtkRenderer);
}
}
- // Add camera
- //auto camActor = vtkSmartPointer<vtkCameraActor>::New();
- //camActor->SetCamera( m_currentScene->getCamera()->getVtkCamera() );
- //renderer->AddActor( camActor );
- //renderer->GetActiveCamera()->SetFocalPoint(0,0,0);
- renderer->SetActiveCamera( m_currentScene->getCamera()->getVtkCamera() );
- renderer->ResetCameraClippingRange();
-
+ // Update current scene
+ m_currentScene = scene;
- // Global Axis
- auto axes = vtkSmartPointer<vtkAxesActor>::New();
- renderer->AddActor(axes);
+ // Create renderer if it doesn't exist
+ if (!m_rendererMap.count(m_currentScene))
+ {
+ m_rendererMap[m_currentScene] = std::make_shared<Renderer>(m_currentScene);
+ }
- // Customize background colors
- renderer->SetBackground(0.66,0.66,0.66);
- renderer->SetBackground2(157.0/255.0*0.66,186/255.0*0.66,192.0/255.0*0.66);
- renderer->GradientBackgroundOn();
+ // Set renderer to renderWindow
+ m_vtkRenderWindow->AddRenderer(m_rendererMap.at(m_currentScene)->getVtkRenderer());
}
void
-Viewer::startRenderingLoop()
+Viewer::setRenderingMode(Renderer::Mode mode)
{
- auto style = vtkSmartPointer<vtkInteractorStyleTrackballCamera>::New();
- m_interactor->SetInteractorStyle( style );
- m_interactor->SetRenderWindow( m_renderWindow );
- m_interactor->Start();
-}
+ if( !m_currentScene )
+ {
+ LOG(WARNING) << "Missing scene, can not set rendering mode.\n"
+ << "Use Viewer::setCurrentScene to setup scene.";
+ return;
+ }
-void
-Viewer::endRenderingLoop()
-{
- m_interactor->TerminateApp();
-}
+ // Setup renderer
+ m_rendererMap.at(m_currentScene)->setup(mode);
-vtkSmartPointer<vtkRenderWindow>
-Viewer::getRenderWindow() const
-{
- return m_renderWindow;
+ // Setup interactor style
+ if( mode == Renderer::Mode::DEBUG )
+ {
+ auto style = vtkSmartPointer<vtkInteractorStyleTrackballCamera>::New();
+ m_vtkInteractor->SetInteractorStyle( style );
+ }
+ else if( mode == Renderer::Mode::SIMULATION )
+ {
+ auto style = vtkSmartPointer<vtkInteractorStyle>::New();
+ m_vtkInteractor->SetInteractorStyle( style );
+ }
}
void
-Viewer::setRenderWindow(vtkSmartPointer<vtkRenderWindow>renWin)
+Viewer::startRenderingLoop()
{
- m_renderWindow = renWin;
+ // Start interaction loop
+ m_vtkInteractor->Start();
}
-std::shared_ptr<Scene>
-Viewer::getCurrentScene() const
+void
+Viewer::endRenderingLoop()
{
- return m_currentScene;
+ m_vtkInteractor->TerminateApp();
}
-void
-Viewer::setCurrentScene(std::shared_ptr<Scene>scene)
+vtkSmartPointer<vtkRenderWindow>
+Viewer::getVtkRenderWindow() const
{
- m_currentScene = scene;
+ return m_vtkRenderWindow;
}
}
diff --git a/Base/Rendering/imstkViewer.h b/Base/Rendering/imstkViewer.h
index 574f089ef..ad892398b 100644
--- a/Base/Rendering/imstkViewer.h
+++ b/Base/Rendering/imstkViewer.h
@@ -23,8 +23,10 @@
#define imstkViewer_h
#include <memory>
+#include <unordered_map>
#include "imstkScene.h"
+#include "imstkRenderer.h"
#include "vtkSmartPointer.h"
#include "vtkRenderWindow.h"
@@ -37,27 +39,28 @@ public:
Viewer(std::string name = "iMSTK Viewer")
{
- m_renderWindow->SetWindowName(name.data());
- m_renderWindow->SetSize(1000,800);
+ m_vtkInteractor->SetRenderWindow( m_vtkRenderWindow );
+ m_vtkRenderWindow->SetWindowName(name.data());
+ m_vtkRenderWindow->SetSize(1000,800);
}
~Viewer() = default;
- void initRenderer();
- void startRenderingLoop();
