void AnimationTexture(SoSeparator * root)
{
// Generate a julia set to use as a texturemap
julia(cr, ci, 2.5, texturewidth, textureheight, 4, bitmap, 64);
SoTexture2 * texnode = texture();
// Enable backface culling
SoShapeHints * hints = new SoShapeHints;
hints->vertexOrdering = SoShapeHints::COUNTERCLOCKWISE;
hints->shapeType = SoShapeHints::SOLID;
// Timer sensor
SoTimerSensor * texturetimer = new SoTimerSensor(timersensorcallback, texnode);
texturetimer->setInterval(0.05);
texturetimer->schedule();
// Scene graph
if ( root == NULL ) return; // Shouldn't happen.
root->ref(); // prevent from being deleted because of the still running timer sensor
// SoSeparator * root = new SoSeparator;
// root->ref();
root->addChild(hints);
root->addChild(texnode);
root->addChild(new SoCube);
}
void SIM::Coin3D::Quarter::SoQTQuarterAdaptor::seeksensorCB(void* data, SoSensor* s)
{
SoQTQuarterAdaptor* thisp = (SoQTQuarterAdaptor*) data;
SbTime currenttime = SbTime::getTimeOfDay();
SoTimerSensor* sensor = (SoTimerSensor*)s;
float t =
float((currenttime - sensor->getBaseTime()).getValue()) / thisp->m_seekperiod;
if((t > 1.0f) || (t + sensor->getInterval().getValue() > 1.0f)) t = 1.0f;
SbBool end = (t == 1.0f);
t = (float)((1.0 - cos(M_PI*t)) * 0.5);
thisp->getSoRenderManager()->getCamera()->position = thisp->m_camerastartposition +
(thisp->m_cameraendposition - thisp->m_camerastartposition) * t;
thisp->getSoRenderManager()->getCamera()->orientation =
SbRotation::slerp(thisp->m_camerastartorient,
thisp->m_cameraendorient,
t);
if(end) thisp->setSeekMode(FALSE);
}
RrtGuiWindow::RrtGuiWindow(const std::string &sceneFile, const std::string &sConf, const std::string &gConf,
const std::string &rns, const std::string &colModelRob1, const std::string &colModelRob2, const std::string &colModelEnv, Qt::WFlags flags)
:QMainWindow(NULL)
{
VR_INFO << " start " << endl;
this->sceneFile = sceneFile;
allSep = new SoSeparator;
allSep->ref();
sceneFileSep = new SoSeparator;
startGoalSep = new SoSeparator;
rrtSep = new SoSeparator;
allSep->addChild(sceneFileSep);
allSep->addChild(startGoalSep);
allSep->addChild(rrtSep);
setupUI();
loadScene();
selectRNS(rns);
selectStart(sConf);
selectGoal(gConf);
selectColModelRobA(colModelRob1);
selectColModelRobB(colModelRob2);
selectColModelEnv(colModelEnv);
if (sConf!="")
UI.comboBoxStart->setEnabled(false);
if (gConf!="")
UI.comboBoxGoal->setEnabled(false);
if (rns!="")
UI.comboBoxRNS->setEnabled(false);
if (colModelRob1!="")
UI.comboBoxColModelRobot->setEnabled(false);
if (colModelRob2!="")
UI.comboBoxColModelRobotStatic->setEnabled(false);
//if (colModelEnv!="")
// UI.comboBoxColModelEnv->setEnabled(false);
viewer->viewAll();
SoSensorManager *sensor_mgr = SoDB::getSensorManager();
SoTimerSensor *timer = new SoTimerSensor(timerCB, this);
timer->setInterval(SbTime(TIMER_MS/1000.0f));
sensor_mgr->insertTimerSensor(timer);
}
void
vpSimulator::mainLoop()
{
if (mainWindowInitialized==false)
{
vpERROR_TRACE("main window is not opened ") ;
}
vpTime::wait(1000) ;
// Timer sensor
SoTimerSensor * timer = new SoTimerSensor(timerSensorCallback, (void *)this);
timer->setInterval(0.01);
timer->schedule();
