[Opal-commits] opal/samples/simple_objects main.cpp,1.27,1.28

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Update of /cvsroot/opal/opal/samples/simple_objects
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4745/samples/simple_objects

Modified Files:
	main.cpp 
Log Message:
implemented InclineSensor; added code for Ogre sample apps

Index: main.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/simple_objects/main.cpp,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** main.cpp	28 Mar 2005 22:33:06 -0000	1.27
--- main.cpp	30 Mar 2005 23:26:21 -0000	1.28
***************
*** 26,31 ****
  float gCameraZoom;
  float gCameraYPos;
! int gOldMousePos[2];
  bool gMouseButtonsPressed[2];
  opal::Simulator* gSimulator=NULL;
  std::vector<Base3DObject*> gObjects;
--- 26,34 ----
  float gCameraZoom;
  float gCameraYPos;
! int gMousePosScreen[2];
! //float gMousePosWorld[2];
  bool gMouseButtonsPressed[2];
+ const float gRotateSpeed = 3;
+ const float gZoomSpeed = 3;
  opal::Simulator* gSimulator=NULL;
  std::vector<Base3DObject*> gObjects;
***************
*** 65,68 ****
--- 68,81 ----
  void setupVisualShapes(opal::Solid* s);
  void makeRagdoll();
+ opal::Point3r getGlobalMousePos();
+ void drawPickingSpring();
+ 
+ // Picking stuff.
+ opal::RaycastSensor* gRaySensor = NULL;
+ opal::SpringMotor* gPickingSpring = NULL;
+ GLUquadricObj* gQuadric = NULL;
+ 
+ opal::Solid* gSensorSolid = NULL;
+ opal::InclineSensor* gSensor = NULL;
  
  int main(int argc, char **argv)
***************
*** 93,96 ****
--- 106,135 ----
  	gGround->addShape(planeData);
  
+ 	// Create the objects used for picking.
+ 	gPickingSpring = gSimulator->createSpringMotor();
+ 	gPickingSpring->setEnabled(false);
+ 	//opal::SpringMotorData motorData;
+ 	//gPickingSpring->init(motorData);
+ 	gRaySensor = gSimulator->createRaycastSensor();
+ 	opal::RaycastSensorData rayData;
+ 	gRaySensor->init(rayData);
+ 	gQuadric = gluNewQuadric();
+ 
+ 	// testing...
+ 	gSensorSolid = gSimulator->createSolid();
+ 	opal::Matrix44r t;
+ 	t.translate(0, 5, 0);
+ 	gSensorSolid->setTransform(t);
+ 	opal::BoxShapeData boxData;
+ 	gSensorSolid->addShape(boxData);
+ 	BoxObject* newBox = new BoxObject(gSimulator, gSensorSolid, 
+ 		boxData.dimensions, boxData.offset);
+ 	gObjects.push_back(newBox);
+ 	gSensor = gSimulator->createInclineSensor();
+ 	opal::InclineSensorData sensorData;
+ 	sensorData.solid = gSensorSolid;
+ 	sensorData.axis.set(1, 0, 0);
+ 	gSensor->init(sensorData);
+ 
  	std::cout << "==============================================" << std::endl;
  	std::cout << "   OPAL Objects Test" << std::endl;
***************
*** 121,124 ****
--- 160,164 ----
  
  	gSimulator->destroy();
+ 	gluDeleteQuadric(gQuadric);
  
  	return 0;
***************
*** 236,241 ****
  	gWindowHeight = INITIAL_WINDOW_HEIGHT;
  	gAspectRatio = (float)gWindowWidth/(float)gWindowHeight;
! 	gOldMousePos[0] = 0;
! 	gOldMousePos[1] = 0;
  	gMouseButtonsPressed[0] = false;
  	gMouseButtonsPressed[1] = false;
--- 276,281 ----
  	gWindowHeight = INITIAL_WINDOW_HEIGHT;
  	gAspectRatio = (float)gWindowWidth/(float)gWindowHeight;
! 	gMousePosScreen[0] = 0;
! 	gMousePosScreen[1] = 0;
  	gMouseButtonsPressed[0] = false;
  	gMouseButtonsPressed[1] = false;
***************
*** 347,350 ****
--- 387,393 ----
  		SDL_Event event;
  
