Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14456/libstage
Modified Files:
Tag: opengl
Makefile block.cc blockgrid.cc canvas.cc model.cc
model_fiducial.cc model_laser.cc model_load.cc
model_position.cc model_ranger.cc stage.hh stest.cc world.cc
worldgui.cc
Log Message:
patching up API and documentation
Index: worldgui.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/worldgui.cc,v
retrieving revision 1.1.2.6
retrieving revision 1.1.2.7
diff -C2 -d -r1.1.2.6 -r1.1.2.7
*** worldgui.cc 24 Dec 2007 10:50:45 -0000 1.1.2.6
--- worldgui.cc 29 Dec 2007 05:07:40 -0000 1.1.2.7
***************
*** 58,62 ****
//printf("CALLBACK: You picked '%s'\n", picked);
!
// this is slow and a little ugly, but it's the least hacky approach I think
if( strcmp(picked, MITEM_VIEW_DATA ) == 0 ) canvas->InvertView(
STG_SHOW_DATA );
--- 58,62 ----
//printf("CALLBACK: You picked '%s'\n", picked);
!
// this is slow and a little ugly, but it's the least hacky approach I think
if( strcmp(picked, MITEM_VIEW_DATA ) == 0 ) canvas->InvertView(
STG_SHOW_DATA );
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_laser.cc,v
retrieving revision 1.1.2.15
retrieving revision 1.1.2.16
diff -C2 -d -r1.1.2.15 -r1.1.2.16
*** model_laser.cc 24 Dec 2007 10:50:45 -0000 1.1.2.15
--- model_laser.cc 29 Dec 2007 05:07:40 -0000 1.1.2.16
***************
*** 133,137 ****
StgModel::Load();
! CWorldFile* wf = world->wf;
sample_count = wf->ReadInt( id, "samples", sample_count );
--- 133,137 ----
StgModel::Load();
! CWorldFile* wf = world->GetWorldFile();
sample_count = wf->ReadInt( id, "samples", sample_count );
***************
*** 154,159 ****
// lasers
! if( (testblock->mod != finder) &&
! (testblock->mod->LaserReturn() > 0 ) )
return true; // match!
--- 154,159 ----
// lasers
! if( (testblock->Model() != finder) &&
! (testblock->Model()->LaserReturn() > 0 ) )
return true; // match!
Index: block.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/block.cc,v
retrieving revision 1.1.2.7
retrieving revision 1.1.2.8
diff -C2 -d -r1.1.2.7 -r1.1.2.8
*** block.cc 24 Dec 2007 10:50:45 -0000 1.1.2.7
--- block.cc 29 Dec 2007 05:07:40 -0000 1.1.2.8
***************
*** 163,167 ****
(int)pt_count );
! double ppm = mod->world->ppm;
// update the global coordinate list
--- 163,167 ----
(int)pt_count );
! double ppm = mod->World()->ppm;
// update the global coordinate list
***************
*** 177,182 ****
mod->LocalToGlobal( &gpose );
! pts_global[p].x = (int32_t)floor((gpose.x+mod->world->width/2.0)*ppm);
! pts_global[p].y = (int32_t)floor((gpose.y+mod->world->height/2.0)*ppm);
PRINT_DEBUG2("loc [%.2f %.2f]",
--- 177,182 ----
mod->LocalToGlobal( &gpose );
! pts_global[p].x = (int32_t)floor((gpose.x+mod->World()->width/2.0)*ppm);
! pts_global[p].y =
(int32_t)floor((gpose.y+mod->World()->height/2.0)*ppm);
PRINT_DEBUG2("loc [%.2f %.2f]",
***************
*** 193,198 ****
global_zmin = gpose.z;
global_zmax = gpose.z + (zmax-zmin);
!
! mod->world->MapBlock( this );
}
--- 193,205 ----
global_zmin = gpose.z;
global_zmax = gpose.z + (zmax-zmin);
!
! stg_render_info_t render_info;
! render_info.world = mod->World();
! render_info.block = this;
!
! stg_polygon_3d( pts_global, pt_count,
! (stg_line3d_func_t)StgWorld::AddBlockPixel,
! (void*)&render_info );
!
