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https://github.com/JulianGro/overte.git
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1045 lines
31 KiB
C++
1045 lines
31 KiB
C++
//
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//
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// Interface
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//
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// Show a field of objects rendered in 3D, with yaw and pitch of scene driven
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// by accelerometer data
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// serial port connected to Maple board/arduino.
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//
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// Keyboard Commands:
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//
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// / = toggle stats display
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// spacebar = reset gyros/head
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// h = render Head
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// l = show incoming gyro levels
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//
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#include "InterfaceConfig.h"
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#include <iostream>
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#include <fstream>
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#include <math.h>
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#include <string.h>
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#include <sstream>
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#include <stdio.h>
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#include <stdlib.h>
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#include <sys/time.h>
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#include <pthread.h>
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#include <ifaddrs.h>
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#include <glm/glm.hpp>
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#include <arpa/inet.h>
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#include "SerialInterface.h"
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#include "Field.h"
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#include "world.h"
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#include "Util.h"
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#include "Audio.h"
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#include "Head.h"
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#include "Hand.h"
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#include "Particle.h"
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#include "Texture.h"
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#include "Cloud.h"
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#include "AgentList.h"
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#include "Cube.h"
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#include "Lattice.h"
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#include "Finger.h"
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#include "Oscilloscope.h"
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#include "UDPSocket.h"
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using namespace std;
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int audio_on = 1; // Whether to turn on the audio support
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int simulate_on = 1;
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//
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// Network Socket and network constants
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//
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const int MAX_PACKET_SIZE = 1500;
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char DOMAIN_HOSTNAME[] = "highfidelity.below92.com";
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char DOMAIN_IP[100] = ""; // IP Address will be used first if not empty string
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const int DOMAINSERVER_PORT = 40102;
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UDPSocket agentSocket(AGENT_SOCKET_LISTEN_PORT);
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AgentList agentList;
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// For testing, add milliseconds of delay for received UDP packets
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char* incomingPacket;
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int packetcount = 0;
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int packets_per_second = 0;
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int bytes_per_second = 0;
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int bytescount = 0;
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// Getting a target location from other machine (or loopback) to display
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int target_x, target_y;
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int target_display = 0;
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int head_mirror = 1; // Whether to mirror own head when viewing it
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int sendToSelf = 1;
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int WIDTH = 1200;
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int HEIGHT = 800;
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int fullscreen = 0;
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char localAddressBuffer[INET_ADDRSTRLEN];
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Oscilloscope audioScope(512,200,true);
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#define HAND_RADIUS 0.25 // Radius of in-world 'hand' of you
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Head myHead; // The rendered head of oneself
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Hand myHand(HAND_RADIUS,
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glm::vec3(0,1,1)); // My hand (used to manipulate things in world)
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glm::vec3 box(WORLD_SIZE,WORLD_SIZE,WORLD_SIZE);
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ParticleSystem balls(0,
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box,
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false, // Wrap?
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0.02, // Noise
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0.3, // Size scale
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0.0 // Gravity
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);
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Cloud cloud(0, // Particles
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box, // Bounding Box
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false // Wrap
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);
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VoxelSystem voxels(1000, box);
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Lattice lattice(160,100);
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Finger myFinger(WIDTH, HEIGHT);
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Field field;
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Audio audio(&myHead, &audioScope);
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#define RENDER_FRAME_MSECS 8
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int steps_per_frame = 0;
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float yaw =0.f; // The yaw, pitch for the avatar head
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float pitch = 0.f; //
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float start_yaw = 122;
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float render_pitch = 0.f;
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float render_yaw_rate = 0.f;
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float render_pitch_rate = 0.f;
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float lateral_vel = 0.f;
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// Manage speed and direction of motion
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GLfloat fwd_vec[] = {0.0, 0.0, 1.0};
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//GLfloat start_location[] = { WORLD_SIZE*1.5, -WORLD_SIZE/2.0, -WORLD_SIZE/3.0};
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//GLfloat start_location[] = { 0.1, -0.15, 0.1};
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GLfloat start_location[] = {6.1, 0, 1.4};
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GLfloat location[] = {start_location[0], start_location[1], start_location[2]};
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float fwd_vel = 0.0f;
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int stats_on = 0; // Whether to show onscreen text overlay with stats
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int noise_on = 0; // Whether to add random noise
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float noise = 1.0; // Overall magnitude scaling for random noise levels
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int step_on = 0;
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int display_levels = 0;
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int display_head = 0;
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int display_hand = 0;
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int display_field = 0;
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int display_head_mouse = 1; // Display sample mouse pointer controlled by head movement
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int head_mouse_x, head_mouse_y;
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int head_lean_x, head_lean_y;
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int mouse_x, mouse_y; // Where is the mouse
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int mouse_pressed = 0; // true if mouse has been pressed (clear when finished)
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int nearbyAgents = 0; // How many other people near you is the domain server reporting?
