Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16224
Modified Files:
Tag: opengl
Makefile.fl blockgrid.cc model.cc model_laser.cc
model_ranger.cc stage.c stage.hh stest.cc world.cc worldgui.cc
Log Message:
added menu bar to FLTK version, and improved GUI
Index: worldgui.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/worldgui.cc,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** worldgui.cc 17 Nov 2007 23:31:22 -0000 1.1.2.1
--- worldgui.cc 19 Nov 2007 07:40:41 -0000 1.1.2.2
***************
*** 2,5 ****
--- 2,6 ----
#include "stage.hh"
#include <FL/fl_draw.H>
+ #include <FL/fl_Box.H>
#include <FL/Fl_Menu_Button.H>
***************
*** 10,13 ****
--- 11,19 ----
}
+ void StgWorldGui::SaveCallback( Fl_Widget* wid, StgWorldGui* world )
+ {
+ world->Save();
+ }
+
void view_toggle_cb(Fl_Widget* w, bool* view )
{
***************
*** 20,586 ****
- void timer_cb( void* v)
- {
- StgWorldGui* w = (StgWorldGui*)v;
- w->redraw();
-
- if( w->show_clock )
- w->redraw_overlay();
-
- Fl::repeat_timeout(0.1, timer_cb, v);
- }
-
StgWorldGui::StgWorldGui(int W,int H,const char*L)
! : Fl_Gl_Window(0,0,W,H,L)
{
- //Fl_Menu_Bar* menubar = new Fl_Menu_Bar(0,0, W, 30);// 640, 30);
- //menubar->menu(menuitems);
- //menubar->show();
-
- selected_models = NULL;
graphics = true;
- dragging = false;
-
- startx = starty = 0;
- panx = pany = stheta = sphi = 0.0;
- scale = 15.0;
-
- fg = 1.0;
- bg = 0.0;
- resizable(this);
- end();
-
- follow_selection = false;
- show_clock = true;
- show_quadtree = false;
- show_occupancy = false;
- show_geom = false;
- show_boxes = true;
- show_grid = false;
- show_data = true;
- show_cfg = false;
- show_cmd = false;
- show_thumbnail = false;
- show_trails = false;
-
// build the menus
! menu = new Fl_Menu_Button( 0,0,0,0 );
! menu->type( Fl_Menu_Button::POPUP3 );
!
! //menu->add( "&File", 0, 0, 0, FL_SUBMENU );
! //menu->add( "File/&Save File", FL_CTRL + 's', (Fl_Callback *)dummy_cb );
! //menu->add( "File/Save File &As...", FL_CTRL + FL_SHIFT + 's',
(Fl_Callback *)dummy_cb, 0, FL_MENU_DIVIDER );
! //menu->add( "File/E&xit", FL_CTRL + 'q', (Fl_Callback *)dummy_cb, 0 );
! //menu->add( "&View", 0, 0, 0, FL_SUBMENU );
! menu->add( "Data", FL_CTRL+'z', (Fl_Callback *)view_toggle_cb, &show_data,
FL_MENU_TOGGLE|FL_MENU_VALUE );
! menu->add( "Blocks", FL_CTRL+'b', (Fl_Callback *)view_toggle_cb,
&show_boxes, FL_MENU_TOGGLE|FL_MENU_VALUE );
! //menu->add( "View/Clock", FL_CTRL+'c', (Fl_Callback *)view_toggle_cb,
&show_clock, FL_MENU_TOGGLE|FL_MENU_VALUE );
! menu->add( "Grid", FL_CTRL + 'c', (Fl_Callback *)view_toggle_cb,
&show_grid, FL_MENU_TOGGLE|FL_MENU_VALUE );
! menu->add( "Occupancy", FL_CTRL + 'o', (Fl_Callback *)view_toggle_cb,
&show_occupancy, FL_MENU_TOGGLE|FL_MENU_VALUE );
! menu->add( "Tree", FL_CTRL + 't', (Fl_Callback *)view_toggle_cb,
&show_quadtree, FL_MENU_TOGGLE|FL_MENU_VALUE );
!
! //menu->add( "Help", 0, 0, 0, FL_SUBMENU );
! //menu->add( "Help/About Stage...", FL_CTRL + 'f', (Fl_Callback *)dummy_cb
);
! //menu->add( "Help/HTML Documentation", FL_CTRL + 'g', (Fl_Callback
*)dummy_cb );
!
! show(); // must do this so that the GL context is created before
configuring GL
!
! // 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);
!
! // install a font
! gl_font( FL_HELVETICA, 12 );
! // start the timer that causes regular redraws
! Fl::add_timeout( 0.1, timer_cb, this);
! }
! bool StgWorldGui::RealTimeUpdate()
! {
! // puts( "RTU" );
! bool res = StgWorld::RealTimeUpdate();
! Fl::check();
! return res;
! }
! bool StgWorldGui::Update()
! {
! // puts( "RTU" );
! bool res = StgWorld::Update();
! Fl::check();
! return res;
! }
! void StgWorldGui::AddModel( StgModel* mod )
{
- mod->InitGraphics();
- StgWorld::AddModel( mod );
}
! StgModel* StgWorldGui::Select( int x, int y )
{
! // render all models in a unique color
! make_current(); // make sure the GL context is current
! glClearColor ( 0,0,0,1 );
! glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
! glDisable(GL_DITHER);
!
! // render all top-level, draggable models in a color that is their
! // id + a 100% alpha value
! for( GList* it=StgWorld::children; it; it=it->next )
! {
! StgModel* mod = (StgModel*)it->data;
! if( mod->gui_mask & STG_MOVE_TRANS )
! {
! uint32_t col = (mod->id | 0xFF000000);
! glColor4ubv( (GLubyte*)&col );
! mod->DrawPicker();
! }
! }
!
! // read the color of the pixel in the back buffer under the mouse
! // pointer
! GLint viewport[4];
! glGetIntegerv(GL_VIEWPORT,viewport);
!
! uint32_t id;
! glReadPixels( x,viewport[3]-y,1,1,
! GL_RGBA,GL_UNSIGNED_BYTE,(void*)&id );
!
! // strip off the alpha channel byte to retrieve the model id
! id &= 0x00FFFFFF;
!
! StgModel* mod = (StgModel*)
! g_hash_table_lookup( models_by_id, &id );
! printf("%p %s %d\n", mod, mod ? mod->Token() : "", id );
! glEnable(GL_DITHER);
! glClearColor ( 0.7, 0.7, 0.8, 1.0);
! if( mod ) // we clicked on a root model
! {
! // if it's already selected
! 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->disabled = false;
! }
! else
! {
! selected_models = g_list_prepend( selected_models, mod );
! mod->disabled = true;
! }
!
