GLHelper.cpp

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
// Copyright (C) 2001-2018 German Aerospace Center (DLR) and others.
// This program and the accompanying materials
// are made available under the terms of the Eclipse Public License v2.0
// which accompanies this distribution, and is available at
// http://www.eclipse.org/legal/epl-v20.html
// SPDX-License-Identifier: EPL-2.0
/****************************************************************************/
// Some methods which help to draw certain geometrical objects in openGL
/****************************************************************************/


// ===========================================================================
// included modules
// ===========================================================================
#include <config.h>

#include <cassert>
#include <utils/geom/GeomHelper.h>
#include <utils/common/StdDefs.h>
#include <utils/common/RandHelper.h>
#include <utils/common/MsgHandler.h>
#include <utils/common/ToString.h>
#define FONTSTASH_IMPLEMENTATION // Expands implementation
#ifdef _MSC_VER
#pragma warning(disable: 4505) // do not warn about unused functions
#endif
#if __GNUC__ > 3
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
#include <foreign/fontstash/fontstash.h>
#include <utils/gui/globjects/GLIncludes.h>
#define GLFONTSTASH_IMPLEMENTATION // Expands implementation
#include <foreign/fontstash/glfontstash.h>
#include "Roboto.h"
#include "GLHelper.h"

#define CIRCLE_RESOLUTION (double)10 // inverse in degrees

// ===========================================================================
// static member definitions
// ===========================================================================
std::vector<std::pair<double, double> > GLHelper::myCircleCoords;
std::vector<RGBColor> GLHelper::myDottedcontourColors;
FONScontext* GLHelper::myFont = 0;
double GLHelper::myFontSize = 50.0;

void APIENTRY combCallback(GLdouble coords[3],
                           GLdouble* vertex_data[4],
                           GLfloat weight[4], GLdouble** dataOut) {
    UNUSED_PARAMETER(weight);
    UNUSED_PARAMETER(*vertex_data);
    GLdouble* vertex;

    vertex = (GLdouble*)malloc(7 * sizeof(GLdouble));

    vertex[0] = coords[0];
    vertex[1] = coords[1];
    vertex[2] = coords[2];
    *dataOut = vertex;
}

// ===========================================================================
// method definitions
// ===========================================================================


void
GLHelper::drawFilledPoly(const PositionVector& v, bool close) {
    if (v.size() == 0) {
        return;
    }
    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
    glBegin(GL_POLYGON);
    for (PositionVector::const_iterator i = v.begin(); i != v.end(); i++) {
        const Position& p = *i;
        glVertex2d(p.x(), p.y());
    }
    if (close) {
        const Position& p = *(v.begin());
        glVertex2d(p.x(), p.y());
    }
    glEnd();
}


void
GLHelper::drawFilledPolyTesselated(const PositionVector& v, bool close) {
    if (v.size() == 0) {
        return;
    }
    GLUtesselator* tobj = gluNewTess();
    gluTessCallback(tobj, GLU_TESS_VERTEX, (GLvoid(APIENTRY*)()) &glVertex3dv);
    gluTessCallback(tobj, GLU_TESS_BEGIN, (GLvoid(APIENTRY*)()) &glBegin);
    gluTessCallback(tobj, GLU_TESS_END, (GLvoid(APIENTRY*)()) &glEnd);
    gluTessCallback(tobj, GLU_TESS_COMBINE, (GLvoid(APIENTRY*)()) &combCallback);
    gluTessProperty(tobj, GLU_TESS_WINDING_RULE, GLU_TESS_WINDING_ODD);
    gluTessBeginPolygon(tobj, NULL);
    gluTessBeginContour(tobj);
    double* points = new double[(v.size() + int(close)) * 3];

    for (int i = 0; i != (int)v.size(); ++i) {
        points[3 * i] = v[i].x();
        points[3 * i + 1] = v[i].y();
        points[3 * i + 2] = 0;
        gluTessVertex(tobj, points + 3 * i, points + 3 * i);
    }
    if (close) {
        const int i = (int)v.size();
        points[3 * i] = v[0].x();
        points[3 * i + 1] = v[0].y();
        points[3 * i + 2] = 0;
        gluTessVertex(tobj, points + 3 * i, points + 3 * i);
    }
    gluTessEndContour(tobj);
    gluTessEndPolygon(tobj);
    gluDeleteTess(tobj);
    delete[] points;
}


