BellmanFordXfbRenderer.h

/*
 * Copyright (c) 2018, Stefan Osswald
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 * 
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 * 
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */ 

#ifndef INCLUDE_ARTICULATION_BELLMANFORDXFBRENDERER_H_
#define INCLUDE_ARTICULATION_BELLMANFORDXFBRENDERER_H_

#include <gpu_coverage/AbstractRenderer.h>
#include <gpu_coverage/CostMapRenderer.h>
#include <gpu_coverage/Programs.h>

namespace gpu_coverage {

class BellmanFordXfbRenderer: public AbstractRenderer {
public:
    BellmanFordXfbRenderer(const Scene * const scene, const CostMapRenderer * const costmapRenderer,
            const bool renderToWindow, const bool visual);
    virtual ~BellmanFordXfbRenderer();
    virtual void display();
    inline const GLuint& getTexture() const {
        return textures[OUTPUT];
    }
    inline const GLuint& getVisualTexture() const {
        return textures[VISUAL];
    }
    inline const int& getTextureWidth() const {
        return width;
    }
    inline const int& getTextureHeight() const {
        return height;
    }

    inline void setRobotPosition(const glm::mat4x4& worldTransform) {
        robotWorldTransform = worldTransform;
    }

protected:
    const CostMapRenderer * const costmapRenderer;
    const bool renderToWindow;
    const bool renderVisual;

    ProgramBellmanFordXfbInit progBellmanFordXfbInit;
    ProgramBellmanFordXfbStep progBellmanFordXfbStep;

    ProgramShowTexture * progShowTexture;
    ProgramVisualizeIntTexture * progVisualizeIntTexture;

    const int width;
    const int height;
    const size_t maxIterations;

    GLuint framebuffer;

    GLuint vao;
    GLuint vbo;

    GLuint tbo[2];
    GLuint tfi[2];

    GLuint numPrimitivesQuery[3];
    size_t numQueries;
    GLuint textures[3];
    enum TextureRole {
        QUEUED,
        OUTPUT,
        VISUAL
    };

    glm::mat4x4 robotWorldTransform;
};

} /* namespace gpu_coverage */

#endif /* INCLUDE_ARTICULATION_BELLMANFORDXFBRENDERER_H_ */