source: orxonox.OLD/trunk/src/lib/graphics/importer/height_map.cc @ 7492

/*
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   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 2, or (at your option)
   any later version.

   ### File Specific:
   main-programmer: bottac@ee.ethz.ch

   review: patrick boenzli, patrick@orxonox.ethz.ch
*/

#include "height_map.h"
#include "model.h"
#include "texture.h"
#include "vector.h"
#include "material.h"
#include "p_node.h"
#include "state.h"
#include "util/loading/resource_manager.h"
#include "debug.h"

// INCLUDING SDL_Image
#ifdef HAVE_SDL_IMAGE_H
#include <SDL_image.h>
#else
#include <SDL/SDL_image.h>
#endif


/**
 * default constructor
 *  @param i1
 */
Tile::Tile(int i1, int j1, int i2, int j2, HeightMap* heightMapReference )
{
  PRINTF(4)("Tile Constructor\n");

  this->highResModel = new VertexArrayModel();
  this->lowResModel  = new VertexArrayModel();

  this->heightMapReference = heightMapReference;

  // create high res model
  this->load(i1, j1, i2, j2, this->highResModel, 4);
  // create low res model
  this->load(i1, j1, i2, j2, this->lowResModel, 8);
}


Tile::~Tile()
{
  if( highResModel)
    delete highResModel;
  if( lowResModel)
    delete lowResModel;
}


/**
 * this darws the tile in diefferent resolutions
 */
void Tile::draw()
{
  // draw the tile depending on the distance from the camera with different LOD (level of details)
  float cameraDistance = fabs((State::getCameraNode()->getAbsCoor() - Vector(this->x, heightMapReference->offsetY , this->z) ).len());

  if (cameraDistance < HM_LOD_HIGH_RES )
  {
    this->drawHighRes();
  }
  else if( cameraDistance < HM_LOD_LOW_RES)
  {
    this->drawLowRes();
  }
}


/**
 * loads a tile
 */
void Tile::load(int i1, int j1, int i2, int j2, VertexArrayModel* model, int sampleRate)
{

// #define heightMap this->heightMapReference->heightMap
#define colors   this->heightMapReference->colors
#define scaleX this->heightMapReference->scaleX
#define scaleY this->heightMapReference->scaleY
#define scaleZ this->heightMapReference->scaleZ
#define shiftX this->heightMapReference->shiftX
#define shiftY this->heightMapReference->shiftY
#define shiftZ this->heightMapReference->shiftZ
#define normalVectorField this->heightMapReference->normalVectorField


  //FIXME: OLD implementation
  this->x = this->heightMapReference->offsetX + ( this->heightMapReference->heightMap->h - ((i1 + i2) / 2)) * scaleX;
  this->z = this->heightMapReference->offsetZ + ((j1 + j2 ) / 2 ) * scaleZ;
  //NEW:
  this->setAbsCoor(this->heightMapReference->offsetX + ( this->heightMapReference->heightMap->h - ((i1 + i2) / 2)) * scaleX,
                   0,
                   this->heightMapReference->offsetZ + ((j1 + j2 ) / 2 ) * scaleZ);


  float height = 0;
  int offset = 0;

  float r = 0.0;
  float g = 0.0;
  float b = 0.0;


  //if( this->heightMapReference->heightMap != NULL && this->heightMapReference->heightMap->format->BitsPerPixel == 8 )

  SDL_LockSurface(this->heightMapReference->heightMap);
  SDL_LockSurface(this->heightMapReference->colorMap);

  for( int i = i1 ; i <= i2  ; i +=sampleRate)
  {
    int w = 0;

    // adjust the colors acoring to the color map
    if( this->heightMapReference->hasColourMap)
    {
      r = colors[3 * w + 2 + 3 * i * this->heightMapReference->heightMap->w];
      g = colors[3 * w + 1 + 3 * i * this->heightMapReference->heightMap->w];
      b = colors[3 * w + 0 + 3 * i * this->heightMapReference->heightMap->w];
    }

    w = j1;

