/**
* Callback used for menu events.
*/
void menuEvent(int id) {
switch (id) {
case MENU_NORMAL_MODE:
printf("Entering normal mode...\n");
// robot->clearSelect();
break;
case MENU_ZOOM_MODE:
printf("Entering zoom mode...\n");
// robot->clearSelect();
break;
case MENU_PAN_MODE:
printf("Entering pan mode...\n");
// robot->clearSelect();
break;
case MENU_LOAD_POSE: {
printf("Loading pose from pose.dat...\n");
Keyframe k;
SerialFile f("pose.dat", "rb");
k.readFromFile(f.getPointer());
f.close();
aClip.setFrameAt(aClip.getCurrentFrameIndex(), k);
robot->getRobotFromKeyframe(&k);
id = MENU_NORMAL_MODE;
break;
}
case MENU_SAVE_POSE: {
printf("Saving pose from pose.dat...\n");
Keyframe k;
k.getKeyframeFromRobot(robot);
SerialFile f("pose.dat", "wb");
k.writeToFile(f.getPointer());
f.close();
id = MENU_NORMAL_MODE;
break;
}
case MENU_SAVE_ANIM: {
SerialFile f("anim.dat", "wb");
aClip.writeToFile(f.getPointer());
f.close();
id = MENU_NORMAL_MODE;
break;
}
case MENU_LOAD_ANIM: {
SerialFile f("anim.dat", "rb");
aClip.readFromFile(f.getPointer());
f.close();
id = MENU_NORMAL_MODE;
break;
}
case MENU_HEAD:
printf("Entering head editing...\n");
// robot->setSelected("HEAD");
break;
case MENU_NECK:
printf("Entering neck editing...\n");
// robot->setSelected("NECK");
break;
case MENU_UPPER_TORSO:
printf("Entering upper torso editing...\n");
// robot->setSelected("UPPER_TORSO");
break;
case MENU_LOWER_TORSO:
printf("Entering lower torso editing...\n");
// robot->setSelected("LOWER_TORSO");
break;
case MENU_PELVIS:
printf("Entering pelvis editing...\n");
// robot->setSelected("PELVIS");
break;
case MENU_LEFT_SHOULDER:
printf("Entering left shoulder editing...\n");
// robot->setSelected("LEFT_SHOULDER");
break;
case MENU_LEFT_UPPER_ARM:
printf("Entering left upper arm editing...\n");
// robot->setSelected("LEFT_UPPER_ARM");
break;
case MENU_LEFT_LOWER_ARM:
printf("Entering left lower arm editing...\n");
// robot->setSelected("LEFT_LOWER_ARM");
break;
case MENU_LEFT_HAND:
printf("Entering left hand editing...\n");
// robot->setSelected("LEFT_HAND");
break;
case MENU_RIGHT_SHOULDER:
printf("Entering right shoulder editing...\n");
// robot->setSelected("RIGHT_SHOULDER");
break;
case MENU_RIGHT_UPPER_ARM:
printf("Entering right upper arm editing...\n");
// robot->setSelected("RIGHT_UPPER_ARM");
break;
case MENU_RIGHT_LOWER_ARM:
printf("Entering right lower arm editing...\n");
// robot->setSelected("RIGHT_LOWER_ARM");
break;
case MENU_RIGHT_HAND:
printf("Entering right hand editing...\n");
// robot->setSelected("RIGHT_HAND");
break;
case MENU_LEFT_UPPER_LEG:
printf("Entering left upper leg editing...\n");
// robot->setSelected("LEFT_UPPER_LEG");
break;
case MENU_LEFT_LOWER_LEG:
printf("Entering left lower leg editing...\n");
// robot->setSelected("LEFT_LOWER_LEG");
break;
case MENU_LEFT_FOOT:
printf("Entering left foot editing...\n");
// robot->setSelected("LEFT_FOOT");
break;
case MENU_RIGHT_UPPER_LEG:
printf("Entering right upper leg editing...\n");
// robot->setSelected("RIGHT_UPPER_LEG");
break;
case MENU_RIGHT_LOWER_LEG:
printf("Entering right lower leg editing...\n");
// robot->setSelected("RIGHT_LOWER_LEG");
break;
case MENU_RIGHT_FOOT:
printf("Entering right foot editing...\n");
// robot->setSelected("RIGHT_FOOT");
break;
default: // Exit on unknown state
printf("ERROR: Unknown menu state <%i>\n", id);
return;
}
// Update the mode to reflect the changes
currentMode = id;
}
/**
* Callback for mouse movement events.
