void CViewer::SetNextMode()
{
m_iMode++;
m_iMode %= 3;
InitMode();
}
void CViewer::SetMode(EModes _eMode)
{
int l_iPreviousMode = m_iMode;
m_iMode = _eMode;
if(l_iPreviousMode != m_iMode)
InitMode();
}
bool CGameApp::InitInstance()
{
// Register the window class and create the window
WNDCLASS wc = {CS_OWNDC | CS_VREDRAW | CS_HREDRAW, (WNDPROC)WindowProc, 0, 0, m_hInstance, LoadIcon(m_hInstance, MAKEINTRESOURCE(IDR_APPLICATION)), LoadCursor((HINSTANCE)NULL, IDC_ARROW), (HBRUSH)GetStockObject(BLACK_BRUSH), MAKEINTRESOURCE(IDR_APPLICATION), m_szAppName};
if(!RegisterClass(&wc))
{
MessageBox("Unable to register window class, aborting.");
return false;
}
return InitMode(false, 640, 480);
}
void CViewer::NextMaterialProperty()
{
switch(m_eCurrentMaterialProperty)
{
case (CViewer::SPECULAR):
m_eCurrentMaterialProperty = CViewer::GLOSSINESS;
break;
case (CViewer::GLOSSINESS):
m_eCurrentMaterialProperty = CViewer::GLOW;
break;
case (CViewer::GLOW):
m_eCurrentMaterialProperty = CViewer::SPECULAR;
break;
default:
break;
}
InitMode();
}
void DefineEEMacros (void) {
unsigned int sequence = 0;
unsigned int prevStart;
PWM_Set (0, 0, 0, 0);
Seq_Find(sequence);
prevStart = ReadWord(STARTSEQADD);
if (prevStart == PLAYMACROS) prevStart = 0;
do {
PlaySequence(sequence);
if (PushButtons_Pressed(BUTTON1)) {
// advance to next sequence
PWM_Set (0, 0, 0, 0);
PushButtons_Clear(BUTTON1);
sequence++;
if (sequence >= Seq_Count()) sequence = 0;
Seq_Find(sequence);
}
if (PushButtons_Pressed(BUTTON2)) {
// add sequence to EEPROM
PWM_Set (0, 0, 0, 0);
PushButtons_Clear(BUTTON2);
if (Macros_Add(sequence)) {
ConfirmCommand();
} else Error();
}
} while (!PushButtons_Held(BUTTON2));
PushButtons_Clear(BUTTON2);
if (Macros_Count() != 0) {
WriteWord(STARTSEQADD, PLAYMACROS); // enable macro playback
} else {
// restore previous playback mode
WriteWord(STARTSEQADD, prevStart); // enable normal playback
}
ConfirmCommand();
ConfirmCommand();
InitMode();
}
bool CViewer::ExecuteAction(float _fDeltaSeconds, float _fDelta, const char* _pcAction)
{
if(strcmp(_pcAction, "setNextMode") == 0)
{
SetNextMode();
return true;
}
if(strcmp(_pcAction, "showNormals") == 0)
{
//ToggleNormalRendering();
return true;
}
if(strcmp(_pcAction, "toggleMENU") == 0)
{
ToggleInfo();
return true;
}
if(strcmp(_pcAction, "SetLightsONOFF") == 0)
{
ToggleLights();
return true;
}
if(strcmp(_pcAction, "ReloadLights") == 0)
{
CORE->GetLightManager()->Reload();
m_pObjectModeLight = CORE->GetLightManager()->CreateDirectionalLight("ObjectModeLight",
Vect3f(0.0f),
Vect3f(1.0f,1.0f,1.0f),
CColor(Vect3f(1.0f,1.0f,1.0f)),
50.0f,
80.0f,
false);
InitMode();
return true;
}
if(strcmp(_pcAction, "Yaw") == 0)
{
m_vMouseDelta.x = (int)_fDelta;
return true;
}
if(strcmp(_pcAction, "Pitch") == 0)
{
m_vMouseDelta.y = (int)_fDelta;
return true;
}
if(strcmp(_pcAction, "SetNextMaterial") == 0)
{
NextMaterialProperty();
return true;