    // add a vertex to the list
    model->addVertex(scaleX*(this->heightMapReference->heightMap->h -i)+ shiftX,shiftY,scaleZ*(w)+ shiftZ); // Top Right
    model->addNormal(normalVectorField[i % this->heightMapReference->heightMap->h][w % this->heightMapReference->heightMap->w].y,
                     normalVectorField[i % this->heightMapReference->heightMap->h][w % this->heightMapReference->heightMap->w].z,
                     normalVectorField[i % this->heightMapReference->heightMap->h][w % this->heightMapReference->heightMap->w].x);
    model->addTexCoor((float)(j1-sampleRate) /(texRate), (float)(i %this->heightMapReference->heightMap->h)/(texRate));
    model->addColor(r/255.0f, g/255.0f, b/255.0f);


    for(int j = j1; j <= j2; j += sampleRate)
    {
      // adjust the colors acording to the color map
      if( this->heightMapReference->hasColourMap)
      {
        r = colors[3 * j + 2 + 3 * i * this->heightMapReference->heightMap->w];
        g = colors[3 * j + 1 + 3 * i * this->heightMapReference->heightMap->w];
        b = colors[3 * j + 0 + 3 * i * this->heightMapReference->heightMap->w];
      }
      height =  (float)(unsigned char)this->heightMapReference->heights[j + sampleRate + i * (this->heightMapReference->heightMap->w)];
      height += (float)(unsigned char)this->heightMapReference->heights[j + 1 + sampleRate + (i + 1) *
                                                                        (this->heightMapReference->heightMap->w)];
      height += (float)(unsigned char)this->heightMapReference->heights[j - 1 + sampleRate + (i + 1) *
                                                                        (this->heightMapReference->heightMap->w )];
      height += (float)(unsigned char)this->heightMapReference->heights[j + sampleRate + (i + 2) *
                                                                        (this->heightMapReference->heightMap->w)];
      height += (float)(unsigned char)this->heightMapReference->heights[j + sampleRate + i * (this->heightMapReference->heightMap->w)];
      height /= 5.0;

      model->addVertex(scaleX * (this->heightMapReference->heightMap->h -i) + shiftX ,
                       ((double)(height)*scaleY) + shiftY ,
                       scaleZ*(j) + shiftZ); // Top Right
      model->addNormal(normalVectorField[i % this->heightMapReference->heightMap->h][j % this->heightMapReference->heightMap->w].y,
                       normalVectorField[i % this->heightMapReference->heightMap->h][j % this->heightMapReference->heightMap->w].z,
                       normalVectorField[i % this->heightMapReference->heightMap->h][j % this->heightMapReference->heightMap->w].x);
      model->addTexCoor((float)(j) /(texRate), (float)(i %this->heightMapReference->heightMap->h)/(texRate));
      model->addColor(r/255.0f, g/255.0f, b/255.0f);
      //PRINTF(0)("TexCoord:  %f %f \n",(float)j / 100.0, (float)(i %this->heightMapReference->h)/100.0);

      w = j;
    }


    model->addVertex(scaleX*(this->heightMapReference->heightMap->h -i)+ shiftX,shiftY,scaleZ*(w)+ shiftZ); // Top Right
    model->addNormal(normalVectorField[i % this->heightMapReference->heightMap->h][w % this->heightMapReference->heightMap->w].y,normalVectorField[i % this->heightMapReference->heightMap->h][w % this->heightMapReference->heightMap->w].z,normalVectorField[i% this->heightMapReference->heightMap->h][w % this->heightMapReference->heightMap->w].x);
    model->addTexCoor((float)(j2+sampleRate) /(texRate), (float)(i %this->heightMapReference->heightMap->h)/(texRate));
    model->addColor(r/255.0,g/255.0,b/255.0);
  }

