ARGoS 3
A parallel, multi-engine simulator for swarm robotics
qtopengl_footbot.cpp
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1
7#include "qtopengl_footbot.h"
8#include "footbot_entity.h"
9#include "footbot_distance_scanner_equipped_entity.h"
10#include "footbot_turret_entity.h"
11#include <argos3/core/simulator/entity/embodied_entity.h>
12#include <argos3/core/utility/math/vector2.h>
13#include <argos3/core/utility/math/vector3.h>
14#include <argos3/plugins/simulator/entities/led_equipped_entity.h>
15#include <argos3/plugins/simulator/entities/gripper_equipped_entity.h>
16#include <argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_widget.h>
17
18namespace argos {
19
20 /****************************************/
21 /****************************************/
22
23 /* All measures are in meters */
24
25 /* General */
26 static const Real INTER_MODULE_GAP = 0.0015f;
27 static const Real HEIGHT = 0.258f;
28 /* Wheel measures */
29 static const Real WHEEL_WIDTH = 0.022031354f;
30 static const Real HALF_WHEEL_WIDTH = WHEEL_WIDTH * 0.5f;
31 static const Real WHEEL_RADIUS = 0.029112741f;
32 static const Real WHEEL_DIAMETER = WHEEL_RADIUS * 2.0f;
33 static const Real INTERWHEEL_DISTANCE = 0.127f;
34 static const Real HALF_INTERWHEEL_DISTANCE = INTERWHEEL_DISTANCE * 0.5f;
35 /* Track measures */
36 static const Real INTERTRACK_DISTANCE = 0.064600514f;
37 static const Real HALF_INTERTRACK_DISTANCE = INTERTRACK_DISTANCE * 0.5f;
38 static const Real TRACK_WHEELS_DISTANCE = 0.100156677f;
39 static const Real HALF_TRACK_WHEELS_DISTANCE = TRACK_WHEELS_DISTANCE * 0.5f;
40 /* Base module measures */
41 static const Real BATTERY_SOCKET_ELEVATION = 0.006f;
42 static const Real BATTERY_SOCKET_LENGTH = 0.150302467f;
43 static const Real HALF_BATTERY_SOCKET_LENGTH = BATTERY_SOCKET_LENGTH * 0.5f;
44 static const Real BATTERY_SOCKET_WIDTH = 0.037600133f;
45 static const Real HALF_BATTERY_SOCKET_WIDTH = BATTERY_SOCKET_WIDTH * 0.5f;
46 static const Real BASE_MODULE_HEIGHT = 0.0055f;
47 static const Real BASE_MODULE_RADIUS = 0.085036758f;
48 static const Real PROXIMITY_SENSOR_HEIGHT = 0.004f; // unused
49 static const Real PROXIMITY_SENSOR_WIDTH = 0.007f; // unused
50 static const Real PROXIMITY_SENSOR_DEPTH = 0.0025f; // unused
51 /* Gripper module measures */
52 static const Real GRIPPER_MODULE_ELEVATION = BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER + BASE_MODULE_HEIGHT + INTER_MODULE_GAP;
53 static const Real GRIPPER_MODULE_HEIGHT = 0.027f;
54 static const Real GRIPPER_MODULE_HALF_HEIGHT = GRIPPER_MODULE_HEIGHT * 0.5f;
55 static const Real GRIPPER_MODULE_INNER_RADIUS = 0.069f;
56 static const Real GRIPPER_MODULE_BARRIER_HEIGHT = 0.0075f;
57 static const Real GRIPPER_MECHANICS_LENGTH = 0.026094485f;
58 static const Real GRIPPER_MECHANICS_WIDTH = 0.02f;
59 static const Real GRIPPER_MECHANICS_HALF_WIDTH = GRIPPER_MECHANICS_WIDTH * 0.5f;
60 static const Real GRIPPER_CLAW_LENGTH = 0.01f;
61 static const Real GRIPPER_CLAW_WIDTH = 0.013f;
62 static const Real GRIPPER_CLAW_HALF_WIDTH = GRIPPER_CLAW_WIDTH * 0.5f;
63 static const Real GRIPPER_CLAW_OFFSET = GRIPPER_MODULE_INNER_RADIUS + GRIPPER_MECHANICS_LENGTH;
64 static const Real GRIPPER_CLAW_ELEVATION = GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HALF_HEIGHT;
65 /* RAB measures */
66 static const Real RAB_ELEVATION = GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT + INTER_MODULE_GAP;
67 static const Real RAB_HEIGHT = 0.0086f;
68 static const Real RAB_MAX_RADIUS = 0.08f;
69 static const Real RAB_MIN_RADIUS = 0.075f;
70 /* Distance scanner measures */
71 static const Real DISTANCE_SCANNER_ELEVATION = RAB_ELEVATION + RAB_HEIGHT;
72 static const Real DISTANCE_SCANNER_RADIUS = 0.05f;
73 static const Real DISTANCE_SCANNER_HEIGHT = 0.0235f;
74 static const Real DISTANCE_SCANNER_SENSOR_WIDTH = 0.035858477f;
75 static const Real DISTANCE_SCANNER_SENSOR_HALF_WIDTH = DISTANCE_SCANNER_SENSOR_WIDTH * 0.5f;
76 static const Real DISTANCE_SCANNER_SENSOR_HEIGHT = 0.021124933f;
77 static const Real DISTANCE_SCANNER_SENSOR_DEPTH = 0.018f;
78 /* iMX module */
79 static const Real IMX_MODULE_ELEVATION = DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT;
80 static const Real IMX_MODULE_RADIUS = 0.065f;
81 static const Real IMX_MODULE_HEIGHT = 0.010199866f;
82 /* Beacon */
83 static const Real BEACON_ELEVATION = IMX_MODULE_ELEVATION + IMX_MODULE_HEIGHT;
84 static const Real BEACON_RADIUS = 0.021f;
85 static const Real BEACON_HEIGHT = 0.0201f;
86 /* Camera */
87 static const Real CAMERA_ELEVATION = BEACON_ELEVATION + BEACON_HEIGHT;
88 static const Real CAMERA_RADIUS = BEACON_RADIUS;
89 static const Real CAMERA_HEIGHT = 0.104f;
90
91 /****************************************/
92 /****************************************/
93
94 CQTOpenGLFootBot::CQTOpenGLFootBot() :
95 m_unVertices(40),
96 m_fLEDAngleSlice(360.0f / 12.0f) {
97 /* Reserve the needed display lists */
98 m_unLists = glGenLists(13);
99
100 /* Assign indices for better referencing (later) */
101 m_unBasicWheelList = m_unLists;
102 m_unWheelList = m_unLists + 1;
103 m_unTrackList = m_unLists + 2;
104 m_unBaseList = m_unLists + 3;
105 m_unGrippableSliceList = m_unLists + 4;
106 m_unGripperMechanicsList = m_unLists + 5;
107 m_unGripperClawList = m_unLists + 6;
108 m_unRABList = m_unLists + 7;
109 m_unDistanceScannerSensorList = m_unLists + 8;
110 m_unDistanceScannerList = m_unLists + 9;
111 m_unIMXList = m_unLists + 10;
112 m_unBeaconList = m_unLists + 11;
113 m_unCameraList = m_unLists + 12;
114
115 /* Create the materialless wheel display list */
116 glNewList(m_unBasicWheelList, GL_COMPILE);
117 MakeWheel();
118 glEndList();
119
120 /* Create the wheel display list */
121 glNewList(m_unWheelList, GL_COMPILE);
122 RenderWheel();
123 glEndList();
124
125 /* Create the track display list */
126 glNewList(m_unTrackList, GL_COMPILE);
127 RenderTrack();
128 glEndList();
129
130 /* Create the base module display list */
131 glNewList(m_unBaseList, GL_COMPILE);
132 RenderBase();
133 glEndList();
