void Simulation::enterMovieMode()
{
std::cout << "MovieMode: Entered\n";
mode = MovieMode; // change mode to MovieMode
aimCamera(camera_object); // aim camera at object
mywriteframes = 1; // start to capture frames
}
void AutoEventFinish::Action(dReal curTime)
{
aimCamera(cameraBody);
switch (state) {
case 0:
if (curTime - startTime > event_time) {
machine->Event(); // this should make a right turn. it can also be anything
state = 1;
};
break;
case 1:
if (curTime - startTime > finish_time) {
state = 2;
finished = 1;
if (finish_machine)
finish_machine->Event();
};
break;
};
}
void Simulation::command(int cmd)
{
dMass mass;
static int view; // which view was set last
static std::string input = ""; // input string ("" initially)
//static dJointID tagging_joint = 0; // joint that keeps one link static
if (cmd >= 'A' && cmd <= 'B')
cmd = cmd + 'a' - 'A'; // lower case
if (mode == KeyMode) {
switch (cmd) {
case keyWriteFrame:
mywriteframes ^= 1;
break;
case keyCreateMainBody:
if (car->body_obj == 0) {
car->createBody(center);
objbin.Add(car->body_obj);
};
break;
// switch mode to input
case keyInputMode:
mode = InputMode;
std::cout << "input: ";
std::cout.flush();
break;
// abandon ship
case keyBreakWheel:
car->breakWheel();
break;
// change speed
case keyZeroSpeed:
s_speed[0] = 0;
s_speed[1] = 0;
break;
case keyRightSpeedIncrease:
s_speed[1] += 0.1;
break;
case keyRightSpeedDecrease:
s_speed[1] -= 0.1;
break;
case keyRightSpeedMax:
s_speed[1] = max_speed;
break;
case keyRightSpeedMin:
s_speed[1] = min_speed;
break;
case keyLeftSpeedIncrease:
s_speed[0] += 0.1;
break;
case keyLeftSpeedDecrease:
s_speed[0] -= 0.1;
break;
case keyLeftSpeedMax:
s_speed[0] = max_speed;
break;
case keyLeftSpeedMin:
s_speed[0] = min_speed;
break;
case keyBothSpeedIncrease:
s_speed[0] += 0.1;
s_speed[1] += 0.1;
break;
case keyBothSpeedDecrease:
s_speed[0] -= 0.1;
s_speed[1] -= 0.1;
break;
case keyBothSpeedMax:
s_speed[0] = max_speed;
s_speed[1] = max_speed;
break;
case keyBothSpeedMin:
s_speed[0] = min_speed;
s_speed[1] = min_speed;
break;
// do the twitch
case keyTwitchToggle:
twitch_flag = 1 - twitch_flag;
break;
case keyTwitchHertzHalf:
twitch_hertz /= 2.0;
break;
case keyTwitchHertzDouble:
twitch_hertz *= 2.0;
break;
// camera views change
case keyAimCamera:
aimCamera(camera_object);
break;
case keyLockCameraToVehicle: // only pos, not orientation so far
lockCamera = 1 - lockCamera;
float xyz[3], hpr[3];
dsGetViewpoint(xyz, hpr);
dBodyGetPosRelPoint(camera_object, xyz[0], xyz[1], xyz[2], cameraRelVec); // returns point in body relative coordinates
break;
case keyIncreaseViewByTwoMod:
view = (view + 2) % set_view(-1);
set_view(view);
break;
case keyIncreaseViewByOneMod:
view = (view + 1) % set_view(-1);
set_view(view);
break;
// show speed and wanted speed (uncorrect when in twitch mode)
case keyDisplayWheels:
for (int i = 0 ; i < 4 ; ++i)
car->wheel_obj[i]->toggleDrawFlag();
case keyPrintSprocketMass:
car->getSprocketMass(&mass);
