#define _USE_MATH_DEFINES

#include <stdlib.h>

#include <stdio.h>

#include <math.h>

#include <assert.h>

#include "glad/glad.h"

#include "GLFW/glfw3.h"

#define LIGHTMAPPER_IMPLEMENTATION

#define LM_DEBUG_INTERPOLATION

#include "../lightmapper.h"

#ifndef M_PI // even with _USE_MATH_DEFINES not always available

#define M_PI 3.14159265358979323846

typedef struct {

float p[3];

float t[2];

} vertex_t;

typedef struct

{

GLuint program;

GLint u_lightmap;

GLint u_projection;

GLint u_view;

GLuint lightmap;

int w, h;

GLuint vao, vbo, ibo;

vertex_t *vertices;

unsigned short *indices;

unsigned int vertexCount, indexCount;

} scene_t;

static int initScene(scene_t *scene);

static void drawScene(scene_t *scene, float *view, float *projection);

static void destroyScene(scene_t *scene);

static int bake(scene_t *scene)

{

lm_context *ctx = lmCreate(

64, // hemisphere resolution (power of two, max=512)

0.001f, 100.0f, // zNear, zFar of hemisphere cameras

1.0f, 1.0f, 1.0f, // background color (white for ambient occlusion)

2, 0.01f, // lightmap interpolation threshold (small differences are interpolated rather than sampled)

// check debug_interpolation.tga for an overview of sampled (red) vs interpolated (green) pixels.

0.0f); // modifier for camera-to-surface distance for hemisphere rendering.

// tweak this to trade-off between interpolated normals quality and other artifacts (see declaration).

if (!ctx)

{

fprintf(stderr, "Error: Could not initialize lightmapper.\n");

return 0;

}

int w = scene->w, h = scene->h;

float *data = calloc(w * h * 4, sizeof(float));

lmSetTargetLightmap(ctx, data, w, h, 4);

lmSetGeometry(ctx, NULL, // no transformation in this example

LM_FLOAT, (unsigned char*)scene->vertices + offsetof(vertex_t, p), sizeof(vertex_t),

LM_NONE , NULL , 0 , // no interpolated normals in this example

LM_FLOAT, (unsigned char*)scene->vertices + offsetof(vertex_t, t), sizeof(vertex_t),

scene->indexCount, LM_UNSIGNED_SHORT, scene->indices);

int vp[4];

float view[16], projection[16];

double lastUpdateTime = 0.0;

while (lmBegin(ctx, vp, view, projection))

{

// render to lightmapper framebuffer

glViewport(vp[0], vp[1], vp[2], vp[3]);

drawScene(scene, view, projection);

// display progress every second (printf is expensive)

double time = glfwGetTime();

if (time - lastUpdateTime > 1.0)

{

lastUpdateTime = time;

printf("\r%6.2f%%", lmProgress(ctx) * 100.0f);

fflush(stdout);

}

lmEnd(ctx);

}

printf("\rFinished baking %d triangles.\n", scene->indexCount / 3);

lmDestroy(ctx);

// postprocess texture

float *temp = calloc(w * h * 4, sizeof(float));

for (int i = 0; i < 16; i++)

{

lmImageDilate(data, temp, w, h, 4);

lmImageDilate(temp, data, w, h, 4);

}

lmImageSmooth(data, temp, w, h, 4);

lmImageDilate(temp, data, w, h, 4);

lmImagePower(data, w, h, 4, 1.0f / 2.2f, 0x7); // gamma correct color channels

free(temp);

// save result to a file

if (lmImageSaveTGAf("result.tga", data, w, h, 4, 1.0f))

printf("Saved result.tga\n");

// upload result

glBindTexture(GL_TEXTURE_2D, scene->lightmap);

glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, w, h, 0, GL_RGBA, GL_FLOAT, data);

free(data);

return 1;

}

static void error_callback(int error, const char *description)

{

fprintf(stderr, "Error: %s\n", description);

}

static void fpsCameraViewMatrix(GLFWwindow *window, float *view);

static void perspectiveMatrix(float *out, float fovy, float aspect, float zNear, float zFar);

static void mainLoop(GLFWwindow *window, scene_t *scene)

{

glfwPollEvents();

if (glfwGetKey(window, GLFW_KEY_SPACE) == GLFW_PRESS)

bake(scene);

int w, h;

glfwGetFramebufferSize(window, &w, &h);

glViewport(0, 0, w, h);