- void endRenderingLoop();
+ std::shared_ptr<Scene> getCurrentScene() const;
+ void setCurrentScene(std::shared_ptr<Scene>scene);
+ void setRenderingMode(Renderer::Mode mode);
+ void startRenderingLoop();
+ void endRenderingLoop();
- vtkSmartPointer<vtkRenderWindow>getRenderWindow() const;
- void setRenderWindow(vtkSmartPointer<vtkRenderWindow>renWin);
+ vtkSmartPointer<vtkRenderWindow>getVtkRenderWindow() const;
- std::shared_ptr<Scene> getCurrentScene() const;
- void setCurrentScene(std::shared_ptr<Scene>scene);
protected:
- vtkSmartPointer<vtkRenderWindow> m_renderWindow = vtkSmartPointer<vtkRenderWindow>::New();
- vtkSmartPointer<vtkRenderWindowInteractor> m_interactor = vtkSmartPointer<vtkRenderWindowInteractor>::New();
+ vtkSmartPointer<vtkRenderWindow> m_vtkRenderWindow = vtkSmartPointer<vtkRenderWindow>::New();
+ vtkSmartPointer<vtkRenderWindowInteractor> m_vtkInteractor = vtkSmartPointer<vtkRenderWindowInteractor>::New();
std::shared_ptr<Scene> m_currentScene;
+ std::unordered_map<std::shared_ptr<Scene>, std::shared_ptr<Renderer>> m_rendererMap;
};
}
diff --git a/Base/SimulationManager/imstkSimulationManager.cpp b/Base/SimulationManager/imstkSimulationManager.cpp
index 835e06583..770fb4f88 100644
--- a/Base/SimulationManager/imstkSimulationManager.cpp
+++ b/Base/SimulationManager/imstkSimulationManager.cpp
@@ -114,7 +114,7 @@ SimulationManager::getViewer() const
}
void
-SimulationManager::startSimulation(std::string sceneName)
+SimulationManager::startSimulation(std::string sceneName, Renderer::Mode renderMode)
{
LOG(INFO) << "Starting simulation.";
@@ -139,9 +139,9 @@ SimulationManager::startSimulation(std::string sceneName)
return;
}
- // Init viewer renderer
+ // Init viewer
m_viewer->setCurrentScene(startingScene);
- m_viewer->initRenderer();
+ m_viewer->setRenderingMode(renderMode);
// Start scene
this->startModuleInNewThread(startingScene);
@@ -181,7 +181,9 @@ SimulationManager::switchScene(std::string newSceneName, bool unloadCurrentScene
return;
}
- // TODO : update viewer
+ // Update viewer
+ m_viewer->setCurrentScene(newScene);
+ m_viewer->setRenderingMode(Renderer::Mode::SIMULATION);
if (unloadCurrentScene)
{
diff --git a/Base/SimulationManager/imstkSimulationManager.h b/Base/SimulationManager/imstkSimulationManager.h
index 1efdc3c54..4a03c8e36 100644
--- a/Base/SimulationManager/imstkSimulationManager.h
+++ b/Base/SimulationManager/imstkSimulationManager.h
@@ -60,7 +60,8 @@ public:
std::shared_ptr<Viewer> getViewer() const;
// Simulation
- void startSimulation(std::string sceneName);
+ void startSimulation(std::string sceneName,
+ Renderer::Mode renderMode = Renderer::Mode::SIMULATION);
void switchScene(std::string newSceneName,
bool unloadCurrentScene);
void runSimulation();
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index 7468d1d90..ebf83c03f 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -34,7 +34,7 @@ int main()
auto planeGeom = std::make_shared<imstk::Plane>();
- planeGeom->scale(8);
+ planeGeom->scale(10);
auto planeObj = std::make_shared<imstk::VisualObject>("VisualPlane");
planeObj->setVisualGeometry(planeGeom);
@@ -75,7 +75,7 @@ int main()
cam1->setPosition(imstk::Vec3d(-5.5, 2.5, 32));
cam1->setFocalPoint(imstk::Vec3d(1, 1, 0));
- sdk->startSimulation("SceneTest");
+ sdk->startSimulation("SceneTest", imstk::Renderer::Mode::DEBUG );
/*
--
GitLab