Update of /cvsroot/playerstage/code/stage/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26448/src
Modified Files:
Tag: opengl
block.cc gui_gl.c matrix.c model.cc model_laser.cc
model_load.cc raytrace.cc stage_internal.h stg_time.cc
world.cc
Log Message:
working on raytracing. fixed antialiasing bug
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/model_laser.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** model_laser.cc 9 Jul 2007 00:03:24 -0000 1.1.2.2
--- model_laser.cc 10 Jul 2007 02:15:47 -0000 1.1.2.3
***************
*** 17,24 ****
--- 17,26 ----
#include <sys/time.h>
#include <math.h>
+ #include <GL/gl.h>
#include "gui.h"
#include "model.hh"
+
#define TIMING 0
#define LASER_FILLED 1
***************
*** 82,85 ****
--- 84,89 ----
// sensible laser defaults
+ this->update_interval_ms = 200; // common for a SICK LMS200
+
stg_geom_t geom;
memset( &geom, 0, sizeof(geom));
***************
*** 155,161 ****
void StgModelLaser::Update( void )
! {
StgModel::Update();
!
// no work to do if we're unsubscribed
if( this->subs < 1 )
--- 159,167 ----
void StgModelLaser::Update( void )
! {
StgModel::Update();
!
! puts( "LASER UPDATE" );
!
// no work to do if we're unsubscribed
if( this->subs < 1 )
***************
*** 194,198 ****
double bearing = gpose.a - cfg->fov/2.0 + sample_incr * t;
! itl_t* itl = itl_create( gpose.x, gpose.y,
bearing,
cfg->range_max,
--- 200,204 ----
double bearing = gpose.a - cfg->fov/2.0 + sample_incr * t;
! itl_t* itl = itl_create( gpose.x, gpose.y, gpose.z,
bearing,
cfg->range_max,
***************
*** 213,217 ****
if( hitmod )
{
! printf( "hit model %s\n", hitmod->Token() );
scan[t].range = MAX( itl->range, cfg->range_min );
scan[t].hitpoint.x = itl->x;
--- 219,223 ----
if( hitmod )
{
! //printf( "hit model %s\n", hitmod->Token() );
scan[t].range = MAX( itl->range, cfg->range_min );
scan[t].hitpoint.x = itl->x;
***************
*** 272,276 ****
(tv1.tv_sec + tv1.tv_usec / 1e6) );
#endif
-
}
--- 278,281 ----
***************
*** 311,312 ****
--- 316,384 ----
// StgModel::Draw();
// }
+
+ void StgModelLaser::GuiGenerateData( void )
+ {
+ puts ("GL laser data" );
+
+ glNewList( this->dl_data, GL_COMPILE );
+
+ stg_laser_sample_t* samples = (stg_laser_sample_t*)this->data;
+ size_t sample_count = this->data_len / sizeof(stg_laser_sample_t);
+ stg_laser_config_t *cfg = (stg_laser_config_t*)this->cfg;
+ assert( cfg );
+
+ if( samples && sample_count )
+ {
+ // do alpha properly
+ glDepthMask( GL_FALSE );
+
+ glPushMatrix();
+ glTranslatef( 0,0, this->geom.size.z/2.0 ); // shoot the laser beam out
at the right height
+
+ // pack the laser hit points into a vertex array for fast rendering
+ static float* pts = NULL;
+ pts = (float*)g_realloc( pts, 2 * (sample_count+1) * sizeof(float));
+
+ pts[0] = 0.0;
+ pts[1] = 0.0;
+
+ for( int s=0; s<sample_count; s++ )
+ {
+ double ray_angle = (s * (cfg->fov / (sample_count-1))) -
cfg->fov/2.0;
+ pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
+ pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );
+ }
+
+ glEnableClientState( GL_VERTEX_ARRAY );
+ glVertexPointer( 2, GL_FLOAT, 0, pts );
+
+ glColor4f( 0, 0, 1, 0.2 );
+ glPolygonMode( GL_FRONT_AND_BACK, world->win->show_alpha ? GL_FILL :
GL_LINES );
+ glDrawArrays( GL_POLYGON, 0, sample_count+1 );
+
+ glPopMatrix();
+ glDepthMask( GL_TRUE );
+ }
+
+ glEndList();
+
+ world->win->dirty = true;
+
+ //make_dirty(mod);
+
+ /* // loop through again, drawing bright boxes on top of the polygon */
+ /* for( s=0; s<sample_count; s++ ) */
+ /* { */
+ /* // if this hit point is bright, we draw a little box */
+ /* if( samples[s].reflectance > 0 ) */
+ /* { */
+ /* stg_rtk_fig_color_rgb32( fg, bright_color ); */
+ /* stg_rtk_fig_rectangle( fg, */
+ /* points[1+s].x, points[1+s].y, 0, */
+ /* 0.04, 0.04, 1 ); */
+ /* stg_rtk_fig_color_rgb32( fg, laser_color ); */
+ /* } */
+ /* } */
+ }
+
+
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/model.cc,v
retrieving revision 1.1.2.3
retrieving revision 1.1.2.4
diff -C2 -d -r1.1.2.3 -r1.1.2.4
*** model.cc 9 Jul 2007 00:03:24 -0000 1.1.2.3
--- model.cc 10 Jul 2007 02:15:47 -0000 1.1.2.4
***************
*** 153,156 ****
--- 153,158 ----
bool inherit_color )
{
+ //Map( 0 );
+
this->blocks =
g_list_prepend( this->blocks,
***************
*** 161,164 ****
--- 163,168 ----
// force recreation of display lists before drawing
this->dirty = true;
+
+ //Map( 1 );
}
***************
*** 330,333 ****
--- 334,340 ----
this->gui_mask = this->parent ? 0 : STG_DEFAULT_MASK;
+ this->last_update_ms = -1;
+ this->update_interval_ms = 100;
+
// now we can add the basic square shape
this->AddBlockRect( -0.5,-0.5,1,1 );
***************
*** 567,586 ****
}
-
- // // a virtual method init after the constructor
- // void StgModel::Initialize( void )
- // {
- // printf( "Initialize model %s\n", this->token );
-
- // // TODO
- // // GUI init
- // // other init?
