Author: cosurgi
Date: 2009-06-27 00:32:40 +0200 (Sat, 27 Jun 2009)
New Revision: 1819
Modified:
trunk/core/PhysicalParameters.hpp
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.cpp
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.hpp
Log:
Add an option to display DOFs and body IDs in the OpenGL window
Modified: trunk/core/PhysicalParameters.hpp
===================================================================
--- trunk/core/PhysicalParameters.hpp 2009-06-26 12:35:07 UTC (rev 1818)
+++ trunk/core/PhysicalParameters.hpp 2009-06-26 22:32:40 UTC (rev 1819)
@@ -23,6 +23,13 @@
static const unsigned
DOF_ALL=DOF_X|DOF_Y|DOF_Z|DOF_RX|DOF_RY|DOF_RZ; //! shorthand for all DOFs
blocked
static const unsigned DOF_XYZ=DOF_X|DOF_Y|DOF_Z; //! shorthand
for all displacements blocked
static const unsigned DOF_RXRYRZ=DOF_RX|DOF_RY|DOF_RZ; //!
shorthand for all rotations blocked
+ void setDOFfromVector3r(Vector3r disp,Vector3r
rot=Vector3r(0,0,0))
+ {
+ //! set DOFs according to two Vector3r arguments
(blocked is when disp[i]==1.0 or rot[i]==1.0)
+ blockedDOFs = ((disp[0]==1.0)?DOF_X
:0)|((disp[1]==1.0)?DOF_Y :0)|((disp[2]==1.0)?DOF_Z :0)|
+ ((rot [0]==1.0)?DOF_RX:0)|((rot
[1]==1.0)?DOF_RY:0)|((rot [2]==1.0)?DOF_RZ:0);
+ //Vector3<bool> would be actually better, I'm not
checking now if it would work.
+ };
static unsigned axisDOF(int axis, bool
rotationalDOF=false){return 1<<(axis+(rotationalDOF?3:0));} //! Return DOF_*
constant for given axis∈{0,1,2} and rotationalDOF∈{false(default),true}; e.g.
axisDOF(0,true)==DOF_RX
REGISTER_ATTRIBUTES(/*no base*/,(se3)(refSe3)(blockedDOFs));
Modified:
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.cpp
===================================================================
---
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.cpp
2009-06-26 12:35:07 UTC (rev 1818)
+++
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.cpp
2009-06-26 22:32:40 UTC (rev 1819)
@@ -16,6 +16,8 @@
size_t OpenGLRenderingEngine::selectBodyLimit=500;
OpenGLRenderingEngine::OpenGLRenderingEngine() : RenderingEngine(),
clipPlaneNum(3){
+ Show_DOF = false;
+ Show_ID = false;
Body_state = false;
Body_bounding_volume = false;
Body_interacting_geom = false;
@@ -164,6 +166,7 @@
// set displayed Se3 of body (scaling) and isDisplayed (clipping)
setBodiesDispSe3(rootBody);
+ if (Show_DOF || Show_ID) renderDOF_ID(rootBody);
if (Body_geometrical_model){
if (Cast_shadows){
if (Fast_shadow_volume)
renderSceneUsingFastShadowVolumes(rootBody,Light_position);
@@ -356,6 +359,47 @@
else
shadowVolumeDispatcher(rootBody->geometricalModel,rootBody->physicalParameters,Light_position);
}
+void OpenGLRenderingEngine::renderDOF_ID(const shared_ptr<MetaBody>&
rootBody){
+ const GLfloat ambientColorSelected[4]={10.0,0.0,0.0,1.0};
+ const GLfloat ambientColorUnselected[4]={0.5,0.5,0.5,1.0};
+ if((rootBody->geometricalModel || Draw_inside) && Draw_inside) {
+ FOREACH(const shared_ptr<Body> b, *rootBody->bodies){
+ if(b->geometricalModel && ((b->getGroupMask() &
Draw_mask) || b->getGroupMask()==0)){
+ if(b->physicalParameters &&
!b->physicalParameters->isDisplayed) continue;
+ if(!Show_ID &&