134
135 /* Create the grippable slice display list */
136 glNewList(m_unGrippableSliceList, GL_COMPILE);
137 RenderGrippableSlice();
138 glEndList();
139
140 /* Create the gripper mechanics display list */
141 glNewList(m_unGripperMechanicsList, GL_COMPILE);
142 RenderGripperMechanics();
143 glEndList();
144
145 /* Create the gripper claw display list */
146 glNewList(m_unGripperClawList, GL_COMPILE);
147 RenderGripperClaw();
148 glEndList();
149
150 /* Create the gripper claw display list */
151 glNewList(m_unRABList, GL_COMPILE);
152 RenderRAB();
153 glEndList();
154
155 /* Create the single distance scanner sensor display list */
156 glNewList(m_unDistanceScannerSensorList, GL_COMPILE);
157 RenderDistanceScannerSensor();
158 glEndList();
159
160 /* Create the distance scanner display list */
161 glNewList(m_unDistanceScannerList, GL_COMPILE);
162 RenderDistanceScanner();
163 glEndList();
164
165 /* Create the iMX display list */
166 glNewList(m_unIMXList, GL_COMPILE);
167 RenderIMX();
168 glEndList();
169
170 /* Create the beacon display list */
171 glNewList(m_unBeaconList, GL_COMPILE);
172 RenderBeacon();
173 glEndList();
174
175 /* Create the camera display list */
176 glNewList(m_unCameraList, GL_COMPILE);
177 RenderCamera();
178 glEndList();
179 }
180
181 /****************************************/
182 /****************************************/
183
184 CQTOpenGLFootBot::~CQTOpenGLFootBot() {
185 glDeleteLists(m_unLists, 13);
186 }
187
188 /****************************************/
189 /****************************************/
190
191 void CQTOpenGLFootBot::Draw(CFootBotEntity& c_entity) {
192 /* Place the wheels */
193 glPushMatrix();
194 glTranslated(0.0f, HALF_INTERWHEEL_DISTANCE, 0.0f);
195 glCallList(m_unWheelList);
196 glPopMatrix();
197 glPushMatrix();
198 glTranslated(0.0f, -HALF_INTERWHEEL_DISTANCE, 0.0f);
199 glCallList(m_unWheelList);
200 glPopMatrix();
201 /* Place the tracks */
202 glPushMatrix();
203 glTranslated(0.0f, HALF_INTERTRACK_DISTANCE, 0.0f);
204 glCallList(m_unTrackList);
205 glPopMatrix();
206 glPushMatrix();
207 glTranslated(0.0f, -HALF_INTERTRACK_DISTANCE, 0.0f);
208 glCallList(m_unTrackList);
209 glPopMatrix();
210 /* Place the tracks */
211 glCallList(m_unBaseList);
212 /* Place the gripper module */
213 glPushMatrix();
214 /* Read gripper orientation from footbot entity */
215 GLdouble fGripperOrientation = ToDegrees(c_entity.GetTurretEntity().GetRotation()).GetValue();
216 glRotated(fGripperOrientation, 0.0f, 0.0f, 1.0f);
217 /* Place the grippable part of the gripper module (LEDs) */
218 glPushMatrix();
219 CLEDEquippedEntity& cLEDEquippedEntity = c_entity.GetLEDEquippedEntity();
220 for(UInt32 i = 0; i < 12; i++) {
221 const CColor& cColor = cLEDEquippedEntity.GetLED(i).GetColor();
222 glRotated(m_fLEDAngleSlice, 0.0f, 0.0f, 1.0f);
223 SetLEDMaterial(cColor.GetRed() / 255.0f,
224 cColor.GetGreen() / 255.0f,
225 cColor.GetBlue() / 255.0f);
226 glCallList(m_unGrippableSliceList);
227 }
228 glPopMatrix();
229 /* Place the gripper mechanics */
230 glCallList(m_unGripperMechanicsList);
231 /* Place the gripper claws */
232 /* Read the gripper aperture from footbot entity */
233 GLdouble fGripperAperture = c_entity.GetGripperEquippedEntity().GetLockState() * 90.0f;
234 glTranslated(GRIPPER_CLAW_OFFSET, 0.0f, GRIPPER_CLAW_ELEVATION);
235 glPushMatrix();
236 glRotated(fGripperAperture, 0.0f, 1.0f, 0.0f);
237 glCallList(m_unGripperClawList);
238 glPopMatrix();
239 glPushMatrix();
240 glRotated(-fGripperAperture, 0.0f, 1.0f, 0.0f);
241 glCallList(m_unGripperClawList);
242 glPopMatrix();
243 glPopMatrix();
244 /* Place the RAB */
245 glCallList(m_unRABList);
246 /* Place the distance scanner */
247 glCallList(m_unDistanceScannerList);
248 glPushMatrix();
249 /* Read dist scanner orientation from footbot entity */
250 GLdouble fDistanceScannerOrientation = ToDegrees(c_entity.GetDistanceScannerEquippedEntity().GetRotation()).GetValue();
251 glRotated(fDistanceScannerOrientation, 0.0f, 0.0f, 1.0f);
252 glCallList(m_unDistanceScannerSensorList);
253 glRotated(90.0f, 0.0f, 0.0f, 1.0f);
254 glCallList(m_unDistanceScannerSensorList);
255 glRotated(90.0f, 0.0f, 0.0f, 1.0f);
256 glCallList(m_unDistanceScannerSensorList);
257 glRotated(90.0f, 0.0f, 0.0f, 1.0f);
258 glCallList(m_unDistanceScannerSensorList);
259 glPopMatrix();
260 /* Place the iMX module */
261 glCallList(m_unIMXList);
262 /* Place the beacon */
263 const CColor& cBeaconColor = cLEDEquippedEntity.GetLED(12).GetColor();
264 SetLEDMaterial(cBeaconColor.GetRed() / 255.0f,
265 cBeaconColor.GetGreen() / 255.0f,
266 cBeaconColor.GetBlue() / 255.0f);
267 glCallList(m_unBeaconList);
268 /* Place the camera */
269 glCallList(m_unCameraList);
270 }
271
272 /****************************************/
273 /****************************************/
274
275 void CQTOpenGLFootBot::MakeWheel() {
276 /* Right side */
277 CVector2 cVertex(WHEEL_RADIUS, 0.0f);
278 CRadians cAngle(CRadians::TWO_PI / m_unVertices);
279 CVector3 cNormal(-1.0f, -1.0f, 0.0f);
280 cNormal.Normalize();
281 glBegin(GL_POLYGON);
282 for(GLuint i = 0; i <= m_unVertices; i++) {
283 glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
284 glVertex3d(cVertex.GetX(), -HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
285 cVertex.Rotate(cAngle);
286 cNormal.RotateY(cAngle);
287 }
288 glEnd();
289 /* Left side */
290 cVertex.Set(WHEEL_RADIUS, 0.0f);
291 cNormal.Set(-1.0f, 1.0f, 0.0f);
292 cNormal.Normalize();
293 cAngle = -cAngle;
294 glBegin(GL_POLYGON);
295 for(GLuint i = 0; i <= m_unVertices; i++) {
296 glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
297 glVertex3d(cVertex.GetX(), HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
298 cVertex.Rotate(cAngle);
299 cNormal.RotateY(cAngle);
300 }
301 glEnd();
302 /* Tire */
303 cNormal.Set(1.0f, 0.0f, 0.0f);
304 cVertex.Set(WHEEL_RADIUS, 0.0f);
305 cAngle = -cAngle;
306 glBegin(GL_QUAD_STRIP);
307 for(GLuint i = 0; i <= m_unVertices; i++) {
308 glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
