ARGoS 3
A parallel, multi-engine simulator for swarm robotics
qtopengl_eyebot.cpp
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1
7#include "qtopengl_eyebot.h"
8#include "eyebot_entity.h"
9#include <argos3/core/simulator/entity/embodied_entity.h>
10#include <argos3/core/utility/math/vector2.h>
11#include <argos3/core/utility/math/vector3.h>
12#include <argos3/plugins/simulator/entities/led_equipped_entity.h>
13#include <argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_widget.h>
14
15namespace argos {
16
17 /****************************************/
18 /****************************************/
19
20 /* All measures are in meters */
21
22 /* Legs */
23 static const Real LEG_HEIGHT = 0.166f;
24 static const Real LEG_WIDTH = 0.02f;
25 static const Real LEG_HALF_WIDTH = LEG_WIDTH * 0.5f;
26 static const Real LEG_DEPTH = 0.005f;
27 static const Real LEG_HALF_DEPTH = LEG_DEPTH * 0.5f;
28
29 /* Ring */
30 static const Real RING_OUTER_RADIUS = 0.25f;
31 static const Real RING_INNER_RADIUS = 0.237f;
32 static const Real RING_HEIGHT = 0.015f;
33 static const Real RING_ELEVATION = LEG_HEIGHT - RING_HEIGHT;
34
35 /* Led */
36 static const Real LED_HEIGHT = 0.01f;
37 static const Real LED_SIDE = RING_HEIGHT;
38 static const Real LED_HALF_SIDE = LED_SIDE * 0.5f;
39 static const Real LED_SIDE_RING_ELEVATION = RING_ELEVATION + LED_HALF_SIDE;
40 static const Real LED_BOTTOM_RING_ELEVATION = RING_ELEVATION - LED_HEIGHT;
41 static const Real LED_BOTTOM_RING_DISTANCE = RING_OUTER_RADIUS - LEG_HALF_WIDTH;
42
43 /* Main rod */
44 static const Real ROD_SIDE = 0.07f;
45 static const Real ROD_HALF_SIDE = ROD_SIDE * 0.5f;
46 static const Real ROD_HEIGHT = 0.4f;
47 static const Real ROD_ELEVATION = LEG_HEIGHT;
48
49 /****************************************/
50 /****************************************/
51
52 CQTOpenGLEyeBot::CQTOpenGLEyeBot() :
53 m_unVertices(40),
54 m_fLEDAngleSlice(360.0f / 16.0f) {
55 /* Reserve the needed display lists */
56 m_unLists = glGenLists(4);
57
58 /* Assign indices for better referencing (later) */
59 m_unLegList = m_unLists;
60 m_unBodyList = m_unLists + 1;
61 m_unSideLEDList = m_unLists + 2;
62 m_unBottomLEDList = m_unLists + 3;
63
64 /* Create the led display list */
65 glNewList(m_unLegList, GL_COMPILE);
66 MakeLeg();
67 glEndList();
68
69 /* Create the body display list */
70 glNewList(m_unBodyList, GL_COMPILE);
71 DrawBody();
72 glEndList();
73
74 /* Create the side LED display list */
75 glNewList(m_unSideLEDList, GL_COMPILE);
76 DrawSideLED();
77 glEndList();
78
79 /* Create the bottom LED display list */
80 glNewList(m_unBottomLEDList, GL_COMPILE);
81 DrawBottomLED();
82 glEndList();
83 }
84
85 /****************************************/
86 /****************************************/
87
88 CQTOpenGLEyeBot::~CQTOpenGLEyeBot() {
89 glDeleteLists(m_unLists, 4);
90 }
91
92 /****************************************/
93 /****************************************/
94
95 void CQTOpenGLEyeBot::Draw(CEyeBotEntity& c_entity) {
96 SetBodyMaterial();
97 /* Place the legs */
98 glPushMatrix();
99 glRotated(45.0f, 0.0f, 0.0f, 1.0f);
100 glTranslated(RING_OUTER_RADIUS, 0.0f, 0.0f);
101 glCallList(m_unLegList);
102 glPopMatrix();
103 glPushMatrix();
104 glRotated(135.0f, 0.0f, 0.0f, 1.0f);
105 glTranslated(RING_OUTER_RADIUS, 0.0f, 0.0f);