-
- // }
-
-
void StgModel::Startup( void )
{
printf( "Startup model %s\n", this->token );
CallCallbacks( &startup );
}
--- 574,583 ----
}
void StgModel::Startup( void )
{
printf( "Startup model %s\n", this->token );
+
+ stg_world_start_updating_model( this->world, this );
+
CallCallbacks( &startup );
}
***************
*** 589,595 ****
--- 586,609 ----
{
printf( "Shutdown model %s\n", this->token );
+
+ stg_world_stop_updating_model( this->world, this );
+
CallCallbacks( &shutdown );
}
+ void StgModel::UpdateTreeIfDue( void )
+ {
+ if( this->world->sim_time_ms >=
+ (this->last_update_ms + this->update_interval_ms) )
+ this->Update();
+
+ LISTMETHOD( this->children, StgModel*, UpdateTreeIfDue );
+ }
+
+ void StgModel::UpdateTree( void )
+ {
+ LISTMETHOD( this->children, StgModel*, UpdateTree );
+ }
+
void StgModel::Update( void )
{
***************
*** 599,610 ****
this->CallCallbacks( &update );
! LISTMETHOD( this->children, StgModel*, Update );
}
void StgModel::Draw( void )
{
! //printf( "%s.Draw()\n",
! // this->token );
glPushMatrix();
--- 613,643 ----
this->CallCallbacks( &update );
! this->last_update_ms = this->world->sim_time_ms;
}
+ void StgModel::DrawData( void )
+ {
+ glPushMatrix();
+
+ // move into this model's local coordinate frame
+ gl_pose_shift( &this->pose );
+ gl_pose_shift( &this->geom.pose );
+
+ glCallList( this->dl_data );
+
+ // shift up the CS to the top of this model
+ gl_coord_shift( 0,0, this->geom.size.z, 0 );
+
+ // recursively draw the tree below this model
+ LISTMETHOD( this->children, StgModel*, DrawData );
+
+ glPopMatrix(); // drop out of local coords
+ }
+
void StgModel::Draw( void )
{
! printf( "%s.Draw()\n",
! this->token );
glPushMatrix();
***************
*** 627,632 ****
glCallList( this->dl_body );
! glCallList( this->dl_data );
! glCallList( this->dl_data );
// shift up the CS to the top of this model
--- 660,664 ----
glCallList( this->dl_body );
! //glCallList( this->dl_data );
// shift up the CS to the top of this model
***************
*** 717,720 ****
--- 749,754 ----
this->data_len = len;
+ this->GuiGenerateData();
+
CallCallbacks( &this->data );
}
***************
*** 1445,1447 ****
-
--- 1479,1480 ----
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/world.cc,v
retrieving revision 1.154.2.2
retrieving revision 1.154.2.3
diff -C2 -d -r1.154.2.2 -r1.154.2.3
*** world.cc 8 Jul 2007 05:24:04 -0000 1.154.2.2
--- world.cc 10 Jul 2007 02:15:47 -0000 1.154.2.3
***************
*** 86,97 ****
snprintf( str, maxlen, "Ticks %lu Time: %lu:%lu:%02lu:%02lu.%03lu (sim:%3d
real:%3d ratio:%2.2f)\tsubs: %d %s",
world->updates,
! world->sim_time / (24*3600000), // days
! world->sim_time / 3600000, // hours
! (world->sim_time % 3600000) / 60000, // minutes
! (world->sim_time % 60000) / 1000, // seconds
! world->sim_time % 1000, // milliseconds
! (int)world->sim_interval,
(int)world->real_interval_measured,
! (double)world->sim_interval / (double)world->real_interval_measured,
world->subs,
world->paused ? "--PAUSED--" : "" );
--- 86,97 ----
snprintf( str, maxlen, "Ticks %lu Time: %lu:%lu:%02lu:%02lu.%03lu (sim:%3d
real:%3d ratio:%2.2f)\tsubs: %d %s",
world->updates,
! world->sim_time_ms / (24*3600000), // days
! world->sim_time_ms / 3600000, // hours
! (world->sim_time_ms % 3600000) / 60000, // minutes
! (world->sim_time_ms % 60000) / 1000, // seconds
! world->sim_time_ms % 1000, // milliseconds
! (int)world->sim_interval_ms,
(int)world->real_interval_measured,
! (double)world->sim_interval_ms / (double)world->real_interval_measured,
