qtopengl_box.cpp

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#include "qtopengl_box.h"
#include <argos3/core/utility/math/vector2.h>
#include <argos3/plugins/simulator/entities/led_equipped_entity.h>
#include <argos3/plugins/simulator/entities/box_entity.h>
#include <argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_widget.h>
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   static const Real LED_RADIUS     = 0.01f;
   const GLfloat MOVABLE_COLOR[]    = { 1.0f, 0.0f, 0.0f, 1.0f };
   const GLfloat NONMOVABLE_COLOR[] = { 0.7f, 0.7f, 0.7f, 1.0f };
   const GLfloat SPECULAR[]         = { 0.0f, 0.0f, 0.0f, 1.0f };
   const GLfloat SHININESS[]        = { 0.0f                   };
   const GLfloat EMISSION[]         = { 0.0f, 0.0f, 0.0f, 1.0f };
 
   /****************************************/
   /****************************************/
 
    CQTOpenGLBox::CQTOpenGLBox() :
       m_unVertices(20){
 
       /* Reserve the needed display lists */
       m_unBaseList = glGenLists(2);
       m_unBodyList = m_unBaseList;
       m_unLEDList = m_unBaseList + 1;
 
       /* Make body list */
       glNewList(m_unBodyList, GL_COMPILE);
       MakeBody();
       glEndList();
 
       /* Make LED list */
       glNewList(m_unLEDList, GL_COMPILE);
       MakeLED();
       glEndList();
 
    }
 
   /****************************************/
   /****************************************/
 
   CQTOpenGLBox::~CQTOpenGLBox() {
      glDeleteLists(m_unBaseList, 2);
   }
 
   /****************************************/
   /****************************************/
 
   void CQTOpenGLBox::DrawLEDs(CBoxEntity& c_entity) {
      /* Draw the LEDs */
      GLfloat pfColor[]           = {   0.0f, 0.0f, 0.0f, 1.0f };
      const GLfloat pfSpecular[]  = {   0.0f, 0.0f, 0.0f, 1.0f };
      const GLfloat pfShininess[] = { 100.0f                   };
      const GLfloat pfEmission[]  = {   0.0f, 0.0f, 0.0f, 1.0f };
      glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
      glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
      glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
      CLEDEquippedEntity& cLEDEquippedEntity = c_entity.GetLEDEquippedEntity();
      for(UInt32 i = 0; i < cLEDEquippedEntity.GetLEDs().size(); ++i) {
         glPushMatrix();
         /* Set the material */
         const CColor& cColor = cLEDEquippedEntity.GetLED(i).GetColor();
         pfColor[0] = cColor.GetRed()   / 255.0f;
         pfColor[1] = cColor.GetGreen() / 255.0f;
         pfColor[2] = cColor.GetBlue()  / 255.0f;
         glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
         /* Perform rototranslation */
         const CVector3& cPosition = cLEDEquippedEntity.GetLEDOffset(i);
         glTranslated(cPosition.GetX(), cPosition.GetY(), cPosition.GetZ());
         /* Draw the LED */
         glCallList(m_unLEDList);
         glPopMatrix();
      }
   }
 
   /****************************************/
   /****************************************/
 
   void CQTOpenGLBox::Draw(const CBoxEntity& c_entity) {
      /* Draw the body */
      if(c_entity.GetEmbodiedEntity().IsMovable()) {
         glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, MOVABLE_COLOR);
      }
      else {
         glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, NONMOVABLE_COLOR);
      }
      glPushMatrix();
      glScaled(c_entity.GetSize().GetX(), c_entity.GetSize().GetY(), c_entity.GetSize().GetZ());
      glCallList(m_unBodyList);
      glPopMatrix();
   }
 
   /****************************************/
   /****************************************/
 
   void CQTOpenGLBox::MakeBody() {
             /* Since this shape can be stretched,
                 make sure the normal vectors are unit-long */
              glEnable(GL_NORMALIZE);
 
              /* Set the material */
              glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, SPECULAR);
              glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, SHININESS);
              glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, EMISSION);
 