vpViewer::mainLoop() ;
}
IKRRTWindow::IKRRTWindow(std::string& sceneFile, std::string& reachFile, std::string& rns, std::string& eef, std::string& colModel, std::string& colModelRob, Qt::WFlags flags)
: QMainWindow(NULL)
{
VR_INFO << " start " << endl;
this->sceneFile = sceneFile;
this->reachFile = reachFile;
eefName = eef;
rnsName = rns;
this->colModelName = colModel;
this->colModelNameRob = colModelRob;
sceneSep = new SoSeparator;
sceneSep->ref();
robotSep = new SoSeparator;
objectSep = new SoSeparator;
graspsSep = new SoSeparator;
reachableGraspsSep = new SoSeparator;
reachabilitySep = new SoSeparator;
obstaclesSep = new SoSeparator;
rrtSep = new SoSeparator;
playbackMode = false;
//sceneSep->addChild(robotSep);
sceneSep->addChild(robotSep);
sceneSep->addChild(objectSep);
sceneSep->addChild(graspsSep);
sceneSep->addChild(reachableGraspsSep);
sceneSep->addChild(reachabilitySep);
sceneSep->addChild(obstaclesSep);
sceneSep->addChild(rrtSep);
setupUI();
loadScene();
loadReach();
viewer->viewAll();
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
SoTimerSensor* timer = new SoTimerSensor(timerCB, this);
timer->setInterval(SbTime(TIMER_MS / 1000.0f));
sensor_mgr->insertTimerSensor(timer);
}
GraspQualityWindow::GraspQualityWindow(std::string &robFile, std::string &objFile, Qt::WFlags flags)
:QMainWindow(NULL)
{
VR_INFO << " start " << endl;
this->robotFile = robFile;
this->objectFile = objFile;
sceneSep = new SoSeparator;
sceneSep->ref();
robotSep = new SoSeparator;
objectSep = new SoSeparator;
frictionConeSep = new SoSeparator;
gws1Sep = new SoSeparator;
gws2Sep = new SoSeparator;
ows1Sep = new SoSeparator;
ows2Sep = new SoSeparator;
sceneSep->addChild(robotSep);
sceneSep->addChild(objectSep);
sceneSep->addChild(frictionConeSep);
sceneSep->addChild(gws1Sep);
sceneSep->addChild(gws2Sep);
sceneSep->addChild(ows1Sep);
sceneSep->addChild(ows2Sep);
setupUI();
loadObject();
loadRobot();
m_pExViewer->viewAll();
SoSensorManager *sensor_mgr = SoDB::getSensorManager();
SoTimerSensor *timer = new SoTimerSensor(timerCB, this);
timer->setInterval(SbTime(TIMER_MS/1000.0f));
sensor_mgr->insertTimerSensor(timer);
}
void GenericIKWindow::setupUI()
{
UI.setupUi(this);
exViewer = new SoQtExaminerViewer(UI.frameViewer, "", TRUE, SoQtExaminerViewer::BUILD_POPUP);
// setup
exViewer->setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
exViewer->setAccumulationBuffer(true);
exViewer->setAntialiasing(true, 4);
exViewer->setTransparencyType(SoGLRenderAction::BLEND);
exViewer->setFeedbackVisibility(true);
exViewer->setSceneGraph(sceneSep);
exViewer->viewAll();
connect(UI.pushButtonReset, SIGNAL(clicked()), this, SLOT(resetSceneryAll()));
connect(UI.pushButtonLoad, SIGNAL(clicked()), this, SLOT(loadRobot()));
connect(UI.checkBoxColModel, SIGNAL(clicked()), this, SLOT(collisionModel()));
connect(UI.comboBoxKC, SIGNAL(activated(int)), this, SLOT(selectKC(int)));
connect(UI.pushButtonBox2TCP, SIGNAL(clicked()), this, SLOT(box2TCP()));
connect(UI.pushButtonSolve, SIGNAL(clicked()), this, SLOT(solve()));
connect(UI.horizontalSliderX, SIGNAL(sliderReleased()), this, SLOT(sliderReleased()));
connect(UI.horizontalSliderY, SIGNAL(sliderReleased()), this, SLOT(sliderReleased()));