106 glCallList(m_unLegList);
107 glPopMatrix();
108 glPushMatrix();
109 glRotated(225.0f, 0.0f, 0.0f, 1.0f);
110 glTranslated(RING_OUTER_RADIUS, 0.0f, 0.0f);
111 glCallList(m_unLegList);
112 glPopMatrix();
113 glPushMatrix();
114 glRotated(315.0f, 0.0f, 0.0f, 1.0f);
115 glTranslated(RING_OUTER_RADIUS, 0.0f, 0.0f);
116 glCallList(m_unLegList);
117 glPopMatrix();
118 /* Place the body */
119 glCallList(m_unBodyList);
120 /* Place the LEDs */
121 glPushMatrix();
122 CLEDEquippedEntity& cLEDEquippedEntity = c_entity.GetLEDEquippedEntity();
123 glRotated(m_fLEDAngleSlice * 0.5f, 0.0f, 0.0f, 1.0f);
124 const CColor& cUpColor0 = cLEDEquippedEntity.GetLED(0).GetColor();
125 const CColor& cLowColor16 = cLEDEquippedEntity.GetLED(16).GetColor();
126 SetLEDMaterial(cUpColor0.GetRed(),
127 cUpColor0.GetGreen(),
128 cUpColor0.GetBlue());
129 glCallList(m_unSideLEDList);
130 SetLEDMaterial(cLowColor16.GetRed(),
131 cLowColor16.GetGreen(),
132 cLowColor16.GetBlue());
133 glCallList(m_unBottomLEDList);
134 for(UInt32 i = 1; i < 16; i++) {
135 glRotated(m_fLEDAngleSlice, 0.0f, 0.0f, 1.0f);
136 const CColor& cUpColori = cLEDEquippedEntity.GetLED(i).GetColor();
137 const CColor& cLowColori = cLEDEquippedEntity.GetLED(i+16).GetColor();
138 SetLEDMaterial(cUpColori.GetRed(),
139 cUpColori.GetGreen(),
140 cUpColori.GetBlue());
141 glCallList(m_unSideLEDList);
142 SetLEDMaterial(cLowColori.GetRed(),
143 cLowColori.GetGreen(),
144 cLowColori.GetBlue());
145 glCallList(m_unBottomLEDList);
146 }
147 glRotated(135.0f, 0.0f, 0.0f, 1.0f);
148 glTranslated(-0.3*RING_OUTER_RADIUS, 0.0f, 0.0f);
149 const CColor& cBottomLedColor = cLEDEquippedEntity.GetLED(32).GetColor();
150 SetLEDMaterial(cBottomLedColor.GetRed(),
151 cBottomLedColor.GetGreen(),
152 cBottomLedColor.GetBlue());
153 glCallList(m_unBottomLEDList);
154 glPopMatrix();
155 }
156
157 /****************************************/
158 /****************************************/
159
160 void CQTOpenGLEyeBot::SetLEDMaterial(GLfloat f_red, GLfloat f_green, GLfloat f_blue) {
161 const GLfloat pfColor[] = { f_red, f_green, f_blue, 1.0f };
162 const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
163 const GLfloat pfShininess[] = { 0.0f };
164 const GLfloat pfEmission[] = { f_red, f_green, f_blue, 1.0f };
165 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
166 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
167 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
168 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
169 }
170
171 /****************************************/
172 /****************************************/
173
174 void CQTOpenGLEyeBot::SetBodyMaterial() {
175 const GLfloat pfColor[] = { 0.25f, 0.25f, 0.25f, 1.0f };
176 const GLfloat pfSpecular[] = { 0.9f, 0.9f, 0.9f, 1.0f };
177 const GLfloat pfShininess[] = { 100.0f };
178 const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
179 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
180 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
181 glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
182 glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
183 }
184
185 /****************************************/
186 /****************************************/
187
188 void CQTOpenGLEyeBot::MakeLeg() {
189 /* Top face */
