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overte-thingvellir/main.cpp
Philip Rosedale 8b90a5d40c Added hand code to display/move a manipulator arm
2012-10-14 15:07:31 -07:00

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//
//
// Interface
//
// Show a field of objects rendered in 3D, with yaw and pitch of scene driven
// by accelerometer data
// serial port connected to Maple board/arduino.
//
// Keyboard Commands:
//
// / = toggle stats display
// n = toggle noise in firing on/off
// c = clear all cells and synapses to zero
// s = clear cells to zero but preserve synapse weights
//
#ifdef __APPLE__
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include <iostream>
#include <fstream>
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
// These includes are for the serial port reading/writing
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include "tga.h" // Texture loader library
#include "glm/glm.hpp"
#include <portaudio.h>
#include "SerialInterface.h"
#include "field.h"
#include "world.h"
#include "util.h"
#include "network.h"
#include "audio.h"
#include "head.h"
#include "hand.h"
//TGAImg Img;
using namespace std;
// Junk for talking to the Serial Port
int serial_on = 0; // Are we using serial port for I/O?
timeval begin_ping, end_ping;
timeval timer_start, timer_end;
timeval last_frame;
double elapsedTime;
// Socket operation stuff
int UDP_socket;
char* incoming_packet;
// Getting a target location from other machine (or loopback) to display
int target_x, target_y;
int target_display = 0;
int bytes_in = 0;
unsigned char last_key = 0;
double ping = 0;
//clock_t begin_ping, end_ping;
#define WIDTH 1280 // Width,Height of simulation area in cells
#define HEIGHT 800
#define BOTTOM_MARGIN 0
#define RIGHT_MARGIN 0
#define TEXT_HEIGHT 14
Head myHead; // The rendered head of oneself or others
Hand myHand; // My hand (used to manipulate things in world)
// Test data for creating fields that affect particles
// If the simulation 'world' is a box with 10M boundaries, the offset to a field cell is given by:
// element = [x/10 + (y/10)*10 + (z*/10)*100]
//
// The vec(x,y,z) corner of a field cell at element i is:
//
// z = (int)( i / 100)
// y = (int)(i % 100 / 10)
// x = (int)(i % 10)
#define RENDER_FRAME_MSECS 10
#define SLEEP 0
#define NUM_TRIS 20000 //000
struct {
float vertices[NUM_TRIS * 9];
float normals [NUM_TRIS * 3];
float colors [NUM_TRIS * 3];
float vel [NUM_TRIS * 3];
glm::vec3 vel1[NUM_TRIS];
glm::vec3 vel2[NUM_TRIS];
int element[NUM_TRIS];
}tris;
float twiddles[NUM_TRIS * 9];
float yaw =0.f; // The yaw, pitch for the avatar head
float pitch = 0.f; //
float start_yaw = 90.0;
float render_yaw = start_yaw;
float render_pitch = 0.f;
float render_yaw_rate = 0.f;
float render_pitch_rate = 0.f;
float lateral_vel = 0.f;
// Manage speed and direction of motion
GLfloat fwd_vec[] = { 0.0, 0.0, 1.0};
GLfloat start_location[] = { WORLD_SIZE*1.5, -WORLD_SIZE/2.0, -WORLD_SIZE/3.0};
GLfloat location[] = {start_location[0], start_location[1], start_location[2]};
float fwd_vel = 0.0f;
#define MAX_FILE_CHARS 100000 // Biggest file size that can be read to the system
int stats_on = 1; // Whether to show onscreen text overlay with stats
int noise_on = 0; // Whether to add random noise
float noise = 1.0; // Overall magnitude scaling for random noise levels
int step_on = 0;
int display_levels = 1;
int display_head = 0;
int display_field = 0;
int display_head_mouse = 1; // Display sample mouse pointer controlled by head movement
int head_mouse_x, head_mouse_y;
int mouse_x, mouse_y; // Where is the mouse
int mouse_pressed = 0; // true if mouse has been pressed (clear when finished)
int accel_x, accel_y;
int speed;
float mag_imbalance = 0.f;
//
// Serial I/O channel mapping:
//
// 0 Head Gyro Pitch
// 1 Head Gyro Yaw
// 2 Head Accelerometer X
// 3 Head Accelerometer Z
//
int adc_channels[4];
float avg_adc_channels[4];
int first_measurement = 1;
int samplecount = 0;
// Frame rate Measurement