! invalidate();
! }
!
! return mod;
! }
!
! void StgWorldGui::CanvasToWorld( int px, int py,
! double *wx, double *wy, double* wz )
! {
! // convert from window pixel to world coordinates
! //int width = widget->allocation.width;
!
! 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 );
! //printf( "Z: %.2f\n", pz );
! //printf( "FINAL: x:%.2f y:%.2f z:%.2f\n",
! // *wx,*wy,zz );
}
! int StgWorldGui::handle(int event)
{
! switch(event)
! {
! case FL_MOUSEWHEEL:
! if( selected_models )
! {
! // rotate all selected models
! for( GList* it = selected_models; it; it=it->next )
! {
! StgModel* mod = (StgModel*)it->data;
! mod->AddToPose( 0,0,0, 0.1*(double)Fl::event_dy() );
! }
! redraw();
! }
! else
! {
! scale -= 0.5 * (double)Fl::event_dy();
! if( scale < 1 )
! scale = 1;
! invalidate();
! }
! return 1;
!
! case FL_MOVE: // moused moved while no button was pressed
! //printf( "mouse moved %d %d\n", Fl::event_x(), Fl::event_y() );
! //printf( "mouse delta %d %d\n", Fl::event_dx(), Fl::event_dy() );
!
! if( Fl::event_state( FL_CTRL ) )
! {
! int dx = Fl::event_x() - startx;
! int dy = Fl::event_y() - starty;
!
! stheta -= 0.01 * (double)dy;
! sphi += 0.01 * (double)dx;
! stheta = constrain( stheta, 0, M_PI/2.0 );
! invalidate();
! }
!
! if( Fl::event_state( FL_ALT ) )
! {
! int dx = Fl::event_x() - startx;
! int dy = Fl::event_y() - starty;
!
! panx -= dx;
! pany += dy;
! invalidate();
! }
!
! startx = Fl::event_x();
! starty = Fl::event_y();
!
! return 1;
!
! case FL_PUSH: // button pressed
! puts( "PUSH" );
! switch( Fl::event_button() )
! {
! case 1:
! startx = Fl::event_x();
! starty = Fl::event_y();
! if( Select( startx, starty ) )
! dragging = true;
! return 1;
! case 3:
! {
! puts( "POPUP" );
! menu->popup();
! 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_button() == 1 )
! {
! if( selected_models && dragging )
! {
! 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 )
! {
! StgModel* mod = (StgModel*)it->data;
! mod->AddToPose( x-sx, y-sy, 0, 0 );
! }
! }
! else
! {
! panx -= dx;
! pany += dy;
! }
! }
!
! startx = Fl::event_x();
! starty = Fl::event_y();
! invalidate();
! }
! return 1;
!
! case FL_RELEASE: // mouse button released
! // unselect everyone unless shift is pressed
! if( ! Fl::event_state( FL_SHIFT ) )
! {
! for( GList* it=selected_models; it; it=it->next )
! ((StgModel*)it->data)->disabled = false;
!
! g_list_free( selected_models );
! selected_models = NULL;
! dragging = false;
! invalidate();
! }
! 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
! paused = !paused;
! break;
! case ' ': // space bar
! sphi = stheta = 0.0;
! invalidate();
! break;
! case FL_Left: panx += 10; break;
! case FL_Right: panx -= 10; break;
! case FL_Down: pany += 10; break;
! case FL_Up: pany -= 10; break;
! default:
! return 0; // keypress unhandled
! }
! invalidate();
! 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);
! }
! }
!
! void StgWorldGui::FixViewport(int W,int H)
! {
! glLoadIdentity();
! glViewport(0,0,W,H);
! }
!
! void StgWorldGui::draw()
! {
! if (!valid())
! {
! valid(1);
! FixViewport(w(), h());
!
! double zclip = hypot(width, height) * scale;
! double pixels_width = w();//canvas->allocation.width;
! double pixels_height = h();//canvas->allocation.height ;
!
! //double width = w() / scale;
! //double height = h() / scale;
!
! glMatrixMode (GL_PROJECTION);
! glLoadIdentity ();
!
! // map the viewport to pixel units by scaling it the same as the window
! // glOrtho( 0, pixels_width,
! // 0, pixels_height,
!
! glOrtho( -pixels_width/2.0, pixels_width/2.0,
! -pixels_height/2.0, pixels_height/2.0,
! 0, zclip );
!
! /* glFrustum( 0, pixels_width, */
! /* 0, pixels_height, */
! /* 0.1, zclip ); */
!
! glMatrixMode (GL_MODELVIEW);
!
! glLoadIdentity ();
! glTranslatef( -panx,
! -pany,
! -zclip / 2.0 );
!
! glRotatef( RTOD(-stheta), 1,0,0);
!
! //glTranslatef( -panx * cos(sphi) - pany*sin(sphi),
! // panx*sin(sphi) - pany*cos(sphi), 0 );
!
! glRotatef( RTOD(sphi), 0.0, 0.0, 1.0); // rotate about z - pitch
!
! // meter scale
! glScalef ( scale, scale, scale ); // zoom
! }
!
! // Clear screen to bg color
! glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
! // Draw 'X' in fg color
! //glColor3f(fg, fg, fg);
! //glBegin(GL_LINE_STRIP); glVertex2f(w(), h()); glVertex2f(-w(),-h());
glEnd();
! //glBegin(GL_LINE_STRIP); glVertex2f(w(),-h()); glVertex2f(-w(), h());
glEnd();
!
! //gluLookAt( 0,0,10,
! // 0,0,0,
! // 0,1,0 );
!
! /* gluLookAt( win->panx, */
! /* win->pany + win->stheta, */
! /* 10, */
! /* win->panx, */
! /* win->pany, */
! /* 0, */
! /* sin(win->sphi), */
! /* cos(win->sphi), */
! /* 0 ); */
!
! // if( follow_selection && selected_models )
! // {
! // glTranslatef( 0,0,-zclip/2.0 );
! // // meter scale
! // glScalef ( scale, scale, scale ); // zoom
! // // get the pose of the model at the head of the selected models
! // // list
! // stg_pose_t gpose;
! // ((StgModel*)selected_models->data)->GetGlobalPose( &gpose );
! // //glTranslatef( -gpose.x + (pixels_width/2.0)/scale,
! // // -gpose.y + (pixels_height/2.0)/scale,
! // // -zclip/2.0 );
! // // pixel scale
! // glTranslatef( -gpose.x,
! // -gpose.y,
! // 0 );
! // }
! // else
// {
! // pixel scale
! //glTranslatef( 0,0, -MAX(width,height) );
!
