void run ()
{ init();
lastTurn = Straight;
// endofList = 0;
// memory allocation for recieved parameters from graph to drive the bot
//res_params = (param*) malloc(sizeof(param));
int i = 0;
while(i<9){
createVertexNode();
i++;
}
addEdge(searchNode(0),searchNode(1), 3, Left, Right );
addEdge(searchNode(1),searchNode(2), 3, Left, Right );
addEdge(searchNode(2),searchNode(5), 3, Back, Straight );
addEdge(searchNode(5),searchNode(4), 3, Right, Left );
addEdge(searchNode(4),searchNode(3), 3, Right, Left );
addEdge(searchNode(1),searchNode(4), 3, Back, Straight );
addEdge(searchNode(0),searchNode(3), 3, Back, Straight );
addEdge(searchNode(3),searchNode(6), 3, Back, Straight );
addEdge(searchNode(6),searchNode(7), 3, Left, Right );
addEdge(searchNode(7),searchNode(8), 3, Left, Right );
addEdge(searchNode(4),searchNode(7), 3, Back, Straight );
addEdge(searchNode(5),searchNode(8), 3, Back, Straight );
//print();
}
void Scene::create()
{
_oneSidedProgram = new osg::Program;
_oneSidedProgram->addShader(osgDB::readShaderFile(osg::Shader::VERTEX, "data/diffuse_directional1_vs.glsl"));
_oneSidedProgram->addShader(osgDB::readShaderFile(osg::Shader::FRAGMENT, "data/diffuse_directional1_fs.glsl"));
_twoSidedProgram = new osg::Program;
_twoSidedProgram->addShader(osgDB::readShaderFile(osg::Shader::VERTEX, "data/diffuse_directional2_vs.glsl"));
_twoSidedProgram->addShader(osgDB::readShaderFile(osg::Shader::FRAGMENT, "data/diffuse_directional2_fs.glsl"));
_instancedProgram = new osg::Program;
_instancedProgram->addShader(osgDB::readShaderFile(osg::Shader::VERTEX, "data/diffuse_billboard_instanced_vs.glsl"));
_instancedProgram->addShader(osgDB::readShaderFile(osg::Shader::FRAGMENT, "data/diffuse_billboard_instanced_fs.glsl"));
createPolyhedronNode();
createVertexNode();
createTextNode();
onPolyhedronChanged();
onLightModelChanged();
osg::ref_ptr<osgGA::LambdaEventHandler> eventHandler = new osgGA::LambdaEventHandler;
eventHandler->onKeyDown([&](const osgGA::GUIEventAdapter& ea) {
auto key = ea.getKey();
auto num = key - osgGA::GUIEventAdapter::KEY_0;
if (0 <= num && num <= 9)
{
_faces ^= osgKaleido::PolyhedronGeometry::FaceMaskFromSides(wild::mod(num-1, 10) + 3);
onFaceMaskChanged();
return true;
}
switch (key)
{
case osgGA::GUIEventAdapter::KEY_V:
{
_vgeode->setNodeMask(~_vgeode->getNodeMask());
return true;
}
case osgGA::GUIEventAdapter::KEY_L:
{
_twoSided = !_twoSided;
onLightModelChanged();
return true;
}
case osgGA::GUIEventAdapter::KEY_Right:
{
_faces = osgKaleido::PolyhedronGeometry::All;
_index++;
onPolyhedronChanged();
return true;
}
case osgGA::GUIEventAdapter::KEY_Left:
{
_faces = osgKaleido::PolyhedronGeometry::All;
_index--;
onPolyhedronChanged();
return true;
}
default:
return false;
}
});
_viewer->addEventHandler(eventHandler);
}
