void SimpleCameraModel::plotKeyframe(float t) {
// Iterate over list of model properties
PropertyList* props = properties.getProperties();
for (PropertyList::iterator iter = props->begin();
iter != props->end();
iter++) {
// Cast property to a range property
RangeProperty* rp = dynamic_cast<RangeProperty*>(*iter);
if (!rp) { continue; }
// Get the curve, and add a control point
Curve* pCurve = ModelerUserInterface::getInstance()->
graph->curve(rp->getCurveIndex());
pCurve->addControlPoint( Animator::Point(t, rp->getValue()) );
}
// Redraw the curves
ModelerUserInterface::getInstance()->graph->redraw();
}
// We are going to override (is that the right word?) the draw()
// method of ModelerView to draw out RobotArm
void RobotArm::draw()
{
/* pick up the slider values */
float theta = baseRotation.getValue();
float phi = lowerTilt.getValue();
float psi = upperTilt.getValue();
float cr = clawRotation.getValue();
float h1 = baseLength.getValue();
float h2 = lowerLength.getValue();
float h3 = upperLength.getValue();
static GLfloat lmodel_ambient[] = {0.4,0.4,0.4,1.0};
// define the model
ground(-0.2);
base(0.8);
glTranslatef( 0.0, 0.8, 0.0 ); // move to the top of the base
glRotatef( theta, 0.0, 1.0, 0.0 ); // turn the whole assembly around the y-axis.
rotation_base(h1); // draw the rotation base
glTranslatef( 0.0, h1, 0.0 ); // move to the top of the base
glRotatef( phi, 0.0, 0.0, 1.0 ); // rotate around the z-axis for the lower arm
glTranslatef( -0.1, 0.0, 0.4 );
lower_arm(h2); // draw the lower arm
glTranslatef( 0.0, h2, 0.0 ); // move to the top of the lower arm
glRotatef( psi, 0.0, 0.0, 1.0 ); // rotate around z-axis for the upper arm
upper_arm(h3); // draw the upper arm
glTranslatef( 0.0, h3, 0.0 );
glRotatef( cr, 0.0, 0.0, 1.0 );
claw(1.0);
}