! // TODO - rotate around the mouse pointer or window center, not the
! //origin - the commented code is close, but not quite right
! //glRotatef( RTOD(sphi), 0.0, 0.0, 1.0); // rotate about z - pitch
! //glTranslatef( -click_point.x, -click_point.y, 0 ); // shift back
//printf( "panx %f pany %f scale %.2f stheta %.2f sphi %.2f\n",
! // panx, pany, scale, stheta, sphi );
! //}
!
! // // draw the world size rectangle in white
! // // 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);
! glColor3f( 1,1,1 );
! glRectf( -width/2.0, -height/2.0,
! width/2.0, height/2.0 );
! glDisable(GL_POLYGON_OFFSET_FILL);
!
! // draw the model bounding boxes
! //g_hash_table_foreach( models, (GHFunc)model_draw_bbox, NULL);
!
! //PRINT_DEBUG1( "Colorstack depth %d",
! // colorstack.Length() );
!
! if( show_quadtree || show_occupancy )
! {
! glDisable( GL_LINE_SMOOTH );
! glLineWidth( 1 );
!
! glPushMatrix();
! glTranslatef( -width/2.0, -height/2.0, 1 );
! glScalef( 1.0/ppm, 1.0/ppm, 0 );
! glPolygonMode( GL_FRONT, GL_LINE );
! colorstack.Push(1,0,0);
!
! if( show_occupancy )
! this->bgrid->Draw( false );
! if( show_quadtree )
! this->bgrid->Draw( true );
!
! colorstack.Pop();
! glPopMatrix();
!
! glEnable( GL_LINE_SMOOTH );
! }
! colorstack.Push( 1, 0, 0 );
! glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
! glLineWidth( 4 );
!
! for( GList* it=selected_models; it; it=it->next )
! {
! ((StgModel*)it->data)->DrawSelected();
! //((StgModel*)it->data)->DrawPicker();
! }
! colorstack.Pop();
!
! glLineWidth( 1 );
!
! // draw the models
! GList* it;
! if( show_boxes )
! for( it=StgWorld::children; it; it=it->next )
! ((StgModel*)it->data)->Draw();
!
! // draw the models' data
! if( show_data )
! for( it=StgWorld::children; it; it=it->next )
! ((StgModel*)it->data)->DrawData();
!
! // draw anything in the assorted displaylist list
! // for( it = dl_list; it; it=it->next )
! // {
! // int dl = (int)it->data;
! // printf( "Calling dl %d\n", dl );
! // glCallList( dl );
! // }
}
! void StgWorldGui::draw_overlay()
{
! if( show_clock )
! {
! char clockstr[50];
! ClockString( clockstr, 50 );
!
! glPushMatrix();
! glLoadIdentity();
!
! colorstack.Push( 0,0,0 ); // black
! gl_draw( clockstr, -w()/2.0 + 5, -h()/2 + 5 );
! colorstack.Pop();
! glPopMatrix();
! }
}
!
! void StgWorldGui::resize(int X,int Y,int W,int H)
{
! Fl_Gl_Window::resize(X,Y,W,H);
! FixViewport(W,H);
! invalidate();
}
--- 26,155 ----
StgWorldGui::StgWorldGui(int W,int H,const char*L)
! : Fl_Window(0,0,W,H,L)
{
graphics = true;
// build the menus
! Fl_Menu_Bar* mbar = new Fl_Menu_Bar(0,0, W, 30);// 640, 30);
! mbar->textsize(12);
! canvas = new StgCanvas( this,0,30,W,H-30 );
! resizable(canvas);
! end();
! mbar->add( "&File", 0, 0, 0, FL_SUBMENU );
! mbar->add( "File/&Save File", FL_CTRL + 's', (Fl_Callback *)SaveCallback,
this );
! //mbar->add( "File/Save File &As...", FL_CTRL + FL_SHIFT + 's',
(Fl_Callback *)dummy_cb, 0, FL_MENU_DIVIDER );
! mbar->add( "File/E&xit", FL_CTRL + 'q', (Fl_Callback *)dummy_cb, 0 );
!
! mbar->add( "&View", 0, 0, 0, FL_SUBMENU );
! // mbar->add( "View/Data", FL_CTRL+'z', (Fl_Callback *)view_toggle_cb,
&canvas->show_data, FL_MENU_TOGGLE|FL_MENU_VALUE );
! // mbar->add( "View/Blocks", FL_CTRL+'b', (Fl_Callback *)view_toggle_cb,
&canvas->show_boxes, FL_MENU_TOGGLE|FL_MENU_VALUE );
! // //mbar->add( "View/Clock", FL_CTRL+'c', (Fl_Callback *)view_toggle_cb,
&show_clock, FL_MENU_TOGGLE|FL_MENU_VALUE );
! // mbar->add( "View/Grid", FL_CTRL + 'c', (Fl_Callback
*)view_toggle_cb, &canvas->show_grid, FL_MENU_TOGGLE|FL_MENU_VALUE );
! // mbar->add( "View/Occupancy", FL_CTRL + 'o', (Fl_Callback
*)view_toggle_cb, &canvas->show_occupancy, FL_MENU_TOGGLE|FL_MENU_VALUE );
! // mbar->add( "View/Tree", FL_CTRL + 't', (Fl_Callback
*)view_toggle_cb, &canvas->show_quadtree,
FL_MENU_TOGGLE|FL_MENU_VALUE|FL_MENU_DIVIDER );
! // mbar->add( "View/Follow selection", FL_CTRL + 'f', (Fl_Callback
*)view_toggle_cb, &canvas->follow_selection, FL_MENU_TOGGLE|FL_MENU_VALUE );
! mbar->add( "Help", 0, 0, 0, FL_SUBMENU );
! mbar->add( "Help/About Stage...", FL_CTRL + 'f', (Fl_Callback *)dummy_cb );
! mbar->add( "Help/HTML Documentation", FL_CTRL + 'g', (Fl_Callback
*)dummy_cb );
+ show();
+ }
! StgWorldGui::~StgWorldGui()
{
}
! void StgWorldGui::Load( const char* filename )
{
! PRINT_DEBUG1( "%s.Load()", token );
! StgWorld::Load( filename);
! wf_section = wf->LookupEntity( "window" );
! if( wf_section < 1) // no section defined
! return;
! int width = (int)wf->ReadTupleFloat(wf_section, "size", 0, w() );
! int height = (int)wf->ReadTupleFloat(wf_section, "size", 1, h() );
! size( width,height ); // resize this window
! canvas->panx = wf->ReadTupleFloat(wf_section, "center", 0, canvas->panx );
! canvas->pany = wf->ReadTupleFloat(wf_section, "center", 1, canvas->pany );
! canvas->stheta = wf->ReadTupleFloat( wf_section, "rotate", 0,
