void nextState() {
// If moving bar at edge of board, change direction
if (currX + currWidth == 8)
currDirection = -1;
else if (currX == 0)
currDirection = 1;
currX += currDirection; // Move bar 1 px in current direction
// Mash currState with the level bar to print state
int newCurrState[8][16] = {};
// Current state
for (int y = 0; y < 16; y++) {
for (int x = 0; x < 8; x++) {
newCurrState[x][y] = currState[x][y];
}
}
// Level bar
for (int x = 0; x < currWidth; x++) {
newCurrState[currX + x][currY] = 1;
}
displayFunc(newCurrState); // Display board to leds
}
void displayfunc_(double (*F)(double*),double *x1,double *x2,char *fmess,int len)
{
char cmess[200];
fName2c(fmess,cmess, len);
dFdF_displayFunc=F;
displayFunc(dFdC_displayFunc,*x1,*x2,cmess);
}
void specialFunc(int key, int x, int y) {
switch (key) {
default:
break;
}
displayFunc();
}
static void reshapeFunc(int newWidth, int newHeight) {
if (!inFullScreenMode) {
configuration.windowWidth = newWidth;
configuration.windowHeight = newHeight;
}
Target_resized(newWidth, newHeight);
#ifndef __APPLE__
displayFunc();
#endif
}
void keyFunc(unsigned char key, int x, int y) {
switch (key) {
case 27: // Escape key
cerr << "Done." << endl;
exit(0);
break;
default:
break;
}
displayFunc();
}
void Stacker::displayLoss() {
gameState = Lost;
int lossImage[8][16] = {
{ 0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,0,0,1,0,0,1,1,0,0,0,0,0 },
{ 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,0,0,1,0,0,1,1,0,0,0,0,0 },
{ 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0 }
};
displayFunc(lossImage);
}
void Stacker::displayWin() {
gameState = Won;
int winImage[8][16] = {
{ 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,1,0,0,0,0,1,1,0,0,0,0,0 },
{ 0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,1,0,0,0,0,1,1,0,0,0,0,0 },
{ 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0 },
{ 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0 }
};
displayFunc(winImage);
}
void specialFunc(int key, int x, int y) {
switch (key) {
case GLUT_KEY_UP:
session->BeginEdit();
session->renderConfig->scene->camera->RotateUp(ROTATE_STEP);
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
case GLUT_KEY_DOWN:
session->BeginEdit();
session->renderConfig->scene->camera->RotateDown(ROTATE_STEP);
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
case GLUT_KEY_LEFT:
session->BeginEdit();
session->renderConfig->scene->camera->RotateLeft(ROTATE_STEP);
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
case GLUT_KEY_RIGHT:
session->BeginEdit();
session->renderConfig->scene->camera->RotateRight(ROTATE_STEP);
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
default:
break;
}
displayFunc();
}
void calc_and_publish_BWMask(const ros::Time time_stamp, const std::string frame_id)
{
robmod->updateRobotLinks(time_stamp);
#ifdef USE_GLUT_RENDERING
glutPostRedisplay();
glutMainLoopEvent();
#else
displayFunc();
#endif // USE_GLUT_RENDERING
cvCvtColor(ipl_maskBGRA, ipl_maskBW, CV_BGRA2GRAY);
cvFlip(ipl_maskBW);
if (inverted)
cvNot(ipl_maskBW,ipl_maskBW);
if(publish_mask){
sensor_msgs::ImagePtr img_msg = sensor_msgs::CvBridge::cvToImgMsg(ipl_maskBW);
img_msg->header.frame_id = frame_id;
img_msg->header.stamp = time_stamp;
mask_publisher.publish(img_msg);
}
}
static void motionFunc(int x, int y) {
const double minInterval = 0.2;
if (mouseButton0) {
// Check elapsed time since last update
if (WallClockTime() - lastMouseUpdate > minInterval) {
const int distX = x - mouseGrabLastX;
const int distY = y - mouseGrabLastY;
session->BeginEdit();
if (mouseGrabMode) {
session->renderConfig->scene->camera->RotateUp(0.04f * distY * ROTATE_STEP);
session->renderConfig->scene->camera->RotateLeft(0.04f * distX * ROTATE_STEP);
}
else {
session->renderConfig->scene->camera->RotateDown(0.04f * distY * ROTATE_STEP);
session->renderConfig->scene->camera->RotateRight(0.04f * distX * ROTATE_STEP);
