-
Notifications
You must be signed in to change notification settings - Fork 175
/
canvas.cc
1247 lines (1022 loc) · 31.5 KB
/
canvas.cc
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/** canvas.cc
Implement the main world viewing area in FLTK and OpenGL.
Authors:
Richard Vaughan (vaughan@sfu.ca)
Alex Couture-Beil (asc17@sfu.ca)
Jeremy Asher (jra11@sfu.ca)
$Id$
*/
#include "stage.hh"
#include "gl.hh"
#include "canvas.hh"
#include "worldfile.hh"
#include "texture_manager.hh"
#include "replace.h"
#include <string>
#include <sstream>
#include <png.h>
#include "file_manager.hh"
#include "options_dlg.hh"
using namespace Stg;
static const int checkImageWidth = 2;
static const int checkImageHeight = 2;
static GLubyte checkImage[checkImageHeight][checkImageWidth][4];
static GLuint texName;
static bool blur = true;
static bool init_done = false;
void Canvas::TimerCallback( Canvas* c )
{
if( c->world->dirty )
{
//puts( "timer redraw" );
c->redraw();
c->world->dirty = false;
}
Fl::repeat_timeout(((double)c->interval/1000),
(Fl_Timeout_Handler)Canvas::TimerCallback,
c);
}
Canvas::Canvas( WorldGui* world,
int x, int y,
int width, int height) :
Fl_Gl_Window( x, y, width, height ),
colorstack(),
models_sorted( NULL ),
current_camera( NULL ),
camera(),
perspective_camera(),
dirty_buffer( false ),
wf( NULL ),
startx( -1 ),
starty( -1 ),
selected_models( NULL ),
last_selection( NULL ),
interval( 50 ), //msec between redraws
// initialize Option objects
showBlinken( "Blinkenlights", "show_blinkenlights", "", true, world ),
showBlocks( "Blocks", "show_blocks", "b", true, world ),
showClock( "Clock", "show_clock", "c", true, world ),
showData( "Data", "show_data", "d", false, world ),
showFlags( "Flags", "show_flags", "l", true, world ),
showFollow( "Follow", "show_follow", "f", false, world ),
showFootprints( "Footprints", "show_footprints", "o", false, world ),
showGrid( "Grid", "show_grid", "g", true, world ),
showOccupancy( "Debug/Occupancy", "show_occupancy", "^o", false, world ),
showScreenshots( "Save screenshots", "screenshots", "", false, world ),
showStatus( "Status", "show_status", "s", true, world ),
showTrailArrows( "Trails/Rising Arrows", "show_trailarrows", "^a", false, world ),
showTrailRise( "Trails/Rising blocks", "show_trailrise", "^r", false, world ),
showTrails( "Trails/Fast", "show_trailfast", "^f", false, world ),
showTree( "Debug/Tree", "show_tree", "^t", false, world ),
showBBoxes( "Debug/Bounding boxes", "show_boundingboxes", "^b", false, world ),
showBlur( "Trails/Blur", "show_trailblur", "^d", false, world ),
pCamOn( "Perspective camera", "pcam_on", "r", false, world ),
visualizeAll( "Selected only", "vis_all", "^v", false, world ),
// and the rest
graphics( true ),
world( world ),
frames_rendered_count( 0 ),
screenshot_frame_skip( 1 )
{
end();
//show(); // must do this so that the GL context is created before configuring GL
// but that line causes a segfault in Linux/X11! TODO: test in OS X
perspective_camera.setPose( 0.0, -4.0, 3.0 );
current_camera = &camera;
setDirtyBuffer();
// enable accumulation buffer
mode( mode() | FL_ACCUM );
assert( can_do( FL_ACCUM ) );
}
void Canvas::InitGl()
{
valid(1);
FixViewport(w(), h());
// set gl state that won't change every redraw
glClearColor ( 0.7, 0.7, 0.8, 1.0);
glDisable( GL_LIGHTING );
glEnable( GL_DEPTH_TEST );
glDepthFunc( GL_LESS );
glCullFace( GL_BACK );
glEnable (GL_CULL_FACE);
glEnable( GL_BLEND );
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );
glEnable( GL_LINE_SMOOTH );
glHint( GL_LINE_SMOOTH_HINT, GL_FASTEST );
glDepthMask( GL_TRUE );
glEnable( GL_TEXTURE_2D );
glEnableClientState( GL_VERTEX_ARRAY );
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
// install a font
gl_font( FL_HELVETICA, 12 );
blur = false;
// load textures
std::string fullpath = FileManager::findFile( "assets/stall.png" );
if ( fullpath == "" )
{
PRINT_DEBUG( "Unable to load texture.\n" );
}
GLuint stall_id = TextureManager::getInstance().loadTexture( fullpath.c_str() );
TextureManager::getInstance()._stall_texture_id = stall_id;
//TODO merge this code into the textureManager?