world->subs,
world->paused ? "--PAUSED--" : "" );
***************
*** 100,109 ****
snprintf( str, maxlen, "Ticks %lu Time:
%lu:%lu:%02lu:%02lu.%03lu\t(sim/real:%2.2f)\tsubs: %d %s",
world->updates,
! world->sim_time / (24*3600000), // days
! world->sim_time / 3600000, // hours
! (world->sim_time % 3600000) / 60000, // minutes
! (world->sim_time % 60000) / 1000, // seconds
! world->sim_time % 1000, // milliseconds
! (double)world->sim_interval / (double)world->real_interval_measured,
world->subs,
world->paused ? "--PAUSED--" : "" );
--- 100,109 ----
snprintf( str, maxlen, "Ticks %lu Time:
%lu:%lu:%02lu:%02lu.%03lu\t(sim/real:%2.2f)\tsubs: %d %s",
world->updates,
! world->sim_time_ms / (24*3600000), // days
! world->sim_time_ms / 3600000, // hours
! (world->sim_time_ms % 3600000) / 60000, // minutes
! (world->sim_time_ms % 60000) / 1000, // seconds
! world->sim_time_ms % 1000, // milliseconds
! (double)world->sim_interval_ms /
(double)world->real_interval_measured,
world->subs,
world->paused ? "--PAUSED--" : "" );
***************
*** 119,123 ****
void stg_world_set_interval_sim( stg_world_t* world, unsigned int val )
{
! world->sim_interval = val;
}
--- 119,123 ----
void stg_world_set_interval_sim( stg_world_t* world, unsigned int val )
{
! world->sim_interval_ms = val;
}
***************
*** 247,251 ****
stg_world_t* stg_world_create( stg_id_t id,
const char* token,
! int sim_interval,
int real_interval,
int gui_interval,
--- 247,251 ----
stg_world_t* stg_world_create( stg_id_t id,
const char* token,
! int sim_interval_ms,
int real_interval,
int gui_interval,
***************
*** 268,273 ****
world->models = g_hash_table_new( g_int_hash, g_int_equal );
world->models_by_name = g_hash_table_new( g_str_hash, g_str_equal );
! world->sim_time = 0.0;
! world->sim_interval = sim_interval;
world->wall_interval = real_interval;
world->gui_interval = gui_interval;
--- 268,273 ----
world->models = g_hash_table_new( g_int_hash, g_int_equal );
world->models_by_name = g_hash_table_new( g_str_hash, g_str_equal );
! world->sim_time_ms = 0.0;
! world->sim_interval_ms = sim_interval_ms;
world->wall_interval = real_interval;
world->gui_interval = gui_interval;
***************
*** 372,380 ****
printf( " [%d %lu %f] sim:%lu real:%lu ratio:%.2f freq:%.2f \n",
world->id,
! world->sim_time,
world->updates,
! world->sim_interval,
world->real_interval_measured,
! (double)world->sim_interval /
(double)world->real_interval_measured,
world->updates/t );
--- 372,380 ----
printf( " [%d %lu %f] sim:%lu real:%lu ratio:%.2f freq:%.2f \n",
world->id,
! world->sim_time_ms,
world->updates,
! world->sim_interval_ms,
world->real_interval_measured,
! (double)world->sim_interval_ms /
(double)world->real_interval_measured,
world->updates/t );
***************
*** 383,402 ****
// TEST DEBUGGING
! glNewList( dl_debug, GL_COMPILE );
! push_color_rgb( 0,1,0 );
! glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
! for( GList* it=world->children; it; it=it->next )
! ((StgModel*)it->data)->Update();
! pop_color();
! glEndList(); // dl_debug
world->wall_last_update = timenow;
! world->sim_time += world->sim_interval;
!
!
}
--- 383,401 ----
// TEST DEBUGGING
! //glNewList( dl_debug, GL_COMPILE );
! //push_color_rgb( 0,1,0 );
! //glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
! for( GList* it=world->update_list; it; it=it->next )
! ((StgModel*)it->data)->UpdateTreeIfDue();
! //pop_color();
! //glEndList(); // dl_debug
world->wall_last_update = timenow;
! world->sim_time_ms += world->sim_interval_ms;
!
