/// <summary>
/// Occurs when it is time to render 3d objects. Place all 3d
/// drawing code in this event.
/// </summary>
private void mD3d_DxRender3d(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx)
{
//if (rendered < 5)
{
// Setup the lights
dx.Lights[0].Enabled = true;
dx.Lights[0].Type = LightType.Directional;
dx.Lights[0].Direction = new Vector3(0, 0, 1);
dx.Lights[0].Diffuse = Color.White;
dx.Lights[0].Position = new Vector3(0, 0, 0);
dx.RenderState.Lighting = true;
// Set viewer
dx.Transform.View = Matrix.LookAtLH(new Vector3(0, 0, -viewing_distance),
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(pan, 1.0f, tilt));
// Set projection matrix
dx.Transform.Projection = Matrix.PerspectiveFovLH(
(float)Math.PI / 4, 640f / 480f, 50.0f, 2000.0f);
dx.RenderState.NormalizeNormals = true;
rendered++;
viewOccupancyGrid(d3d, dx, grid_filename, current_grid_level, 0);
}
}
/// <summary>
/// view a grid from the given file
/// </summary>
/// <param name="d3d"></param>
/// <param name="dx"></param>
/// <param name="filename">grid filename</param>
/// <param name="grid_level">the level of the grid within the grid to be viewed</param>
/// <param name="min_evidence">minimum evidence threshold</param>
public void viewOccupancyGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
String filename, int grid_level, int min_evidence)
{
if (!grid_loaded)
{
currentGrid = new occupancygrid(64, 100);
switch (grid_type)
{
case "914":
{
currentGrid.Load(filename);
break;
}
}
grid_loaded = true;
}
if (currentGrid != null)
{
if (grid_type == "914")
{
viewGrid(d3d, dx, currentGrid);
}
}
}
/// <summary>
/// The device must not be lost when this function is called
/// </summary>
public AutoTexture Clone(Direct3d d3d, Format format, Usage usage, Pool pool)
{
// Copy the texture
Texture toTexture = new Texture(d3d.Dx, mSurfDesc.Width, mSurfDesc.Height,
1, usage, format, pool);
Surface toSurface = toTexture.GetSurfaceLevel(0);
Surface fromSurface = mTexture.GetSurfaceLevel(0);
SurfaceLoader.FromSurface(toSurface, fromSurface, Filter.Point, 0);
toSurface.Dispose();
fromSurface.Dispose();
// Copy this AutoTexture
AutoTexture autoTexture = new AutoTexture(d3d, toTexture);
autoTexture.Tag = Tag;
return autoTexture;
}
/// <summary>
/// Dispose this object and the mesh it holds
/// </summary>
public void Dispose()
{
if (mTexture != null)
{
mTexture.Dispose();
mTexture = null;
}
if (mD3d != null)
{
mD3d.DxLost -= new Direct3d.DxDirect3dDelegate(d3d_DxLost);
mD3d.DxRestore -= new Direct3d.DxDirect3dDelegate(d3d_DxRestore);
mD3d = null;
}
mTextureData = null;
}
/// <summary>
/// Create an AutoTexture
/// </summary>
public AutoTexture(Direct3d d3d, Texture texture)
{
mTexture = texture;
mD3d = d3d;
mSurfDesc = mTexture.GetLevelDescription(0);
d3d.DxLost += new Direct3d.DxDirect3dDelegate(d3d_DxLost);
d3d.DxRestore += new Direct3d.DxDirect3dDelegate(d3d_DxRestore);
}
/// <summary>
/// Occurs once after DirectX has been initialized for the first time.
/// Setup AutoMesh's, AutoVertexBuffer's, and AutoTexture's here.
/// </summary>
private void mD3d_DxLoaded(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx)
{
}
/// <summary>
/// Restore the mesh when the DirectX device is restored
/// </summary>
void d3d_DxRestore(Direct3d d3d, Device dx)
{
// If the direct3d device wasn't lost in the first place, don't restore it.