}
***************
*** 208,212 ****
&g_array_index( rendered_points, stg_point_int_t, p);
! mod->world->bgrid->RemoveBlock( pt->x, pt->y, this );
}
--- 215,219 ----
&g_array_index( rendered_points, stg_point_int_t, p);
! mod->World()->RemoveBlock( pt->x, pt->y, this );
}
***************
*** 226,231 ****
! void stg_block_list_scale( GList* blocks,
! stg_size_t* size )
{
if( g_list_length( blocks ) < 1 )
--- 233,238 ----
! void StgBlock::ScaleList( GList* blocks,
! stg_size_t* size )
{
if( g_list_length( blocks ) < 1 )
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model.cc,v
retrieving revision 1.1.2.19
retrieving revision 1.1.2.20
diff -C2 -d -r1.1.2.19 -r1.1.2.20
*** model.cc 24 Dec 2007 10:50:45 -0000 1.1.2.19
--- model.cc 29 Dec 2007 05:07:40 -0000 1.1.2.20
***************
*** 107,141 ****
#define _GNU_SOURCE
- #include <limits.h>
- //#include <assert.h>
- //#include <math.h>
- //#include <GL/gl.h>
- //#include <glib.h>
-
//#define DEBUG
#include "stage.hh"
// basic model
! #define STG_DEFAULT_BLOBRETURN true
! #define STG_DEFAULT_BOUNDARY true
! #define STG_DEFAULT_COLOR (0xFFFF0000) // red
! #define STG_DEFAULT_ENERGY_CAPACITY 1000.0
! #define STG_DEFAULT_ENERGY_CHARGEENABLE 1
! #define STG_DEFAULT_ENERGY_GIVERATE 0.0
! #define STG_DEFAULT_ENERGY_PROBERANGE 0.0
! #define STG_DEFAULT_ENERGY_TRICKLERATE 0.1
! #define STG_DEFAULT_GEOM_SIZEX 0.10 // 1m square by default
! #define STG_DEFAULT_GEOM_SIZEY 0.10
! #define STG_DEFAULT_GEOM_SIZEZ 0.10
! #define STG_DEFAULT_GRID false
! #define STG_DEFAULT_GRIPPERRETURN false
! #define STG_DEFAULT_LASERRETURN LaserVisible
! #define STG_DEFAULT_MAP_RESOLUTION 0.1
! #define STG_DEFAULT_MASK (STG_MOVE_TRANS | STG_MOVE_ROT)
! #define STG_DEFAULT_MASS 10.0 // kg
! #define STG_DEFAULT_NOSE false
! #define STG_DEFAULT_OBSTACLERETURN true
! #define STG_DEFAULT_OUTLINE true
! #define STG_DEFAULT_RANGERRETURN true
--- 107,136 ----
#define _GNU_SOURCE
//#define DEBUG
#include "stage.hh"
+ #include <limits.h>
// basic model
! #define STG_DEFAULT_MOD_BLOBRETURN true
! #define STG_DEFAULT_MOD_BOUNDARY false
! #define STG_DEFAULT_MOD_COLOR (0xFFFF0000) // red
! #define STG_DEFAULT_MOD_ENERGY_CAPACITY 1000.0
! #define STG_DEFAULT_MOD_ENERGY_CHARGEENABLE 1
! #define STG_DEFAULT_MOD_ENERGY_GIVERATE 0.0
! #define STG_DEFAULT_MOD_ENERGY_PROBERANGE 0.0
! #define STG_DEFAULT_MOD_ENERGY_TRICKLERATE 0.1
! #define STG_DEFAULT_MOD_GEOM_SIZEX 0.10 // 1m square by default
! #define STG_DEFAULT_MOD_GEOM_SIZEY 0.10
! #define STG_DEFAULT_MOD_GEOM_SIZEZ 0.10
! #define STG_DEFAULT_MOD_GRID false
! #define STG_DEFAULT_MOD_GRIPPERRETURN false
! #define STG_DEFAULT_MOD_LASERRETURN LaserVisible
! #define STG_DEFAULT_MOD_MAP_RESOLUTION 0.1
! #define STG_DEFAULT_MOD_MASK (STG_MOVE_TRANS | STG_MOVE_ROT)
! #define STG_DEFAULT_MOD_MASS 10.0 // kg
! #define STG_DEFAULT_MOD_NOSE false
! #define STG_DEFAULT_MOD_OBSTACLERETURN true
! #define STG_DEFAULT_MOD_OUTLINE true
! #define STG_DEFAULT_MOD_RANGERRETURN true
***************
*** 183,187 ****
memset( &global_pose, 0, sizeof(global_pose));
- this->ray_list = NULL;
this->trail = g_array_new( false, false, sizeof(stg_trail_item_t) );
--- 178,181 ----
***************
*** 196,216 ****
this->subs = 0;
! this->geom.size.x = STG_DEFAULT_GEOM_SIZEX;
! this->geom.size.y = STG_DEFAULT_GEOM_SIZEX;
! this->geom.size.z = STG_DEFAULT_GEOM_SIZEX;
memset( &this->geom.pose, 0, sizeof(this->geom.pose));
! this->obstacle_return = STG_DEFAULT_OBSTACLERETURN;
! this->ranger_return = STG_DEFAULT_RANGERRETURN;
! this->blob_return = STG_DEFAULT_BLOBRETURN;
! this->laser_return = STG_DEFAULT_LASERRETURN;
! this->gripper_return = STG_DEFAULT_GRIPPERRETURN;
! this->boundary = false;//STG_DEFAULT_BOUNDARY;
! this->color = STG_DEFAULT_COLOR;
! this->map_resolution = STG_DEFAULT_MAP_RESOLUTION; // meters
! this->gui_nose = STG_DEFAULT_NOSE;
! this->gui_grid = STG_DEFAULT_GRID;
! this->gui_outline = STG_DEFAULT_OUTLINE;
! this->gui_mask = this->parent ? 0 : STG_DEFAULT_MASK;
this->fiducial_return = 0;
--- 190,210 ----
this->subs = 0;
! this->geom.size.x = STG_DEFAULT_MOD_GEOM_SIZEX;
! this->geom.size.y = STG_DEFAULT_MOD_GEOM_SIZEX;
! this->geom.size.z = STG_DEFAULT_MOD_GEOM_SIZEX;
memset( &this->geom.pose, 0, sizeof(this->geom.pose));
! this->obstacle_return = STG_DEFAULT_MOD_OBSTACLERETURN;
! this->ranger_return = STG_DEFAULT_MOD_RANGERRETURN;
! this->blob_return = STG_DEFAULT_MOD_BLOBRETURN;
! this->laser_return = STG_DEFAULT_MOD_LASERRETURN;
! this->gripper_return = STG_DEFAULT_MOD_GRIPPERRETURN;
! this->boundary = STG_DEFAULT_MOD_BOUNDARY;
! this->color = STG_DEFAULT_MOD_COLOR;
! this->map_resolution = STG_DEFAULT_MOD_MAP_RESOLUTION; // meters
! this->gui_nose = STG_DEFAULT_MOD_NOSE;
! this->gui_grid = STG_DEFAULT_MOD_GRID;
! this->gui_outline = STG_DEFAULT_MOD_OUTLINE;
! this->gui_mask = this->parent ? 0 : STG_DEFAULT_MOD_MASK;
this->fiducial_return = 0;
***************
*** 220,227 ****
bzero( &this->velocity, sizeof(velocity));
- this->on_velocity_list = false;
! //this->velocity.a = 0.2;
! //SetVelocity( &this->velocity );
this->last_update = 0;
--- 214,219 ----
bzero( &this->velocity, sizeof(velocity));
! this->on_velocity_list = false;
this->last_update = 0;
***************
*** 255,260 ****
bool inherit_color )
{
- //UnMap();
-
blocks =
g_list_prepend( blocks, new StgBlock( this, pts, pt_count,
--- 247,250 ----
***************
*** 264,269 ****
// force recreation of display lists before drawing
body_dirty = true;
-
- //Map();
}
--- 254,257 ----
***************
*** 391,411 ****
}
- // // default update function that implements velocities for all objects
- // void StgModel::MoveDueToVelocity( void )
- // {
- // // now move the model if it has any velocity
- // if( velocity.x || velocity.y || velocity.z || velocity.a )
- // this->UpdatePoses( void );
- // }
-
-
- // StgModel* StgModel::Create( stg_world_t* world, StgModel* parent,
- // stg_id_t id, CWorldFile* wf )
- // {
- // return new StgModel( world, parent, id, wf );
- // }
-
-
-
void StgModel::Say( char* str )
{
--- 379,382 ----
***************
*** 581,585 ****
for( GList* it=blocks; it; it=it->next )
((StgBlock*)it->data)->Map();
!