// camera for glfw window

float view[16], projection[16];

fpsCameraViewMatrix(window, view);

perspectiveMatrix(projection, 45.0f, (float)w / (float)h, 0.01f, 100.0f);

// draw to screen with a blueish sky

glClearColor(0.6f, 0.8f, 1.0f, 1.0f);

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

drawScene(scene, view, projection);

glfwSwapBuffers(window);

}

int main(int argc, char* argv[])

{

glfwSetErrorCallback(error_callback);

if (!glfwInit())

{

fprintf(stderr, "Could not initialize GLFW.\n");

return EXIT_FAILURE;

}

glfwWindowHint(GLFW_RED_BITS, 8);

glfwWindowHint(GLFW_GREEN_BITS, 8);

glfwWindowHint(GLFW_BLUE_BITS, 8);

glfwWindowHint(GLFW_ALPHA_BITS, 8);

glfwWindowHint(GLFW_DEPTH_BITS, 32);

glfwWindowHint(GLFW_STENCIL_BITS, GLFW_DONT_CARE);

glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);

glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);

glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);

glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);

glfwWindowHint(GLFW_OPENGL_DEBUG_CONTEXT, GL_TRUE);

glfwWindowHint(GLFW_SAMPLES, 4);

GLFWwindow *window = glfwCreateWindow(1024, 768, "Lightmapping Example", NULL, NULL);

if (!window)

{

fprintf(stderr, "Could not create window.\n");

glfwTerminate();

return EXIT_FAILURE;

}

glfwMakeContextCurrent(window);

gladLoadGLLoader((GLADloadproc)glfwGetProcAddress);

glfwSwapInterval(1);

scene_t scene = {0};

if (!initScene(&scene))

{

fprintf(stderr, "Could not initialize scene.\n");

glfwDestroyWindow(window);

glfwTerminate();

return EXIT_FAILURE;

}

printf("Ambient Occlusion Baking Example.\n");

printf("Use your mouse and the W, A, S, D, E, Q keys to navigate.\n");

printf("Press SPACE to start baking one light bounce!\n");

printf("This will take a few seconds and bake a lightmap illuminated by:\n");

printf("1. The mesh itself (initially black)\n");

printf("2. A white sky (1.0f, 1.0f, 1.0f)\n");

while (!glfwWindowShouldClose(window))

{

mainLoop(window, &scene);

}

destroyScene(&scene);

glfwDestroyWindow(window);

glfwTerminate();

return EXIT_SUCCESS;

}

static int loadSimpleObjFile(const char *filename, vertex_t **vertices, unsigned int *vertexCount, unsigned short **indices, unsigned int *indexCount);

static GLuint loadProgram(const char *vp, const char *fp, const char **attributes, int attributeCount);

static int initScene(scene_t *scene)

{

// load mesh

if (!loadSimpleObjFile("gazebo.obj", &scene->vertices, &scene->vertexCount, &scene->indices, &scene->indexCount))

{

fprintf(stderr, "Error loading obj file\n");

return 0;

}

glGenVertexArrays(1, &scene->vao);

glBindVertexArray(scene->vao);

glGenBuffers(1, &scene->vbo);

glBindBuffer(GL_ARRAY_BUFFER, scene->vbo);

glBufferData(GL_ARRAY_BUFFER, scene->vertexCount * sizeof(vertex_t), scene->vertices, GL_STATIC_DRAW);

glGenBuffers(1, &scene->ibo);

glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, scene->ibo);

glBufferData(GL_ELEMENT_ARRAY_BUFFER, scene->indexCount * sizeof(unsigned short), scene->indices, GL_STATIC_DRAW);

glEnableVertexAttribArray(0);

glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(vertex_t), (void*)offsetof(vertex_t, p));

glEnableVertexAttribArray(1);

glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, sizeof(vertex_t), (void*)offsetof(vertex_t, t));

// create lightmap texture

scene->w = 654;

scene->h = 654;

glGenTextures(1, &scene->lightmap);

glBindTexture(GL_TEXTURE_2D, scene->lightmap);

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);

unsigned char emissive[] = { 0, 0, 0, 255 };

glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, 1, 1, 0, GL_RGBA, GL_UNSIGNED_BYTE, emissive);

