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rendergl.h

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//----------------------------------------------------------------------
//               The Motion Strategy Library (MSL)
//----------------------------------------------------------------------
//
// Copyright (c) University of Illinois and Steven M. LaValle.     
// All Rights Reserved.
// 
// Permission to use, copy, and distribute this software and its 
// documentation is hereby granted free of charge, provided that 
// (1) it is not a component of a commercial product, and 
// (2) this notice appears in all copies of the software and
//     related documentation. 
// 
// The University of Illinois and the author make no representations
// about the suitability or fitness of this software for any purpose.  
// It is provided "as is" without express or implied warranty.
//----------------------------------------------------------------------

// RenderGL was written by Peng Cheng (chp@cs.iastate.edu)
// Modifications made by Steve LaValle (lavalle@cs.iatate.edu)

#ifndef MSL_RENDERGL_H
#define MSL_RENDERGL_H

#include <GL/glut.h>
#include <GL/gl.h>
#include <vector.h>
#include <string>

#include "triangle.h"
#include "render.h"
#include "renderglobj.h"
#include "vector.h"
#include "defs.h"

class RenderGL: public Render
{
 protected:
  vector<int> EnvIndex;
  vector<int> BodyIndex;

  float WindowX, WindowY, WindowZ;

  float BoundingBoxMin[3];
  float BoundingBoxMax[3];

  float Orientation[3];
  float Position[3];

  // view parameters
  float Fov, AspectRatio, Near, Far;
  float EyeX, EyeY, EyeZ;
  float VpX, VpY, VpZ;
  float VupX, VupY, VupZ;
  float ViewLength;  // the distance from the eye to the center of the scene

  // unit MSLVector for the viewer coordinate
  MSLVector VCoordZ, VCoordY, VCoordX;
  MSLVector VRpy;

  MSLVector DefVCoordZ, DefVCoordY, DefVCoordX;
  MSLVector DefVRpy;

  MSLVector RpyModification;

  // unit MSLVector for the scene coordinate
  MSLVector SCoordZ, SCoordY, SCoordX;

  // light position
  float LightPosX, LightPosY, LightPosZ;

  // number of object(robots and obstacles)
  int NumberOfObject;
  int NumberOfBody;
  int NumberOfEnvObj;

  // robot and obstacle model information list
  mslGLObject ** SceneBodyLib;
  mslGLObject ** SceneEnvObjLib;
  
  // used to control the original scale, position of object 
  MSLVector EnvTransform;
  MSLVector BodyTransform;

  // used for gui control
  int MainWindow;

  // control varibles
  int SelectObjectID;
  int CurrentObject;
 
  // mouse control parameter 
  int CurrentMouseButton, CurrentMouseState;
  int CurrentKeyboard;
  float LastX, LastY;
  float ChangeRate;
  float AnimationTimeScaleTmp;

  // method to load the configuration
  void LoadConfig();

  // method to add new object into scene
  void AddBodyObject(mslGLObject * obj);
  void AddEnvObject(mslGLObject * obj);

  // method to get object according to object ID
  mslGLObject* WhichObject(int id);
  void SceneRender();

  // method to set the position of light
  void SetLightPos();

  // method to set the change of orientation and position
  void SetSceneOrientationChange(const MSLVector& oric);
  void SetScenePositionChange(const MSLVector& posc);

  // method to set the body or environment obstacles' position and orientation
  void SetBodyState(const MSLVector& state);
  void SetEnvState(const MSLVector& state);

  // method to draw the bounding box
  void DrawBoundingBox();

  void DrawPath();

  void InitData();
  void InitGeometry(list<MSLTriangle> triangles);
  void DrawBodies(const MSLVector &x);
  void DrawEnv();
  void NormCrossProduct(float v1[3], float v2[3], float out[3]);
  void Normalize(float v[3]);

  void ShowCoordinateFrame();

 public: 
  Gui *G;

  RenderGL();
  RenderGL(string filepath);
  RenderGL(Scene *s, string filepath);
  virtual ~RenderGL();

  // method to reset the scene
  virtual void Reset();

  virtual void Init();
  virtual void MainLoop(Gui *g);

  static void GlutIdleProcessing();
  static void GlutDrawEnvironment();
  static void GlutReshape(int w, int h);
  static void GlutMouse(int button, int state, int x, int y);
  static void GlutMouseMove( int x, int y );
  static void GlutKeyboard(unsigned char Key, int x, int y);

};


#endif

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Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.