bool GLUIRealTimePlannerGUI::Initialize()
{
if(!BaseT::Initialize()) return false;
glui = GLUI_Master.create_glui_subwindow(main_window,GLUI_SUBWINDOW_RIGHT);
glui->set_main_gfx_window(main_window);
AddControl(glui->add_button("New target"),"new_target");
AddControl(glui->add_checkbox("Draw desired"),"draw_desired");
AddControl(glui->add_checkbox("Draw commanded"),"draw_desired");
AddControl(glui->add_checkbox("Draw UI"),"draw_ui");
AddControl(glui->add_checkbox("Draw path"),"draw_path");
AddControl(glui->add_checkbox("Draw contacts"),"draw_contacts");
GLUI_Spinner* spinner = glui->add_spinner("Collision margin",GLUI_SPINNER_FLOAT);
spinner->set_float_limits(0.0,1.0);
AddControl(spinner,"collision_margin");
AnyCollection c;
bool res=c.read("{type:button_press,button:new_target}");
Assert(res == true);
AddCommandRule(c,"new_target","");
res=c.read("{type:widget_value,widget:collision_margin,value:_1}");
Assert(res == true);
AddCommandRule(c,"set_collision_margin","_1");
printf("Done initializing...\n");
return true;
}
//! This function creates all the GLUI gui elements
void create_glui_ui(void)
{
GLUI *glui = GLUI_Master.create_glui_subwindow( main_window, GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Group 11 Simulation");
new GLUI_Separator(glui);
glui->add_statictext("Simulation Timesteps");
GLUI_Spinner* velocityIterationSpinner =
glui->add_spinner("Velocity Iterations", GLUI_SPINNER_INT, &settings.velocity_iterations);
velocityIterationSpinner->set_int_limits(1, 500);
GLUI_Spinner* positionIterationSpinner =
glui->add_spinner("Position Iterations", GLUI_SPINNER_INT, &settings.position_iterations);
positionIterationSpinner->set_int_limits(0, 100);
GLUI_Spinner* hertzSpinner =
glui->add_spinner("Sim steps per frame", GLUI_SPINNER_FLOAT, &settings.hz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
new GLUI_Separator(glui);
//new GLUI_Column( glui, false );
glui->add_statictext("Simulation Parameters");
glui->add_checkbox("Warm Starting", &settings.enable_warm_starting);
glui->add_checkbox("Time of Impact", &settings.enable_continuous);
glui->add_checkbox("Sub-Stepping", &settings.enable_sub_stepping);
//new GLUI_Column( glui, false );
new GLUI_Separator(glui);
glui->add_statictext("Display Options");
GLUI_Panel* drawPanel = glui->add_panel("Draw");
glui->add_checkbox_to_panel(drawPanel, "Shapes", &settings.draw_shapes);
glui->add_checkbox_to_panel(drawPanel, "Joints", &settings.draw_joints);
glui->add_checkbox_to_panel(drawPanel, "AABBs", &settings.draw_AABBs);
glui->add_checkbox_to_panel(drawPanel, "Statistics", &settings.draw_stats);
glui->add_checkbox_to_panel(drawPanel, "Profile", &settings.draw_profile);
//new GLUI_Column( glui, false );
new GLUI_Separator(glui);
glui->add_button("Pause", 0, callbacks_t::pause_cb);
glui->add_button("Single Step", 0, callbacks_t::single_step_cb);
glui->add_button("Restart", 0, callbacks_t::restart_cb);
glui->add_button("Quit", 0,(GLUI_Update_CB)callbacks_t::exit_cb);
glui->set_main_gfx_window( main_window );
new GLUI_Separator(glui);
glui->add_statictext("Mayank Meghwanshi");
glui->add_statictext("Divyam Bansal");
glui->add_statictext("Jaswant Kumar");
}
int main(int argc, char* argv[])
{
/****************************************/
/* Initialize GLUT and create window */
