qtopengl_prototype.cpp
Go to the documentation of this file.
1 
8 #include "qtopengl_prototype.h"
9 #include <argos3/core/utility/math/vector2.h>
10 #include <argos3/core/simulator/entity/embodied_entity.h>
11 #include <argos3/plugins/robots/prototype/simulator/prototype_entity.h>
12 #include <argos3/plugins/robots/prototype/simulator/prototype_link_equipped_entity.h>
13 #include <argos3/plugins/simulator/entities/directional_led_equipped_entity.h>
14 #include <argos3/plugins/simulator/entities/led_equipped_entity.h>
15 #include <argos3/plugins/simulator/entities/magnet_equipped_entity.h>
16 #include <argos3/plugins/simulator/entities/tag_equipped_entity.h>
17 #include <argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_widget.h>
18 
19 namespace argos {
20 
21  /****************************************/
22  /****************************************/
23 
24  const GLfloat BODY_COLOR[] = { 0.5f, 0.5f, 0.5f, 1.0f };
25  const GLfloat SPECULAR[] = { 0.0f, 0.0f, 0.0f, 1.0f };
26  const GLfloat SHININESS[] = { 0.0f };
27  const GLfloat EMISSION[] = { 0.0f, 0.0f, 0.0f, 1.0f };
28  static const Real LED_RADIUS = 0.0025f;
29 #ifndef NDEBUG
30  static const Real FIELD_SCALE_FACTOR = 0.0005f;
31 #endif
32 
33  /****************************************/
34  /****************************************/
35 
36  CQTOpenGLPrototype::CQTOpenGLPrototype() :
37  m_unVertices(20) {
38  /* Reserve the needed display lists */
39  m_unBaseList = glGenLists(6);
40  /* References to the display lists */
41  m_unBoxList = m_unBaseList;
42  m_unCylinderList = m_unBaseList + 1;
43  m_unSphereList = m_unBaseList + 2;
44  m_unLEDList = m_unBaseList + 3;
45  m_unPoleList = m_unBaseList + 4;
46  m_unTagList = m_unBaseList + 5;
47  /* Make box list */
48  glNewList(m_unBoxList, GL_COMPILE);
49  MakeBox();
50  glEndList();
51  /* Make cylinder list */
52  glNewList(m_unCylinderList, GL_COMPILE);
53  MakeCylinder();
54  glEndList();
55  /* Make sphere list */
56  glNewList(m_unSphereList, GL_COMPILE);
57  MakeSphere();
58  glEndList();
59  /* Make LED list */
60  glNewList(m_unLEDList, GL_COMPILE);
61  MakeLED();
62  glEndList();
63  /* Make Poles list */
64  glNewList(m_unPoleList, GL_COMPILE);
65  MakePoles();
66  glEndList();
67  /* Make Tag list */
68  MakeTagTexture();
69  glNewList(m_unTagList, GL_COMPILE);
70  MakeTag();
71  glEndList();
72  }
73 
74  /****************************************/
75  /****************************************/
76 
77  CQTOpenGLPrototype::~CQTOpenGLPrototype() {
78  glDeleteLists(m_unBaseList, 6);
79  }
80 
81  /****************************************/
82  /****************************************/
83 
84  void CQTOpenGLPrototype::MakeLED() {
85  CVector3 cNormal, cPoint;
86  CRadians cSlice(CRadians::TWO_PI / m_unVertices);
87 
88  glBegin(GL_TRIANGLE_STRIP);
89  for(CRadians cInclination; cInclination <= CRadians::PI; cInclination += cSlice) {
90  for(CRadians cAzimuth; cAzimuth <= CRadians::TWO_PI; cAzimuth += cSlice) {
91  cNormal.FromSphericalCoords(1.0f, cInclination, cAzimuth);
92  cPoint = LED_RADIUS * cNormal;
93  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
94  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
95  cNormal.FromSphericalCoords(1.0f, cInclination + cSlice, cAzimuth);
96  cPoint = LED_RADIUS * cNormal;
97  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
98  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
99  cNormal.FromSphericalCoords(1.0f, cInclination, cAzimuth + cSlice);
100  cPoint = LED_RADIUS * cNormal;
101  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
102  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
