void visible(int v)
{
if (v == GLUT_VISIBLE) {
if (Rotating) {
glutIdleFunc(rotatethering);
agvSetAllowIdle(0);
} else {
glutIdleFunc(NULL);
agvSetAllowIdle(1);
}
} else {
glutIdleFunc(NULL);
agvSetAllowIdle(0);
}
}
/* ARGSUSED2 */
void CurveHandleButton(int button, int state, int x, int y)
{
if (button == GLUT_RIGHT_BUTTON )
return;
if (state == GLUT_DOWN && CurveDownBtn == -1) {
if (button == GLUT_MIDDLE_BUTTON)
CurveHandleMenu(CMENU_WALK);
else
fStep = Step = (int)((float)x/glutGet(GLUT_WINDOW_WIDTH) * CYCLE_SIZE);
CurveDownBtn = button;
WasWalking = Walking;
StopWalking();
RedisplayBoth();
} else if (button == CurveDownBtn) {
CurveDownBtn = -1;
if (WasWalking) {
Walking = 1;
agvSetAllowIdle(0);
glutIdleFunc(IncrementStep);
}
}
}
void StopWalking(void)
{
if (Walking) {
Walking = 0;
agvSetAllowIdle(1);
}
}
void CurveHandleMenu(int value)
{
switch (value) {
case CMENU_QUIT:
exit(0);
break;
case CMENU_CURVE:
CurveAsPoints = !CurveAsPoints;
glutPostRedisplay();
break;
case CMENU_HORIZ:
DrawHorizontals = !DrawHorizontals;
glutPostRedisplay();
break;
case CMENU_WALK:
if (EditingCurve != -1)
break;
Walking = !Walking;
if (Walking) {
agvSetAllowIdle(0);
glutIdleFunc(IncrementStep);
} else {
agvSetAllowIdle(1);
}
break;
case CMENU_DONEEDIT:
glutMouseFunc(CurveHandleButton);
EditingCurve = -1;
CurvePickedPoint = -1;
Walking = WasWalking;
if (Walking)
glutIdleFunc(IncrementStep);
else
agvSetAllowIdle(1);
glutPostRedisplay();
break;
case CMENU_RESET:
FlatCSet();
ComputeCSetAndMakeLists();
glutPostRedisplay();
break;
case CMENU_MIRROR:
MirrorLegs = !MirrorLegs;
ComputeCSetAndMakeLists();
glutPostRedisplay();
}
}
void agvInit(int window)
{
glutMouseFunc(agvHandleButton);
glutMotionFunc(agvHandleMotion);
glutKeyboardFunc(agvHandleKeys);
RedisplayWindow = glutGetWindow();
agvSetAllowIdle(window);
}
void handlemenu(int value)
{
switch (value) {
case MENU_AXES:
DrawAxes = !DrawAxes;
break;
case MENU_QUIT:
exit(0);
break;
case MENU_RING:
Rotating = !Rotating;
if (Rotating) {
glutIdleFunc(rotatethering); /* install our idle function */
agvSetAllowIdle(0); /* and tell AGV to not */
} else {
glutIdleFunc(NULL); /* uninstall our idle function */
agvSetAllowIdle(1); /* and tell AGV it can mess with it */
}
break;
}
glutPostRedisplay();
}
void CurveHandleEditMenu(int curve)
{
if (curve >= NUM_JOINTS)
return;
if (EditingCurve == -1) {
WasWalking = Walking;
Walking = 0;
agvSetAllowIdle(0); /* don't allow spinning, just slows us down */
glutIdleFunc(NULL);
glutMouseFunc(CurveEditHandleButton);
}
EditingCurve = curve;
glutPostRedisplay();
}
