void GLFW3Context::mainLoop(void (*updateLoop)())
{
while (glfwWindowShouldClose(window_) == false) {
if (glfwGetKey(window_, GLFW_KEY_ESCAPE) == GLFW_PRESS)
glfwSetWindowShouldClose(window_, true);
glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT);
updateLoop();
Engine::update();
Engine::render();
}
glfwTerminate();
}
MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow) {
lastAve = 10000; sum = 0; count = 0; inmin = 0; inmax = 1; outmin = 0; outmax = 1; stop = true;
controller = new PIDcontroller(-1000, 1000);
pathFunction = 'f';
ui->setupUi(this);
ui->lineTrackerWidget->window = this;
ui->lineTrackerWidget->drawPath();
speed = 1;
robot = new Robot(0, -10);
updater = new QTimer(this);
// connect events
connect(updater, SIGNAL(timeout()), this, SLOT(updateLoop()));
connect(ui->radioButton_3, SIGNAL( clicked() ), this, SLOT( on_radioButton_3_clicked() ));
connect(ui->radioButton_4, SIGNAL( clicked() ), this, SLOT( on_radioButton_4_clicked() ));
connect(ui->radioButton_5, SIGNAL( clicked() ), this, SLOT( on_radioButton_5_clicked() ));
connect(ui->pushButton_2, SIGNAL( clicked() ), this, SLOT( on_pushButton_2_clicked() ));
connect(ui->pushButton, SIGNAL( clicked() ), this, SLOT( on_pushButton_clicked() ));
connect(ui->pushButton_3, SIGNAL( clicked() ), this, SLOT( on_pushButton_3_clicked() ));
}
void PlayerWidget::_setupSource()
{
setUpdatesEnabled( false );
const bool hasAudioSource = audioSource_ != 0;
setEnabled( hasAudioSource );
// inititialized-invariant values
ui_.labelFileName->setText( hasAudioSource ? QFileInfo( playerInfo_->filePath ).fileName() : QString() );
ui_.buttonDestroy->setEnabled( hasAudioSource );
_updateStateLabels();
updateLoop();
updateGain();
updatePitch();
// initialized-depended values
_updateSourceInitialization();
setUpdatesEnabled( true );
}
/**
* @brief MainWindow::MainWindow Initialize the main window and everything else
* @param parent
*/
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
// Initialize the interface
ui->setupUi(this);
ui->glWidget->addAction(ui->actionFullscreen);
ui->glWidget->addAction(ui->actionExit);
connect(ui->actionExit,SIGNAL(triggered()),this,SLOT(close()));
connect(ui->actionFullscreen,SIGNAL(triggered()),this,SLOT(toggleFullscreenSlot()));
// The test script runs a simple experiment
experimentScript = new TestScript(this,this);
// Add a cosmetic line to the splitter handle
// so that it's easier to grab with the mouse
QSplitterHandle *handle = ui->splitter->handle(1);
QVBoxLayout *layout = new QVBoxLayout(handle);
layout->setSpacing(0);
layout->setMargin(0);
QFrame *line = new QFrame(handle);
line->setFrameShape(QFrame::VLine);
line->setFrameShadow(QFrame::Sunken);
layout->addWidget(line);
// In a future revision, we'll move the SimWorld
// to a more intelligent place. It doesn't
// belong as a child to the graphics widget.
SimWorld* world = ui->glWidget->getWorld();
CapBody* capBody = world->getBody();
#if defined( BOARD_DATA )
BoardMarkerData* md = ui->glWidget->getWorld()->getMarkerData();
#elif defined( POKE_DATA )
PokeMarkerData* md = ui->glWidget->getWorld()->getMarkerData();
#else
MarkerData* md = world->getMarkerData();
#endif
// We populate a ScrollArea with the same number of
// MarkerWidgets as there are markers in the data file.
