stdmeshimporter.cpp

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/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: stdmeshimporter.cpp,v 1.1 2004/04/22 17:07:32 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "stdmeshimporter.h"
#include <salt/gmath.h>
#include <sstream>

#include <zeitgeist/logserver/logserver.h>
using namespace zeitgeist;
using namespace oxygen;
using namespace boost;
using namespace salt;
using namespace std;

StdMeshImporter::StdMeshImporter() : MeshImporter()
{
}

StdMeshImporter::~StdMeshImporter()
{
}

static const string gSphereStr = "StdUnitSphere";
static const string gBoxStr = "StdUnitBox";
static const string gCCylinderStr = "StdCCylinder";

shared_ptr<TriMesh>
StdMeshImporter::ImportMesh(const std::string& name,const ParameterList& parameter)
{
    if (name == gSphereStr)
        {
            return UnitSphereMesh();
        }

    if (name == gBoxStr)
        {
            return UnitBoxMesh();
        }

    if (name == gCCylinderStr)
        {
            return UnitCCylinder(parameter);
        }

    return shared_ptr<TriMesh>();
}

//
// unit sphere
//

// This code is thanks to John Ratcliff
static const int gNumSphereVertices = 114;
static const int gNumSphereFaces = 224;

static float gSphereVertices[gNumSphereVertices*3] =
    {
        0.0000f,0.0000f,1.0000f,  0.0000f,0.3827f,0.9239f,  -0.1464f,0.3536f,0.9239f,
        -0.2706f,0.2706f,0.9239f,  -0.3536f,0.1464f,0.9239f,  -0.3827f,0.0000f,0.9239f,
        -0.3536f,-0.1464f,0.9239f,  -0.2706f,-0.2706f,0.9239f,  -0.1464f,-0.3536f,0.9239f,
        0.0000f,-0.3827f,0.9239f,  0.1464f,-0.3536f,0.9239f,  0.2706f,-0.2706f,0.9239f,
        0.3536f,-0.1464f,0.9239f,  0.3827f,0.0000f,0.9239f,  0.3536f,0.1464f,0.9239f,
        0.2706f,0.2706f,0.9239f,  0.1464f,0.3536f,0.9239f,  0.0000f,0.7071f,0.7071f,
        -0.2706f,0.6533f,0.7071f,  -0.5000f,0.5000f,0.7071f,  -0.6533f,0.2706f,0.7071f,
        -0.7071f,0.0000f,0.7071f,  -0.6533f,-0.2706f,0.7071f,  -0.5000f,-0.5000f,0.7071f,
        -0.2706f,-0.6533f,0.7071f,  0.0000f,-0.7071f,0.7071f,  0.2706f,-0.6533f,0.7071f,
        0.5000f,-0.5000f,0.7071f,  0.6533f,-0.2706f,0.7071f,  0.7071f,0.0000f,0.7071f,
        0.6533f,0.2706f,0.7071f,  0.5000f,0.5000f,0.7071f,  0.2706f,0.6533f,0.7071f,
        0.0000f,0.9239f,0.3827f,  -0.3536f,0.8536f,0.3827f,  -0.6533f,0.6533f,0.3827f,