void
GLHelper::drawBoxLine(const Position& beg, double rot, double visLength,
                      double width, double offset) {
    glPushMatrix();
    glTranslated(beg.x(), beg.y(), 0);
    glRotated(rot, 0, 0, 1);
    glBegin(GL_QUADS);
    glVertex2d(-width - offset, 0);
    glVertex2d(-width - offset, -visLength);
    glVertex2d(width - offset, -visLength);
    glVertex2d(width - offset, 0);
    glEnd();
    glPopMatrix();
}


void
GLHelper::drawBoxLine(const Position& beg1, const Position& beg2,
                      double rot, double visLength,
                      double width) {
    glPushMatrix();
    glTranslated((beg2.x() + beg1.x())*.5, (beg2.y() + beg1.y())*.5, 0);
    glRotated(rot, 0, 0, 1);
    glBegin(GL_QUADS);
    glVertex2d(-width, 0);
    glVertex2d(-width, -visLength);
    glVertex2d(width, -visLength);
    glVertex2d(width, 0);
    glEnd();
    glPopMatrix();
}


bool
GLHelper::rightTurn(double angle1, double angle2) {
    double delta = angle2 - angle1;
    while (delta > 180) {
        delta -= 360;
    }
    while (delta < -180) {
        delta += 360;
    }
    return delta <= 0;
}


void
GLHelper::drawBoxLines(const PositionVector& geom,
                       const std::vector<double>& rots,
                       const std::vector<double>& lengths,
                       double width, int cornerDetail, double offset) {
    // draw the lane
    int e = (int) geom.size() - 1;
    for (int i = 0; i < e; i++) {
        drawBoxLine(geom[i], rots[i], lengths[i], width, offset);
    }
    // draw the corner details
    if (cornerDetail > 0) {
        for (int i = 1; i < e; i++) {
            glPushMatrix();
            glTranslated(geom[i].x(), geom[i].y(), 0.1);
            double angleBeg = -rots[i - 1];
            double angleEnd = 180 - rots[i];
            if (rightTurn(rots[i - 1], rots[i])) {
                std::swap(angleBeg, angleEnd);
            }
            // only draw the missing piece
            angleBeg -= 90;
            angleEnd += 90;
            // avoid drawing more than 360 degrees
            if (angleEnd - angleBeg > 360) {
                angleBeg += 360;
            }
            if (angleEnd - angleBeg < -360) {
                angleEnd += 360;
            }
            // draw the right way around
            if (angleEnd > angleBeg) {
                angleEnd -= 360;
            }
            drawFilledCircle(width + offset, cornerDetail, angleBeg, angleEnd);
            glPopMatrix();
        }
    }
}


void
GLHelper::drawBoxLines(const PositionVector& geom,
                       const std::vector<double>& rots,
                       const std::vector<double>& lengths,
                       const std::vector<RGBColor>& cols,
                       double width, int cornerDetail, double offset) {
    int e = (int) geom.size() - 1;
    for (int i = 0; i < e; i++) {
        setColor(cols[i]);
        drawBoxLine(geom[i], rots[i], lengths[i], width, offset);
    }
    if (cornerDetail > 0) {
        for (int i = 1; i < e; i++) {
            glPushMatrix();
            setColor(cols[i]);
            glTranslated(geom[i].x(), geom[i].y(), 0);
            drawFilledCircle(width, cornerDetail);
            glEnd();
            glPopMatrix();
        }
    }
}


void
GLHelper::drawBoxLines(const PositionVector& geom1,
                       const PositionVector& geom2,
                       const std::vector<double>& rots,
                       const std::vector<double>& lengths,
                       double width) {
    int minS = (int) MIN4(rots.size(), lengths.size(), geom1.size(), geom2.size());
    for (int i = 0; i < minS; i++) {
        GLHelper::drawBoxLine(geom1[i], geom2[i], rots[i], lengths[i], width);
    }
}