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int speed;
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//
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// Serial USB Variables
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//
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SerialInterface serialPort;
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int latency_display = 1;
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//int adc_channels[NUM_CHANNELS];
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//float avg_adc_channels[NUM_CHANNELS];
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//int sensor_samples = 0;
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//int sensor_LED = 0;
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glm::vec3 gravity;
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int first_measurement = 1;
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//int samplecount = 0;
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// Frame rate Measurement
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int framecount = 0;
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float FPS = 120.f;
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timeval timer_start, timer_end;
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timeval last_frame;
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double elapsedTime;
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// Particles
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char texture_filename[] = "images/int-texture256-v4.png";
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unsigned int texture_width = 256;
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unsigned int texture_height = 256;
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float particle_attenuation_quadratic[] = { 0.0f, 0.0f, 2.0f }; // larger Z = smaller particles
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float pointer_attenuation_quadratic[] = { 1.0f, 0.0f, 0.0f }; // for 2D view
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#ifdef MARKER_CAPTURE
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/*** Marker Capture ***/
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#define MARKER_CAPTURE_INTERVAL 1
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MarkerCapture marker_capturer(CV_CAP_ANY); // Create a new marker capturer, attached to any valid camera.
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MarkerAcquisitionView marker_acq_view(&marker_capturer);
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bool marker_capture_enabled = true;
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bool marker_capture_display = true;
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IplImage* marker_capture_frame;
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IplImage* marker_capture_blob_frame;
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pthread_mutex_t frame_lock;
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#endif
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// Every second, check the frame rates and other stuff
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void Timer(int extra)
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{
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gettimeofday(&timer_end, NULL);
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FPS = (float)framecount / ((float)diffclock(&timer_start, &timer_end) / 1000.f);
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packets_per_second = (float)packetcount / ((float)diffclock(&timer_start, &timer_end) / 1000.f);
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bytes_per_second = (float)bytescount / ((float)diffclock(&timer_start, &timer_end) / 1000.f);
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framecount = 0;
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packetcount = 0;
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bytescount = 0;
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glutTimerFunc(1000,Timer,0);
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gettimeofday(&timer_start, NULL);
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//
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// Send a message to the domainserver telling it we are ALIVE
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//
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char output[100];
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sprintf(output, "%c %f,%f,%f,%s %hd", 'I', location[0], location[1], location[2], localAddressBuffer, AGENT_SOCKET_LISTEN_PORT);
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std::cout << "sending " << output << " to domain server\n";
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int packet_size = strlen(output);
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agentSocket.send(DOMAIN_IP, DOMAINSERVER_PORT, output, packet_size);
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// Ping the agents we can see
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// pingAgents(&agentSocket);
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if (0) {
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// Massive send packet speed test
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timeval starttest, endtest;
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gettimeofday(&starttest, NULL);
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char junk[1000];
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junk[0] = 'J';
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for (int i = 0; i < 10000; i++)
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{
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// agentSocket.send((char *)"192.168.1.38", AGENT_UDP_PORT, junk, 1000);
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}
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gettimeofday(&endtest, NULL);
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float sendTime = diffclock(&starttest, &endtest);
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printf("packet test = %4.1f\n", sendTime);
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}
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// if we haven't detected gyros, check for them now
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if (!serialPort.active) {
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serialPort.pair();
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}
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}
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void display_stats(void)
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{
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// bitmap chars are about 10 pels high
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char legend[] = "/ - toggle this display, Q - exit, H - show head, M - show hand, T - test audio";
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drawtext(10, 15, 0.10, 0, 1.0, 0, legend);
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char stats[200];