connect(UI.horizontalSliderZ, SIGNAL(sliderReleased()), this, SLOT(sliderReleased()));
connect(UI.horizontalSliderA, SIGNAL(sliderReleased()), this, SLOT(sliderReleased()));
connect(UI.horizontalSliderB, SIGNAL(sliderReleased()), this, SLOT(sliderReleased()));
connect(UI.horizontalSliderG, SIGNAL(sliderReleased()), this, SLOT(sliderReleased()));
// a method, that is called by a timer, is allowed to update the IV models without disturbing the render loop
SoTimerSensor* timer = new SoTimerSensor((SoSensorCB*)(&updateCB), this);
SbTime interval(1.0 / 30);
timer->setInterval(interval);
timer->schedule();
}
int main(int argc, char** argv)
{
// init Inventor
HWND w = SoWin::init(argv[0]);
SoWinExaminerViewer * v = new SoWinExaminerViewer(w);
//Preguntar donde iria
SoViewportRegion::initClass();
// Iniciamos la escena
SoSeparator *root = new SoSeparator;
root->ref();
root->addChild(new SoUnits);
Pointers * mypointers= new Pointers();
//De este separador colgará la escena que se carga de
//fichero, así como las cámaras y luces encargadas de
//mostrarla
SoSeparator *ojo_izq= new SoSeparator;
//Partimos la pantalla
SoViewportRegion *vp1 = new SoViewportRegion();
vp1->height=0.4f;
vp1->width=0.2f;
vp1->y_pos=0.6f;
vp1->x_pos=0.0f;
vp1->onTop=TRUE;
ojo_izq->addChild(vp1);
//Introducimos una nueva cámara. Esta cámara pintará
//los draggers siempre en la misma posición
SoFrustumCamera *cam = new SoFrustumCamera();
ojo_izq->addChild(cam);
SoSeparator * escena = new SoSeparator;
LightControl * luces;
luces = new LightControl(escena);
CheckStick * mystickcontrol;
mypointers->lights=luces;
mypointers->viewer=v;
SoSeparator *habitacion=new SoSeparator;
SoTransform * centrar = new SoTransform;
//centrar->translation.setValue(60.0f,-60.0f,60.0f);
centrar->translation.setValue(0,-1.f,0.5f);
//centrar->scaleFactor.setValue(0.0001f,0.0001f,0.0001f);//bateria wena
//centrar->scaleFactor.setValue(3.f,3.f,3.f);
habitacion->addChild(centrar);
//Desplazamiento de la pantalla
// model
SoFile *model = new SoFile;
if (argc > 1) model->name.setValue(argv[1]);
else model->name.setValue("drumconparedes.wrl");
habitacion->addChild(model);
escena->addChild(habitacion);
SoSeparator * esqueleto= new SoSeparator;
DrawCoin::CrearEsqueleto(esqueleto);
mystickcontrol=new CheckStick(DrawCoin::t_cabeza,DrawCoin::t_mano_izq,DrawCoin::t_mano_der);
mypointers->sticks=mystickcontrol;
escena->addChild(esqueleto);
ojo_izq->addChild (escena);
//Colocamos la camara de modo que pueda ver toda la escena
cam->viewAll(escena,vp1->getViewportRegion());
//cam->position.setValue(0.0f,10.0f,-10.f);
//cam->orientation.setValue(SbVec3f(0.0f,-1.f,1.f),0);
//De este separador colgará la escena que se carga de
//fichero, así como las cámaras y luces encargadas de
//mostrarla
SoSeparator *ojo_der= new SoSeparator;
root->addChild (ojo_der);
root->addChild (ojo_izq);
//Partimos la pantalla
SoViewportRegion *vp2 = new SoViewportRegion();
vp2->height=1.0f;
vp2->width=1.0f;
vp2->x_pos=0.0f;
vp2->onTop=FALSE;
ojo_der->addChild(vp2);
//Introducimos una nueva cámara. Esta cámara pintará
//los draggers siempre en la misma posición