int i, j;
for (i = 0; i < checkImageHeight; i++)
for (j = 0; j < checkImageWidth; j++)
{
int even = (i+j)%2;
checkImage[i][j][0] = (GLubyte) 255 - 10*even;
checkImage[i][j][1] = (GLubyte) 255 - 10*even;
checkImage[i][j][2] = (GLubyte) 255;// - 5*even;
checkImage[i][j][3] = 255;
}
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glGenTextures(1, &texName);
glBindTexture(GL_TEXTURE_2D, texName);
glEnable(GL_TEXTURE_2D);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, checkImageWidth, checkImageHeight,
0, GL_RGBA, GL_UNSIGNED_BYTE, checkImage);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
init_done = true;
}
Canvas::~Canvas()
{
// nothing to do
}
Model* Canvas::getModel( int x, int y )
{
// render all models in a unique color
make_current(); // make sure the GL context is current
glClearColor( 1,1,1,1 ); // white
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glLoadIdentity();
current_camera->SetProjection();
current_camera->Draw();
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
glDisable(GL_DITHER);
glDisable(GL_BLEND); // turns off alpha blending, so we read back
// exactly what we write to a pixel
// render all top-level, draggable models in a color that is their
// id
for( GList* it= world->World::children; it; it=it->next )
{
Model* mod = (Model*)it->data;
if( mod->gui.mask & (STG_MOVE_TRANS | STG_MOVE_ROT ))
{
uint8_t rByte, gByte, bByte, aByte;
uint32_t modelId = mod->id;
rByte = modelId;
gByte = modelId >> 8;
bByte = modelId >> 16;
aByte = modelId >> 24;
//printf("mod->Id(): 0x%X, rByte: 0x%X, gByte: 0x%X, bByte: 0x%X, aByte: 0x%X\n", modelId, rByte, gByte, bByte, aByte);
glColor4ub( rByte, gByte, bByte, aByte );
mod->DrawPicker();
}
}
// read the color of the pixel in the back buffer under the mouse
// pointer
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT,viewport);
uint8_t rByte, gByte, bByte, aByte;
uint32_t modelId;
glReadPixels( x,viewport[3]-y,1,1,
GL_RED,GL_UNSIGNED_BYTE,(void*)&rByte );
glReadPixels( x,viewport[3]-y,1,1,
GL_GREEN,GL_UNSIGNED_BYTE,(void*)&gByte );
glReadPixels( x,viewport[3]-y,1,1,
GL_BLUE,GL_UNSIGNED_BYTE,(void*)&bByte );
glReadPixels( x,viewport[3]-y,1,1,
GL_ALPHA,GL_UNSIGNED_BYTE,(void*)&aByte );
modelId = rByte;
modelId |= gByte << 8;
modelId |= bByte << 16;
//modelId |= aByte << 24;
// printf("Clicked rByte: 0x%X, gByte: 0x%X, bByte: 0x%X, aByte: 0x%X\n", rByte, gByte, bByte, aByte);
// printf("-->model Id = 0x%X\n", modelId);
Model* mod = Model::LookupId( modelId );
//printf("%p %s %d %x\n", mod, mod ? mod->Token() : "(none)", id, id );
// put things back the way we found them
glEnable(GL_DITHER);
glEnable(GL_BLEND);
glClearColor ( 0.7, 0.7, 0.8, 1.0);
// useful for debugging the picker
//Screenshot();
return mod;
}
bool Canvas::selected( Model* mod ) {
if( g_list_find( selected_models, mod ) )
return true;
else
return false;
}
void Canvas::select( Model* mod ) {
if( mod )
{
last_selection = mod;
selected_models = g_list_prepend( selected_models, mod );
// mod->Disable();
redraw();
}
}
void Canvas::unSelect( Model* mod ) {
if( mod )
{
if ( GList* link = g_list_find( selected_models, mod ) )
{
// remove it from the selected list
selected_models =
g_list_remove_link( selected_models, link );
// mod->Enable();
redraw();
}
}
}
void Canvas::unSelectAll() {