QScrollArea* sa = new QScrollArea;
QWidget* wid = new QWidget;
layout = new QVBoxLayout;
layout->setContentsMargins(0,0,0,0);
// This part needs to become part of a function
// that is called everytime a new data file is
// loaded.
int markCnt = md->marker_count;
ui->markerCountLineEdit->setText(QString::number(markCnt));
ui->frameCountLineEdit->setText(QString::number(md->size()));
ui->markerFileLineEdit->setText("data.c3d");
ui->markerFrameStartBox->setValue(0);
setDataRange(md->size());
QHBoxLayout* innerLayout = new QHBoxLayout;
QPushButton* connectButton = new QPushButton("Connect");
QPushButton* releaseButton = new QPushButton("Release");
QPushButton* updateButton = new QPushButton("Update Anchors");
innerLayout->addWidget(connectButton);
innerLayout->addWidget(releaseButton);
innerLayout->addWidget(updateButton);
connect(connectButton,SIGNAL(clicked()),this,SLOT(connectMarkers()));
connect(releaseButton,SIGNAL(clicked()),this,SLOT(releaseMarkers()));
connect(updateButton,SIGNAL(clicked()),this,SLOT(updateMarkerAnchors()));
layout->addLayout(innerLayout);
markerWidgetArray.resize(markCnt);
for (int ii=0;ii<markCnt;++ii) {
markerWidgetArray[ii] = new MarkerWidget(ii,0);
layout->addWidget(markerWidgetArray[ii]);
}
wid->setLayout(layout);
sa->setWidget(wid);
ui->controlTabWidget->addTab(sa,"Markers");
// Joint control tab
sa = new QScrollArea;
wid = new QWidget;
layout = new QVBoxLayout;
layout->setContentsMargins(0,0,0,0);
// A couple buttons at the top of the joint tab make it possible
// to rapidly change all the force limits
innerLayout = new QHBoxLayout;
QPushButton* zeroButton = new QPushButton("Zero");
QPushButton* lightButton = new QPushButton("Light");
QPushButton* resetButton = new QPushButton("Strong");
innerLayout->addWidget(zeroButton);
innerLayout->addWidget(lightButton);
innerLayout->addWidget(resetButton);
layout->addLayout(innerLayout);
connect(zeroButton,SIGNAL(clicked()),this,SLOT(zeroForces()));
connect(lightButton,SIGNAL(clicked()),this,SLOT(lightForces()));
connect(resetButton,SIGNAL(clicked()),this,SLOT(strongForces()));
// Fill the tab with hard-coded data about the model...
populateJointTab(capBody,layout);
wid->setLayout(layout);
sa->setWidget(wid);
ui->controlTabWidget->addTab(sa,"Joints");
// Body dimensions widget
sa = new QScrollArea;
wid = new QWidget;
layout = new QVBoxLayout;
layout->setContentsMargins(0,0,0,0);
QCheckBox* keepBodyRel = new QCheckBox("Body Rel");
layout->addWidget(keepBodyRel);
// Fill the tab with model-specific widgets
populateBodyTab(capBody,layout);
wid->setLayout(layout);
sa->setWidget(wid);
ui->controlTabWidget->addTab(sa,"Model dimensions");
// Hook up the interface elements to their respecitve functionality
connect(ui->saveButton,SIGNAL(clicked()),capBody,SLOT(saveBody()));
connect(ui->loadButton,SIGNAL(clicked()),capBody,SLOT(loadBody()));
connect(ui->testButton,SIGNAL(clicked()),this,SLOT(experimentSlot()));
// When a the CapBody loads the marker map, tell the interface
// how and where the markers are connected.
connect(capBody,SIGNAL(markMap(int,int)),this,SLOT(setMarkMap(int,int)));
connect(capBody,SIGNAL(markPoint(int,double,double,double)),
this,SLOT(setMarkPoint(int,double,double,double)));
// *****
// (Each MarkerWidget informs the capBody when the interface
// changes).
