void bot_lcmgl_draw_axes(bot_lcmgl_t * lcmgl, const Eigen::Affine3d & trans, double scale)
{
lcmglPushMatrix();
lcmglMultMatrixd(trans.data());
lcmglScalef(scale, scale, scale);
bot_lcmgl_draw_axes(lcmgl);
lcmglPopMatrix();
}
void drawRedDotsPlane()
{
int planeTilt = (int)factors.at("Tilt");
int planeSlant = (int)factors.at("Slant");
double planeDef = factors.at("Def");
double planeOnset=1;
bool backprojectionActive=true;
double theta=0.0;
Eigen::Affine3d modelTransformation;
glPushMatrix();
//glLoadIdentity();
//glTranslated(0,0,focalDistance);
glMultMatrixd(stimTransformation.data());
switch ( planeTilt )
{
case 0:
{
theta = -acos(exp(-0.346574+0.5*planeDef-planeDef/2*(1-planeOnset*periodicValue/oscillationAmplitude)));
glRotated(toDegrees(theta),0,1,0);
if (backprojectionActive)
glScaled(1/sin(toRadians( -90-planeSlant)),1,1); //backprojection phase
}
break;
case 90:
{
theta = -acos(exp(-0.346574+0.5*planeDef-planeDef/2*(1-planeOnset*periodicValue/oscillationAmplitude)));
glRotated( toDegrees(theta),1,0,0);
if (backprojectionActive)
glScaled(1,1/sin(toRadians( -90-planeSlant )),1); //backprojection phase
}
break;
case 180:
{
theta = acos(exp(-0.346574+0.5*planeDef-planeDef/2*(1+planeOnset*periodicValue/oscillationAmplitude)));
glRotated(toDegrees(theta),0,1,0);
if (backprojectionActive)
glScaled(1/sin(toRadians( -90-planeSlant )),1,1); //backprojection phase
}
break;
case 270:
{
theta = acos(exp(-0.346574+0.5*planeDef-planeDef/2*(1+planeOnset*periodicValue/oscillationAmplitude)));
glRotated( toDegrees(theta),1,0,0);
if (backprojectionActive)
glScaled(1,1/sin(toRadians( -90-planeSlant )),1); //backprojection phase
}
break;
default:
cerr << "Error, select tilt to be {0,90,180,270} only" << endl;
}
stimDrawer.draw();
glGetDoublev(GL_MODELVIEW_MATRIX,modelTransformation.matrix().data());
modelTransformation.matrix() = modelTransformation.matrix().eval();
glPopMatrix();
}
/**
* @brief drawStimulus
*/
void drawStimulus()
{
//////////////////////////////
// Update stimuli
double oscillationAmplitude=50.0;
double oscillationPeriod=100.0;
static double timeFrame=0.0;
timeFrame+=1.0;
if ( !trial.getCurrent().at("StimulusAnchored") )
{
// FISSO
glPushMatrix();
glLoadIdentity();
Vector3d translationFactor(0,0,focalDistance);
double instantPlaneSlant = trial.getCurrent().at("Slant");
switch ( (int) trial.getCurrent().at("Tilt") )
{
case 0:
{
glTranslated( translationFactor.x(), translationFactor.y(), translationFactor.z());
glRotated( -instantPlaneSlant ,0,1,0);
glScaled(1/sin(toRadians( -90-trial.getCurrent().at("Slant"))),1,1); //backprojection phase
break;
}
case 90:
{
glTranslated( translationFactor.x(), translationFactor.y(), translationFactor.z());
glRotated( -instantPlaneSlant ,1,0,0);
glScaled(1,1/sin(toRadians( -90-trial.getCurrent().at("Slant") )),1); //backprojection phase
break;
}
case 180:
{
glTranslated( translationFactor.x(), translationFactor.y(), translationFactor.z());
glRotated( -instantPlaneSlant ,0,1,0);
glScaled(1/sin(toRadians( -90-trial.getCurrent().at("Slant") )),1,1); //backprojection phase
break;
}
case 270:
{
glTranslated( translationFactor.x(), translationFactor.y(), translationFactor.z());
glRotated( -instantPlaneSlant ,1,0,0);
glScaled(1,1/sin(toRadians( -90-trial.getCurrent().at("Slant") )),1); //backprojection phase
break;
}
}
glGetDoublev(GL_MODELVIEW_MATRIX,objectActiveTransformation.data());
stimDrawer.draw();
glPopMatrix();
}
else
{
// ANCORATO
glPushMatrix();
glLoadMatrixd( (headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(Vector3d(0,0,focalDistance))).data() );
glGetDoublev(GL_MODELVIEW_MATRIX,objectActiveTransformation.data());
stimDrawer.draw();
glPopMatrix();
}
// Draw the occlusor
if ( useCircularOcclusor )
{
double maskRadius=parameters.get("CircularOcclusorRadius");
glPushMatrix();
glLoadIdentity();
Vector3d projCoords;
if ( trial.getCurrent().at("StimulusAnchored") )
projCoords << project( (headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(Vector3d(0,0,focalDistance))).translation() );
else
projCoords << project( Vector3d(0,0,focalDistance) );
circleMask( projCoords.x(), projCoords.y(), maskRadius );
glPopMatrix();
}
bool passiveMode=false;
stimDrawer.projectStimulusPoints( objectActiveTransformation, headEyeCoords.getRigidStart().getFullTransformation(), cam, focalDistance, screen, eyeCalibration, passiveMode, true);
}