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sprintf(stats, "FPS = %3.0f Pkts/s = %d Bytes/s = %d ",
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FPS, packets_per_second, bytes_per_second);
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drawtext(10, 30, 0.10, 0, 1.0, 0, stats);
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if (serialPort.active) {
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sprintf(stats, "ADC samples = %d, LED = %d",
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serialPort.getNumSamples(), serialPort.getLED());
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drawtext(300, 30, 0.10, 0, 1.0, 0, stats);
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}
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// Output the ping times to the various agents
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// std::stringstream pingTimes;
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// pingTimes << "Agent Pings, msecs:";
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// for (int i = 0; i < getAgentCount(); i++) {
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// pingTimes << " " << getAgentAddress(i) << ": " << getAgentPing(i);
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// }
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// drawtext(10,50,0.10, 0, 1.0, 0, (char *)pingTimes.str().c_str());
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std::stringstream angles;
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angles << "render_yaw: " << myHead.getRenderYaw() << ", Yaw: " << myHead.getYaw();
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drawtext(10,50,0.10, 0, 1.0, 0, (char *)angles.str().c_str());
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/*
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char adc[200];
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sprintf(adc, "location = %3.1f,%3.1f,%3.1f, angle_to(origin) = %3.1f, head yaw = %3.1f, render_yaw = %3.1f",
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-location[0], -location[1], -location[2],
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angle_to(myHead.getPos()*-1.f, glm::vec3(0,0,0), myHead.getRenderYaw(), myHead.getYaw()),
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myHead.getYaw(), myHead.getRenderYaw());
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drawtext(10, 50, 0.10, 0, 1.0, 0, adc);
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*/
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}
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void initDisplay(void)
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{
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// Set up blending function so that we can NOT clear the display
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glEnable(GL_BLEND);
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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glShadeModel (GL_SMOOTH);
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glEnable(GL_LIGHTING);
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glEnable(GL_LIGHT0);
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glEnable(GL_DEPTH_TEST);
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// load_png_as_texture(texture_filename);
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if (fullscreen) glutFullScreen();
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}
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void init(void)
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{
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myHead.setRenderYaw(start_yaw);
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head_mouse_x = WIDTH/2;
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head_mouse_y = HEIGHT/2;
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head_lean_x = WIDTH/2;
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head_lean_y = HEIGHT/2;
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// Initialize Field values
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field = Field();
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printf( "Field Initialized.\n" );
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if (noise_on)
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{
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myHand.setNoise(noise);
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myHead.setNoise(noise);
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}
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#ifdef MARKER_CAPTURE
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if(marker_capture_enabled){
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marker_capturer.position_updated(&position_updated);
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marker_capturer.frame_updated(&marker_frame_available);
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if(!marker_capturer.init_capture()){
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printf("Camera-based marker capture initialized.\n");
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}else{
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printf("Error initializing camera-based marker capture.\n");
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}
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}
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#endif
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gettimeofday(&timer_start, NULL);
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gettimeofday(&last_frame, NULL);
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}
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void terminate () {
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// Close serial port
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//close(serial_fd);
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audio.terminate();
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exit(EXIT_SUCCESS);
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}
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void reset_sensors()
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{
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//
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// Reset serial I/O sensors
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//
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myHead.setRenderYaw(start_yaw);
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yaw = render_yaw_rate = 0;
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pitch = render_pitch = render_pitch_rate = 0;
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lateral_vel = 0;
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location[0] = start_location[0];
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location[1] = start_location[1];
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location[2] = start_location[2];
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fwd_vel = 0.0;
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head_mouse_x = WIDTH/2;