void
GLHelper::drawBoxLines(const PositionVector& geom, double width) {
    int e = (int) geom.size() - 1;
    for (int i = 0; i < e; i++) {
        const Position& f = geom[i];
        const Position& s = geom[i + 1];
        drawBoxLine(f,
                    RAD2DEG(atan2((s.x() - f.x()), (f.y() - s.y()))),
                    f.distanceTo(s),
                    width);
    }
}


void
GLHelper::drawLine(const Position& beg, double rot, double visLength) {
    glPushMatrix();
    glTranslated(beg.x(), beg.y(), 0);
    glRotated(rot, 0, 0, 1);
    glBegin(GL_LINES);
    glVertex2d(0, 0);
    glVertex2d(0, -visLength);
    glEnd();
    glPopMatrix();
}


void
GLHelper::drawLine(const Position& beg1, const Position& beg2,
                   double rot, double visLength) {
    glPushMatrix();
    glTranslated((beg2.x() + beg1.x())*.5, (beg2.y() + beg1.y())*.5, 0);
    glRotated(rot, 0, 0, 1);
    glBegin(GL_LINES);
    glVertex2d(0, 0);
    glVertex2d(0, -visLength);
    glEnd();
    glPopMatrix();
}



void
GLHelper::drawLine(const PositionVector& v) {
    glBegin(GL_LINES);
    int e = (int) v.size() - 1;
    for (int i = 0; i < e; ++i) {
        glVertex2d(v[i].x(), v[i].y());
        glVertex2d(v[i + 1].x(), v[i + 1].y());
    }
    glEnd();
}


void
GLHelper::drawLine(const PositionVector& v, const std::vector<RGBColor>& cols) {
    glBegin(GL_LINES);
    int e = (int) v.size() - 1;
    for (int i = 0; i < e; ++i) {
        setColor(cols[i]);
        glVertex2d(v[i].x(), v[i].y());
        glVertex2d(v[i + 1].x(), v[i + 1].y());
    }
    glEnd();
}


void
GLHelper::drawLine(const Position& beg, const Position& end) {
    glBegin(GL_LINES);
    glVertex2d(beg.x(), beg.y());
    glVertex2d(end.x(), end.y());
    glEnd();
}


int
GLHelper::angleLookup(double angleDeg) {
    const int numCoords = (int)myCircleCoords.size() - 1;
    int index = ((int)(floor(angleDeg * CIRCLE_RESOLUTION + 0.5))) % numCoords;
    if (index < 0) {
        index += numCoords;
    }
    assert(index >= 0);
    return (int)index;
}


void
GLHelper::drawFilledCircle(double width, int steps) {
    drawFilledCircle(width, steps, 0, 360);
}


std::vector<Position>
GLHelper::drawFilledCircleReturnVertices(double width, int steps) {
    drawFilledCircle(width, steps, 0, 360);
    std::vector<Position> result;
    const double inc = 360 / (double)steps;
    // obtain all vertices
    for (int i = 0; i <= steps; ++i) {
        const std::pair<double, double>& vertex = myCircleCoords[angleLookup(i * inc)];
        result.push_back(Position(vertex.first * width, vertex.second * width));
    }
    return result;
}


void
GLHelper::drawFilledCircle(double width, int steps, double beg, double end) {
    if (myCircleCoords.size() == 0) {
        for (int i = 0; i <= (int)(360 * CIRCLE_RESOLUTION); ++i) {
            const double x = (double) sin(DEG2RAD(i / CIRCLE_RESOLUTION));
            const double y = (double) cos(DEG2RAD(i / CIRCLE_RESOLUTION));
            myCircleCoords.push_back(std::pair<double, double>(x, y));
        }
    }
    const double inc = (end - beg) / (double)steps;
    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
    std::pair<double, double> p1 = myCircleCoords[angleLookup(beg)];

    for (int i = 0; i <= steps; ++i) {
        const std::pair<double, double>& p2 = myCircleCoords[angleLookup(beg + i * inc)];
        glBegin(GL_TRIANGLES);
        glVertex2d(p1.first * width, p1.second * width);
        glVertex2d(p2.first * width, p2.second * width);
        glVertex2d(0, 0);
        glEnd();
        p1 = p2;
    }
}