if( world->graphics && this->debug )
glPopMatrix();
--- 552,556 ----
for( GList* it=blocks; it; it=it->next )
((StgBlock*)it->data)->Map();
!
if( world->graphics && this->debug )
glPopMatrix();
***************
*** 901,907 ****
void StgModel::DataVisualize( void )
{
! // // do nothing but recursively draw the tree below this model
! // for( GList* it=children; it; it=it->next )
! // ((StgModel*)it->data)->DataVisualize();
}
--- 872,876 ----
void StgModel::DataVisualize( void )
{
! // do nothing - subclasses will do more here
}
***************
*** 1072,1077 ****
memcpy( &this->geom, geom, sizeof(stg_geom_t));
! stg_block_list_scale( blocks,
! &geom->size );
body_dirty = true;
--- 1041,1045 ----
memcpy( &this->geom, geom, sizeof(stg_geom_t));
! StgBlock::ScaleList( blocks, &geom->size );
body_dirty = true;
***************
*** 1223,1232 ****
this->parent = newparent;
- // HACK - completely rebuild the GUI elements - it's too complex to patch
up the tree
- //gui_model_destroy( mod );
- //gui_model_create( mod );
-
CallCallbacks( &this->parent );
-
return 0; //ok
}
--- 1191,1195 ----
***************
*** 1236,1240 ****
StgModel* finder )
{
! return( (testblock->mod != finder) && testblock->mod->ObstacleReturn() );
}
--- 1199,1203 ----
StgModel* finder )
{
! return( (testblock->Model() != finder) &&
testblock->Model()->ObstacleReturn() );
}
***************
*** 1279,1288 ****
StgBlock* b = (StgBlock*)it->data;
// loop over all edges of the block
! for( unsigned int p=0; p<b->pt_count; p++ )
{
// find the local poses of the ends of this block edge
! stg_point_t* pt1 = &b->pts[p];
! stg_point_t* pt2 = &b->pts[(p+1) % b->pt_count];
double dx = pt2->x - pt1->x;
double dy = pt2->y - pt1->y;
--- 1242,1254 ----
StgBlock* b = (StgBlock*)it->data;
+ unsigned int pt_count;
+ stg_point_t *pts = b->Points( &pt_count );
+
// loop over all edges of the block
! for( unsigned int p=0; p < pt_count; p++ )
{
// find the local poses of the ends of this block edge
! stg_point_t* pt1 = &pts[p];
! stg_point_t* pt2 = &pts[(p+1) % pt_count];
double dx = pt2->x - pt1->x;
double dy = pt2->y - pt1->y;
***************
*** 1499,1505 ****
}
! StgModel* StgModel::GetUnsubcribedModelOfType( char* modelstr )
{
! // printf( "searching for %s in model %s with string %s\n", modelstr,
token, typestr );
if( subs == 0 && (strcmp( typestr, modelstr ) == 0) )
--- 1465,1471 ----
}
! StgModel* StgModel::GetUnsubscribedModelOfType( char* modelstr )
{
! // printf( "searching for %s in model %s with string %s\n", modelstr,
token, typestr );
if( subs == 0 && (strcmp( typestr, modelstr ) == 0) )
***************
*** 1511,1515 ****
StgModel* child = (StgModel*)it->data;
! StgModel* found = child->GetUnsubcribedModelOfType( modelstr );
if( found )
return found;
--- 1477,1481 ----
StgModel* child = (StgModel*)it->data;
! StgModel* found = child->GetUnsubscribedModelOfType( modelstr );
if( found )
return found;
Index: stest.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stest.cc,v
retrieving revision 1.1.2.21
retrieving revision 1.1.2.22
diff -C2 -d -r1.1.2.21 -r1.1.2.22
*** stest.cc 24 Dec 2007 10:50:45 -0000 1.1.2.21
--- stest.cc 29 Dec 2007 05:07:40 -0000 1.1.2.22
***************
*** 55,62 ****
for( int i=0; i<POPSIZE; i++ )
{
- //robots[i].randcount = 0;
- //robots[i].avoidcount = 0;
- //robots[i].obs = false;
-
char* base = "r";
sprintf( namebuf, "%s%d", base, i );
--- 55,58 ----
***************
*** 65,80 ****
robots[i].position->Subscribe();
! //robots[i].laser = (StgModelLaser*)
! //robots[i].position->GetUnsubcribedModelOfType( "laser" );
! //assert(robots[i].laser);
! //robots[i].laser->Subscribe();
robots[i].fiducial = (StgModelFiducial*)
! robots[i].position->GetUnsubcribedModelOfType( "fiducial" );
assert(robots[i].fiducial);
robots[i].fiducial->Subscribe();
robots[i].ranger = (StgModelRanger*)
! robots[i].position->GetUnsubcribedModelOfType( "ranger" );
assert(robots[i].ranger);
robots[i].ranger->Subscribe();
--- 61,76 ----
robots[i].position->Subscribe();
! robots[i].laser = (StgModelLaser*)
! robots[i].position->GetUnsubscribedModelOfType( "laser" );
! assert(robots[i].laser);
! robots[i].laser->Subscribe();
robots[i].fiducial = (StgModelFiducial*)
! robots[i].position->GetUnsubscribedModelOfType( "fiducial" );
