void CoordSysWidget::display()
{
// glMatrixMode(GL_PROJECTION);
// glLoadIdentity();
// gluPerspective(45, 1, 1, 40);
// glMatrixMode(GL_MODELVIEW);
// glLoadIdentity();
// gluLookAt(7, -25, 10, 0, 0, 0, 0, 0, 1);
glPushMatrix();
glRotated(xRot / 16.0, 1.0, 0.0, 0.0);
glRotated(yRot / 16.0, 0.0, 1.0, 0.0);
glRotated(zRot / 16.0, 0.0, 0.0, 1.0);
move();
// glRotated(30.0, 1.0, 0.0, 0.0);
// glRotated(-20.0, 0.0, 1.0, 0.0);
drawCoords();
qglColor(Qt::gray);
move();
// renderText(0.0, 0.0, 10.5, "Coordition System");
renderText(MAXCOORD+0.1, -0.3, 0.0, "x");
renderText(-0.3, MAXCOORD+0.1, 0.0, "y");
renderText(0.0, 0.3, MAXCOORD+0.1, "z");
glPopMatrix();
glFlush();
}
void PainterOGL2::drawTextureCoords(CoordsBuffer& coordsBuffer, const TexturePtr& texture)
{
if(texture && texture->isEmpty())
return;
setDrawProgram(m_shaderProgram ? m_shaderProgram : m_drawTexturedProgram.get());
setTexture(texture);
drawCoords(coordsBuffer);
}
void PainterOGL2::drawBoundingRect(const Rect& dest, int innerLineWidth)
{
if(dest.isEmpty() || innerLineWidth == 0)
return;
setDrawProgram(m_shaderProgram ? m_shaderProgram : m_drawSolidColorProgram.get());
m_coordsBuffer.clear();
m_coordsBuffer.addBoudingRect(dest, innerLineWidth);
drawCoords(m_coordsBuffer);
}
void PainterOGL2::drawFilledTriangle(const Point& a, const Point& b, const Point& c)
{
if(a == b || a == c || b == c)
return;
setDrawProgram(m_shaderProgram ? m_shaderProgram : m_drawSolidColorProgram.get());
m_coordsBuffer.clear();
m_coordsBuffer.addTriangle(a, b, c);
drawCoords(m_coordsBuffer);
}
void PainterOGL2::drawFilledRect(const Rect& dest)
{
if(dest.isEmpty())
return;
setDrawProgram(m_shaderProgram ? m_shaderProgram : m_drawSolidColorProgram.get());
m_coordsBuffer.clear();
m_coordsBuffer.addRect(dest);
drawCoords(m_coordsBuffer);
}
void PainterOGL2::drawRepeatedTexturedRect(const Rect& dest, const TexturePtr& texture, const Rect& src)
{
if(dest.isEmpty() || src.isEmpty() || texture->isEmpty())
return;
setDrawProgram(m_shaderProgram ? m_shaderProgram : m_drawTexturedProgram.get());
setTexture(texture);
m_coordsBuffer.clear();
m_coordsBuffer.addRepeatedRects(dest, src);
drawCoords(m_coordsBuffer);
}
void PainterOGL2::drawUpsideDownTexturedRect(const Rect& dest, const TexturePtr& texture, const Rect& src)
{
if(dest.isEmpty() || src.isEmpty() || texture->isEmpty())
return;
setDrawProgram(m_shaderProgram ? m_shaderProgram : m_drawTexturedProgram.get());
setTexture(texture);
m_coordsBuffer.clear();
m_coordsBuffer.addUpsideDownQuad(dest, src);
drawCoords(m_coordsBuffer, TriangleStrip);
}
void BoltzmannInfoWidget::paintEvent(QPaintEvent *event) {
QPainter painter(this);
painter.setRenderHint(QPainter::Antialiasing);
QPen pen;
pen.setColor(QColor(0xEE, 0xEE, 0xEE));
pen.setWidth(3);
painter.setPen(pen);
painter.fillRect(event->rect(), QBrush(QColor(0x30, 0x30, 0x30)));
drawCoords(&painter);
drawLabels(&painter);
drawChart(&painter);
drawStatus(&painter);
}
void renderScene()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
gluLookAt(50.0f, 3.0f, 100.0f,
0.0f, 2.0f, 0.0f,
0.0f, 1.0f, 0.0f);
drawCoords();
draw();
Sleep(10);
glutSwapBuffers();
}
/**
绘制坐标系
*/
void CoordSysWidget::paintGL()
{
glPushMatrix();
glRotated(xRot / 16.0, 1.0, 0.0, 0.0);
glRotated(yRot / 16.0, 0.0, 1.0, 0.0);