// This happens the first timeMs around.
if (mMesh != null)
return;
// Restore mesh
mMesh = new Mesh(mNumFaces, mNumVertices, mFlags, mVertexFormat, dx);
Debug.Assert(mMesh.NumberBytesPerVertex == mNumBytesPerVertex);
// Copy pathIndex buffer
GraphicsStream stream = mMesh.LockIndexBuffer(LockFlags.Discard);
stream.Write(mIndexBufferCopy);
mMesh.UnlockIndexBuffer();
// Copy vertex buffer
stream = mMesh.LockVertexBuffer(LockFlags.Discard);
stream.Write(mVertexBufferCopy);
mMesh.UnlockVertexBuffer();
// Copy attribute buffer
int[] attributeBuffer = mMesh.LockAttributeBufferArray(LockFlags.Discard);
mAttributeBufferCopy.CopyTo(attributeBuffer, 0);
mMesh.UnlockAttributeBuffer(attributeBuffer);
mIndexBufferCopy = null;
mVertexBufferCopy = null;
mAttributeBufferCopy = null;
}
/// <summary>
/// Cone the mesh (and textures that it contains),
/// optionally converting the vertex and texture format.
/// </summary>
public AutoMesh Clone(Direct3d d3d, MeshFlags flags, VertexFormats vertexFormat,
Format textureFormat, Usage usage, Pool pool)
{
// Clone the mesh vertex info
Mesh mesh = mMesh.Clone(flags, vertexFormat, d3d.Dx);
AutoMesh autoMesh = new AutoMesh(d3d, mesh);
// Clone AutoMesh variables
autoMesh.Tag = Tag;
// Clone textures and materials
if (mTextures.Length != 0)
{
// Clone materials
autoMesh.mMaterials = new Material[mMaterials.Length];
for (int i = 0; i < mMaterials.Length; i++)
autoMesh.mMaterials[i] = mMaterials[i];
// Clone textures
autoMesh.mTextures = new AutoTexture[mTextures.Length];
for (int i = 0; i < mTextures.Length; i++)
if (mTextures[i] != null)
{
// Already cloned this texture?
bool alreadyConvertedTexture = false;
for (int j = 0; j < i; j++)
if (mTextures[i] == mTextures[j])
{
alreadyConvertedTexture = true;
autoMesh.mTextures[i] = autoMesh.mTextures[j];
break;
}
// Clone new texture
if (!alreadyConvertedTexture)
autoMesh.mTextures[i] = mTextures[i].Clone(d3d, textureFormat, usage, pool);
}
}
return autoMesh;
}
/// <summary>
/// Create an automesh, which owns the given mesh
/// </summary>
public AutoMesh(Direct3d d3d, Mesh mesh)
{
mMesh = mesh;
mD3d = d3d;
d3d.DxLost += new Direct3d.DxDirect3dDelegate(d3d_DxLost);
d3d.DxRestore += new Direct3d.DxDirect3dDelegate(d3d_DxRestore);
}
/// <summary>
/// Create an AutoVertexBuffer (16 bits, ushort)
/// </summary>
public AutoIndexBuffer(Direct3d d3d, int numIndices, Usage usage, Pool pool)
{
mIndexBuffer = new IndexBuffer(typeof(ushort), numIndices, d3d.Dx, usage, pool);
mD3d = d3d;
mNumIndices = numIndices;
mUsage = usage;
mPool = pool;
d3d.DxLost += new Direct3d.DxDirect3dDelegate(d3d_DxLost);
d3d.DxRestore += new Direct3d.DxDirect3dDelegate(d3d_DxRestore);
}
/// <summary>
/// Restore the vertex buffer when the DirectX device is restored
/// </summary>
void d3d_DxRestore(Direct3d d3d, Device dx)
{
// If the direct3d device wasn't lost in the first place, don't restore it.
