int main(int argc, char *argv[])
{
SDL_Init(SDL_INIT_VIDEO);
SDL_Window* displayWindow = SDL_CreateWindow("", 100, 100, 800, 600, SDL_WINDOW_OPENGL);
SDL_GL_CreateContext(displayWindow);
Display_InitGL();
Display_SetViewport(800, 600);
Display_Render(displayWindow);
SDL_Delay(2000);
SDL_Quit();
return 0;
}
OpenGLWindow::OpenGLWindow(int width, int height)
{
SDL_Init(SDL_INIT_VIDEO);
// Ask for OpenGL 3.2 context
SDL_GL_SetAttribute(SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_CORE);
SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 3);
SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 2);
SDL_RendererInfo displayRendererInfo;
SDL_CreateWindowAndRenderer(width, height, SDL_WINDOW_OPENGL, &displayWindow, &displayRenderer);
SDL_GLContext glContext = SDL_GL_CreateContext(displayWindow);
SDL_GetRendererInfo(displayRenderer, &displayRendererInfo);
// Check that we have OpenGL
glewExperimental = GL_TRUE;
GLenum err = glewInit();
if (GLEW_OK != err)
{
fprintf(stdout, "Error: %s\n", glewGetErrorString(err));
}
fprintf(stdout, "Status: Using GLEW %s\n", glewGetString(GLEW_VERSION));
if (glewIsSupported("GL_VERSION_3_2")) {
fprintf(stdout, "OpenGl 3.2 supported.\n");
}
if ((displayRendererInfo.flags & SDL_RENDERER_ACCELERATED) == 0 ||
(displayRendererInfo.flags & SDL_RENDERER_TARGETTEXTURE) == 0) {
/*TODO: Handle this. We have no render surface and not accelerated. */
}
while ((err = glGetError()) != GL_NO_ERROR) {
std::cerr << err;
}
Display_InitGL();
while ((err = glGetError()) != GL_NO_ERROR) {
std::cerr << err;
}
Display_SetViewport(width, height);
while ((err = glGetError()) != GL_NO_ERROR) {
std::cerr << err;
}
}
int main(int argc, char* argv[])
{
SDL_Init(SDL_INIT_VIDEO);
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLEBUFFERS, 1);
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLESAMPLES, 8);
SDL_CreateWindowAndRenderer(1920, 1200, SDL_WINDOW_OPENGL, &displayWindow, &displayRenderer);
SDL_GetRendererInfo(displayRenderer, &displayRendererInfo);
Display_InitGL();
Display_SetViewport(1920, 1200);
bool quit = false;
for(int i = 0; i < NUM_MOTORS; i++)
{
motors[i].setAngle(180);
}
while(!quit)
{
SDL_Event event;
while(SDL_PollEvent(&event))
{
switch(event.type)
{
case SDL_QUIT:
{
quit = true;
break;
}
case SDL_MOUSEBUTTONDOWN:
{
if(event.button.button == SDL_BUTTON_LEFT)
{
if(zoomed == -1)
{
int x = event.motion.x / 192;
int y = event.motion.y / 109;
zoomed = x + y * 10;
printf("p:%f,i:%f,d:%f\t\tovershoot:%f steady_error:%f\n", motors[zoomed].getP(), motors[zoomed].getI(), motors[zoomed].getD(), motors[zoomed].getOverShoot(), motors[zoomed].getSteadyState());
}
else
{
zoomed = -1;
}
}
break;
}
}
}
const unsigned char* state = SDL_GetKeyboardState(0);
if(state[SDL_SCANCODE_ESCAPE])
{
quit = true;
}
static bool space_held = false;
if(state[SDL_SCANCODE_SPACE] && !space_held)
{
space_held = true;
sortMotors();
breedMotors();
}
else if(state[SDL_SCANCODE_SPACE] != true)
{
space_held = false;
}
SDL_GetMouseState(&mouse_x, &mouse_y);
long now = SDL_GetTicks();
static long last = now;
