void Gripper::setup(){
phidgets.start();
gltMakeSphere(sphereBatch, 1, 18, 18);
gltMakeCylinder(cylBatch, 1, 1, 1, 18, 2);
for(int i = 0; i < YELLOW; ++i){
offsets[i][0] = offsets[i][1] = offsets[i][2] = 0;
}
for(int i = 0; i < NUM_END_EFFECTORS; ++i){
endEffector[i].minRaw = 410;
endEffector[i].maxRaw = 480;
endEffector[i].scalar = .3;
endEffector[i].gripperForce = 0;
endEffector[i].restoreForce = 0.4;
endEffector[i].minRange = 1.0;
endEffector[i].maxRange = 4.0;
endEffector[i].curPos = 4.0;
endEffector[i].contactForce = 0;
}
}
///////////////////////////////////////////////////////////////////////////////
// OpenGL related startup code is safe to put here. Load textures, etc.
void SetupRC(void)
{
GLenum err = glewInit();
if (GLEW_OK != err)
{
/* Problem: glewInit failed, something is seriously wrong. */
fprintf(stderr, "Error: %s\n", glewGetErrorString(err));
}
// Initialze Shader Manager
shaderManager.InitializeStockShaders();
glEnable(GL_DEPTH_TEST);
gltMakeCylinder(bckgrndCylBatch, 4.0, 4.0, 5.2, 1024, 1);
gltMakeDisk(diskBatch, 0.0, 1.5, 40, 10);
glass1Batch.Begin(GL_TRIANGLE_FAN, 4, 1);
glass1Batch.Vertex3f(-1.0f, -1.0f, 0.0f);
glass1Batch.Vertex3f( 1.0f, -1.0f, 0.0f);
glass1Batch.Vertex3f( 1.0f, 1.0f, 0.0f);
glass1Batch.Vertex3f(-1.0f, 1.0f, 0.0f);
glass1Batch.End();
glass2Batch.Begin(GL_TRIANGLE_FAN, 4, 1);
glass2Batch.Vertex3f( 0.0f, 1.0f, 0.0f);
glass2Batch.Vertex3f( 1.0f, 0.0f, 0.0f);
glass2Batch.Vertex3f( 0.0f, -1.0f, 0.0f);
glass2Batch.Vertex3f(-1.0f, 0.0f, 0.0f);
glass2Batch.End();
glass3Batch.Begin(GL_TRIANGLE_FAN, 3, 1);
glass3Batch.Vertex3f( 0.0f, 1.0f, 0.0f);
glass3Batch.Vertex3f( 1.0f, -1.0f, 0.0f);
glass3Batch.Vertex3f(-1.0f, -1.0f, 0.0f);
glass3Batch.End();
glass4Batch.Begin(GL_TRIANGLE_FAN, 4, 1);
glass4Batch.Vertex3f(-1.0f, 1.0f, 0.0f);
glass4Batch.Vertex3f( 1.0f, 0.5f, 0.0f);
glass4Batch.Vertex3f( 1.0f, -1.0f, 0.0f);
glass4Batch.Vertex3f(-1.0f, -0.5f, 0.0f);
glass4Batch.End();
glGenTextures(2, textures);
glBindTexture(GL_TEXTURE_2D, textures[0]);
LoadBMPTexture("marble.bmp", GL_LINEAR_MIPMAP_LINEAR, GL_LINEAR, GL_REPEAT);
glBindTexture(GL_TEXTURE_2D, textures[1]);
LoadBMPTexture("start_line.bmp", GL_LINEAR_MIPMAP_LINEAR, GL_LINEAR, GL_REPEAT);
// Create and bind an FBO
glGenFramebuffers(1,&msFBO);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, msFBO);
// Create depth texture
glGenTextures(1, &depthTextureName);
glBindTexture(GL_TEXTURE_2D_MULTISAMPLE, depthTextureName);
glTexImage2DMultisample(GL_TEXTURE_2D_MULTISAMPLE, 8, GL_DEPTH_COMPONENT24, screenWidth, screenHeight, GL_FALSE);
// Setup HDR render texture
glGenTextures(1, msTexture);
glBindTexture(GL_TEXTURE_2D_MULTISAMPLE, msTexture[0]);
glTexImage2DMultisample(GL_TEXTURE_2D_MULTISAMPLE, 8, GL_RGBA8, screenWidth, screenHeight, GL_FALSE);
// Create and bind an FBO