canvas->stheta );
! canvas->sphi = wf->ReadTupleFloat( wf_section, "rotate", 1, canvas->sphi );
! canvas->scale = wf->ReadFloat(wf_section, "scale", canvas->scale );
! canvas->interval = wf->ReadInt(wf_section, "redraw_interval",
canvas->interval );
! /* fill_polygons = wf_read_int(wf_section, "fill_polygons", fill_polygons
); */
! /* show_grid = wf_read_int(wf_section, "show_grid", show_grid ); */
! /* show_alpha = wf_read_int(wf_section, "show_alpha", show_alpha ); */
! /* show_data = wf_read_int(wf_section, "show_data", show_data ); */
! /* show_thumbnail = wf_read_int(wf_section, "show_thumbnail", win
->show_thumbnail ); */
! // gui_load_toggle( win, wf_section, &show_bboxes, "Bboxes", "show_bboxes"
);
! // gui_load_toggle( win, wf_section, &show_alpha, "Alpha", "show_alpha" );
! // gui_load_toggle( win, wf_section, &show_grid, "Grid", "show_grid" );
! // gui_load_toggle( win, wf_section, &show_bboxes, "Thumbnail",
"show_thumbnail" );
! // gui_load_toggle( win, wf_section, &show_data, "Data", "show_data" );
! // gui_load_toggle( win, wf_section, &follow_selection, "Follow",
"show_follow" );
! // gui_load_toggle( win, wf_section, &fill_polygons, "Fill Polygons",
"show_fill" );
! canvas->invalidate(); // we probably changed something
}
! void StgWorldGui::Save( void )
{
+ PRINT_DEBUG1( "%s.Save()", token );
! wf->WriteTupleFloat( wf_section, "size", 0, w() );
! wf->WriteTupleFloat( wf_section, "size", 1, h() );
! wf->WriteFloat( wf_section, "scale", canvas->scale );
! wf->WriteTupleFloat( wf_section, "center", 0, canvas->panx );
! wf->WriteTupleFloat( wf_section, "center", 1, canvas->pany );
! wf->WriteTupleFloat( wf_section, "rotate", 0, canvas->stheta );
! wf->WriteTupleFloat( wf_section, "rotate", 1, canvas->sphi );
! //wf->WriteInt( wf_section, "fill_polygons", show_fill );
! //wf->WriteInt( wf_section, "show_grid", show_grid );
! //wf->WriteInt( wf_section, "show_bboxes", show_bboxes );
! // // save the state of the property toggles
! // for( GList* list = toggle_list; list; list = g_list_next( list ) )
// {
! // stg_property_toggle_args_t* tog =
! // (stg_property_toggle_args_t*)list->data;
! // assert( tog );
! // printf( "toggle item path: %s\n", tog->path );
! // wf->WriteInt( wf_section, tog->path,
! // gtk_toggle_action_get_active(
GTK_TOGGLE_ACTION(tog->action) ));
! // }
! StgWorld::Save();
}
! bool StgWorldGui::RealTimeUpdate()
{
! // puts( "RTU" );
! bool res = StgWorld::RealTimeUpdate();
! Fl::check();
! return res;
}
! bool StgWorldGui::Update()
{
! // puts( "RTU" );
! bool res = StgWorld::Update();
! Fl::check();
! return res;
}
Index: stest.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stest.cc,v
retrieving revision 1.1.2.13
retrieving revision 1.1.2.14
diff -C2 -d -r1.1.2.13 -r1.1.2.14
*** stest.cc 17 Nov 2007 23:31:22 -0000 1.1.2.13
--- stest.cc 19 Nov 2007 07:40:41 -0000 1.1.2.14
***************
*** 33,36 ****
--- 33,37 ----
const int POPSIZE = 10;
+
int main( int argc, char* argv[] )
{
***************
*** 44,56 ****
- StgWorld::Init( &argc, &argv );
-
- StgWorldGui world(800, 700, "Stage Test Program");
-
// initialize libstage
//StgWorld world;
!
! //StgWorldGtk::Init( &argc, &argv );
! //StgWorldGtk world;
world.Load( argv[1] );
--- 45,52 ----
// initialize libstage
+ StgWorld::Init( &argc, &argv );
//StgWorld world;
! StgWorldGui world(800, 700, "Stage Test Program");
world.Load( argv[1] );
***************
*** 96,100 ****
robots[i].ranger = (StgModelRanger*)world.GetModel( namebuf );
assert(robots[i].ranger);
! //robots[i].ranger->Subscribe();
}
--- 92,96 ----
robots[i].ranger = (StgModelRanger*)world.GetModel( namebuf );
assert(robots[i].ranger);
! robots[i].ranger->Subscribe();
}
***************
*** 113,116 ****
--- 109,115 ----
// while( world.Update() )
{
+
+ //}
+ //{
// nothing
//while( ! laser->DataIsFresh() )
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_laser.cc,v
retrieving revision 1.1.2.10
retrieving revision 1.1.2.11
diff -C2 -d -r1.1.2.10 -r1.1.2.11
*** model_laser.cc 17 Nov 2007 23:31:21 -0000 1.1.2.10
--- model_laser.cc 19 Nov 2007 07:40:41 -0000 1.1.2.11
***************
*** 112,123 ****
}
! void StgModelLaser::InitGraphics()
! {
! StgModel::InitGraphics();
! dl_debug_laser = glGenLists( 1 );
! glNewList( dl_debug_laser, GL_COMPILE );
! glEndList();
! }
void StgModelLaser::SetSampleCount( unsigned int count )
--- 112,123 ----
}
! // void StgModelLaser::InitGraphics()
! // {
! // StgModel::InitGraphics();
! // dl_debug_laser = glGenLists( 1 );
! // glNewList( dl_debug_laser, GL_COMPILE );
! // glEndList();
! // }
void StgModelLaser::SetSampleCount( unsigned int count )
***************
*** 183,198 ****
double sample_incr = fov / (double)(sample_count-1);
! if( debug )
! {
! glNewList( this->dl_debug_laser, GL_COMPILE );
! glPushMatrix();
! // go into global coords
! stg_pose_t gpose;
! GetGlobalPose( &gpose );
