benny
b7b9fed0dd
Added checkbox to select whether to run autoleveled program or not. Heightmap can handle non integer from_x and to_x.
620 lines
19 KiB
C++
620 lines
19 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 "gcode_parser.h"
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#include <fstream>
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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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static const char *vs_heightmap_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 vec3 normal;
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layout (location = 2) in vec4 color;
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uniform mat4 mmtx;
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uniform mat4 vmtx;
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uniform mat4 pmtx;
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uniform mat3 nmtx;
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out vec3 eye_space_normal;
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out vec3 eye_space_position;
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out vec4 diffuse_color;
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void main() {
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mat4 mvp = pmtx * vmtx * mmtx;
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gl_Position = mvp * vec4(position, 1.0);
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eye_space_position = (vmtx * mmtx * vec4(position, 1)).xyz;
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eye_space_normal = normalize(nmtx * normal);
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diffuse_color = color;
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}
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)";
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static const char *ps_heightmap_code = R"(
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#version 330
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in vec3 eye_space_normal;
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in vec3 eye_space_position;
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in vec4 diffuse_color;
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out vec4 color;
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void main() {
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vec3 normal = normalize(eye_space_normal);
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vec3 light_dir = normalize(vec3(0, 0, 1));
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vec4 ambient_color = vec4(0.1, 0.1, 0.1, 1);
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float n_dot_l = max(dot(normal, light_dir), 0.0);
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color = n_dot_l * diffuse_color + ambient_color;
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}
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)";
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static void add_vertex(std::vector<float> &buffer_data, glm::vec3 v, glm::vec3 n, 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(n.x);
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buffer_data.push_back(n.y);
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buffer_data.push_back(n.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_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
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add_line(std::vector<float> &buffer_data, glm::vec3 from, glm::vec4 from_col, glm::vec3 to, glm::vec4 to_col) {
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add_vertex(buffer_data, from, from_col);
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add_vertex(buffer_data, to, to_col);
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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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static void
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add_triangle(std::vector<float> &buffer_data, glm::vec3 p1, glm::vec3 p2, glm::vec3 p3, glm::vec3 n, glm::vec4 col) {
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add_vertex(buffer_data, p1, n, col);
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add_vertex(buffer_data, p2, n, col);
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add_vertex(buffer_data, p3, n, col);
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}
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void grbl::program_renderer::render(glm::mat4 model, glm::mat4 view, glm::mat4 projection, glm::mat3 normal_mat,
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glm::vec2 viewport_size) {
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if (shader == nullptr || heightmap_shader == nullptr) return;
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// draw heightmap
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heightmap_shader->bind();
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heightmap_shader->set_mat4(glm::value_ptr(model), "mmtx");
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heightmap_shader->set_mat4(glm::value_ptr(view), "vmtx");
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heightmap_shader->set_mat4(glm::value_ptr(projection), "pmtx");
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heightmap_shader->set_mat3(glm::value_ptr(normal_mat), "nmtx");
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glBindVertexArray(heightmap_vao_id);
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glDrawArrays(GL_TRIANGLES, 0, heightmap_vertices_count);
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heightmap_shader->unbind();
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auto mvp = projection * view * model;
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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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auto bbox_translation = glm::translate(glm::mat4(1.0f), min_pos);
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auto bbox_scale = glm::scale(glm::mat4(1.0f), bbox_size);
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auto bbox_view = mvp * bbox_translation * bbox_scale;
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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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}
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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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heightmap_shader = new shader_program(vs_heightmap_code, ps_heightmap_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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initialize_heightmap_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 = update_model_vbo(pgm);
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auto machine_pos = glm::vec3{cnc.get_status().machine_pos[0],