/****************************************/
glutInit(&argc, argv);
glutInitDisplayMode( GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH );
glutInitWindowPosition( 50, 50 );
glutInitWindowSize( 300, 300 );
main_window = glutCreateWindow( "GLUI Example 1" );
glutDisplayFunc( myGlutDisplay );
glutReshapeFunc( myGlutReshape );
/****************************************/
/* Set up OpenGL lights */
/****************************************/
GLfloat light0_ambient[] = {0.1f, 0.1f, 0.3f, 1.0f};
GLfloat light0_diffuse[] = {.6f, .6f, 1.0f, 1.0f};
GLfloat light0_position[] = {1.0f, 1.0f, 1.0f, 0.0f};
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_AMBIENT, light0_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light0_diffuse);
glLightfv(GL_LIGHT0, GL_POSITION, light0_position);
/****************************************/
/* Enable z-buferring */
/****************************************/
glEnable(GL_DEPTH_TEST);
/****************************************/
/* Here's the GLUI code */
/****************************************/
GLUI *glui = GLUI_Master.create_glui( "GLUI" );
glui->add_checkbox( "Wireframe", &wireframe );
GLUI_Spinner *segment_spinner =
glui->add_spinner( "Segments:", GLUI_SPINNER_INT, &segments );
segment_spinner->set_int_limits( 3, 60 );
glui->set_main_gfx_window( main_window );
/* We register the idle callback with GLUI, *not* with GLUT */
GLUI_Master.set_glutIdleFunc( myGlutIdle );
glutMainLoop();
}
int main(int argc, char* argv[])
{
atexit(onExit);
/****************************************/
/* Initialize GLUT and create window */
/****************************************/
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE);
glutInitWindowPosition(50, 50);
glutInitWindowSize(500, 500);
main_window = glutCreateWindow("COMP 175 Assignment 4");
glutDisplayFunc(myGlutDisplay);
glutReshapeFunc(myGlutReshape);
/****************************************/
/* Here's the GLUI code */
/****************************************/
GLUI* glui = GLUI_Master.create_glui("GLUI");
filenameTextField = new GLUI_EditText( glui, "Filename:", filenamePath);
filenameTextField->set_w(300);
glui->add_button("Load", 0, callback_load);
glui->add_button("Start!", 0, callback_start);
glui->add_checkbox("Isect Only", &isectOnly);
GLUI_Panel *camera_panel = glui->add_panel("Camera");
(new GLUI_Spinner(camera_panel, "RotateV:", &camRotV))
->set_int_limits(-179, 179);
(new GLUI_Spinner(camera_panel, "RotateU:", &camRotU))
->set_int_limits(-179, 179);
(new GLUI_Spinner(camera_panel, "RotateW:", &camRotW))
->set_int_limits(-179, 179);
(new GLUI_Spinner(camera_panel, "Angle:", &viewAngle))
->set_int_limits(1, 179);
glui->add_column_to_panel(camera_panel, true);
GLUI_Spinner* eyex_widget = glui->add_spinner_to_panel(camera_panel, "EyeX:", GLUI_SPINNER_FLOAT, &eyeX);
eyex_widget->set_float_limits(-10, 10);
GLUI_Spinner* eyey_widget = glui->add_spinner_to_panel(camera_panel, "EyeY:", GLUI_SPINNER_FLOAT, &eyeY);
eyey_widget->set_float_limits(-10, 10);
GLUI_Spinner* eyez_widget = glui->add_spinner_to_panel(camera_panel, "EyeZ:", GLUI_SPINNER_FLOAT, &eyeZ);
eyez_widget->set_float_limits(-10, 10);
GLUI_Spinner* lookx_widget = glui->add_spinner_to_panel(camera_panel, "LookX:", GLUI_SPINNER_FLOAT, &lookX);
lookx_widget->set_float_limits(-10, 10);