for (int ii=0;ii<markCnt;++ii) {
connect(markerWidgetArray[ii],SIGNAL(markBodySet(int,int)),md,SLOT(changeBodyConnect(int,int)));
connect(markerWidgetArray[ii],SIGNAL(markConnect(int,bool)),md,SLOT(changeBodyLink(int,bool)));
connect(markerWidgetArray[ii],SIGNAL(markPosSet(int,double,double,double)),
md,SLOT(changeLinkPos(int,double,double,double)));
connect(markerWidgetArray[ii],SIGNAL(markGrab(int)),this, SLOT(grabMarkPos(int)));
}
connect(ui->clearPlotButton,SIGNAL(clicked()),this,SLOT(clearData()));
connect(ui->glWidget->getWorld(),SIGNAL(useMarkers(bool)),this,SLOT(usingMarkers(bool)));
connect(ui->frictionSpinBox,SIGNAL(valueChanged(double)),world,SLOT(setGroundFriction(double)));
connect(ui->terrainSpinBox,SIGNAL(valueChanged(double)),world,SLOT(setTerrainSoftness(double)));
connect(ui->zBox,SIGNAL(valueChanged(double)),ui->glWidget->getWorld(),SLOT(setTerrainZ(double)));
connect(ui->forceLinesCheckBox,SIGNAL(clicked(bool)),ui->glWidget,SLOT(setDrawLines(bool)));
connect(ui->camFollowCheckBox,SIGNAL(clicked(bool)),ui->glWidget,SLOT(setFollowCamera(bool)));
connect(ui->timeSlider,SIGNAL(valueChanged(int)),world->getMarkerData(),SLOT(setFrame(int)));
connect(ui->glWidget->getWorld()->getMarkerData(),SIGNAL(frameChanged(int)),ui->timeSlider,SLOT(setValue(int)));
connect(ui->bodyAlpha,SIGNAL(valueChanged(double)),ui->glWidget,SLOT(setBodyAlpha(double)));
connect(ui->showMarkBox,SIGNAL(toggled(bool)),ui->glWidget,SLOT(setShowMarkers(bool)));
connect(ui->selfCollideBox,SIGNAL(toggled(bool)),world,SLOT(setSelfCollide(bool)));
connect(ui->saveStateButton,SIGNAL(clicked()),this,SLOT(saveModel()));
connect(ui->restoreButton,SIGNAL(clicked()),this,SLOT(restoreModel()));
connect(ui->markerRadio,SIGNAL(toggled(bool)),this,SLOT(useMarkers(bool)));
connect(ui->torqueRadio,SIGNAL(toggled(bool)),this,SLOT(useTorques(bool)));
connect(ui->altRadio,SIGNAL(toggled(bool)),this,SLOT(useAltForces(bool)));
connect(ui->playAllButton,SIGNAL(clicked(bool)),this,SLOT(playPauseAll(bool)));
connect(ui->playPauseDataButton,SIGNAL(clicked(bool)),this,SLOT(playPauseData(bool)));
connect(ui->playPauseSimButton,SIGNAL(clicked(bool)),this,SLOT(playPauseSim(bool)));
connect(ui->stepAllButton,SIGNAL(clicked()),this,SLOT(stepAll()));
connect(ui->stepDataButton,SIGNAL(clicked()),this,SLOT(stepData()));
connect(ui->stepSimButton,SIGNAL(clicked()),this,SLOT(stepSim()));
connect(ui->selectFileToolButton,SIGNAL(clicked()),this,SLOT(markerFileDialog()));
connect(ui->dataStepBox,SIGNAL(valueChanged(int)),this,SLOT(setDataStep(int)));
connect(ui->dataFrameBox,SIGNAL(valueChanged(int)),this,SLOT(setDataFrame(int)));
connect(ui->timeSlider,SIGNAL(valueChanged(int)),ui->dataFrameBox,SLOT(setValue(int)));
// *****
// Need to dynamically change this
ui->timeSlider->setRange(0,world->getMarkerData()->size()-1);
connect(ui->globalBox,SIGNAL(toggled(bool)),this,SLOT(useGlobalForces(bool)));
#if defined( BOARD_DATA )
bd = new BoardData(this);
bd->loadData("boardData.dat");
ui->glWidget->setBoardData(bd);
#endif
// Start the timer for updating the data, sim, and graphics
updateTimer.setSingleShot(false);
connect(&updateTimer,SIGNAL(timeout()),this,SLOT(updateLoop()));