  SDL_UnlockSurface(this->heightMapReference->heightMap);
  int cnt = 0;

  for( int i = i1; i < i2; i +=sampleRate)
  {
    for( int j = j1-sampleRate; j < j2  + 2 * sampleRate; j += sampleRate)
    {
      model->addIndice(cnt);
      model->addIndice(cnt  + (j2 -j1 + 3* sampleRate  )/ sampleRate );
      cnt++;
    }
    model->newStripe();
  }
  cnt += (j2 -j1 + 3* sampleRate)/ sampleRate;

  for( int j = j1; j <= j2; j += sampleRate)
  {
    int i = i1;

    // To be fixed
    if(this->heightMapReference->hasColourMap)
    {
      r = (float)colors[3 * j + 2 + 3 * i * this->heightMapReference->heightMap->w];
      g = (float)colors[3 * j + 1 + 3 * i * this->heightMapReference->heightMap->w];
      b = (float)colors[3 * j + 0 + 3 * i * this->heightMapReference->heightMap->w];
    }

    model->addVertex(scaleX*(this->heightMapReference->heightMap->h -i) + shiftX ,
                     shiftY ,
                     scaleZ*(j) + shiftZ); // Top Right
    model->addNormal(normalVectorField[i % this->heightMapReference->heightMap->h][j % this->heightMapReference->heightMap->w].y,
                     normalVectorField[i % this->heightMapReference->heightMap->h][j % this->heightMapReference->heightMap->w].z,
                     normalVectorField[i % this->heightMapReference->heightMap->h][j % this->heightMapReference->heightMap->w].x);
    model->addTexCoor((float)j /(texRate), (float)((i - sampleRate) %this->heightMapReference->heightMap->h)/(texRate));
    model->addColor(r/255.0f, g/255.0f, b/255.0f);

  }

  for(int j = j1  ; j <= j2    ;  j += sampleRate)
  {
    int i = i1;
    height = (float)(unsigned char) this->heightMapReference->heights[(j +sampleRate+ i*(this->heightMapReference->heightMap->w )) ];
    height += (float)(unsigned char) this->heightMapReference->heights[(j+ 1 + sampleRate + (i+1)*(this->heightMapReference->heightMap->w )) ];
    height +=  (float) (unsigned char) this->heightMapReference->heights[(j -1+ sampleRate   + (i+1)*(this->heightMapReference->heightMap->w ))];
    height +=  (float)(unsigned char)this->heightMapReference->heights[(j +sampleRate+ (i+2)*(this->heightMapReference->heightMap->w )) ];
    height +=  (float)(unsigned char)this->heightMapReference->heights[(j+sampleRate + (i)*(this->heightMapReference->heightMap->w )) ];
    height=height/5.0;

    model->addVertex(scaleX*(this->heightMapReference->heightMap->h -i) + shiftX , ((double)(height)*scaleY) +shiftY ,scaleZ*(j) + shiftZ); // Top Right
    model->addNormal(normalVectorField[i % this->heightMapReference->heightMap->h][j % this->heightMapReference->heightMap->w].y,normalVectorField[i % this->heightMapReference->heightMap->h][j% this->heightMapReference->heightMap->w].z,normalVectorField[i%this->heightMapReference->heightMap->h][j%this->heightMapReference->heightMap->w].x);
    model->addTexCoor((float)j /(texRate), (float)(i %this->heightMapReference->heightMap->h)/(texRate));
    model->addColor(r/255.0,g/255.0,b/255.0);

  }



  for(int j = j1  ; j <= j2    ;  j += sampleRate)
  {
    int i = i2;

    // To be fixed
    if(this->heightMapReference->hasColourMap)
    {
      r = (float)colors[3*j+2 + 3*i*(this->heightMapReference->heightMap->w )];
      g = (float)colors[3*j+1 + 3*i*(this->heightMapReference->heightMap->w)];
      b = (float)colors[3*j+0 + 3*i*(this->heightMapReference->heightMap->w)];
    }

    model->addVertex(scaleX*(this->heightMapReference->heightMap->h -i) + shiftX , shiftY ,scaleZ*(j) + shiftZ); // Top Right
    model->addNormal(normalVectorField[i%this->heightMapReference->heightMap->h][j%this->heightMapReference->heightMap->w].y,normalVectorField[i%this->heightMapReference->heightMap->h][j%this->heightMapReference->heightMap->w].z,normalVectorField[i%this->heightMapReference->heightMap->h][j%this->heightMapReference->heightMap->w].x);
    model->addTexCoor((float)j /(texRate), (float)((i+ sampleRate) %this->heightMapReference->heightMap->h)/(texRate));
    model->addColor(r/255.0,g/255.0,b/255.0);