! //gl_coord_shift( -gpose.x, -gpose.y, 0, -gpose.a );
! glRotatef( RTOD(-gpose.a), 0,0,1 );
! glTranslatef( -gpose.x, -gpose.y, 0 );
! }
for( unsigned int t=0; t<sample_count; t += resolution )
--- 183,198 ----
double sample_incr = fov / (double)(sample_count-1);
! // if( debug )
! // {
! // glNewList( this->dl_debug_laser, GL_COMPILE );
! // glPushMatrix();
! // // go into global coords
! // stg_pose_t gpose;
! // GetGlobalPose( &gpose );
! // //gl_coord_shift( -gpose.x, -gpose.y, 0, -gpose.a );
! // glRotatef( RTOD(-gpose.a), 0,0,1 );
! // glTranslatef( -gpose.x, -gpose.y, 0 );
! // }
for( unsigned int t=0; t<sample_count; t += resolution )
***************
*** 243,251 ****
}
! if( debug )
! {
! glPopMatrix();
! glEndList();
! }
data_dirty = true;
--- 243,251 ----
}
! // if( debug )
! // {
! // glPopMatrix();
! // glEndList();
! // }
data_dirty = true;
***************
*** 322,326 ****
{
// rebuild the graphics for this data
! glNewList( dl_data, GL_COMPILE );
if( samples && sample_count )
--- 322,326 ----
{
// rebuild the graphics for this data
! //glNewList( dl_data, GL_COMPILE );
if( samples && sample_count )
***************
*** 389,396 ****
}
! if( this->debug )
! glCallList( this->dl_debug_laser );
! glEndList();
}
--- 389,396 ----
}
! //if( this->debug )
! //glCallList( this->dl_debug_laser );
! //glEndList();
}
Index: stage.c
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stage.c,v
retrieving revision 1.1.2.4
retrieving revision 1.1.2.5
diff -C2 -d -r1.1.2.4 -r1.1.2.5
*** stage.c 30 Oct 2007 01:01:48 -0000 1.1.2.4
--- stage.c 19 Nov 2007 07:40:41 -0000 1.1.2.5
***************
*** 15,19 ****
#include <gdk-pixbuf/gdk-pixbuf.h>
! #define DEBUG
#include "stage.hh"
--- 15,19 ----
#include <gdk-pixbuf/gdk-pixbuf.h>
! //#define DEBUG
#include "stage.hh"
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model.cc,v
retrieving revision 1.1.2.12
retrieving revision 1.1.2.13
diff -C2 -d -r1.1.2.12 -r1.1.2.13
*** model.cc 17 Nov 2007 23:31:21 -0000 1.1.2.12
--- model.cc 19 Nov 2007 07:40:41 -0000 1.1.2.13
***************
*** 232,243 ****
}
- void StgModel::InitGraphics()
- {
- this->dl_body = glGenLists(1);
- this->dl_data = glGenLists(1);
- this->dl_grid = glGenLists(1);
- }
-
-
StgModel::~StgModel( void )
{
--- 232,235 ----
***************
*** 708,737 ****
}
- void StgModel::DrawData( void )
- {
- if( this->data_dirty )
- {
- this->DataVisualize();
- this->data_dirty = false;
- }
-
- glPushMatrix();
-
- // move into this model's local coordinate frame
- gl_pose_shift( &this->pose );
- gl_pose_shift( &this->geom.pose );
-
- glCallList( this->dl_data );
- glCallList( this->dl_raytrace );
-
- // 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::DrawSelected()
{
--- 700,703 ----
***************
*** 751,755 ****
}
! void StgModel::Draw( void )
{
//PRINT_DEBUG1( "Drawing %s", token );
--- 717,721 ----
}
! void StgModel::Draw( uint32_t flags )
{
//PRINT_DEBUG1( "Drawing %s", token );
***************
*** 760,779 ****
gl_pose_shift( &this->pose );
gl_pose_shift( &this->geom.pose );
! if( this->body_dirty )
! {
! this->DrawBody();
! this->body_dirty = false;
! }
!
! glCallList( this->dl_body );
!
!
//if( this->say_string )
// gl_speech_bubble( 0,0,0, this->say_string );
!
! // Call my various display lists
! //if( this->gui_grid )
! //glCallList( this->dl_grid );
// shift up the CS to the top of this model
--- 726,748 ----
gl_pose_shift( &this->pose );
gl_pose_shift( &this->geom.pose );
+
+ // draw all the blocks
+ if( flags & STG_SHOW_BLOCKS )
+ LISTMETHOD( this->blocks, StgBlock*, Draw );
! if( flags & STG_SHOW_DATA )
! this->DataVisualize();
!
! //if( flags & STG_SHOW_GEOM )
! //this->DataVisualize();
!
! // etc
!
//if( this->say_string )
// gl_speech_bubble( 0,0,0, this->say_string );
!
!
! if( gui_grid && (flags & STG_SHOW_GRID) )
! DrawGrid();
// shift up the CS to the top of this model
***************
*** 781,789 ****
// recursively draw the tree below this model
! LISTMETHOD( this->children, StgModel*, Draw );
glPopMatrix(); // drop out of local coords
-
- //glCallList( this->dl_debug );
}
--- 750,758 ----
// recursively draw the tree below this model
! //LISTMETHOD( this->children, StgModel*, Draw );
! for( GList* it=children; it; it=it->next )
! ((StgModel*)it->data)->Draw( flags );
glPopMatrix(); // drop out of local coords
}
***************
*** 812,826 ****
- // call this when the local physical appearance has changed
- void StgModel::DrawBody( void )
- {
- //printf( "%s::GuiGenerateBody()\n", this->token );
-
- // draw blocks
- glNewList( dl_body, GL_COMPILE );
- LISTMETHOD( this->blocks, StgBlock*, Draw );
- glEndList();
- }
-
void StgModel::DataVisualize( void )
{
--- 781,784 ----
***************
*** 828,886 ****
}
!
! // void StgModel::GuiGenerateGrid( void )
! // {
! // glNewList( dl_grid, GL_COMPILE );
!
! // push_color_rgba( 0.8,0.8,0.8,0.8 );
!
