void WorldRpcInterface::respClass( const yarp::os::Bottle& command, yarp::os::Bottle& reply, int& n )
{
KinematicModel::CompositeObject* object = getObject( command, reply, n );
if ( object )
{
//model->clearWorldObject(object);
model->removeWorldObject(object);
int type = command.get(n).asVocab();
QColor collidingColor,freeColor;
switch (type)
{
case VOCAB_OBSTACLE:
freeColor = Qt::blue;
freeColor = freeColor.lighter();
collidingColor = freeColor;
freeColor.setAlphaF(0.5);
collidingColor.setAlphaF(0.5);
object->setResponseClass(model->OBSTACLE());
object->setFreeColor( freeColor );
object->setCollidingColor( collidingColor );
reply.addString("Changed object type to 'obstacle'.");
break;
case VOCAB_TARGET:
freeColor = Qt::green;
freeColor = freeColor.lighter();
collidingColor = freeColor;
freeColor.setAlphaF(1.0);
collidingColor.setAlphaF(0.5);
object->setResponseClass(model->TARGET());
object->setFreeColor( freeColor );
object->setCollidingColor( collidingColor );
reply.addString("Changed object type to 'target'.");
break;
default:
reply.addString("Unknown definition, use 'obs' or 'tgt'.");
}
model->appendObject( object );
}
}
KinematicModel::CompositeObject* ObjectSoup::makeARandomObjectLikeAMothaFucka()
{
KinematicModel::CompositeObject* obj = new KinematicModel::CompositeObject( theModel.OBSTACLE(), theModel.OBSTACLE() );
// choose a random color for the object
QColor collidingColor = QColor( qrand()%255, qrand()%255, qrand()%255, 0.5 );
QColor freeColor = collidingColor;
freeColor.setAlphaF( 1.0 );
obj->setCollidingColor(collidingColor);
obj->setFreeColor(freeColor);
// choose a random number of primitives to append to the object 1 to 5 inclusive
int numPrimitives = (qrand() % 6 + 1);
if (verbose) printf( " Num Primitives: %d\n", numPrimitives);
KinematicModel::PrimitiveObject* primitive;
for ( int j=0; j<numPrimitives; ++j )
{
// choose a random geometry type for each primitive
KinematicModel::GeomType geomType = (KinematicModel::GeomType)( qrand() % ((int)KinematicModel::BOX+1) );
if (verbose) printf( " Geometry Type: %d\n", (int)geomType );
switch (geomType)
{
case KinematicModel::SPHERE: primitive = new KinematicModel::Sphere( (float)qrand()/RAND_MAX/10.0+0.01 );
break;
case KinematicModel::CYLINDER: primitive = new KinematicModel::Cylinder( (float)qrand()/RAND_MAX/10+.01,
(float)2*qrand()/RAND_MAX/10+.01 );
break;
case KinematicModel::BOX: primitive = new KinematicModel::Box( QVector3D((float)qrand()/RAND_MAX/10+.01,
(float)qrand()/RAND_MAX/10+.01,
(float)qrand()/RAND_MAX/10+.01) );
break;
default:
break;
}
primitive->setCollidingColor( collidingColor );
primitive->setFreeColor(freeColor);
primitive->translate(randomTranslation(0.1));
primitive->cartesianRotate(randomRotation());
obj->appendPrimitive(primitive);
}
obj->translate(randomTranslation(1.0));
primitive->cartesianRotate(randomRotation());
theModel.appendObject(obj);
return obj;
}