Update of /cvsroot/playerstage/code/stage/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15823/src
Modified Files:
Tag: opengl
gui_gl.c p_driver.h
Added Files:
Tag: opengl
p_graphics3d.cc
Log Message:
working on graphics3d
Index: p_driver.h
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/p_driver.h,v
retrieving revision 1.21.4.1
retrieving revision 1.21.4.2
diff -C2 -d -r1.21.4.1 -r1.21.4.2
*** p_driver.h 19 Jun 2007 02:00:46 -0000 1.21.4.1
--- p_driver.h 20 Jun 2007 01:41:39 -0000 1.21.4.2
***************
*** 301,305 ****
private:
! GArray* commands; // array of drawing commands
bool rebuild_displaylist;
int displaylist;
--- 301,305 ----
private:
! GList* commands; // array of drawing commands
bool rebuild_displaylist;
int displaylist;
--- NEW FILE: p_graphics3d.cc ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2004, 2005 Richard Vaughan
*
*
* 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 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
* Desc: A plugin driver for Player that gives access to Stage devices.
* Author: Richard Vaughan
* Date: 10 December 2004
* CVS: $Id: p_graphics3d.cc,v 1.1.2.1 2007/06/20 01:41:39 rtv Exp $
*/
#include "p_driver.h"
#include <iostream>
using namespace std;
#ifdef G_OS_WIN32
#define WIN32_LEAN_AND_MEAN 1
#include <windows.h>
#endif
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glext.h>
extern GList* dl_list;
// DOCUMENTATION ------------------------------------------------------------
/** @addtogroup player
@par Graphics3d interface
- PLAYER_GRAPHICS3D_CMD_CLEAR
- PLAYER_GRAPHICS3D_CMD_DRAW
*/
// static unsigned int rgb32_pack( player_color_t *pcol )
// {
// unsigned int col=0;
// col = pcol->red << 16;
// col += pcol->green << 8;
// col += pcol->blue;
// return col;
// }
InterfaceGraphics3d::InterfaceGraphics3d( player_devaddr_t addr,
StgDriver* driver,
ConfigFile* cf,
int section )
: InterfaceModel( addr, driver, cf, section, NULL )
{
// data members
commands = NULL;
displaylist = glGenLists( 1 );
printf( "allocated dl %d\n", displaylist );
rebuild_displaylist = FALSE;
dl_list = g_list_append( dl_list, (void*)displaylist );
}
InterfaceGraphics3d::~InterfaceGraphics3d( void )
{
Clear();
}
// utility for g_free()ing everything in a list
void list_gfree( GList* list )
{
// free all the data in the list
GList* it;
for( it=list; it; it=it->next )
g_free( it->data );
// free the list elements themselves
g_list_free( list );
}
void InterfaceGraphics3d::Clear( void )
{
// empty the list safely
list_gfree( commands );
commands = NULL;
// empty the display list
puts( "CLEARING DISPLAYLIST" );
glNewList( displaylist, GL_COMPILE );
glEndList();
}
int InterfaceGraphics3d::ProcessMessage(MessageQueue* resp_queue,
player_msghdr_t* hdr,
void* data)
{
// printf( "Stage graphics3d interface processing message\n" );
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_GRAPHICS3D_CMD_CLEAR,
this->addr))
{
Clear();
return 0; //ok
}
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_GRAPHICS3D_CMD_DRAW,
this->addr))
{
// use glib's nice function to allocate memory and duplicate the
// data buffer
player_graphics3d_cmd_draw_t* cmd = (player_graphics3d_cmd_draw_t*)
g_memdup( data, sizeof(player_graphics3d_cmd_draw_t) );
// store this command
commands = g_list_append( commands, cmd );
printf( "received a g3d command of type %d and %d points\n\n",
cmd->draw_mode,
cmd->points_count );
// trigger display list update on next Publish()
rebuild_displaylist = TRUE;
return 0; //ok
}
PLAYER_WARN2("stage graphics3d doesn't support message %d:%d.",
hdr->type, hdr->subtype );
return -1;
}
void InterfaceGraphics3d::Publish( void )
{
// rebuild this device's OpenGL display list
if( rebuild_displaylist )
{
printf( "rebuilding display list %d commands\n", g_list_length(commands)
);
// execute the commands
glNewList( displaylist, GL_COMPILE );
// move into the relevant model's coordinate frame
stg_pose_t gpose;
stg_model_get_global_pose( mod, &gpose );
glPushMatrix();
glTranslatef( gpose.x, gpose.y, 0 );
glRotatef( RTOD(gpose.a), 0,0,1 ); // z-axis rotation
GList* it;
for( it=commands; it; it=it->next )
{
player_graphics3d_cmd_draw_t* cmd =
(player_graphics3d_cmd_draw_t*)it->data;
// player color elements are uint8_t type
glColor4ub( cmd->color.red,
cmd->color.green,
cmd->color.blue,
cmd->color.alpha );
//printf( "COMMAND MODE %d\n", cmd->draw_mode );
switch( cmd->draw_mode )
{
case PLAYER_DRAW_POINTS:
glPointSize( 2 );
glBegin( GL_POINTS );
break;
case PLAYER_DRAW_LINES:
glBegin( GL_LINES );
break;
case PLAYER_DRAW_LINE_STRIP:
glBegin( GL_LINE_STRIP );
break;
case PLAYER_DRAW_LINE_LOOP:
glBegin( GL_LINE_LOOP );
break;
case PLAYER_DRAW_TRIANGLES:
glBegin( GL_TRIANGLES );
break;
case PLAYER_DRAW_TRIANGLE_STRIP:
glBegin( GL_TRIANGLE_STRIP );
break;
case PLAYER_DRAW_TRIANGLE_FAN:
glBegin( GL_TRIANGLE_FAN );
break;
case PLAYER_DRAW_QUADS:
glBegin( GL_QUADS );
break;
case PLAYER_DRAW_QUAD_STRIP:
glBegin( GL_QUAD_STRIP );
break;
case PLAYER_DRAW_POLYGON:
glBegin( GL_POLYGON );
break;
default:
PRINT_WARN1( "drawing mode %d not handled", cmd->draw_mode );
}
int c;
for( c=0; c<cmd->points_count; c++ )
{
glVertex3f( cmd->points[c].px,
cmd->points[c].py,
cmd->points[c].pz );
//printf( "vertex [%.2f,%.2f,%.2f]\n",
// cmd->points[c].px,
// cmd->points[c].py,
// cmd->points[c].pz );
}
glEnd();
}
glPopMatrix(); // drop out of the model's CS
glEndList();
puts("");
rebuild_displaylist = FALSE;
}
}
Index: gui_gl.c
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/gui_gl.c,v
retrieving revision 1.1.2.17
retrieving revision 1.1.2.18
diff -C2 -d -r1.1.2.17 -r1.1.2.18
*** gui_gl.c 19 Jun 2007 02:00:46 -0000 1.1.2.17
--- gui_gl.c 20 Jun 2007 01:41:38 -0000 1.1.2.18
***************
*** 1641,1645 ****
{
int dl = (int)it->data;
! printf( "Calling dl %d\n", dl );
glCallList( (int)it->data );
}
--- 1641,1645 ----
{
int dl = (int)it->data;
! //printf( "Calling dl %d\n", dl );
glCallList( (int)it->data );
}
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