}
Index: stage_internal.h
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/stage_internal.h,v
retrieving revision 1.58.2.16
retrieving revision 1.58.2.17
diff -C2 -d -r1.58.2.16 -r1.58.2.17
*** stage_internal.h 9 Jul 2007 00:03:24 -0000 1.58.2.16
--- stage_internal.h 10 Jul 2007 02:15:47 -0000 1.58.2.17
***************
*** 70,74 ****
stg_color_t color;
bool inherit_color;
! int display_list; //< id of the OpenGL displaylist to draw this block
} stg_block_t;
--- 70,74 ----
stg_color_t color;
bool inherit_color;
! // int display_list; //< id of the OpenGL displaylist to draw this
block
} stg_block_t;
***************
*** 254,259 ****
char* token; ///< the name of this world
! stg_msec_t sim_time; ///< the current time in this world
! stg_msec_t sim_interval; ///< this much simulated time elapses each step.
long unsigned int updates; ///< the number of simulaticuted
--- 254,259 ----
char* token; ///< the name of this world
! stg_msec_t sim_time_ms; ///< the current time in this world
! stg_msec_t sim_interval_ms; ///< this much simulated time elapses each
step.
long unsigned int updates; ///< the number of simulaticuted
***************
*** 285,288 ****
--- 285,290 ----
};
+ void stg_world_start_updating_model( stg_world_t* world, StgModel* mod );
+ void stg_world_stop_updating_model( stg_world_t* world, StgModel* mod );
// ROTATED RECTANGLES -------------------------------------------------
***************
*** 464,468 ****
typedef struct
{
! double x, y, a;
double cosa, sina, tana;
double range;
--- 466,470 ----
typedef struct
{
! double x, y, z, a;
double cosa, sina, tana;
double range;
***************
*** 479,483 ****
typedef int(*stg_itl_test_func_t)(StgModel* finder, StgModel* found );
! itl_t* itl_create( double x, double y, double a, double b,
stg_matrix_t* matrix, itl_mode_t pmode );
--- 481,485 ----
typedef int(*stg_itl_test_func_t)(StgModel* finder, StgModel* found );
! itl_t* itl_create( double x, double y, double z, double a, double b,
stg_matrix_t* matrix, itl_mode_t pmode );
Index: raytrace.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/raytrace.cc,v
retrieving revision 1.12.2.2
retrieving revision 1.12.2.3
diff -C2 -d -r1.12.2.2 -r1.12.2.3
*** raytrace.cc 9 Jul 2007 00:03:24 -0000 1.12.2.2
--- raytrace.cc 10 Jul 2007 02:15:47 -0000 1.12.2.3
***************
*** 55,59 ****
}
! itl_t* itl_create( double x, double y, double a, double b,
stg_matrix_t* matrix, itl_mode_t pmode )
{
--- 55,59 ----
}
! itl_t* itl_create( double x, double y, double z, double a, double b,
stg_matrix_t* matrix, itl_mode_t pmode )
{
***************
*** 63,66 ****
--- 63,67 ----
itl->x = x;
itl->y = y;
+ itl->z = z;
itl->models = NULL;
itl->index = 0;
***************
*** 161,164 ****
--- 162,166 ----
// returns the first model in the array that matches, else NULL.
static StgModel* gslist_first_matching( GSList* list,
+ stg_meters_t z,
stg_itl_test_func_t func,
StgModel* finder )
***************
*** 168,187 ****
stg_block_t* block = (stg_block_t*)list->data;
! // test the block's height. It must overlap the origin of the
! // finding model
stg_pose_t gpose;
! finder->GetGlobalPose( &gpose );
!
! stg_geom_t geom;
! finder->GetGeom( &geom );
!
! //if( (block->zmin < gpose.z - geom.size.z/2.0) ||
! // (block->zmax > gpose.z + geom.size.z/2.0) )
! //return NULL; // no overlap
!
! StgModel* candidate = block->mod;
! if( (*func)( finder, candidate ) )
return candidate;
}
--- 170,185 ----
stg_block_t* block = (stg_block_t*)list->data;
! // test to see if the block exists at height z
! StgModel* candidate = block->mod;
stg_pose_t gpose;
! candidate->GetGlobalPose( &gpose );
! double block_min = gpose.z + block->zmin;
! double block_max = gpose.z + block->zmax;
!
! if( block_min < z &&
! block_max > z &&
! (*func)( finder, candidate ) )
return candidate;
}
***************
*** 260,264 ****
{
StgModel* hitmod =
! gslist_first_matching( (GSList*)cell->data, func, finder );
if( hitmod )
--- 258,262 ----
{
StgModel* hitmod =
! gslist_first_matching( (GSList*)cell->data, itl->z, func, finder );
if( hitmod )
Index: model_load.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/model_load.cc,v
retrieving revision 1.1.2.3
retrieving revision 1.1.2.4
diff -C2 -d -r1.1.2.3 -r1.1.2.4
*** model_load.cc 9 Jul 2007 00:03:24 -0000 1.1.2.3
--- model_load.cc 10 Jul 2007 02:15:47 -0000 1.1.2.4
***************
*** 6,15 ****
void StgModel::Load( void )
! {
!
!