// for( GList* it=selected_models; it; it=it->next )
// ((Model*)it->data)->Enable();
g_list_free( selected_models );
selected_models = NULL;
}
// convert from 2d window pixel to 3d world coordinates
void Canvas::CanvasToWorld( int px, int py,
double *wx, double *wy, double* wz )
{
if( px <= 0 )
px = 1;
else if( px >= w() )
px = w() - 1;
if( py <= 0 )
py = 1;
else if( py >= h() )
py = h() - 1;
//redraw the screen only if the camera model isn't active.
//TODO new selection technique will simply use drawfloor to result in z = 0 always and prevent strange behaviours near walls
//TODO refactor, so glReadPixels reads (then caches) the whole screen only when the camera changes.
if( true || dirtyBuffer() ) {
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
current_camera->SetProjection();
current_camera->Draw();
DrawFloor(); //call this rather than renderFrame for speed - this won't give correct z values
dirty_buffer = false;
}
int viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
GLdouble modelview[16];
glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
GLdouble projection[16];
glGetDoublev(GL_PROJECTION_MATRIX, projection);
GLfloat pz;
glReadPixels( px, h()-py, 1, 1, GL_DEPTH_COMPONENT, GL_FLOAT, &pz );
gluUnProject( px, w()-py, pz, modelview, projection, viewport, wx,wy,wz );
}
int Canvas::handle(int event)
{
switch(event)
{
case FL_MOUSEWHEEL:
if( pCamOn == true ) {
perspective_camera.scroll( Fl::event_dy() / 10.0 );
}
else {
camera.scale( Fl::event_dy(), Fl::event_x(), w(), Fl::event_y(), h() );
}
invalidate();
redraw();
return 1;
case FL_MOVE: // moused moved while no button was pressed
if ( startx >=0 ) {
// mouse pointing to valid value
if( Fl::event_state( FL_CTRL ) )
{
int dx = Fl::event_x() - startx;
int dy = Fl::event_y() - starty;
if( pCamOn == true ) {
perspective_camera.addYaw( -dx );
perspective_camera.addPitch( -dy );
}
else {
camera.addPitch( - 0.5 * static_cast<double>( dy ) );
camera.addYaw( - 0.5 * static_cast<double>( dx ) );
}
invalidate();
redraw();
}
else if( Fl::event_state( FL_ALT ) )
{
int dx = Fl::event_x() - startx;
int dy = Fl::event_y() - starty;
if( pCamOn == true ) {
perspective_camera.move( -dx, dy, 0.0 );
}
else {
camera.move( -dx, dy );
}
invalidate();
}
}
startx = Fl::event_x();
starty = Fl::event_y();
return 1;
case FL_PUSH: // button pressed
{
Model* mod = getModel( startx, starty );
startx = Fl::event_x();
starty = Fl::event_y();
selectedModel = false;
switch( Fl::event_button() )
{
case 1:
clicked_empty_space = ( mod == NULL );
empty_space_startx = startx;
empty_space_starty = starty;
if( mod ) {
// clicked a model
if ( Fl::event_state( FL_SHIFT ) ) {
// holding shift, toggle selection
if ( selected( mod ) )
unSelect( mod );
else {
select( mod );
selectedModel = true; // selected a model
}
}
else {
if ( !selected( mod ) ) {
// clicked on an unselected model while
// not holding shift, this is the new
// selection
unSelectAll();
select( mod );
}
selectedModel = true; // selected a model
}
}
return 1;
case 3:
{
// leave selections alone
// rotating handled within FL_DRAG
return 1;
}
default:
return 0;
}
}
case FL_DRAG: // mouse moved while button was pressed
{
int dx = Fl::event_x() - startx;
int dy = Fl::event_y() - starty;
if ( Fl::event_state( FL_BUTTON1 ) && Fl::event_state( FL_CTRL ) == false ) {
