/*!*****************************************************************************
*******************************************************************************
\note idle
\date June 1999
\remarks
The function called by openGL whenever processing time available.
*******************************************************************************
Function Parameters: [in]=input,[out]=output
******************************************************************************/
void
idle(void)
{
int i;
struct timeval t;
static double last_draw_time = 0.0;
double current_time;
//-------------------------------------------------------------------------
// the main functions are the most handy in an include file
#include "SL_user_idle_core.h"
// update the eye view positions
updateEyes();
//-------------------------------------------------------------------------
// refresh display
gettimeofday(&t,NULL);
current_time = (double) t.tv_sec + ((double)t.tv_usec)/1.e6;
if (current_time-last_draw_time >= 1./window_update_rate) {
glutPostRedisplayAll();
last_draw_time = current_time;
}
}
/*!*****************************************************************************
*******************************************************************************
\note idle
\date June 1999
\remarks
The function called by openGL whenever processing time available.
Here, the servo-loops are implemented
*******************************************************************************
Function Parameters: [in]=input,[out]=output
******************************************************************************/
void
idle(void)
{
int i;
static double last_draw_time=0;
int integrate_method = INTEGRATE_EULER;
double n_integration = 1;
// the core component of the idle task is conveniently included
#include "SL_user_idle_core.h"
// the numerical integration
#include "SL_user_integrate.h"
/* refresh display */
if (servo_time-last_draw_time > window_update_rate) {
glutPostRedisplayAll();
last_draw_time = servo_time;
}
}