}
if(strcmp(_pcAction, "Change Lightmap Mode") == 0)
{
/*switch(m_eLightmapMode)
{
case CMaterial::FLAT : m_eLightmapMode = CMaterial::RADIOSITY_NORMAL ; break;
case CMaterial::RADIOSITY_NORMAL: m_eLightmapMode = CMaterial::SHOW_R ; break;
case CMaterial::SHOW_R : m_eLightmapMode = CMaterial::SHOW_G ; break;
case CMaterial::SHOW_G : m_eLightmapMode = CMaterial::SHOW_B ; break;
case CMaterial::SHOW_B : m_eLightmapMode = CMaterial::FLAT ; break;
};*/
/*switch(m_eLightmapMode)
{
case CMaterial::FLAT : m_eLightmapMode = CMaterial::RADIOSITY_NORMAL ; break;
case CMaterial::RADIOSITY_NORMAL: m_eLightmapMode = CMaterial::FLAT ; break;
};
vector<CRenderableObject*>::iterator l_it = m_vMeshes.begin();
vector<CRenderableObject*>::iterator l_end = m_vMeshes.end();
for(; l_it != l_end; ++l_it)
{
CInstanceMesh* l_pRenderMesh = (CInstanceMesh*)(*l_it);
const vector<CMaterial*>& l_vMaterials = l_pRenderMesh->GetStaticMesh()->GetMaterials();
vector<CMaterial*>::const_iterator l_itMat = l_vMaterials.cbegin();
vector<CMaterial*>::const_iterator l_endMat = l_vMaterials.cend();
for(; l_itMat != l_endMat; ++l_itMat)
{
(*l_itMat)->ActivateRadiosityNormal(m_eLightmapMode);
}
}*/
return true;
}
switch(m_iMode) {
case FREE_MODE:
return ExecuteFreeModeAction(_fDeltaSeconds,_fDelta,_pcAction);
break;
case MESH_MODE:
return ExecuteMeshModeAction(_fDeltaSeconds,_fDelta,_pcAction);
break;
case ANIMATED_MODE:
return ExecuteAnimatedModeAction(_fDeltaSeconds,_fDelta,_pcAction);
break;
default:
break;
}
return false;
}
void CViewer::Init()
{
m_vMeshes = CORE->GetRenderableObjectsManager()->GetMeshes();
m_vAnimatedModels = CORE->GetRenderableObjectsManager()->GetAnimatedModels();
sort(m_vMeshes.begin(),m_vMeshes.end(),SortRenderableObjectByName);
sort(m_vAnimatedModels.begin(),m_vAnimatedModels.end(),SortRenderableObjectByName);
m_itCurrentMesh = m_vMeshes.begin();
m_itCurrentAnimated = m_vAnimatedModels.begin();
m_pCharacter = 0;
m_fInitialCharacterYaw = 0.0f;
if(m_vAnimatedModels.size() > 0)
{
m_pCharacter = (CRenderableAnimatedInstanceModel*)m_vAnimatedModels[0];
m_fInitialCharacterYaw = m_pCharacter->GetYaw();
//m_pCharacter->GetAnimatedInstanceModel()->ClearCycle(0);
m_iCurrentAnimation = 0;
m_pCharacter->GetAnimatedInstanceModel()->BlendCycle(0,0);
}
m_pTargetObject = new CObject3D();
m_pTargetObject->SetPosition(Vect3f(0.0f,0.0f,0.0f));
m_pObjectCamera = new CShoulderCamera(
0.1f,
100.0f,
55.0f * FLOAT_PI_VALUE/180.0f,
((float)RENDER_MANAGER->GetScreenWidth())/((float)RENDER_MANAGER->GetScreenHeight()),
m_pTargetObject,
2.0f,0.6f,1.5f);
m_pObjectModeLight = 0;
//m_pSpotLight = 0;
//m_pObjectModeLight->SetDynamicObjectsOnly(true);
//m_pSpotLight = CORE->GetLightManager()->CreateSpotLight("FreeModeLight",
// Vect3f(-2.15715f,0.0f,-7.32758f),
// Vect3f(-5.4188f,0.0f,3.75613f),
// CColor(Vect3f(1.0f,1.0f,1.0f)),
// 20.0f,
// 80.0f,
// 10.0f,
// 45.0f,
// false );