// Left mouse button drag
if ( selectedModel ) {
// started dragging on a selected model
double sx,sy,sz;
CanvasToWorld( startx, starty,
&sx, &sy, &sz );
double x,y,z;
CanvasToWorld( Fl::event_x(), Fl::event_y(),
&x, &y, &z );
// move all selected models to the mouse pointer
for( GList* it = selected_models; it; it=it->next )
{
Model* mod = (Model*)it->data;
mod->AddToPose( x-sx, y-sy, 0, 0 );
}
}
else {
// started dragging on empty space or an
// unselected model, move the canvas
if( pCamOn == true ) {
perspective_camera.move( -dx, dy, 0.0 );
}
else {
camera.move( -dx, dy );
}
invalidate(); // so the projection gets updated
}
}
else if ( Fl::event_state( FL_BUTTON3 ) || ( Fl::event_state( FL_BUTTON1 ) && Fl::event_state( FL_CTRL ) ) ) {
// rotate all selected models
for( GList* it = selected_models; it; it=it->next )
{
Model* mod = (Model*)it->data;
mod->AddToPose( 0,0,0, 0.05*(dx+dy) );
}
}
startx = Fl::event_x();
starty = Fl::event_y();
redraw();
return 1;
} // end case FL_DRAG
case FL_RELEASE: // mouse button released
if( empty_space_startx == Fl::event_x() && empty_space_starty == Fl::event_y() && clicked_empty_space == true ) {
// clicked on empty space, unselect all
unSelectAll();
}
return 1;
case FL_FOCUS:
case FL_UNFOCUS:
//.... Return 1 if you want keyboard events, 0 otherwise
return 1;
case FL_KEYBOARD:
switch( Fl::event_key() )
{
case 'p': // pause
world->TogglePause();
if( ! world->paused )
{
// // start the timer that causes regular redraws
Fl::add_timeout( ((double)interval/1000),
(Fl_Timeout_Handler)Canvas::TimerCallback,
this);
}
else
{ // remove the timeout
Fl::remove_timeout( (Fl_Timeout_Handler)Canvas::TimerCallback );
}
redraw(); // in case something happened that will never be
// drawn 'cos we cancelled the timeout
break;
case ' ': // space bar
// if the worldfile doesn't have the fields you need, you get
// a weird view. need to think this through a bit before
// eliminating the old behaviour - rtv
//if ( wf )
//current_camera->Load( wf, wf->LookupEntity( "window" ) );
//else
current_camera->reset();
//invalidate();
if( Fl::event_state( FL_CTRL ) ) {
resetCamera();
}
redraw();
break;
case '[': // slow down
if( world->interval_real == 0 )
world->interval_real = 10;
else
{
world->interval_real *= 1.2;
}
break; // need the parens above
case ']': // speed up
if( world->interval_real == 0 )
putchar( 7 ); // bell!
else
{
world->interval_real *= 0.8;
if( world->interval_real < 10 )
world->interval_real = 0;
}
break;
case FL_Left:
if( pCamOn == false ) { camera.move( -10, 0 ); }
else { perspective_camera.strafe( -0.5 ); } break;
case FL_Right:
if( pCamOn == false ) {camera.move( 10, 0 ); }
else { perspective_camera.strafe( 0.5 ); } break;
case FL_Down:
if( pCamOn == false ) {camera.move( 0, -10 ); }
else { perspective_camera.forward( -0.5 ); } break;
case FL_Up:
if( pCamOn == false ) {camera.move( 0, 10 ); }
else { perspective_camera.forward( 0.5 ); } break;
default:
redraw(); // we probably set a display config - so need this
return 0; // keypress unhandled
}
invalidate(); // update projection
return 1;
// case FL_SHORTCUT:
// //... shortcut, key is in Fl::event_key(), ascii in Fl::event_text()
// //... Return 1 if you understand/use the shortcut event, 0 otherwise...