! //const char* typestr = wf_read_string( mod->id, "type", NULL );
! //PRINT_MSG2( "Model %p is type %s", mod, typestr );
!
if( wf->PropertyExists( this->id, "name" ) )
{
--- 6,10 ----
void StgModel::Load( void )
! {
if( wf->PropertyExists( this->id, "name" ) )
{
***************
*** 24,27 ****
--- 19,24 ----
}
+ PRINT_WARN1( "%s::Load", token );
+
if( wf->PropertyExists( this->id, "origin" ) )
{
***************
*** 75,139 ****
}
- if( wf->PropertyExists( this->id, "mass" ))
- {
- stg_kg_t mass = wf->ReadFloat(this->id, "mass", this->mass );
- this->SetMass( mass );
- }
-
- if( wf->PropertyExists( this->id, "fiducial_return" ))
- {
- int fid =
- wf->ReadInt( this->id, "fiducial_return", this->fiducial_return );
- this->SetFiducialReturn( fid );
- }
-
- if( wf->PropertyExists( this->id, "fiducial_key" ))
- {
- int fkey =
- wf->ReadInt( this->id, "fiducial_key", this->fiducial_key );
- this->SetFiducialKey( fkey );
- }
-
- if( wf->PropertyExists( this->id, "obstacle_return" ))
- {
- int obs =
- wf->ReadInt( this->id, "obstacle_return", this->obstacle_return );
- this->SetObstacleReturn( obs );
- }
-
- if( wf->PropertyExists( this->id, "ranger_return" ))
- {
- int rng =
- wf->ReadInt( this->id, "ranger_return", this->ranger_return );
- this->SetRangerReturn( rng );
- }
-
- if( wf->PropertyExists( this->id, "blob_return" ))
- {
- int blb =
- wf->ReadInt( this->id, "blob_return", this->blob_return );
- this->SetBlobReturn( blb );
- }
-
- if( wf->PropertyExists( this->id, "laser_return" ))
- {
- int lsr =
- wf->ReadInt(this->id, "laser_return", this->laser_return );
- this->SetLaserReturn( lsr );
- }
-
- if( wf->PropertyExists( this->id, "gripper_return" ))
- {
- int grp =
- wf->ReadInt( this->id, "gripper_return", this->gripper_return );
- this->SetGripperReturn( grp );
- }
-
if( wf->PropertyExists( this->id, "boundary" ))
! {
! int bdy =
! wf->ReadInt(this->id, "boundary", this->boundary );
! this->SetBoundary( bdy );
! }
if( wf->PropertyExists( this->id, "color" ))
--- 72,77 ----
}
if( wf->PropertyExists( this->id, "boundary" ))
! this->SetBoundary( wf->ReadInt(this->id, "boundary", this->boundary ));
if( wf->PropertyExists( this->id, "color" ))
***************
*** 268,289 ****
stg_block_list_scale( this->blocks, &this->geom.size );
- }
! int gui_nose = wf->ReadInt(this->id, "gui_nose", this->gui_nose );
! this->SetGuiNose(gui_nose );
!
! int gui_grid = wf->ReadInt(this->id, "gui_grid", this->gui_grid );
! this->SetGuiGrid( gui_grid );
- int gui_outline = wf->ReadInt(this->id, "gui_outline", this->gui_outline
);
- this->SetGuiOutline( gui_outline );
-
- stg_movemask_t gui_movemask = wf->ReadInt(this->id, "gui_movemask",
this->gui_mask );
- this->SetGuiMask( gui_movemask );
-
- stg_meters_t mres = wf->ReadFloat(this->id, "map_resolution",
this->map_resolution );
- this->SetMapResolution( mres );
-
// call any type-specific load callbacks
this->CallCallbacks( &this->load );
--- 206,251 ----
stg_block_list_scale( this->blocks, &this->geom.size );
+ }
! if( wf->PropertyExists( this->id, "mass" ))
! this->SetMass( wf->ReadFloat(this->id, "mass", this->mass ));
!
! if( wf->PropertyExists( this->id, "fiducial_return" ))
! this->SetFiducialReturn( wf->ReadInt( this->id, "fiducial_return",
this->fiducial_return ));
!
! if( wf->PropertyExists( this->id, "fiducial_key" ))
! this->SetFiducialKey( wf->ReadInt( this->id, "fiducial_key",
this->fiducial_key ));
!
! if( wf->PropertyExists( this->id, "obstacle_return" ))
! this->SetObstacleReturn( wf->ReadInt( this->id, "obstacle_return",
this->obstacle_return ));
!
! if( wf->PropertyExists( this->id, "ranger_return" ))
! this->SetRangerReturn( wf->ReadInt( this->id, "ranger_return",
this->ranger_return ));
!
! if( wf->PropertyExists( this->id, "blob_return" ))
! this->SetBlobReturn( wf->ReadInt( this->id, "blob_return",
this->blob_return ));
!
! if( wf->PropertyExists( this->id, "laser_return" ))
! this->SetLaserReturn( wf->ReadInt(this->id, "laser_return",
this->laser_return ));
!
! if( wf->PropertyExists( this->id, "gripper_return" ))
! this->SetGripperReturn( wf->ReadInt( this->id, "gripper_return",
this->gripper_return ));
!
! if( wf->PropertyExists( this->id, "gui_nose" ))
! this->SetGuiNose( wf->ReadInt(this->id, "gui_nose", this->gui_nose ));
!
! if( wf->PropertyExists( this->id, "gui_grid" ))
! this->SetGuiGrid( wf->ReadInt(this->id, "gui_grid", this->gui_grid ));
!