309 glVertex3d(cVertex.GetX(), -HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
310 glVertex3d(cVertex.GetX(), HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
311 cVertex.Rotate(cAngle);
312 cNormal.RotateY(cAngle);
313 }
314 glEnd();
315 }
316
317 /****************************************/
318 /****************************************/
319
320 void CQTOpenGLFootBot::SetWhitePlasticMaterial() {
321 const GLfloat pfColor[] = { 1.0f, 1.0f, 1.0f, 1.0f };
322 const GLfloat pfSpecular[] = { 0.9f, 0.9f, 0.9f, 1.0f };
323 const GLfloat pfShininess[] = { 100.0f };
324 const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
325 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
326 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
327 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
328 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
329 }
330
331 /****************************************/
332 /****************************************/
333
334 void CQTOpenGLFootBot::SetBlackTireMaterial() {
335 const GLfloat pfColor[] = { 0.0f, 0.0f, 0.0f, 1.0f };
336 const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
337 const GLfloat pfShininess[] = { 0.0f };
338 const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
339 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
340 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
341 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
342 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
343 }
344
345 /****************************************/
346 /****************************************/
347
348 void CQTOpenGLFootBot::SetCircuitBoardMaterial() {
349 const GLfloat pfColor[] = { 0.0f, 0.0f, 1.0f, 1.0f };
350 const GLfloat pfSpecular[] = { 0.5f, 0.5f, 1.0f, 1.0f };
351 const GLfloat pfShininess[] = { 10.0f };
352 const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
353 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
354 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
355 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
356 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
357 }
358
359 /****************************************/
360 /****************************************/
361
362 void CQTOpenGLFootBot::SetLEDMaterial(GLfloat f_red, GLfloat f_green, GLfloat f_blue) {
363 const GLfloat pfColor[] = { f_red, f_green, f_blue, 1.0f };
364 const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
365 const GLfloat pfShininess[] = { 0.0f };
366 const GLfloat pfEmission[] = { f_red, f_green, f_blue, 1.0f };
367 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
368 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
369 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
370 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
371 }
372
373 /****************************************/
374 /****************************************/
375
376 void CQTOpenGLFootBot::RenderWheel() {
377 /* Set material */
378 SetWhitePlasticMaterial();
379 /* Right side */
380 CVector2 cVertex(WHEEL_RADIUS, 0.0f);
381 CRadians cAngle(CRadians::TWO_PI / m_unVertices);
382 CVector3 cNormal(-1.0f, -1.0f, 0.0f);
383 cNormal.Normalize();
384 glBegin(GL_POLYGON);
385 for(GLuint i = 0; i <= m_unVertices; i++) {
386 glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
387 glVertex3d(cVertex.GetX(), -HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
388 cVertex.Rotate(cAngle);
389 cNormal.RotateY(cAngle);
390 }
391 glEnd();
392 /* Left side */
393 cVertex.Set(WHEEL_RADIUS, 0.0f);
394 cAngle = -cAngle;
395 cNormal.Set(-1.0f, 1.0f, 0.0f);
396 cNormal.Normalize();
397 glBegin(GL_POLYGON);
398 for(GLuint i = 0; i <= m_unVertices; i++) {
399 glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
400 glVertex3d(cVertex.GetX(), HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
401 cVertex.Rotate(cAngle);
402 cNormal.RotateY(cAngle);
403 }
404 glEnd();
405 /* Tire */
406 SetBlackTireMaterial();
407 cNormal.Set(1.0f, 0.0f, 0.0f);
408 cVertex.Set(WHEEL_RADIUS, 0.0f);
409 cAngle = -cAngle;
410 glBegin(GL_QUAD_STRIP);
411 for(GLuint i = 0; i <= m_unVertices; i++) {
412 glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
413 glVertex3d(cVertex.GetX(), -HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
414 glVertex3d(cVertex.GetX(), HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
415 cVertex.Rotate(cAngle);
416 cNormal.RotateY(cAngle);
417 }
418 glEnd();
419 }
420
421 /****************************************/
422 /****************************************/
423
424 void CQTOpenGLFootBot::RenderTrack() {
425 /* Set material */
426 SetWhitePlasticMaterial();
427 /* Place two basic wheels */
428 glPushMatrix();
429 glTranslated(HALF_TRACK_WHEELS_DISTANCE, 0.0f, 0.0f);
430 glCallList(m_unBasicWheelList);
431 glPopMatrix();
432 glPushMatrix();
433 glTranslated(-HALF_TRACK_WHEELS_DISTANCE, 0.0f, 0.0f);
434 glCallList(m_unBasicWheelList);
435 glPopMatrix();
436 /* Render the track itself */
437 /* Set material */
438 SetBlackTireMaterial();
439 glEnable(GL_POLYGON_OFFSET_FILL); // Correct flickering due to overlapping surfaces
440 glPolygonOffset(-0.1f, 1.0f); // Correct flickering due to overlapping surfaces
441 /* Top part */
442 glBegin(GL_POLYGON);
443 glVertex3d(-HALF_TRACK_WHEELS_DISTANCE, -HALF_WHEEL_WIDTH, WHEEL_DIAMETER);
444 glVertex3d( HALF_TRACK_WHEELS_DISTANCE, -HALF_WHEEL_WIDTH, WHEEL_DIAMETER);
445 glVertex3d( HALF_TRACK_WHEELS_DISTANCE, HALF_WHEEL_WIDTH, WHEEL_DIAMETER);
446 glVertex3d(-HALF_TRACK_WHEELS_DISTANCE, HALF_WHEEL_WIDTH, WHEEL_DIAMETER);
447 glEnd();
448 /* Bottom part */
449 glBegin(GL_POLYGON);
450 glVertex3d(-HALF_TRACK_WHEELS_DISTANCE, -HALF_WHEEL_WIDTH, 0.0f);
451 glVertex3d( HALF_TRACK_WHEELS_DISTANCE, -HALF_WHEEL_WIDTH, 0.0f);
452 glVertex3d( HALF_TRACK_WHEELS_DISTANCE, HALF_WHEEL_WIDTH, 0.0f);
453 glVertex3d(-HALF_TRACK_WHEELS_DISTANCE, HALF_WHEEL_WIDTH, 0.0f);
454 glEnd();
455 /* Round parts */
456 CVector2 cVertex(0.0f, WHEEL_RADIUS);
457 CVector2 cNormal(0.0f, 1.0f);