// return 1;
default:
// pass other events to the base class...
//printf( "EVENT %d\n", event );
return Fl_Gl_Window::handle(event);
} // end switch( event )
}
void Canvas::FixViewport(int W,int H)
{
glLoadIdentity();
glViewport(0,0,W,H);
}
void Canvas::AddModel( Model* mod )
{
models_sorted = g_list_append( models_sorted, mod );
}
void Canvas::DrawGlobalGrid()
{
stg_bounds3d_t bounds = world->GetExtent();
/* printf( "bounds [%.2f %.2f] [%.2f %.2f] [%.2f %.2f]\n",
bounds.x.min, bounds.x.max,
bounds.y.min, bounds.y.max,
bounds.z.min, bounds.z.max );
*/
char str[64];
PushColor( 0.15, 0.15, 0.15, 1.0 ); // pale gray
for( double i = floor(bounds.x.min); i < bounds.x.max; i++)
{
snprintf( str, 16, "%d", (int)i );
Gl::draw_string( i, 0, 0.00, str );
}
for( double i = floor(bounds.y.min); i < bounds.y.max; i++)
{
snprintf( str, 16, "%d", (int)i );
Gl::draw_string( 0, i, 0.00, str );
}
PopColor();
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(2.0, 2.0);
glDisable(GL_BLEND);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, texName);
glColor3f( 1.0, 1.0, 1.0 );
glBegin(GL_QUADS);
glTexCoord2f( bounds.x.min/2.0, bounds.y.min/2.0 );
glVertex2f( bounds.x.min, bounds.y.min );
glTexCoord2f( bounds.x.max/2.0, bounds.y.min/2.0);
glVertex2f( bounds.x.max, bounds.y.min );
glTexCoord2f( bounds.x.max/2.0, bounds.y.max/2.0 );
glVertex2f( bounds.x.max, bounds.y.max );
glTexCoord2f( bounds.x.min/2.0, bounds.y.max/2.0 );
glVertex2f( bounds.x.min, bounds.y.max );
glEnd();
glDisable(GL_TEXTURE_2D);
glEnable(GL_BLEND);
glDisable(GL_POLYGON_OFFSET_FILL );
}
//draw the floor without any grid ( for robot's perspective camera model )
void Canvas::DrawFloor()
{
stg_bounds3d_t bounds = world->GetExtent();
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(2.0, 2.0);
glColor4f( 1.0, 1.0, 1.0, 1.0 );
glBegin(GL_QUADS);
glVertex2f( bounds.x.min, bounds.y.min );
glVertex2f( bounds.x.max, bounds.y.min );
glVertex2f( bounds.x.max, bounds.y.max );
glVertex2f( bounds.x.min, bounds.y.max );
glEnd();
glEnd();
}
void Canvas::DrawBlocks()
{
LISTMETHOD( models_sorted, Model*, DrawBlocksTree );
}
void Canvas::DrawBoundingBoxes()
{
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
glLineWidth( 2.0 );
glPointSize( 5.0 );
glDisable (GL_CULL_FACE);
world->DrawBoundingBoxTree();
glEnable (GL_CULL_FACE);
glLineWidth( 1.0 );
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
}
inline void Canvas::resetCamera()
{
float max_x = 0, max_y = 0, min_x = 0, min_y = 0;
//TODO take orrientation ( `a' ) and geom.pose offset into consideration
for( GList* it=world->World::children; it; it=it->next ) {
Model* ptr = (Model*) it->data;
Pose pose = ptr->GetPose();
Geom geom = ptr->GetGeom();
float tmp_min_x = pose.x - geom.size.x / 2.0;
float tmp_max_x = pose.x + geom.size.x / 2.0;
float tmp_min_y = pose.y - geom.size.y / 2.0;
float tmp_max_y = pose.y + geom.size.y / 2.0;
if( tmp_min_x < min_x ) min_x = tmp_min_x;
if( tmp_max_x > max_x ) max_x = tmp_max_x;