        -0.8536f,0.3536f,0.3827f,  -0.9239f,0.0000f,0.3827f,  -0.8536f,-0.3536f,0.3827f,
        -0.6533f,-0.6533f,0.3827f,  -0.3536f,-0.8536f,0.3827f,  0.0000f,-0.9239f,0.3827f,
        0.3536f,-0.8536f,0.3827f,  0.6533f,-0.6533f,0.3827f,  0.8536f,-0.3536f,0.3827f,
        0.9239f,0.0000f,0.3827f,  0.8536f,0.3536f,0.3827f,  0.6533f,0.6533f,0.3827f,
        0.3536f,0.8536f,0.3827f,  0.0000f,1.0000f,0.0000f,  -0.3827f,0.9239f,0.0000f,
        -0.7071f,0.7071f,0.0000f,  -0.9239f,0.3827f,0.0000f,  -1.0000f,0.0000f,0.0000f,
        -0.9239f,-0.3827f,0.0000f,  -0.7071f,-0.7071f,0.0000f,  -0.3827f,-0.9239f,0.0000f,
        0.0000f,-1.0000f,0.0000f,  0.3827f,-0.9239f,0.0000f,  0.7071f,-0.7071f,0.0000f,
        0.9239f,-0.3827f,0.0000f,  1.0000f,0.0000f,0.0000f,  0.9239f,0.3827f,0.0000f,
        0.7071f,0.7071f,0.0000f,  0.3827f,0.9239f,0.0000f,  0.0000f,0.9239f,-0.3827f,
        -0.3536f,0.8536f,-0.3827f,  -0.6533f,0.6533f,-0.3827f,  -0.8536f,0.3536f,-0.3827f,
        -0.9239f,0.0000f,-0.3827f,  -0.8536f,-0.3536f,-0.3827f,  -0.6533f,-0.6533f,-0.3827f,
        -0.3536f,-0.8536f,-0.3827f,  0.0000f,-0.9239f,-0.3827f,  0.3536f,-0.8536f,-0.3827f,
        0.6533f,-0.6533f,-0.3827f,  0.8536f,-0.3536f,-0.3827f,  0.9239f,0.0000f,-0.3827f,
        0.8536f,0.3536f,-0.3827f,  0.6533f,0.6533f,-0.3827f,  0.3536f,0.8536f,-0.3827f,
        0.0000f,0.7071f,-0.7071f,  -0.2706f,0.6533f,-0.7071f,  -0.5000f,0.5000f,-0.7071f,
        -0.6533f,0.2706f,-0.7071f,  -0.7071f,0.0000f,-0.7071f,  -0.6533f,-0.2706f,-0.7071f,
        -0.5000f,-0.5000f,-0.7071f,  -0.2706f,-0.6533f,-0.7071f,  0.0000f,-0.7071f,-0.7071f,
        0.2706f,-0.6533f,-0.7071f,  0.5000f,-0.5000f,-0.7071f,  0.6533f,-0.2706f,-0.7071f,
        0.7071f,0.0000f,-0.7071f,  0.6533f,0.2706f,-0.7071f,  0.5000f,0.5000f,-0.7071f,
        0.2706f,0.6533f,-0.7071f,  0.0000f,0.3827f,-0.9239f,  -0.1464f,0.3536f,-0.9239f,
        -0.2706f,0.2706f,-0.9239f,  -0.3536f,0.1464f,-0.9239f,  -0.3827f,0.0000f,-0.9239f,
        -0.3536f,-0.1464f,-0.9239f,  -0.2706f,-0.2706f,-0.9239f,  -0.1464f,-0.3536f,-0.9239f,
        0.0000f,-0.3827f,-0.9239f,  0.1464f,-0.3536f,-0.9239f,  0.2706f,-0.2706f,-0.9239f,
        0.3536f,-0.1464f,-0.9239f,  0.3827f,0.0000f,-0.9239f,  0.3536f,0.1464f,-0.9239f,
        0.2706f,0.2706f,-0.9239f,  0.1464f,0.3536f,-0.9239f,  0.0000f,0.0000f,-1.0000f
    };