+ 		// Get the dt since the last frame.
+ 		opal::real dt = (opal::real)gTimer.GetElapsedSeconds();
+ 
  		while (SDL_PollEvent(&event)) //handle events until event queue is empty
  		{
***************
*** 356,377 ****
  
  					int clickPosX = event.button.x;
! 					int clickPosY = gWindowHeight - event.button.y;
  
  					switch (event.button.button)
  					{
  						case SDL_BUTTON_LEFT:
! 							//if (event.button.state == SDL_PRESSED)
! 							//{
! 								gMouseButtonsPressed[0] = true;
! 								gOldMousePos[0] = clickPosX;
! 								gOldMousePos[1] = clickPosY;
! 							//}
  							break;
  						case SDL_BUTTON_RIGHT:
  							//if (event.button.state == SDL_PRESSED)
  							//{
  								gMouseButtonsPressed[1] = true;
! 								gOldMousePos[0] = clickPosX;
! 								gOldMousePos[1] = clickPosY;
  							//}
  							break;
--- 399,447 ----
  
  					int clickPosX = event.button.x;
! 					//int clickPosY = gWindowHeight - event.button.y;
! 					int clickPosY = event.button.y;
  
  					switch (event.button.button)
  					{
  						case SDL_BUTTON_LEFT:
! 						{
! 							gMouseButtonsPressed[0] = true;
! 							gMousePosScreen[0] = clickPosX;
! 							gMousePosScreen[1] = clickPosY;
! 
! 							// Fire a ray to find an object to pick.
! 							opal::Rayr r;
! 							opal::Point3r origin;// = getGlobalMousePos();
! 							r.setOrigin(origin);
! 							//opal::Vec3r dir(0, 0, -10000);
! 							opal::Vec3r dir(getGlobalMousePos().getData());
! 							r.setDir(dir);
! 							gRaySensor->setRay(r);
! 							opal::RaycastResult result = 
! 								gRaySensor->fireRay();
! 
! 							std::cout << "Origin: [" << origin[0] << " " 
! 								<< origin[1] << " " << origin[2] 
! 								<< "] Dir: [" << dir[0] << " " 
! 								<< dir[1] << " " << dir[2] << "]" 
! 								<< std::endl;
! 
! 							if (result.solid)
! 							{
! 								// Setup spring for picking.
! 								opal::SpringMotorData data;
! 								data.solid = result.solid;
! 								gPickingSpring->init(data);
! 								gPickingSpring->setGlobalAttachPoint(
! 									result.intersection);
! 							}
  							break;
+ 						}
  						case SDL_BUTTON_RIGHT:
  							//if (event.button.state == SDL_PRESSED)
  							//{
  								gMouseButtonsPressed[1] = true;
! 								gMousePosScreen[0] = clickPosX;
! 								gMousePosScreen[1] = clickPosY;
  							//}
  							break;
***************
*** 389,392 ****
--- 459,463 ----
  						case SDL_BUTTON_LEFT:
  							gMouseButtonsPressed[0] = false;
+ 							gPickingSpring->setEnabled(false);
  							break;
  						case SDL_BUTTON_RIGHT:
***************
*** 408,428 ****
  					int clickPosY = gWindowHeight - event.button.y;
  
! 					int deltaMouse[2];
! 					deltaMouse[0] = clickPosX - gOldMousePos[0];
! 					deltaMouse[1] = clickPosY - gOldMousePos[1];
! 
! 					gOldMousePos[0] = clickPosX;
! 					gOldMousePos[1] = clickPosY;
! 
! 					if (gMouseButtonsPressed[0] == true)
! 					{
! 						gCameraRotY += deltaMouse[0]*0.3f;
! 						gCameraRotX -= deltaMouse[1]*0.3f;
! 					}
! 					if (gMouseButtonsPressed[1]==true)
! 					{
!  						gCameraZoom -= deltaMouse[1]*0.3f;
! 					}
! 
  					break;
  				}
--- 479,484 ----
  					int clickPosY = gWindowHeight - event.button.y;
  