glGenFramebuffers(1, &msFBO);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, msFBO);
// Attach texture to first color attachment and the depth RBO
glFramebufferTexture2D(GL_DRAW_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D_MULTISAMPLE, msTexture[0], 0);
glFramebufferTexture2D(GL_DRAW_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D_MULTISAMPLE, depthTextureName, 0);
// Reset framebuffer binding
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
// Load oit resolve shader
oitResolve = gltLoadShaderPairWithAttributes("basic.vs", "oitResolve.fs", 3,
GLT_ATTRIBUTE_VERTEX, "vVertex",
GLT_ATTRIBUTE_NORMAL, "vNormal",
GLT_ATTRIBUTE_TEXTURE0, "vTexCoord0");
glBindFragDataLocation(oitResolve, 0, "oColor");
glLinkProgram(oitResolve);
// Load multisample resolve shader
msResolve = gltLoadShaderPairWithAttributes("basic.vs", "msResolve.fs", 3,
GLT_ATTRIBUTE_VERTEX, "vVertex",
GLT_ATTRIBUTE_NORMAL, "vNormal",
GLT_ATTRIBUTE_TEXTURE0, "vTexCoord0");
glBindFragDataLocation(msResolve, 0, "oColor");
glLinkProgram(msResolve);
// Make sure all went well
gltCheckErrors(oitResolve);
gltCheckErrors(msResolve);
int numMasks = 0;
glGetIntegerv(GL_MAX_SAMPLE_MASK_WORDS, &numMasks);
}
///////////////////////////////////////////////////////////////////////////////
// OpenGL related startup code is safe to put here. Load textures, etc.
void SetupRC()
{
GLenum err = glewInit();
if (GLEW_OK != err)
{
/* Problem: glewInit failed, something is seriously wrong. */
fprintf(stderr, "Error: %s\n", glewGetErrorString(err));
}
// Initialze Shader Manager
shaderManager.InitializeStockShaders();
glEnable(GL_DEPTH_TEST);
// Black
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
gltMakeTorus(torusBatch, 0.4f, 0.15f, 35, 35);
gltMakeSphere(sphereBatch, 0.1f, 26, 13);
gltMakeCylinder(cylinderBatch,0.3f, 0.2f, 1.0, 10,10);
GLfloat alpha = 0.25f;
floorBatch.Begin(GL_TRIANGLE_FAN, 4, 1);
floorBatch.Color4f(0.0f, 1.0f, 0.0f, alpha);
floorBatch.MultiTexCoord2f(0, 0.0f, 0.0f);
floorBatch.Normal3f(0.0, 1.0f, 0.0f);
floorBatch.Vertex3f(-20.0f, -0.41f, 20.0f);
floorBatch.Color4f(0.0f, 1.0f, 0.0f, alpha);
floorBatch.MultiTexCoord2f(0, 10.0f, 0.0f);
floorBatch.Normal3f(0.0, 1.0f, 0.0f);
floorBatch.Vertex3f(20.0f, -0.41f, 20.0f);
floorBatch.Color4f(0.0f, 1.0f, 0.0f, alpha);
floorBatch.MultiTexCoord2f(0, 10.0f, 10.0f);
floorBatch.Normal3f(0.0, 1.0f, 0.0f);
floorBatch.Vertex3f(20.0f, -0.41f, -20.0f);
floorBatch.Color4f(0.0f, 1.0f, 0.0f, alpha);
floorBatch.MultiTexCoord2f(0, 0.0f, 10.0f);
floorBatch.Normal3f(0.0, 1.0f, 0.0f);
floorBatch.Vertex3f(-20.0f, -0.41f, -20.0f);
floorBatch.End();
mirrorBatch.Begin(GL_TRIANGLE_FAN, 4, 1);
mirrorBatch.Color4f(1.0f, 0.0f, 0.0f, 1.0f);
mirrorBatch.MultiTexCoord2f(0, 0.0f, 0.0f);
mirrorBatch.Normal3f( 0.0f, 1.0f, 0.0f);
mirrorBatch.Vertex3f(-1.0f, 0.0f, 0.0f);
mirrorBatch.Color4f(1.0f, 0.0f, 0.0f, 1.0f);