SoFrustumCamera * cam2;
cam2 = new SoFrustumCamera();
mypointers->camera2=cam2;
//cam2->farDistance = 3.f;
ojo_der->addChild(cam2);
SoTransform * cabeza;
SoRotation * rotacion;
cabeza=DrawCoin::Get_Cabeza_Pos();
rotacion=DrawCoin::Get_Cabeza_Rot();
cam2->position.connectFrom(&cabeza->translation);
cam2->orientation.connectFrom(&rotacion->rotation);
ojo_der->addChild (escena);
//Colocamos la camara de modo que pueda ver toda la escena
cam2->viewAll(escena,vp2->getViewportRegion());
cam2->viewportMapping = SoCamera::LEAVE_ALONE;
cam2->position.setValue(0.0f,0.0f,0.0f);
int Data_Of_Thread = 1;
HANDLE Handle_Of_Thread;
Handle_Of_Thread = CreateThread( NULL, 0, Thread, &Data_Of_Thread, 0, NULL);
if ( Handle_Of_Thread == NULL) ExitProcess(Data_Of_Thread);
//Creamos un sensor encargado del render
SoTimerSensor* rendertimer = new SoTimerSensor(renderCallback,(void *)mypointers);
rendertimer->setInterval(FPS);
rendertimer->schedule();
SoEventCallback *eventCB = new SoEventCallback;
eventCB->addEventCallback(SoKeyboardEvent::getClassTypeId(),handle_keyboard,(void*)mypointers);
root->addChild(eventCB);
v->setBackgroundColor(SbColor(0.0f, 0.2f, 0.3f));
v->setFeedbackVisibility(TRUE);
v->setSceneGraph(root);
//v->setViewing(FALSE);
v->setTitle("Kinect Tracking");
v->setAutoRedraw(FALSE);
///v->setDecoration(FALSE);
SoWin::show(w);
SoWin::mainLoop();
root->unref();
delete v;
return 0;
}
int main(int argc, char** argv)
{
// verify that argument is given
if (argc < 2)
{
std::cerr << "syntax: chain <XML file>" << std::endl;
return -1;
}
// setup the simulation
XMLReader::read(std::string(argv[1]));
// get the (only) simulation object
boost::shared_ptr<Simulator> s = XMLReader::_sim_objs.front();
// setup the visualization
QWidget* mainwin = SoQt::init(argc, argv, argv[0]);
SoQtExaminerViewer* viewer = new SoQtExaminerViewer(mainwin);
SoSeparator* main_sep = new SoSeparator;
main_sep->ref();
// add a camera
SoPerspectiveCamera* camera = new SoPerspectiveCamera;
camera->position = SbVec3f(0, 0, 150);
camera->pointAt(SbVec3f(0,0,1));
main_sep->addChild(camera);
// add lights
SoDirectionalLight* light = new SoDirectionalLight;
light->direction = SbVec3f(0,0,1);
SoDirectionalLight* light2 = new SoDirectionalLight;
light2->direction = SbVec3f(0,0,-1);
SoDirectionalLight* light3 = new SoDirectionalLight;
light3->direction = SbVec3f(-10,-5,-1);
SoDirectionalLight* light4 = new SoDirectionalLight;
light4->direction = SbVec3f(-10,-5,1);
SoDirectionalLight* light5 = new SoDirectionalLight;
light5->direction = SbVec3f(0,-10,1);
main_sep->addChild(light);
main_sep->addChild(light2);
main_sep->addChild(light3);
main_sep->addChild(light4);
main_sep->addChild(light5);
// setup the simulator visualization
viz = boost::shared_ptr<InventorOutput>(new InventorOutput(s));
SoSeparator* sep = viz->get_root();
main_sep->addChild(sep);
// start rendering
viewer->setSceneGraph(sep);
viewer->show();
// add a timer sensor that runs the simulation
SoTimerSensor* timer = new SoTimerSensor(&render, &s);
SbTime interval(STEP_SIZE);
timer->setInterval(interval);
timer->schedule();
// popup the main window
SoQt::show(mainwin);
SoQt::mainLoop();
delete viewer;
}