              /* Let's start the actual shape */
 
              /* This part covers the top and bottom faces (parallel to XY) */
              glBegin(GL_QUADS);
              /* Bottom face */
              glNormal3d(0.0f, 0.0f, -1.0f);
              glVertex3d( 0.5f,  0.5f, 0.0f);
              glVertex3d( 0.5f, -0.5f, 0.0f);
              glVertex3d(-0.5f, -0.5f, 0.0f);
              glVertex3d(-0.5f,  0.5f, 0.0f);
              /* Top face */
              glNormal3d(0.0f, 0.0f, 1.0f);
              glVertex3d(-0.5f, -0.5f, 1.0f);
              glVertex3d( 0.5f, -0.5f, 1.0f);
              glVertex3d( 0.5f,  0.5f, 1.0f);
              glVertex3d(-0.5f,  0.5f, 1.0f);
              glEnd();
              /* This part covers the faces (South, East, North, West) */
              glBegin(GL_QUADS);
              /* South face */
        glNormal3d(0.0f, -1.0f, 0.0f);
        glVertex3d(-0.5f, -0.5f, 1.0f);
        glVertex3d(-0.5f, -0.5f, 0.0f);
        glVertex3d( 0.5f, -0.5f, 0.0f);
        glVertex3d( 0.5f, -0.5f, 1.0f);
        /* East face */
        glNormal3d(1.0f, 0.0f, 0.0f);
        glVertex3d( 0.5f, -0.5f, 1.0f);
        glVertex3d( 0.5f, -0.5f, 0.0f);
        glVertex3d( 0.5f,  0.5f, 0.0f);
        glVertex3d( 0.5f,  0.5f, 1.0f);
        /* North face */
        glNormal3d(0.0f, 1.0f, 0.0f);
        glVertex3d( 0.5f,  0.5f, 1.0f);
        glVertex3d( 0.5f,  0.5f, 0.0f);
        glVertex3d(-0.5f,  0.5f, 0.0f);
        glVertex3d(-0.5f,  0.5f, 1.0f);
        /* West face */
        glNormal3d(-1.0f, 0.0f, 0.0f);
        glVertex3d(-0.5f,  0.5f, 1.0f);
        glVertex3d(-0.5f,  0.5f, 0.0f);
        glVertex3d(-0.5f, -0.5f, 0.0f);
        glVertex3d(-0.5f, -0.5f, 1.0f);
              glEnd();
              /* The shape definitions is finished */
 
              /* We don't need it anymore */
              glDisable(GL_NORMALIZE);
   }
 
   /****************************************/
   /****************************************/
 
   void CQTOpenGLBox::MakeLED() {
      CVector3 cNormal, cPoint;
      CRadians cSlice(CRadians::TWO_PI / m_unVertices);
 
      glBegin(GL_TRIANGLE_STRIP);
      for(CRadians cInclination; cInclination <= CRadians::PI; cInclination += cSlice) {
         for(CRadians cAzimuth; cAzimuth <= CRadians::TWO_PI; cAzimuth += cSlice) {
 
            cNormal.FromSphericalCoords(1.0f, cInclination, cAzimuth);
            cPoint = LED_RADIUS * cNormal;
            glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
            glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
 
            cNormal.FromSphericalCoords(1.0f, cInclination + cSlice, cAzimuth);
            cPoint = LED_RADIUS * cNormal;
            glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
            glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
 
            cNormal.FromSphericalCoords(1.0f, cInclination, cAzimuth + cSlice);
            cPoint = LED_RADIUS * cNormal;
            glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
            glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
 
            cNormal.FromSphericalCoords(1.0f, cInclination + cSlice, cAzimuth + cSlice);
            cPoint = LED_RADIUS * cNormal;
            glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
            glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
 
         }
      }
      glEnd();
   }
 
   /****************************************/
   /****************************************/
 
   class CQTOpenGLOperationDrawBoxNormal : public CQTOpenGLOperationDrawNormal {
   public:
      void ApplyTo(CQTOpenGLWidget& c_visualization,
                   CBoxEntity& c_entity) {
         static CQTOpenGLBox m_cModel;
         c_visualization.DrawEntity(c_entity.GetEmbodiedEntity());
         m_cModel.Draw(c_entity);
         m_cModel.DrawLEDs(c_entity);
      }
   };
 
   class CQTOpenGLOperationDrawBoxSelected : public CQTOpenGLOperationDrawSelected {
   public:
      void ApplyTo(CQTOpenGLWidget& c_visualization,
                   CBoxEntity& c_entity) {
         c_visualization.DrawBoundingBox(c_entity.GetEmbodiedEntity());
      }
   };
 
   REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawBoxNormal, CBoxEntity);
 
   REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawBoxSelected, CBoxEntity);
 
   /****************************************/
   /****************************************/
 
}