if( tmp_min_y < min_y ) min_y = tmp_min_y;
if( tmp_max_y > max_y ) max_y = tmp_max_y;
}
//do a complete reset
float x = ( min_x + max_x ) / 2.0;
float y = ( min_y + max_y ) / 2.0;
camera.setPose( x, y );
float scale_x = w() / (max_x - min_x) * 0.9;
float scale_y = h() / (max_y - min_y) * 0.9;
camera.setScale( scale_x < scale_y ? scale_x : scale_y );
//TODO reset perspective cam
}
// used to sort a list of models by inverse distance from the x,y pose in [coords]
gint compare_distance( Model* a, Model* b, double coords[2] )
{
Pose a_pose = a->GetGlobalPose();
Pose b_pose = b->GetGlobalPose();
double a_dist = hypot( coords[1] - a_pose.y,
coords[0] - a_pose.x );
double b_dist = hypot( coords[1] - b_pose.y,
coords[0] - b_pose.x );
if( a_dist < b_dist )
return 1;
if( a_dist > b_dist )
return -1;
return 0; // must be the same
}
void Canvas::renderFrame()
{
//before drawing, order all models based on distance from camera
float x = current_camera->x();
float y = current_camera->y();
float sphi = -dtor( current_camera->yaw() );
//estimate point of camera location - hard to do with orthogonal mode
x += -sin( sphi ) * 100;
y += -cos( sphi ) * 100;
double coords[2];
coords[0] = x;
coords[1] = y;
// sort the list of models by inverse distance from the camera -
// probably doesn't change too much between frames so this is
// usually fast
models_sorted = g_list_sort_with_data( models_sorted, (GCompareDataFunc)compare_distance, coords );
glEnable( GL_DEPTH_TEST );
if( ! showTrails )
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
if( showTree || showOccupancy )
{
glPushMatrix();
GLfloat scale = 1.0/world->Resolution();
glScalef( scale, scale, 1.0 ); // XX TODO - this seems slightly
// out for Z. look into it.
if( showOccupancy )
((WorldGui*)world)->DrawTree( false );
if( showTree )
((WorldGui*)world)->DrawTree( true );
glPopMatrix();
}
if( showFootprints )
{
glDisable( GL_DEPTH_TEST );
LISTMETHOD( models_sorted, Model*, DrawTrailFootprint );
glEnable( GL_DEPTH_TEST );
}
if( showGrid )
DrawGlobalGrid();
else
DrawFloor();
if( showBlocks )
DrawBlocks();
if( showBBoxes )
DrawBoundingBoxes();
// TODO - finish this properly
//LISTMETHOD( models_sorted, Model*, DrawWaypoints );
// MOTION BLUR
if( 0 )//showBlur )
{
DrawBlocks();
//static float count = 0;
if( ! blur )
{
blur = true;
glClear( GL_ACCUM_BUFFER_BIT | GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glAccum( GL_LOAD, 1.0 );
}
else
{
glAccum( GL_MULT, 0.9 );
glAccum( GL_ACCUM, 0.1 );
glAccum( GL_RETURN, 1.1 );
DrawBlocks(); // outline at current location
}
}
// GRAY TRAILS
// if( showBlur )
// {
// static float count = 0;
// if( ! blur )
// {
// blur = true;
// glClear( GL_ACCUM_BUFFER_BIT );
// DrawBlocks();
// glAccum( GL_LOAD, 1.0 );
// }
// else
// {
// glAccum( GL_MULT, 0.9 );
// DrawBlocks();
// glAccum( GL_ACCUM, 0.1);
// glAccum( GL_RETURN, 1.0 );
// DrawBlocks();
// }
// }
// PRETTY BLACK
// if( showBlur && showBlocks )
// {
// static float count = 0;
