509 lines
16 KiB
C++
509 lines
16 KiB
C++
#include <regex>
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#include <iostream>
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#include "render.h"
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#include "glm/vec3.hpp"
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#include "glm/vec4.hpp"
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#include "glm/gtc/type_ptr.hpp"
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//#include <GL/glext.h>
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static const char *vs_code = R"(
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#version 330
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layout (location = 0) in vec3 position;
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layout (location = 1) in vec4 in_color;
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out vec4 interp_color;
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out vec3 vertPos;
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flat out vec3 startPos;
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uniform mat4 mvp;
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void main() {
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vec4 pos = mvp * vec4(position, 1.0);
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gl_Position = pos;
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vertPos = pos.xyz / pos.w;
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startPos = vertPos;
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interp_color = in_color;
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}
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)";
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static const char *ps_code = R"(
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#version 330
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flat in vec3 startPos;
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in vec3 vertPos;
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in vec4 interp_color;
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out vec4 color;
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uniform vec2 u_resolution;
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float u_dashSize = 10; // make this uniform
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float u_gapSize = 10; // make this uniform
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void main() {
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vec2 dir = (vertPos.xy - startPos.xy) * u_resolution/2.0;
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float dist = length(dir);
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if (fract(dist / (u_dashSize + u_gapSize)) > u_dashSize/(u_dashSize + u_gapSize))
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discard;
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color = interp_color;
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}
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)";
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void grbl::program_renderer::render(glm::mat4 mvp, glm::vec2 viewport_size) {
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// draw model
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shader->bind();
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shader->set_mat4(glm::value_ptr(mvp), "mvp");
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shader->set_vec2(glm::value_ptr(viewport_size), "u_resolution");
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glBindVertexArray(vao_id);
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glDrawArrays(GL_LINES, 0, vertices_count);
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// draw spindle
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auto spindle_xform = glm::translate(glm::mat4(1.0f), spindle_pos);
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auto spindle_view = mvp * spindle_xform;
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shader->set_mat4(glm::value_ptr(spindle_view), "mvp");
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glBindVertexArray(spindle_vao_id);
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glDrawArrays(GL_LINES, 0, spindle_vertices_count);
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// draw bounding box
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auto bbox_size = max_pos - min_pos;
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// need to add proper translation
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auto bbox_translation = glm::translate(glm::mat4(1.0f), {min_pos.x, min_pos.y, min_pos.z});
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auto bbox_xform = glm::scale(glm::mat4(1.0f), {bbox_size.x, bbox_size.y, bbox_size.z});
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auto bbox_view = mvp * bbox_translation * bbox_xform;
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shader->set_mat4(glm::value_ptr(bbox_view), "mvp");
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glBindVertexArray(extents_vao_id);
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glDrawArrays(GL_LINES, 0, extents_vertices_count);
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shader->unbind();
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// draw bit location
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}
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void grbl::program_renderer::update(const grbl::program& pgm, const grbl::machine& cnc) {
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if (!initialized) {
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shader = new shader_program(vs_code, ps_code);
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initialize_spindle_buffers();
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initialize_program_buffers();
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initialize_extents_buffers();
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initialized = true;
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}
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// update program with machine status
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// build vbo and vao
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vertices_count = build_vbo(pgm);
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auto work_pos = cnc.get_status().machine_pos;
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auto offsets = cnc.get_current_work_offset_values();
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for (int i = 0; i < 3; i++) {
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work_pos[i] -= offsets[i];
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}
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spindle_pos = glm::vec3(work_pos[0], work_pos[1], work_pos[2]);
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}
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void grbl::program_renderer::initialize_spindle_buffers() {
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glGenBuffers(1, &spindle_vbo_id);
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glGenVertexArrays(1, &spindle_vao_id);
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// vertex format: x, y, z, r, g, b, a
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// stride: 28 bytes
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const GLsizei sizeOfVertexInBytes = 28;
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glBindVertexArray(spindle_vao_id);
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glBindBuffer(GL_ARRAY_BUFFER, spindle_vbo_id);
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glEnableVertexAttribArray(0); // vertices on stream 0
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glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeOfVertexInBytes, (void *) 0);
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glEnableVertexAttribArray(1); // vertex colors on stream 1