connect(ui->frameTimeBox,SIGNAL(valueChanged(double)),this,SLOT(setFrameTime(double)));
ui->frameTimeBox->setValue(1/60.0);
ui->dataStepBox->setValue(2);
capBody->loadBody();
useMarkers(true);
saveModel();
}
void Voice::process(int frames, float* p)
{
float modlfo_to_fc = 0.0;
float modenv_to_fc = 0.0;
float _fres = _zerberus->ct2hz(fres
+ modlfo_val * modlfo_to_fc
+ modenv_val * modenv_to_fc);
int sr = _zerberus->sampleRate();
if (_fres > 0.45f * sr)
_fres = 0.45f * sr;
else if (_fres < 5.f)
_fres = 5.f;
if ((fabs(_fres - last_fres) > 0.01f)) {
updateFilter(_fres);
last_fres = _fres;
}
if (audioChan == 1) {
while (frames--) {
updateLoop();
int idx = phase.index();
if (idx >= eidx) {
off();
break;
}
const float* coeffs = interpCoeff[phase.fract()];
float f;
f = (coeffs[0] * getData(idx-1)
+ coeffs[1] * getData(idx+0)
+ coeffs[2] * getData(idx+1)
+ coeffs[3] * getData(idx+2)) * gain
- a1 * hist1l
- a2 * hist2l;
float v = b02 * (f + hist2l) + b1 * hist1l;
hist2l = hist1l;
hist1l = f;
if (filter_coeff_incr_count) {
--filter_coeff_incr_count;
a1 += a1_incr;
a2 += a2_incr;
b02 += b02_incr;
b1 += b1_incr;
}
updateEnvelopes();
if (_state == VoiceState::OFF)
break;
v *= envelopes[currentEnvelope].val;
*p++ += v * _channel->panLeftGain();
*p++ += v * _channel->panRightGain();
phase += phaseIncr;
_samplesSinceStart++;
}
}
else {
//
// handle interleaved stereo samples
//
while (frames--) {
updateLoop();
int idx = phase.index() * 2;
if (idx >= eidx) {
off();
// printf("end of sample\n");
break;
}
const float* coeffs = interpCoeff[phase.fract()];
float f1, f2;
f1 = (coeffs[0] * getData(idx-2)
+ coeffs[1] * getData(idx)
+ coeffs[2] * getData(idx+2)
+ coeffs[3] * getData(idx+4))
* gain * _channel->panLeftGain();
f2 = (coeffs[0] * getData(idx-1)
+ coeffs[1] * getData(idx+1)
+ coeffs[2] * getData(idx+3)
+ coeffs[3] * getData(idx+5))
* gain * _channel->panRightGain();
updateEnvelopes();
if (_state == VoiceState::OFF)
break;
f1 *= envelopes[currentEnvelope].val;
f2 *= envelopes[currentEnvelope].val;
f1 += -a1 * hist1l - a2 * hist2l;
float vl = b02 * (f1 + hist2l) + b1 * hist1l;
hist2l = hist1l;
hist1l = f1;
f2 += -a1 * hist1r - a2 * hist2r;
float vr = b02 * (f2 + hist2r) + b1 * hist1r;
hist2r = hist1r;
hist1r = f2;
if (filter_coeff_incr_count) {
--filter_coeff_incr_count;
a1 += a1_incr;
a2 += a2_incr;
b02 += b02_incr;
b1 += b1_incr;
}
*p++ += vl;
*p++ += vr;
phase += phaseIncr;
_samplesSinceStart++;
}
}
}
void CCEngine::updateEngineThread()
{
// Update our system time
updateTime();
time.lifetime += time.real;
#if LOG_FPS
static uint loggedUpdates = 0;
static float loggedDelta = 0.0f;
loggedUpdates++;
loggedDelta += time.real;
if( loggedDelta > 1.0f )
{
#if !defined WP8 && !defined WIN8
const float averageFPS = 1.0f / ( loggedDelta / loggedUpdates );
DEBUGLOG( "Average FPS: %f \n", averageFPS );
#endif
loggedUpdates = 0;
loggedDelta = 0.0f;
}
#endif
if( backButtonPressed )
{
backButtonPressed = false;
handleBackButton();
}
// Run callbacks
if( engineThreadCallbacks.length > 0 )
{
CCNativeThreadLock();
CCJobsThreadLock();
while( engineThreadCallbacks.length > 0 )
{
CCLambdaCallback *callback = engineThreadCallbacks.pop();
if( callback != NULL )
{
callback->safeRun();
delete callback;
}
}