GLUI_Spinner* looky_widget = glui->add_spinner_to_panel(camera_panel, "LookY:", GLUI_SPINNER_FLOAT, &lookY);
looky_widget->set_float_limits(-10, 10);
GLUI_Spinner* lookz_widget = glui->add_spinner_to_panel(camera_panel, "LookZ:", GLUI_SPINNER_FLOAT, &lookZ);
lookz_widget->set_float_limits(-10, 10);
glui->add_button("Quit", 0, (GLUI_Update_CB)exit);
glui->set_main_gfx_window(main_window);
/* We register the idle callback with GLUI, *not* with GLUT */
GLUI_Master.set_glutIdleFunc(myGlutIdle);
glutMainLoop();
return EXIT_SUCCESS;
}
virtual bool Initialize()
{
cur_link=0;
cur_driver=0;
link_value = 0;
driver_value = 0;
draw_geom = 1;
draw_bbs = 0;
draw_com = 0;
draw_frame = 0;
draw_expanded = 0;
draw_self_collision_tests = 0;
hoverLink=hoverWidget=-1;
hoverPt.setZero();
pose_ik = 0;
if(!RobotViewProgram::Initialize()) return false;
self_colliding.resize(robot->links.size(),false);
UpdateConfig();
/*
//TEST: robot-to-robot IK test. only works for AL5Dx2
IKGoal test;
test.link = 8;
test.destLink = 16;
test.localPosition.set(0,0,0.05);
test.endPosition.set(0,0,0.05);
//test.SetFixedPosition(test.endPosition);
Matrix3 R;
R.setRotateZ(120);
test.SetFixedRotation(R);
vector<IKGoal> problem(1,test);
int iters=100;
bool res=SolveIK(*robot,problem,1e-3,iters);
printf("Solved IK: %d, %d iters, error %g\n",(int)res,iters,RobotIKError(*robot,test));
UpdateConfig();
*/
//setup GUI
glui = GLUI_Master.create_glui_subwindow(main_window,GLUI_SUBWINDOW_RIGHT);
glui->set_main_gfx_window(main_window);
GLUI_Panel* panel = glui->add_panel("Link controls");
link_spinner = glui->add_spinner_to_panel(panel,"Index",GLUI_SPINNER_INT,&cur_link,LINK_SPINNER_ID,ControlFunc);
link_spinner->set_int_limits(0,robot->links.size()-1,GLUI_LIMIT_WRAP);
link_listbox = glui->add_listbox_to_panel(panel,"Name",&cur_link,LINK_LISTBOX_ID,ControlFunc);
for(size_t i=0;i<robot->links.size();i++) {
char buf[256];
strcpy(buf,robot->linkNames[i].c_str());
link_listbox->add_item(i,buf);
}
link_value_spinner = glui->add_spinner_to_panel(panel,"Angle",GLUI_SPINNER_FLOAT,&link_value,LINK_VALUE_SPINNER_ID,ControlFunc);
link_info = glui->add_statictext_to_panel(panel,"Info");
UpdateLinkValueGUI();
UpdateLinkInfoGUI();
panel = glui->add_panel("Driver controls");
glui->add_checkbox_to_panel(panel,"Pose by IK",&pose_ik);
driver_spinner = glui->add_spinner_to_panel(panel,"Index",GLUI_SPINNER_INT,&cur_driver,DRIVER_SPINNER_ID,ControlFunc);
driver_spinner->set_int_limits(0,(int)robot->drivers.size()-1,GLUI_LIMIT_WRAP);
driver_listbox = glui->add_listbox_to_panel(panel,"Name",&cur_driver,DRIVER_LISTBOX_ID,ControlFunc);
for(size_t i=0;i<robot->drivers.size();i++) {
char buf[256];
strcpy(buf,robot->driverNames[i].c_str());
driver_listbox->add_item(i,buf);
}
driver_value_spinner = glui->add_spinner_to_panel(panel,"Angle",GLUI_SPINNER_FLOAT,&driver_value,DRIVER_VALUE_SPINNER_ID,ControlFunc);
driver_info = glui->add_statictext_to_panel(panel,"Info");
glui->add_checkbox("Draw geometry",&draw_geom);
glui->add_checkbox("Draw COM",&draw_com);
glui->add_checkbox("Draw frame",&draw_frame);
glui->add_checkbox("Draw bboxes",&draw_bbs);
glui->add_checkbox("Draw expanded",&draw_expanded,DRAW_EXPANDED_CHECKBOX_ID,ControlFunc);
glui->add_checkbox("Draw collision tests",&draw_self_collision_tests);
UpdateDriverValueGUI();
UpdateDriverInfoGUI();
return true;
}
