From d16a3229fb7d54135b16b9f9e9945aac54ff0c60 Mon Sep 17 00:00:00 2001
From: Samuel Felton <samuel.felton@irisa.fr>
Date: Fri, 26 Apr 2024 18:09:22 +0200
Subject: [PATCH] Start work on RGB shader

---
 .../include/visp3/ar/vpPanda3DRGBRenderer.h   |  3 +
 .../vpPanda3DBaseRenderer.cpp                 |  2 +-
 .../vpPanda3DGeometryRenderer.cpp             | 16 ++---
 .../vpPanda3DRGBRenderer.cpp                  | 64 +++++++++++++++++++
 4 files changed, 76 insertions(+), 9 deletions(-)

diff --git a/modules/ar/include/visp3/ar/vpPanda3DRGBRenderer.h b/modules/ar/include/visp3/ar/vpPanda3DRGBRenderer.h
index dae7ac1cce..dc60a68098 100644
--- a/modules/ar/include/visp3/ar/vpPanda3DRGBRenderer.h
+++ b/modules/ar/include/visp3/ar/vpPanda3DRGBRenderer.h
@@ -61,6 +61,9 @@ class VISP_EXPORT vpPanda3DRGBRenderer : public vpPanda3DBaseRenderer, public vp
 private:
   Texture *m_colorTexture;
   GraphicsOutput *m_colorBuffer;
+  static const char* COOK_TORRANCE_VERT;
+  static const char* COOK_TORRANCE_FRAG;
+
 
 };
 
diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp
index 3d48ff4021..154b0fbc47 100644
--- a/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp
+++ b/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp
@@ -71,7 +71,7 @@ void vpPanda3DBaseRenderer::initFramework()
   setupScene();
   setupCamera();
   setupRenderTarget();
-  m_window->get_display_region_3d()->set_camera(m_cameraPath);
+  //m_window->get_display_region_3d()->set_camera(m_cameraPath);
 }
 
 
diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
index 856d91072d..dfd77db411 100644
--- a/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
+++ b/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
@@ -192,14 +192,14 @@ void vpPanda3DGeometryRenderer::getRender(vpImage<vpRGBf> &normals, vpImage<floa
   // if (expectedSize != actualSize) {
   //   throw vpException(vpException::fatalError, "Expected %d bytes, but got %d bytes", expectedSize, actualSize);
   // }
-  std::stringstream ss;
-  ss << "Texture info:" << std::endl;
-  ss << "Has ram image: " << m_normalDepthTexture->has_ram_image() << std::endl;
-  ss << "Size (H x W): " <<  m_normalDepthTexture->get_y_size() << " x " << m_normalDepthTexture->get_x_size() << std::endl;
-  ss << "Number of channels: " << m_normalDepthTexture->get_num_components() << std::endl;
-  ss << "Bytes per channel: " << m_normalDepthTexture->get_component_width() << std::endl;
-  ss << "Channel type: " << m_normalDepthTexture->get_component_type() << std::endl;
-  std::cout << ss.str() << std::endl;
+  // std::stringstream ss;
+  // ss << "Texture info:" << std::endl;
+  // ss << "Has ram image: " << m_normalDepthTexture->has_ram_image() << std::endl;
+  // ss << "Size (H x W): " <<  m_normalDepthTexture->get_y_size() << " x " << m_normalDepthTexture->get_x_size() << std::endl;
+  // ss << "Number of channels: " << m_normalDepthTexture->get_num_components() << std::endl;
+  // ss << "Bytes per channel: " << m_normalDepthTexture->get_component_width() << std::endl;
+  // ss << "Channel type: " << m_normalDepthTexture->get_component_type() << std::endl;
+  // std::cout << ss.str() << std::endl;
 
   if (m_normalDepthTexture->get_component_type() == Texture::T_float) {
     float *data = (float *)(&(m_normalDepthTexture->get_ram_image().front()));
diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp
index 3de6354340..dfbbb93d3e 100644
--- a/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp
+++ b/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp
@@ -33,6 +33,65 @@
 
 #if defined(VISP_HAVE_PANDA3D)
 
+const char *vpPanda3DRGBRenderer::COOK_TORRANCE_VERT = R"shader(
+#version 330
+
+in vec3 p3d_Normal;
+in vec4 p3d_Vertex;
+
+out vec3 oNormal;
+uniform mat3 p3d_NormalMatrix;
+uniform mat4 p3d_ModelViewMatrix;
+uniform mat4 p3d_ModelViewProjectionMatrix;
+
+void main()
+{
+  gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex;
+  // View space is Z-up right handed, flip z and y
+  oNormal = p3d_NormalMatrix * normalize(p3d_Normal);
+  oNormal.yz = oNormal.zy;
+  oNormal.y = -oNormal.y;
+  vec4 cs_position = p3d_ModelViewMatrix * p3d_Vertex;
+}
+)shader";
+
+const char *vpPanda3DRGBRenderer::COOK_TORRANCE_FRAG = R"shader(
+#version 330
+
+in vec3 oNormal;
+
+out vec4 p3d_FragData;
+
+uniform struct {
+  vec4 ambient;
+} p3d_LightModel;
+
+uniform struct p3d_LightSourceParameters {
+  // Primary light color.
+  vec4 color;
+
+  // View-space position.  If w=0, this is a directional light, with the xyz
+  // being -direction.
+  vec4 position;
+
+  // constant, linear, quadratic attenuation in one vector
+  vec3 attenuation;
+
+} p3d_LightSource[4];
+
+void main()
+{
+  vec3 n = normalize(oNormal);
+  p3d_FragData = p3d_LightModel.ambient * vec4(1.f, 0.f, 0.f,0.f);
+  for(int i = 0; i < p3d_LightSource.length(); ++i) {
+    vec3 aFac = p3d_LightSource[i].attenuation;
+    float attenuation = 1.f / (aFac[0] + aFac[1] * dist, aFac[2] * dist * dist);
+    //p3d_FragData += p3d_LightSource[i].color;
+  }
+}
+)shader";
+
+
 void vpPanda3DRGBRenderer::getRender(vpImage<vpRGBa> &I) const
 {
   I.resize(m_colorTexture->get_y_size(), m_colorTexture->get_x_size());
@@ -51,6 +110,11 @@ void vpPanda3DRGBRenderer::setupScene()
 {
   vpPanda3DBaseRenderer::setupScene();
   setLightableScene(m_renderRoot);
+  PT(Shader) shader;
+  shader = Shader::make(Shader::ShaderLanguage::SL_GLSL,
+                                    COOK_TORRANCE_VERT,
+                                    COOK_TORRANCE_FRAG);
+  m_renderRoot.set_shader(shader);
   //m_renderRoot.set_shader_auto();
 }