assert(robots[i].fiducial);
robots[i].fiducial->Subscribe();
robots[i].ranger = (StgModelRanger*)
! robots[i].position->GetUnsubscribedModelOfType( "ranger" );
assert(robots[i].ranger);
robots[i].ranger->Subscribe();
***************
*** 139,144 ****
vel.a = turn_speed;
! //printf( "robot %s x %.2f y %.2f z %.2f a %.2f\n",
! //robots[i].position->Token(), vel.x, vel.y, vel.z, vel.a );
robots[i].position->SetSpeed( forward_speed, side_speed, turn_speed );
--- 135,140 ----
vel.a = turn_speed;
! printf( "robot %s [%.2f %.2f %.2f %.2f]\n",
! robots[i].position->Token(), vel.x, vel.y, vel.z, vel.a );
robots[i].position->SetSpeed( forward_speed, side_speed, turn_speed );
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/world.cc,v
retrieving revision 1.1.2.19
retrieving revision 1.1.2.20
diff -C2 -d -r1.1.2.19 -r1.1.2.20
*** world.cc 24 Dec 2007 10:50:45 -0000 1.1.2.19
--- world.cc 29 Dec 2007 05:07:40 -0000 1.1.2.20
***************
*** 51,54 ****
--- 51,56 ----
#define _GNU_SOURCE
+ //#define DEBUG
+
#include <stdlib.h>
#include <assert.h>
***************
*** 57,62 ****
#include <glib-object.h> // fior g_type_init() used by GDKPixbuf objects
- //#define DEBUG
-
#include "stage.hh"
--- 59,62 ----
***************
*** 146,150 ****
// change this
! this->models_by_id = g_hash_table_new( g_int_hash, g_int_equal );
this->models_by_name = g_hash_table_new( g_str_hash, g_str_equal );
this->sim_time = 0;
--- 146,150 ----
// change this
! this->models_by_id = g_hash_table_new( g_direct_hash, g_direct_equal );
this->models_by_name = g_hash_table_new( g_str_hash, g_str_equal );
this->sim_time = 0;
***************
*** 297,307 ****
int parent_entity = wf->GetEntityParent( entity );
! //PRINT_DEBUG2( "wf entity %d parent entity %d\n",
! // entity, parent_entity );
StgModel *mod, *parent;
! parent = (StgModel*)
! g_hash_table_lookup( this->models_by_id, &parent_entity );
// find the creator function pointer in the hash table
--- 297,306 ----
int parent_entity = wf->GetEntityParent( entity );
! PRINT_DEBUG2( "wf entity %d parent entity %d\n",
! entity, parent_entity );
StgModel *mod, *parent;
! parent = GetModel( parent_entity );
// find the creator function pointer in the hash table
***************
*** 335,350 ****
}
- void StgWorld::Stop()
- {
- this->paused = true;
- }
-
- void StgWorld::Start()
- {
- this->paused = false;
-
- wf->WarnUnused();
- }
-
stg_usec_t StgWorld::RealTimeNow()
{
--- 334,337 ----
***************
*** 428,432 ****
// token, mod->id, mod->Token() );
! g_hash_table_insert( this->models_by_id, &mod->id, mod );
AddModelName( mod );
}
--- 415,419 ----
// token, mod->id, mod->Token() );
! g_hash_table_insert( this->models_by_id, (gpointer)mod->Id(), mod );
AddModelName( mod );
}
***************
*** 440,444 ****
StgModel* StgWorld::GetModel( const char* name )
{
! //printf( "looking up model name %s in models_by_name\n", name );
StgModel* mod = (StgModel*)g_hash_table_lookup( this->models_by_name, name
);
--- 427,431 ----
StgModel* StgWorld::GetModel( const char* name )
{
! PRINT_DEBUG1( "looking up model name %s in models_by_name", name );
StgModel* mod = (StgModel*)g_hash_table_lookup( this->models_by_name, name
);
***************
*** 451,455 ****
StgModel* StgWorld::GetModel( const stg_id_t id )
{
! //printf( "looking up model id %d in models_by_id\n", id );
return (StgModel*)g_hash_table_lookup( this->models_by_id, (gpointer)id );
}
--- 438,442 ----
StgModel* StgWorld::GetModel( const stg_id_t id )
{
! PRINT_DEBUG1( "looking up model id %d in models_by_id", id );
return (StgModel*)g_hash_table_lookup( this->models_by_id, (gpointer)id );
}
***************
*** 466,485 ****
}
- void StgWorld::DrawRays()
- {
- glDisable( GL_DEPTH_TEST );
- PushColor( 0,0,0,0.5 );
- for( GList* it = ray_list; 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 );
- }
-
void StgWorld::ClearRays()
{
--- 453,456 ----
***************
*** 567,578 ****
// if this block does not belong to the searching model and it
// matches the predicate and it's in the right z range
! if( block && (block->mod != finder) &&
! (*func)( block, arg ) )// &&
! //pose->z >= block->global_zmin &&
! //pose->z < block->global_zmax )
{
// a hit!
if( hit_model )
! *hit_model = block->mod;
// how far away was that strike?