printf("mass %3.3f %3.3f %3.3f %3.3f\n",
mass.mass, mass.I[0], mass.I[5],
mass.I[10]);
break;
case keyPrintManyVariables:
printf
("s_speed %3.3f | actual %3.3f | hertz %3.3f | time %3.3f | lv %d\n",
s_speed[0], car->getSprocketSpeed(),
twitch_hertz, dStopwatchTime(&timer), view);
break;
case keyEnterMovieMode:
enterMovieMode();
automat = new AutoEventFinish(simTime, event_time, m_myMachine, finish_time, m_exitMachine, camera_object); // create automat
break;
};
if (cmd >= '0' && cmd < ('0' + LINK_PARTS))
Chain::showbit[cmd - '0'] =
1 - Chain::showbit[cmd - '0'];
for (int i = 0; i < 2; ++i)
s_speed[i] =
BRACKET(s_speed[i], min_speed, max_speed);
} else if (mode == InputMode) {
// switch mode to single key
if (cmd == ' ') {
mode = KeyMode;
//process (input);
std::istringstream s(input);
int tagged_link;
s >> tagged_link;
/*
tagged_link = BRACKET(tagged_link, 0, chain_obj[0]->b_num - 1);
if (tagging_joint != 0) // delete old
dJointDestroy(tagging_joint);
tagging_joint = dJointCreateFixed(world, 0);
dJointAttach(tagging_joint, chain_obj[0]->body[tagged_link], 0);
dJointSetFixed(tagging_joint);
*/
std::cout << "\n";
// reset input
input = "";
} else {
int main(int argc, char** argv)
{
bool run = GL_TRUE;
if(!glfwInit())
{
exit(EXIT_FAILURE);
}
if(!glfwOpenWindow(window_width, window_height, 8, 8, 8, 8, 24, 0, GLFW_WINDOW))
{
glfwTerminate();
exit(EXIT_FAILURE);
}
glewInit();
if (!glewIsSupported( "GL_VERSION_2_0 "
"GL_ARB_pixel_buffer_object"
)) {
fprintf( stderr, "ERROR: Support for necessary OpenGL extensions missing.");
fflush( stderr);
return false;
}
initShader("./Shader/vert.glsl", "./Shader/frag.glsl");
glfwSetKeyCallback(keypress);
glfwSetMouseButtonCallback(mouseClick);
glfwSetMousePosCallback(mouseMotion);
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glViewport(0, 0, window_width, window_height);
VBO vbo_handle;
Scene scene("../Scene/test_scene.xml");
// TODO: change here if you want to use a smaller iteration number.
ClothSim cloth_sim(10);
// TODO: change here if you want to modify the dimension.
cloth_sim.initialize(20, 20, glm::vec3(-5.0f, 10.0f, -5.0f), glm::vec3(5.0f, 10.0f, 5.0f));
//cloth_sim.initialize(30, 30, glm::vec3(-5.0f, 10.0f, -5.0f), glm::vec3(5.0f, 10.0f, 5.0f));
lastTime = glfwGetTime();
while(run)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
aimCamera();
if(!pause)
cloth_sim.update(&scene, 0.006325f);
if(flip_draw_mode)
{
cloth_sim.flip_draw_mode();
flip_draw_mode = false;
}
activate_shaderprog(m_shaderprog_handle);
cloth_sim.draw(vbo_handle);
scene.draw(vbo_handle);
deactivate_shaderprog(m_shaderprog_handle);
drawAxes();
if(!pause && record)
grabScreen();
frame_num++;
now = glfwGetTime();
char fpsInfo[256];
sprintf(fpsInfo, "%f", 1.0f / (now - lastTime));
lastTime = now;
glfwSetWindowTitle(fpsInfo);
glfwSwapBuffers();
run = !glfwGetKey(GLFW_KEY_ESC) && glfwGetWindowParam(GLFW_OPENED);
}
cleanupShader();
glfwTerminate();
exit(EXIT_SUCCESS);
}