! // double dx = geom.size.x;
! // double dy = geom.size.y;
! // double sp = 1.0;
! // int nx = (int) ceil((dx/2.0) / sp);
! // int ny = (int) ceil((dy/2.0) / sp);
! // if( nx == 0 ) nx = 1.0;
! // if( ny == 0 ) ny = 1.0;
! // glBegin(GL_LINES);
! // // draw the bounding box first
! // glVertex2f( -nx, -ny );
! // glVertex2f( nx, -ny );
! // glVertex2f( -nx, ny );
! // glVertex2f( nx, ny );
! // glVertex2f( nx, -ny );
! // glVertex2f( nx, ny );
! // glVertex2f( -nx,-ny );
! // glVertex2f( -nx, ny );
! // int i;
! // for (i = -nx+1; i < nx; i++)
! // {
! // glVertex2f( i * sp, - dy/2 );
! // glVertex2f( i * sp, + dy/2 );
! // //snprintf( str, 64, "%d", (int)i );
! // //stg_rtk_fig_text( fig, -0.2 + (ox + i * sp), -0.2 , 0, str );
! // }
! // for (i = -ny+1; i < ny; i++)
! // {
! // glVertex2f( - dx/2, i * sp );
! // glVertex2f( + dx/2, i * sp );
! // //snprintf( str, 64, "%d", (int)i );
! // //stg_rtk_fig_text( fig, -0.2, -0.2 + (oy + i * sp) , 0, str );
! // }
! // glEnd();
! // pop_color();
! // glEndList();
! // }
void StgModel::GetVelocity( stg_velocity_t* dest )
--- 786,840 ----
}
+ void StgModel::DrawGrid( void )
+ {
+ PushColor( 0,0,0,0.1 );
! double dx = geom.size.x;
! double dy = geom.size.y;
! double sp = 1.0;
! int nx = (int) ceil((dx/2.0) / sp);
! int ny = (int) ceil((dy/2.0) / sp);
! if( nx == 0 ) nx = 1.0;
! if( ny == 0 ) ny = 1.0;
! glBegin(GL_LINES);
! // draw the bounding box first
! glVertex2f( -nx, -ny );
! glVertex2f( nx, -ny );
! glVertex2f( -nx, ny );
! glVertex2f( nx, ny );
! glVertex2f( nx, -ny );
! glVertex2f( nx, ny );
! glVertex2f( -nx,-ny );
! glVertex2f( -nx, ny );
! char str[16];
! int i;
! for (i = -nx+1; i < nx; i++)
! {
! glVertex2f( i * sp, - dy/2 );
! glVertex2f( i * sp, + dy/2 );
! snprintf( str, 16, "%d", (int)i );
! //gl_draw( str, -0.2 + (nx + i * sp), -0.2 , 1 );
! }
! for (i = -ny+1; i < ny; i++)
! {
! glVertex2f( - dx/2, i * sp );
! glVertex2f( + dx/2, i * sp );
! snprintf( str, 16, "%d", (int)i );
! //gl_draw( str, -0.2, -0.2 + (ny + i * sp) , 1 );
! }
! glEnd();
! PopColor();
! }
void StgModel::GetVelocity( stg_velocity_t* dest )
Index: Makefile.fl
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/Makefile.fl,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** Makefile.fl 17 Nov 2007 23:31:21 -0000 1.1.2.1
--- Makefile.fl 19 Nov 2007 07:40:40 -0000 1.1.2.2
***************
*** 11,14 ****
--- 11,15 ----
block.o \
blockgrid.o \
+ canvas.o \
gl.o \
glcolorstack.o \
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/world.cc,v
retrieving revision 1.1.2.14
retrieving revision 1.1.2.15
diff -C2 -d -r1.1.2.14 -r1.1.2.15
*** world.cc 17 Nov 2007 23:31:22 -0000 1.1.2.14
--- world.cc 19 Nov 2007 07:40:41 -0000 1.1.2.15
***************
*** 606,654 ****
! void draw_voxel( int x, int y, int z )
! {
! glTranslatef( x,y,z );
! glBegin(GL_QUADS); // Draw The Cube Using quads
! glColor3f(0.0f,1.0f,0.0f); // Color Blue
! glVertex3f( 1.0f, 1.0f,-1.0f); // Top Right Of The Quad (Top)
! glVertex3f(-1.0f, 1.0f,-1.0f); // Top Left Of The Quad (Top)
! glVertex3f(-1.0f, 1.0f, 1.0f); // Bottom Left Of The Quad (Top)
! glVertex3f( 1.0f, 1.0f, 1.0f); // Bottom Right Of The Quad (Top)
! glColor3f(1.0f,0.5f,0.0f); // Color Orange
! glVertex3f( 1.0f,-1.0f, 1.0f); // Top Right Of The Quad (Bottom)
! glVertex3f(-1.0f,-1.0f, 1.0f); // Top Left Of The Quad (Bottom)
! glVertex3f(-1.0f,-1.0f,-1.0f); // Bottom Left Of The Quad (Bottom)
! glVertex3f( 1.0f,-1.0f,-1.0f); // Bottom Right Of The Quad (Bottom)
! glColor3f(1.0f,0.0f,0.0f); // Color Red
! glVertex3f( 1.0f, 1.0f, 1.0f); // Top Right Of The Quad (Front)
! glVertex3f(-1.0f, 1.0f, 1.0f); // Top Left Of The Quad (Front)
! glVertex3f(-1.0f,-1.0f, 1.0f); // Bottom Left Of The Quad (Front)
! glVertex3f( 1.0f,-1.0f, 1.0f); // Bottom Right Of The Quad (Front)
! glColor3f(1.0f,1.0f,0.0f); // Color Yellow
! glVertex3f( 1.0f,-1.0f,-1.0f); // Top Right Of The Quad (Back)
! glVertex3f(-1.0f,-1.0f,-1.0f); // Top Left Of The Quad (Back)
! glVertex3f(-1.0f, 1.0f,-1.0f); // Bottom Left Of The Quad (Back)
! glVertex3f( 1.0f, 1.0f,-1.0f); // Bottom Right Of The Quad (Back)
! glColor3f(0.0f,0.0f,1.0f); // Color Blue
! glVertex3f(-1.0f, 1.0f, 1.0f); // Top Right Of The Quad (Left)
! glVertex3f(-1.0f, 1.0f,-1.0f); // Top Left Of The Quad (Left)
! glVertex3f(-1.0f,-1.0f,-1.0f); // Bottom Left Of The Quad (Left)
! glVertex3f(-1.0f,-1.0f, 1.0f); // Bottom Right Of The Quad (Left)
! glColor3f(1.0f,0.0f,1.0f); // Color Violet
! glVertex3f( 1.0f, 1.0f,-1.0f); // Top Right Of The Quad (Right)
! glVertex3f( 1.0f, 1.0f, 1.0f); // Top Left Of The Quad (Right)
! glVertex3f( 1.0f,-1.0f, 1.0f); // Bottom Left Of The Quad (Right)
! glVertex3f( 1.0f,-1.0f,-1.0f); // Bottom Right Of The Quad (Right)
! glEnd(); // End Drawing The Cube
!
! glTranslatef( -x, -y, -z );
! }
!
!