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head_mouse_y = HEIGHT/2;
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head_lean_x = WIDTH/2;
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head_lean_y = HEIGHT/2;
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myHead.reset();
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myHand.reset();
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if (serialPort.active) {
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serialPort.resetTrailingAverages();
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}
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}
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void update_pos(float frametime)
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// Using serial data, update avatar/render position and angles
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{
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float measured_pitch_rate = serialPort.getRelativeValue(PITCH_RATE);
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float measured_yaw_rate = serialPort.getRelativeValue(YAW_RATE);
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//float measured_lateral_accel = serialPort.getRelativeValue(ACCEL_X);
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//float measured_fwd_accel = serialPort.getRelativeValue(ACCEL_Z);
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myHead.UpdatePos(frametime, &serialPort, head_mirror, &gravity);
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// Update head_mouse model
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const float MIN_MOUSE_RATE = 30.0;
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const float MOUSE_SENSITIVITY = 0.1;
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if (powf(measured_yaw_rate*measured_yaw_rate +
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measured_pitch_rate*measured_pitch_rate, 0.5) > MIN_MOUSE_RATE)
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{
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head_mouse_x -= measured_yaw_rate*MOUSE_SENSITIVITY;
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head_mouse_y += measured_pitch_rate*MOUSE_SENSITIVITY*(float)HEIGHT/(float)WIDTH;
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}
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head_mouse_x = max(head_mouse_x, 0);
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head_mouse_x = min(head_mouse_x, WIDTH);
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head_mouse_y = max(head_mouse_y, 0);
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head_mouse_y = min(head_mouse_y, HEIGHT);
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// Update hand/manipulator location for measured forces from serial channel
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/*
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const float MIN_HAND_ACCEL = 30.0;
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const float HAND_FORCE_SCALE = 0.5;
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glm::vec3 hand_accel(-(avg_adc_channels[6] - adc_channels[6]),
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-(avg_adc_channels[7] - adc_channels[7]),
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-(avg_adc_channels[5] - adc_channels[5]));
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if (glm::length(hand_accel) > MIN_HAND_ACCEL)
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{
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myHand.addVel(frametime*hand_accel*HAND_FORCE_SCALE);
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}
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*/
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// Update render direction (pitch/yaw) based on measured gyro rates
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const int MIN_YAW_RATE = 3000;
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const float YAW_SENSITIVITY = 0.03;
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const int MIN_PITCH_RATE = 3000;
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const float PITCH_SENSITIVITY = 0.04;
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if (fabs(measured_yaw_rate) > MIN_YAW_RATE)
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{
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if (measured_yaw_rate > 0)
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render_yaw_rate -= (measured_yaw_rate - MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
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else
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render_yaw_rate -= (measured_yaw_rate + MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
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}
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if (fabs(measured_pitch_rate) > MIN_PITCH_RATE)
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{
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if (measured_pitch_rate > 0)
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render_pitch_rate += (measured_pitch_rate - MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
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else
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render_pitch_rate += (measured_pitch_rate + MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
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}
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render_pitch += render_pitch_rate;
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// Decay render_pitch toward zero because we never look constantly up/down
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render_pitch *= (1.f - 2.0*frametime);
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// Decay angular rates toward zero
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render_pitch_rate *= (1.f - 5.0*frametime);
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render_yaw_rate *= (1.f - 7.0*frametime);
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// Update slide left/right based on accelerometer reading
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/*
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const int MIN_LATERAL_ACCEL = 20;
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const float LATERAL_SENSITIVITY = 0.001;
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if (fabs(measured_lateral_accel) > MIN_LATERAL_ACCEL)
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{
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if (measured_lateral_accel > 0)
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lateral_vel += (measured_lateral_accel - MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
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else
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lateral_vel += (measured_lateral_accel + MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
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}*/
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//slide += lateral_vel;