103  cNormal.FromSphericalCoords(1.0f, cInclination + cSlice, cAzimuth + cSlice);
104  cPoint = LED_RADIUS * cNormal;
105  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
106  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
107  }
108  }
109  glEnd();
110  }
111 
112  /****************************************/
113  /****************************************/
114 
115  void CQTOpenGLPrototype::DrawEntity(CPrototypeEntity& c_entity) {
116  /* Draw the links */
117  for(CPrototypeLinkEntity* pcLink : c_entity.GetLinkEquippedEntity().GetLinks()){
118  /* Configure the body material */
119  glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, BODY_COLOR);
120  /* Get the position of the link */
121  const CVector3& cPosition = pcLink->GetAnchor().Position;
122  /* Get the orientation of the link */
123  const CQuaternion& cOrientation = pcLink->GetAnchor().Orientation;
124  CRadians cZAngle, cYAngle, cXAngle;
125  cOrientation.ToEulerAngles(cZAngle, cYAngle, cXAngle);
126  glPushMatrix();
127  glTranslated(cPosition.GetX(), cPosition.GetY(), cPosition.GetZ());
128  glRotated(ToDegrees(cXAngle).GetValue(), 1.0f, 0.0f, 0.0f);
129  glRotated(ToDegrees(cYAngle).GetValue(), 0.0f, 1.0f, 0.0f);
130  glRotated(ToDegrees(cZAngle).GetValue(), 0.0f, 0.0f, 1.0f);
131  /* Draw the link */
132  switch(pcLink->GetGeometry()) {
133  case CPrototypeLinkEntity::EGeometry::BOX:
134  glScaled(pcLink->GetExtents().GetX(),
135  pcLink->GetExtents().GetY(),
136  pcLink->GetExtents().GetZ());
137  glCallList(m_unBoxList);
138  break;
139  case CPrototypeLinkEntity::EGeometry::CYLINDER:
140  glScaled(pcLink->GetExtents().GetX(),
141  pcLink->GetExtents().GetY(),
142  pcLink->GetExtents().GetZ());
143  glCallList(m_unCylinderList);
144  break;
145  case CPrototypeLinkEntity::EGeometry::SPHERE:
146  glScaled(pcLink->GetExtents().GetX(),
147  pcLink->GetExtents().GetY(),
148  pcLink->GetExtents().GetZ());
149  glCallList(m_unSphereList);
150  break;
151  case CPrototypeLinkEntity::EGeometry::CONVEX_HULL:
152  DrawConvexHull(pcLink->GetConvexHullPoints(),
153  pcLink->GetConvexHullFaces());
154  break;
155  }
156  glPopMatrix();
157  }
158  }
159 
160  /****************************************/
161  /****************************************/
162 
163  void CQTOpenGLPrototype::DrawDevices(CPrototypeEntity& c_entity) {
164  /* Draw the directional LEDs */
165  if(c_entity.HasDirectionalLEDEquippedEntity()) {
166  GLfloat pfColor[] = { 0.0f, 0.0f, 0.0f, 1.0f };
167  const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
168  const GLfloat pfShininess[] = { 100.0f };
169  const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
170  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
171  glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
172  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
173  const CDirectionalLEDEquippedEntity& cDirectionalLEDEquippedEntity =
174  c_entity.GetDirectionalLEDEquippedEntity();
175  for(const CDirectionalLEDEquippedEntity::SInstance& s_instance :
176  cDirectionalLEDEquippedEntity.GetInstances()) {
177  glPushMatrix();
178  /* Set the material */
179  const CColor& cColor = s_instance.LED.GetColor();
180  pfColor[0] = cColor.GetRed() / 255.0f;
181  pfColor[1] = cColor.GetGreen() / 255.0f;
182  pfColor[2] = cColor.GetBlue() / 255.0f;
183  glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
184  /* Perform rototranslation */
185  const CVector3& cPosition = s_instance.LED.GetPosition();
186  glTranslated(cPosition.GetX(), cPosition.GetY(), cPosition.GetZ());
187  /* Draw the LED */
188  glCallList(m_unLEDList);
189  glPopMatrix();
190  }