// This happens the first timeMs around.
if (mVertexBuffer != null)
return;
mVertexBuffer = new VertexBuffer(mVertexType, mVertexNumVertices,
d3d.Dx, mVertexUsage, mVertexFormat, mVertexPool);
mVertexBuffer.SetData(mVertexData, 0, LockFlags.None);
mVertexData = null;
}
/// <summary>
/// Create an AutoVertexBuffer
/// </summary>
public AutoVertexBuffer(Direct3d d3d, Type vertexType, int numVerts,
Usage usage, VertexFormats format, Pool pool)
{
mVertexBuffer = new VertexBuffer(vertexType, numVerts == 0 ? 1 : numVerts, d3d.Dx, usage, format, pool);
mD3d = d3d;
mVertexType = vertexType;
mVertexNumVertices = numVerts;
mVertexUsage = usage;
mVertexFormat = format;
mVertexPool = pool;
d3d.DxLost += new Direct3d.DxDirect3dDelegate(d3d_DxLost);
d3d.DxRestore += new Direct3d.DxDirect3dDelegate(d3d_DxRestore);
}
public void viewGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
occupancygrid grid)
{
bool ground_plane_drawn = false;
mCellMesh = new AutoMesh(d3d, Mesh.Box(dx, 1, 1, 1));
//show the grid cells
for (int z = grid.dimension - 1; z >= 0; z--)
{
int plane_hits = 0;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension - 1; y++)
{
if (grid.display_cell[x, y, z])
{
plane_hits++;
occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
if (c != null)
{
r = c.colour[0];
g = c.colour[1];
b = c.colour[2];
}
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
//for (int z = 0; z < grid.dimension; z++)
{
if (z == grid.dimension / 2)
{
if ((x == 1) || (x == grid.dimension - 2) || (y == 1) || (y == grid.dimension - 2))
{
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
* Matrix.Translation(x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.Green);
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
if ((plane_hits > 30) && (!ground_plane_drawn))
{
ground_plane_drawn = true;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension - 1; y++)
{
if (grid.empty[x, y])
{
//occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
}
/// <summary>
/// Save the mesh when the DirectX device is lost
/// </summary>
void d3d_DxLost(Direct3d d3d, Device dx)
{
if (mTexture == null)
return;
// Get surface description
int width = mSurfDesc.Width;
int height = mSurfDesc.Height;
// Isn't there a better way to do this?
switch (mSurfDesc.Format)
{
case Format.Dxt1:
mPixelSizeBits = 4;
break;
case Format.A8:
mPixelSizeBits = 8;
break;
case Format.A4L4:
case Format.Dxt2:
case Format.Dxt3:
case Format.Dxt4:
case Format.Dxt5:
mPixelSizeBits = 8;
Debug.Assert(false);
break;
case Format.A8R3G3B2:
case Format.A4R4G4B4:
case Format.A1R5G5B5:
mPixelSizeBits = 16;
break;
case Format.G8R8G8B8:
case Format.A8R8G8B8:
case Format.X8R8G8B8:
case Format.A8B8G8R8:
case Format.X8B8G8R8:
mPixelSizeBits = 32;
break;
default:
// Insert your vertexFormat above
mPixelSizeBits = 32;
Debug.Assert(false);
break;
}
// Read the mesh data
int pitch;
mTextureData = (byte[])mTexture.LockRectangle(typeof(byte), 0, LockFlags.ReadOnly,
out pitch, mPixelSizeBits*width*height/8);
//Debug.Assert(pitch == mPixelSizeBits*width/8); // New versions of DX fixes Pitch for us
mTexture.UnlockRectangle(0);
mTexture.Dispose();
mTexture = null;
}
/// <summary>
/// Create an AutoVertexBuffer initialized with the indices in buffer
/// </summary>
/// <param name="d3d"></param>
/// <param name="buffer"></param>
/// <param name="usage"></param>
/// <param name="pool"></param>
public AutoIndexBuffer(Direct3d d3d, ushort []buffer, Usage usage, Pool pool)
{
mIndexBuffer = new IndexBuffer(typeof(ushort), buffer.Length, d3d.Dx, usage, pool);
mD3d = d3d;
mNumIndices = buffer.Length;
mUsage = usage;
mPool = pool;
SetIndices(buffer);
d3d.DxLost += new Direct3d.DxDirect3dDelegate(d3d_DxLost);
d3d.DxRestore += new Direct3d.DxDirect3dDelegate(d3d_DxRestore);
}
/// <summary>
/// Restore the mesh when the DirectX device is restored
/// </summary>
void d3d_DxRestore(Direct3d d3d, Device dx)
{
// If the direct3d device wasn't lost in the first place, don't restore it.