int main(int argc, char * argv[])
{
/* Default values of program arguments. */
char * heightmap_name = NULL;
int triangle_count = 1000;
int tile_size = 33;
int pixel_error = 6;
int edgeSize = 4096;
int xOffset = 0;
int yOffset = 0;
bool drawWater = false;
SbBool is_full_screen = FALSE;
SbBool is_frustrum_culling = TRUE;
/* Get program arguments. */
int command = 0;
while ((command = getopt(argc, argv, "h:x:y:s:S:a:e:r:g:fcW")) != -1)
{
switch (command)
{
/* Heightmap. */
case 'h':
{
heightmap_name = optarg;
}
break;
/* Algorithm. */
case 'a':
{
if (!strcmp(optarg, "roam"))
{
algorithm = ID_ALG_ROAM;
}
else if (!strcmp(optarg, "geomipmapping"))
{
algorithm = ID_ALG_GEO_MIPMAP;
}
else if (!strcmp(optarg, "chunkedlod"))
{
algorithm = ID_ALG_CHUNKED_LOD;
}
else if (!strcmp(optarg, "brutalforce"))
{
algorithm = ID_ALG_BRUAL_FORCE;
}
}
break;
/* Size of the plot map, in data points a long one edge (map is a square). */
case 's':
{
sscanf(optarg, "%d", &edgeSize);
}
/* Scaling factor. */
case 'S':
{
sscanf(optarg, "%d", &scaleFactor);
}
break;
/* X offset in data points. */
case 'x': {
sscanf(optarg, "%d", &xOffset);
}
break;
/* Y offset in data points. */
case 'y': {
sscanf(optarg, "%d", &yOffset);
}
break;
/* Pixel error of rendering. */
case 'e':
{
sscanf(optarg, "%d", &pixel_error);
}
break;
/* Number of triangles in triangulation. */
case 'r':
{
sscanf(optarg, "%d", &triangle_count);
}
break;
/* Tile side size. */
case 'g':
{
sscanf(optarg, "%d", &tile_size);
}
break;
/* Fullscreen. */
case 'f':
{
is_full_screen = TRUE;
}
break;
/* Frustrum culling. */
case 'c':
{
is_frustrum_culling = FALSE;
}
break;
/* Draw water line. */
case 'W':
{
drawWater = true;
}
break;
case '?':
{
std::cout << "Unknown option!" << std::endl;
help();
exit(1);
}
break;
}
}
/* Check obligatory arguments. */
if (heightmap_name == NULL)
{
std::cout << "Input height map wasn't specified!" << std::endl;
help();
exit(1);
}
/* Load heightmap. */
int height = 0;
// SoTerrain only seems to handle size which
// are multiples of 1024. The +1 maybe due
// to some sloppiness some later in the code
// (i.e. "<" vs "<=" or something).
int width = edgeSize +1; // 1024 + 1;// 1024 * 4 + 1;
height = width;
PR_INIT_PROFILER();
/* Set environment variables. */
//putenv("IV_SEPARATOR_MAX_CACHES=0");
putenv((char*)"COIN_SHOW_FPS_COUNTER=1");
//putenv("COIN_AUTO_CACHING=0");
/* Create window. */
QWidget * window;
if ((window = SoQt::init(argc, argv, "SoTerrain Test Application")) == NULL)
{
exit(1);
}
/* Initialization of custom Inventor classes. */
SoSimpleROAMTerrain::initClass();
SoSimpleGeoMipmapTerrain::initClass();
SoSimpleChunkedLoDTerrain::initClass();
SoProfileGroup::initClass();
/* Create scene graph. */
SoProfileGroup *root = new SoProfileGroup();
SoEventCallback *style_callback = new SoEventCallback();
SoPerspectiveCamera *camera = new SoPerspectiveCamera();
SoDrawStyle *style = new SoDrawStyle();
SoDirectionalLight *light = new SoDirectionalLight();
SoSeparator *separator = new SoSeparator();
SoSeparator *terrainSeparator = new SoSeparator();
SoSeparator *markers = new SoSeparator();
// not sure turning off Culling here is having any effect.