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lateral_vel *= (1.f - 4.0*frametime);
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// Update fwd/back based on accelerometer reading
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/*
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const int MIN_FWD_ACCEL = 20;
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const float FWD_SENSITIVITY = 0.001;
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if (fabs(measured_fwd_accel) > MIN_FWD_ACCEL)
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{
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if (measured_fwd_accel > 0)
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fwd_vel += (measured_fwd_accel - MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
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else
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fwd_vel += (measured_fwd_accel + MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
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}*/
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// Decrease forward velocity
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fwd_vel *= (1.f - 4.0*frametime);
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// Update forward vector based on pitch and yaw
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fwd_vec[0] = -sinf(myHead.getRenderYaw()*PI/180);
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fwd_vec[1] = sinf(render_pitch*PI/180);
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fwd_vec[2] = cosf(myHead.getRenderYaw()*PI/180);
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// Advance location forward
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location[0] += fwd_vec[0]*fwd_vel;
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location[1] += fwd_vec[1]*fwd_vel;
|
|
location[2] += fwd_vec[2]*fwd_vel;
|
|
|
|
// Slide location sideways
|
|
location[0] += fwd_vec[2]*-lateral_vel;
|
|
location[2] += fwd_vec[0]*lateral_vel;
|
|
|
|
// Update manipulator objects with object with current location
|
|
balls.updateHand(myHead.getPos() + myHand.getPos(), glm::vec3(0,0,0), myHand.getRadius());
|
|
|
|
// Update own head data
|
|
myHead.setRenderYaw(myHead.getRenderYaw() + render_yaw_rate);
|
|
myHead.setRenderPitch(render_pitch);
|
|
myHead.setPos(glm::vec3(location[0], location[1], location[2]));
|
|
|
|
// Get audio loudness data from audio input device
|
|
float loudness, averageLoudness;
|
|
audio.getInputLoudness(&loudness, &averageLoudness);
|
|
myHead.setLoudness(loudness);
|
|
myHead.setAverageLoudness(averageLoudness);
|
|
|
|
// Send my streaming head data to agents that are nearby and need to see it!
|
|
const int MAX_BROADCAST_STRING = 200;
|
|
char broadcast_string[MAX_BROADCAST_STRING];
|
|
int broadcast_bytes = myHead.getBroadcastData(broadcast_string);
|
|
// broadcastToAgents(&agentSocket, broadcast_string, broadcast_bytes, sendToSelf);
|
|
}
|
|
|
|
int render_test_spot = WIDTH/2;
|
|
int render_test_direction = 1;
|
|
|
|
void display(void)
|
|
{
|
|
glEnable (GL_DEPTH_TEST);
|
|
glEnable(GL_LIGHTING);
|
|
glEnable(GL_LINE_SMOOTH);
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
glMatrixMode(GL_MODELVIEW);
|
|
glPushMatrix();
|
|
glLoadIdentity();
|
|
|
|
// Setup 3D lights
|
|
glEnable(GL_COLOR_MATERIAL);
|
|
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
|
|
|
|
GLfloat light_position0[] = { 1.0, 1.0, 0.0, 0.0 };
|
|
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
|
|
GLfloat ambient_color[] = { 0.125, 0.305, 0.5 };
|
|
glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_color);
|
|
GLfloat diffuse_color[] = { 0.5, 0.42, 0.33 };
|
|
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_color);
|
|
GLfloat specular_color[] = { 1.0, 1.0, 1.0, 1.0};
|
|
glLightfv(GL_LIGHT0, GL_SPECULAR, specular_color);
|
|
|
|
glMaterialfv(GL_FRONT, GL_SPECULAR, specular_color);
|
|
glMateriali(GL_FRONT, GL_SHININESS, 96);
|
|
|
|
// Rotate, translate to camera location
|
|
glRotatef(myHead.getRenderPitch(), 1, 0, 0);
|
|
glRotatef(myHead.getRenderYaw(), 0, 1, 0);
|
|
glTranslatef(location[0], location[1], location[2]);
|
|
|
|
// Draw cloud of dots
|
|
glDisable( GL_POINT_SPRITE_ARB );
|
|
glDisable( GL_TEXTURE_2D );
|
|
if (!display_head) cloud.render();
|
|
|
|
// Draw voxels
|
|
voxels.render();
|
|
|
|
// Draw field vectors
|
|
if (display_field) field.render();
|
|
|
|
// Render heads of other agents
|
|
// render_agents(sendToSelf, &location[0]);
|
|
|
|
if (display_hand) myHand.render();
|
|
|
|
if (!display_head) balls.render();
|
|
|
|
// Render the world box
|
|
if (!display_head && stats_on) render_world_box();
|
|
|
|
// Render my own head
|
|
|
|
if (display_head) {
|
|
glPushMatrix();
|
|
glLoadIdentity();
|
|
glTranslatef(0.f, 0.f, -7.f);
|
|
myHead.render(1, &location[0]);
|
|
glPopMatrix();
|
|
}
|
|
//glm::vec3 test(0.5, 0.5, 0.5);
|
|
//render_vector(&test);
|
|
|
|
glPopMatrix();
|
|
|
|
// Render 2D overlay: I/O level bar graphs and text
|
|
glMatrixMode(GL_PROJECTION);
|
|
glPushMatrix();
|
|
glLoadIdentity();
|
|
gluOrtho2D(0, WIDTH, HEIGHT, 0);
|
|
glDisable(GL_DEPTH_TEST);
|
|
glDisable(GL_LIGHTING);
|
|
|
|
// lattice.render(WIDTH, HEIGHT);
|
|
// myFinger.render();
|
|
audio.render(WIDTH, HEIGHT);
|
|
if (audioScope.getState()) audioScope.render();
|
|
|
|
|
|
//drawvec3(100, 100, 0.15, 0, 1.0, 0, myHead.getPos(), 0, 1, 0);
|
|
glPointParameterfvARB( GL_POINT_DISTANCE_ATTENUATION_ARB, pointer_attenuation_quadratic );
|
|
|
|
if (mouse_pressed == 1)
|
|
{
|
|
glPointSize( 10.0f );
|
|
glColor3f(1,1,1);
|
|
//glEnable(GL_POINT_SMOOTH);
|
|
glBegin(GL_POINTS);
|
|
glVertex2f(target_x, target_y);
|
|
glEnd();
|
|
char val[20];
|
|
sprintf(val, "%d,%d", target_x, target_y);
|
|
drawtext(target_x, target_y-20, 0.08, 0, 1.0, 0, val, 0, 1, 0);
|
|
}
|
|
if (display_head_mouse && !display_head && stats_on)
|
|
{
|
|
glPointSize(10.0f);
|
|
glColor4f(1.0, 1.0, 0.0, 0.8);
|
|
glEnable(GL_POINT_SMOOTH);
|
|
glBegin(GL_POINTS);
|
|
glVertex2f(head_mouse_x, head_mouse_y);
|
|
glEnd();
|
|
}
|
|
// Spot bouncing back and forth on bottom of screen
|
|
if (0)
|
|
{
|
|
glPointSize(50.0f);
|
|
glColor4f(1.0, 1.0, 1.0, 1.0);
|
|
glEnable(GL_POINT_SMOOTH);
|
|
glBegin(GL_POINTS);
|
|
glVertex2f(render_test_spot, HEIGHT-100);
|
|
glEnd();
|
|
render_test_spot += render_test_direction*50;
|
|
if ((render_test_spot > WIDTH-100) || (render_test_spot < 100)) render_test_direction *= -1.0;
|
|
|
|
}
|
|
|
|
|
|
// Show detected levels from the serial I/O ADC channel sensors
|
|
if (display_levels) serialPort.renderLevels(WIDTH,HEIGHT);
|
|
|
|
// Display miscellaneous text stats onscreen
|
|
if (stats_on) display_stats();
|
|
|
|
// Draw number of nearby people always
|
|
char agents[100];
|
|
sprintf(agents, "Agents nearby: %d\n", nearbyAgents);
|
|
drawtext(WIDTH-200,20, 0.10, 0, 1.0, 0, agents, 1, 1, 0);
|
|
|
|
|
|
#ifdef MARKER_CAPTURE
|
|
/* Render marker acquisition stuff */
|
|
pthread_mutex_lock(&frame_lock);
|
|
if(marker_capture_frame){
|
|
marker_acq_view.render(marker_capture_frame); // render the acquisition view, if it's visible.
|
|
}
|
|
// Draw marker images, if requested.