deltatime = ((float)(now - last)) / 1000.0;
last = now;
abstime += deltatime;
static float lastsetTime = abstime + 0.2;
if(abstime >= lastsetTime)
{
lastsetTime = abstime + 0.2;
if(zoomed == -1)
{
sortMotors();
breedMotors();
planner.motors[0].setPid(motors[0].getP(), motors[0].getI(), motors[0].getD());
planner.motors[1].setPid(motors[0].getP(), motors[0].getI(), motors[0].getD());
}
}
static float kp = 3;
static float ki = 0.5;
static float kd = 0.5;
if(state[SDL_SCANCODE_U])
{
kp += deltatime;
}
if(state[SDL_SCANCODE_J])
{
kp -= deltatime;
if(kp < 0)
{
kp = 0;
}
}
if(state[SDL_SCANCODE_I])
{
ki += deltatime;
}
if(state[SDL_SCANCODE_K])
{
ki -= deltatime;
if(ki < 0)
{
ki = 0;
}
}
if(state[SDL_SCANCODE_O])
{
kd += deltatime;
}
if(state[SDL_SCANCODE_L])
{
kd -= deltatime;
if(kd < 0)
{
kd = 0;
}
}
if(zoomed == -1)
{
#pragma omp parallel
#pragma omp for
for(int i = 0; i < NUM_MOTORS; i++)
{
for(int k = 0; k < 10000; k++)
{
motors[i].update(deltatime);
}
}
}
else
{
float angle = motors[zoomed].getAngle();
if(state[SDL_SCANCODE_LEFT])
{
angle += deltatime * 20;
motors[zoomed].setAngle(angle, false);
}
if(state[SDL_SCANCODE_RIGHT])
{
angle -= deltatime * 20;
motors[zoomed].setAngle(angle, false);
}
motors[zoomed].update(deltatime, 0.05);
}
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, 1920 , 1200, 0 , -100, 100);
glMatrixMode(GL_MODELVIEW);
Display_Render();
SDL_RenderPresent(displayRenderer);
}
SDL_Quit();
return 0;
}
int main(int argc, char *argv[])
{
SDL_Window *window; // Declare a pointer, main window
GLfloat dx = 0;
GLfloat dy = 0;
GLfloat zoom = 1.0;
min_x = 0;
max_x = width;
min_y = 0;
max_y = height;
// Initialize SDL2
if (SDL_Init(SDL_INIT_VIDEO) != 0) {
fprintf(stderr, "SDL_Init failed: %s\n", SDL_GetError());
exit(EXIT_FAILURE);
}
// Create an application window with the following settings:
window = SDL_CreateWindow("Drawing - OpenGL", // window title
SDL_WINDOWPOS_UNDEFINED, // initial x position
SDL_WINDOWPOS_UNDEFINED, // initial y position
width, // width, in pixels
height, // height, in pixels
SDL_WINDOW_OPENGL | SDL_WINDOW_RESIZABLE // flags
);
// Check that the window was successfully created
if (window == NULL) {
// In the case that the window could not be made...
fprintf(stderr, "SDL_CreateWindow failed: %s\n",
SDL_GetError());
exit(EXIT_FAILURE);
}
SDL_Renderer *displayRenderer = NULL;
SDL_RendererInfo displayRendererInfo;
displayRenderer =
SDL_CreateRenderer(window, -1, SDL_RENDERER_ACCELERATED);
SDL_GetRendererInfo(displayRenderer, &displayRendererInfo);
if ((displayRendererInfo.flags & SDL_RENDERER_ACCELERATED) == 0 ||
(displayRendererInfo.flags & SDL_RENDERER_TARGETTEXTURE) == 0) {
fprintf(stderr,
"We have no render surface and not accelerated.\n");
}
Display_InitGL();
Display_SetViewport(width, height, dx, dy, zoom);
int fullscreen = 0;
int drag = 0;
int xcursor = 0;
int ycursor = 0;
SDL_Event event;
int quit = 0;
time_t t = time(NULL);
time_t ctime = time(NULL);
int frames = 0;
Display_Render(displayRenderer, width, height, dx, dy, zoom);
while (!quit) {