};
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
mouseGrabLastX = x;
mouseGrabLastY = y;
displayFunc();
lastMouseUpdate = WallClockTime();
}
} else if (mouseButton2) {
// Check elapsed time since last update
if (WallClockTime() - lastMouseUpdate > minInterval) {
const int distX = x - mouseGrabLastX;
const int distY = y - mouseGrabLastY;
session->BeginEdit();
if (mouseGrabMode) {
session->renderConfig->scene->camera->TranslateLeft(0.04f * distX * MOVE_STEP);
session->renderConfig->scene->camera->TranslateForward(0.04f * distY * MOVE_STEP);
}
else {
session->renderConfig->scene->camera->TranslateRight(0.04f * distX * MOVE_STEP);
session->renderConfig->scene->camera->TranslateBackward(0.04f * distY * MOVE_STEP);
}
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
mouseGrabLastX = x;
mouseGrabLastY = y;
displayFunc();
lastMouseUpdate = WallClockTime();
}
}
}
void keyFunc(unsigned char key, int x, int y) {
switch (key) {
case 'p': {
session->SaveFilmImage();
break;
}
case 27: { // Escape key
delete session;
SLG_LOG("Done.");
exit(EXIT_SUCCESS);
break;
}
case ' ': // Restart rendering
session->Stop();
session->Start();
break;
case 'a': {
session->BeginEdit();
session->renderConfig->scene->camera->TranslateLeft(MOVE_STEP);
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
}
case 'd': {
session->BeginEdit();
session->renderConfig->scene->camera->TranslateRight(MOVE_STEP);
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
}
case 'w': {
session->BeginEdit();
session->renderConfig->scene->camera->TranslateForward(MOVE_STEP);
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
}
case 's': {
session->BeginEdit();
session->renderConfig->scene->camera->TranslateBackward(MOVE_STEP);
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
}
case 'r':
session->BeginEdit();
session->renderConfig->scene->camera->Translate(Vector(0.f, 0.f, MOVE_STEP));
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
case 'f':
session->BeginEdit();
session->renderConfig->scene->camera->Translate(Vector(0.f, 0.f, -MOVE_STEP));
session->renderConfig->scene->camera->Update(
session->film->GetWidth(), session->film->GetHeight());
session->editActions.AddAction(CAMERA_EDIT);
session->EndEdit();
break;
case 'h':
OSDPrintHelp = (!OSDPrintHelp);
break;
case 'n': {
const unsigned int screenRefreshInterval = session->renderConfig->GetScreenRefreshInterval();
if (screenRefreshInterval > 1000)
session->renderConfig->SetScreenRefreshInterval(max(1000u, screenRefreshInterval - 1000));
else
session->renderConfig->SetScreenRefreshInterval(max(50u, screenRefreshInterval - 50));
break;
}
case 'm': {
const unsigned int screenRefreshInterval = session->renderConfig->GetScreenRefreshInterval();
if (screenRefreshInterval >= 1000)
session->renderConfig->SetScreenRefreshInterval(screenRefreshInterval + 1000);
else
session->renderConfig->SetScreenRefreshInterval(screenRefreshInterval + 50);
break;
}
case 't':
// Toggle tonemap type
if (session->film->GetToneMapParams()->GetType() == TONEMAP_LINEAR) {
Reinhard02ToneMapParams params;
session->film->SetToneMapParams(params);
} else {
LinearToneMapParams params;
session->film->SetToneMapParams(params);
}
break;
/*case '0':
config->SetRenderingEngineType(PATHOCL);
glutTimerFunc(config->GetScreenRefreshInterval(), timerFunc, 0);
break;*/
case 'o': {
#if defined(WIN32)
std::wstring ws;
ws.assign(SLG_LABEL.begin (), SLG_LABEL.end());
HWND hWnd = FindWindowW(NULL, ws.c_str());
if (GetWindowLongPtr(hWnd, GWL_EXSTYLE) & WS_EX_TOPMOST)
SetWindowPos(hWnd, HWND_NOTOPMOST, NULL, NULL, NULL, NULL, SWP_NOMOVE | SWP_NOSIZE);
else
SetWindowPos(hWnd, HWND_TOPMOST, NULL, NULL, NULL, NULL, SWP_NOMOVE | SWP_NOSIZE);
#endif
break;
}
default:
break;
}
displayFunc();
}
int main(int argc,char** argv)
{
displayFunc(hProfileStd,0.001, 30,"STD");
displayFunc(hProfileEinasto,0.001, 30,"Einasto");
}