! 					gMousePosScreen[0] = clickPosX;
! 					gMousePosScreen[1] = clickPosY;
  					break;
  				}
***************
*** 431,434 ****
--- 487,508 ----
  					switch(event.key.keysym.sym)
  					{
+ 						case SDLK_LEFT:
+ 							gCameraRotY -= gRotateSpeed;
+ 							break;
+ 						case SDLK_RIGHT:
+ 							gCameraRotY += gRotateSpeed;
+ 							break;
+ 						case SDLK_UP:
+ 							gCameraRotX -= gRotateSpeed;
+ 							break;
+ 						case SDLK_DOWN:
+ 							gCameraRotX += gRotateSpeed;
+ 							break;
+ 						case SDLK_a:
+ 							gCameraZoom -= gZoomSpeed;
+ 							break;
+ 						case SDLK_z:
+ 							gCameraZoom += gZoomSpeed;
+ 							break;
  						case SDLK_ESCAPE: //fall through
  						case SDLK_q:
***************
*** 438,441 ****
--- 512,524 ----
  							gPaused = !gPaused;
  							break;
+ 						case SDLK_t:
+ 						{
+ 							opal::Force t;
+ 							t.type = opal::GLOBAL_TORQUE;
+ 							t.vec.set(0, 0, 10);
+ 							t.duration = (opal::real)0.02;
+ 							gSensorSolid->addForce(t);
+ 							break;
+ 						}
  						//case SDLK_m:
  						//	if (METAL == gObjectMaterialType)
***************
*** 693,697 ****
  
  		// Advance the physics simulation.
- 		opal::real dt = (opal::real)gTimer.GetElapsedSeconds();
  		if (!gPaused)
  		{
--- 776,779 ----
***************
*** 706,716 ****
  		}
  
  		// Update the performance calculations.
  		++gFrameCounter;
  		gPerfTimer += dt;
! 		if (gPerfTimer >= gPerfOutputPeriod)
  		{
! 			std::cout << ((opal::real)gFrameCounter) / gPerfTimer << 
! 				" fps" << std::endl;
  			gPerfTimer = 0;
  			gFrameCounter = 0;
--- 788,810 ----
  		}
  
+ 		drawPickingSpring();
+ 
+ 		//// Update the performance calculations.
+ 		//++gFrameCounter;
+ 		//gPerfTimer += dt;
+ 		//if (gPerfTimer >= gPerfOutputPeriod)
+ 		//{
+ 		//	std::cout << ((opal::real)gFrameCounter) / gPerfTimer << 
+ 		//		" fps" << std::endl;
+ 		//	gPerfTimer = 0;
+ 		//	gFrameCounter = 0;
+ 		//}
+ 
  		// Update the performance calculations.
  		++gFrameCounter;
  		gPerfTimer += dt;
! 		if (gPerfTimer >= 0.2)
  		{
! 			std::cout << gSensor->getAngle() << std::endl;
  			gPerfTimer = 0;
  			gFrameCounter = 0;
***************
*** 723,724 ****
--- 817,863 ----
  	}
  }
+ 
+ opal::Point3r getGlobalMousePos()
+ {
+ 	// Get the mouse position in world coords.
+ 	double mvMat[16], projMat[16];
+ 	int viewport[4];
+ 	glGetDoublev(GL_MODELVIEW_MATRIX, mvMat);
+ 	glGetDoublev(GL_PROJECTION_MATRIX, projMat);
+ 	glGetIntegerv(GL_VIEWPORT, viewport);
+ 	double o[3];
+ 	gluUnProject(gMousePosScreen[0], 
+ 		gMousePosScreen[0], 0, mvMat, projMat, 
+ 		viewport, &o[0], &o[1], &o[2]);
+ 
+ 	return opal::Point3r((opal::real)o[0], (opal::real)o[1], 
+ 		(opal::real)o[2]);
+ }
+ 
+ void drawPickingSpring()
+ {
+ 	if (!gPickingSpring->isEnabled())
+ 	{
+ 		return;
+ 	}
+ 
+ 	glPushAttrib(GL_LIGHTING);
+ 	glDisable(GL_LIGHTING);
+ 
+ 	// Draw a sphere at the mouse position.
+ 	opal::Point3r mousePosWorld = getGlobalMousePos();
+ 	glPushMatrix();
+ 		glTranslatef(mousePosWorld[0], mousePosWorld[1], 0);
+ 		gluSphere(gQuadric, 1, 20, 20);
+ 	glPopMatrix();
+ 
+ 	// Draw a sphere at the intersection position.
+ 	opal::Point3r globalAttachPos = gPickingSpring->getGlobalAttachPoint();
+ 	glPushMatrix();
+ 		glTranslatef(globalAttachPos[0], globalAttachPos[1], 
+ 			globalAttachPos[2]);
+ 		gluSphere(gQuadric, 1, 20, 20);
+ 	glPopMatrix();
+ 
+ 	glPopAttrib();
+ }