191  }
192  /* Draw the LEDs */
193  if(c_entity.HasLEDEquippedEntity()) {
194  GLfloat pfColor[] = { 0.0f, 0.0f, 0.0f, 1.0f };
195  const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
196  const GLfloat pfShininess[] = { 100.0f };
197  const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
198  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
199  glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
200  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
201  for(const CLEDEquippedEntity::SActuator* ps_actuator :
202  c_entity.GetLEDEquippedEntity().GetLEDs()) {
203  glPushMatrix();
204  /* Set the material */
205  const CColor& cColor = ps_actuator->LED.GetColor();
206  pfColor[0] = cColor.GetRed() / 255.0f;
207  pfColor[1] = cColor.GetGreen() / 255.0f;
208  pfColor[2] = cColor.GetBlue() / 255.0f;
209  glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
210  /* Perform rototranslation */
211  const CVector3& cPosition = ps_actuator->LED.GetPosition();
212  glTranslated(cPosition.GetX(), cPosition.GetY(), cPosition.GetZ());
213  /* Draw the LED */
214  glCallList(m_unLEDList);
215  glPopMatrix();
216  }
217  }
218  /* Draw the tags */
219  if(c_entity.HasTagEquippedEntity()) {
220  const CTagEquippedEntity& cTagEquippedEntity =
221  c_entity.GetTagEquippedEntity();
222  CRadians cZ, cY, cX;
223  for(const CTagEquippedEntity::SInstance& s_instance :
224  cTagEquippedEntity.GetInstances()) {
225  const CVector3& cTagPosition = s_instance.Tag.GetPosition();
226  const CQuaternion& cTagOrientation = s_instance.Tag.GetOrientation();
227  cTagOrientation.ToEulerAngles(cZ, cY, cX);
228  Real fScaling = s_instance.Tag.GetSideLength();
229  glPushMatrix();
230  glTranslated(cTagPosition.GetX(),
231  cTagPosition.GetY(),
232  cTagPosition.GetZ());
233  glRotated(ToDegrees(cX).GetValue(), 1.0f, 0.0f, 0.0f);
234  glRotated(ToDegrees(cY).GetValue(), 0.0f, 1.0f, 0.0f);
235  glRotated(ToDegrees(cZ).GetValue(), 0.0f, 0.0f, 1.0f);
236  glScaled(fScaling, fScaling, 1.0f);
237  glCallList(m_unTagList);
238  glPopMatrix();
239  }
240  }
241 #ifndef NDEBUG
242  /* Draw the magnetic poles */
243  if(c_entity.HasMagnetEquippedEntity()) {
244  CMagnetEquippedEntity& cMagnetEquippedEntity =
245  c_entity.GetMagnetEquippedEntity();
246  CVector3 cFieldOrigin;
247  CQuaternion cFieldOrientation;
248  CRadians cFieldOrientationZ, cFieldOrientationY, cFieldOrientationX;
249  for(CMagnetEquippedEntity::SInstance& s_instance :
250  cMagnetEquippedEntity.GetInstances()) {
251  cFieldOrigin = s_instance.Offset;
252  cFieldOrigin.Rotate(s_instance.Anchor.Orientation);
253  cFieldOrigin += s_instance.Anchor.Position;
254  const CVector3& cField = s_instance.Magnet.GetField();
255  cFieldOrientation = s_instance.Anchor.Orientation *
256  CQuaternion(CVector3::Z, cField);
257  cFieldOrientation.ToEulerAngles(cFieldOrientationZ,
258  cFieldOrientationY,
259  cFieldOrientationX);
260  glPushMatrix();
261  glTranslated(cFieldOrigin.GetX(),
262  cFieldOrigin.GetY(),
263  cFieldOrigin.GetZ());
264  glRotated(ToDegrees(cFieldOrientationX).GetValue(), 1.0f, 0.0f, 0.0f);
265  glRotated(ToDegrees(cFieldOrientationY).GetValue(), 0.0f, 1.0f, 0.0f);
266  glRotated(ToDegrees(cFieldOrientationZ).GetValue(), 0.0f, 0.0f, 1.0f);
267  glScaled(1.0f, 1.0f, cField.Length() * FIELD_SCALE_FACTOR);
268  glCallList(m_unPoleList);
269  glPopMatrix();
270  }
271  }
272 #endif
273  }
274 
275  /****************************************/
276  /****************************************/
277 
278  void CQTOpenGLPrototype::MakeBox() {
279  glEnable(GL_NORMALIZE);
280  /* Set the material */