--- 538,548 ----
// if this block does not belong to the searching model and it
// matches the predicate and it's in the right z range
! if( block && (block->Model() != finder) &&
! block->IntersectGlobalZ( pose->z ) &&
! (*func)( block, arg ) )
{
// a hit!
if( hit_model )
! *hit_model = block->Model();
// how far away was that strike?
***************
*** 621,626 ****
{
// ask every model to save itself
! g_hash_table_foreach( this->models_by_id, stg_model_save_cb, NULL );
this->wf->Save(NULL);
}
--- 591,598 ----
{
// ask every model to save itself
! //g_hash_table_foreach( this->models_by_id, stg_model_save_cb, NULL );
+ ForEachModel( stg_model_save_cb, NULL );
+
this->wf->Save(NULL);
}
***************
*** 633,637 ****
// ask every model to load itself from the file database
! g_hash_table_foreach( this->models_by_id, stg_model_reload_cb, NULL );
}
--- 605,611 ----
// ask every model to load itself from the file database
! //g_hash_table_foreach( this->models_by_id, stg_model_reload_cb, NULL );
!
! ForEachModel( stg_model_reload_cb, NULL );
}
***************
*** 647,692 ****
}
-
- // 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 );
- // }
-
-
void StgWorld::MetersToPixels( stg_meters_t mx, stg_meters_t my,
int32_t *px, int32_t *py )
--- 621,624 ----
***************
*** 696,746 ****
}
! typedef struct
! {
! StgBlockGrid* grid;
! StgBlock* block;
! } _render_info_t;
!
! int stg_add_block_to_grid( int x, int y, int z,
! _render_info_t* rinfo )
{
! rinfo->grid->AddBlock( x, y, rinfo->block );
return FALSE;
}
-
- void StgWorld::MapBlock( StgBlock* block )
- {
- stg_point_int_t* pts = block->pts_global;
- unsigned int pt_count = block->pt_count;
-
- assert( pt_count >=2 );
-
- _render_info_t rinfo;
- rinfo.grid = bgrid;
- rinfo.block = block;
-
- // TODO - could be a little bit faster - currently considers each
- // vertex twice
- for( unsigned int p=0; p<pt_count; p++ )
- {
- int32_t x = pts[p].x; // line start
- int32_t y = pts[p].y; // line end
-
- int32_t dx = pts[(p+1)%pt_count].x - x;
- int32_t dy = pts[(p+1)%pt_count].y - y;
-
-
- // pass this structure into our per-pixel callback
- _render_info_t rinfo;
- rinfo.grid = bgrid;
- rinfo.block = block;
-
- // ignore return value
- stg_line_3d( x, y, 0,
- dx, dy, 0,
- (stg_line3d_func_t)stg_add_block_to_grid,
- &rinfo );
- }
- }
-
--- 628,636 ----
}
! int StgWorld::AddBlockPixel( int x, int y, int z,
! stg_render_info_t* rinfo )
{
! rinfo->world->bgrid->AddBlock( x, y, rinfo->block );
return FALSE;
}
Index: model_load.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_load.cc,v
retrieving revision 1.1.2.6
retrieving revision 1.1.2.7
diff -C2 -d -r1.1.2.6 -r1.1.2.7
*** model_load.cc 24 Dec 2007 10:50:45 -0000 1.1.2.6
--- model_load.cc 29 Dec 2007 05:07:40 -0000 1.1.2.7
***************
*** 200,204 ****
}
! stg_block_list_scale( this->blocks, &this->geom.size );
this->Map();
this->body_dirty = true;
--- 200,204 ----
}
! StgBlock::ScaleList( this->blocks, &this->geom.size );
this->Map();
this->body_dirty = true;
***************
*** 269,273 ****
}
! stg_block_list_scale( this->blocks, &this->geom.size );
if( this->boundary )
--- 269,273 ----
}
! StgBlock::ScaleList( this->blocks, &this->geom.size );
if( this->boundary )
Index: model_ranger.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_ranger.cc,v
retrieving revision 1.1.2.8
retrieving revision 1.1.2.9
diff -C2 -d -r1.1.2.8 -r1.1.2.9
*** model_ranger.cc 24 Dec 2007 10:50:45 -0000 1.1.2.8
--- model_ranger.cc 29 Dec 2007 05:07:40 -0000 1.1.2.9
***************
*** 74,83 ****
*/
! //#define DEBUG
!
! #include <math.h>
#include "stage.hh"
!
! #define STG_RANGER_WATTS 2.0 // ranger power consumption
StgModelRanger::StgModelRanger( StgWorld* world,
--- 74,89 ----
*/
! //#define DEBUG 1
#include "stage.hh"
! #include <math.h>
!