190 glBegin(GL_QUADS);
191 glNormal3d(0.0f, 0.0f, 1.0f);
192 glVertex3d(-LEG_HALF_WIDTH, -LEG_HALF_DEPTH, LEG_HEIGHT);
193 glVertex3d( LEG_HALF_WIDTH, -LEG_HALF_DEPTH, LEG_HEIGHT);
194 glVertex3d( LEG_HALF_WIDTH, LEG_HALF_DEPTH, LEG_HEIGHT);
195 glVertex3d(-LEG_HALF_WIDTH, LEG_HALF_DEPTH, LEG_HEIGHT);
196 glEnd();
197 /* Bottom face */
198 glBegin(GL_QUADS);
199 glNormal3d(0.0f, 0.0f, -1.0f);
200 glVertex3d(-LEG_HALF_WIDTH, -LEG_HALF_DEPTH, 0.0f);
201 glVertex3d(-LEG_HALF_WIDTH, LEG_HALF_DEPTH, 0.0f);
202 glVertex3d( LEG_HALF_WIDTH, LEG_HALF_DEPTH, 0.0f);
203 glVertex3d( LEG_HALF_WIDTH, -LEG_HALF_DEPTH, 0.0f);
204 glEnd();
205 /* This part covers the faces (South, East, North, West) */
206 glBegin(GL_QUAD_STRIP);
207 /* Starting vertex */
208 glNormal3d(0.0f, -1.0f, 0.0f);
209 glVertex3d(-LEG_HALF_WIDTH, -LEG_HALF_DEPTH, LEG_HEIGHT);
210 glVertex3d(-LEG_HALF_WIDTH, -LEG_HALF_DEPTH, 0.0f);
211 /* South face */
212 glVertex3d( LEG_HALF_WIDTH, -LEG_HALF_DEPTH, LEG_HEIGHT);
213 glVertex3d( LEG_HALF_WIDTH, -LEG_HALF_DEPTH, 0.0f);
214 /* East face */
215 glNormal3d(1.0f, 0.0f, 0.0f);
216 glVertex3d( LEG_HALF_WIDTH, LEG_HALF_DEPTH, LEG_HEIGHT);
217 glVertex3d( LEG_HALF_WIDTH, LEG_HALF_DEPTH, 0.0f);
218 /* North face */
219 glNormal3d(0.0f, 1.0f, 0.0f);
220 glVertex3d(-LEG_HALF_WIDTH, LEG_HALF_DEPTH, LEG_HEIGHT);
221 glVertex3d(-LEG_HALF_WIDTH, LEG_HALF_DEPTH, 0.0f);
222 /* West face */
223 glNormal3d(-1.0f, 0.0f, 0.0f);
224 glVertex3d(-LEG_HALF_WIDTH, -LEG_HALF_DEPTH, LEG_HEIGHT);
225 glVertex3d(-LEG_HALF_WIDTH, -LEG_HALF_DEPTH, 0.0f);
226 glEnd();
227 }
228
229 /****************************************/
230 /****************************************/
231
232 void CQTOpenGLEyeBot::DrawSideLED() {
233 /* Draw it as a tiny pyramid pointing to X
234 (with no base, cause it's not visible anyway) */
235 glBegin(GL_TRIANGLES);
236 /* Top */
237 glVertex3d(LED_HEIGHT + RING_OUTER_RADIUS, 0.0f, LED_SIDE_RING_ELEVATION );
238 glVertex3d( RING_OUTER_RADIUS, LED_HALF_SIDE, LED_SIDE_RING_ELEVATION + LED_HALF_SIDE);
239 glVertex3d( RING_OUTER_RADIUS, -LED_HALF_SIDE, LED_SIDE_RING_ELEVATION + LED_HALF_SIDE);
240 /* Bottom */
241 glVertex3d(LED_HEIGHT + RING_OUTER_RADIUS, 0.0f, LED_SIDE_RING_ELEVATION );
242 glVertex3d( RING_OUTER_RADIUS, -LED_HALF_SIDE, LED_SIDE_RING_ELEVATION - LED_HALF_SIDE);
243 glVertex3d( RING_OUTER_RADIUS, LED_HALF_SIDE, LED_SIDE_RING_ELEVATION - LED_HALF_SIDE);
244 /* Left */
245 glVertex3d(LED_HEIGHT + RING_OUTER_RADIUS, 0.0f, LED_SIDE_RING_ELEVATION );
246 glVertex3d( RING_OUTER_RADIUS, LED_HALF_SIDE, LED_SIDE_RING_ELEVATION - LED_HALF_SIDE);
247 glVertex3d( RING_OUTER_RADIUS, LED_HALF_SIDE, LED_SIDE_RING_ELEVATION + LED_HALF_SIDE);
248 /* Right */
249 glVertex3d(LED_HEIGHT + RING_OUTER_RADIUS, 0.0f, LED_SIDE_RING_ELEVATION );
250 glVertex3d( RING_OUTER_RADIUS, -LED_HALF_SIDE, LED_SIDE_RING_ELEVATION + LED_HALF_SIDE);
251 glVertex3d( RING_OUTER_RADIUS, -LED_HALF_SIDE, LED_SIDE_RING_ELEVATION - LED_HALF_SIDE);
252 glEnd();
253 }
254
255 /****************************************/
256 /****************************************/
257
258 void CQTOpenGLEyeBot::DrawBottomLED() {
259 /* Draw it as a tiny pyramid pointing to Z downwards
260 (with no base, cause it's not visible anyway) */
261 glBegin(GL_TRIANGLES);
262 /* North */