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cnc.get_status().machine_pos[1],
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cnc.get_status().machine_pos[2]};
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auto offsets = glm::vec3{cnc.get_current_work_offset_values()[0],
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cnc.get_current_work_offset_values()[1],
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cnc.get_current_work_offset_values()[2]};
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spindle_pos = machine_pos - offsets;
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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 size_of_vertex_in_bytes = 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, size_of_vertex_in_bytes, (void *) nullptr);
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glEnableVertexAttribArray(1); // vertex colors on stream 1
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glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, size_of_vertex_in_bytes, (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);
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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 * glm::pi<float>());
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float y = cosf((i / (float) cone_granularity) * 2.0f * glm::pi<float>());
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add_line(buffer_data, {0, 0, 0}, {x, y, spindle_length}, col);
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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) / size_of_vertex_in_bytes;
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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 size_of_vertex_in_bytes = 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, size_of_vertex_in_bytes, (void *) 0);
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glEnableVertexAttribArray(1); // vertex colors on stream 1
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glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, size_of_vertex_in_bytes, (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, 0.7, 0.3, 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) / size_of_vertex_in_bytes;
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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::update_model_vbo(const grbl::program &pgm) {
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if (!pgm.is_loaded) return 0;
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min_pos = glm::vec3(std::numeric_limits<float>::max());
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max_pos = glm::vec3(std::numeric_limits<float>::min());
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std::vector<float> buffer_data;
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grbl::grbl_parser parser;
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std::ifstream in_file{pgm.filename};
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if (in_file) {
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parser.parse(in_file);
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auto rapid_color = glm::vec4(1.0f);
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auto feed_color = glm::vec4(1.0f, 0, 0, 1);
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for (auto &c: parser.commands) {
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auto line = dynamic_cast<grbl::line_motion_cmd *>(c);
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auto arc = dynamic_cast<grbl::arc_motion_cmd *>(c);
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if (line != nullptr) {
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if (line->rapid) {
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add_line(buffer_data, line->start, rapid_color, line->end, rapid_color);
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} else {
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add_line(buffer_data, line->start, feed_color, line->end, feed_color);
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update_model_extents(line->start);
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update_model_extents(line->end);
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}
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} else if (arc != nullptr) {
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auto pieces = arc->split(0.1);
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for (auto &p: pieces) {
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// transform arc to line
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add_line(buffer_data, p->start, feed_color, p->end, feed_color);
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update_model_extents(p->start);
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update_model_extents(p->end);
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}
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}
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}
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}
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const GLsizei size_of_vertex_in_bytes = 28;
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auto number_of_vertices = buffer_data.size() * sizeof(float) / size_of_vertex_in_bytes;
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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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void grbl::program_renderer::update_grid(const grbl::heightmap &grid, float exaggeration_factor) {
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glm::vec4 color = {0.5, 0.3, 0, 1};
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// this should only be called whenever the grid changes
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// therefor it should be called each and every time we
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// probe a new location. let's check that.
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std::vector<float> buffer_data;
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for (int y = 0; y < grid.y_segments; y++) {
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for (int x = 0; x < grid.x_segments; x++) {
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int current = x + y * (grid.x_segments + 1);
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int next = current + 1;
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int bottom = next + grid.x_segments;
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int bottom_next = bottom + 1;
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auto p1 = grid.vertices[current];
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auto p2 = grid.vertices[bottom];
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auto p3 = grid.vertices[next];
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// exaggerate Z
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p1.z *= exaggeration_factor;
