344 lines
15 KiB
C
344 lines
15 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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// 4068: Filament has some clang-specific vectorizing pragma's that MSVC flags
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// 4146: Filament's utils/algorithm.h utils::details::ctz() tries to negate
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// an unsigned int.
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// 4293: Filament's utils/algorithm.h utils::details::clz() does strange
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// things with MSVC. Somehow sizeof(unsigned int) > 4, but its size is
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// 32 so that x >> 32 gives a warning. (Or maybe the compiler can't
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// determine the if statement does not run.)
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// 4305: LightManager.h needs to specify some constants as floats
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#ifdef _MSC_VER
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#pragma warning(push)
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#pragma warning(disable : 4068 4146 4293 4305)
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#endif // _MSC_VER
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#include <filament/LightManager.h>
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#include <filament/RenderableManager.h>
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#include <utils/Entity.h>
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#ifdef _MSC_VER
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#pragma warning(pop)
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#endif // _MSC_VER
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#include <Eigen/Geometry>
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#include <unordered_map>
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#include <vector>
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#include "open3d/geometry/BoundingVolume.h"
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#include "open3d/visualization/rendering/Camera.h"
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#include "open3d/visualization/rendering/MaterialRecord.h"
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#include "open3d/visualization/rendering/RendererHandle.h"
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#include "open3d/visualization/rendering/Scene.h"
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#include "open3d/visualization/rendering/filament/FilamentResourceManager.h"
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/// @cond
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namespace filament {
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class Box;
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class Engine;
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class IndirectLight;
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class Renderer;
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class Scene;
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class Skybox;
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class TransformManager;
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class VertexBuffer;
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} // namespace filament
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/// @endcond
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namespace open3d {
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namespace visualization {
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namespace rendering {
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class FilamentView;
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class GeometryBuffersBuilder;
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class Renderer;
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class View;
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// Contains renderable objects like geometry and lights
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// Can have multiple views
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class FilamentScene : public Scene {
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public:
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using Transform = Eigen::Transform<float, 3, Eigen::Affine>;
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FilamentScene(filament::Engine& engine,
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FilamentResourceManager& resource_mgr,
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Renderer& renderer);
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~FilamentScene();
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Scene* Copy() override;
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// NOTE: Temporarily needed to support old View interface for ImGUI
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ViewHandle AddView(std::int32_t x,
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std::int32_t y,
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std::uint32_t w,
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std::uint32_t h) override;
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View* GetView(const ViewHandle& view_id) const override;
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void SetViewActive(const ViewHandle& view_id, bool is_active) override;
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void SetRenderOnce(const ViewHandle& view_id) override;
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void RemoveView(const ViewHandle& view_id) override;
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// Camera
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void AddCamera(const std::string& camera_name,
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std::shared_ptr<Camera> cam) override;
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void RemoveCamera(const std::string& camera_name) override;
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void SetActiveCamera(const std::string& camera_name) override;
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// Scene geometry
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bool AddGeometry(const std::string& object_name,
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const geometry::Geometry3D& geometry,
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const MaterialRecord& material,
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const std::string& downsampled_name = "",
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size_t downsample_threshold = SIZE_MAX) override;
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bool AddGeometry(const std::string& object_name,
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const t::geometry::Geometry& geometry,
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const MaterialRecord& material,
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const std::string& downsampled_name = "",
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size_t downsample_threshold = SIZE_MAX) override;
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bool AddGeometry(const std::string& object_name,
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const TriangleMeshModel& model) override;
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bool HasGeometry(const std::string& object_name) const override;
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void UpdateGeometry(const std::string& object_name,
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const t::geometry::PointCloud& point_cloud,
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uint32_t update_flags) override;
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void RemoveGeometry(const std::string& object_name) override;
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void ShowGeometry(const std::string& object_name, bool show) override;
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bool GeometryIsVisible(const std::string& object_name) override;
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void SetGeometryTransform(const std::string& object_name,
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const Transform& transform) override;
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Transform GetGeometryTransform(const std::string& object_name) override;
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geometry::AxisAlignedBoundingBox GetGeometryBoundingBox(
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const std::string& object_name) override;
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void GeometryShadows(const std::string& object_name,
