TactileSensor/Shaders/TactileSensorShader.cpp

/*
 *  MAPS-TFSS, Tactile Force Sensor Simulator
 * 
 *  Copyright (C) 2010 Zachary Pezzementi, Lucas Estrade, Erion Plaku,
 *  and Gregory Hager
 *
 *  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, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  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, see <http://www.gnu.org/licenses/>.
 */
#include "TactileSensorShader.hpp"

namespace Graphics
{
    namespace Sensing
    {

        TactileSensorShader::~TactileSensorShader()
        {
            clearVariables();
        }

        void TactileSensorShader::clearVariables()
        {
            std::list<ShaderVariable*>::iterator i;
            for ( i=vars.begin(); i!=vars.end(); i++ )
            {
                if (*i) delete *i;
            }
            vars.clear();
        }

        void TactileSensorShader :: execute( GLuint input, GLuint output )
        {
            glBindFramebufferEXT(GL_FRAMEBUFFER_EXT,output);
            showTex(input);
            glBindFramebufferEXT(GL_FRAMEBUFFER_EXT,0);
        }

        void TactileSensorShader :: showTex( GLuint input )
        {
            // Set up orthographic projection spanned by our texture
            glMatrixMode(GL_MODELVIEW);
            glPushMatrix();
            glLoadIdentity();

            glMatrixMode(GL_PROJECTION);
            glPushMatrix();
            glLoadIdentity();
            glOrtho(-1,1,-1,1,-1,1);

            glMatrixMode(GL_MODELVIEW);

            glActiveTexture(GL_TEXTURE0);

            glEnable(GL_TEXTURE_2D);

            glBindTexture(GL_TEXTURE_2D, input );



            // ===================
            // workhorse functions
            // ===================
            applyShaders();



            // draw a square filling the entire view, w/ texture
            // actually applying the shader
            glColor3f(1,1,1);
            glBegin(GL_QUADS);

            glTexCoord2f(0.0,0.0);
            glVertex2f(-1.0,-1.0);

            glTexCoord2f(1.0,0.0);
            glVertex2f(1.0,-1.0);

            glTexCoord2f(1.0,1.0);
            glVertex2f(1.0,1.0);

            glTexCoord2f(0.0,1.0);
            glVertex2f(-1.0,1.0);

            glEnd();

            // clean up
            stopShaders();

            glActiveTexture(GL_TEXTURE0);

            glMatrixMode(GL_PROJECTION);
            glPopMatrix();
            glMatrixMode(GL_MODELVIEW);
            glPopMatrix();
        }

        void TactileSensorShader :: applyShaders()
        {
            launchShaders();
            associateVariables();
        }

        void TactileSensorShaderWTex :: applyShaders()
        {
            launchShaders();
            associateVariables();
            bindAuxInput();
        }

        void TactileSensorShader :: associateVariables()
        {
            std::list<ShaderVariable*>::iterator i;
            for ( i=vars.begin(); i!=vars.end(); i++ )
            {
                (*i)->updateVal();
            }
        }

        void TactileSensorShaderWTex :: bindAuxInput()
        {
            glActiveTexture( GL_TEXTURE0 + activeTex );
            glBindTexture( GL_TEXTURE_2D, auxTex );
            glActiveTexture( GL_TEXTURE0 );
        }

    }
}