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glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, sizeOfVertexInBytes, (void *) (sizeof(float) * 3));
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// unbind vao
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glBindVertexArray(0);
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// construct spindle model
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glm::vec4 col(1, 1, 0, 1); // yellow
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std::vector<float> buffer_data;
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const float spindle_length = 3.5;
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const size_t cone_granularity = 20;
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for (int i = 0; i < cone_granularity; i++) {
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float x = sinf((i / (float) cone_granularity) * 2.0f * M_PI);
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float y = cosf((i / (float) cone_granularity) * 2.0f * M_PI);
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// TODO: refactor this to use add_line()
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// from
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buffer_data.push_back(0);
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buffer_data.push_back(0);
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buffer_data.push_back(0);
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buffer_data.push_back(col.r);
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buffer_data.push_back(col.g);
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buffer_data.push_back(col.b);
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buffer_data.push_back(col.a);
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// to
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buffer_data.push_back(x);
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buffer_data.push_back(y);
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buffer_data.push_back(spindle_length);
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buffer_data.push_back(col.r);
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buffer_data.push_back(col.g);
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buffer_data.push_back(col.b);
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buffer_data.push_back(col.a);
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}
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glBindBuffer(GL_ARRAY_BUFFER, spindle_vbo_id);
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glBufferData(GL_ARRAY_BUFFER, sizeof(float) * buffer_data.size(), buffer_data.data(), GL_STATIC_DRAW);
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spindle_vertices_count = buffer_data.size() * sizeof(float) / sizeOfVertexInBytes;
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}
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static void add_vertex(std::vector<float>& buffer_data, glm::vec3 v, glm::vec4 col) {
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buffer_data.push_back(v.x);
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buffer_data.push_back(v.y);
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buffer_data.push_back(v.z);
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buffer_data.push_back(col.r);
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buffer_data.push_back(col.g);
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buffer_data.push_back(col.b);
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buffer_data.push_back(col.a);
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}
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static void add_line(std::vector<float>& buffer_data, glm::vec3 from, glm::vec3 to, glm::vec4 col) {
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add_vertex(buffer_data, from, col);
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add_vertex(buffer_data, to, col);
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}
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void grbl::program_renderer::initialize_extents_buffers() {
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glGenBuffers(1, &extents_vbo_id);
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glGenVertexArrays(1, &extents_vao_id);
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// vertex format: x, y, z, r, g, b, a
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// stride: 28 bytes
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const GLsizei sizeOfVertexInBytes = 28;
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// we're going to draw a simple box for the extents
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// box is made up of 8 vertices and 12 lines
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glBindVertexArray(extents_vao_id);
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glBindBuffer(GL_ARRAY_BUFFER, extents_vbo_id);
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glEnableVertexAttribArray(0); // vertices on stream 0
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glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeOfVertexInBytes, (void *) 0);
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glEnableVertexAttribArray(1); // vertex colors on stream 1
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glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, sizeOfVertexInBytes, (void *) (sizeof(float) * 3));
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// unbind vao
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glBindVertexArray(0);
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// we're going to make the box as unit box and scale it when rendering
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// since we're going to reuse the same box for all loaded programs.
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// or at least we'll try to.
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// construct box
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glm::vec4 col(1, 0, 1, 1);
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// box will range from [0,0,0] to [1,1,1] and we'll use
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// translation and scaling afterward if needed to place it
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std::vector<float> buffer_data;
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// bottom plane
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add_line(buffer_data, {0, 0, 0}, {1, 0, 0}, col);
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add_line(buffer_data, {1, 0, 0}, {1, 1, 0}, col);
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add_line(buffer_data, {1, 1, 0}, {0, 1, 0}, col);
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add_line(buffer_data, {0, 1, 0}, {0, 0, 0}, col);
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// top plane
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add_line(buffer_data, {0, 0, 1}, {1, 0, 1}, col);
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add_line(buffer_data, {1, 0, 1}, {1, 1, 1}, col);
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add_line(buffer_data, {1, 1, 1}, {0, 1, 1}, col);
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add_line(buffer_data, {0, 1, 1}, {0, 0, 1}, col);
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// add vertical lines connecting the planes
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add_line(buffer_data, {0, 0, 0}, {0, 0, 1}, col);
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add_line(buffer_data, {1, 0, 0}, {1, 0, 1}, col);
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add_line(buffer_data, {1, 1, 0}, {1, 1, 1}, col);
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add_line(buffer_data, {0, 1, 0}, {0, 1, 1}, col);
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glBindBuffer(GL_ARRAY_BUFFER, extents_vbo_id);
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glBufferData(GL_ARRAY_BUFFER, sizeof(float) * buffer_data.size(), buffer_data.data(), GL_STATIC_DRAW);