458 CRadians cAngle(CRadians::TWO_PI / m_unVertices);
459 /* Front */
460 glBegin(GL_QUAD_STRIP);
461 for(GLuint i = 0; i <= m_unVertices / 2; i++) {
462 glNormal3d(cNormal.GetX(), 0.0f, cNormal.GetY());
463 glVertex3d(-HALF_TRACK_WHEELS_DISTANCE + cVertex.GetX(), -HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
464 glVertex3d(-HALF_TRACK_WHEELS_DISTANCE + cVertex.GetX(), HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
465 cVertex.Rotate(cAngle);
466 cNormal.Rotate(cAngle);
467 }
468 glEnd();
469 /* Back */
470 glBegin(GL_QUAD_STRIP);
471 for(GLuint i = 0; i <= m_unVertices / 2; i++) {
472 glNormal3d(cNormal.GetX(), 0.0f, cNormal.GetY());
473 glVertex3d(HALF_TRACK_WHEELS_DISTANCE + cVertex.GetX(), -HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
474 glVertex3d(HALF_TRACK_WHEELS_DISTANCE + cVertex.GetX(), HALF_WHEEL_WIDTH, WHEEL_RADIUS + cVertex.GetY());
475 cVertex.Rotate(cAngle);
476 cNormal.Rotate(cAngle);
477 }
478 glEnd();
479 glDisable(GL_POLYGON_OFFSET_FILL); // Not needed anymore
480 }
481
482 /****************************************/
483 /****************************************/
484
485 void CQTOpenGLFootBot::RenderBase() {
486 /* Battery socket */
487 /* Set material */
488 SetWhitePlasticMaterial();
489 /* This part covers the top and bottom faces (parallel to XY) */
490 glBegin(GL_QUADS);
491 /* Bottom face */
492 glNormal3d(0.0f, 0.0f, -1.0f);
493 glVertex3d( HALF_BATTERY_SOCKET_LENGTH, HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
494 glVertex3d( HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
495 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
496 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
497 /* Top face */
498 glNormal3d(0.0f, 0.0f, 1.0f);
499 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
500 glVertex3d( HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
501 glVertex3d( HALF_BATTERY_SOCKET_LENGTH, HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
502 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
503 glEnd();
504 /* This part covers the faces (South, East, North, West) */
505 glBegin(GL_QUAD_STRIP);
506 /* Starting side */
507 glNormal3d(-1.0f, 0.0f, 0.0f);
508 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
509 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
510 /* South face */
511 glVertex3d( HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
512 glVertex3d( HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
513 /* East face */
514 glNormal3d(0.0f, -1.0f, 0.0f);
515 glVertex3d( HALF_BATTERY_SOCKET_LENGTH, HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
516 glVertex3d( HALF_BATTERY_SOCKET_LENGTH, HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
517 /* North face */
518 glNormal3d(1.0f, 0.0f, 0.0f);
519 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
520 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
521 /* West face */
522 glNormal3d(0.0f, 1.0f, 0.0f);
523 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
524 glVertex3d(-HALF_BATTERY_SOCKET_LENGTH, -HALF_BATTERY_SOCKET_WIDTH, BATTERY_SOCKET_ELEVATION);
525 glEnd();
526 /* Circuit board */
527 CVector2 cVertex(BASE_MODULE_RADIUS, 0.0f);
528 CRadians cAngle(-CRadians::TWO_PI / m_unVertices);
529 /* Bottom part */
530 glBegin(GL_POLYGON);
531 glNormal3d(0.0f, 0.0f, -1.0f);
532 for(GLuint i = 0; i <= m_unVertices; i++) {
533 glVertex3d(cVertex.GetX(), cVertex.GetY(), BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
534 cVertex.Rotate(cAngle);
535 }
536 glEnd();
537 /* Side surface */
538 cAngle = -cAngle;
539 CVector2 cNormal(1.0f, 0.0f);
540 cVertex.Set(BASE_MODULE_RADIUS, 0.0f);
541 glBegin(GL_QUAD_STRIP);
542 for(GLuint i = 0; i <= m_unVertices; i++) {
543 glNormal3d(cNormal.GetX(), cNormal.GetY(), 0.0f);
544 glVertex3d(cVertex.GetX(), cVertex.GetY(), BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER + BASE_MODULE_HEIGHT);
545 glVertex3d(cVertex.GetX(), cVertex.GetY(), BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER);
546 cVertex.Rotate(cAngle);
547 cNormal.Rotate(cAngle);
548 }
549 glEnd();
550 /* Top part */
551 /* Set material */
552 SetCircuitBoardMaterial();
553 glBegin(GL_POLYGON);
554 glNormal3d(0.0f, 0.0f, 1.0f);
555 cVertex.Set(BASE_MODULE_RADIUS, 0.0f);
556 for(GLuint i = 0; i <= m_unVertices; i++) {
557 glVertex3d(cVertex.GetX(), cVertex.GetY(), BATTERY_SOCKET_ELEVATION + WHEEL_DIAMETER + BASE_MODULE_HEIGHT);
558 cVertex.Rotate(cAngle);
559 }
560 glEnd();
561 }
562
563 /****************************************/
564 /****************************************/
565
566 void CQTOpenGLFootBot::RenderGrippableSlice() {
567 glDisable(GL_CULL_FACE); // This way we can see both faces of the grippable slice
568 /* Bottom part */
569 CVector2 cVertex(BASE_MODULE_RADIUS, 0.0f);
570 cVertex.Rotate(-CRadians::TWO_PI / 12);
571 CRadians cAngle(CRadians::TWO_PI / (m_unVertices * 12));
572 glBegin(GL_TRIANGLE_FAN);
573 glNormal3d(0.0f, 0.0f, -1.0f);
574 glVertex3d(0.0f, 0.0f, GRIPPER_MODULE_ELEVATION);
575 for(GLuint i = 0; i <= m_unVertices; i++) {
576 glVertex3d(cVertex.GetX(), cVertex.GetY(), GRIPPER_MODULE_ELEVATION);
577 cVertex.Rotate(cAngle);
578 }
579 glEnd();
580 cAngle = -CRadians::TWO_PI / (m_unVertices * 12);
581 /* Side barrier surface (bottom) */
582 CVector2 cNormal(1.0f, 0.0f);
583 cVertex.Set(BASE_MODULE_RADIUS, 0.0f);
584 glBegin(GL_QUAD_STRIP);
585 for(GLuint i = 0; i <= m_unVertices; i++) {
586 glNormal3d(cVertex.GetX(), cVertex.GetY(), 0.0f);
587 glVertex3d(cVertex.GetX(), cVertex.GetY(), GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_BARRIER_HEIGHT);
588 glVertex3d(cVertex.GetX(), cVertex.GetY(), GRIPPER_MODULE_ELEVATION);
589 cVertex.Rotate(cAngle);
590 cNormal.Rotate(cAngle);
591 }
592 glEnd();
593 /* Side barrier surface (top) */
594 cNormal.Set(1.0f, 0.0f);
595 cVertex.Set(BASE_MODULE_RADIUS, 0.0f);
596 glBegin(GL_QUAD_STRIP);
597 for(GLuint i = 0; i <= m_unVertices; i++) {
598 glNormal3d(cVertex.GetX(), cVertex.GetY(), 0.0f);
