void handle_simple_display(void) {
Vec3 focus = camera->get_focalvector();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(camera->aperture, camera->screenwidth/(double) camera->screenheight, 0.1, 10000.0);
glViewport(0, 0, camera->screenwidth, camera->screenheight);
// Create the model
gluLookAt(camera->vpos.x, camera->vpos.y, camera->vpos.z, focus.x, focus.y, focus.z,
camera->vup.x, camera->vup.y, camera->vup.z);
glShadeModel(GL_SMOOTH);
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_DEPTH_TEST);
glEnable(GL_LINE_SMOOTH);
CreateWorld();
if (windowdump || movierecord) {
WindowDump(camera->screenwidth, camera->screenheight);
windowdump = 0;
}
glutSwapBuffers();
}
void cart_pole_loop()
{
int i;
static int m = 0;
static int cycle = 0; // counter
// static int writeFrameCnt = 1200; // # of frames to write
static int writeFrameCnt = 500; // # of frames to write
static int writtenFrameCnt = 0; // # of frames written so far
// static int writePer = 110; // period of writing
static int writePer = 2; // period of writing //25Hz
// extern int writeImg;
glutPostRedisplay();
simulation_loop();//------------------------------------------------------------- CALL CONTROLLER
//#if 0
/*************************************/
/* Wait for visualization */
/*************************************/
req.tv_sec = 0;
req.tv_nsec = 1000;
memcpy(&rem, &req,sizeof(req));
memset(&req,0,sizeof(req));
nanosleep(&req,&rem);
//#endif
if (writeImg){
if (cycle % writePer == 0){
WindowDump(0,0,Width,Height);
writtenFrameCnt++;
if (writtenFrameCnt == writeFrameCnt){
writeImg = 0;
printf("Written %d frames.\n", writtenFrameCnt);
}
}
cycle ++;
}
}
/*
This is the basic display callback routine
It creates the geometry, lighting, and viewing position
In this case it rotates the camera around the scene
*/
void Display(void)
{
XYZ r,eyepos;
double dist,ratio,radians,scale,wd2,ndfl;
double left,right,top,bottom;
/* Do we need to recreate the list ? */
if (geometrydirty != NOTDIRTY) {
MakeGeometry();
geometrydirty = NOTDIRTY;
}
/* Clip to avoid extreme stereo */
near = 0.1;
far = 1000;
if (stereo)
near = camera.focallength / 5;
/* Misc stuff */
ratio = camera.screenwidth / (double)camera.screenheight;
radians = DTOR * camera.aperture / 2;
wd2 = near * tan(radians);
ndfl = near / camera.focallength;
/* Clear the buffers */
glDrawBuffer(GL_BACK_LEFT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (stereo) {
glDrawBuffer(GL_BACK_RIGHT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
if (stereo) {
/* Derive the two eye positions */
CROSSPROD(camera.vd,camera.vu,r);
Normalise(&r);
r.x *= camera.eyesep / 2.0;
r.y *= camera.eyesep / 2.0;
r.z *= camera.eyesep / 2.0;
eyepos = VectorAdd(camera.vp,r);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
left = - ratio * wd2 - 0.5 * camera.eyesep * ndfl;
right = ratio * wd2 - 0.5 * camera.eyesep * ndfl;
top = wd2;
bottom = - wd2;
glFrustum(left,right,bottom,top,near,far);
glMatrixMode(GL_MODELVIEW);
glDrawBuffer(GL_BACK_RIGHT);
glLoadIdentity();
gluLookAt(eyepos.x,eyepos.y,eyepos.z,
eyepos.x + camera.vd.x,
eyepos.y + camera.vd.y,
eyepos.z + camera.vd.z,
camera.vu.x,camera.vu.y,camera.vu.z);
MakeLighting();
glCallList(1);
eyepos = VectorSub(r,camera.vp);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
