void Viewer::mouse_button(int button, int action, int mods)
{
if (button == GLFW_MOUSE_BUTTON_RIGHT)
{
polarView(distance,azimut,elevation,twist+5);
}else if(button == GLFW_MOUSE_BUTTON_LEFT)
{
polarView(distance,azimut,elevation,twist-5);
}
}
void TOpenGL_Form::DrawScene()
{
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glPushMatrix();
latitude += latinc;
longitude += longinc;
polarView( radius, 0, latitude, longitude );
glIndexi(RED_INDEX);
glCallList(CONE);
glIndexi(BLUE_INDEX);
glCallList(GLOBE);
glIndexi(GREEN_INDEX);
glPushMatrix();
glTranslatef(0.8F, -0.65F, 0.0F);
glRotatef(30.0F, 1.0F, 0.5F, 1.0F);
glCallList(CYLINDER);
glPopMatrix();
glPopMatrix();
SwapBuffers(ghDC);
}
void Viewer::key(int key, int scancode, int action, int mods)
{
if(action == GLFW_PRESS || action == GLFW_REPEAT)
{
if (key == GLFW_KEY_UP)
polarView(distance,azimut,elevation+5,twist);
else if (key == GLFW_KEY_DOWN)
polarView(distance,azimut,elevation-5,twist);
else if (key == GLFW_KEY_LEFT)
polarView(distance,azimut-5,elevation,twist);
else if (key == GLFW_KEY_RIGHT)
polarView(distance,azimut+5,elevation,twist);
}
/* w ==> switch draw_mode : wireframe <-> triangles */
if(action == GLFW_PRESS && key == GLFW_KEY_Z)
{
if(draw_mode == DRAW_MODE::WIREFRAME)
draw_mode = DRAW_MODE::TRIANGLES;
else if(draw_mode == DRAW_MODE::TRIANGLES)
draw_mode = DRAW_MODE::WIREFRAME;
}
/* s ==> switch smooth mode : smooth <-> no smooth */
if(action == GLFW_PRESS && key == GLFW_KEY_S)
{
if(smooth_mode == SMOOTH_MODE::SMOOTH)
smooth_mode = SMOOTH_MODE::NO_SMOOTH;
else
smooth_mode = SMOOTH_MODE::SMOOTH;
}
/* l ==> siwth lighting mode : constant <-> gouraud */
if(action == GLFW_PRESS && key == GLFW_KEY_L)
{
if(lighting_mode == LIGHTING_MODE::CONSTANT)
{
lighting_mode = LIGHTING_MODE::GOURAUD;
glShadeModel(GL_SMOOTH);
std::cout << "switch to gouraud illumination" << std::endl;
}else
{
lighting_mode = LIGHTING_MODE::CONSTANT;
glShadeModel(GL_FLAT);
std::cout << "switch to constant illumination model" << std::endl;
}
}
/* n ==> switch draw normals on/off */
if(action == GLFW_PRESS && key == GLFW_KEY_N)
{
draw_normals = !draw_normals;
}
/* keypad 5,2,1,3 ==> control camera translation */
if(action == GLFW_PRESS|| action == GLFW_REPEAT)
{
if(key == GLFW_KEY_KP_5)
{
translateCamera(0.0,1.0,0.0);
}else if(key == GLFW_KEY_KP_2)
{
translateCamera(0.0,-1.0,0.0);
}else if(key == GLFW_KEY_KP_1)
{
translateCamera(-1.0,0.0,0.0);
}else if(key == GLFW_KEY_KP_3)
{
translateCamera(1.0,0.0,0.0);
}
}
}
void Viewer::zoom(double x, double y)
{
polarView(distance-y,azimut,elevation,twist);
}
r2d2::DistanceSensor::SensorResult r2d2::VirtualUltrasonicSensor::get_data() {
std::unique_ptr<PolarView> polarView(new r2d2::MapPolarView());
// Lock map, unlocks automatically at end of scope
LockingSharedObject<ReadOnlyMap>::Accessor accessor(map);
// Scan on only one angle
double angle = coordinate_attitude.get_attitude().get_yaw()/Angle::deg;
Coordinate origin = coordinate_attitude.get_coordinate();
// Calculate new point from point and vector
// x = start_x + len * cos(angle);
// y = start_y + len * sin(angle);
//
// angle must be in radians so
// radians = degrees*(PI/180)
Coordinate maxRangePoint(
origin.get_x() + max_range*std::cos(angle*(M_PI/180)),
origin.get_y() + max_range*std::sin(angle*(M_PI/180)),
origin.get_z());
double totalSteps = max_range/accuracy;
Coordinate lastCoordinate = coordinate_attitude.get_coordinate();
// Follow the soundwave from begin to end with stepsize accuracy and check
// if there is an obstacle
for(int i = 0; i <= totalSteps; ++i) {
Length subLength = i*accuracy;
// Calculate new point on line with distance subLength
Coordinate newCoordinate(
origin.get_x() + subLength*std::cos(angle*(M_PI/180)),
origin.get_y() + subLength*std::sin(angle*(M_PI/180)),
origin.get_z());
Box fieldToCheck(lastCoordinate, newCoordinate);
BoxInfo boxInfo = accessor.access().get_box_info(fieldToCheck);
if(boxInfo.get_has_obstacle()) {
polarView->add_distancereading(
angle * Angle::deg,
DistanceReading(
subLength,
DistanceReading::ResultType::CHECKED));
break;
}
else if(i == totalSteps) {
// The ResultType is OUT_OF_RANGE so the distance is -1 meter
// so it can't be mistaken for a CHECKED distance.
polarView->add_distancereading(
angle * Angle::deg,
DistanceReading(
-1 * Length::METER,
DistanceReading::ResultType::OUT_OF_RANGE));
}
lastCoordinate = newCoordinate;
}
return r2d2::DistanceSensor::SensorResult(0, polarView);
}
