Revision: 7172
http://playerstage.svn.sourceforge.net/playerstage/?rev=7172&view=rev
Author: rtv
Date: 2008-11-26 21:01:07 +0000 (Wed, 26 Nov 2008)
Log Message:
-----------
added quick waypoint property and vis
Added Paths:
-----------
code/stage/trunk/libstage/waypoint.cc
Added: code/stage/trunk/libstage/waypoint.cc
===================================================================
--- code/stage/trunk/libstage/waypoint.cc (rev 0)
+++ code/stage/trunk/libstage/waypoint.cc 2008-11-26 21:01:07 UTC (rev
7172)
@@ -0,0 +1,44 @@
+
+#include "stage_internal.hh"
+
+Waypoint::Waypoint( stg_meters_t x, stg_meters_t y, stg_meters_t z,
stg_radians_t a, stg_color_t color )
+ : color(color)
+{
+ pose.x = x;
+ pose.y = y;
+ pose.z = z;
+ pose.a = a;
+}
+
+Waypoint::Waypoint()
+{
+ pose = stg_pose_t( 0,0,0,0 );
+ color = 0;
+};
+
+
+void Waypoint::Draw()
+{
+ GLdouble d[4];
+
+ d[0] = ((color & 0x00FF0000) >> 16) / 256.0;
+ d[1] = ((color & 0x0000FF00) >> 8) / 256.0;
+ d[2] = ((color & 0x000000FF) >> 0) / 256.0;
+ d[3] = (((color & 0xFF000000) >> 24) / 256.0);
+
+ glColor4dv( d );
+
+ glBegin(GL_POINTS);
+ glVertex3f( pose.x, pose.y, pose.z );
+ glEnd();
+
+ stg_meters_t quiver_length = 0.1;
+
+ double dx = cos(pose.a) * quiver_length;
+ double dy = sin(pose.a) * quiver_length;
+
+ glBegin(GL_LINES);
+ glVertex3f( pose.x, pose.y, pose.z );
+ glVertex3f( pose.x+dx, pose.y+dy, pose.z );
+ glEnd();
+}
Property changes on: code/stage/trunk/libstage/waypoint.cc
___________________________________________________________________
Added: svn:eol-style
+ native
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