// draw callback
// Purposes:
// - Load the navigation matrix to reflect frame's navigation
// - Use OpenGL to generate computer graphics.
void draw(arMasterSlaveFramework& framework)
{
// Load the navigation matrix.
framework.loadNavMatrix();
// Generate graphics.
if(selectionMode == 2)
{
renderPrimitive(-2.5f); // draws square with quadrants
drawObjects(-2.5f); // draw the mini versions
}
vector<arInteractable*>::iterator i;
for(i=objects.begin(); i != objects.end(); ++i)
{
Object* oby = ((Object*)(*i));
oby->draw();
}
// Draw the effectors.
rightHand.draw();
leftHand.draw();
}
void doSceneGraph( arMasterSlaveFramework &fw )
{
static int loops = 0;
static ar_timeval starttime = ar_time();
static ar_timeval lastdrawtime = ar_time();
ar_timeval now = ar_time();
long long curtime = ( now.sec * 1000000 ) + now.usec, lasttime = ( lastdrawtime.sec * 1000000 ) + lastdrawtime.usec;
long long sleeptime = 2000 - ( curtime - lasttime );
ar_usleep( max( (int)sleeptime, 1 ) );
fw.loadNavMatrix();
glClearColor( 0, 0.749, 1, 0 );
primary.draw();
secondary.draw();
sg->drawSceneGraph();
if( menuOn )
drawMenu( menu, fw );
lastdrawtime = ar_time();
loops++;
if( lastdrawtime.sec > starttime.sec )
{
cout << "fps=" << loops << endl;
starttime = lastdrawtime;
loops = 0;
}
}