static unsigned int gSphereFaces[gNumSphereFaces*3] =
    {
        0,1,2, 0,2,3, 0,3,4, 0,4,5, 0,5,6, 0,6,7, 0,7,8, 0,8,9, 0,9,10,
        0,10,11, 0,11,12, 0,12,13, 0,13,14, 0,14,15, 0,15,16, 0,16,1, 1,17,18, 1,18,2,
        2,18,19, 2,19,3, 3,19,20, 3,20,4, 4,20,21, 4,21,5, 5,21,22, 5,22,6, 6,22,23,
        6,23,7, 7,23,24, 7,24,8, 8,24,25, 8,25,9, 9,25,26, 9,26,10, 10,26,27, 10,27,11,
        11,27,28, 11,28,12, 12,28,29, 12,29,13, 13,29,30, 13,30,14, 14,30,31, 14,31,15, 15,31,32,
        15,32,16, 16,32,17, 16,17,1, 17,33,34, 17,34,18, 18,34,35, 18,35,19, 19,35,36, 19,36,20,
        20,36,37, 20,37,21, 21,37,38, 21,38,22, 22,38,39, 22,39,23, 23,39,40, 23,40,24, 24,40,41,
        24,41,25, 25,41,42, 25,42,26, 26,42,43, 26,43,27, 27,43,44, 27,44,28, 28,44,45, 28,45,29,
        29,45,46, 29,46,30, 30,46,47, 30,47,31, 31,47,48, 31,48,32, 32,48,33, 32,33,17, 33,49,50,
        33,50,34, 34,50,51, 34,51,35, 35,51,52, 35,52,36, 36,52,53, 36,53,37, 37,53,54, 37,54,38,
        38,54,55, 38,55,39, 39,55,56, 39,56,40, 40,56,57, 40,57,41, 41,57,58, 41,58,42, 42,58,59,
        42,59,43, 43,59,60, 43,60,44, 44,60,61, 44,61,45, 45,61,62, 45,62,46, 46,62,63, 46,63,47,
        47,63,64, 47,64,48, 48,64,49, 48,49,33, 49,65,66, 49,66,50, 50,66,67, 50,67,51, 51,67,68,
        51,68,52, 52,68,69, 52,69,53, 53,69,70, 53,70,54, 54,70,71, 54,71,55, 55,71,72, 55,72,56,
        56,72,73, 56,73,57, 57,73,74, 57,74,58, 58,74,75, 58,75,59, 59,75,76, 59,76,60, 60,76,77,
        60,77,61, 61,77,78, 61,78,62, 62,78,79, 62,79,63, 63,79,80, 63,80,64, 64,80,65, 64,65,49,
        65,81,82, 65,82,66, 66,82,83, 66,83,67, 67,83,84, 67,84,68, 68,84,85, 68,85,69, 69,85,86,
        69,86,70, 70,86,87, 70,87,71, 71,87,88, 71,88,72, 72,88,89, 72,89,73, 73,89,90, 73,90,74,
        74,90,91, 74,91,75, 75,91,92, 75,92,76, 76,92,93, 76,93,77, 77,93,94, 77,94,78, 78,94,95,
        78,95,79, 79,95,96, 79,96,80, 80,96,81, 80,81,65, 81,97,98, 81,98,82, 82,98,99, 82,99,83,
        83,99,100, 83,100,84, 84,100,101, 84,101,85, 85,101,102, 85,102,86, 86,102,103, 86,103,87, 87,103,104,
        87,104,88, 88,104,105, 88,105,89, 89,105,106, 89,106,90, 90,106,107, 90,107,91, 91,107,108, 91,108,92,
        92,108,109, 92,109,93, 93,109,110, 93,110,94, 94,110,111, 94,111,95, 95,111,112, 95,112,96, 96,112,97,
        96,97,81, 113,98,97, 113,99,98, 113,100,99, 113,101,100, 113,102,101, 113,103,102, 113,104,103, 113,105,104,
        113,106,105, 113,107,106, 113,108,107, 113,109,108, 113,110,109, 113,111,110, 113,112,111, 113,97,112
    };

shared_ptr<TriMesh> StdMeshImporter::UnitSphereMesh()
{
    shared_ptr<TriMesh> mesh(new TriMesh());

    shared_array<float> pos(new float[gNumSphereVertices*3]);
    memcpy(pos.get(),gSphereVertices,gNumSphereVertices*3*sizeof(float));
    mesh->SetPos(pos,gNumSphereVertices);

