static int mouse_press (Viewer *viewer, EventHandler *ehandler,
const double ray_start[3], const double ray_dir[3],
const GdkEventButton *event)
{
RendererGoal *self = (RendererGoal*) ehandler->user;
double xy[2];
geom_ray_z_plane_intersect_3d(POINT3D (ray_start), POINT3D (ray_dir),
0, POINT2D (xy));
int consumed = 0;
int control = event->state & GDK_CONTROL_MASK;
pthread_mutex_lock (&self->mutex);
// select a previously selected goal?
if (event->button == 1 && ehandler->picking) {
self->edit_goal = find_goal(self, xy);
consumed = 1;
}
if (event->button == 1 && control && ehandler->picking &&
self->edit_goal == NULL) {
// create a new goal
lcmtypes_goal_t g = {
.pos = { xy[0], xy[1] },
.size = { 1, 1 },
.theta = 0,
/* construct our ant */
static void build_ant(antspotlightstruct *mp)
{
mp->ant = (Ant *) malloc(sizeof (Ant));
mp->ant->position[0] = 0.0;
mp->ant->position[1] = 0.0;
mp->ant->position[2] = 0.0;
mp->ant->direction = 0.0;
mp->ant->velocity = 0.02;
mp->ant->material = MaterialGray5;
mp->ant->step = 0;
find_goal(mp);
}
/* find a new goal and reset steps */
static void reset_ant(antspotlightstruct *mp)
{
find_goal(mp);
}