b->physicalParameters->blockedDOFs==0) continue;
+ const Se3r& se3=b->physicalParameters->dispSe3;
+ glPushMatrix();
+
glTranslatef(se3.position[0],se3.position[1],se3.position[2]);
+
if(current_selection==b->getId()){glLightModelfv(GL_LIGHT_MODEL_AMBIENT,ambientColorSelected);}
+ { // write text
+
glColor3f(1.0-Background_color[0],1.0-Background_color[1],1.0-Background_color[2]);
+ unsigned DOF =
b->physicalParameters->blockedDOFs;
+ std::string dof = std::string("")
+ + (((DOF &
PhysicalParameters::DOF_X )!=0)?"X":" ")
+ + (((DOF &
PhysicalParameters::DOF_Y )!=0)?"Y":" ")
+ + (((DOF &
PhysicalParameters::DOF_Z )!=0)?"Z":" ")
+ + (((DOF &
PhysicalParameters::DOF_RX)!=0)?"RX":" ")
+ + (((DOF &
PhysicalParameters::DOF_RY)!=0)?"RY":" ")
+ + (((DOF &
PhysicalParameters::DOF_RZ)!=0)?"RZ":" ");
+ std::string id =
boost::lexical_cast<std::string>(b->getId());
+ std::string str("");
+ if(Show_DOF && Show_ID) id += " ";
+ if(Show_ID) str += id;
+ if(Show_DOF) str += dof;
+ glPushMatrix();
+ glRasterPos2i(0,0);
+ for(unsigned int i=0;i<str.length();i++)
+
glutBitmapCharacter(GLUT_BITMAP_HELVETICA_12, str[i]);
+ glPopMatrix();
+ }
+ if(current_selection ==
b->getId()){glLightModelfv(GL_LIGHT_MODEL_AMBIENT,ambientColorUnselected);}
+ glPopMatrix();
+ }
+ }
+ }
+ if(rootBody->geometricalModel)
geometricalModelDispatcher(rootBody->geometricalModel,rootBody->physicalParameters,Body_wire);
+}
+
void OpenGLRenderingEngine::renderGeometricalModel(const shared_ptr<MetaBody>&
rootBody){
const GLfloat ambientColorSelected[4]={10.0,0.0,0.0,1.0};
const GLfloat ambientColorUnselected[4]={0.5,0.5,0.5,1.0};
@@ -487,6 +531,8 @@
REGISTER_ATTRIBUTE(Body_wire);
+ REGISTER_ATTRIBUTE(Show_DOF);
+ REGISTER_ATTRIBUTE(Show_ID);
REGISTER_ATTRIBUTE(Body_state);
REGISTER_ATTRIBUTE(Body_bounding_volume);
REGISTER_ATTRIBUTE(Body_interacting_geom);
Modified:
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.hpp
===================================================================
---
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.hpp
2009-06-26 12:35:07 UTC (rev 1818)
+++
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.hpp
2009-06-26 22:32:40 UTC (rev 1819)
@@ -14,7 +14,7 @@
{
public :
Vector3r Light_position,Background_color;
- bool
Body_state,Body_bounding_volume,Body_interacting_geom,Body_geometrical_model,Cast_shadows,Shadow_volumes,Fast_shadow_volume,Body_wire,Interaction_wire,Draw_inside,Interaction_geometry,Interaction_physics;
+ bool
Show_DOF,Show_ID,Body_state,Body_bounding_volume,Body_interacting_geom,Body_geometrical_model,Cast_shadows,Shadow_volumes,Fast_shadow_volume,Body_wire,Interaction_wire,Draw_inside,Interaction_geometry,Interaction_physics;
body_id_t current_selection;
int Draw_mask;
@@ -79,6 +79,7 @@
virtual void renderWithNames(const shared_ptr<MetaBody>& );
private :
+ void renderDOF_ID(const shared_ptr<MetaBody>& rootBody);
void renderGeometricalModel(const shared_ptr<MetaBody>&
rootBody);
void renderInteractionPhysics(const shared_ptr<MetaBody>&
rootBody);
void renderInteractionGeometry(const shared_ptr<MetaBody>&
rootBody);
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