  }


  for(int j = j1 ; j <= j2    ;  j += sampleRate)
  {
    int i = i2;
    height = (float)(unsigned char) this->heightMapReference->heights[(j +sampleRate+ i*(this->heightMapReference->heightMap->w )) ];
    height += (float)(unsigned char) this->heightMapReference->heights[(j+ 1 + sampleRate + (i+1)*(this->heightMapReference->heightMap->w )) ];
    height +=  (float) (unsigned char) this->heightMapReference->heights[(j -1+ sampleRate   + (i+1)*(this->heightMapReference->heightMap->w ))];
    height +=  (float)(unsigned char)this->heightMapReference->heights[(j +sampleRate+ (i+2)*(this->heightMapReference->heightMap->w ))];
    height +=  (float)(unsigned char)this->heightMapReference->heights[(j+sampleRate + (i)*(this->heightMapReference->heightMap->w )) ];
    height=height/5.0;
    model->addVertex(scaleX*(this->heightMapReference->heightMap->h -i) + shiftX , ((double)(height)*scaleY) +shiftY ,scaleZ*(j) + shiftZ); // Top Right
    model->addNormal(normalVectorField[i%this->heightMapReference->heightMap->h][j%this->heightMapReference->heightMap->w].y,normalVectorField[i%this->heightMapReference->heightMap->h][j%this->heightMapReference->heightMap->w].z,normalVectorField[i%this->heightMapReference->heightMap->h][j%this->heightMapReference->heightMap->w].x);
    model->addTexCoor((float)j /(texRate), (float)(i %this->heightMapReference->heightMap->h)/(texRate));
    model->addColor(r/255.0,g/255.0,b/255.0);

  }




  // link Boarder Stripe
  for(int j = j1-sampleRate  ; j < j2    ;  j += sampleRate)
  {

    model->addIndice(cnt);
    model->addIndice(cnt  + (j2 -j1 +  sampleRate  )/ sampleRate );
    cnt++;

  }

  cnt++;

  model->newStripe();





  cnt += (j2-j1)/ sampleRate;

  // link 2nd BoarderStripe
  for(int j = j1-sampleRate  ; j < j2    ;  j += sampleRate)
  {

    model->addIndice(cnt);
    model->addIndice(cnt  + (j2 -j1 +  sampleRate  )/ sampleRate );
    cnt++;

  }


  SDL_UnlockSurface(this->heightMapReference->colorMap);

  model->finalize();




// #undef heightMap
        #undef colors
        #undef scaleX
        #undef scaleY
        #undef scaleZ
        #undef shiftX
        #undef shiftY
        #undef shiftZ
        #undef normalVectorField

}


HeightMap::HeightMap()
{
}


HeightMap::HeightMap(const std::string& height_map_name = "")
    : VertexArrayModel()
{
  this->setClassID(CL_HEIGHT_MAP, "HeightMap");
  heightMap =  IMG_Load(height_map_name.c_str());
  if(heightMap!=NULL)
  {
    /*
        WHAT about following checks:
    - image size (rectangular?)
    - image file type (bw?)