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extents_vertices_count = buffer_data.size() * sizeof(float) / sizeOfVertexInBytes;
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}
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void grbl::program_renderer::initialize_program_buffers() {
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glGenBuffers(1, &vbo_id);
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glGenVertexArrays(1, &vao_id);
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// vertex format: x, y, z, r, g, b, a
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// stride: 28 bytes
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const GLsizei sizeOfVertexInBytes = 28;
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glBindVertexArray(vao_id);
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glBindBuffer(GL_ARRAY_BUFFER, vbo_id);
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glEnableVertexAttribArray(0); // vertices on stream 0
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glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeOfVertexInBytes, (void *) 0);
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glEnableVertexAttribArray(1); // vertex colors on stream 1
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glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, sizeOfVertexInBytes, (void *) (sizeof(float) * 3));
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// unbind vao
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glBindVertexArray(0);
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}
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GLsizei grbl::program_renderer::build_vbo(const grbl::program& pgm) {
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static auto movement_re = std::regex(R"(([gG]0*1?\s+|[xXyYzZ]\s*[0-9\.\-]+))");
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bool is_tool_on = false;
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buffer_data.clear();
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glm::vec3 tool_pos;
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min_pos = max_pos = tool_pos = glm::vec3(0);
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for (auto& i: pgm.instructions) {
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if (i.type == grbl::instruction_type::gcode) {
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std::vector<std::string> tokens;
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std::smatch res;
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std::string::const_iterator start(i.command.cbegin());
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while (std::regex_search(start, i.command.cend(), res, movement_re)) {
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auto str = res[0].str();
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// make upper case
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std::transform(str.begin(), str.end(), str.begin(), ::toupper);
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// remove whitespace from things like "X 123.1234"
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str.erase(remove_if(str.begin(), str.end(), isspace), str.end());
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tokens.push_back(str);
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start = res.suffix().first;
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}
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if (!tokens.empty()) {
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auto new_pos = tool_pos;
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for (auto& t: tokens) {
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if (t[0] == 'X') {
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new_pos.x = std::stof(t.substr(1));
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} else if (t[0] == 'Y') {
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new_pos.y = std::stof(t.substr(1));
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} else if (t[0] == 'Z') {
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new_pos.z = std::stof(t.substr(1));
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}
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}
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bool has_g1 = tokens[0][0] == 'G' && std::stoi(tokens[0].substr(1)) == 1;
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bool has_g0 = tokens[0][0] == 'G' && std::stoi(tokens[0].substr(1)) == 0;
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bool is_plunge = has_g1 && tokens.size() > 1 && tokens[1][0] == 'Z';
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bool is_retract = has_g0 && tokens.size() > 1 && tokens[1][0] == 'Z';
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is_tool_on = has_g1 || (is_retract ? false : is_tool_on);
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auto from_color = glm::vec4(1.0f);
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auto to_color = glm::vec4(1.0f);
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if (is_tool_on) {
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from_color = glm::vec4(1, 0, 0, 1);
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to_color = glm::vec4(1, 0, 0, 1);
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}
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if (is_plunge) {
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to_color = glm::vec4(1, 0, 0, 1);
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} else if (is_retract) {
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to_color = glm::vec4(0, 1, 0, 1);
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}
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// from
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buffer_data.push_back(tool_pos.x);
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buffer_data.push_back(tool_pos.y);
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buffer_data.push_back(tool_pos.z);
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buffer_data.push_back(from_color.r);
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buffer_data.push_back(from_color.g);
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buffer_data.push_back(from_color.b);
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buffer_data.push_back(from_color.a);
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// to
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buffer_data.push_back(new_pos.x);
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buffer_data.push_back(new_pos.y);
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buffer_data.push_back(new_pos.z);
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buffer_data.push_back(to_color.r);
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buffer_data.push_back(to_color.g);
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buffer_data.push_back(to_color.b);
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buffer_data.push_back(to_color.a);
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// calculate extents
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min_pos.x = std::min(min_pos.x, new_pos.x);
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min_pos.y = std::min(min_pos.y, new_pos.y);
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min_pos.z = std::min(min_pos.z, new_pos.z);
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max_pos.x = std::max(max_pos.x, new_pos.x);
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max_pos.y = std::max(max_pos.y, new_pos.y);
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max_pos.z = std::max(max_pos.z, new_pos.z);
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tool_pos = new_pos;
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}
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}
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}
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const GLsizei sizeOfVertexInBytes = 28;