! // int stg_hash3d( int x, int y, int z )
! // {
! // return (x+y+z);
// }
--- 606,647 ----
! // void draw_voxel( int x, int y, int z )
! // {
! // glTranslatef( x,y,z );
! // glBegin(GL_QUADS); // Draw The Cube Using quads
! // glColor3f(0.0f,1.0f,0.0f); // Color Blue
! // glVertex3f( 1.0f, 1.0f,-1.0f); // Top Right Of The Quad (Top)
! // glVertex3f(-1.0f, 1.0f,-1.0f); // Top Left Of The Quad (Top)
! // glVertex3f(-1.0f, 1.0f, 1.0f); // Bottom Left Of The Quad (Top)
! // glVertex3f( 1.0f, 1.0f, 1.0f); // Bottom Right Of The Quad (Top)
! // glColor3f(1.0f,0.5f,0.0f); // Color Orange
! // glVertex3f( 1.0f,-1.0f, 1.0f); // Top Right Of The Quad (Bottom)
! // glVertex3f(-1.0f,-1.0f, 1.0f); // Top Left Of The Quad (Bottom)
! // glVertex3f(-1.0f,-1.0f,-1.0f); // Bottom Left Of The Quad (Bottom)
! // glVertex3f( 1.0f,-1.0f,-1.0f); // Bottom Right Of The Quad (Bottom)
! // glColor3f(1.0f,0.0f,0.0f); // Color Red
! // glVertex3f( 1.0f, 1.0f, 1.0f); // Top Right Of The Quad (Front)
! // glVertex3f(-1.0f, 1.0f, 1.0f); // Top Left Of The Quad (Front)
! // glVertex3f(-1.0f,-1.0f, 1.0f); // Bottom Left Of The Quad (Front)
! // glVertex3f( 1.0f,-1.0f, 1.0f); // Bottom Right Of The Quad (Front)
! // glColor3f(1.0f,1.0f,0.0f); // Color Yellow
! // glVertex3f( 1.0f,-1.0f,-1.0f); // Top Right Of The Quad (Back)
! // glVertex3f(-1.0f,-1.0f,-1.0f); // Top Left Of The Quad (Back)
! // glVertex3f(-1.0f, 1.0f,-1.0f); // Bottom Left Of The Quad (Back)
! // glVertex3f( 1.0f, 1.0f,-1.0f); // Bottom Right Of The Quad (Back)
! // glColor3f(0.0f,0.0f,1.0f); // Color Blue
! // glVertex3f(-1.0f, 1.0f, 1.0f); // Top Right Of The Quad (Left)
! // glVertex3f(-1.0f, 1.0f,-1.0f); // Top Left Of The Quad (Left)
! // glVertex3f(-1.0f,-1.0f,-1.0f); // Bottom Left Of The Quad (Left)
! // glVertex3f(-1.0f,-1.0f, 1.0f); // Bottom Right Of The Quad (Left)
! // glColor3f(1.0f,0.0f,1.0f); // Color Violet
! // glVertex3f( 1.0f, 1.0f,-1.0f); // Top Right Of The Quad (Right)
! // glVertex3f( 1.0f, 1.0f, 1.0f); // Top Left Of The Quad (Right)
! // glVertex3f( 1.0f,-1.0f, 1.0f); // Bottom Left Of The Quad (Right)
! // glVertex3f( 1.0f,-1.0f,-1.0f); // Bottom Right Of The Quad (Right)
! // glEnd(); // End Drawing The Cube
! // glTranslatef( -x, -y, -z );
// }
Index: model_ranger.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_ranger.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_ranger.cc 1 Nov 2007 07:18:53 -0000 1.1.2.3
--- model_ranger.cc 19 Nov 2007 07:40:41 -0000 1.1.2.4
***************
*** 356,360 ****
{
// recreate the display list for this data
! glNewList( this->dl_data, GL_COMPILE );
if( sensors && sensor_count )
--- 356,360 ----
{
// recreate the display list for this data
! //glNewList( this->dl_data, GL_COMPILE );
if( sensors && sensor_count )
***************
*** 374,378 ****
glDepthMask( GL_TRUE );
}
! glEndList();
}
--- 374,379 ----
glDepthMask( GL_TRUE );
}
!
! //glEndList();
}
Index: blockgrid.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/blockgrid.cc,v
retrieving revision 1.1.2.5
retrieving revision 1.1.2.6
diff -C2 -d -r1.1.2.5 -r1.1.2.6
*** blockgrid.cc 1 Nov 2007 07:18:53 -0000 1.1.2.5
--- blockgrid.cc 19 Nov 2007 07:40:41 -0000 1.1.2.6
***************
*** 15,20 ****
this->bheight = height >> NBITS;
! printf( "Creating StgBlockGrid of [%u,%u](%u,%u) elements\n",
! width, height, bwidth, bheight );
trashstack = NULL;
--- 15,20 ----
this->bheight = height >> NBITS;
! //printf( "Creating StgBlockGrid of [%u,%u](%u,%u) elements\n",
! // width, height, bwidth, bheight );
trashstack = NULL;
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stage.hh,v
retrieving revision 1.1.2.14
retrieving revision 1.1.2.15
diff -C2 -d -r1.1.2.14 -r1.1.2.15
*** stage.hh 17 Nov 2007 23:31:22 -0000 1.1.2.14
--- stage.hh 19 Nov 2007 07:40:41 -0000 1.1.2.15
***************
*** 686,689 ****
--- 686,700 ----
#define LTE(A,B) ((lrint(A*PRECISION))<=(lrint(B*PRECISION)))
+ #define STG_SHOW_BLOCKS 1
+ #define STG_SHOW_DATA 1<<1
+ #define STG_SHOW_GEOM 1<<2
+ #define STG_SHOW_GRID 1<<3
+ #define STG_SHOW_OCCUPANCY 1<<4
+ #define STG_SHOW_TRAILS 1<<5
+ #define STG_SHOW_FOLLOW 1<<6
+ #define STG_SHOW_CLOCK 1<<7
+ #define STG_SHOW_QUADTREE 1<<8
+ //#define STG_SHOW_ 1<<
+
// STAGE INTERNAL
***************
*** 1144,1147 ****
--- 1155,1160 ----
class StgAncestor
{
+ friend class StgCanvas; // allow StgCanvas access to our private members
+
protected:
GList* children;
***************
*** 1159,1163 ****
virtual void AddChild( StgModel* mod );
virtual void RemoveChild( StgModel* mod );
-
virtual void GetGlobalPose( stg_pose_t* gpose );
--- 1172,1175 ----
***************
*** 1165,1172 ****
{ return this->token; }
! // todo - should these be pure virtual?
