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Make text rendering a parameter #124

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Merged
merged 1 commit into from
Dec 14, 2020
Merged

Make text rendering a parameter #124

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2 changes: 1 addition & 1 deletion src/examples/cameras.cpp
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Expand Up @@ -48,7 +48,7 @@ int main()
robot_dart::RobotDARTSimu simu(0.001);

// Magnum graphics
robot_dart::gui::magnum::GraphicsConfiguration configuration;
robot_dart::gui::magnum::GraphicsConfiguration configuration = robot_dart::gui::magnum::Graphics::default_configuration();
configuration.width = 1024;
configuration.height = 768;
auto graphics = std::make_shared<robot_dart::gui::magnum::BaseGraphics<MyApp>>(configuration);
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2 changes: 1 addition & 1 deletion src/examples/magnum_contexts.cpp
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Expand Up @@ -51,7 +51,7 @@ int main()
controller->set_pd(300., 50.);

// Magnum graphics
robot_dart::gui::magnum::GraphicsConfiguration configuration;
robot_dart::gui::magnum::GraphicsConfiguration configuration = robot_dart::gui::magnum::WindowlessGraphics::default_configuration();
configuration.width = 1024;
configuration.height = 768;
auto graphics = std::make_shared<robot_dart::gui::magnum::WindowlessGraphics>(configuration);
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16 changes: 11 additions & 5 deletions src/python/gui.cpp
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Expand Up @@ -86,7 +86,7 @@ namespace robot_dart {
.def_readwrite("data", &gui::GrayscaleImage::data);

py::class_<GraphicsConfiguration>(sm, "GraphicsConfiguration")
.def(py::init<size_t, size_t, const std::string&, bool, bool, size_t, size_t, double, bool, bool, const Eigen::Vector4d&>(),
.def(py::init<size_t, size_t, const std::string&, bool, bool, size_t, size_t, double, bool, bool, bool, const Eigen::Vector4d&>(),
py::arg("width") = 640,
py::arg("height") = 480,
py::arg("title") = "DART",
Expand All @@ -97,6 +97,7 @@ namespace robot_dart {
py::arg("specular_strength") = 0.25,
py::arg("draw_main_camera") = true,
py::arg("draw_debug") = true,
py::arg("draw_text") = true,
py::arg("bg_color") = Eigen::Vector4d(0.0, 0.0, 0.0, 1.0))

.def_readwrite("width", &GraphicsConfiguration::width)
Expand All @@ -112,6 +113,7 @@ namespace robot_dart {

.def_readwrite("draw_main_camera", &GraphicsConfiguration::draw_main_camera)
.def_readwrite("draw_debug", &GraphicsConfiguration::draw_debug)
.def_readwrite("draw_text", &GraphicsConfiguration::draw_text)

.def_readwrite("bg_color", &GraphicsConfiguration::bg_color);

Expand All @@ -124,7 +126,7 @@ namespace robot_dart {
// Graphics class
py::class_<Graphics, BaseWindowedGraphics, std::shared_ptr<Graphics>>(sm, "Graphics")
.def(py::init<const GraphicsConfiguration&>(),
py::arg("configuration") = GraphicsConfiguration())
py::arg("configuration") = Graphics::default_configuration())

.def("done", &Graphics::done)
.def("refresh", &Graphics::refresh)
Expand Down Expand Up @@ -165,12 +167,14 @@ namespace robot_dart {

.def("camera", (Camera & (Graphics::*)()) & Graphics::camera, py::return_value_policy::reference)

.def("magnum_app", (gui::magnum::BaseApplication * (Graphics::*)()) & Graphics::magnum_app, py::return_value_policy::reference);
.def("magnum_app", (gui::magnum::BaseApplication * (Graphics::*)()) & Graphics::magnum_app, py::return_value_policy::reference)

.def_static("default_configuration", &Graphics::default_configuration);

// WindowlessGraphics class
py::class_<WindowlessGraphics, BaseWindowlessGraphics, std::shared_ptr<WindowlessGraphics>>(sm, "WindowlessGraphics")
.def(py::init<const GraphicsConfiguration&>(),
py::arg("configuration") = GraphicsConfiguration())
py::arg("configuration") = WindowlessGraphics::default_configuration())

.def("done", &WindowlessGraphics::done)
.def("refresh", &WindowlessGraphics::refresh)
Expand Down Expand Up @@ -208,7 +212,9 @@ namespace robot_dart {

.def("camera", (Camera & (WindowlessGraphics::*)()) & WindowlessGraphics::camera, py::return_value_policy::reference)

.def("magnum_app", (gui::magnum::BaseApplication * (WindowlessGraphics::*)()) & WindowlessGraphics::magnum_app, py::return_value_policy::reference);
.def("magnum_app", (gui::magnum::BaseApplication * (WindowlessGraphics::*)()) & WindowlessGraphics::magnum_app, py::return_value_policy::reference)

.def_static("default_configuration", &WindowlessGraphics::default_configuration);

sm.def(
"run_with_gl_context", +[](const std::function<void()>& func, size_t wait_ms) {
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42 changes: 22 additions & 20 deletions src/robot_dart/gui/magnum/base_application.cpp
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Expand Up @@ -169,26 +169,28 @@ namespace robot_dart {
.setIndexBuffer(std::move(axis_indices), 0, compressed.second);