Display_SetViewport(width, height, dx, dy, zoom);
Display_Render(displayRenderer, width, height, dx, dy, zoom);
while (SDL_PollEvent(&event)) // User's actions
{
switch (event.type) {
case SDL_QUIT: // Close button
quit = 1;
break;
case SDL_KEYUP: // Key release
if (event.key.keysym.sym == SDLK_f) // F key
{
if (fullscreen == 0) {
fullscreen = 1;
SDL_SetWindowFullscreen(window,
SDL_WINDOW_FULLSCREEN);
} else if (fullscreen == 1) {
fullscreen = 0;
SDL_SetWindowFullscreen(window,
0);
}
}
if (event.key.keysym.sym == SDLK_KP_PLUS) {
if (zoom > 0.1) {
dx = dx +
0.1 * pixelsize * (xcursor -
width /
2);
dy = dy -
0.1 * pixelsize * (ycursor -
height /
2);
}
if (zoom > 0.1)
zoom -= 0.1;
}
if (event.key.keysym.sym == SDLK_KP_MINUS) {
dx = dx - 0.1 * pixelsize * (xcursor -
width / 2);
dy = dy + 0.1 * pixelsize * (ycursor -
height /
2);
zoom += 0.1;
}
if (event.key.keysym.sym == SDLK_r) {
zoom = 1.0;
dx = 0.0;
dy = 0.0;
}
break;
case SDL_WINDOWEVENT:
switch (event.window.event) {
case SDL_WINDOWEVENT_RESIZED:
width = event.window.data1;
height = event.window.data2;
break;
case SDL_WINDOWEVENT_SIZE_CHANGED:
width = event.window.data1;
height = event.window.data2;
break;
default:
// printf("Window %d got unknown event %d\n", event.window.windowID, event.window.event);
break;
}
break;
case SDL_MOUSEBUTTONDOWN:
if (event.button.button == SDL_BUTTON_LEFT)
drag = 1;
break;
case SDL_MOUSEBUTTONUP:
if (event.button.button == SDL_BUTTON_LEFT)
drag = 0;
break;
case SDL_MOUSEMOTION:
xcursor = event.motion.x;
ycursor = event.motion.y;
if (drag != 0) {
dx -=
pixelsize * event.motion.xrel *
zoom;
dy +=
pixelsize * event.motion.yrel *
zoom;
}
break;
case SDL_MOUSEWHEEL:
if (zoom > 0.03) {
dx = dx +
0.03 * pixelsize * event.wheel.y *
(xcursor - width / 2);
dy = dy -
0.03 * pixelsize * event.wheel.y *
(ycursor - height / 2);
}
if (event.wheel.y > 0 && zoom > 0.01)
zoom -= 0.03;
else if (event.wheel.y < 0)
zoom += 0.03;
break;
default:
//printf("unknown event");
break;
}
}
frames++;
ctime = time(NULL);
if (t != ctime) {
t = ctime;
fprintf(stdout, "%d fps\n", frames);
frames = 0;
}
}
// Close and destroy the window
SDL_DestroyWindow(window);
// Clean up
SDL_Quit();
return EXIT_SUCCESS;
}
int Display_Application(int argc, char *argv[])
{
SDL_Window *window; // Declare a pointer, main window
int width = 640;
int height = 480;
GLdouble dx = 0;
GLdouble dy = 0;
GLdouble zoom = 1.0;
initNodesBounds(argv[1]);
min_x = minx;
max_x = maxx;
min_y = miny;
max_y = maxy;
// Initialize SDL2
if (SDL_Init(SDL_INIT_VIDEO) != 0) {
fprintf(stderr, "SDL_Init failed: %s\n", SDL_GetError());
exit(EXIT_FAILURE);
}
// Create an application window with the following settings:
window = SDL_CreateWindow("OSM Renderer", // window title
SDL_WINDOWPOS_UNDEFINED, // initial x position
SDL_WINDOWPOS_UNDEFINED, // initial y position
width, // width, in pixels
height, // height, in pixels
SDL_WINDOW_OPENGL | SDL_WINDOW_RESIZABLE // flags
);
// Check that the window was successfully created
if (window == NULL) {
// In the case that the window could not be made...