    // vertices on a unit sphere are identical to their corresponding
    // normal
    mesh->SetNormals(pos);

    shared_ptr<IndexBuffer> idx(new IndexBuffer());
    idx->Cache(gNumSphereFaces*3,gSphereFaces);
    mesh->AddFace(idx);

    return mesh;
}

//
// unit box
//

static const int gNumBoxVertices = 24;
static const int gNumBoxFaces = 12;

static float gBoxVertices[gNumBoxVertices*3] =
    {
        -0.5f,-0.5f,0.5f,  0.5f,-0.5f, 0.5f,   0.5f,0.5f,0.5f,
        -0.5f,0.5f,0.5f,  -0.5f,-0.5f,-0.5f,  -0.5f,0.5f,-0.5f,
        0.5f,0.5f,-0.5f,   0.5f,-0.5f,-0.5f,  -0.5f,0.5f,-0.5f,
        -0.5f,0.5f,0.5f,   0.5f,0.5f,0.5f,     0.5f,0.5f,-0.5f,
        -0.5f,-0.5f,-0.5f, 0.5f,-0.5f,-0.5f,   0.5f,-0.5f,0.5f,
        -0.5f,-0.5f,0.5f,  0.5f,-0.5f,-0.5f,   0.5f,0.5f,-0.5f,
        0.5f,0.5f,0.5f,    0.5f,-0.5f,0.5f,   -0.5f,-0.5f,-0.5f,
        -0.5f,-0.5f,0.5f,  -0.5f,0.5f,0.5f,   -0.5f,0.5f,-0.5f
    };

static float gBoxNormals[gNumBoxVertices*3] =
    {
         0.0f,0.0f,1.0f,  0.0f,0.0f,1.0f,  0.0f,0.0f,1.0f,
         0.0f,0.0f,1.0f,  0.0f,0.0f,-1.0f, 0.0f,0.0f,-1.0f,
         0.0f,0.0f,-1.0f, 0.0f,0.0f,-1.0f, 0.0f,1.0f,0.0f,
         0.0f,1.0f,0.0f,  0.0f,1.0f,0.0f,  0.0f,1.0f,0.0f,
         0.0f,-1.0f,0.0f, 0.0f,-1.0f,0.0f, 0.0f,-1.0f,0.0f,
         0.0f,-1.0f,0.0f, 1.0f,0.0f,0.0f,  1.0f,0.0f,0.0f,
         1.0f,0.0f,0.0f,  1.0f,0.0f,0.0f,  -1.0f,0.0f,0.0f,
         -1.0f,0.0f,0.0f, -1.0f,0.0f,0.0f, -1.0f,0.0f,0.0f
    };

static float gBoxTexCoords[gNumBoxVertices*3] =
    {
        0.0f,0.0f,0.0f,  1.0f,0.0f,0.0f,  1.0f,1.0f,0.0f,
        0.0f,1.0f,0.0f,  1.0f,0.0f,0.0f,  1.0f,1.0f,0.0f,
        0.0f,1.0f,0.0f,  0.0f,0.0f,0.0f,  0.0f,1.0f,0.0f,
        0.0f,0.0f,0.0f,  1.0f,0.0f,0.0f,  1.0f,1.0f,0.0f,
        1.0f,1.0f,0.0f,  0.0f,1.0f,0.0f,  0.0f,0.0f,0.0f,
        1.0f,0.0f,0.0f,  1.0f,0.0f,0.0f,  1.0f,1.0f,0.0f,
        0.0f,1.0f,0.0f,  0.0f,0.0f,0.0f,  0.0f,0.0f,0.0f,
        1.0f,0.0f,0.0f,  1.0f,1.0f,0.0f,  0.0f,1.0f,0.0f
    };

static unsigned int gBoxFaces[gNumSphereFaces*3] =
    {
        0,1,2, 0,2,3, 4,5,6, 4,6,7, 8,9,10, 8,10,11,
        12,13,14, 12,14,15, 16,17,18, 16,18,19,
        20,21,22, 20,22,23
    };

shared_ptr<TriMesh> StdMeshImporter::UnitBoxMesh()
{
    shared_ptr<TriMesh> mesh(new TriMesh());

    shared_array<float> pos(new float[gNumBoxVertices*3]);
    memcpy(pos.get(),gBoxVertices,gNumBoxVertices*3*sizeof(float));