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p2.z *= exaggeration_factor;
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p3.z *= exaggeration_factor;
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glm::vec3 normal = glm::normalize(glm::cross(p1 - p2, p3 - p1));
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add_triangle(buffer_data, p1, p2, p3, normal, color);
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p1 = grid.vertices[next];
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p2 = grid.vertices[bottom];
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p3 = grid.vertices[bottom_next];
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p1.z *= exaggeration_factor;
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p2.z *= exaggeration_factor;
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p3.z *= exaggeration_factor;
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normal = glm::normalize(glm::cross(p1 - p2, p3 - p1));
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add_triangle(buffer_data, p1, p2, p3, normal, color);
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}
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}
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const GLsizei size_of_vertex_in_bytes = 40;
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heightmap_vertices_count = buffer_data.size() * sizeof(float) / size_of_vertex_in_bytes;
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glBindBuffer(GL_ARRAY_BUFFER, heightmap_vbo_id);
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glBufferData(GL_ARRAY_BUFFER, sizeof(float) * buffer_data.size(), buffer_data.data(), GL_DYNAMIC_DRAW);
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}
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void grbl::program_renderer::initialize_heightmap_buffers() {
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glGenBuffers(1, &heightmap_vbo_id);
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glGenVertexArrays(1, &heightmap_vao_id);
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// for height map we are going to use solid rendering (triangles)
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// we also need to send normals so that we can better see the shape of the map through lighting
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// vertex format: v.x, v.y, v.z, n.x, n.y, n.z, r, g, b, a
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// stride: 10 * 4 bytes => 40 bytes
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const GLsizei size_of_vertex_in_bytes = 40;
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glBindVertexArray(heightmap_vao_id);
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glBindBuffer(GL_ARRAY_BUFFER, heightmap_vbo_id);
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glEnableVertexAttribArray(0); // vertices on stream 0
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glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, size_of_vertex_in_bytes, (void *) 0);
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glEnableVertexAttribArray(1); // normals on stream 1
|
|
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, size_of_vertex_in_bytes, (void *) (sizeof(float) * 3));
|
|
|
|
glEnableVertexAttribArray(2); // vertex colors on stream 2
|
|
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, size_of_vertex_in_bytes, (void *) (sizeof(float) * 6));
|
|
|
|
// unbind vao
|
|
glBindVertexArray(0);
|
|
}
|
|
|
|
void grbl::program_renderer::update_model_extents(glm::vec3 point) {
|
|
min_pos.x = std::min(min_pos.x, point.x);
|
|
min_pos.y = std::min(min_pos.y, point.y);
|
|
min_pos.z = std::min(min_pos.z, point.z);
|
|
|
|
max_pos.x = std::max(max_pos.x, point.x);
|
|
max_pos.y = std::max(max_pos.y, point.y);
|
|
max_pos.z = std::max(max_pos.z, point.z);
|
|
|
|
}
|
|
|
|
std::string get_shader_info_log(GLuint id) {
|
|
GLint log_length = 0;
|
|
glGetShaderiv(id, GL_INFO_LOG_LENGTH, &log_length);
|
|
|
|
char error_log[log_length]; // length includes the NULL character
|
|
glGetShaderInfoLog(id, log_length, &log_length, &error_log[0]);
|
|
|
|
|
|
return std::string(error_log, log_length);
|
|
}
|
|
|
|
std::string get_program_info_log(GLuint id) {
|
|
GLint log_length = 0;
|
|
glGetProgramiv(id, GL_INFO_LOG_LENGTH, &log_length);
|
|
|
|
char error_log[log_length]; // length includes the NULL character
|
|
glGetProgramInfoLog(id, log_length, &log_length, &error_log[0]);
|
|
|
|
return {error_log, (size_t) log_length};
|
|
}
|
|
|
|
bool check_compile_error(GLuint shader_id) {
|
|
GLint is_compiled = 0;
|
|
glGetShaderiv(shader_id, GL_COMPILE_STATUS, &is_compiled);
|
|
if (is_compiled == GL_TRUE)
|
|
return true;
|
|
|
|
std::cerr << "Shader compile error: " << "(id: " << shader_id << ") - " << get_shader_info_log(shader_id)
|
|
<< std::endl;
|
|
glDeleteShader(shader_id);
|
|
exit(1);
|
|
return false;
|
|
}
|
|
|
|
bool check_link_error(GLuint program_id) {
|
|
GLint is_linked = 0;
|
|
glGetProgramiv(program_id, GL_LINK_STATUS, &is_linked);
|
|
if (is_linked == GL_TRUE)
|
|
return true;
|
|
|
|
std::cerr << "Shader program link error: " << "(id: " << program_id << ") - " << get_program_info_log(program_id)
|
|
<< std::endl;
|
|
glDeleteProgram(program_id);
|
|
exit(1);
|
|
return false;
|
|
}
|
|
|
|
grbl::shader_program::shader_program(const char *vs_content, const char *ps_content)
|
|
: shader_ids{0, 0},
|
|
program_id{0} {
|
|
|
|
shader_ids[0] = glCreateShader(GL_VERTEX_SHADER);
|
|
glShaderSource(shader_ids[0], 1, &vs_content, nullptr);
|
|
glCompileShader(shader_ids[0]);
|
|
check_compile_error(shader_ids[0]);
|
|
|
|
shader_ids[1] = glCreateShader(GL_FRAGMENT_SHADER);
|
|
glShaderSource(shader_ids[1], 1, &ps_content, nullptr);
|
|
glCompileShader(shader_ids[1]);
|
|
check_compile_error(shader_ids[1]);
|
|
|
|
program_id = glCreateProgram();
|
|
glAttachShader(program_id, shader_ids[0]);
|
|
glAttachShader(program_id, shader_ids[1]);
|
|
glLinkProgram(program_id);
|
|
check_link_error(program_id);
|
|
|
|
glUseProgram(program_id);
|
|
}
|
|
|
|
grbl::shader_program::~shader_program() {
|
|
glDetachShader(program_id, shader_ids[0]);
|
|
glDetachShader(program_id, shader_ids[1]);
|
|
|
|
glDeleteShader(shader_ids[0]);
|
|
glDeleteShader(shader_ids[1]);
|
|
|
|
glDeleteProgram(program_id);
|
|
}
|
|
|
|
void grbl::shader_program::bind() const {
|
|
glUseProgram(program_id);
|
|
}
|
|
|
|
void grbl::shader_program::unbind() {
|
|
glUseProgram(0);
|
|
}
|
|
|
|
int grbl::shader_program::get_uniform(const char *name) {
|
|
if (uniform_cache.count(name) == 0) {
|
|
uniform_cache[name] = glGetUniformLocation(program_id, name);
|
|
}
|
|
return uniform_cache[name];
|
|
}
|
|
|
|
void grbl::shader_program::set_mat3(float *matrix, const char *uniform_name) {
|
|
GLint location = get_uniform(uniform_name);
|
|
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);
|
|
}
|