//--------------------------------------------------------------
void testApp::drawScene() {
glEnable(GL_DEPTH_TEST);
for (int i = 0; i < numObj; i++) {
ofxVec3f pos = objPos[i];
ofxVec4f col = objCol[i];
int size = objSize[i];
ofSetColor(col.x, col.y, col.z);
ofxQuaternion qua = objRot[i];
float rad = 0.0; ofxVec3f rvec;
qua.getRotate(rad, rvec);
ofPushMatrix();
ofTranslate(pos.x, pos.y, pos.z);
ofRotate(ofRadToDeg(rad), rvec.x, rvec.y, rvec.z);
int typ = objType[i];
if (typ == 1) {
ofxSphere(0,0,0, size);
}else {
ofxBox(0,0,0, size);
}
ofPopMatrix();
}
ofSetColor(255, 255, 255);
}
void ofxIndustrialRobotVisualizer::drawArm(int i, int w, int h){
float l = helper->getLength(i); //The length of the arm
ofxVec3f axis = helper->getAxis(i); //The axis the arm rotates around
ofxVec3f offset = helper->getOffset(i);
float r = helper->getRotationAngle(i);
glRotated(r, axis.x, axis.y, axis.z); // Rotate it around the axis
glTranslated(0, l, 0);
ofxBox(ofxVec3f(0,-l/2.0,0), ofxVec3f(w, l, h), ofxVec3f(0.0, 0.0, 0.0));
glTranslated(-offset.y, offset.x, offset.z);
}
//--------------------------------------------------------------
void testApp::draw(){
camera.place();//this MUST be inside the draw function, and actually places the camera in position
ofxLightsOn(); //turn lights on
ofSetColor(255, 255, 255);
ofxSphere(centerX - 150, centerY - 150, 0, 50, 100, 100, rotX, rotY, 0);
ofxBox(centerX + 150, centerY - 150, 0, 100, 200, 20, rotX, rotY, 0);
ofxCone(centerX - 150, centerY + 150, 0, 50, 100, 50, rotX, rotY, 0);
ofxCapsule(centerX + 150, centerY + 150, 0, 100, 100, 50, rotX, rotY, 0);
ofxLightsOff(); //turn lights off to draw text
string info = "PRESSING MOUSE WILL TURN SMOOTH LIGHTS OFF";
ofSetColor(0, 0, 0);
ofDrawBitmapString(info, 20, 20);
}
void ofxIndustrialRobotVisualizer::drawGeneric(){
//Base
ofSetColor(0, 255, 255);
glTranslated(0, -25, 0);
//ofxBox(ofxVec3f(0,25,0), ofxVec3f(200, 50, 200));
//model.draw();
ofSetColor(255, 0, 0);
glPushMatrix();
glScaled(1.0, -1.0, 1.0);
ofSetColor(255, 255, 255);
// model.draw();
glPopMatrix();
// ofxSphere(ofxVec3f(0,0,0), ofxVec3f(200, 200, 200));
glRotated(180, 0.0, 0.0, -1.0);
glPushMatrix();
glScaled(1.0, 1.0, -1.0);
// glScaled(0.1, 0.1, 0.1);
drawArm0();
drawArm1();
drawArm2();
drawArm3();
drawArm4();
//Draw tool
ofSetColor(255, 0, 0);
float l = helper->getTool()->l; //The length of the tool
ofxVec3f rotation = helper->getTool()->getRotation();
glRotated(rotation.z, 0.0, 0.0, 1.0);
ofxBox(ofxVec3f(helper->getTool()->h/2.0,l/2,0), ofxVec3f(helper->getTool()->h, l, helper->getTool()->w), ofxVec3f(0.0, 0.0, 0.0));
// ofxVec3f axis = helper->getAxis(i); //The axis the arm rotates around
// ofxVec3f offset = helper->getOffset(i);
// glRotated(helper->getRotationAngle(i), axis.x, axis.y, axis.z); // Rotate it around the axis
// glTranslated(0, l, 0);
// ofxBox(ofxVec3f(0,-l/2.0,0), ofxVec3f(60, l, 60), ofxVec3f(0.0, 0.0, 0.0));
// glTranslated(-offset.y, offset.x, offset.z);
glPopMatrix();
glScaled(1.0, 1.0, -1.0);
//Target
glRotated(180, 0.0, 1.0, 0.0);
ofSetColor(255, 0, 0);
ofxSphere(controller->targetPosition, ofxVec3f(20, 20, 20));
glBegin(GL_LINE_STRIP);
glVertex3d(controller->targetPosition.x, controller->targetPosition.y, controller->targetPosition.z);
ofxVec3f temp = controller->targetPosition+ controller->targetDir*500.0;
glVertex3d(temp.x,temp.y, temp.z);
glEnd();
glPushMatrix();
ofSetColor(0, 255, 0);
for(int i=0;i<timeline->numberPositionCues(); i++){
ofxVec3f vec = timeline->getPositionCue(i)->position;
ofxSphere(vec, ofxVec3f(10, 10, 10));
}
timeline->spline.drawRaw(10, 5);
ofSetColor(255, 255, 0, 100);
timeline->spline.drawSmooth(50, 0, 10);
glLineWidth(1);
ofSetColor(255, 255, 255, 255);
ofFill();
// glDisable(GL_DEPTH_TEST);
/* glBegin(GL_POLYGON);
for(int i=0;i<3;i++){
glVertex3f(plotter->spaceDefinition[i].x,plotter->spaceDefinition[i].y,plotter->spaceDefinition[i].z);
}
glVertex3f(plotter->fourthCorner().x,plotter->fourthCorner().y,plotter->fourthCorner().z);
glEnd();
*/
for(int i=0;i<plotter->lines.size();i++){
glBegin(GL_LINE_STRIP);
ofxVec3f x = (plotter->spaceDefinition[1]-plotter->spaceDefinition[0]).normalized();
ofxVec3f y = (plotter->spaceDefinition[2]-plotter->spaceDefinition[1]).normalized();
for(int u=0;u<plotter->lines[i].size();u++){
ofxVec3f point = x * plotter->lines[i][u].x + y * plotter->lines[i][u].y + plotter->spaceDefinition[0];
glVertex3f(point.x,point.y,point.z);
}
glEnd();
}
glPopMatrix();
}
