static void CB_node_counter(FL_OBJECT *ob, long arg){
int num_node;
p3d_list_node* list_node;
int i;
pp3d_rob robotPt;
int max_count;
configPt q_copy;
robotPt = (p3d_rob*) p3d_get_desc_curid(P3D_ROBOT);
if(XYZ_GRAPH != NULL) {
fl_set_counter_bounds(NODE_COUNTER, 1, (double)( XYZ_GRAPH->nnode));
num_node = (int) fl_get_counter_value(NODE_COUNTER);
list_node = XYZ_GRAPH->nodes;
max_count = MIN(num_node, XYZ_GRAPH->nnode);
for(i = 1; i<max_count;i++) {
list_node = list_node->next;
}
if(list_node!=NULL){
q_copy = p3d_copy_config(robotPt,list_node->N->q);
// p3d_set_robot_config(robotPt,q_copy);
p3d_set_and_update_this_robot_conf_multisol(robotPt, q_copy, NULL, 0, list_node->N->iksol);
p3d_set_robot_iksol(robotPt, list_node->N->iksol);
//edit mokhtar création de trajectoires
p3d_copy_config_into(robotPt, q_copy, &(robotPt->ROBOT_POS));
p3d_copy_iksol(robotPt->cntrt_manager, list_node->N->iksol, &robotPt->ikSolPos);
// Very strange : g3d_draw_allwin_active() must
//be called twice to draw correctly the position of the robot
g3d_draw_allwin_active();
g3d_draw_allwin_active();
}
}else{
fl_set_counter_bounds(NODE_COUNTER, 0, 0);
}
}
void
cnt_precision_cb( FL_OBJECT * obj,
long data FL_UNUSED_ARG )
{
fl_set_counter_precision( curobj, fl_get_counter_value( obj ) );
redraw_the_form( 0 );
}
static void CB_ndraw_counter(FL_OBJECT *ob, long arg){
int index;
fl_set_counter_bounds(NDRAW_COUNTER, 1,(double)p3d_get_nretract() );
index = (int) fl_get_counter_value(NDRAW_COUNTER);
p3d_set_num_draw_proj(index);
g3d_plot_proj_in_form(XYZ_GRAPH);
}
static void CB_dof2_counter(FL_OBJECT *ob, long arg){
p3d_rob *robotPt;
int dof2;
robotPt = (p3d_rob*) p3d_get_desc_curid(P3D_ROBOT);
dof2 = p3d_robot_user_dof_to_dof(robotPt,(int)floor(fl_get_counter_value(DOF2_COUNTER)));
p3d_set_dof2(dof2);
g3d_draw_allwin_active();
}