    */

    PRINTF(0)("loading Image %s\n", height_map_name.c_str());
    PRINTF(0)("width : %i\n", heightMap->w);
    PRINTF(0)("height : %i\n", heightMap->h);
    PRINTF(0)("%i Byte(s) per Pixel \n", heightMap->format->BytesPerPixel);
    PRINTF(0)("Rshift : %i\n", heightMap->format->Rshift);
    PRINTF(0)("Bshift: %i\n", heightMap->format->Bshift);
    PRINTF(0)("Gshift: %i\n", heightMap->format->Gshift);
    PRINTF(0)("Rmask: %i\n", heightMap->format->Rmask);
    PRINTF(0)("Gmask: %i\n", heightMap->format->Gmask);
  }

  else
    PRINTF(4)("oops! couldn't load %s for some reason.\n", height_map_name.c_str());


  generateNormalVectorField();

  shiftX = 0;
  shiftY = 0;
  shiftZ = 0;

}

HeightMap::HeightMap(const std::string& height_map_name = NULL, const std::string& color_map_name = NULL)
    : VertexArrayModel()
{
  this->setClassID(CL_HEIGHT_MAP, "HeightMap");

  heightMap =  IMG_Load(height_map_name.c_str());
  if(heightMap!=NULL)
  {

    PRINTF(0)("loading Image %s\n", height_map_name.c_str());
    PRINTF(0)("width : %i\n", heightMap->w);
    PRINTF(0)("height : %i\n", heightMap->h);
    PRINTF(0)("%i Byte(s) per Pixel \n", heightMap->format->BytesPerPixel);
    PRINTF(0)("Rshift : %i\n", heightMap->format->Rshift);
    PRINTF(0)("Bshift: %i\n", heightMap->format->Bshift);
    PRINTF(0)("Gshift: %i\n", heightMap->format->Gshift);
    PRINTF(0)("Rmask: %i\n", heightMap->format->Rmask);
    PRINTF(0)("Gmask: %i\n", heightMap->format->Gmask);
  }

  else
    PRINTF(4)("oops! couldn't load %s for some reason.\n", height_map_name.c_str());


  generateNormalVectorField();

  colorMap=NULL;
  if(color_map_name != "")
  {
    colorMap = IMG_Load(color_map_name.c_str());
  }

  if(colorMap != NULL)
  {
    PRINTF(0)("loading Image %s\n", color_map_name.c_str());
    PRINTF(0)("width : %i\n", colorMap->w);
    PRINTF(0)("height : %i\n", colorMap->h);
    PRINTF(0)("%i Byte(s) per Pixel \n", colorMap->format->BytesPerPixel);
    PRINTF(0)("Rshift : %i\n", colorMap->format->Rshift);
    PRINTF(0)("Bshift: %i\n", colorMap->format->Bshift);
    PRINTF(0)("Gshift: %i\n", colorMap->format->Gshift);
    PRINTF(0)("Rmask: %i\n", colorMap->format->Rmask);
    PRINTF(0)("Gmask: %i\n", colorMap->format->Gmask);
  }
  else
    PRINTF(0)("oops! couldn't load colorMap for some reason.\n");



  if(colorMap != NULL)
  {
    colors = (unsigned char *) colorMap->pixels;
    hasColourMap = true;
  }
  else
    hasColourMap = false;


  heights  = (unsigned char*) heightMap->pixels;
  shiftX = 0;
  shiftY = 0;
  shiftZ = 0;
}


HeightMap::~HeightMap()
{
  delete heightMap;
  delete colorMap;


  for(int i=0;i <    heightMap->h/tileSize ; i++)
  {
    for(int j = 0; j < heightMap->w/ tileSize; j++)
    {
      delete tiles [i][j];
    }
  }
  for(int i=0;i <    heightMap->h/tileSize ; i++)
    delete[] tiles[i];
  delete[] tiles;





  for(int i=0;i<heightMap->h;i++)
    delete[] normalVectorField [i];
  delete[] normalVectorField;







}

void HeightMap::load()
{

  //Create a Dynamicly sized 2D-Array for Tiles
  tiles =  new Tile** [heightMap->h/tileSize];
  for(int i=0;i <    heightMap->h/tileSize ; i++)
    tiles [i]= new (Tile* [heightMap->w /tileSize ]);