281  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, SPECULAR);
282  glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, SHININESS);
283  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, EMISSION);
284  /* This part covers the top and bottom faces (parallel to XY) */
285  glBegin(GL_QUADS);
286  /* Bottom face */
287  glNormal3d(0.0f, 0.0f, -1.0f);
288  glVertex3d( 0.5f, 0.5f, 0.0f);
289  glVertex3d( 0.5f, -0.5f, 0.0f);
290  glVertex3d(-0.5f, -0.5f, 0.0f);
291  glVertex3d(-0.5f, 0.5f, 0.0f);
292  /* Top face */
293  glNormal3d(0.0f, 0.0f, 1.0f);
294  glVertex3d(-0.5f, -0.5f, 1.0f);
295  glVertex3d( 0.5f, -0.5f, 1.0f);
296  glVertex3d( 0.5f, 0.5f, 1.0f);
297  glVertex3d(-0.5f, 0.5f, 1.0f);
298  glEnd();
299  /* This part covers the faces (South, East, North, West) */
300  glBegin(GL_QUADS);
301  /* South face */
302  glNormal3d(0.0f, -1.0f, 0.0f);
303  glVertex3d(-0.5f, -0.5f, 1.0f);
304  glVertex3d(-0.5f, -0.5f, 0.0f);
305  glVertex3d( 0.5f, -0.5f, 0.0f);
306  glVertex3d( 0.5f, -0.5f, 1.0f);
307  /* East face */
308  glNormal3d(1.0f, 0.0f, 0.0f);
309  glVertex3d( 0.5f, -0.5f, 1.0f);
310  glVertex3d( 0.5f, -0.5f, 0.0f);
311  glVertex3d( 0.5f, 0.5f, 0.0f);
312  glVertex3d( 0.5f, 0.5f, 1.0f);
313  /* North face */
314  glNormal3d(0.0f, 1.0f, 0.0f);
315  glVertex3d( 0.5f, 0.5f, 1.0f);
316  glVertex3d( 0.5f, 0.5f, 0.0f);
317  glVertex3d(-0.5f, 0.5f, 0.0f);
318  glVertex3d(-0.5f, 0.5f, 1.0f);
319  /* West face */
320  glNormal3d(-1.0f, 0.0f, 0.0f);
321  glVertex3d(-0.5f, 0.5f, 1.0f);
322  glVertex3d(-0.5f, 0.5f, 0.0f);
323  glVertex3d(-0.5f, -0.5f, 0.0f);
324  glVertex3d(-0.5f, -0.5f, 1.0f);
325  glEnd();
326  glDisable(GL_NORMALIZE);
327  }
328 
329  /****************************************/
330  /****************************************/
331 
332  void CQTOpenGLPrototype::MakeCylinder() {
333  glEnable(GL_NORMALIZE);
334  /* Set the material */
335  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, SPECULAR);
336  glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, SHININESS);
337  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, EMISSION);
338  /* Side surface */
339  CVector2 cVertex(0.5f, 0.0f);
340  CRadians cAngle(CRadians::TWO_PI / m_unVertices);
341  glBegin(GL_QUAD_STRIP);
342  for(GLuint i = 0; i <= m_unVertices; i++) {
343  glNormal3d(cVertex.GetX(), cVertex.GetY(), 0.0f);
344  glVertex3d(cVertex.GetX(), cVertex.GetY(), 1.0f);
345  glVertex3d(cVertex.GetX(), cVertex.GetY(), 0.0f);
346  cVertex.Rotate(cAngle);
347  }
348  glEnd();
349  /* Top disk */
350  cVertex.Set(0.5f, 0.0f);
351  glBegin(GL_POLYGON);
352  glNormal3d(0.0f, 0.0f, 1.0f);
353  for(GLuint i = 0; i <= m_unVertices; i++) {
354  glVertex3d(cVertex.GetX(), cVertex.GetY(), 1.0f);
355  cVertex.Rotate(cAngle);
356  }
357  glEnd();
358  /* Bottom disk */
359  cVertex.Set(0.5f, 0.0f);
360  cAngle = -cAngle;
361  glBegin(GL_POLYGON);
362  glNormal3d(0.0f, 0.0f, -1.0f);
363  for(GLuint i = 0; i <= m_unVertices; i++) {
364  glVertex3d(cVertex.GetX(), cVertex.GetY(), 0.0f);
365  cVertex.Rotate(cAngle);
366  }
367  glEnd();
368  glDisable(GL_NORMALIZE);
369  }
370 
371  /****************************************/
372  /****************************************/
373 
374  void CQTOpenGLPrototype::MakeSphere() {
375  glEnable(GL_NORMALIZE);
376  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, SPECULAR);
377  glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, SHININESS);
378  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, EMISSION);
379  CVector3 cNormal, cPoint;
380  CRadians cSlice(CRadians::TWO_PI / m_unVertices);
381  glBegin(GL_TRIANGLE_STRIP);
382  for(CRadians cInclination; cInclination <= CRadians::PI; cInclination += cSlice) {