! static const stg_watts_t STG_DEFAULT_RANGER_WATTSPERSENSOR = 0.2;
! static const stg_meters_t STG_DEFAULT_RANGER_SIZEX = 0.01;
! static const stg_meters_t STG_DEFAULT_RANGER_SIZEY = 0.04;
! static const stg_meters_t STG_DEFAULT_RANGER_SIZEZ = 0.04;
! static const stg_meters_t STG_DEFAULT_RANGER_RANGEMAX = 5.0;
! static const stg_meters_t STG_DEFAULT_RANGER_RANGEMIN = 0.0;
! static const unsigned int STG_DEFAULT_RANGER_RAYCOUNT = 3;
! static const unsigned int STG_DEFAULT_RANGER_SENSORCOUNT = 16;
StgModelRanger::StgModelRanger( StgWorld* world,
***************
*** 101,108 ****
memset( &geom, 0, sizeof(geom)); // no size
this->SetGeom( &geom );
!
samples = NULL;
! sensor_count = 16;
! sensors= g_new0( stg_ranger_sensor_t, sensor_count );
double offset = MIN(geom.size.x, geom.size.y) / 2.0;
--- 107,114 ----
memset( &geom, 0, sizeof(geom)); // no size
this->SetGeom( &geom );
!
samples = NULL;
! sensor_count = STG_DEFAULT_RANGER_SENSORCOUNT;
! sensors = new stg_ranger_sensor_t[sensor_count];
double offset = MIN(geom.size.x, geom.size.y) / 2.0;
***************
*** 116,127 ****
sensors[c].pose.z = 0;//geom.size.z / 2.0; // half way up
! sensors[c].size.x = 0.01; // a small device
! sensors[c].size.y = 0.04;
! sensors[c].size.z = 0.04;
! sensors[c].bounds_range.min = 0;
! sensors[c].bounds_range.max = 5.0;
sensors[c].fov = (2.0*M_PI)/(sensor_count+1);
! sensors[c].ray_count = 3;
}
}
--- 122,133 ----
sensors[c].pose.z = 0;//geom.size.z / 2.0; // half way up
! sensors[c].size.x = STG_DEFAULT_RANGER_SIZEX;
! sensors[c].size.y = STG_DEFAULT_RANGER_SIZEY;
! sensors[c].size.z = STG_DEFAULT_RANGER_SIZEZ;
! sensors[c].bounds_range.min = STG_DEFAULT_RANGER_RANGEMIN;
! sensors[c].bounds_range.max = STG_DEFAULT_RANGER_RANGEMAX;;
sensors[c].fov = (2.0*M_PI)/(sensor_count+1);
! sensors[c].ray_count = STG_DEFAULT_RANGER_RAYCOUNT;
}
}
***************
*** 137,143 ****
PRINT_DEBUG( "ranger startup" );
! this->samples = new stg_meters_t[sensor_count];
!
! this->SetWatts( STG_RANGER_WATTS );
}
--- 143,147 ----
PRINT_DEBUG( "ranger startup" );
! this->SetWatts( STG_DEFAULT_RANGER_WATTSPERSENSOR * sensor_count );
}
***************
*** 162,166 ****
StgModel::Load();
! CWorldFile* wf = world->wf;
if( wf->PropertyExists(id, "scount" ) )
--- 166,170 ----
StgModel::Load();
! CWorldFile* wf = world->GetWorldFile();
if( wf->PropertyExists(id, "scount" ) )
***************
*** 173,185 ****
char key[256];
! sensors = g_renew( stg_ranger_sensor_t, sensors, sensor_count );
!
stg_size_t common_size;
! common_size.x = wf->ReadTupleLength( id, "ssize", 0, sensors[0].size.x
);
! common_size.y = wf->ReadTupleLength( id, "ssize", 1, sensors[0].size.y
);
! double common_min = wf->ReadTupleLength( id, "sview", 0,
sensors[0].bounds_range.min );
! double common_max = wf->ReadTupleLength( id, "sview", 1,
sensors[0].bounds_range.max );
! double common_fov = wf->ReadTupleAngle( id, "sview", 2, sensors[0].fov
);
int common_ray_count = wf->ReadInt( id, "sraycount",
sensors[0].ray_count );
--- 177,191 ----
char key[256];
! //sensors = g_renew( stg_ranger_sensor_t, sensors, sensor_count );
! delete [] sensors;
! sensors = new stg_ranger_sensor_t[sensor_count];
!
stg_size_t common_size;
! common_size.x = wf->ReadTupleLength( id, "ssize", 0,
STG_DEFAULT_RANGER_SIZEX );
! common_size.y = wf->ReadTupleLength( id, "ssize", 1,
STG_DEFAULT_RANGER_SIZEY );
! double common_min = wf->ReadTupleLength( id, "sview", 0,
STG_DEFAULT_RANGER_RANGEMIN );
! double common_max = wf->ReadTupleLength( id, "sview", 1,
STG_DEFAULT_RANGER_RANGEMAX );
! double common_fov = wf->ReadTupleAngle( id, "sview", 2, M_PI /
(double)sensor_count );
int common_ray_count = wf->ReadInt( id, "sraycount",
sensors[0].ray_count );
***************
*** 242,246 ****
// Ignore myself, my children, and my ancestors.
! return( block->mod->RangerReturn() && !block->mod->IsRelated( finder ) );
}
--- 248,252 ----
// Ignore myself, my children, and my ancestors.
! return( block->Model()->RangerReturn() && !block->Model()->IsRelated(
finder ) );
}
***************
*** 255,259 ****
return;
! assert( samples ); // make sure we have the range data array
//PRINT_DEBUG2( "[%d] updating ranger %s", (int)world->sim_time_ms, token );
--- 261,267 ----
return;
! if( samples == NULL )
! samples = new stg_meters_t[sensor_count];
! assert( samples );
//PRINT_DEBUG2( "[%d] updating ranger %s", (int)world->sim_time_ms, token );
Index: model_position.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_position.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_position.cc 31 Oct 2007 03:55:11 -0000 1.1.2.2
--- model_position.cc 29 Dec 2007 05:07:40 -0000 1.1.2.3
***************
*** 163,167 ****
char* keyword = NULL;
! CWorldFile* wf = world->wf;
// load steering mode
--- 163,167 ----
char* keyword = NULL;
! CWorldFile* wf = world->GetWorldFile();
// load steering mode
***************
*** 445,449 ****
{
// integrate our velocities to get an 'odometry' position estimate.