263 glVertex3d(LED_BOTTOM_RING_DISTANCE, 0.0f, LED_BOTTOM_RING_ELEVATION);
264 glVertex3d(RING_OUTER_RADIUS, LED_HALF_SIDE, RING_ELEVATION);
265 glVertex3d(RING_OUTER_RADIUS, -LED_HALF_SIDE, RING_ELEVATION);
266 /* South */
267 glVertex3d(LED_BOTTOM_RING_DISTANCE, 0.0f, LED_BOTTOM_RING_ELEVATION);
268 glVertex3d(RING_OUTER_RADIUS - LED_SIDE, -LED_HALF_SIDE, RING_ELEVATION);
269 glVertex3d(RING_OUTER_RADIUS - LED_SIDE, LED_HALF_SIDE, RING_ELEVATION);
270 /* West */
271 glVertex3d(LED_BOTTOM_RING_DISTANCE, 0.0f, LED_BOTTOM_RING_ELEVATION);
272 glVertex3d(RING_OUTER_RADIUS - LED_SIDE, LED_HALF_SIDE, RING_ELEVATION);
273 glVertex3d(RING_OUTER_RADIUS , LED_HALF_SIDE, RING_ELEVATION);
274 /* East */
275 glVertex3d(LED_BOTTOM_RING_DISTANCE, 0.0f, LED_BOTTOM_RING_ELEVATION);
276 glVertex3d(RING_OUTER_RADIUS , -LED_HALF_SIDE, RING_ELEVATION);
277 glVertex3d(RING_OUTER_RADIUS - LED_SIDE, -LED_HALF_SIDE, RING_ELEVATION);
278 glEnd();
279 }
280
281 /****************************************/
282 /****************************************/
283
284 void CQTOpenGLEyeBot::DrawBody() {
285 /* Draw the ring */
286 CVector2 cVertex(RING_OUTER_RADIUS, 0.0f);
287 CRadians cAngle(-CRadians::TWO_PI / m_unVertices);
288 /* Bottom part */
289 glBegin(GL_POLYGON);
290 glNormal3d(0.0f, 0.0f, -1.0f);
291 for(GLuint i = 0; i <= m_unVertices; i++) {
292 glVertex3d(cVertex.GetX(), cVertex.GetY(), RING_ELEVATION);
293 cVertex.Rotate(cAngle);
294 }
295 glEnd();
296 /* Side surface */
297 cAngle = -cAngle;
298 CVector2 cNormal(1.0f, 0.0f);
299 cVertex.Set(RING_OUTER_RADIUS, 0.0f);
300 glBegin(GL_QUAD_STRIP);
301 for(GLuint i = 0; i <= m_unVertices; i++) {
302 glNormal3d(cNormal.GetX(), cNormal.GetY(), 0.0f);
303 glVertex3d(cVertex.GetX(), cVertex.GetY(), RING_ELEVATION + RING_HEIGHT);
304 glVertex3d(cVertex.GetX(), cVertex.GetY(), RING_ELEVATION);
305 cVertex.Rotate(cAngle);
306 cNormal.Rotate(cAngle);
307 }
308 glEnd();
309 /* Top part */
310 glBegin(GL_POLYGON);
311 glNormal3d(0.0f, 0.0f, 1.0f);
312 cVertex.Set(RING_OUTER_RADIUS, 0.0f);
313 for(GLuint i = 0; i <= m_unVertices; i++) {
314 glVertex3d(cVertex.GetX(), cVertex.GetY(), RING_ELEVATION + RING_HEIGHT);
315 cVertex.Rotate(cAngle);
316 }
317 glEnd();
318 /* Draw the rod */
319 /* Top face */
320 glBegin(GL_QUADS);
321 glNormal3d(0.0f, 0.0f, 1.0f);
322 glVertex3d(-ROD_HALF_SIDE, -ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
323 glVertex3d( ROD_HALF_SIDE, -ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
324 glVertex3d( ROD_HALF_SIDE, ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
325 glVertex3d(-ROD_HALF_SIDE, ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
326 glEnd();
327 /* This part covers the faces (South, East, North, West) */
328 glBegin(GL_QUAD_STRIP);
329 /* Starting vertex */
330 glNormal3d(0.0f, -1.0f, 0.0f);
331 glVertex3d(-ROD_HALF_SIDE, -ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
332 glVertex3d(-ROD_HALF_SIDE, -ROD_HALF_SIDE, ROD_ELEVATION);
333 /* South face */
334 glVertex3d( ROD_HALF_SIDE, -ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
335 glVertex3d( ROD_HALF_SIDE, -ROD_HALF_SIDE, ROD_ELEVATION);
336 /* East face */
337 glNormal3d(1.0f, 0.0f, 0.0f);
338 glVertex3d( ROD_HALF_SIDE, ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