glRotated(zRot / 16.0, 0.0, 0.0, 1.0);
// 画坐标系
drawCoords();
// 画网格
drawGrid();
// 画设备位置
drawPoints();
glPopMatrix();
}
void RobotTestBackend::RenderWorld()
{
ViewRobot& viewRobot = world->robotViews[0];
//WorldViewProgram::RenderWorld();
glDisable(GL_LIGHTING);
drawCoords(0.1);
glEnable(GL_LIGHTING);
for(size_t i=0;i<world->terrains.size();i++)
world->terrains[i]->DrawGL();
for(size_t i=0;i<world->rigidObjects.size();i++)
world->rigidObjects[i]->DrawGL();
if(draw_sensors) {
if(robotSensors.sensors.empty()) {
robotSensors.MakeDefault(robot);
}
for(size_t i=0;i<robotSensors.sensors.size();i++) {
vector<double> measurements;
if(0 == strcmp(robotSensors.sensors[i]->Type(),"CameraSensor")) {
robotSensors.sensors[i]->SimulateKinematic(*robot,*world);
robotSensors.sensors[i]->GetMeasurements(measurements);
}
robotSensors.sensors[i]->DrawGL(*robot,measurements);
}
}
if(draw_geom) {
//set the robot colors
GLColor highlight(1,1,0);
GLColor driven(1,0.5,0);
GLColor colliding(1,0,0);
GLColor blue(0,0,1);
viewRobot.RestoreAppearance();
viewRobot.PushAppearance();
for(size_t i=0;i<robot->links.size();i++) {
if(self_colliding[i]) viewRobot.SetColor(i,colliding);
if((int)i == cur_link)
viewRobot.SetColor(i,highlight);
else if(cur_driver >= 0 && cur_driver < (int)robot->drivers.size() &&
robot->DoesDriverAffect(cur_driver,i))
viewRobot.SetColor(i,driven);
if(draw_self_collision_tests) {
//draw a little blue
if(robot->selfCollisions(i,cur_link) || robot->selfCollisions(cur_link,i) ) {
GLDraw::GeometryAppearance &app = viewRobot.Appearance(i);
app.ModulateColor(blue,0.5);
}
}
}
//this will set the hover colors
allWidgets.DrawGL(viewport);
//viewRobot.Draw();
viewRobot.PopAppearance();
}
else {
for(size_t i=0;i<robotWidgets.size();i++)
robotWidgets[i].linkPoser.draw = 0;
allWidgets.DrawGL(viewport);
for(size_t i=0;i<robotWidgets.size();i++)
robotWidgets[i].linkPoser.draw = 1;
}
if(draw_com) {
viewRobot.DrawCenterOfMass();
for(size_t i=0;i<robot->links.size();i++)
viewRobot.DrawLinkCenterOfMass(i,0.01);
}
if(draw_frame) {
viewRobot.DrawLinkFrames();
glDisable(GL_DEPTH_TEST);
glPushMatrix();
glMultMatrix((Matrix4)robot->links[cur_link].T_World);
drawCoords(0.2);
glPopMatrix();
glEnable(GL_DEPTH_TEST);
}
if(draw_self_collision_tests) {
glDisable(GL_LIGHTING);
glLineWidth(2.0);
glColor3f(1,0,0);
glBegin(GL_LINES);
for(size_t i=0;i<robot->links.size();i++) {
Vector3 comi = robot->links[i].T_World*robot->links[i].com;
for(size_t j=0;j<robot->links.size();j++) {
if(robot->selfCollisions(i,j)) {
Vector3 comj = robot->links[j].T_World*robot->links[j].com;
glVertex3v(comi);
glVertex3v(comj);
}
}
}
glEnd();
}
if(draw_bbs) {
for(size_t j=0;j<robot->geometry.size();j++) {
if(robot->IsGeometryEmpty(j)) continue;
Box3D bbox = robot->geometry[j]->GetBB();
Matrix4 basis;
bbox.getBasis(basis);
glColor3f(1,0,0);
drawOrientedWireBox(bbox.dims.x,bbox.dims.y,bbox.dims.z,basis);
}
}
}
void ViewportView::drawForeground(QPainter* painter, const QRectF& rect)
{
QGraphicsView::drawForeground(painter, rect);
drawAxes(painter);
drawCoords(painter);
}
void PainterOGL2::drawFillCoords(CoordsBuffer& coordsBuffer)
{
setDrawProgram(m_shaderProgram ? m_shaderProgram : m_drawSolidColorProgram.get());
setTexture(nullptr);
drawCoords(coordsBuffer);
}