fprintf(stderr, "SDL_CreateWindow failed: %s\n",
SDL_GetError());
exit(EXIT_FAILURE);
}
fprintf(stdout, "Press the 'F' key to switch fullscreen.\n");
fprintf(stdout, "Press the 'R' key to reset the view.\n");
fprintf(stdout, "Press the [x] button to close the window.\n");
SDL_Renderer *displayRenderer = NULL;
SDL_RendererInfo displayRendererInfo;
displayRenderer =
SDL_CreateRenderer(window, -1, SDL_RENDERER_ACCELERATED);
SDL_GetRendererInfo(displayRenderer, &displayRendererInfo);
if ((displayRendererInfo.flags & SDL_RENDERER_ACCELERATED) == 0 ||
(displayRendererInfo.flags & SDL_RENDERER_TARGETTEXTURE) == 0) {
fprintf(stderr,
"We have no render surface and not accelerated.\n");
}
Display_InitGL();
Display_SetViewport(width, height, dx, dy, zoom);
int fullscreen = 0;
int drag = 0;
int xcursor = 0;
int ycursor = 0;
SDL_Event event;
int quit = 0;
time_t t = time(NULL);
time_t ctime = time(NULL);
int frames = 0;
GList *l;
for (l = g_hash_table_get_values(ways_hashtable); l != NULL;
l = l->next) {
way *w = l->data;
w->glist = tessellate(*w);
}
g_list_free(l);
while (!quit) {
Display_SetViewport(width, height, dx, dy, zoom);
Display_Render(displayRenderer, width, height, dx, dy, zoom);
while (SDL_PollEvent(&event)) // User's actions
{
switch (event.type) {
case SDL_QUIT: // Close button
quit = 1;
break;
case SDL_KEYUP: // Key release
if (event.key.keysym.sym == SDLK_f) // F key
{
if (fullscreen == 0) {
fullscreen = 1;
SDL_SetWindowFullscreen(window,
SDL_WINDOW_FULLSCREEN);
} else if (fullscreen == 1) {
fullscreen = 0;
SDL_SetWindowFullscreen(window,
0);
}
}
if (event.key.keysym.sym == SDLK_KP_PLUS) {
if (zoom > 0.1) {
dx = dx +
0.1 * pixelsize * (xcursor -
width /
2);
dy = dy -
0.1 * pixelsize * (ycursor -
height /
2);
}
if (zoom > 0.1)
zoom -= 0.1;
}
if (event.key.keysym.sym == SDLK_KP_MINUS) {
dx = dx - 0.1 * pixelsize * (xcursor -
width / 2);
dy = dy + 0.1 * pixelsize * (ycursor -
height /
2);
zoom += 0.1;
}
if (event.key.keysym.sym == SDLK_r) {
zoom = 1.0;
dx = 0.0;
dy = 0.0;
}
if (event.key.keysym.sym == SDLK_s) {
if (showFrame)
showFrame = 0;
else
showFrame = 1;
}
if (event.key.keysym.sym == SDLK_c) {
screenshoot = 1;
}
if (event.key.keysym.sym == SDLK_p) {
projection = !projection;
if (projection) {
min_x = minx;
max_x = maxx;
min_y = miny;
max_y = maxy;
} else {
min_x = minlon;
max_x = maxlon;
min_y = minlat;
max_y = maxlat;
}
}
break;
case SDL_WINDOWEVENT:
switch (event.window.event) {
case SDL_WINDOWEVENT_RESIZED:
width = event.window.data1;
height = event.window.data2;
break;
case SDL_WINDOWEVENT_SIZE_CHANGED:
width = event.window.data1;
height = event.window.data2;
break;
default:
// printf("Window %d got unknown event %d\n", event.window.windowID, event.window.event);
break;
}
break;
case SDL_MOUSEBUTTONDOWN:
if (event.button.button == SDL_BUTTON_LEFT)
drag = 1;
break;
case SDL_MOUSEBUTTONUP:
if (event.button.button == SDL_BUTTON_LEFT)
drag = 0;
break;
case SDL_MOUSEMOTION:
xcursor = event.motion.x;
ycursor = event.motion.y;
if (drag != 0) {
dx -=
pixelsize * event.motion.xrel *
zoom;
dy +=
pixelsize * event.motion.yrel *
zoom;
}
break;
case SDL_MOUSEWHEEL:
if (zoom > 0.01) {
dx = dx +
0.02 * pixelsize * event.wheel.y *
(xcursor - width / 2);
dy = dy -
0.02 * pixelsize * event.wheel.y *
(ycursor - height / 2);
}
if (event.wheel.y > 0 && zoom > 0.01)
zoom -= 0.02;
else if (event.wheel.y < 0)
zoom += 0.02;
break;
default:
//printf("unknown event");
break;
}
}
frames++;
ctime = time(NULL);
if (t != ctime) {
t = ctime;
//fprintf(stdout, "%d fps\n", frames);
frames = 0;
}
}
// Close and destroy the window
SDL_DestroyWindow(window);
// Clean up
SDL_Quit();
return EXIT_SUCCESS;
}