// load shader

const char *vp =

"#version 150 core\n"

"in vec3 a_position;\n"

"in vec2 a_texcoord;\n"

"uniform mat4 u_view;\n"

"uniform mat4 u_projection;\n"

"out vec2 v_texcoord;\n"

"void main()\n"

"{\n"

"gl_Position = u_projection * (u_view * vec4(a_position, 1.0));\n"

"v_texcoord = a_texcoord;\n"

"}\n";

const char *fp =

"#version 150 core\n"

"in vec2 v_texcoord;\n"

"uniform sampler2D u_lightmap;\n"

"out vec4 o_color;\n"

"void main()\n"

"{\n"

"o_color = vec4(texture(u_lightmap, v_texcoord).rgb, gl_FrontFacing ? 1.0 : 0.0);\n"

"}\n";

const char *attribs[] =

{

"a_position",

"a_texcoord"

};

scene->program = loadProgram(vp, fp, attribs, 2);

if (!scene->program)

{

fprintf(stderr, "Error loading shader\n");

return 0;

}

scene->u_view = glGetUniformLocation(scene->program, "u_view");

scene->u_projection = glGetUniformLocation(scene->program, "u_projection");

scene->u_lightmap = glGetUniformLocation(scene->program, "u_lightmap");

return 1;

}

static void drawScene(scene_t *scene, float *view, float *projection)

{

glEnable(GL_DEPTH_TEST);

glUseProgram(scene->program);

glUniform1i(scene->u_lightmap, 0);

glUniformMatrix4fv(scene->u_projection, 1, GL_FALSE, projection);

glUniformMatrix4fv(scene->u_view, 1, GL_FALSE, view);

glBindTexture(GL_TEXTURE_2D, scene->lightmap);

glBindVertexArray(scene->vao);

glDrawElements(GL_TRIANGLES, scene->indexCount, GL_UNSIGNED_SHORT, 0);

}

static void destroyScene(scene_t *scene)

{

free(scene->vertices);

free(scene->indices);

glDeleteVertexArrays(1, &scene->vao);

glDeleteBuffers(1, &scene->vbo);

glDeleteBuffers(1, &scene->ibo);

glDeleteTextures(1, &scene->lightmap);

glDeleteProgram(scene->program);

}

static int loadSimpleObjFile(const char *filename, vertex_t **vertices, unsigned int *vertexCount, unsigned short **indices, unsigned int *indexCount)

{

FILE *file = fopen(filename, "rt");

if (!file)

return 0;

char line[1024];

// first pass

unsigned int np = 0, nn = 0, nt = 0, nf = 0;

while (!feof(file))

{

fgets(line, 1024, file);

if (line[0] == '#') continue;

if (line[0] == 'v')

{

if (line[1] == ' ') { np++; continue; }

if (line[1] == 'n') { nn++; continue; }

if (line[1] == 't') { nt++; continue; }

assert(!"unknown vertex attribute");

}

if (line[0] == 'f') { nf++; continue; }

assert(!"unknown identifier");

}

assert(np && np == nn && np == nt && nf); // only supports obj files without separately indexed vertex attributes

// allocate memory

*vertexCount = np;

*vertices = calloc(np, sizeof(vertex_t));

*indexCount = nf * 3;

*indices = calloc(nf * 3, sizeof(unsigned short));

// second pass

fseek(file, 0, SEEK_SET);

unsigned int cp = 0, cn = 0, ct = 0, cf = 0;

while (!feof(file))

{

fgets(line, 1024, file);

if (line[0] == '#') continue;

if (line[0] == 'v')

{

if (line[1] == ' ') { float *p = (*vertices)[cp++].p; char *e1, *e2; p[0] = (float)strtod(line + 2, &e1); p[1] = (float)strtod(e1, &e2); p[2] = (float)strtod(e2, 0); continue; }

if (line[1] == 'n') { /*float *n = (*vertices)[cn++].n; char *e1, *e2; n[0] = (float)strtod(line + 3, &e1); n[1] = (float)strtod(e1, &e2); n[2] = (float)strtod(e2, 0);*/ continue; } // no normals needed

if (line[1] == 't') { float *t = (*vertices)[ct++].t; char *e1; t[0] = (float)strtod(line + 3, &e1); t[1] = (float)strtod(e1, 0); continue; }

assert(!"unknown vertex attribute");

}

if (line[0] == 'f')