// if( ! blur )
// {
// blur = true;
// glClear( GL_ACCUM_BUFFER_BIT );
// DrawBlocks();
// glAccum( GL_LOAD, 1.0 );
// }
// else
// {
// glAccum( GL_MULT, 0.9 );
// glAccum( GL_RETURN, 1.0 );
// DrawBlocks();
// glAccum( GL_ACCUM, 0.1);
// glAccum( GL_RETURN, 1.0 );
// DrawBlocks();
// }
// }
// if( showTrailRise )
// {
// for( std::multimap< float, Model* >::reverse_iterator i = ordered.rbegin(); i != ordered.rend(); i++ ) {
// i->second->DrawTrailBlocks();
// }
// }
// if( showTrailArrows )
// {
// glEnable( GL_DEPTH_TEST );
// for( std::multimap< float, Model* >::reverse_iterator i = ordered.rbegin(); i != ordered.rend(); i++ ) {
// i->second->DrawTrailArrows();
// }
// }
for( GList* it=selected_models; it; it=it->next )
((Model*)it->data)->DrawSelected();
for( GList* it=world->chargers; it; it=it->next )
((Charger*)it->data)->Visualize();
// useful debug - puts a point at the origin of each model
//for( GList* it = world->World::children; it; it=it->next )
// ((Model*)it->data)->DrawOriginTree();
// draw the model-specific visualizations
if( showData ) {
if ( ! visualizeAll ) {
for( GList* it = world->World::children; it; it=it->next )
((Model*)it->data)->DataVisualizeTree( current_camera );
}
else if ( selected_models ) {
for( GList* it = selected_models; it; it=it->next )
((Model*)it->data)->DataVisualizeTree( current_camera );
}
else if ( last_selection ) {
last_selection->DataVisualizeTree( current_camera );
}
}
if( showGrid )
LISTMETHOD( models_sorted, Model*, DrawGrid );
if( showFlags )
LISTMETHOD( models_sorted, Model*, DrawFlagList );
if( showBlinken )
LISTMETHOD( models_sorted, Model*, DrawBlinkenlights );
if( showStatus )
{
glDisable( GL_DEPTH_TEST );
glPushMatrix();
//ensure two icons can't be in the exact same plane
if( camera.pitch() == 0 && !pCamOn )
glTranslatef( 0, 0, 0.1 );
LISTMETHODARG( models_sorted, Model*, DrawStatusTree, &camera );
glEnable( GL_DEPTH_TEST );
glPopMatrix();
}
if( world->GetRayList() )
{
glDisable( GL_DEPTH_TEST );
PushColor( 0,0,0,0.5 );
for( GList* it = world->GetRayList(); it; it=it->next )
{
float* pts = (float*)it->data;
glBegin( GL_LINES );
glVertex2f( pts[0], pts[1] );
glVertex2f( pts[2], pts[3] );
glEnd();
}
PopColor();
glEnable( GL_DEPTH_TEST );
world->ClearRays();
}
if( showClock )
{
//use orthogonal projeciton without any zoom
glMatrixMode (GL_PROJECTION);
glPushMatrix(); //save old projection
glLoadIdentity ();
glOrtho( 0, w(), 0, h(), -100, 100 );
glMatrixMode (GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glDisable( GL_DEPTH_TEST );
// if trails are on, we need to clear the clock background
std::string clockstr = world->ClockString();
if( showFollow == true && last_selection )
clockstr.append( " [ FOLLOW MODE ]" );
fl_font( FL_HELVETICA, 12 );
float txtWidth = gl_width( clockstr.c_str() );
int txtHeight = gl_height();
int width, height;
width = int( txtWidth / 10 ) * 10;
height = ( txtHeight / 5 + 1 ) * 5;
float margin = ( height - txtHeight ) * 0.75;