// This happens the first timeMs around.
if (mTexture != null)
return;
// Create mesh
int width = mSurfDesc.Width;
int height = mSurfDesc.Height;
mTexture = new Texture(d3d.Dx, width, height,
1, mSurfDesc.Usage, mSurfDesc.Format, mSurfDesc.Pool);
// Write the texture data
int pitch;
GraphicsStream stream = mTexture.LockRectangle(0, LockFlags.Discard | LockFlags.NoDirtyUpdate, out pitch);
//Debug.Assert(pitch == mPixelSizeBits*width/8); // New versions of DX fixes Pitch for us
//Debug.Assert(pitch*height == mTextureData.Length);
stream.Write(mTextureData);
mTexture.UnlockRectangle(0);
mTextureData = null;
}
/// <summary>
/// Dispose this object and the pathIndex buffer it holds
/// </summary>
public void Dispose()
{
if (mIndexBuffer != null)
{
mIndexBuffer.Dispose();
mIndexBuffer = null;
}
if (mD3d != null)
{
mD3d.DxLost -= new Direct3d.DxDirect3dDelegate(d3d_DxLost);
mD3d.DxRestore -= new Direct3d.DxDirect3dDelegate(d3d_DxRestore);
mD3d = null;
}
mIndexBuffer = null;
}
/// <summary>
/// Dispose this object and the mesh it holds.
/// </summary>
public void Dispose()
{
if (mMesh != null)
{
mMesh.Dispose();
mMesh = null;
}
if (mD3d != null)
{
mD3d.DxLost -= new Direct3d.DxDirect3dDelegate(d3d_DxLost);
mD3d.DxRestore -= new Direct3d.DxDirect3dDelegate(d3d_DxRestore);
mD3d = null;
}
mIndexBufferCopy = null;
mVertexBufferCopy = null;
mAttributeBufferCopy = null;
mVertexCache = null;
mBoundingBoxValid = false;
mSphereValid = false;
mSphereMinValid = false;
for (int i = 0; i < mTextures.Length; i++)
if (mTextures[i] != null)
mTextures[i].Dispose();
mTextures = sEmptyAutoTextureArray;
mMaterials = sEmptyMaterialArray;
}
/// <summary>
/// Save the vertex buffer when the DirectX device is lost
/// </summary>
void d3d_DxLost(Direct3d d3d, Device dx)
{
if (mIndexBuffer == null)
return;
mIndexData = (byte[])mIndexBuffer.Lock(0, typeof(byte), LockFlags.ReadOnly, mIndexBuffer.Description.Size);
mIndexBuffer.Unlock();
mIndexBuffer.Dispose();
mIndexBuffer = null;
}
/// <summary>
/// Save the mesh when the DirectX device is lost
/// </summary>
void d3d_DxLost(Direct3d d3d, Device dx)
{
if (mMesh == null)
return;
// Save all data needed to restore the mesh
mNumFaces = mMesh.NumberFaces;
mNumVertices = mMesh.NumberVertices;
mNumBytesPerVertex = mMesh.NumberBytesPerVertex;
mFlags = mMesh.Options.Value;
mVertexFormat = mMesh.VertexFormat;
// Copy pathIndex buffer
mIndexBufferCopy = (byte[])mMesh.LockIndexBuffer(typeof(byte),
LockFlags.ReadOnly, mMesh.IndexBuffer.Description.Size);
mMesh.UnlockIndexBuffer();
// Copy vertex buffer
mVertexBufferCopy = (byte[])mMesh.LockVertexBuffer(typeof(byte),
LockFlags.ReadOnly, mMesh.NumberBytesPerVertex * mMesh.NumberVertices);
mMesh.UnlockVertexBuffer();
// Copy attribute buffer
mAttributeBufferCopy = mMesh.LockAttributeBufferArray(LockFlags.ReadOnly);
mMesh.UnlockAttributeBuffer(mAttributeBufferCopy);
mMesh.Dispose();
mMesh = null;
mVertexCache = null;
}
/// <summary>
/// Restore the vertex buffer when the DirectX device is restored
/// </summary>
void d3d_DxRestore(Direct3d d3d, Device dx)
{
// If the direct3d device wasn't lost in the first place, don't restore it.