! double dt = this->world->interval_sim/1e3;
est_pose.a = NORMALIZE( est_pose.a + (vel.a * dt) * (1.0
+integration_error.a) );
--- 445,449 ----
{
// integrate our velocities to get an 'odometry' position estimate.
! double dt = this->world->GetSimInterval()/1e3;
est_pose.a = NORMALIZE( est_pose.a + (vel.a * dt) * (1.0
+integration_error.a) );
Index: model_fiducial.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_fiducial.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_fiducial.cc 24 Dec 2007 10:50:45 -0000 1.1.2.2
--- model_fiducial.cc 29 Dec 2007 05:07:40 -0000 1.1.2.3
***************
*** 97,101 ****
bool fiducial_raytrace_match( StgBlock* testblock, StgModel* finder )
{
! return( ! finder->IsRelated( testblock->mod ) );
}
--- 97,101 ----
bool fiducial_raytrace_match( StgBlock* testblock, StgModel* finder )
{
! return( ! finder->IsRelated( testblock->Model() ) );
}
***************
*** 106,110 ****
// don't consider models with invalid returns
! if( him->fiducial_return == 0 )
{
//PRINT_DEBUG1( " but model %s has a zero fiducial ID", him->Token());
--- 106,110 ----
// don't consider models with invalid returns
! if( him->FiducialReturn() == 0 )
{
//PRINT_DEBUG1( " but model %s has a zero fiducial ID", him->Token());
***************
*** 113,117 ****
// check to see if this neighbor has the right fiducial key
! if( fiducial_key != him->fiducial_key )
{
//PRINT_DEBUG1( " but model %s doesn't match the fiducial key",
him->Token());
--- 113,117 ----
// check to see if this neighbor has the right fiducial key
! if( fiducial_key != him->FiducialKey() )
{
//PRINT_DEBUG1( " but model %s doesn't match the fiducial key",
him->Token());
***************
*** 189,199 ****
// if he's within ID range, get his fiducial.return value, else
// we see value 0
! fid.id = range < max_range_id ? hitmod->fiducial_return : 0;
PRINT_DEBUG2( "adding %s's value %d to my list of fiducials",
! him->Token(), him->fiducial_return );
g_array_append_val( data, fid );
}
}
--- 189,202 ----
// if he's within ID range, get his fiducial.return value, else
// we see value 0
! fid.id = range < max_range_id ? hitmod->FiducialReturn() : 0;
PRINT_DEBUG2( "adding %s's value %d to my list of fiducials",
! him->Token(), him->FiducialReturn() );
g_array_append_val( data, fid );
}
+
+ fiducials = (stg_fiducial_t*)data->data;
+ fiducial_count = data->len;
}
***************
*** 219,225 ****
// TODO - add a fiducial-only hash table to the world to speed this
// up a lot for large populations
! g_hash_table_foreach( world->models_by_id,
! (GHFunc)(StgModelFiducial::AddModelIfVisibleStatic),
! this );
PRINT_DEBUG2( "model %s saw %d fiducials", token, data->len );
--- 222,227 ----
// TODO - add a fiducial-only hash table to the world to speed this
// up a lot for large populations
! world->ForEachModel( (GHFunc)(StgModelFiducial::AddModelIfVisibleStatic),
! this );
PRINT_DEBUG2( "model %s saw %d fiducials", token, data->len );
***************
*** 232,236 ****
StgModel::Load();
! CWorldFile* wf = world->wf;
// load fiducial-specific properties
--- 234,238 ----
StgModel::Load();
! CWorldFile* wf = world->GetWorldFile();
// load fiducial-specific properties
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stage.hh,v
retrieving revision 1.1.2.21
retrieving revision 1.1.2.22
diff -C2 -d -r1.1.2.21 -r1.1.2.22
*** stage.hh 24 Dec 2007 11:20:36 -0000 1.1.2.21
--- stage.hh 29 Dec 2007 05:07:40 -0000 1.1.2.22
***************
*** 61,71 ****
#include "colors.h"
! #define STG_STRING_AUTHORS { \
! "Richard Vaughan", \
! "Brian Gerkey", \
! "Andrew Howard", \
! "Reed Hedges", \
! "Pooya Karimian", \
! "and contributors", \
NULL }
[...1142 lines suppressed...]