{

unsigned short *tri = (*indices) + cf;

cf += 3;

char *e1, *e2, *e3 = line + 1;

for (int i = 0; i < 3; i++)

{

unsigned long pi = strtoul(e3 + 1, &e1, 10);

assert(e1[0] == '/');

unsigned long ti = strtoul(e1 + 1, &e2, 10);

assert(e2[0] == '/');

unsigned long ni = strtoul(e2 + 1, &e3, 10);

assert(pi == ti && pi == ni);

tri[i] = (unsigned short)(pi - 1);

}

continue;

}

assert(!"unknown identifier");

}

fclose(file);

return 1;

}

static GLuint loadShader(GLenum type, const char *source)

{

GLuint shader = glCreateShader(type);

if (shader == 0)

{

fprintf(stderr, "Could not create shader!\n");

return 0;

}

glShaderSource(shader, 1, &source, NULL);

glCompileShader(shader);

GLint compiled;

glGetShaderiv(shader, GL_COMPILE_STATUS, &compiled);

if (!compiled)

{

fprintf(stderr, "Could not compile shader!\n");

GLint infoLen = 0;

glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &infoLen);

if (infoLen)

{

char* infoLog = (char*)malloc(infoLen);

glGetShaderInfoLog(shader, infoLen, NULL, infoLog);

fprintf(stderr, "%s\n", infoLog);

free(infoLog);

}

glDeleteShader(shader);

return 0;

}

return shader;

}

static GLuint loadProgram(const char *vp, const char *fp, const char **attributes, int attributeCount)

{

GLuint vertexShader = loadShader(GL_VERTEX_SHADER, vp);

if (!vertexShader)

return 0;

GLuint fragmentShader = loadShader(GL_FRAGMENT_SHADER, fp);

if (!fragmentShader)

{

glDeleteShader(vertexShader);

return 0;

}

GLuint program = glCreateProgram();

if (program == 0)

{

fprintf(stderr, "Could not create program!\n");

return 0;

}

glAttachShader(program, vertexShader);

glAttachShader(program, fragmentShader);

for (int i = 0; i < attributeCount; i++)

glBindAttribLocation(program, i, attributes[i]);

glLinkProgram(program);

glDeleteShader(vertexShader);

glDeleteShader(fragmentShader);

GLint linked;

glGetProgramiv(program, GL_LINK_STATUS, &linked);

if (!linked)

{

fprintf(stderr, "Could not link program!\n");

GLint infoLen = 0;

glGetProgramiv(program, GL_INFO_LOG_LENGTH, &infoLen);

if (infoLen)

{

char* infoLog = (char*)malloc(sizeof(char) * infoLen);

glGetProgramInfoLog(program, infoLen, NULL, infoLog);

fprintf(stderr, "%s\n", infoLog);

free(infoLog);

}

glDeleteProgram(program);

return 0;

}

return program;

}

static void multiplyMatrices(float *out, float *a, float *b)

{

for (int y = 0; y < 4; y++)

for (int x = 0; x < 4; x++)

out[y * 4 + x] = a[x] * b[y * 4] + a[4 + x] * b[y * 4 + 1] + a[8 + x] * b[y * 4 + 2] + a[12 + x] * b[y * 4 + 3];

}

static void translationMatrix(float *out, float x, float y, float z)

{

out[ 0] = 1.0f; out[ 1] = 0.0f; out[ 2] = 0.0f; out[ 3] = 0.0f;

out[ 4] = 0.0f; out[ 5] = 1.0f; out[ 6] = 0.0f; out[ 7] = 0.0f;

out[ 8] = 0.0f; out[ 9] = 0.0f; out[10] = 1.0f; out[11] = 0.0f;

out[12] = x; out[13] = y; out[14] = z; out[15] = 1.0f;

}

static void rotationMatrix(float *out, float angle, float x, float y, float z)

{

angle *= (float)M_PI / 180.0f;

float c = cosf(angle), s = sinf(angle), c2 = 1.0f - c;

out[ 0] = x*x*c2 + c; out[ 1] = y*x*c2 + z*s; out[ 2] = x*z*c2 - y*s; out[ 3] = 0.0f;

out[ 4] = x*y*c2 - z*s; out[ 5] = y*y*c2 + c; out[ 6] = y*z*c2 + x*s; out[ 7] = 0.0f;

out[ 8] = x*z*c2 + y*s; out[ 9] = y*z*c2 - x*s; out[10] = z*z*c2 + c; out[11] = 0.0f;

out[12] = 0.0f; out[13] = 0.0f; out[14] = 0.0f; out[15] = 1.0f;