left = - ratio * wd2 + 0.5 * camera.eyesep * ndfl;
right = ratio * wd2 + 0.5 * camera.eyesep * ndfl;
top = wd2;
bottom = - wd2;
glFrustum(left,right,bottom,top,near,far);
glMatrixMode(GL_MODELVIEW);
glDrawBuffer(GL_BACK_LEFT);
glLoadIdentity();
gluLookAt(eyepos.x,eyepos.y,eyepos.z,
eyepos.x + camera.vd.x,
eyepos.y + camera.vd.y,
eyepos.z + camera.vd.z,
camera.vu.x,camera.vu.y,camera.vu.z);
MakeLighting();
glCallList(1);
} else {
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
left = - ratio * wd2;
right = ratio * wd2;
top = wd2;
bottom = - wd2;
glFrustum(left,right,bottom,top,near,far);
glMatrixMode(GL_MODELVIEW);
glDrawBuffer(GL_BACK_LEFT);
glLoadIdentity();
gluLookAt(camera.vp.x,camera.vp.y,camera.vp.z,
camera.vp.x + camera.vd.x,
camera.vp.y + camera.vd.y,
camera.vp.z + camera.vd.z,
camera.vu.x,camera.vu.y,camera.vu.z);
MakeLighting();
glCallList(1);
}
/* glFlush(); This isn't necessary for double buffers */
glutSwapBuffers();
if (record || windowdump) {
WindowDump(camera.screenwidth,camera.screenheight,stereo);
windowdump = FALSE;
}
if (demomode && iterationdepth < 1000) {
iterationdepth++;
geometrydirty = ADDONE;
if (debug)
fprintf(stderr,"Iteration: %d\n",iterationdepth);
}
}
void handle_display(void) {
Vec3 focus = camera->get_focalvector();
Vec3 right = camera->get_sidevector();
glDrawBuffer(GL_BACK);
glReadBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(camera->aperture, camera->screenwidth/(double) camera->screenheight, 0.1, 10000.0);
glViewport(0, 0, camera->screenwidth, camera->screenheight);
// Left eye filter
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
switch (glassestype) {
case REDBLUE:
case REDGREEN:
case REDCYAN:
glColorMask(GL_TRUE, GL_FALSE, GL_FALSE, GL_TRUE);
break;
case BLUERED:
glColorMask(GL_FALSE, GL_FALSE, GL_TRUE, GL_TRUE);
break;
case GREENRED:
glColorMask(GL_FALSE, GL_TRUE, GL_FALSE, GL_TRUE);
break;
case CYANRED:
glColorMask(GL_FALSE, GL_TRUE, GL_TRUE, GL_TRUE);
break;
}
// Create the model
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(camera->vpos.x - right.x, camera->vpos.y - right.y,
camera->vpos.z - right.z, focus.x, focus.y, focus.z, camera->vup.x,
camera->vup.y, camera->vup.z);
CreateWorld();
//glFlush();
//glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
glDrawBuffer(GL_BACK);
glClear(GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(camera->aperture, camera->screenwidth/(double) camera->screenheight, 0.1, 10000.0);
glViewport(0, 0, camera->screenwidth, camera->screenheight);
// Right eye filter
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
switch (glassestype) {
case REDBLUE:
glColorMask(GL_FALSE, GL_FALSE, GL_TRUE, GL_TRUE);
break;
case REDGREEN:
glColorMask(GL_FALSE, GL_TRUE, GL_FALSE, GL_TRUE);
break;
case REDCYAN:
glColorMask(GL_FALSE, GL_TRUE, GL_TRUE, GL_TRUE);
break;
case BLUERED:
case GREENRED:
case CYANRED:
glColorMask(GL_TRUE, GL_FALSE, GL_FALSE, GL_TRUE);
break;
}
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(camera->vpos.x + right.x, camera->vpos.y + right.y,
camera->vpos.z + right.z, focus.x, focus.y, focus.z, camera->vup.x,
camera->vup.y, camera->vup.z);
CreateWorld();
glFlush();
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
if (windowdump || movierecord) {
WindowDump(camera->screenwidth, camera->screenheight);
windowdump = 0;
}
glutSwapBuffers();
}