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bool cast_shadows,
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bool receive_shadows) override;
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void SetGeometryCulling(const std::string& object_name,
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bool enable) override;
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void SetGeometryPriority(const std::string& object_name,
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uint8_t priority) override;
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void OverrideMaterial(const std::string& object_name,
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const MaterialRecord& material) override;
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void QueryGeometry(std::vector<std::string>& geometry) override;
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void OverrideMaterialAll(const MaterialRecord& material,
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bool shader_only = true) override;
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// Lighting Environment
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bool AddPointLight(const std::string& light_name,
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const Eigen::Vector3f& color,
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const Eigen::Vector3f& position,
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float intensity,
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float falloff,
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bool cast_shadows) override;
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bool AddSpotLight(const std::string& light_name,
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const Eigen::Vector3f& color,
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const Eigen::Vector3f& position,
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const Eigen::Vector3f& direction,
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float intensity,
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float falloff,
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float inner_cone_angle,
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float outer_cone_angle,
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bool cast_shadows) override;
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bool AddDirectionalLight(const std::string& light_name,
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const Eigen::Vector3f& color,
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const Eigen::Vector3f& direction,
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float intensity,
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bool cast_shadows) override;
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Light& GetLight(const std::string& light_name) override;
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void RemoveLight(const std::string& light_name) override;
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void UpdateLight(const std::string& light_name,
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const Light& light) override;
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void UpdateLightColor(const std::string& light_name,
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const Eigen::Vector3f& color) override;
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void UpdateLightPosition(const std::string& light_name,
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const Eigen::Vector3f& position) override;
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void UpdateLightDirection(const std::string& light_name,
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const Eigen::Vector3f& direction) override;
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void UpdateLightIntensity(const std::string& light_name,
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float intensity) override;
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void UpdateLightFalloff(const std::string& light_name,
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float falloff) override;
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void UpdateLightConeAngles(const std::string& light_name,
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float inner_cone_angle,
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float outer_cone_angle) override;
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void EnableLightShadow(const std::string& light_name,
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bool cast_shadows) override;
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void SetSunLight(const Eigen::Vector3f& direction,
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const Eigen::Vector3f& color,
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float intensity) override;
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void EnableSunLight(bool enable) override;
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void EnableSunLightShadows(bool enable) override;
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void SetSunLightColor(const Eigen::Vector3f& color) override;
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Eigen::Vector3f GetSunLightColor() override;
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void SetSunLightIntensity(float intensity) override;
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float GetSunLightIntensity() override;
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void SetSunLightDirection(const Eigen::Vector3f& direction) override;
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Eigen::Vector3f GetSunLightDirection() override;
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void SetSunAngularRadius(float radius) override;
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void SetSunHaloSize(float size) override;
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void SetSunHaloFalloff(float falloff) override;
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bool SetIndirectLight(const std::string& ibl_name) override;
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const std::string& GetIndirectLight() override;
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void EnableIndirectLight(bool enable) override;
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void SetIndirectLightIntensity(float intensity) override;
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float GetIndirectLightIntensity() override;
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void SetIndirectLightRotation(const Transform& rotation) override;
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Transform GetIndirectLightRotation() override;
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void ShowSkybox(bool show) override;
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bool GetSkyboxVisible() const override;
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void SetBackground(
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const Eigen::Vector4f& color,
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const std::shared_ptr<geometry::Image> image = nullptr) override;
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void SetBackground(TextureHandle image) override;
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void EnableGroundPlane(bool enable, GroundPlane plane) override;
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void SetGroundPlaneColor(const Eigen::Vector4f& color) override;
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void RenderToImage(std::function<void(std::shared_ptr<geometry::Image>)>
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callback) override;
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void RenderToDepthImage(
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std::function<void(std::shared_ptr<geometry::Image>)> callback)
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override;
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void Draw(filament::Renderer& renderer);
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// NOTE: This method is to work around Filament limitation when rendering to
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// depth buffer. Materials with SSR require multiple passes which causes a
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// crash with render to depth since we must disable multiple passes (i.e.,
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// post-processing) in order to get back valid, un-modified depth values.
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void HideRefractedMaterials(bool hide = true);
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// NOTE: Can GetNativeScene be removed?