383  for(CRadians cAzimuth; cAzimuth <= CRadians::TWO_PI; cAzimuth += cSlice) {
384  cPoint.FromSphericalCoords(0.5f, cInclination, cAzimuth);
385  glNormal3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ() + 0.5f);
386  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ() + 0.5f);
387  cPoint.FromSphericalCoords(0.5f, cInclination + cSlice, cAzimuth);
388  glNormal3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ() + 0.5f);
389  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ() + 0.5f);
390  cPoint.FromSphericalCoords(0.5f, cInclination, cAzimuth + cSlice);
391  glNormal3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ() + 0.5f);
392  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ() + 0.5f);
393  cPoint.FromSphericalCoords(0.5f, cInclination + cSlice, cAzimuth + cSlice);
394  glNormal3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ() + 0.5f);
395  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ() + 0.5f);
396  }
397  }
398  glEnd();
399  glDisable(GL_NORMALIZE);
400  }
401 
402  /****************************************/
403  /****************************************/
404 
405  void CQTOpenGLPrototype::DrawConvexHull(const std::vector<CVector3>& vec_points,
406  const std::vector<CConvexHull::SFace>& vec_faces) {
407  glEnable(GL_NORMALIZE);
408  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, SPECULAR);
409  glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, SHININESS);
410  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, EMISSION);
411  glBegin(GL_TRIANGLES);
412  for(const CConvexHull::SFace& s_face : vec_faces) {
413  const CVector3& cVertex1 = vec_points[s_face.VertexIndices[0]];
414  const CVector3& cVertex2 = vec_points[s_face.VertexIndices[1]];
415  const CVector3& cVertex3 = vec_points[s_face.VertexIndices[2]];
416  CVector3 cNormal(cVertex2 - cVertex1);
417  cNormal.CrossProduct(cVertex3 - cVertex1);
418  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
419  glVertex3d(cVertex1.GetX(), cVertex1.GetY(), cVertex1.GetZ());
420  glVertex3d(cVertex2.GetX(), cVertex2.GetY(), cVertex2.GetZ());
421  glVertex3d(cVertex3.GetX(), cVertex3.GetY(), cVertex3.GetZ());
422  }
423  glEnd();
424  glDisable(GL_NORMALIZE);
425  }
426 
427  /****************************************/
428  /****************************************/
429 
430  void CQTOpenGLPrototype::MakeTagTexture() {
431  glGenTextures(1, &m_unTagTex);
432  glBindTexture(GL_TEXTURE_2D, m_unTagTex);
433  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 4, 4, 0, GL_RGB, GL_FLOAT, m_fTagTexture);
434  }
435 
436  /****************************************/
437  /****************************************/
438 
439  void CQTOpenGLPrototype::MakeTag() {
440  glEnable(GL_NORMALIZE);
441  glDisable(GL_LIGHTING);
442  glEnable(GL_TEXTURE_2D);
443  glBindTexture(GL_TEXTURE_2D, m_unTagTex);
444  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
445  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
446  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
447  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
448  glBegin(GL_QUADS);
449  glNormal3d(0.0f, 0.0f, 1.0f);
450  glTexCoord2f(1.0f, 1.0f); glVertex2f( 0.5f, 0.5f);
451  glTexCoord2f(0.03f, 1.0f); glVertex2f(-0.5f, 0.5f);
452  glTexCoord2f(0.03f, 0.03f); glVertex2f(-0.5f, -0.5f);
453  glTexCoord2f(1.0f, 0.03f); glVertex2f( 0.5f, -0.5f);
454  glEnd();
455  glDisable(GL_TEXTURE_2D);
456  glEnable(GL_LIGHTING);
457  glDisable(GL_NORMALIZE);
458  }
459 
460  /****************************************/
461  /****************************************/
462 