CCNativeThreadUnlock();
CCJobsThreadUnlock();
}
finishJobs();
updateLoop();
if( paused == false && pauseRendering == false )
{
CCAppManager::UpdateOrientation( time.delta );
renderLoop();
}
#if defined DEBUGON && TARGET_IPHONE_SIMULATOR
// 66 frames a second in debug
//usleep( 15000 );
usleep( 0 );
#endif
}
void Grid::runLoops()
{
updateLoop();
actionLoop();
}
void CCEngine::updateEngineThread()
{
// Update our system time
updateTime();
time.lifetime += time.real;
#if LOG_FPS
static uint loggedUpdates = 0;
static float loggedDelta = 0.0f;
loggedUpdates++;
loggedDelta += time.real;
if( loggedDelta > 1.0f )
{
#if !defined WP8 && !defined WIN8
const float averageFPS = 1.0f / ( loggedDelta / loggedUpdates );
DEBUGLOG( "Average FPS: %f \n", averageFPS );
#endif
loggedUpdates = 0;
loggedDelta = 0.0f;
}
#endif
if( backButtonActionPending )
{
backButtonActionPending = false;
handleBackButton();
}
// Run callbacks
if( engineThreadCallbacks.length > 0 )
{
int jobsProcessed = 0;
const double startTime = CCEngine::GetSystemTime();
const double finishTime = startTime + 0.002f; // Spend a max of 2ms on this task
double currentTime = startTime;
while( engineThreadCallbacks.length > 0 )
{
CCNativeThreadLock();
CCJobsThreadLock();
CCLambdaCallback *callback = engineThreadCallbacks.pop();
if( callback != NULL )
{
callback->safeRun();
}
CCNativeThreadUnlock();
CCJobsThreadUnlock();
if( callback != NULL )
{
delete callback;
}
jobsProcessed++;
if( textureManager != NULL && textureManager->isReady() )
{
currentTime = CCEngine::GetSystemTime();
if( currentTime > finishTime )
{
DEBUGLOG( "Max engineThreadCallbacks processed in time %i, %i\n", jobsProcessed, engineThreadCallbacks.length );
break;
}
}
}
}
finishJobs();
updateLoop();
if( paused == false )
{
CCAppManager::UpdateOrientation( time.delta );
}
renderLoop();
#if defined DEBUGON && TARGET_IPHONE_SIMULATOR
// 66 frames a second in debug
//usleep( 15000 );
usleep( 0 );
#endif
}
void CCEngine::updateEngineThread()
{
// Update our system time
if( updateTime() == false )
{
#ifdef ANDROID
// FIXME: Android needs to always redraw the scene
// We currently never return false, so perhaps remove this..
renderer->clear();
renderLoop();
#endif
return;
}
time.lifetime += time.real;
#if LOG_FPS
static uint loggedUpdates = 0;
static float loggedDelta = 0.0f;
loggedUpdates++;
loggedDelta += time.real;
if( loggedDelta > 1.0f )
{
const float averageFPS = 1.0f / ( loggedDelta / loggedUpdates );
DEBUGLOG( "Average FPS: %f \n", averageFPS );
loggedUpdates = 0;
loggedDelta = 0.0f;
}
#endif
// Run callbacks
if( engineThreadCallbacks.length > 0 )
{
CCNativeThreadLock();
CCJobsThreadLock();
CCLambdaCallback *callback = engineThreadCallbacks.pop();
CCNativeThreadUnlock();
CCJobsThreadUnlock();
callback->run();
delete callback;
// for( int i=0; i<engineThreadCallbacks.length; ++i )
// {
// engineThreadCallbacks.list[i]->run();
// delete engineThreadCallbacks.list[i];
// }
// engineThreadCallbacks.length = 0;
}
finishJobs();
updateLoop();
CCViewManager::UpdateOrientation( time.delta );
renderer->clear();
renderLoop();
renderer->resolve();
#if defined DEBUGON && TARGET_IPHONE_SIMULATOR
// 66 frames a second in debug
//usleep( 15000 );
usleep( 0 );
#endif
}