}

static void transformPosition(float *out, float *m, float *p)

{

float d = 1.0f / (m[3] * p[0] + m[7] * p[1] + m[11] * p[2] + m[15]);

out[2] = d * (m[2] * p[0] + m[6] * p[1] + m[10] * p[2] + m[14]);

out[1] = d * (m[1] * p[0] + m[5] * p[1] + m[ 9] * p[2] + m[13]);

out[0] = d * (m[0] * p[0] + m[4] * p[1] + m[ 8] * p[2] + m[12]);

}

static void transposeMatrix(float *out, float *m)

{

out[ 0] = m[0]; out[ 1] = m[4]; out[ 2] = m[ 8]; out[ 3] = m[12];

out[ 4] = m[1]; out[ 5] = m[5]; out[ 6] = m[ 9]; out[ 7] = m[13];

out[ 8] = m[2]; out[ 9] = m[6]; out[10] = m[10]; out[11] = m[14];

out[12] = m[3]; out[13] = m[7]; out[14] = m[11]; out[15] = m[15];

}

static void perspectiveMatrix(float *out, float fovy, float aspect, float zNear, float zFar)

{

float f = 1.0f / tanf(fovy * (float)M_PI / 360.0f);

float izFN = 1.0f / (zNear - zFar);

out[ 0] = f / aspect; out[ 1] = 0.0f; out[ 2] = 0.0f; out[ 3] = 0.0f;

out[ 4] = 0.0f; out[ 5] = f; out[ 6] = 0.0f; out[ 7] = 0.0f;

out[ 8] = 0.0f; out[ 9] = 0.0f; out[10] = (zFar + zNear) * izFN; out[11] = -1.0f;

out[12] = 0.0f; out[13] = 0.0f; out[14] = 2.0f * zFar * zNear * izFN; out[15] = 0.0f;

}

static void fpsCameraViewMatrix(GLFWwindow *window, float *view)

{

// initial camera config

static float position[] = { 0.0f, 0.3f, 1.5f };

static float rotation[] = { 0.0f, 0.0f };

// mouse look

static double lastMouse[] = { 0.0, 0.0 };

double mouse[2];

glfwGetCursorPos(window, &mouse[0], &mouse[1]);

if (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT) == GLFW_PRESS)

{

rotation[0] += (float)(mouse[1] - lastMouse[1]) * -0.2f;

rotation[1] += (float)(mouse[0] - lastMouse[0]) * -0.2f;

}

lastMouse[0] = mouse[0];

lastMouse[1] = mouse[1];

float rotationY[16], rotationX[16], rotationYX[16];

rotationMatrix(rotationX, rotation[0], 1.0f, 0.0f, 0.0f);

rotationMatrix(rotationY, rotation[1], 0.0f, 1.0f, 0.0f);

multiplyMatrices(rotationYX, rotationY, rotationX);

// keyboard movement (WSADEQ)

float speed = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS) ? 0.1f : 0.01f;

float movement[3] = {0};

if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS) movement[2] -= speed;

if (glfwGetKey(window, GLFW_KEY_S) == GLFW_PRESS) movement[2] += speed;

if (glfwGetKey(window, GLFW_KEY_A) == GLFW_PRESS) movement[0] -= speed;

if (glfwGetKey(window, GLFW_KEY_D) == GLFW_PRESS) movement[0] += speed;

if (glfwGetKey(window, GLFW_KEY_E) == GLFW_PRESS) movement[1] -= speed;

if (glfwGetKey(window, GLFW_KEY_Q) == GLFW_PRESS) movement[1] += speed;

float worldMovement[3];

transformPosition(worldMovement, rotationYX, movement);

position[0] += worldMovement[0];

position[1] += worldMovement[1];

position[2] += worldMovement[2];

// construct view matrix

float inverseRotation[16], inverseTranslation[16];

transposeMatrix(inverseRotation, rotationYX);

translationMatrix(inverseTranslation, -position[0], -position[1], -position[2]);

multiplyMatrices(view, inverseRotation, inverseTranslation); // = inverse(translation(position) * rotationYX);

}