/* Initialize text visualization */
Corrade::Utility::Resource rs("RobotDARTShaders");
_font = _font_manager.loadAndInstantiate("TrueTypeFont");
if (_font) {
_font->openData(rs.getRaw("SourceSansPro-Regular.ttf"), 180.0f);

/* Glyphs we need to render everything */
/* Latin characters for now only */
_glyph_cache.reset(new Magnum::Text::DistanceFieldGlyphCache{Magnum::Vector2i{2048}, Magnum::Vector2i{512}, 22});
_font->fillGlyphCache(*_glyph_cache,
"abcdefghijklmnopqrstuvwxyz"
"ABCDEFGHIJKLMNOPQRSTUVWXYZ"
"0123456789:-+*,.!° /|[]()_");

/* Initialize buffers for text */
_text_vertices.reset(new Magnum::GL::Buffer);
_text_indices.reset(new Magnum::GL::Buffer);

/* Initialize text shader */
_text_shader.reset(new Magnum::Shaders::DistanceFieldVector2D);
_text_shader->bindVectorTexture(_glyph_cache->texture());
if (_configuration.draw_debug && _configuration.draw_text) { // only if we ask for it
_font = _font_manager.loadAndInstantiate("TrueTypeFont");
if (_font) {
Corrade::Utility::Resource rs("RobotDARTShaders");
_font->openData(rs.getRaw("SourceSansPro-Regular.ttf"), 180.0f);

/* Glyphs we need to render everything */
/* Latin characters for now only */
_glyph_cache.reset(new Magnum::Text::DistanceFieldGlyphCache{Magnum::Vector2i{2048}, Magnum::Vector2i{512}, 22});
_font->fillGlyphCache(*_glyph_cache,
"abcdefghijklmnopqrstuvwxyz"
"ABCDEFGHIJKLMNOPQRSTUVWXYZ"
"0123456789:-+*,.!° /|[]()_");

/* Initialize buffers for text */
_text_vertices.reset(new Magnum::GL::Buffer);
_text_indices.reset(new Magnum::GL::Buffer);

/* Initialize text shader */
_text_shader.reset(new Magnum::Shaders::DistanceFieldVector2D);
_text_shader->bindVectorTexture(_glyph_cache->texture());
}
}
}

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1 change: 1 addition & 0 deletions src/robot_dart/gui/magnum/base_application.hpp
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Expand Up @@ -107,6 +107,7 @@ namespace robot_dart {
// These options are only for the main camera
bool draw_main_camera = true;
bool draw_debug = true;
bool draw_text = true;

// Background (default = black)
Eigen::Vector4d bg_color{0.0, 0.0, 0.0, 1.0};
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5 changes: 5 additions & 0 deletions src/robot_dart/gui/magnum/graphics.cpp
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Expand Up @@ -12,6 +12,11 @@ namespace robot_dart {
simu->enable_text_panel(true);
simu->enable_status_bar(true);
}

GraphicsConfiguration Graphics::default_configuration()
{
return GraphicsConfiguration();
}
} // namespace magnum
} // namespace gui
} // namespace robot_dart
4 changes: 3 additions & 1 deletion src/robot_dart/gui/magnum/graphics.hpp
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Expand Up @@ -8,10 +8,12 @@ namespace robot_dart {
namespace magnum {
class Graphics : public BaseGraphics<GlfwApplication> {
public:
Graphics(const GraphicsConfiguration& configuration = GraphicsConfiguration()) : BaseGraphics<GlfwApplication>(configuration) {}
Graphics(const GraphicsConfiguration& configuration = default_configuration()) : BaseGraphics<GlfwApplication>(configuration) {}
~Graphics() {}

void set_simu(RobotDARTSimu* simu) override;

static GraphicsConfiguration default_configuration();
};
} // namespace magnum
} // namespace gui
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10 changes: 10 additions & 0 deletions src/robot_dart/gui/magnum/windowless_graphics.cpp
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Expand Up @@ -12,6 +12,16 @@ namespace robot_dart {
simu->enable_text_panel(false);
simu->enable_status_bar(false);
}

GraphicsConfiguration WindowlessGraphics::default_configuration()
{
GraphicsConfiguration config;
// by default we do not draw text in windowless mode
config.draw_debug = false;
config.draw_text = false;

return config;
}
} // namespace magnum
} // namespace gui
} // namespace robot_dart
4 changes: 3 additions & 1 deletion src/robot_dart/gui/magnum/windowless_graphics.hpp
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Expand Up @@ -9,10 +9,12 @@ namespace robot_dart {
namespace magnum {
class WindowlessGraphics : public BaseGraphics<WindowlessGLApplication> {
public:
WindowlessGraphics(const GraphicsConfiguration& configuration = GraphicsConfiguration()) : BaseGraphics<WindowlessGLApplication>(configuration) {}
WindowlessGraphics(const GraphicsConfiguration& configuration = default_configuration()) : BaseGraphics<WindowlessGLApplication>(configuration) {}
~WindowlessGraphics() {}

void set_simu(RobotDARTSimu* simu) override;

static GraphicsConfiguration default_configuration();
};
} // namespace magnum
} // namespace gui
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