void
GLHelper::drawOutlineCircle(double width, double iwidth, int steps) {
    drawOutlineCircle(width, iwidth, steps, 0, 360);
}


void
GLHelper::drawOutlineCircle(double width, double iwidth, int steps,
                            double beg, double end) {
    if (myCircleCoords.size() == 0) {
        for (int i = 0; i < 360; i += 10) {
            double x = (double) sin(DEG2RAD(i));
            double y = (double) cos(DEG2RAD(i));
            myCircleCoords.push_back(std::pair<double, double>(x, y));
        }
    }
    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
    std::pair<double, double> p1 =
        beg == 0 ? myCircleCoords[0] : myCircleCoords[((int) beg / 10) % 36];
    for (int i = (int)(beg / 10); i < steps && (36.0 / (double) steps * (double) i) * 10 < end; i++) {
        const std::pair<double, double>& p2 =
            myCircleCoords[(int)(36.0 / (double) steps * (double) i)];
        glBegin(GL_TRIANGLES);
        glVertex2d(p1.first * width, p1.second * width);
        glVertex2d(p2.first * width, p2.second * width);
        glVertex2d(p2.first * iwidth, p2.second * iwidth);

        glVertex2d(p2.first * iwidth, p2.second * iwidth);
        glVertex2d(p1.first * iwidth, p1.second * iwidth);
        glVertex2d(p1.first * width, p1.second * width);
        glEnd();
        p1 = p2;
    }
    const std::pair<double, double>& p2 =
        end == 360 ? myCircleCoords[0] : myCircleCoords[((int) end / 10) % 36];
    glBegin(GL_TRIANGLES);
    glVertex2d(p1.first * width, p1.second * width);
    glVertex2d(p2.first * width, p2.second * width);
    glVertex2d(p2.first * iwidth, p2.second * iwidth);

    glVertex2d(p2.first * iwidth, p2.second * iwidth);
    glVertex2d(p1.first * iwidth, p1.second * iwidth);
    glVertex2d(p1.first * width, p1.second * width);
    glEnd();
}


void
GLHelper::drawTriangleAtEnd(const Position& p1, const Position& p2,
                            double tLength, double tWidth) {
    const double length = p1.distanceTo(p2);
    if (length < tLength) {
        tWidth *= length / tLength;
        tLength = length;
    }
    Position rl(PositionVector::positionAtOffset(p1, p2, length - tLength));
    glPushMatrix();
    glTranslated(rl.x(), rl.y(), 0);
    glRotated(-GeomHelper::naviDegree(p1.angleTo2D(p2)), 0, 0, 1);
    glBegin(GL_TRIANGLES);
    glVertex2d(0, tLength);
    glVertex2d(-tWidth, 0);
    glVertex2d(+tWidth, 0);
    glEnd();
    glPopMatrix();
}


const std::vector<RGBColor>&
GLHelper::getDottedcontourColors(const int size) {
    // check if more colors has to be added
    while ((int)myDottedcontourColors.size() < size) {
        if (myDottedcontourColors.empty() || myDottedcontourColors.back() == RGBColor::WHITE) {
            myDottedcontourColors.push_back(RGBColor::BLACK);
        } else {
            myDottedcontourColors.push_back(RGBColor::WHITE);
        }
    }
    return myDottedcontourColors;
}


void
GLHelper::drawShapeDottedContour(const int type, const PositionVector& shape, const double width) {
    glPushMatrix();
    // build contour using shapes of first and last lane shapes
    PositionVector contourFront = shape;
    // only add an contourback if width is greather of 0
    if (width > 0) {
        PositionVector contourback = contourFront;
        contourFront.move2side(width);
        contourback.move2side(-width);
        contourback = contourback.reverse();
        for (auto i : contourback) {
            contourFront.push_back(i);
        }
        contourFront.push_back(shape.front());
    }
    // resample shape
    PositionVector resampledShape = contourFront.resample(1);
    // draw contour over shape
    glTranslated(0, 0, type + 2);
    // set custom line width
    glLineWidth(3);
    // draw contour
    drawLine(resampledShape, getDottedcontourColors((int)resampledShape.size()));
    //restore line width
    glLineWidth(1);
    glPopMatrix();
}