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filament::Scene* GetNativeScene() const { return scene_; }
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private:
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MaterialInstanceHandle AssignMaterialToFilamentGeometry(
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filament::RenderableManager::Builder& builder,
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const MaterialRecord& material);
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enum BufferReuse { kNo, kYes };
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bool CreateAndAddFilamentEntity(
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const std::string& object_name,
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GeometryBuffersBuilder& buffer_builder,
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filament::Box& aabb,
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VertexBufferHandle vb,
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IndexBufferHandle ib,
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const MaterialRecord& material,
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BufferReuse reusing_vertex_buffer = BufferReuse::kNo);
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filament::Engine& engine_;
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FilamentResourceManager& resource_mgr_;
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filament::Scene* scene_ = nullptr;
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struct TextureMaps {
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rendering::TextureHandle albedo_map =
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rendering::FilamentResourceManager::kDefaultTexture;
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rendering::TextureHandle normal_map =
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rendering::FilamentResourceManager::kDefaultNormalMap;
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rendering::TextureHandle ao_rough_metal_map =
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rendering::FilamentResourceManager::kDefaultTexture;
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rendering::TextureHandle reflectance_map =
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rendering::FilamentResourceManager::kDefaultTexture;
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rendering::TextureHandle clear_coat_map =
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rendering::FilamentResourceManager::kDefaultTexture;
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rendering::TextureHandle clear_coat_roughness_map =
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rendering::FilamentResourceManager::kDefaultTexture;
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rendering::TextureHandle anisotropy_map =
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rendering::FilamentResourceManager::kDefaultTexture;
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rendering::TextureHandle gradient_texture =
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rendering::FilamentResourceManager::kDefaultTexture;
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};
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struct GeometryMaterialInstance {
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TextureMaps maps;
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MaterialRecord properties;
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MaterialInstanceHandle mat_instance;
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};
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struct RenderableGeometry {
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std::string name;
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bool visible = true;
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bool was_hidden_before_picking = false;
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bool cast_shadows = true;
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bool receive_shadows = true;
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bool culling_enabled = true;
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int priority = -1; // default priority
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GeometryMaterialInstance mat;
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// Filament resources
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utils::Entity filament_entity;
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filament::RenderableManager::PrimitiveType primitive_type;
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VertexBufferHandle vb;
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IndexBufferHandle ib;
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void ReleaseResources(filament::Engine& engine,
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FilamentResourceManager& manager);
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};
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struct LightEntity {
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bool enabled = true;
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utils::Entity filament_entity;
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};
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// NOTE: ViewContainer and views_ are temporary
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struct ViewContainer {
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std::unique_ptr<FilamentView> view;
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bool is_active = true;
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int render_count = -1;
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};
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std::unordered_map<REHandle_abstract, ViewContainer> views_;
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std::vector<RenderableGeometry*> GetGeometry(const std::string& object_name,
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bool warn_if_not_found = true);
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bool GeometryIsModel(const std::string& object_name) const;
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LightEntity* GetLightInternal(const std::string& light_name,
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bool warn_if_not_found = true);
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void OverrideMaterialInternal(RenderableGeometry* geom,
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const MaterialRecord& material,
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bool shader_only = false);
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void UpdateMaterialProperties(RenderableGeometry& geom);
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void UpdateDefaultLit(GeometryMaterialInstance& geom_mi);
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void UpdateDefaultLitSSR(GeometryMaterialInstance& geom_mi);
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void UpdateDefaultUnlit(GeometryMaterialInstance& geom_mi);
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void UpdateNormalShader(GeometryMaterialInstance& geom_mi);
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void UpdateDepthShader(GeometryMaterialInstance& geom_mi);
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void UpdateDepthValueShader(GeometryMaterialInstance& geom_mi);
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void UpdateGradientShader(GeometryMaterialInstance& geom_mi);
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void UpdateSolidColorShader(GeometryMaterialInstance& geom_mi);
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void UpdateBackgroundShader(GeometryMaterialInstance& geom_mi);
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void UpdateGroundPlaneShader(GeometryMaterialInstance& geom_mi);
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void UpdateLineShader(GeometryMaterialInstance& geom_mi);
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void UpdateUnlitPolygonOffsetShader(GeometryMaterialInstance& geom_mi);
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utils::EntityInstance<filament::TransformManager>
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GetGeometryTransformInstance(RenderableGeometry* geom);
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void CreateSunDirectionalLight();
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void CreateBackgroundGeometry();
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void CreateGroundPlaneGeometry();
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std::unordered_map<std::string, RenderableGeometry> geometries_;
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std::unordered_map<std::string, LightEntity> lights_;
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std::unordered_map<std::string, std::vector<std::string>> model_geometries_;
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Eigen::Vector4f background_color_;
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std::shared_ptr<geometry::Image> background_image_;
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std::string ibl_name_;
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bool ibl_enabled_ = false;
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bool skybox_enabled_ = false;
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std::weak_ptr<filament::IndirectLight> indirect_light_;
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std::weak_ptr<filament::Skybox> skybox_;
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IndirectLightHandle ibl_handle_;
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SkyboxHandle skybox_handle_;
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LightEntity sun_;
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};
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} // namespace rendering
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} // namespace visualization
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} // namespace open3d
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