! if( wf->PropertyExists( this->id, "gui_outline" ))
! this->SetGuiOutline( wf->ReadInt(this->id, "gui_outline",
this->gui_outline ));
!
! if( wf->PropertyExists( this->id, "gui_movemask" ))
! this->SetGuiMask( wf->ReadInt(this->id, "gui_movemask", this->gui_mask ));
!
! if( wf->PropertyExists( this->id, "map_resolution" ))
! this->SetMapResolution( wf->ReadFloat(this->id, "map_resolution",
this->map_resolution ));
// call any type-specific load callbacks
this->CallCallbacks( &this->load );
Index: gui_gl.c
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/gui_gl.c,v
retrieving revision 1.1.2.26
retrieving revision 1.1.2.27
diff -C2 -d -r1.1.2.26 -r1.1.2.27
*** gui_gl.c 9 Jul 2007 00:03:24 -0000 1.1.2.26
--- gui_gl.c 10 Jul 2007 02:15:47 -0000 1.1.2.27
***************
*** 634,648 ****
}
glEnable (GL_DEPTH_TEST);
glDepthFunc (GL_LESS);
glClearColor ( 0.7, 0.7, 0.8, 1.0);
! //glClearColor ( 0,0,0, 1.0);
gdk_gl_glPolygonOffsetEXT (proc, 1.0, 1.0);
glEnable (GL_CULL_FACE);
! glHint (GL_LINE_SMOOTH_HINT, GL_NICEST);
! glHint (GL_POLYGON_SMOOTH_HINT, GL_NICEST);
! glDisable (GL_LIGHTING);
gdk_gl_drawable_gl_end (gldrawable);
--- 634,659 ----
}
+ glDisable (GL_LIGHTING);
+
glEnable (GL_DEPTH_TEST);
glDepthFunc (GL_LESS);
glClearColor ( 0.7, 0.7, 0.8, 1.0);
!
gdk_gl_glPolygonOffsetEXT (proc, 1.0, 1.0);
+ glCullFace( GL_BACK );
glEnable (GL_CULL_FACE);
!
! //glHint (GL_POLYGON_SMOOTH_HINT, GL_NICEST);
! //glEnable( GL_POLYGON_SMOOTH );
+ // set gl state that won't change every redraw
+ glEnable( GL_BLEND );
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );
+ glEnable( GL_LINE_SMOOTH );
+ glHint (GL_LINE_SMOOTH_HINT, GL_FASTEST);
+ glEnable(GL_DEPTH_TEST);
+ glDepthMask(GL_TRUE);
+
gdk_gl_drawable_gl_end (gldrawable);
***************
*** 807,824 ****
// clear the offscreen buffer
! glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
- glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
- if( win->show_alpha )
- {
- glEnable(GL_LINE_SMOOTH);
- glEnable(GL_BLEND);
- }
- else
- {
- glDisable(GL_BLEND);
- glDisable(GL_LINE_SMOOTH);
- }
double zclip = hypot(world->width, world->height) * win->scale;
--- 818,823 ----
// clear the offscreen buffer
! glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
double zclip = hypot(world->width, world->height) * win->scale;
***************
*** 909,912 ****
--- 908,912 ----
// draw the floor a little pushed into the distance so it doesn't z-fight
with the
// models
+ glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(1.0, 1.0);
***************
*** 923,937 ****
if( win->show_matrix )
{
glTranslatef( 0,0,1 );
! glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
push_color_rgb( 0,1,0 );
stg_cell_render_tree( world->matrix->root );
glTranslatef( 0,0,-1 );
pop_color();
}
push_color_rgb( 1, 0, 0 );
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
! glLineWidth( 2 );
g_list_foreach( world->win->selected_models, (GFunc)gl_model_selected, NULL
);
glLineWidth( 1 );
--- 923,940 ----
if( win->show_matrix )
{
+ glDisable( GL_LINE_SMOOTH );
+ glLineWidth( 1 );
glTranslatef( 0,0,1 );
! glPolygonMode( GL_FRONT, GL_LINE );
push_color_rgb( 0,1,0 );
stg_cell_render_tree( world->matrix->root );
glTranslatef( 0,0,-1 );
pop_color();
+ glEnable( GL_LINE_SMOOTH );
}
push_color_rgb( 1, 0, 0 );
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
! glLineWidth( 4 );
g_list_foreach( world->win->selected_models, (GFunc)gl_model_selected, NULL
);
glLineWidth( 1 );
***************
*** 942,945 ****
--- 945,951 ----
((StgModel*)it->data)->Draw();
+ for( it=world->children; it; it=it->next )
+ ((StgModel*)it->data)->DrawData();
+
// draw anything in the assorted displaylist list
***************
*** 951,955 ****
}
!
--- 957,970 ----
}
!