void
GLHelper::drawShapeDottedContour(const int type, const PositionVector& shape) {
    glPushMatrix();
    // resample junction shape
    PositionVector resampledShape = shape.resample(1);
    // draw contour over shape
    glTranslated(0, 0, type + 0.1);
    // set custom line width
    glLineWidth(3);
    // draw contour
    GLHelper::drawLine(resampledShape, GLHelper::getDottedcontourColors((int)resampledShape.size()));
    //restore line width
    glLineWidth(1);
    glPopMatrix();
}


void
GLHelper::drawShapeDottedContour(const int type, const PositionVector& frontShape, const double offsetFrontShape, const PositionVector& backShape, const double offsetBackShape) {
    glPushMatrix();
    // build contour using shapes of first and last lane shapes
    PositionVector contourFront = frontShape;
    PositionVector contourback = backShape;
    contourFront.move2side(offsetFrontShape);
    contourback.move2side(offsetBackShape);
    contourback = contourback.reverse();
    for (auto i : contourback) {
        contourFront.push_back(i);
    }
    contourFront.push_back(frontShape.front());
    // resample shape
    PositionVector resampledShape = contourFront.resample(1);
    // draw contour over shape
    glTranslated(0, 0, type + 2);
    // set custom line width
    glLineWidth(3);
    // draw contour
    GLHelper::drawLine(resampledShape, getDottedcontourColors((int)resampledShape.size()));
    //restore line width
    glLineWidth(1);
    glPopMatrix();
}


void
GLHelper::drawShapeDottedContour(const int type, const Position& center, const double width, const double height, const double rotation, const double offsetX, const double offsetY) {
    glPushMatrix();
    // create shape around center
    PositionVector shape;
    shape.push_back(Position(width / 2, height / 2));
    shape.push_back(Position(width / -2, height / 2));
    shape.push_back(Position(width / -2, height / -2));
    shape.push_back(Position(width / 2, height / -2));
    shape.push_back(Position(width / 2, height / 2));
    // resample shape
    shape = shape.resample(1);
    // draw contour over shape
    glTranslated(center.x(), center.y(), type + 2);
    // set custom line width
    glLineWidth(3);
    // rotate
    glRotated(rotation, 0, 0, 1);
    // translate offset
    glTranslated(offsetX, offsetY, 0);
    // draw contour
    GLHelper::drawLine(shape, getDottedcontourColors((int)shape.size()));
    //restore line width
    glLineWidth(1);
    glPopMatrix();
}


void
GLHelper::setColor(const RGBColor& c) {
    glColor4ub(c.red(), c.green(), c.blue(), c.alpha());
}


RGBColor
GLHelper::getColor() {
    GLdouble current[4];
    glGetDoublev(GL_CURRENT_COLOR, current);
    return RGBColor(static_cast<unsigned char>(current[0] * 255. + 0.5),
                    static_cast<unsigned char>(current[1] * 255. + 0.5),
                    static_cast<unsigned char>(current[2] * 255. + 0.5),
                    static_cast<unsigned char>(current[3] * 255. + 0.5));
}


void
GLHelper::resetFont() {
    glfonsDelete(myFont);
    myFont = 0;
}


bool
GLHelper::initFont() {
    if (myFont == 0) {
        myFont = glfonsCreate(2048, 2048, FONS_ZERO_BOTTOMLEFT);
        if (myFont != 0) {
            const int fontNormal = fonsAddFontMem(myFont, "medium", data_font_Roboto_Medium_ttf, data_font_Roboto_Medium_ttf_len, 0);
            fonsSetFont(myFont, fontNormal);
            fonsSetSize(myFont, (float)myFontSize);
        }
    }
    return myFont != 0;
}