*/
void mouseMoveEvent(int x, int y) {
if (isPressed) {
int changeInX = x - oldX;
int changeInY = y - oldY;
// If shift is being held, do something special
if (glutGetModifiers() == GLUT_ACTIVE_SHIFT) {
if (changeInX > 0) {
aClip.incrementFrame(false);
} else if (changeInX < 0) {
aClip.decrementFrame(true);
}
oldX = x;
oldY = y;
glutPostRedisplay();
return;
}
// Check to see what kind of event should take place
switch (currentMode) {
case MENU_NORMAL_MODE:
camera.rotateRight(changeInX);
camera.rotateUp(changeInY);
break;
case MENU_ZOOM_MODE:
if (changeInY > 0)
camera.zoomIn(0.01f);
if (changeInY < 0)
camera.zoomOut(0.01f);
break;
case MENU_PAN_MODE:
camera.panRight(changeInX);
break;
case MENU_HEAD:
robot->setAngle("HEAD",
robot->getAngleH("HEAD") + changeInY,
robot->getAngleV("HEAD") + changeInX);
break;
case MENU_NECK:
robot->setAngle("NECK",
robot->getAngleH("NECK") + changeInY,
robot->getAngleV("NECK") + changeInX);
break;
case MENU_UPPER_TORSO:
robot->setAngle("UPPER_TORSO",
robot->getAngleH("UPPER_TORSO") + changeInY,
robot->getAngleV("UPPER_TORSO") + changeInX);
break;
case MENU_LOWER_TORSO:
robot->setAngle("LOWER_TORSO",
robot->getAngleH("LOWER_TORSO") + changeInY,
robot->getAngleV("LOWER_TORSO") + changeInX);
break;
case MENU_PELVIS:
robot->setAngle("PELVIS",
robot->getAngleH("PELVIS") + changeInY,
robot->getAngleV("PELVIS") + changeInX);
break;
case MENU_LEFT_SHOULDER:
robot->setAngle("LEFT_SHOULDER",
robot->getAngleH("LEFT_SHOULDER") + changeInY,
robot->getAngleV("LEFT_SHOULDER") + changeInX);
break;
case MENU_LEFT_UPPER_ARM:
robot->setAngle("LEFT_UPPER_ARM",
robot->getAngleH("LEFT_UPPER_ARM") + changeInY,
robot->getAngleV("LEFT_UPPER_ARM") + changeInX);
break;
case MENU_LEFT_LOWER_ARM:
robot->setAngle("LEFT_LOWER_ARM",
robot->getAngleH("LEFT_LOWER_ARM") + changeInY,
robot->getAngleV("LEFT_LOWER_ARM") + changeInX);
break;
case MENU_LEFT_HAND:
robot->setAngle("LEFT_HAND",
robot->getAngleH("LEFT_HAND") + changeInY,
robot->getAngleV("LEFT_HAND") + changeInX);
break;
case MENU_RIGHT_SHOULDER:
robot->setAngle("RIGHT_SHOULDER",
robot->getAngleH("RIGHT_SHOULDER") + changeInY,
robot->getAngleV("RIGHT_SHOULDER") + changeInX);
break;
case MENU_RIGHT_UPPER_ARM:
robot->setAngle("RIGHT_UPPER_ARM",
robot->getAngleH("RIGHT_UPPER_ARM") + changeInY,
robot->getAngleV("RIGHT_UPPER_ARM") + changeInX);
break;
case MENU_RIGHT_LOWER_ARM:
robot->setAngle("RIGHT_LOWER_ARM",
robot->getAngleH("RIGHT_LOWER_ARM") + changeInY,
robot->getAngleV("RIGHT_LOWER_ARM") + changeInX);
break;
case MENU_RIGHT_HAND:
robot->setAngle("RIGHT_HAND",
robot->getAngleH("RIGHT_HAND") + changeInY,
robot->getAngleV("RIGHT_HAND") + changeInX);
break;
case MENU_LEFT_UPPER_LEG:
robot->setAngle("LEFT_UPPER_LEG",
robot->getAngleH("LEFT_UPPER_LEG") + changeInY,
robot->getAngleV("LEFT_UPPER_LEG") + changeInX);
break;
case MENU_LEFT_LOWER_LEG:
robot->setAngle("LEFT_LOWER_LEG",
robot->getAngleH("LEFT_LOWER_LEG") + changeInY,
robot->getAngleV("LEFT_LOWER_LEG") + changeInX);
break;
case MENU_LEFT_FOOT:
robot->setAngle("LEFT_FOOT",
robot->getAngleH("LEFT_FOOT") + changeInY,
robot->getAngleV("LEFT_FOOT") + changeInX);
break;
case MENU_RIGHT_UPPER_LEG:
robot->setAngle("RIGHT_UPPER_LEG",
robot->getAngleH("RIGHT_UPPER_LEG") + changeInY,
robot->getAngleV("RIGHT_UPPER_LEG") + changeInX);
break;
case MENU_RIGHT_LOWER_LEG:
robot->setAngle("RIGHT_LOWER_LEG",
robot->getAngleH("RIGHT_LOWER_LEG") + changeInY,
robot->getAngleV("RIGHT_LOWER_LEG") + changeInX);
break;
case MENU_RIGHT_FOOT:
robot->setAngle("RIGHT_FOOT",
robot->getAngleH("RIGHT_FOOT") + changeInY,
robot->getAngleV("RIGHT_FOOT") + changeInX);
break;
default: // Exit on unknown state
printf("ERROR: Unknown menu state <%i> in motion!\n", currentMode);
return;
}
Keyframe k_;
k_.getKeyframeFromRobot(robot);
aClip.setFrameAt(aClip.getCurrentFrameIndex(), k_);
oldX = x;
oldY = y;
glutPostRedisplay();
}
}