terrainSeparator->pickCulling.setValue(SoSeparator::OFF);
terrainSeparator->renderCulling.setValue(SoSeparator::OFF);
SoEventCallback *terrain_callback = new SoEventCallback();
/* Use the TerrainBuilder class to generating the various components. */
TerrainBuilder terrainBuilder;
terrainBuilder.setHeight(height);
terrainBuilder.setWidth(width);
terrainBuilder.initialize();
terrainBuilder.setScalingFactor(scaleFactor);
terrainBuilder.setYOffset(yOffset);
terrainBuilder.setXOffset(xOffset);
terrainBuilder.loadXYZFile(heightmap_name, 4801 * 4801);
SoTexture2 *texture = terrainBuilder.getTexture();
SoTextureCoordinate2 *texture_coords = terrainBuilder.getTextureCoordinates();
SoCoordinate3 *coords = terrainBuilder.getMapCoordinates();
SoNormal *normals = terrainBuilder.getNormals();
SoNormalBinding *normal_binding = new SoNormalBinding();
ref_long = terrainBuilder.getRefLong();
ref_lat = terrainBuilder.getRefLat();
style_callback->addEventCallback(SoKeyboardEvent::getClassTypeId(),
styleCallback, style);
light->direction.setValue(-0.5f, 0.5f, -1.0f);
normal_binding->value.setValue(SoNormalBinding::PER_VERTEX_INDEXED);
// Create the push pin marker.
marker_lat = 37.753;
marker_long = -122.440;
SoResetTransform *resetForTerrain = new SoResetTransform();
MarkerPin *marker = new MarkerPin();
marker->setScalingFactor(scaleFactor);
marker->setReferencePosition(ref_lat, ref_long);
marker->setLabel("San Francisco");
marker->setLocation(marker_lat, marker_long, 0.0);
SoEventCallback * marker_callback = new SoEventCallback();
marker_callback->addEventCallback(
SoKeyboardEvent::getClassTypeId(),
markerCallback,
marker);
vesselMarker = new MarkerPin();
vesselMarker->setScalingFactor(scaleFactor);
vesselMarker->setReferencePosition(ref_lat, ref_long);
vesselMarker->setLabel("Farralon");
vesselMarker->setLocation(37.7, -123.0, 0.0);
/* Connect scene graph nodes. */
root->ref();
root->addChild(style);
root->addChild(separator);
separator->addChild(terrain_callback);
separator->addChild(style_callback);
separator->addChild(marker_callback);
separator->addChild(camera);
separator->addChild(light);
separator->addChild(terrainSeparator);
terrainSeparator->addChild(resetForTerrain);
terrainSeparator->addChild(texture);
terrainSeparator->addChild(texture_coords);
terrainSeparator->addChild(coords);
terrainSeparator->addChild(normals);
terrainSeparator->addChild(normal_binding);
separator->addChild(markers);
separator->addChild(marker->getSoMarker());
separator->addChild(vesselMarker->getSoMarker());
// Water drawing has performance issues.
if (drawWater) {
separator->addChild(terrainBuilder.getWater());
}
switch (algorithm)
{
case ID_ALG_ROAM:
{
SoSimpleROAMTerrain * terrain = new SoSimpleROAMTerrain();
terrain->mapSize.setValue(width);
terrain->pixelError.setValue(pixel_error);
terrain->triangleCount.setValue(triangle_count);
terrain->frustrumCulling.setValue(is_frustrum_culling);
terrain_callback->addEventCallback(SoKeyboardEvent::getClassTypeId(),
terrainCallback, terrain);
terrainSeparator->addChild(terrain);
}
break;
case ID_ALG_GEO_MIPMAP:
{
SoSimpleGeoMipmapTerrain * terrain = new SoSimpleGeoMipmapTerrain();
terrain->mapSize.setValue(width);
terrain->tileSize.setValue(tile_size);
terrain->pixelError.setValue(pixel_error);
terrain_callback->addEventCallback(SoKeyboardEvent::getClassTypeId(),
terrainCallback, terrain);
terrainSeparator->addChild(terrain);
}
break;
case ID_ALG_CHUNKED_LOD:
{
SoSimpleChunkedLoDTerrain * terrain = new SoSimpleChunkedLoDTerrain();
terrain->mapSize.setValue(width);
terrain->tileSize.setValue(tile_size);
terrain->pixelError.setValue(pixel_error);
terrain_callback->addEventCallback(SoKeyboardEvent::getClassTypeId(),
terrainCallback, terrain);
terrainSeparator->addChild(terrain);
}
break;
case ID_ALG_BRUAL_FORCE:
{
SoIndexedTriangleStripSet * terrain = new SoIndexedTriangleStripSet();
/* Create terrain heightmap vertices indices. */
terrain->coordIndex.setNum((height - 1) * ((2 * width) + 1));
int * indices = terrain->coordIndex.startEditing();
int I = 0;
for (int Y = 0; Y < (height - 1); Y++)
{
for (int X = 0; X < width; X++)
{
indices[I++] = (Y * width) + X;
indices[I++] = ((Y + 1) * width) + X;
}
indices[I++] = -1;
}
terrain->coordIndex.finishEditing();
terrainSeparator->addChild(terrain);
}
break;
}
// terrainSeparator->addChild(terrainBuilder.getWater());
/* Setup camera and render area. */
SoQtFreeViewer * render_area = new SoQtFreeViewer(window);
SoSceneManager * scene_manager = new SoSceneManager();
render_area->setHeadlight(TRUE /*FALSE*/);
render_area->setSceneManager(scene_manager);
scene_manager->setRenderCallback(renderCallback, render_area);
scene_manager->activate();
camera->viewAll(root, render_area->getViewportRegion());
camera->nearDistance.setValue(0.01f);
render_area->setSceneGraph(root);
render_area->setTitle("Terrain Viewer Application");
render_area->setSize(SbVec2s(640, 480));
render_area->show();
render_area->setFullScreen(is_full_screen);
camera->position.setValue(0 , 0, 1);
// Use a SoIdleSensor to update marker position, this is because
// we can't add new markers when the tree is still being traversed
// (only when idle).