463  void CQTOpenGLPrototype::MakePoles() {
464  glEnable(GL_NORMALIZE);
465  glDisable(GL_LIGHTING);
466  glLineWidth(4.0f);
467  glBegin(GL_LINES);
468  /* south pole */
469  glColor3f(1.0, 0.0, 0.0);
470  glVertex3d(0.0f, 0.0f, 0.0f);
471  glVertex3d(0.0f, 0.0f, 0.5f);
472  /* north pole */
473  glColor3f(0.0, 0.0, 1.0);
474  glVertex3d(0.0f, 0.0f, 0.0f);
475  glVertex3d(0.0f, 0.0f, -0.5f);
476  glEnd();
477  glLineWidth(1.0f);
478  glEnable(GL_LIGHTING);
479  glDisable(GL_NORMALIZE);
480  }
481 
482  /****************************************/
483  /****************************************/
484 
485  class CQTOpenGLOperationDrawPrototypeNormal : public CQTOpenGLOperationDrawNormal {
486  public:
487  void ApplyTo(CQTOpenGLWidget& c_visualization,
488  CPrototypeEntity& c_entity) {
489  static CQTOpenGLPrototype m_cModel;
490  if(c_entity.HasControllableEntity()) {
491  c_visualization.DrawRays(c_entity.GetControllableEntity());
492  }
493  m_cModel.DrawEntity(c_entity);
494  m_cModel.DrawDevices(c_entity);
495  }
496  };
497 
498  /****************************************/
499  /****************************************/
500 
501  class CQTOpenGLOperationDrawPrototypeSelected : public CQTOpenGLOperationDrawSelected {
502  public:
503  void ApplyTo(CQTOpenGLWidget& c_visualization,
504  CPrototypeEntity& c_entity) {
505  c_visualization.DrawBoundingBox(c_entity.GetEmbodiedEntity());
506  }
507  };
508 
509  REGISTER_ENTITY_OPERATION(CQTOpenGLOperationDrawNormal, CQTOpenGLWidget, CQTOpenGLOperationDrawPrototypeNormal, void, CPrototypeEntity);
510 
511  REGISTER_ENTITY_OPERATION(CQTOpenGLOperationDrawSelected, CQTOpenGLWidget, CQTOpenGLOperationDrawPrototypeSelected, void, CPrototypeEntity);
512 
513  /****************************************/
514  /****************************************/
515 
516 }
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::SHININESS
const GLfloat SHININESS[]
Definition: qtopengl_prototype.cpp:26
argos::SPECULAR
const GLfloat SPECULAR[]
Definition: qtopengl_prototype.cpp:25
argos::EMISSION
const GLfloat EMISSION[]
Definition: qtopengl_prototype.cpp:27
argos::REGISTER_ENTITY_OPERATION
REGISTER_ENTITY_OPERATION(CQTOpenGLOperationDrawNormal, CQTOpenGLWidget, CQTOpenGLOperationDrawPrototypeNormal, void, CPrototypeEntity)
argos::BODY_COLOR
const GLfloat BODY_COLOR[]
Definition: qtopengl_prototype.cpp:24
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::PI
static const CRadians PI
The PI constant.
Definition: angles.h:49
argos::CRadians::TWO_PI
static const CRadians TWO_PI
Set to PI * 2.
Definition: angles.h:54
argos::CQuaternion::ToEulerAngles
void ToEulerAngles(CRadians &c_z_angle, CRadians &c_y_angle, CRadians &c_x_angle) const
Definition: quaternion.h:172
argos::CVector3
A 3D vector class.
Definition: vector3.h:31
argos::CVector3::Length
Real Length() const
Returns the length of this vector.
Definition: vector3.h:227
argos::CVector3::Rotate
CVector3 & Rotate(const CQuaternion &c_quaternion)
Rotates this vector by the given quaternion.
Definition: vector3.cpp:23
argos::CVector3::GetX
Real GetX() const
Returns the x coordinate of this vector.
Definition: vector3.h:105
argos::CVector3::FromSphericalCoords
CVector3 & FromSphericalCoords(Real f_length, const CRadians &c_inclination, const CRadians &c_azimuth)
Sets the vector contents from spherical coordinates.
Definition: vector3.h:180
argos::CVector3::GetY
Real GetY() const
Returns the y coordinate of this vector.
Definition: vector3.h:121
argos::CVector3::Z
static const CVector3 Z
The z axis.
Definition: vector3.h:42
argos::CVector3::GetZ
Real GetZ() const
Returns the z coordinate of this vector.