  //SetUp Arrays
  for(int i = 0; i < (heightMap->h  )/ tileSize; i ++)
  {
    for(int j = 0; j < (heightMap->w )/ tileSize; j ++)
    {

      tiles[i][j] =    new Tile( i*tileSize ,  j*tileSize , (i+1)*tileSize, (j+1)*tileSize , this ) ;
    }
  }

}


void HeightMap::draw()
{
  const PNode* camera = State::getCameraNode();
  Vector v = camera->getAbsCoor();

  int i_min = 0;
  int i_max = (heightMap->h )/ tileSize;
  int j_min = 0;
  int j_max= (heightMap->w  ) / tileSize;



  for(int i = 0; i <  i_max        ; i ++)
  {
    for(int j = 0; j < j_max ; j++)
    {
      tiles[i][j]->draw();
    }
  }

}
void HeightMap::generateNormalVectorField()
{
  int delta = 1;
  heights  = (unsigned char*) heightMap->pixels;

  //Create a Dynamicly sized 2D-Array to store our normals
  normalVectorField =  new Vector* [heightMap->h];
  for(int i=0;i<heightMap->h;i++)
    normalVectorField [i]= new (Vector [heightMap->w]);




  // Initialize
  for(int i=0; i< heightMap->h; i++)
  {
    for(int j = 0; j> heightMap->w; j++)
    {
      Vector v = Vector(0.0, 1.0, 0.0);
      normalVectorField[i][j] = v;
    }
  }

  // !!! Does not yet calculate the normals of some border points!!!!!

  if(heightMap != NULL && heightMap->format->BitsPerPixel == 8 )
  {
    SDL_LockSurface(heightMap);
    for(int i = 0 ; i < heightMap->h - 1  ; i ++)
    {
      for(int j = 0; j < heightMap->w  - 1  ;  j ++)
      {


        delta = (int)heights[j + (i+1)*(heightMap->w )] -  (int) heights[j + i*(heightMap->w )];
        Vector a =  Vector(-scaleX,(float)delta*scaleY  ,0.0f);

        delta = (int)heights[j+1 + i*(heightMap->w )] - (int)heights[j + i*(heightMap->w )];
        Vector b =  Vector(0.0f,(float) delta*scaleY ,scaleZ);


        normalVectorField[i][j] = b.cross(a);
        normalVectorField[i][j].normalize();

      }
    }
    SDL_UnlockSurface(heightMap);

  }




}


void HeightMap::scale(Vector v)
{
  scaleX = v.x;
  scaleY = v.y;
  scaleZ = v.z;
  generateNormalVectorField();
}

void HeightMap::setAbsCoor(Vector v)
{
  offsetX = v.x;
  offsetY = v.y;
  offsetZ  = v.z;
}


float HeightMap::getHeight(float x, float y)
{

  x -= offsetX;
  y -= offsetZ;


  int xInt = (int)x / scaleX;
  x -= (float)((int)x);
  xInt = heightMap->h - xInt;
  int yInt = (int)y / scaleZ;
  y -= (float) ((int) y); /*yInt = heightMap->w - yInt;*/

  //PRINTF(0)("xInt: %i, yInt: %i, x: %f, y: %f\n", xInt, yInt, x, y);

  if(xInt <= 0 || xInt >= heightMap->h || yInt <= 0 || yInt >= heightMap->w  )
    return 0;
  if( y >= 0.5*x)
  {
    // Check for ...
  }

  float height = heights[yInt + (xInt)*heightMap->w]*scaleY;


  float a = normalVectorField[(xInt)][yInt].x;
  float b = normalVectorField [(xInt)][yInt].z;
  float c = normalVectorField [(xInt)][yInt].y;

  PRINTF(0)("a: %f \n" ,a);
  PRINTF(0)("b: %f \n" ,b);
  PRINTF(0)("c: %f \n" ,c);

  height -= ( (a/c)*(x) + (b/c)*(y));

  PRINTF(0)("height: %f \n" ,height );
  return (height + offsetZ);
}