void MakeLists(void)
{
HorizontalList = glGenLists(1);
glNewList(HorizontalList, GL_COMPILE);
{
float line1 = 25.0/180,
line2 = 35.0/180,
line3 = 45.0/180;
glColor3f(0, 0, 0.7);
glPushAttrib(GL_ENABLE_BIT);
glEnable(GL_LINE_STIPPLE);
glBegin(GL_LINES);
glVertex3f(0, 0, 0.5);
glVertex3f(1, 0, 0.5);
glVertex3f(0, line1, 0.5); glVertex3f(1, line1, 0.5);
glVertex3f(0, -line1, 0.5); glVertex3f(1, -line1, 0.5);
glVertex3f(0, line2, 0.5); glVertex3f(1, line2, 0.5);
glVertex3f(0, -line2, 0.5); glVertex3f(1, -line2, 0.5);
glVertex3f(0, line3, 0.5); glVertex3f(1, line3, 0.5);
glVertex3f(0, -line3, 0.5); glVertex3f(1, -line3, 0.5);
glEnd();
glPopAttrib();
}
glEndList();
CurveLists = glGenLists(NUM_JOINTS);
assert(CurveLists != 0);
ControlPtsLists = glGenLists(NUM_JOINTS);
assert(ControlPtsLists != 0);
ComputeCSetAndMakeLists();
}
void CurveHandleMenu(int value)
{
switch (value) {
case CMENU_QUIT:
exit(0);
break;
case CMENU_CURVE:
CurveAsPoints = !CurveAsPoints;
glutPostRedisplay();
break;
case CMENU_HORIZ:
DrawHorizontals = !DrawHorizontals;
glutPostRedisplay();
break;
case CMENU_WALK:
if (EditingCurve != -1)
break;
Walking = !Walking;
if (Walking) {
agvSetAllowIdle(0);
glutIdleFunc(IncrementStep);
} else {
agvSetAllowIdle(1);
}
break;
case CMENU_DONEEDIT:
glutMouseFunc(CurveHandleButton);
EditingCurve = -1;
CurvePickedPoint = -1;
Walking = WasWalking;
if (Walking)
glutIdleFunc(IncrementStep);
else
agvSetAllowIdle(1);
glutPostRedisplay();
break;
case CMENU_RESET:
FlatCSet();
ComputeCSetAndMakeLists();
glutPostRedisplay();
break;
case CMENU_MIRROR:
MirrorLegs = !MirrorLegs;
ComputeCSetAndMakeLists();
glutPostRedisplay();
}
}
void HandleSaveMenu(int cset)
{
char filename[MAX_CSETNAMELEN + CSET_EXTLEN + 1];
(void)strcpy(filename, CSetNames[cset]);
(void)strcat(filename, CSET_EXT);
WriteCSetToFile(filename);
ComputeCSetAndMakeLists();
RedisplayBoth();
}
void HandleLoadMenu(int cset)
{
char filename[MAX_CSETNAMELEN + CSET_EXTLEN + 1];
if (cset == -1) {
MakeLoadAndSaveMenus();
CurveMenuInit();
} else {
(void)strcpy(filename, CSetNames[cset]);
(void)strcat(filename, CSET_EXT);
if (ReadCSetFromFile(filename) == 0) {
glutSetMenu(SaveMenu);
glutChangeToMenuEntry(1, CSetNames[cset], cset);
ComputeCSetAndMakeLists();
SetWindowTitles(CSetNames[cset]);
RedisplayBoth();
}
}
}
void motion(char *file){
if(ReadCSetFromFile(file) == 0)
ComputeCSetAndMakeLists();
}