|
|
if (marker_capture_enabled && marker_capture_display && marker_capture_frame){
|
|
marker_capturer.glDrawIplImage(marker_capture_frame, WIDTH - 140, 10, 0.1, -0.1);
|
|
marker_capturer.glDrawIplImage(marker_capture_blob_frame, WIDTH - 280, 10, 0.1, -0.1);
|
|
}
|
|
pthread_mutex_unlock(&frame_lock);
|
|
/* Done rendering marker acquisition stuff */
|
|
#endif
|
|
|
|
glPopMatrix();
|
|
|
|
glutSwapBuffers();
|
|
framecount++;
|
|
}
|
|
|
|
const float KEYBOARD_YAW_RATE = 0.8;
|
|
const float KEYBOARD_STRAFE_RATE = 0.03;
|
|
const float KEYBOARD_FLY_RATE = 0.08;
|
|
|
|
void specialkey(int k, int x, int y)
|
|
{
|
|
if (k == GLUT_KEY_UP) fwd_vel += KEYBOARD_FLY_RATE;
|
|
if (k == GLUT_KEY_DOWN) fwd_vel -= KEYBOARD_FLY_RATE;
|
|
if (k == GLUT_KEY_LEFT) {
|
|
if (glutGetModifiers() == GLUT_ACTIVE_SHIFT) lateral_vel -= KEYBOARD_STRAFE_RATE;
|
|
else render_yaw_rate -= KEYBOARD_YAW_RATE;
|
|
}
|
|
if (k == GLUT_KEY_RIGHT) {
|
|
if (glutGetModifiers() == GLUT_ACTIVE_SHIFT) lateral_vel += KEYBOARD_STRAFE_RATE;
|
|
else render_yaw_rate += KEYBOARD_YAW_RATE;
|
|
}
|
|
|
|
}
|
|
void key(unsigned char k, int x, int y)
|
|
{
|
|
|
|
// Process keypresses
|
|
if (k == 'q') ::terminate();
|
|
|
|
// marker capture
|
|
#ifdef MARKER_CAPTURE
|
|
if(k == 'x'){
|
|
printf("Toggling marker capture display.\n");
|
|
marker_capture_display = !marker_capture_display;
|
|
marker_capture_display ? marker_acq_view.show() : marker_acq_view.hide();
|
|
}
|
|
|
|
// delegate keypresses to the marker acquisition view when it's visible;
|
|
// override other key mappings by returning...
|
|
if(marker_acq_view.visible){
|
|
marker_acq_view.handle_key(k);
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
if (k == '/') stats_on = !stats_on; // toggle stats
|
|
if (k == 'n')
|
|
{
|
|
noise_on = !noise_on; // Toggle noise
|
|
if (noise_on)
|
|
{
|
|
myHand.setNoise(noise);
|
|
myHead.setNoise(noise);
|
|
}
|
|
else
|
|
{
|
|
myHand.setNoise(0);
|
|
myHead.setNoise(0);
|
|
}
|
|
|
|
}
|
|
if (k == 'h') display_head = !display_head;
|
|
if (k == 'b') display_hand = !display_hand;
|
|
if (k == 'm') head_mirror = !head_mirror;
|
|
|
|
if (k == 'f') display_field = !display_field;
|
|
if (k == 'l') display_levels = !display_levels;
|
|
|
|
|
|
if (k == 'e') location[1] -= WORLD_SIZE/100.0;
|
|
if (k == 'c') location[1] += WORLD_SIZE/100.0;
|
|
if (k == 'w') fwd_vel += KEYBOARD_FLY_RATE;
|
|
if (k == 's') fwd_vel -= KEYBOARD_FLY_RATE;
|
|
if (k == ' ') reset_sensors();
|
|
if (k == 'a') render_yaw_rate -= KEYBOARD_YAW_RATE;
|
|
if (k == 'd') render_yaw_rate += KEYBOARD_YAW_RATE;
|
|
if (k == 'o') simulate_on = !simulate_on;
|
|
if (k == 'p')
|
|
{
|
|
// Add to field vector
|
|
float pos[] = {5,5,5};
|
|
float add[] = {0.001, 0.001, 0.001};
|
|
field.add(add, pos);
|
|
}
|
|
if (k == '1')
|
|
{
|
|
myHead.SetNewHeadTarget((randFloat()-0.5)*20.0, (randFloat()-0.5)*20.0);
|
|
}
|
|
}
|
|
|
|
//
|
|
// Receive packets from other agents/servers and decide what to do with them!
|
|
//
|
|
void *networkReceive(void *args)
|
|
{
|
|
sockaddr_in senderAddress;
|
|
ssize_t bytesReceived;
|
|
while (true) {
|
|
if (agentSocket.receive(&senderAddress, (void *)incomingPacket, &bytesReceived)) {
|
|
|
|
packetcount++;
|
|
bytescount += bytesReceived;
|
|
// If packet is a Mouse data packet, copy it over
|
|
if (incomingPacket[0] == 'P') {
|
|
//
|
|
// Got Ping, reply immediately!