! virtual void PushColor( stg_color_t col ){} // does nothing
! virtual void PushColor( double r, double g, double b, double a ){} // does
nothing
! virtual void PopColor(){} // does nothing
};
--- 1177,1184 ----
{ return this->token; }
! // PURE VIRTUAL - descendents must implement
! virtual void PushColor( stg_color_t col ) = 0;
! virtual void PushColor( double r, double g, double b, double a ) = 0;
! virtual void PopColor() = 0; // does nothing
};
***************
*** 1401,1405 ****
// display lists
! int dl_body, dl_data, dl_cmd, dl_cfg, dl_grid, dl_debug, dl_raytrace;
//GList* raytrace_dl_list;
--- 1413,1417 ----
// display lists
! //int dl_body, dl_data, dl_cmd, dl_cfg, dl_grid, dl_debug, dl_raytrace;
//GList* raytrace_dl_list;
***************
*** 1435,1445 ****
/** save the state of the model to the current world file */
virtual void Save( void );
! virtual void Draw( void );
virtual void DrawPicker( void );
! virtual void DrawBody( void );
! virtual void DrawData( void );
virtual void DataVisualize( void );
virtual void DrawSelected(void);
! virtual void InitGraphics(void); // called by a world that supports
// graphics
--- 1447,1458 ----
/** save the state of the model to the current world file */
virtual void Save( void );
! virtual void Draw( uint32_t flags );
virtual void DrawPicker( void );
! //virtual void DrawBody( void );
! //virtual void DrawData( void );
virtual void DataVisualize( void );
+ void DrawGrid();
virtual void DrawSelected(void);
! //virtual void InitGraphics(void); // called by a world that supports
// graphics
***************
*** 1972,2023 ****
#include <FL/Fl.H>
#include <FL/Fl_Window.H>
#include <FL/Fl_Value_Slider.H>
#include <FL/Fl_Menu_Button.H>
#include <FL/Fl_Gl_Window.H>
#include <FL/gl.h>
! class StgGlWindow;
!
! class StgWorldGui : public StgWorld, public Fl_Gl_Window
{
! protected:
GlColorStack colorstack;
double scale;
-
- double fg; // foreground brightness
- double bg; // background brightness
double panx, pany, stheta, sphi;
-
int startx, starty;
bool dragging;
!
! //int overlay_sides;
! //bool ctrl_down;
!
! GList* selected_models; ///< a list of models that are currently selected
by the user
!
! public:
! StgWorldGui(int W,int H,const char*L=0);
! StgGlWindow* gl;
! //Fl_Menu_Bar* menubar;
!
bool follow_selection;
! bool show_quadtree;
! bool show_occupancy;
! bool show_geom;
! bool show_boxes;
! bool show_grid;
! bool show_data;
! bool show_cfg;
! bool show_cmd;
! bool show_thumbnail;
! bool show_trails;
! bool show_clock;
!
! //bool show_bboxes;
! //bool show_alpha;
! //bool show_fill;
bool graphics;
void FixViewport(int W,int H);
virtual void draw();
--- 1985,2022 ----
#include <FL/Fl.H>
#include <FL/Fl_Window.H>
+ #include <FL/Fl_Double_Window.H>
#include <FL/Fl_Value_Slider.H>
+ #include <FL/Fl_Menu_Bar.H>
#include <FL/Fl_Menu_Button.H>
#include <FL/Fl_Gl_Window.H>
#include <FL/gl.h>
+ #include <Fl/Fl_Box.H>
! class StgCanvas : public Fl_Gl_Window
{
! friend class StgWorldGui; // allow access to private members
!
! private:
GlColorStack colorstack;
double scale;
double panx, pany, stheta, sphi;
int startx, starty;
bool dragging;
! bool rotating;
! GList* selected_models; ///< a list of models that are currently
! ///selected by the user
! StgModel* last_selection; ///< the most recently selected model
! ///(even if it is now unselected).
bool follow_selection;
! uint32_t showflags;
! stg_msec_t interval; // window refresh interval in ms
+ public:
+ StgCanvas( StgWorld* world, int x, int y, int W,int H);
+ ~StgCanvas();
+
+ StgWorld* world;
bool graphics;
+
void FixViewport(int W,int H);
virtual void draw();
***************
*** 2025,2052 ****
virtual int handle( int event );
void resize(int X,int Y,int W,int H);
! //Fl_Menu_Item* menuitems;
! Fl_Menu_Button* menu;
! void PopupMenu( int x, int y);
! // overloaded StgWorld methods
virtual bool RealTimeUpdate();
virtual bool Update();
- virtual void AddModel( StgModel* mod );
! void CanvasToWorld( int px, int py,
! double *wx, double *wy, double* wz );
!
! StgModel* Select( int x, int y );
virtual void PushColor( stg_color_t col )
! { colorstack.Push( col ); }
virtual void PushColor( double r, double g, double b, double a )
! { colorstack.Push( r,g,b,a ); }
virtual void PopColor()
! { colorstack.Pop(); }
};
--- 2024,2074 ----
virtual int handle( int event );
void resize(int X,int Y,int W,int H);
+
+ void CanvasToWorld( int px, int py,
+ double *wx, double *wy, double* wz );
+
+ StgModel* Select( int x, int y );
! inline void PushColor( stg_color_t col )
! { colorstack.Push( col ); }
!
! inline void PushColor( double r, double g, double b, double a )
! { colorstack.Push( r,g,b,a ); }
!
! inline void PopColor()
! { colorstack.Pop(); }
!
! static void TimerCallback( StgCanvas* canvas );
! };
! class StgWorldGui : public StgWorld, public Fl_Window
! {
! private:
! int wf_section;
! public:
! StgWorldGui(int W,int H,const char*L=0);
! ~StgWorldGui();
!
! StgCanvas* canvas;
!
! // overload inherited methods
virtual bool RealTimeUpdate();
virtual bool Update();
! virtual void Load( const char* filename );
! virtual void Save();
!
! // static callback functions
! static void SaveCallback( Fl_Widget* wid, StgWorldGui* world );
virtual void PushColor( stg_color_t col )
! { canvas->PushColor( col ); }
virtual void PushColor( double r, double g, double b, double a )
! { canvas->PushColor( r,g,b,a ); }
virtual void PopColor()
! { canvas->PopColor(); }
};
***************
*** 2228,2232 ****
virtual void Print( char* prefix );
virtual void DataVisualize( void );
! virtual void InitGraphics(void);
void SetSampleCount( unsigned int count );
--- 2250,2254 ----
virtual void Print( char* prefix );
virtual void DataVisualize( void );
! // virtual void InitGraphics(void);
void SetSampleCount( unsigned int count );
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