mirrorBatch.MultiTexCoord2f(0, 1.0f, 0.0f);
mirrorBatch.Normal3f(0.0f, 1.0f, 0.0f);
mirrorBatch.Vertex3f(1.0f, 0.0f, 0.0f);
mirrorBatch.Color4f(1.0f, 0.0f, 0.0f, 1.0f);
mirrorBatch.MultiTexCoord2f(0, 1.0f, 1.0f);
mirrorBatch.Normal3f(0.0f, 1.0f, 0.0f);
mirrorBatch.Vertex3f(1.0f, 2.0f, 0.0f);
mirrorBatch.Color4f(1.0f, 0.0f, 0.0f, 1.0f);
mirrorBatch.MultiTexCoord2f(0, 0.0f, 1.0f);
mirrorBatch.Normal3f( 0.0f, 1.0f, 0.0f);
mirrorBatch.Vertex3f(-1.0f, 2.0f, 0.0f);
mirrorBatch.End();
mirrorBorderBatch.Begin(GL_TRIANGLE_STRIP, 13);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(-1.0f, 0.1f, 0.01f);
mirrorBorderBatch.Normal3f(0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(-1.0f, 0.0f, 0.01f);
mirrorBorderBatch.Normal3f(0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(1.0f, 0.1f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(1.0f, 0.0f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(0.9f, 0.0f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(1.0f, 2.0f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(0.9f, 2.0f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(1.0f, 1.9f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(-1.0f, 2.f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(-1.0f, 1.9f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(-0.9f, 2.f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(-1.0f, 0.0f, 0.01f);
mirrorBorderBatch.Normal3f( 0.0f, 0.0f, 1.0f);
mirrorBorderBatch.Vertex3f(-0.9f, 0.0f, 0.01f);
mirrorBorderBatch.End();
glGenTextures(1, textures);
glBindTexture(GL_TEXTURE_2D, textures[0]);
LoadBMPTexture("marble.bmp", GL_LINEAR_MIPMAP_LINEAR, GL_LINEAR, GL_REPEAT);
// Create and bind an FBO
glGenFramebuffers(1,&fboName);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, fboName);
// Create depth renderbuffer
glGenRenderbuffers(1, &depthBufferName);
glBindRenderbuffer(GL_RENDERBUFFER, depthBufferName);
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT32, mirrorTexWidth, mirrorTexHeight);
// Create the reflection texture
glGenTextures(1, &mirrorTexture);
glBindTexture(GL_TEXTURE_2D, mirrorTexture);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, mirrorTexWidth, mirrorTexHeight, 0, GL_RGBA, GL_FLOAT, NULL);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
// Attach texture to first color attachment and the depth RBO
glFramebufferTexture2D(GL_DRAW_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, mirrorTexture, 0);
glFramebufferRenderbuffer(GL_DRAW_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, depthBufferName);
// Make sure all went well
gltCheckErrors();
// Reset framebuffer binding
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
}
void initTriangleBatch()
{
gltMakeTorus(torusBatch,1.0f,0.5f,50,25);
gltMakeSphere(sphereBatch,0.3,32,32);
gltMakeCylinder(cylinderBatch,1.0,0.5,1.0,16,32);
}