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auto number_of_vertices = buffer_data.size() * sizeof(float) / sizeOfVertexInBytes;
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glBindBuffer(GL_ARRAY_BUFFER, vbo_id);
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glBufferData(GL_ARRAY_BUFFER, sizeof(float) * buffer_data.size(), buffer_data.data(), GL_STATIC_DRAW);
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return number_of_vertices;
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}
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std::string get_shader_info_log(GLuint id) {
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GLint log_length = 0;
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glGetShaderiv(id, GL_INFO_LOG_LENGTH, &log_length);
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char error_log[log_length]; // length includes the NULL character
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glGetShaderInfoLog(id, log_length, &log_length, &error_log[0]);
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return std::string(error_log, log_length);
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}
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std::string get_program_info_log(GLuint id) {
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GLint log_length = 0;
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glGetProgramiv(id, GL_INFO_LOG_LENGTH, &log_length);
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char error_log[log_length]; // length includes the NULL character
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glGetProgramInfoLog(id, log_length, &log_length, &error_log[0]);
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return std::string(error_log, log_length);
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}
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bool check_compile_error(GLuint shader_id) {
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GLint is_compiled = 0;
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glGetShaderiv(shader_id, GL_COMPILE_STATUS, &is_compiled);
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if (is_compiled == GL_TRUE)
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return true;
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std::cerr << "Shader compile error: " << "(id: " << shader_id << ") - " << get_shader_info_log(shader_id) << std::endl;
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glDeleteShader(shader_id);
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return false;
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}
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bool check_link_error(GLuint program_id) {
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GLint is_linked = 0;
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glGetProgramiv(program_id, GL_LINK_STATUS, &is_linked);
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if (is_linked == GL_TRUE)
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return true;
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std::cerr << "Shader program link error: " << "(id: " << program_id << ") - " << get_program_info_log(program_id) << std::endl;
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glDeleteProgram(program_id);
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return false;
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}
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grbl::shader_program::shader_program(const char *vs_content, const char *ps_content)
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: shader_ids{0, 0},
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program_id{0} {
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shader_ids[0] = glCreateShader(GL_VERTEX_SHADER);
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glShaderSource(shader_ids[0], 1, &vs_content, nullptr);
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glCompileShader(shader_ids[0]);
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check_compile_error(shader_ids[0]);
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shader_ids[1] = glCreateShader(GL_FRAGMENT_SHADER);
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glShaderSource(shader_ids[1], 1, &ps_content, nullptr);
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glCompileShader(shader_ids[1]);
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check_compile_error(shader_ids[1]);
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program_id = glCreateProgram();
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glAttachShader(program_id, shader_ids[0]);
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glAttachShader(program_id, shader_ids[1]);
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glLinkProgram(program_id);
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check_link_error(program_id);
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glUseProgram(program_id);
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}
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grbl::shader_program::~shader_program() {
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glDetachShader(program_id, shader_ids[0]);
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glDetachShader(program_id, shader_ids[1]);
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glDeleteShader(shader_ids[0]);
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glDeleteShader(shader_ids[1]);
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glDeleteProgram(program_id);
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}
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void grbl::shader_program::bind() const {
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glUseProgram(program_id);
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}
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void grbl::shader_program::unbind() {
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glUseProgram(0);
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}
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int grbl::shader_program::get_uniform(const char *name) {
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if (uniform_cache.count(name) == 0) {
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uniform_cache[name] = glGetUniformLocation(program_id, name);
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}
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return uniform_cache[name];
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}
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void grbl::shader_program::set_mat3(float *matrix, const char *uniform_name) {
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GLint location = get_uniform(uniform_name);
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|
if (location != -1)
|
|
glUniformMatrix3fv(location, 1, false, matrix);
|
|
}
|
|
|
|
void grbl::shader_program::set_mat4(float *matrix, const char *uniform_name) {
|
|
GLint location = get_uniform(uniform_name);
|
|
if (location != -1)
|
|
glUniformMatrix4fv(location, 1, false, matrix);
|
|
}
|
|
|
|
void grbl::shader_program::set_vec2(float *value, const char *uniform_name) {
|
|
GLint location = get_uniform(uniform_name);
|
|
if (location != -1)
|
|
glUniform2fv(location, 1, value);
|
|
}
|
|
|
|
void grbl::shader_program::set_vec3(float *value, const char *uniform_name) {
|
|
GLint location = get_uniform(uniform_name);
|
|
if (location != -1)
|
|
glUniform3fv(location, 1, value);
|
|
}
|
|
|
|
void grbl::shader_program::set_vec4(float *value, const char *uniform_name) {
|
|
GLint location = get_uniform(uniform_name);
|
|
if (location != -1)
|
|
glUniform4fv(location, 1, value);
|
|
}
|
|
|
|
void grbl::shader_program::set_int(int value, const char *uniform_name) {
|
|
GLint location = get_uniform(uniform_name);
|
|
if (location != -1)
|
|
glUniform1i(location, value);
|
|
}
|
|
|
|
void grbl::shader_program::set_float(float value, const char *uniform_name) {
|
|
GLint location = get_uniform(uniform_name);
|
|
if (location != -1)
|
|
glUniform1f(location, value);
|
|
}
|