599 glVertex3d(cVertex.GetX(), cVertex.GetY(), GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
600 glVertex3d(cVertex.GetX(), cVertex.GetY(), GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT - GRIPPER_MODULE_BARRIER_HEIGHT);
601 cVertex.Rotate(cAngle);
602 cNormal.Rotate(cAngle);
603 }
604 glEnd();
605 /* Internal rod (bottom) */
606 cNormal.Set(BASE_MODULE_RADIUS - GRIPPER_MODULE_INNER_RADIUS,
607 GRIPPER_MODULE_HALF_HEIGHT);
608 cNormal.Normalize();
609 cVertex.Set(BASE_MODULE_RADIUS, 0.0f);
610 CVector2 cVertex2(GRIPPER_MODULE_INNER_RADIUS, 0.0f);
611 glBegin(GL_QUAD_STRIP);
612 for(GLuint i = 0; i <= m_unVertices; i++) {
613 glNormal3d(cVertex.GetX(), cVertex.GetY(), 0.0f);
614 glVertex3d(cVertex2.GetX(), cVertex2.GetY(), GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HALF_HEIGHT);
615 glVertex3d(cVertex.GetX(), cVertex.GetY(), GRIPPER_MODULE_ELEVATION);
616 cVertex.Rotate(cAngle);
617 cVertex2.Rotate(cAngle);
618 cNormal.Rotate(cAngle);
619 }
620 glEnd();
621 /* Internal rod (top) */
622 cNormal.Set( BASE_MODULE_RADIUS - GRIPPER_MODULE_INNER_RADIUS,
623 -GRIPPER_MODULE_HALF_HEIGHT);
624 cNormal.Normalize();
625 cVertex.Set(BASE_MODULE_RADIUS, 0.0f);
626 cVertex2.Set(GRIPPER_MODULE_INNER_RADIUS, 0.0f);
627 glBegin(GL_QUAD_STRIP);
628 for(GLuint i = 0; i <= m_unVertices; i++) {
629 glNormal3d(cVertex.GetX(), cVertex.GetY(), 0.0f);
630 glVertex3d(cVertex.GetX(), cVertex.GetY(), GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
631 glVertex3d(cVertex2.GetX(), cVertex2.GetY(), GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HALF_HEIGHT);
632 cVertex.Rotate(cAngle);
633 cVertex2.Rotate(cAngle);
634 cNormal.Rotate(cAngle);
635 }
636 glEnd();
637 /* Top part */
638 cVertex.Set(BASE_MODULE_RADIUS, 0.0f);
639 glBegin(GL_TRIANGLE_FAN);
640 glNormal3d(0.0f, 0.0f, 1.0f);
641 glVertex3d(0.0f, 0.0f, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
642 for(GLuint i = 0; i <= m_unVertices; i++) {
643 glVertex3d(cVertex.GetX(), cVertex.GetY(), GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
644 cVertex.Rotate(cAngle);
645 }
646 glEnd();
647 glEnable(GL_CULL_FACE); // Back to normal setting: cull back faces
648 }
649
650 /****************************************/
651 /****************************************/
652
653 void CQTOpenGLFootBot::RenderGripperMechanics() {
654 /* Set material */
655 const GLfloat pfColor[] = { 0.0f, 0.0f, 0.0f, 1.0f };
656 const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
657 const GLfloat pfShininess[] = { 0.0f };
658 const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
659 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
660 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
661 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
662 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
663 /* This part covers the top and bottom faces (parallel to XY) */
664 glEnable(GL_POLYGON_OFFSET_FILL); // Correct flickering due to overlapping surfaces
665 glPolygonOffset(-0.1f, 1.0f); // Correct flickering due to overlapping surfaces
666 glBegin(GL_QUADS);
667 /* Bottom face */
668 glNormal3d(0.0f, 0.0f, -1.0f);
669 glVertex3d(GRIPPER_MECHANICS_LENGTH + GRIPPER_MODULE_INNER_RADIUS, GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION);
670 glVertex3d(GRIPPER_MECHANICS_LENGTH + GRIPPER_MODULE_INNER_RADIUS, -GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION);
671 glVertex3d( GRIPPER_MODULE_INNER_RADIUS, -GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION);
672 glVertex3d( GRIPPER_MODULE_INNER_RADIUS, GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION);
673 /* Top face */
674 glNormal3d(0.0f, 0.0f, 1.0f);
675 glVertex3d( GRIPPER_MODULE_INNER_RADIUS, -GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
676 glVertex3d(GRIPPER_MECHANICS_LENGTH + GRIPPER_MODULE_INNER_RADIUS, -GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
677 glVertex3d(GRIPPER_MECHANICS_LENGTH + GRIPPER_MODULE_INNER_RADIUS, GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
678 glVertex3d( GRIPPER_MODULE_INNER_RADIUS, GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
679 glEnd();
680 glDisable(GL_POLYGON_OFFSET_FILL); // Not needed anymore
681 /* This part covers the faces (South, East, North, West) */
682 glBegin(GL_QUAD_STRIP);
683 glNormal3d(0.0f, -1.0f, 0.0f);
684 /* Starting vertex */
685 glVertex3d( GRIPPER_MODULE_INNER_RADIUS, -GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
686 glVertex3d( GRIPPER_MODULE_INNER_RADIUS, -GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION);
687 /* East face */
688 glNormal3d(1.0f, 0.0f, 0.0f);
689 glVertex3d(GRIPPER_MECHANICS_LENGTH + GRIPPER_MODULE_INNER_RADIUS, -GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
690 glVertex3d(GRIPPER_MECHANICS_LENGTH + GRIPPER_MODULE_INNER_RADIUS, -GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION);
691 /* North face */
692 glNormal3d(0.0f, 1.0f, 0.0f);
693 glVertex3d(GRIPPER_MECHANICS_LENGTH + GRIPPER_MODULE_INNER_RADIUS, GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
694 glVertex3d(GRIPPER_MECHANICS_LENGTH + GRIPPER_MODULE_INNER_RADIUS, GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION);
695 /* West face */
696 glNormal3d(-1.0f, 0.0f, 0.0f);
697 glVertex3d( GRIPPER_MODULE_INNER_RADIUS, GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION + GRIPPER_MODULE_HEIGHT);
698 glVertex3d( GRIPPER_MODULE_INNER_RADIUS, GRIPPER_MECHANICS_HALF_WIDTH, GRIPPER_MODULE_ELEVATION);
699 glEnd();
700 }
701
702 /****************************************/
703 /****************************************/
704
705 void CQTOpenGLFootBot::RenderGripperClaw() {
706 /* Set material */
707 const GLfloat pfColor[] = { 0.5f, 0.5f, 0.5f, 1.0f };
708 const GLfloat pfSpecular[] = { 0.5f, 0.5f, 0.5f, 1.0f };
709 const GLfloat pfShininess[] = { 10.0f };
710 const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
711 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
712 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
713 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