// This happens the first timeMs around.
if (mIndexBuffer != null)
return;
mIndexBuffer = new IndexBuffer(typeof(ushort), mNumIndices, d3d.Dx, mUsage, mPool);
byte []data = (byte[])mIndexBuffer.Lock(0, typeof(byte), LockFlags.Discard, mIndexBuffer.Description.Size);
mIndexData.CopyTo(data, 0);
mIndexBuffer.Unlock();
mIndexData = null;
}
/// <summary>
/// Read a mesh from an X file, and load the textures which are
/// assumed to be in the same directory.
/// </summary>
public static AutoMesh LoadFromXFile(string path, MeshFlags flags, Direct3d d3d)
{
ExtendedMaterial[] extendedMaterials;
String []fileNames;
AutoMesh mesh = new AutoMesh(d3d, Mesh.FromFile(path,
MeshFlags.SystemMemory, d3d.Dx, out extendedMaterials));
mesh.mTextures = new AutoTexture[extendedMaterials.Length];
mesh.mMaterials = new Material[extendedMaterials.Length];
fileNames = new string[extendedMaterials.Length];
// Load all the textures for this mesh
for (int i = 0; i < extendedMaterials.Length; i++)
{
if (extendedMaterials[i].TextureFilename != null)
{
string textureFileName = System.IO.Path.Combine(
System.IO.Path.GetDirectoryName(path),
extendedMaterials[i].TextureFilename);
fileNames[i] = textureFileName;
// Scan to see if we already have this texture
bool alreadyHaveTexture = false;
for (int j = 0; j < i; j++)
if (textureFileName == fileNames[j])
{
mesh.mTextures[i] = mesh.mTextures[j];
alreadyHaveTexture = true;
break;
}
// Load texture (if we don't already have it)
if (!alreadyHaveTexture)
mesh.mTextures[i] = new AutoTexture(d3d,
TextureLoader.FromFile(d3d.Dx, textureFileName));
}
mesh.mMaterials[i] = extendedMaterials[i].Material3D;
mesh.mMaterials[i].Ambient = mesh.mMaterials[i].Diffuse;
}
return mesh;
}
/// <summary>
/// Called each frame to render the mesh
/// </summary>
private void d3dModel_DxRender3d(Direct3d d3d, Device dx)
{
if (mMesh == null)
return;
// Setup the lights
dx.Lights[0].Enabled = true;
dx.Lights[0].Type = LightType.Directional;
dx.Lights[0].Direction = new Vector3(0, 0, 1);
dx.Lights[0].Diffuse = Color.White;
dx.Lights[0].Position = new Vector3(0, 0, 0);
dx.RenderState.NormalizeNormals = true;
// Lighting only when there are normals
dx.RenderState.Lighting = (int)(mMesh.M.VertexFormat & VertexFormats.Normal) != 0;
// Setup camera
dx.Transform.Projection = Matrix.PerspectiveFovLH(
(float)Math.PI / 4, 640f / 480f, 50.0f, 2000.0f);
dx.Transform.View = Matrix.LookAtLH(new Vector3(0, 0, -220),
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 1.0f, 0.0f));
// Use mip map
dx.SamplerState[0].MipFilter = TextureFilter.Linear;
dx.SamplerState[0].MinFilter = TextureFilter.Linear;
dx.SamplerState[0].MagFilter = TextureFilter.Linear;
// Adjust mesh to fit view port
Vector3 center;
float radius = mMesh.BoundingSphereMin(out center);
dx.Transform.World = Matrix.Translation(-1*center)
* Matrix.Scaling(1/radius, 1/radius, 1/radius)
* Matrix.Scaling(90, 90, 90)
* Matrix.RotationQuaternion(mOrientation);
// Draw mesh using mesh specified materials
mMesh.Draw(true);
// For an interesting effect, comment above line and uncomment following lines
//dx.Material = GraphicsUtility.InitMaterial(Color.Red);
//mMesh.Draw(true);
}