Definition: vector3.h:137
argos::CPrototypeEntity::HasLEDEquippedEntity
bool HasLEDEquippedEntity() const
Definition: prototype_entity.h:79
argos::CPrototypeEntity::HasControllableEntity
bool HasControllableEntity() const
Definition: prototype_entity.h:55
argos::CPrototypeEntity::GetControllableEntity
CControllableEntity & GetControllableEntity()
Definition: prototype_entity.h:59
argos::CPrototypeEntity::HasTagEquippedEntity
bool HasTagEquippedEntity() const
Definition: prototype_entity.h:91
argos::CPrototypeEntity::HasDirectionalLEDEquippedEntity
bool HasDirectionalLEDEquippedEntity() const
Definition: prototype_entity.h:67
argos::CPrototypeEntity::GetLEDEquippedEntity
CLEDEquippedEntity & GetLEDEquippedEntity()
Definition: prototype_entity.h:83
argos::CPrototypeEntity::HasMagnetEquippedEntity
bool HasMagnetEquippedEntity() const
Definition: prototype_entity.h:115
argos::CPrototypeEntity::GetMagnetEquippedEntity
CMagnetEquippedEntity & GetMagnetEquippedEntity()
Definition: prototype_entity.h:119
argos::CPrototypeEntity::GetTagEquippedEntity
CTagEquippedEntity & GetTagEquippedEntity()
Definition: prototype_entity.h:95
argos::CPrototypeEntity::GetDirectionalLEDEquippedEntity
CDirectionalLEDEquippedEntity & GetDirectionalLEDEquippedEntity()
Definition: prototype_entity.h:71
argos::CPrototypeEntity::GetEmbodiedEntity
CEmbodiedEntity & GetEmbodiedEntity()
Definition: prototype_entity.h:43
argos::CPrototypeEntity::GetLinkEquippedEntity
CPrototypeLinkEquippedEntity & GetLinkEquippedEntity()
Definition: prototype_entity.h:47
argos::CPrototypeLinkEquippedEntity::GetLinks
CPrototypeLinkEntity::TVector & GetLinks()
Definition: prototype_link_equipped_entity.h:39
argos::CQTOpenGLOperationDrawPrototypeNormal::ApplyTo
void ApplyTo(CQTOpenGLWidget &c_visualization, CPrototypeEntity &c_entity)
Definition: qtopengl_prototype.cpp:487
argos::CQTOpenGLOperationDrawPrototypeSelected::ApplyTo
void ApplyTo(CQTOpenGLWidget &c_visualization, CPrototypeEntity &c_entity)
Definition: qtopengl_prototype.cpp:503
argos::CQTOpenGLPrototype::DrawEntity
virtual void DrawEntity(CPrototypeEntity &c_entity)
Definition: qtopengl_prototype.cpp:115
argos::CQTOpenGLPrototype::DrawDevices
virtual void DrawDevices(CPrototypeEntity &c_entity)
Definition: qtopengl_prototype.cpp:163
argos::CDirectionalLEDEquippedEntity
A container of CDirectionalLEDEntity.
Definition: directional_led_equipped_entity.h:30
argos::CDirectionalLEDEquippedEntity::GetInstances
SInstance::TVector & GetInstances()
Returns all the LEDs.
Definition: directional_led_equipped_entity.h:114
argos::CLEDEquippedEntity::GetLEDs
SActuator::TList & GetLEDs()
Returns all the LEDs.
Definition: led_equipped_entity.h:126
argos::CMagnetEquippedEntity
A container of CMagnetEntity.
Definition: magnet_equipped_entity.h:30
argos::CMagnetEquippedEntity::GetInstances
SInstance::TVector & GetInstances()
Definition: magnet_equipped_entity.h:86
argos::CTagEquippedEntity
A container of CTagEntity.
Definition: tag_equipped_entity.h:30
argos::CTagEquippedEntity::GetInstances
SInstance::TVector & GetInstances()
Returns the tags.
Definition: tag_equipped_entity.h:107
argos::CQTOpenGLWidget::DrawRays
void DrawRays(CControllableEntity &c_entity)
Draws a ray.
Definition: qtopengl_widget.cpp:394
argos::CQTOpenGLWidget::DrawBoundingBox
void DrawBoundingBox(CEmbodiedEntity &c_entity)
Draws the bounding box of an embodied entity.
Definition: qtopengl_widget.cpp:428