714 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
715 /* Draw the claw */
716 glDisable(GL_CULL_FACE); // In this way, we can see both sides of the claw
717 glNormal3d(0.0f, 0.0f, 1.0f);
718 glBegin(GL_QUADS);
719 glVertex3d( 0.0f, GRIPPER_CLAW_HALF_WIDTH, 0.0f);
720 glVertex3d( 0.0f, -GRIPPER_CLAW_HALF_WIDTH, 0.0f);
721 glVertex3d(GRIPPER_CLAW_LENGTH, -GRIPPER_CLAW_HALF_WIDTH, 0.0f);
722 glVertex3d(GRIPPER_CLAW_LENGTH, GRIPPER_CLAW_HALF_WIDTH, 0.0f);
723 glEnd();
724 glEnable(GL_CULL_FACE); // Restore back face culling
725 }
726
727 /****************************************/
728 /****************************************/
729
730 void CQTOpenGLFootBot::RenderRAB() {
731 /* Set material */
732 SetWhitePlasticMaterial();
733 /* Bottom part */
734 CVector2 cVertex(RAB_MAX_RADIUS, 0.0f);
735 CRadians cAngle(-CRadians::TWO_PI / m_unVertices);
736 glBegin(GL_POLYGON);
737 glNormal3d(0.0f, 0.0f, -1.0f);
738 for(GLuint i = 0; i <= m_unVertices; i++) {
739 glVertex3d(cVertex.GetX(), cVertex.GetY(), RAB_ELEVATION);
740 cVertex.Rotate(cAngle);
741 }
742 glEnd();
743 /* Side surface */
744 cAngle = -cAngle;
745 CVector3 cNormal(RAB_MAX_RADIUS - RAB_MIN_RADIUS, 0.0f, RAB_HEIGHT);
746 cNormal.Normalize();
747 cVertex.Set(RAB_MAX_RADIUS, 0.0f);
748 CVector2 cVertex2(RAB_MIN_RADIUS, 0.0f);
749 glBegin(GL_QUAD_STRIP);
750 for(GLuint i = 0; i <= m_unVertices; i++) {
751 glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
752 glVertex3d(cVertex2.GetX(), cVertex2.GetY(), RAB_ELEVATION + RAB_HEIGHT);
753 glVertex3d(cVertex.GetX(), cVertex.GetY(), RAB_ELEVATION);
754 cVertex.Rotate(cAngle);
755 cVertex2.Rotate(cAngle);
756 cNormal.RotateZ(cAngle);
757 }
758 glEnd();
759 /* Top part */
760 /* Set material */
761 SetCircuitBoardMaterial();
762 cVertex.Set(RAB_MIN_RADIUS, 0.0f);
763 glBegin(GL_POLYGON);
764 glNormal3d(0.0f, 0.0f, 1.0f);
765 for(GLuint i = 0; i <= m_unVertices; i++) {
766 glVertex3d(cVertex.GetX(), cVertex.GetY(), RAB_ELEVATION + RAB_HEIGHT);
767 cVertex.Rotate(cAngle);
768 }
769 glEnd();
770 }
771
772 /****************************************/
773 /****************************************/
774
775 void CQTOpenGLFootBot::RenderDistanceScannerSensor() {
776 /* Set material */
777 const GLfloat pfColor[] = { 0.0f, 0.0f, 0.0f, 1.0f };
778 const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
779 const GLfloat pfShininess[] = { 0.0f };
780 const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
781 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
782 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
783 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
784 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
785 /* This part covers the top and bottom faces (parallel to XY) */
786 glBegin(GL_QUADS);
787 /* Bottom face */
788 glNormal3d(0.0f, 0.0f, -1.0f);
789 glVertex3d(DISTANCE_SCANNER_SENSOR_DEPTH + DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
790 glVertex3d(DISTANCE_SCANNER_SENSOR_DEPTH + DISTANCE_SCANNER_RADIUS, -DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
791 glVertex3d( DISTANCE_SCANNER_RADIUS, -DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
792 glVertex3d( DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
793 /* Top face */
794 glNormal3d(0.0f, 0.0f, 1.0f);
795 glVertex3d( DISTANCE_SCANNER_RADIUS, -DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
796 glVertex3d(DISTANCE_SCANNER_SENSOR_DEPTH + DISTANCE_SCANNER_RADIUS, -DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
797 glVertex3d(DISTANCE_SCANNER_SENSOR_DEPTH + DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
798 glVertex3d( DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
799 glEnd();
800 glDisable(GL_POLYGON_OFFSET_FILL); // Not needed anymore
801 /* This part covers the faces (South, East, North, West) */
802 glBegin(GL_QUAD_STRIP);
803 glNormal3d(0.0f, -1.0f, 0.0f);
804 /* Starting vertex */
805 glVertex3d( DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
806 glVertex3d( DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
807 /* South face */
808 glVertex3d( DISTANCE_SCANNER_RADIUS, -DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
809 glVertex3d( DISTANCE_SCANNER_RADIUS, -DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
810 /* East face */
811 glNormal3d(1.0f, 0.0f, 0.0f);
812 glVertex3d(DISTANCE_SCANNER_SENSOR_DEPTH + DISTANCE_SCANNER_RADIUS, -DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
813 glVertex3d(DISTANCE_SCANNER_SENSOR_DEPTH + DISTANCE_SCANNER_RADIUS, -DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
814 /* North face */
815 glNormal3d(0.0f, 1.0f, 0.0f);
816 glVertex3d(DISTANCE_SCANNER_SENSOR_DEPTH + DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
817 glVertex3d(DISTANCE_SCANNER_SENSOR_DEPTH + DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
818 /* West face */
819 glNormal3d(-1.0f, 0.0f, 0.0f);
820 glVertex3d( DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
821 glVertex3d( DISTANCE_SCANNER_RADIUS, DISTANCE_SCANNER_SENSOR_HALF_WIDTH, DISTANCE_SCANNER_ELEVATION);
822 glEnd();
823 }
824
825 /****************************************/
826 /****************************************/
827
828 void CQTOpenGLFootBot::RenderDistanceScanner() {
829 /* Set material */
830 SetWhitePlasticMaterial();
831 /* Draw only side surface */
832 CVector2 cVertex(DISTANCE_SCANNER_RADIUS, 0.0f);
833 CRadians cAngle(CRadians::TWO_PI / m_unVertices);
834 CVector2 cNormal(1.0f, 0.0f);
835 glBegin(GL_QUAD_STRIP);
836 for(GLuint i = 0; i <= m_unVertices; i++) {
837 glNormal3d(cVertex.GetX(), cVertex.GetY(), 0.0f);
838 glVertex3d(cVertex.GetX(), cVertex.GetY(), DISTANCE_SCANNER_ELEVATION + DISTANCE_SCANNER_HEIGHT);
839 glVertex3d(cVertex.GetX(), cVertex.GetY(), DISTANCE_SCANNER_ELEVATION);
840 cVertex.Rotate(cAngle);
841 cNormal.Rotate(cAngle);
842 }
843 glEnd();
844 }
845
846 /****************************************/
847 /****************************************/
848
849 void CQTOpenGLFootBot::RenderIMX() {