SoIdleSensor * positionUpdater = new SoIdleSensor();
positionUpdater->setFunction(updatePositionCallback);
positionUpdater->setData(markers);
// Use a SoTimeSensor to periodically schedule
// the SoIdleSensor to update marker positions.
SoTimerSensor * timerSensor = new SoTimerSensor(timerSensorCallback, root);
timerSensor->setInterval(0.2f);
timerSensor->setData(positionUpdater);
timerSensor->schedule();
/* Run application. */
SoQt::show(window);
SoQt::mainLoop();
SoQt::done();
// PR_PRINT_RESULTS(profile_name);
/* Free memory. */
root->unref();
delete positionUpdater;
delete render_area;
return EXIT_SUCCESS;
}
GraspRrtWindow::GraspRrtWindow(const std::string& sceneFile, const std::string& sConf, const std::string& goalObject,
const std::string& rns, const std::string& rnsB, const std::string& eefName, const std::string& eefNameB,
const std::string& colModelRob1, const std::string& colModelRob1B, const std::string& colModelRob2, const std::string& colModelRob2B,
const std::string& colModelEnv)
: QMainWindow(NULL)
{
VR_INFO << " start " << endl;
this->sceneFile = sceneFile;
allSep = new SoSeparator;
allSep->ref();
sceneFileSep = new SoSeparator;
graspsSep = new SoSeparator;
rrtSep = new SoSeparator;
allSep->addChild(sceneFileSep);
allSep->addChild(graspsSep);
allSep->addChild(rrtSep);
planSetA.rns = rns;
planSetA.eef = eefName;
planSetA.colModelRob1 = colModelRob1;
planSetA.colModelRob2 = colModelRob2;
planSetA.colModelEnv = colModelEnv;
planSetB.rns = rnsB;
planSetB.eef = eefNameB;
planSetB.colModelRob1 = colModelRob1B;
planSetB.colModelRob2 = colModelRob2B;
planSetB.colModelEnv = colModelEnv;
setupUI();
loadScene();
selectPlanSet(0);
selectStart(sConf);
selectTargetObject(goalObject);
if (sConf != "")
{
UI.comboBoxStart->setEnabled(false);
}
if (goalObject != "")
{
UI.comboBoxGoal->setEnabled(false);
}
if (rns != "")
{
UI.comboBoxRNS->setEnabled(false);
}
//if (eefName!="")
// UI.comboBoxEEF->setEnabled(false);
if (colModelRob1 != "")
{
UI.comboBoxColModelRobot->setEnabled(false);
}
if (colModelRob2 != "")
{
UI.comboBoxColModelRobotStatic->setEnabled(false);
}
//if (colModelEnv!="")
// UI.comboBoxColModelEnv->setEnabled(false);
viewer->viewAll();
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
SoTimerSensor* timer = new SoTimerSensor(timerCB, this);
timer->setInterval(SbTime(TIMER_MS / 1000.0f));
sensor_mgr->insertTimerSensor(timer);
}