! glLineWidth( 2.0 );
! push_color_rgb( 1,0,0 );
! glBegin( GL_LINE_LOOP );
! glVertex3f( 0,0,0 );
! glVertex3f( 1,0,0 );
! glVertex3f( 1,1,0 );
! glVertex3f( 0,1,0 );
! glEnd();
! pop_color();
***************
*** 1442,1450 ****
dl_debug = glGenLists(1);
- // set gl state that won't change every redraw
- glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );
- glEnable(GL_DEPTH_TEST);
- glDepthMask(GL_TRUE);
-
return drawing_area;
}
--- 1457,1460 ----
***************
*** 1537,1626 ****
- /* int gl_laser_render_data( stg_model_t* mod, void* enabled ) */
- /* { */
- /* //puts ("GL laser data" ); */
- /* int list = gui_model_get_displaylist( mod, LIST_DATA ); */
-
- /* glNewList( list, GL_COMPILE ); */
-
-
- /* // end exp */
-
- /* stg_laser_sample_t* samples = (stg_laser_sample_t*)mod->data; */
- /* size_t sample_count = mod->data_len / sizeof(stg_laser_sample_t); */
- /* stg_laser_config_t *cfg = (stg_laser_config_t*)mod->cfg; */
- /* assert( cfg ); */
-
- /* if( samples && sample_count ) */
- /* { */
- /* stg_pose_t gpose; */
- /* stg_model_get_global_pose( mod, &gpose ); */
-
- /* // do alpha properly */
- /* glDepthMask( GL_FALSE ); */
-
- /* glPushMatrix(); */
- /* glTranslatef( 0,0, gpose.z + mod->geom.size.z/2.0 ); // shoot the
laser beam out at the right height */
-
- /* // pack the laser hit points into a vertex array for fast rendering
*/
-
- /* static float* pts = NULL; */
- /* pts = (float*)g_realloc( pts, 2 * (sample_count+1) * sizeof(float));
*/
-
- /* pts[0] = (float)gpose.x; */
- /* pts[1] = (float)gpose.y; */
-
- /* int s; */
- /* for( s=0; s<sample_count; s++ ) */
- /* { */
- /* double ray_angle = gpose.a + (s * (cfg->fov / (sample_count-1))) -
cfg->fov/2.0; */
-
- /* //pts[2*s+2] = (float)samples[s].hitpoint.x; */
- /* //pts[2*s+3] = (float)samples[s].hitpoint.y; */
- /* pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) + gpose.x); */
- /* pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) + gpose.y); */
- /* } */
-
- /* glEnableClientState( GL_VERTEX_ARRAY ); */
- /* glVertexPointer( 2, GL_FLOAT, 0, pts ); */
-
- /* if( mod->world->win->show_alpha ) */
- /* { */
- /* glColor4f( 0, 0, 1, 0.1 ); */
- /* glDrawArrays( GL_POLYGON, 0, sample_count+1 ); */
- /* } */
- /* else */
- /* { */
- /* glColor3f( 0.5, 0.5, 1.0 ); */
- /* glDrawArrays( GL_LINE_LOOP, 0, sample_count+1 ); */
- /* } */
-
- /* //free(pts); */
- /* glPopMatrix(); */
- /* glDepthMask( GL_TRUE ); */
- /* } */
-
-
- /* glEndList(); */
-
- /* make_dirty(mod); */
-
- /* /\* // loop through again, drawing bright boxes on top of the polygon
*\/ */
- /* /\* for( s=0; s<sample_count; s++ ) *\/ */
- /* /\* { *\/ */
- /* /\* // if this hit point is bright, we draw a little box *\/ */
- /* /\* if( samples[s].reflectance > 0 ) *\/ */
- /* /\* { *\/ */
- /* /\* stg_rtk_fig_color_rgb32( fg, bright_color ); *\/ */
- /* /\* stg_rtk_fig_rectangle( fg, *\/ */
- /* /\* points[1+s].x, points[1+s].y, 0, *\/ */
- /* /\* 0.04, 0.04, 1 ); *\/ */
- /* /\* stg_rtk_fig_color_rgb32( fg, laser_color ); *\/ */
- /* /\* } *\/ */
- /* /\* } *\/ */
-
- /* return 0; // callback runs until removed */
- /* } */
/* int gl_fiducial_render_data( stg_model_t* mod, void* enabled ) */
--- 1547,1551 ----
Index: block.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/block.cc,v
retrieving revision 1.1.2.3
retrieving revision 1.1.2.4
diff -C2 -d -r1.1.2.3 -r1.1.2.4
*** block.cc 9 Jul 2007 00:03:24 -0000 1.1.2.3
--- block.cc 10 Jul 2007 02:15:47 -0000 1.1.2.4
***************
*** 27,34 ****
block->inherit_color = inherit_color;
- // generate an OpenGL displaylist for this block
- block->display_list = glGenLists( 1 );
- stg_block_update( block );
-
return block;
}
--- 27,30 ----
***************
*** 37,44 ****
void stg_block_destroy( stg_block_t* block )
{
- assert( block );
assert( block->pts );
- glDeleteLists( block->display_list, 1 );
g_free( block->pts );
g_free( block );
--- 33,39 ----
void stg_block_destroy( stg_block_t* block )
{
assert( block->pts );
+ assert( block );
g_free( block->pts );
g_free( block );
***************
*** 53,73 ****
}