void
GLHelper::drawText(const std::string& text, const Position& pos,
                   const double layer, const double size,
                   const RGBColor& col, const double angle, const int align,
                   double width) {
    if (width <= 0) {
        width = size;
    }
    if (!initFont()) {
        return;
    };
    glPushMatrix();
    glAlphaFunc(GL_GREATER, 0.5);
    glEnable(GL_ALPHA_TEST);
    glTranslated(pos.x(), pos.y(), layer);
    glScaled(width / myFontSize, size / myFontSize, 1.);
    glRotated(-angle, 0, 0, 1);
    fonsSetAlign(myFont, align == 0 ? FONS_ALIGN_CENTER | FONS_ALIGN_MIDDLE : align);
    fonsSetColor(myFont, glfonsRGBA(col.red(), col.green(), col.blue(), col.alpha()));
    fonsDrawText(myFont, 0., 0., text.c_str(), NULL);
    glPopMatrix();
}


void
GLHelper::drawTextBox(const std::string& text, const Position& pos,
                      const double layer, const double size,
                      const RGBColor& txtColor, const RGBColor& bgColor, const RGBColor& borderColor,
                      const double angle) {
    if (!initFont()) {
        return;
    };
    double boxAngle = angle + 90;
    if (boxAngle > 360) {
        boxAngle -= 360;
    }
    const double stringWidth = size / myFontSize * fonsTextBounds(myFont, 0, 0, text.c_str(), NULL, NULL);
    const double borderWidth = size / 20;
    const double boxHeight = size * 0.8;
    const double boxWidth = stringWidth + size / 2;
    glPushMatrix();
    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
    glTranslated(0, 0, layer);
    setColor(borderColor);
    Position left = pos;
    left.sub(boxWidth / 2, 0);
    drawBoxLine(left, boxAngle, boxWidth, boxHeight);
    left.add(borderWidth * 1.5, 0);
    setColor(bgColor);
    glTranslated(0, 0, 0.01);
    drawBoxLine(left, boxAngle, boxWidth - 3 * borderWidth, boxHeight - 2 * borderWidth);
    glPopMatrix();
    drawText(text, pos, layer + 0.02, size, txtColor, angle);
}


void
GLHelper::drawTextAtEnd(const std::string& text, const PositionVector& shape, double x, double size, RGBColor color) {
    glPushMatrix();
    const Position& end = shape.back();
    const Position& f = shape[-2];
    const double rot = RAD2DEG(atan2((end.x() - f.x()), (f.y() - end.y())));
    glTranslated(end.x(), end.y(), 0);
    glRotated(rot, 0, 0, 1);
    GLHelper::drawText(text, Position(x, 0.26), 0, .6 * size / 50, color, 180);
    glPopMatrix();
}


void
GLHelper::drawCrossTies(const PositionVector& geom,
                        const std::vector<double>& rots,
                        const std::vector<double>& lengths,
                        double length, double spacing,
                        double halfWidth, bool drawForSelecting) {
    glPushMatrix();
    // draw on top of of the white area between the rails
    glTranslated(0, 0, 0.1);
    int e = (int) geom.size() - 1;
    for (int i = 0; i < e; ++i) {
        glPushMatrix();
        glTranslated(geom[i].x(), geom[i].y(), 0.0);
        glRotated(rots[i], 0, 0, 1);
        // draw crossing depending if isn't being drawn for selecting
        if (!drawForSelecting) {
            for (double t = 0; t < lengths[i]; t += spacing) {
                glBegin(GL_QUADS);
                glVertex2d(-halfWidth, -t);
                glVertex2d(-halfWidth, -t - length);
                glVertex2d(halfWidth, -t - length);
                glVertex2d(halfWidth, -t);
                glEnd();
            }
        } else {
            // only draw a single rectangle if it's being drawn only for selecting
            glBegin(GL_QUADS);
            glVertex2d(-halfWidth, 0);
            glVertex2d(-halfWidth, -lengths.back());
            glVertex2d(halfWidth, -lengths.back());
            glVertex2d(halfWidth, 0);
            glEnd();
        }
        // pop three draw matrix
        glPopMatrix();
    }
    glPopMatrix();
}


void
GLHelper::debugVertices(const PositionVector& shape, double size, double layer) {
    RGBColor color = RGBColor::fromHSV(RandHelper::rand(360), 1, 1);
    for (int i = 0; i < (int)shape.size(); ++i) {
        GLHelper::drawText(toString(i), shape[i], layer, size, color, 0);
    }
}


/****************************************************************************/