//m_vOmniColor = Vect3f(1.0f,1.0f,1.0f);
//m_pOmniLight = CORE->GetLightManager()->CreateOmniLight("OmniViewerLight",Vect3f(0.0f),CColor(m_vOmniColor),0.1f,17.0f);
//CSceneEffectManager* l_pSceneEffectManager = CORE->GetSceneEffectManager();
//if(l_pSceneEffectManager)
//{
// l_pSceneEffectManager->SetShadowMapLightCast(m_pSpotLight);
//}
//m_vAmbientLight = CORE->GetLightManager()->GetAmbientLight();
m_bEnableLights = true;
//m_bGuiActive = false;
m_bShowInfo = true;
//m_eNormalRendering = NO_NORMALS;
m_bShowBoxes = false;
m_bShowSpheres = false;
//materials
//m_eLightmapMode = CMaterial::RADIOSITY_NORMAL;
m_fGlowIntensity = 0.0f;
m_fGlowIntensity = 0.0f;
m_fGlossiness = 0.0f;
m_iMode = FREE_MODE;
m_eCurrentMaterialProperty = CViewer::SPECULAR;
//SOUND_MANAGER->PlayMusic("bgm",true);
m_vMouseDelta = 0;
ResetActions();
InitMode();
}
void *threadProp(void *param){
int i=0;
int cpt = 0;
int dist_Sonar;
static int u = 0;
#ifdef THREAD_PROP
eSta prevOrder;
eTypeCmd prevTyp_Cmd = STATE;
#endif
InitMode(3);
InitEncoder();
InitAcc(2);
pthread_mutex_lock(&mtx_order);
order = STP;
prevOrder = order;
pthread_mutex_unlock(&mtx_order);
while(1){
// Update distSonar
pthread_mutex_lock(&mtx_distSonar);
dist_Sonar = distSonar;
pthread_mutex_unlock(&mtx_distSonar);
pthread_mutex_lock(&mtx_order);
pthread_mutex_unlock(&mtx_typ_Cmd);
//printf("order = %s\n"
// "typ_Cmd = %s\n",dspl_eSta(order), dspl_eTypeCmd(typ_Cmd));
#ifdef THREAD_PROP
if( (order != prevOrder) || (typ_Cmd != prevTyp_Cmd)){
printf("order = %s\n"
"typ_Cmd = %s\n",dspl_eSta(order), dspl_eTypeCmd(typ_Cmd));
prevOrder = order;
prevTyp_Cmd = typ_Cmd;
}
#endif
//printf("distSonar = %d, \t DIST_MIN_SONAR = %d\n", distSonar, DIST_MIN_SONAR);
// if there is an obstacl
if(dist_Sonar < DIST_MIN_SONAR){
prevOrder = order;
order = STP;
cpt = 1;
}
else if(cpt == 1){
order = prevOrder;
cpt = 0;
}
// Stop Rover if obstacl or press Stop button or command stop
if(order == STP){
#ifdef THREAD_PROP
if(u != 1){
printf("----Rover stop\n");
}
u = 1;
#endif
stopRover();
}
else if(order == MVT && typ_Cmd == TRAJ){
#ifdef THREAD_PROP
if(u != 2){
printf("----Rover is moving to point\n");
}
u = 2;
#endif
pthread_mutex_lock(&mtx_position);
if(followTraj((sPt)position.pt) == 1) order = STP;
pthread_mutex_unlock(&mtx_position);
}
else if(order == MVT && typ_Cmd == POS){
#ifdef THREAD_PROP
if(u != 3){
printf("----Rover is moving to point and is turnning following angl\n");
}
u = 3;
#endif
pthread_mutex_lock(&mtx_position);
if(followTraj((sPt)position.pt) == 1) order = STP;
rotOnPt(position.ang);
pthread_mutex_unlock(&mtx_position);
}
else if(order == MVT && (typ_Cmd != TRAJ || typ_Cmd != POS)){
#ifdef THREAD_PROP
if(u != 4){
printf("----Rover is following points\n");
}
u = 4;
#endif
if(followTraj(tabTraj[i])==1){
if(i==(N-1))i=0;
else i++;
}
}
pthread_mutex_unlock(&mtx_order);
pthread_mutex_unlock(&mtx_typ_Cmd);
}
}