|
|
//
|
|
//printf("Replying to ping!\n");
|
|
char reply[] = "R";
|
|
// agentSocket.send(inet_ntoa(senderAddress.sin_addr), ntohs(senderAddress.sin_port), reply, 1);
|
|
} else if (incomingPacket[0] == 'R') {
|
|
//
|
|
// Got Reply, record as appropriate
|
|
//
|
|
// setAgentPing(inet_ntoa(senderAddress.sin_addr), ntohs(senderAddress.sin_port));
|
|
|
|
} else if (incomingPacket[0] == 'M') {
|
|
//
|
|
// mouse location packet
|
|
//
|
|
sscanf(incomingPacket, "M %d %d", &target_x, &target_y);
|
|
target_display = 1;
|
|
//printf("X = %d Y = %d\n", target_x, target_y);
|
|
} else if (incomingPacket[0] == 'D') {
|
|
//
|
|
// Message from domainserver
|
|
//
|
|
//printf("agent list received!\n");
|
|
nearbyAgents = agentList.updateList(&incomingPacket[1]);
|
|
std::cout << "Received " << nearbyAgents << " from DS!\n";
|
|
// kludgyMixerUpdate(audio);
|
|
} else if (incomingPacket[0] == 'H') {
|
|
//
|
|
// Broadcast packet from another agent
|
|
//
|
|
//printf("broadcast received");
|
|
// update_agent(inet_ntoa(senderAddress.sin_addr), ntohs(senderAddress.sin_port), &incomingPacket[1], bytesReceived - 1);
|
|
} else if (incomingPacket[0] == 'T') {
|
|
// Received a self-test packet (to get one's own IP), copy it to local variable!
|
|
// printf("My Address: %s:%u\n",
|
|
// inet_ntoa(senderAddress.sin_addr),
|
|
// senderAddress.sin_port);
|
|
}
|
|
}
|
|
}
|
|
|
|
pthread_exit(0);
|
|
}
|
|
|
|
void idle(void)
|
|
{
|
|
timeval check;
|
|
gettimeofday(&check, NULL);
|
|
|
|
// Check and render display frame
|
|
if (diffclock(&last_frame, &check) > RENDER_FRAME_MSECS)
|
|
{
|
|
steps_per_frame++;
|
|
// Simulation
|
|
update_pos(1.f/FPS);
|
|
if (simulate_on) {
|
|
field.simulate(1.f/FPS);
|
|
myHead.simulate(1.f/FPS);
|
|
myHand.simulate(1.f/FPS);
|
|
balls.simulate(1.f/FPS);
|
|
cloud.simulate(1.f/FPS);
|
|
lattice.simulate(1.f/FPS);
|
|
myFinger.simulate(1.f/FPS);
|
|
}
|
|
|
|
if (!step_on) glutPostRedisplay();
|
|
last_frame = check;
|
|
|
|
}
|
|
|
|
// Read serial data
|
|
if (serialPort.active) {
|
|
serialPort.readData();
|
|
}
|
|
}
|
|
|
|
void reshape(int width, int height)
|
|
{
|
|
WIDTH = width;
|
|
HEIGHT = height;
|
|
|
|
glViewport(0, 0, width, height);
|
|
|
|
glMatrixMode(GL_PROJECTION); //hello
|
|
glLoadIdentity();
|
|
gluPerspective(45, //view angle
|
|
1.0, //aspect ratio
|
|
0.1, //near clip
|
|
50.0);//far clip
|
|
glMatrixMode(GL_MODELVIEW);
|
|
glLoadIdentity();
|
|
|
|
|
|
}
|
|
|
|
void mouseFunc( int button, int state, int x, int y )
|
|
{
|
|
if( button == GLUT_LEFT_BUTTON && state == GLUT_DOWN )
|
|
{
|
|
mouse_x = x;
|
|
mouse_y = y;
|
|
mouse_pressed = 1;
|
|
lattice.mouseClick((float)x/(float)WIDTH,(float)y/(float)HEIGHT);
|
|
}
|
|
if( button == GLUT_LEFT_BUTTON && state == GLUT_UP )
|
|
{
|
|
mouse_x = x;
|
|
mouse_y = y;
|
|
mouse_pressed = 0;
|
|
}
|
|
|
|
}
|
|
|
|
void motionFunc( int x, int y)
|
|
{
|
|
mouse_x = x;
|
|
mouse_y = y;
|
|
if (mouse_pressed == 1)
|
|
{
|
|
// Send network packet containing mouse location
|
|
char mouse_string[20];
|
|
sprintf(mouse_string, "M %d %d\n", mouse_x, mouse_y);
|
|
//network_send(UDP_socket, mouse_string, strlen(mouse_string));
|
|
}
|
|
|
|
lattice.mouseClick((float)x/(float)WIDTH,(float)y/(float)HEIGHT);
|
|
|
|
}
|
|
|
|
void mouseoverFunc( int x, int y)
|
|
{
|
|
mouse_x = x;
|
|
mouse_y = y;
|
|
if (mouse_pressed == 0)
|
|
{
|
|
// lattice.mouseOver((float)x/(float)WIDTH,(float)y/(float)HEIGHT);
|
|
// myFinger.setTarget(mouse_x, mouse_y);
|
|
}
|
|
}
|
|
|
|
|
|
#ifdef MARKER_CAPTURE
|
|