- void stg_block_render( stg_block_t* b )
- {
- //printf( "rendering block @ %p with %d points\n", b, (int)b->pt_count );
- glCallList( b->display_list );
- }
static void block_top( stg_block_t* b )
{
- //stg_geom_t geom;
- //b->mod->GetGeom( &geom );
-
// draw a top that fits over the stripa
glBegin(GL_POLYGON);
for( unsigned int p=0; p<b->pt_count; p++)
- {
glVertex3f( b->pts[p].x, b->pts[p].y, b->zmax );
- }
glEnd();
}
--- 48,58 ----
***************
*** 75,81 ****
static void block_sides( stg_block_t* b )
{
- //stg_geom_t geom;
- //b->mod->GetGeom( &geom );
-
// construct a strip that wraps around the polygon
glBegin(GL_QUAD_STRIP);
--- 60,63 ----
***************
*** 91,99 ****
}
- void stg_block_update( stg_block_t* b )
- {
- // draw filled color polygons
! glNewList( b->display_list, GL_COMPILE );
stg_color_t color;
--- 73,80 ----
}
! void stg_block_render( stg_block_t* b )
! {
! // draw filled color polygons
stg_color_t color;
***************
*** 106,112 ****
stg_color_to_glcolor4dv( color, gcol );
- //glDisable(GL_BLEND);
- //glDisable(GL_LINE_SMOOTH);
-
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL );
push_color( gcol );
--- 87,90 ----
***************
*** 118,121 ****
--- 96,100 ----
+
// draw the block outline in a darker version of the same color
gcol[0]/=2.0;
***************
*** 124,141 ****
push_color( gcol );
- glLineWidth( 0 );
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE );
block_top( b );
block_sides( b );
- //glEnable(GL_BLEND);
- //glEnable(GL_LINE_SMOOTH);
pop_color();
- pop_color();
-
- glEndList();
}
void stg_block_list_scale( GList* blocks,
stg_size_t* size )
--- 103,118 ----
push_color( gcol );
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE );
+ glDepthMask(GL_FALSE);
block_top( b );
block_sides( b );
+ glDepthMask(GL_TRUE);
+ //pop_color();
pop_color();
}
+
void stg_block_list_scale( GList* blocks,
stg_size_t* size )
***************
*** 203,207 ****
// recalculate the GL drawlist
! stg_block_update( block );
}
}
--- 180,184 ----
// recalculate the GL drawlist
! //stg_block_update( block );
}
}
Index: stg_time.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/stg_time.cc,v
retrieving revision 1.11
retrieving revision 1.11.6.1
diff -C2 -d -r1.11 -r1.11.6.1
*** stg_time.cc 20 Sep 2005 00:36:24 -0000 1.11
--- stg_time.cc 10 Jul 2007 02:15:47 -0000 1.11.6.1
***************
*** 33,39 ****
#include "p_driver.h"
- // Stage's global quit flag
- extern int _stg_quit;
-
// Constructor
StgTime::StgTime( StgDriver* driver )
--- 33,36 ----
***************
*** 50,55 ****
}
- extern int update_request;
-
// Get the simulator time
int StgTime::GetTime(struct timeval* time)
--- 47,50 ----
***************
*** 61,66 ****
stg_world_t* world = driver->world;
! time->tv_sec = (int)floor(world->sim_time / 1e3);
! time->tv_usec = (int)rint(fmod(world->sim_time,1e3) * 1e3);
PRINT_DEBUG2( "time now %ld sec %ld usec", time->tv_sec, time->tv_usec );
--- 56,61 ----
stg_world_t* world = driver->world;
! time->tv_sec = (int)floor(world->sim_time_ms / 1e3);
! time->tv_usec = (int)rint(fmod(world->sim_time_ms,1e3) * 1e3);
PRINT_DEBUG2( "time now %ld sec %ld usec", time->tv_sec, time->tv_usec );
***************
*** 77,81 ****
stg_world_t* world = driver->world;
! *time = world->sim_time / 1e3;
PRINT_DEBUG1( "time now %f sec ", *time);
--- 72,76 ----
stg_world_t* world = driver->world;
! *time = world->sim_time_ms / 1e3;
PRINT_DEBUG1( "time now %f sec ", *time);
Index: matrix.c
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/matrix.c,v
retrieving revision 1.22.4.5
retrieving revision 1.22.4.6
diff -C2 -d -r1.22.4.5 -r1.22.4.6
*** matrix.c 8 Jul 2007 05:24:04 -0000 1.22.4.5
--- matrix.c 10 Jul 2007 02:15:47 -0000 1.22.4.6
***************
*** 52,65 ****
void stg_cell_render( stg_cell_t* cell )
{
- //puts( "cell render" );
-
- //glPolygonMode( GL_FRONT_AND_BACK, GL_LINES );
-
double dx = cell->size/2.0;
-
glRectf( cell->x-dx , cell->y-dx, cell->x+dx, cell->y+dx );
-
- //printf( "cell %.2f,%.2f size %.2f\n",
- // cell->x, cell->y, cell->size );
}
--- 52,57 ----
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