850 /* Set material */
851 SetWhitePlasticMaterial();
852 CVector2 cVertex(IMX_MODULE_RADIUS, 0.0f);
853 CRadians cAngle(-CRadians::TWO_PI / m_unVertices);
854 /* Bottom part */
855 glBegin(GL_POLYGON);
856 glNormal3d(0.0f, 0.0f, -1.0f);
857 for(GLuint i = 0; i <= m_unVertices; i++) {
858 glVertex3d(cVertex.GetX(), cVertex.GetY(), IMX_MODULE_ELEVATION);
859 cVertex.Rotate(cAngle);
860 }
861 glEnd();
862 /* Side surface */
863 cAngle = -cAngle;
864 CVector2 cNormal(1.0f, 0.0f);
865 cVertex.Set(IMX_MODULE_RADIUS, 0.0f);
866 glBegin(GL_QUAD_STRIP);
867 for(GLuint i = 0; i <= m_unVertices; i++) {
868 glNormal3d(cNormal.GetX(), cNormal.GetY(), 0.0f);
869 glVertex3d(cVertex.GetX(), cVertex.GetY(), IMX_MODULE_ELEVATION + IMX_MODULE_HEIGHT);
870 glVertex3d(cVertex.GetX(), cVertex.GetY(), IMX_MODULE_ELEVATION);
871 cVertex.Rotate(cAngle);
872 cNormal.Rotate(cAngle);
873 }
874 glEnd();
875 /* Top part */
876 /* Set material */
877 SetCircuitBoardMaterial();
878 glBegin(GL_POLYGON);
879 glNormal3d(0.0f, 0.0f, 1.0f);
880 cVertex.Set(IMX_MODULE_RADIUS, 0.0f);
881 for(GLuint i = 0; i <= m_unVertices; i++) {
882 glVertex3d(cVertex.GetX(), cVertex.GetY(), IMX_MODULE_ELEVATION + IMX_MODULE_HEIGHT);
883 cVertex.Rotate(cAngle);
884 }
885 glEnd();
886 }
887
888 /****************************************/
889 /****************************************/
890
891 void CQTOpenGLFootBot::RenderBeacon() {
892 CVector2 cVertex(BEACON_RADIUS, 0.0f);
893 CRadians cAngle(-CRadians::TWO_PI / m_unVertices);
894 /* Bottom part */
895 glBegin(GL_POLYGON);
896 glNormal3d(0.0f, 0.0f, -1.0f);
897 for(GLuint i = 0; i <= m_unVertices; i++) {
898 glVertex3d(cVertex.GetX(), cVertex.GetY(), BEACON_ELEVATION);
899 cVertex.Rotate(cAngle);
900 }
901 glEnd();
902 /* Side surface */
903 cAngle = -cAngle;
904 CVector2 cNormal(1.0f, 0.0f);
905 cVertex.Set(BEACON_RADIUS, 0.0f);
906 glBegin(GL_QUAD_STRIP);
907 for(GLuint i = 0; i <= m_unVertices; i++) {
908 glNormal3d(cNormal.GetX(), cNormal.GetY(), 0.0f);
909 glVertex3d(cVertex.GetX(), cVertex.GetY(), BEACON_ELEVATION + BEACON_HEIGHT);
910 glVertex3d(cVertex.GetX(), cVertex.GetY(), BEACON_ELEVATION);
911 cVertex.Rotate(cAngle);
912 cNormal.Rotate(cAngle);
913 }
914 glEnd();
915 /* Top part */
916 glBegin(GL_POLYGON);
917 glNormal3d(0.0f, 0.0f, 1.0f);
918 cVertex.Set(BEACON_RADIUS, 0.0f);
919 for(GLuint i = 0; i <= m_unVertices; i++) {
920 glVertex3d(cVertex.GetX(), cVertex.GetY(), BEACON_ELEVATION + BEACON_HEIGHT);
921 cVertex.Rotate(cAngle);
922 }
923 glEnd();
924 }
925
926 /****************************************/
927 /****************************************/
928
929 void CQTOpenGLFootBot::RenderCamera() {
930 /* Set material */
931 SetWhitePlasticMaterial();
932 CVector2 cVertex(CAMERA_RADIUS, 0.0f);
933 CRadians cAngle(-CRadians::TWO_PI / m_unVertices);
934 /* Bottom part */
935 glBegin(GL_POLYGON);
936 glNormal3d(0.0f, 0.0f, -1.0f);
937 for(GLuint i = 0; i <= m_unVertices; i++) {
938 glVertex3d(cVertex.GetX(), cVertex.GetY(), CAMERA_ELEVATION);
939 cVertex.Rotate(cAngle);
940 }
941 glEnd();
942 /* Side surface */
943 cAngle = -cAngle;
944 CVector2 cNormal(1.0f, 0.0f);
945 cVertex.Set(CAMERA_RADIUS, 0.0f);
946 glBegin(GL_QUAD_STRIP);
947 for(GLuint i = 0; i <= m_unVertices; i++) {
948 glNormal3d(cNormal.GetX(), cNormal.GetY(), 0.0f);
949 glVertex3d(cVertex.GetX(), cVertex.GetY(), CAMERA_ELEVATION + CAMERA_HEIGHT);
950 glVertex3d(cVertex.GetX(), cVertex.GetY(), CAMERA_ELEVATION);
951 cVertex.Rotate(cAngle);
952 cNormal.Rotate(cAngle);
953 }
954 glEnd();
955 /* Top part */
956 glBegin(GL_POLYGON);
957 glNormal3d(0.0f, 0.0f, 1.0f);
958 cVertex.Set(CAMERA_RADIUS, 0.0f);
959 for(GLuint i = 0; i <= m_unVertices; i++) {
960 glVertex3d(cVertex.GetX(), cVertex.GetY(), CAMERA_ELEVATION + CAMERA_HEIGHT);
961 cVertex.Rotate(cAngle);
962 }
963 glEnd();
964 }
965
966 /****************************************/
967 /****************************************/
968
969 class CQTOpenGLOperationDrawFootBotNormal : public CQTOpenGLOperationDrawNormal {
970 public:
971 void ApplyTo(CQTOpenGLWidget& c_visualization,
972 CFootBotEntity& c_entity) {
973 static CQTOpenGLFootBot m_cModel;
974 c_visualization.DrawRays(c_entity.GetControllableEntity());
975 c_visualization.DrawEntity(c_entity.GetEmbodiedEntity());
976 m_cModel.Draw(c_entity);
977 }
978 };
979
980 class CQTOpenGLOperationDrawFootBotSelected : public CQTOpenGLOperationDrawSelected {
981 public:
982 void ApplyTo(CQTOpenGLWidget& c_visualization,
983 CFootBotEntity& c_entity) {
984 c_visualization.DrawBoundingBox(c_entity.GetEmbodiedEntity());
985 }
986 };
987
988 REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawFootBotNormal, CFootBotEntity);
989
990 REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawFootBotSelected, CFootBotEntity);
991
992 /****************************************/
993 /****************************************/
994
995}
REGISTER_QTOPENGL_ENTITY_OPERATION
#define REGISTER_QTOPENGL_ENTITY_OPERATION(ACTION, OPERATION, ENTITY)
Definition qtopengl_widget.h:50
UInt32
unsigned int UInt32
32-bit unsigned integer.
Definition datatypes.h:97
Real
float Real
Collects all ARGoS code.
Definition datatypes.h:39
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::ToDegrees
CDegrees ToDegrees(const CRadians &c_radians)
Converts CRadians to CDegrees.
Definition angles.h:489
argos::CColor
The basic color type.
Definition color.h:25
argos::CColor::GetBlue
UInt8 GetBlue() const
Returns the blue channel of the color.
Definition color.h:101
argos::CColor::GetGreen
UInt8 GetGreen() const
Returns the green channel of the color.
Definition color.h:90
argos::CColor::GetRed
UInt8 GetRed() const
Returns the red channel of the color.
Definition color.h:79
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition angles.h:42
argos::CRadians::TWO_PI
static const CRadians TWO_PI
Set to PI * 2.
Definition angles.h:54
argos::CDegrees::GetValue
Real GetValue() const
Returns the value in degrees.
Definition angles.h:322
argos::CVector2
A 2D vector class.