void *poll_marker_capture(void *threadarg){
|
|
while(1){
|
|
marker_capturer.tick();
|
|
}
|
|
}
|
|
#endif
|
|
|
|
int main(int argc, char** argv)
|
|
{
|
|
// Create network socket and buffer
|
|
incomingPacket = new char[MAX_PACKET_SIZE];
|
|
|
|
struct ifaddrs * ifAddrStruct=NULL;
|
|
struct ifaddrs * ifa=NULL;
|
|
void * tmpAddrPtr=NULL;
|
|
|
|
getifaddrs(&ifAddrStruct);
|
|
|
|
for (ifa = ifAddrStruct; ifa != NULL; ifa = ifa->ifa_next) {
|
|
if (ifa ->ifa_addr->sa_family==AF_INET) { // check it is IP4
|
|
// is a valid IP4 Address
|
|
tmpAddrPtr=&((struct sockaddr_in *)ifa->ifa_addr)->sin_addr;
|
|
// inet_ntop(AF_INET, tmpAddrPtr, localAddressBuffer, INET_ADDRSTRLEN);
|
|
}
|
|
}
|
|
|
|
// Lookup the IP address of things we have hostnames
|
|
if (atoi(DOMAIN_IP) == 0) {
|
|
struct hostent* pHostInfo;
|
|
if ((pHostInfo = gethostbyname(DOMAIN_HOSTNAME)) != NULL) {
|
|
sockaddr_in tempAddress;
|
|
memcpy(&tempAddress.sin_addr, pHostInfo->h_addr_list[0], pHostInfo->h_length);
|
|
strcpy(DOMAIN_IP, inet_ntoa(tempAddress.sin_addr));
|
|
printf("Domain server %s: %s\n", DOMAIN_HOSTNAME, DOMAIN_IP);
|
|
|
|
} else {
|
|
printf("Failed lookup domainserver\n");
|
|
}
|
|
} else printf("Using static domainserver IP: %s\n", DOMAIN_IP);
|
|
|
|
//std::cout << "Test address: " << inet_ntoa(testAddress.sin_addr) << "\n";
|
|
|
|
//gethostbyname(hostname);
|
|
// Send one test packet to detect own IP, port:
|
|
//char selfTest[] = "T";
|
|
//agentSocket.send((char *)"127.0.0.1", AGENT_UDP_PORT, selfTest, 1);
|
|
|
|
printf("Testing stats math... ");
|
|
StDev stdevtest;
|
|
stdevtest.reset();
|
|
stdevtest.addValue(1345);
|
|
stdevtest.addValue(1301);
|
|
stdevtest.addValue(1368);
|
|
stdevtest.addValue(1322);
|
|
stdevtest.addValue(1310);
|
|
stdevtest.addValue(1370);
|
|
stdevtest.addValue(1318);
|
|
stdevtest.addValue(1350);
|
|
stdevtest.addValue(1303);
|
|
stdevtest.addValue(1299);
|
|
|
|
if (stdevtest.getSamples() != 10)
|
|
printf("Samples=FAIL ");
|
|
|
|
if (floor(stdevtest.getAverage()*100.0) != 132859.0)
|
|
printf("Average=FAIL ");
|
|
|
|
if (floor(stdevtest.getStDev()*100.0) != 2746.0)
|
|
printf("Stdev=FAIL ");
|
|
printf("\n");
|
|
|
|
|
|
// create thread for receipt of data via UDP
|
|
pthread_t networkReceiveThread;
|
|
pthread_create(&networkReceiveThread, NULL, networkReceive, NULL);
|
|
|
|
glutInit(&argc, argv);
|
|
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
|
|
glutInitWindowSize(WIDTH, HEIGHT);
|
|
glutCreateWindow("Interface");
|
|
|
|
printf( "Created Display Window.\n" );
|
|
|
|
initDisplay();
|
|
|
|
glutDisplayFunc(display);
|
|
glutReshapeFunc(reshape);
|
|
glutKeyboardFunc(key);
|
|
glutSpecialFunc(specialkey);
|
|
glutMotionFunc(motionFunc);
|
|
glutPassiveMotionFunc(mouseoverFunc);
|
|
glutMouseFunc(mouseFunc);
|
|
glutIdleFunc(idle);
|
|
|
|
printf( "Initialized Display.\n" );
|
|
|
|
init();
|
|
|
|
printf( "Init() complete.\n" );
|
|
|
|
glutTimerFunc(1000, Timer, 0);
|
|
|
|
#ifdef MARKER_CAPTURE
|
|
|
|
if (marker_capture_enabled) {
|
|
// start capture thread
|
|
if (pthread_mutex_init(&frame_lock, NULL) != 0){
|
|
printf("Frame lock mutext init failed. Exiting.\n");
|
|
return 1;
|
|
}
|
|
pthread_t capture_thread;
|
|
pthread_create(&capture_thread, NULL, poll_marker_capture, NULL);
|
|
}
|
|
#endif
|
|
|
|
glutMainLoop();
|
|
|
|
#ifdef MARKER_CAPTURE
|
|
if (marker_capture_enabled) {
|
|
pthread_mutex_destroy(&frame_lock);
|
|
pthread_exit(NULL);
|
|
}
|
|
#endif
|
|
|
|
pthread_join(networkReceiveThread, NULL);
|
|
::terminate();
|
|
return EXIT_SUCCESS;
|
|
}
|
|
|