void ofxIndustrialRobotVisualizer::drawGeneric(){
//Base
ofSetColor(0, 255, 255);
glTranslated(0, -25, 0);
//ofxBox(ofxVec3f(0,25,0), ofxVec3f(200, 50, 200));
//model.draw();
ofSetColor(255, 0, 0);
glPushMatrix();
glScaled(1.0, -1.0, 1.0);
ofSetColor(255, 255, 255);
// model.draw();
glPopMatrix();
// ofxSphere(ofxVec3f(0,0,0), ofxVec3f(200, 200, 200));
glRotated(180, 0.0, 0.0, -1.0);
glPushMatrix();
glScaled(1.0, 1.0, -1.0);
// glScaled(0.1, 0.1, 0.1);
drawArm0();
drawArm1();
drawArm2();
drawArm3();
drawArm4();
//Draw tool
ofSetColor(255, 0, 0);
float l = helper->getTool()->l; //The length of the tool
ofxVec3f rotation = helper->getTool()->getRotation();
glRotated(rotation.z, 0.0, 0.0, 1.0);
ofxBox(ofxVec3f(helper->getTool()->h/2.0,l/2,0), ofxVec3f(helper->getTool()->h, l, helper->getTool()->w), ofxVec3f(0.0, 0.0, 0.0));
// ofxVec3f axis = helper->getAxis(i); //The axis the arm rotates around
// ofxVec3f offset = helper->getOffset(i);
// glRotated(helper->getRotationAngle(i), axis.x, axis.y, axis.z); // Rotate it around the axis
// glTranslated(0, l, 0);
// ofxBox(ofxVec3f(0,-l/2.0,0), ofxVec3f(60, l, 60), ofxVec3f(0.0, 0.0, 0.0));
// glTranslated(-offset.y, offset.x, offset.z);
glPopMatrix();
glScaled(1.0, 1.0, -1.0);
//Target
glRotated(180, 0.0, 1.0, 0.0);
ofSetColor(255, 0, 0);
ofxSphere(controller->targetPosition, ofxVec3f(20, 20, 20));
glBegin(GL_LINE_STRIP);
glVertex3d(controller->targetPosition.x, controller->targetPosition.y, controller->targetPosition.z);
ofxVec3f temp = controller->targetPosition+ controller->targetDir*500.0;
glVertex3d(temp.x,temp.y, temp.z);
glEnd();
glPushMatrix();
ofSetColor(0, 255, 0);
for(int i=0;i<timeline->numberPositionCues(); i++){
ofxVec3f vec = timeline->getPositionCue(i)->position;
ofxSphere(vec, ofxVec3f(10, 10, 10));
}
timeline->spline.drawRaw(10, 5);
ofSetColor(255, 255, 0, 100);
timeline->spline.drawSmooth(50, 0, 10);
glLineWidth(1);
ofSetColor(255, 255, 255, 255);
ofFill();
// glDisable(GL_DEPTH_TEST);
/* glBegin(GL_POLYGON);
for(int i=0;i<3;i++){
glVertex3f(plotter->spaceDefinition[i].x,plotter->spaceDefinition[i].y,plotter->spaceDefinition[i].z);
}
glVertex3f(plotter->fourthCorner().x,plotter->fourthCorner().y,plotter->fourthCorner().z);
glEnd();
*/
for(int i=0;i<plotter->lines.size();i++){
glBegin(GL_LINE_STRIP);
ofxVec3f x = (plotter->spaceDefinition[1]-plotter->spaceDefinition[0]).normalized();
ofxVec3f y = (plotter->spaceDefinition[2]-plotter->spaceDefinition[1]).normalized();
for(int u=0;u<plotter->lines[i].size();u++){
ofxVec3f point = x * plotter->lines[i][u].x + y * plotter->lines[i][u].y + plotter->spaceDefinition[0];
glVertex3f(point.x,point.y,point.z);
}
glEnd();
}
glPopMatrix();
}
void drawGuy1(void)
{
mvstack.push(model_view);
if (TIME >= 3 && TIME < 4)
{
model_view *= RotateY(-135 + TIME*45);
drawHead1();
}
else if(TIME >=4 && TIME < 5)
{
model_view *= RotateY(45);
model_view *= RotateY(180 - TIME*45);
drawHead1();
}
else
drawHead1();
model_view = mvstack.pop();
mvstack.push(model_view);
drawTorso1();
model_view = mvstack.pop();
// banana arm
mvstack.push(model_view);
if (TIME < 3)
{
model_view *= RotateX(-(17*3)+TIME*17);
}
else if (TIME >= 3 && TIME < 4)
{
model_view *= RotateX(17);
model_view *= RotateX(36 - TIME*12);
}
else if( TIME >= 4 && TIME < 10)
{
model_view *= RotateX(20*sin(3*TIME));
}
else if (TIME >= 10 && TIME < 10.5)
{
model_view *= RotateX(959 - TIME*102);
}
else if (TIME >= 10.5 && TIME < 16)
{
model_view *= RotateY(30*sin(5*TIME));
model_view *= RotateX(-45);
}
else if (TIME >= 17 && TIME < 17.5)
{
model_view *= RotateX(80*sin(20*TIME));
}
drawArm1();
model_view = mvstack.pop();
//static arm
mvstack.push(model_view);
if( TIME >= 4 && TIME < 10)
{
model_view *= RotateX(-20*sin(3*TIME));
}
drawTopArm1Right();
model_view = mvstack.pop();
//legs
//LEG1
mvstack.push(model_view);
if (TIME > 5 && TIME < 9)
{
model_view *= RotateX(5*sin(5*TIME));
}
else if (TIME >= 16.5 && TIME < 17)
{
model_view *= RotateX(5*sin(5*TIME));
}
mvstack.push(model_view);
set_colour(.8, .8, .8);
model_view *= Translate(-.25, -2.5, 0);
model_view *= RotateX(180);
//model_view *= RotateX(5+sin(2*TIME));
drawLegPart1();
model_view *= Translate(0, .9, 0);
model_view *= Scale (.2, .2, .2);
drawSphere();
model_view = mvstack.pop();
//LOWERLEG 1
mvstack.push(model_view);
set_colour(.8, .8, .8);
model_view *= Translate(-.25, -4.32, 0);
if (TIME > 5 && TIME < 9)
model_view *= RotateX(5*sin(5*TIME));
else if (TIME >= 16.5 && TIME < 17)
{
model_view *= RotateX(5*sin(5*TIME));
}
drawLegPart2();
model_view = mvstack.pop();
model_view = mvstack.pop();
//LEG2
mvstack.push(model_view);
if (TIME > 5 && TIME < 9)
{
model_view *= RotateX(-5*sin(5*TIME));
}
else if (TIME >= 16.5 && TIME < 17)
{
model_view *= RotateX(-5*sin(5*TIME));
}
mvstack.push(model_view);
set_colour(.8, .8, .8);
model_view *= Translate(.25, -2.5, 0);
model_view *= RotateX(180);
drawLegPart1();
model_view *= Translate(0, .9, 0);
model_view *= Scale (.2, .2, .2);
drawSphere();
model_view = mvstack.pop();
//LOWER LEG 2
mvstack.push(model_view);
set_colour(.8, .8, .8);
model_view *= Translate(.25, -4.32, 0);
if (TIME > 5 && TIME < 9)
model_view *= RotateX(-5*sin(5*TIME));
else if (TIME >= 16.5 && TIME < 17)
{
model_view *= RotateX(-5*sin(5*TIME));
}
drawLegPart2();
model_view = mvstack.pop();
model_view = mvstack.pop();
}