- } stg_speech_config_t;
-
- /** speech data packet
- */
- typedef struct
- {
- char string[STG_SPEECH_MAX_STRING_LEN];
- } stg_speech_data_t;
-
- /** speech command packet
- */
- typedef struct
- {
- stg_speech_cmd_type_t cmd;
- char string[STG_SPEECH_MAX_STRING_LEN];
- } stg_speech_cmd_t;
-
// end the group of all models
/[EMAIL PROTECTED]/
--- 2272,2275 ----
Index: blockgrid.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/blockgrid.cc,v
retrieving revision 1.1.2.6
retrieving revision 1.1.2.7
diff -C2 -d -r1.1.2.6 -r1.1.2.7
*** blockgrid.cc 19 Nov 2007 07:40:41 -0000 1.1.2.6
--- blockgrid.cc 29 Dec 2007 05:07:40 -0000 1.1.2.7
***************
*** 1,4 ****
--- 1,6 ----
#include "stage.hh"
+ // todo - get rid of constants in code, so that these are just
+ // defaults
const uint32_t NBITS = 5;
const uint32_t NSIZE = 1<<NBITS;
***************
*** 133,137 ****
}
! void StgBlockGrid::RemoveBlock( StgBlock* block )
{
for( uint32_t x=0; x<width; x++ )
--- 135,139 ----
}
! void StgBlockGrid::GlobalRemoveBlock( StgBlock* block )
{
for( uint32_t x=0; x<width; x++ )
Index: canvas.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/canvas.cc,v
retrieving revision 1.1.2.7
retrieving revision 1.1.2.8
diff -C2 -d -r1.1.2.7 -r1.1.2.8
*** canvas.cc 24 Dec 2007 10:50:45 -0000 1.1.2.7
--- canvas.cc 29 Dec 2007 05:07:40 -0000 1.1.2.8
***************
*** 1,3 ****
- \
#include "stage.hh"
#include <FL/fl_draw.H>
--- 1,2 ----
***************
*** 78,84 ****
StgModel* mod = (StgModel*)it->data;
! if( mod->gui_mask & (STG_MOVE_TRANS | STG_MOVE_ROT ))
{
! uint32_t col = (mod->id | 0xFF000000);
glColor4ubv( (GLubyte*)&col );
mod->DrawPicker();
--- 77,83 ----
StgModel* mod = (StgModel*)it->data;
! if( mod->GuiMask() & (STG_MOVE_TRANS | STG_MOVE_ROT ))
{
! uint32_t col = (mod->Id() | 0xFF000000);
glColor4ubv( (GLubyte*)&col );
mod->DrawPicker();
***************
*** 98,103 ****
id &= 0x00FFFFFF;
! StgModel* mod = (StgModel*)
! g_hash_table_lookup( world->models_by_id, &id );
//printf("%p %s %d\n", mod, mod ? mod->Token() : "", id );
--- 97,101 ----
id &= 0x00FFFFFF;
! StgModel* mod = world->GetModel( id );
//printf("%p %s %d\n", mod, mod ? mod->Token() : "", id );
***************
*** 115,119 ****
g_list_remove_link( selected_models, link );
! mod->disabled = false;
}
else
--- 113,117 ----
g_list_remove_link( selected_models, link );
! mod->Disable();
}
else
***************
*** 121,125 ****
last_selection = mod;
selected_models = g_list_prepend( selected_models, mod );
! mod->disabled = true;
}
--- 119,123 ----
last_selection = mod;
selected_models = g_list_prepend( selected_models, mod );
! mod->Enable();
}
***************
*** 280,284 ****
{
for( GList* it=selected_models; it; it=it->next )
! ((StgModel*)it->data)->disabled = false;
g_list_free( selected_models );
--- 278,282 ----
{
for( GList* it=selected_models; it; it=it->next )
! ((StgModel*)it->data)->Enable();
g_list_free( selected_models );
***************
*** 297,301 ****
{
case 'p': // pause
! world->paused = !world->paused;
break;
case ' ': // space bar
--- 295,299 ----
{
case 'p': // pause
! world->TogglePause();
break;
case ' ': // space bar
***************
*** 354,358 ****
gl_font( FL_HELVETICA, 12 );
! double zclip = hypot(world->width, world->height) * scale;
double pixels_width = w();
double pixels_height = h();
--- 352,356 ----
gl_font( FL_HELVETICA, 12 );
! double zclip = hypot(world->Width(), world->Height()) * scale;
double pixels_width = w();
double pixels_height = h();
***************
*** 404,408 ****
{
glLoadIdentity ();
! double zclip = hypot(world->width, world->height) * scale;
glTranslatef( 0,0,
-zclip / 2.0 );
--- 402,406 ----
{
glLoadIdentity ();
! double zclip = hypot(world->Width(), world->Height()) * scale;
glTranslatef( 0,0,
-zclip / 2.0 );
***************
*** 426,431 ****
glPolygonOffset(1.0, 1.0);
glColor3f( 1,1,1 );
! glRectf( -world->width/2.0, -world->height/2.0,
! world->width/2.0, world->height/2.0 );
glDisable(GL_POLYGON_OFFSET_FILL);
--- 424,429 ----
glPolygonOffset(1.0, 1.0);
glColor3f( 1,1,1 );
! glRectf( -world->Width()/2.0, -world->Height()/2.0,
! world->Width()/2.0, world->Height()/2.0 );
glDisable(GL_POLYGON_OFFSET_FILL);
***************
*** 436,454 ****
glPushMatrix();
! glTranslatef( -world->width/2.0, -world->height/2.0, 1 );
! glScalef( 1.0/world->ppm, 1.0/world->ppm, 0 );
glPolygonMode( GL_FRONT, GL_LINE );
colorstack.Push(1,0,0);
! if( showflags & STG_SHOW_OCCUPANCY )
! world->bgrid->Draw( false );
!
! if( showflags & STG_SHOW_QUADTREE )
! world->bgrid->Draw( true );
!
! colorstack.Pop();
! glPopMatrix();
!
! glEnable( GL_LINE_SMOOTH );
}
--- 434,452 ----
glPushMatrix();
! glTranslatef( -world->Width()/2.0, -world->Height()/2.0, 1 );
! glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
glPolygonMode( GL_FRONT, GL_LINE );
colorstack.Push(1,0,0);
! if( showflags & STG_SHOW_OCCUPANCY )
! ((StgWorldGui*)world)->GetBlockGrid()->Draw( false );
!
! if( showflags & STG_SHOW_QUADTREE )
! ((StgWorldGui*)world)->GetBlockGrid()->Draw( true );
!
! colorstack.Pop();
! glPopMatrix();
!
! glEnable( GL_LINE_SMOOTH );
}
***************
*** 500,507 ****
}
}
!
! if( world->ray_list )
{
! world->DrawRays();
world->ClearRays();
}
--- 498,517 ----
}
}
!
! 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();
}
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