339 glVertex3d( ROD_HALF_SIDE, ROD_HALF_SIDE, ROD_ELEVATION);
340 /* North face */
341 glNormal3d(0.0f, 1.0f, 0.0f);
342 glVertex3d(-ROD_HALF_SIDE, ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
343 glVertex3d(-ROD_HALF_SIDE, ROD_HALF_SIDE, ROD_ELEVATION);
344 /* West face */
345 glNormal3d(-1.0f, 0.0f, 0.0f);
346 glVertex3d(-ROD_HALF_SIDE, -ROD_HALF_SIDE, ROD_ELEVATION+ROD_HEIGHT);
347 glVertex3d(-ROD_HALF_SIDE, -ROD_HALF_SIDE, ROD_ELEVATION);
348 glEnd();
349 }
350
351 /****************************************/
352 /****************************************/
353
354 class CQTOpenGLOperationDrawEyeBotNormal : public CQTOpenGLOperationDrawNormal {
355 public:
356 void ApplyTo(CQTOpenGLWidget& c_visualization,
357 CEyeBotEntity& c_entity) {
358 static CQTOpenGLEyeBot m_cModel;
359 c_visualization.DrawRays(c_entity.GetControllableEntity());
360 c_visualization.DrawEntity(c_entity.GetEmbodiedEntity());
361 m_cModel.Draw(c_entity);
362 }
363 };
364
365 class CQTOpenGLOperationDrawEyeBotSelected : public CQTOpenGLOperationDrawSelected {
366 public:
367 void ApplyTo(CQTOpenGLWidget& c_visualization,
368 CEyeBotEntity& c_entity) {
369 c_visualization.DrawBoundingBox(c_entity.GetEmbodiedEntity());
370 }
371 };
372
373 REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawEyeBotNormal, CEyeBotEntity);
374
375 REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawEyeBotSelected, CEyeBotEntity);
376
377 /****************************************/
378 /****************************************/
379
380}
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::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::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::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::CEyeBotEntity::GetEmbodiedEntity
CEmbodiedEntity & GetEmbodiedEntity()
Definition eyebot_entity.h:57
argos::CEyeBotEntity::GetLEDEquippedEntity
CLEDEquippedEntity & GetLEDEquippedEntity()
Definition eyebot_entity.h:61
argos::CEyeBotEntity::GetControllableEntity
CControllableEntity & GetControllableEntity()
Definition eyebot_entity.h:53
argos::CQTOpenGLOperationDrawEyeBotNormal::ApplyTo
void ApplyTo(CQTOpenGLWidget &c_visualization, CEyeBotEntity &c_entity)
Definition qtopengl_eyebot.cpp:356
argos::CQTOpenGLOperationDrawEyeBotSelected::ApplyTo
void ApplyTo(CQTOpenGLWidget &c_visualization, CEyeBotEntity &c_entity)
Definition qtopengl_eyebot.cpp:367
argos::CQTOpenGLEyeBot::SetBodyMaterial
void SetBodyMaterial()
Sets a shiny gray material.
Definition qtopengl_eyebot.cpp:174
argos::CQTOpenGLEyeBot::DrawBody
void DrawBody()
The eye-bot body.
Definition qtopengl_eyebot.cpp:284
argos::CQTOpenGLEyeBot::DrawBottomLED
void DrawBottomLED()
A single LED of the bottom ring.
Definition qtopengl_eyebot.cpp:258
argos::CQTOpenGLEyeBot::DrawSideLED
void DrawSideLED()
A single LED of the side ring.
Definition qtopengl_eyebot.cpp:232
argos::CQTOpenGLEyeBot::Draw
virtual void Draw(CEyeBotEntity &c_entity)
Definition qtopengl_eyebot.cpp:95
argos::CQTOpenGLEyeBot::MakeLeg
void MakeLeg()
An eye-bot leg.
Definition qtopengl_eyebot.cpp:188
argos::CQTOpenGLEyeBot::SetLEDMaterial
void SetLEDMaterial(GLfloat f_red, GLfloat f_green, GLfloat f_blue)
Sets a colored LED material.
Definition qtopengl_eyebot.cpp:160
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