Definition vector2.h:27
argos::CVector2::GetY
Real GetY() const
Returns the y coordinate of this vector.
Definition vector2.h:110
argos::CVector2::Normalize
CVector2 & Normalize()
Normalizes this vector.
Definition vector2.h:176
argos::CVector2::Rotate
CVector2 & Rotate(const CRadians &c_angle)
Rotates this vector by the wanted angle.
Definition vector2.h:194
argos::CVector2::Set
void Set(Real f_x, Real f_y)
Sets the vector contents from Cartesian coordinates.
Definition vector2.h:127
argos::CVector2::GetX
Real GetX() const
Returns the x coordinate of this vector.
Definition vector2.h:94
argos::CVector3
A 3D vector class.
Definition vector3.h:31
argos::CVector3::RotateZ
CVector3 & RotateZ(const CRadians &c_angle)
Rotates this vector wrt the z axis.
Definition vector3.h:287
argos::CVector3::GetX
Real GetX() const
Returns the x coordinate of this vector.
Definition vector3.h:105
argos::CVector3::RotateY
CVector3 & RotateY(const CRadians &c_angle)
Rotates this vector wrt the y axis.
Definition vector3.h:267
argos::CVector3::Normalize
CVector3 & Normalize()
Normalizes this vector.
Definition vector3.h:237
argos::CVector3::Set
void Set(const Real f_x, const Real f_y, const Real f_z)
Sets the vector contents from Cartesian coordinates.
Definition vector3.h:155
argos::CVector3::GetY
Real GetY() const
Returns the y coordinate of this vector.
Definition vector3.h:121
argos::CVector3::GetZ
Real GetZ() const
Returns the z coordinate of this vector.
Definition vector3.h:137
argos::CFootBotEntity::GetGripperEquippedEntity
CGripperEquippedEntity & GetGripperEquippedEntity()
Definition footbot_entity.h:80
argos::CFootBotEntity::GetControllableEntity
CControllableEntity & GetControllableEntity()
Definition footbot_entity.h:60
argos::CFootBotEntity::GetDistanceScannerEquippedEntity
CFootBotDistanceScannerEquippedEntity & GetDistanceScannerEquippedEntity()
Definition footbot_entity.h:68
argos::CFootBotEntity::GetTurretEntity
CFootBotTurretEntity & GetTurretEntity()
Definition footbot_entity.h:72
argos::CFootBotEntity::GetEmbodiedEntity
CEmbodiedEntity & GetEmbodiedEntity()
Definition footbot_entity.h:76
argos::CFootBotEntity::GetLEDEquippedEntity
CLEDEquippedEntity & GetLEDEquippedEntity()
Definition footbot_entity.h:88
argos::CQTOpenGLOperationDrawFootBotNormal::ApplyTo
void ApplyTo(CQTOpenGLWidget &c_visualization, CFootBotEntity &c_entity)
Definition qtopengl_footbot.cpp:971
argos::CQTOpenGLOperationDrawFootBotSelected::ApplyTo
void ApplyTo(CQTOpenGLWidget &c_visualization, CFootBotEntity &c_entity)
Definition qtopengl_footbot.cpp:982
argos::CQTOpenGLFootBot::RenderCamera
void RenderCamera()
Renders the camera.
Definition qtopengl_footbot.cpp:929
argos::CQTOpenGLFootBot::SetLEDMaterial
void SetLEDMaterial(GLfloat f_red, GLfloat f_green, GLfloat f_blue)
Sets a colored LED material.
Definition qtopengl_footbot.cpp:362
argos::CQTOpenGLFootBot::RenderIMX
void RenderIMX()
Renders the iMX module.
Definition qtopengl_footbot.cpp:849
argos::CQTOpenGLFootBot::SetCircuitBoardMaterial
void SetCircuitBoardMaterial()
Sets a circuit board material.
Definition qtopengl_footbot.cpp:348
argos::CQTOpenGLFootBot::RenderTrack
void RenderTrack()
Renders the tracks.
Definition qtopengl_footbot.cpp:424
argos::CQTOpenGLFootBot::RenderDistanceScannerSensor
void RenderDistanceScannerSensor()
Renders a single sensor of the distance scanner.
Definition qtopengl_footbot.cpp:775
argos::CQTOpenGLFootBot::RenderRAB
void RenderRAB()
Renders the RAB module.
Definition qtopengl_footbot.cpp:730
argos::CQTOpenGLFootBot::RenderGripperClaw
void RenderGripperClaw()
Renders the gripper.
Definition qtopengl_footbot.cpp:705
argos::CQTOpenGLFootBot::RenderGripperMechanics
void RenderGripperMechanics()
Renders the gripper.
Definition qtopengl_footbot.cpp:653
argos::CQTOpenGLFootBot::MakeWheel
void MakeWheel()
Renders a materialless wheel.
Definition qtopengl_footbot.cpp:275
argos::CQTOpenGLFootBot::RenderBase
void RenderBase()
Renders the base (apart from the wheels)
Definition qtopengl_footbot.cpp:485
argos::CQTOpenGLFootBot::SetWhitePlasticMaterial
void SetWhitePlasticMaterial()
Sets a white plastic material.
Definition qtopengl_footbot.cpp:320
argos::CQTOpenGLFootBot::Draw
virtual void Draw(CFootBotEntity &c_entity)
Definition qtopengl_footbot.cpp:191
argos::CQTOpenGLFootBot::RenderGrippableSlice
void RenderGrippableSlice()
Renders a slice of the gripper module (LEDs)
Definition qtopengl_footbot.cpp:566
argos::CQTOpenGLFootBot::RenderDistanceScanner
void RenderDistanceScanner()
Renders the distance scanner.
Definition qtopengl_footbot.cpp:828
argos::CQTOpenGLFootBot::SetBlackTireMaterial
void SetBlackTireMaterial()
Sets a black tire material.
Definition qtopengl_footbot.cpp:334
argos::CQTOpenGLFootBot::RenderWheel
void RenderWheel()
Renders the wheels.
Definition qtopengl_footbot.cpp:376
argos::CQTOpenGLFootBot::RenderBeacon
void RenderBeacon()
Renders the beacon.
Definition qtopengl_footbot.cpp:891
argos::CGripperEquippedEntity::GetLockState
Real GetLockState() const
Returns the lock state of the gripper.
Definition gripper_equipped_entity.h:153
argos::CLEDEntity::GetColor
const CColor & GetColor() const
Returns the current color of the LED.
Definition led_entity.h:58
argos::CLEDEquippedEntity
A container of CLEDEntity.
Definition led_equipped_entity.h:36
argos::CLEDEquippedEntity::GetLED
CLEDEntity & GetLED(UInt32 un_index)
Returns an LED by numeric index.
Definition led_equipped_entity.cpp:170
argos::CQTOpenGLWidget::DrawRays
void DrawRays(CControllableEntity &c_entity)
Draws a ray.
Definition qtopengl_widget.cpp:394
argos::CQTOpenGLWidget::DrawEntity
void DrawEntity(CPositionalEntity &c_entity)
Draws a positional entity.
Definition qtopengl_widget.cpp:358
argos::CQTOpenGLWidget::DrawBoundingBox
void DrawBoundingBox(CEmbodiedEntity &c_entity)
Draws the bounding box of an embodied entity.
Definition qtopengl_widget.cpp:428