int framecount = 0;
float FPS = 120.f;
void output(int x, int y, char *string)
{
// Writes a text string to the screen as a bitmap at location x,y
int len, i;
glRasterPos2f(x, y);
len = (int) strlen(string);
for (i = 0; i < len; i++)
{
glutBitmapCharacter(GLUT_BITMAP_HELVETICA_12, string[i]);
}
}
float randFloat () {
return (rand()%10000)/10000.f;
}
double diffclock(timeval clock1,timeval clock2)
{
double diffms = (clock2.tv_sec - clock1.tv_sec) * 1000.0;
diffms += (clock2.tv_usec - clock1.tv_usec) / 1000.0; // us to ms
return diffms;
}
// Every second, check the frame rates and other stuff
void Timer(int extra)
{
char title[100];
gettimeofday(&timer_end, NULL);
FPS = (float)framecount / ((float)diffclock(timer_start,timer_end) / 1000.f);
// Calculate exact FPS
sprintf(title, "FPS = %4.4f, IO/sec = %d, IOpng = %4.4f, bytes/sec = %d",
FPS, samplecount, ping, bytes_in);
glutSetWindowTitle(title);
framecount = 0;
samplecount = 0;
bytes_in = 0;
glutTimerFunc(1000,Timer,0);
gettimeofday(&timer_start, NULL);
}
void display_stats(void)
{
// bitmap chars are about 10 pels high
glColor3f(1.0f, 1.0f, 1.0f);
char legend[] = "/ - toggle this display, Q - exit, N - toggle noise, M - toggle map, T - test audio";
output(10,15,legend);
char mouse[50];
sprintf(mouse, "mouse_x = %i, mouse_y = %i, pressed = %i, key = %i", mouse_x, mouse_y, mouse_pressed, last_key);
output(10,35,mouse);
char adc[200];
sprintf(adc, "pitch_rate = %i, yaw_rate = %i, accel_lat = %i, accel_fwd = %i, loc[0] = %3.1f loc[1] = %3.1f, loc[2] = %3.1f",
(int)(adc_channels[0] - avg_adc_channels[0]),
(int)(adc_channels[1] - avg_adc_channels[1]),
(int)(adc_channels[2] - avg_adc_channels[2]),
(int)(adc_channels[3] - avg_adc_channels[3]),
location[0], location[1], location[2]
);
output(10,50,adc);
}
void initDisplay(void)
{
// Set up blending function so that we can NOT clear the display
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glShadeModel (GL_SMOOTH);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
}
void init(void)
{
Audio::init();
printf( "Audio started.\n" );
avg_adc_channels[0] = avg_adc_channels[1] = avg_adc_channels[2] = avg_adc_channels[3] = 0.f;
head_mouse_x = WIDTH/2;
head_mouse_y = HEIGHT/2;
int i, j;
// Initialize Field values
field_init();
printf( "Field Initilialized.\n" );
if (noise_on)
{
myHand.setNoise(noise);
myHead.setNoise(noise);
}
/*
const float FIELD_SCALE = 0.00005;
for (i = 0; i < FIELD_ELEMENTS; i++)
{
field[i].x = 0.001; //(randFloat() - 0.5)*FIELD_SCALE;
field[i].y = 0.001; //(randFloat() - 0.5)*FIELD_SCALE;
field[i].z = 0.001; //(randFloat() - 0.5)*FIELD_SCALE;
}*/
float tri_scale, r;
const float VEL_SCALE = 0.00;
for (i = 0; i < NUM_TRIS; i++)
{
r = randFloat();
if (r > .999) tri_scale = 0.7;
else if (r > 0.90) tri_scale = 0.1;
else tri_scale = 0.05;
glm::vec3 pos (randFloat() * WORLD_SIZE,
randFloat() * WORLD_SIZE,
randFloat() * WORLD_SIZE);
glm::vec3 verts[3];
for (j = 0; j < 3; j++) {
verts[j].x = pos.x + randFloat() * tri_scale - tri_scale/2.f;
verts[j].y = pos.y + randFloat() * tri_scale - tri_scale/2.f;
verts[j].z = pos.z + randFloat() * tri_scale - tri_scale/2.f;
tris.vertices[i*9 + j*3] = verts[j].x;
tris.vertices[i*9 + j*3 + 1] = verts[j].y;
tris.vertices[i*9 + j*3 + 2] = verts[j].z;
}
// reuse pos for the normal
glm::normalize((pos += glm::cross(verts[1] - verts[0], verts[2] - verts[0])));
tris.normals[i*3] = pos.x;
tris.normals[i*3+1] = pos.y;
tris.normals[i*3+2] = pos.z;
// Decide what kind of element this particle is to be, color accordingly
if (randFloat() < 0.10)
{
// Fixed - blue
tris.element[i] = 0;
tris.colors[i*3] = 0.0; tris.colors[i*3+1] = 0.0; tris.colors[i*3+2] = 1.0;
tris.vel[i*3] = tris.vel[i*3+1] = tris.vel[i*3+2] = 0.0;
}
else
{
// Moving - white
tris.element[i] = 1;
tris.colors[i*3] = 1.0; tris.colors[i*3+1] = 1.0; tris.colors[i*3+2] = 1.0;
tris.vel[i*3] = (randFloat() - 0.5)*VEL_SCALE;
tris.vel[i*3+1] = (randFloat() - 0.5)*VEL_SCALE;
tris.vel[i*3+2] = (randFloat() - 0.5)*VEL_SCALE;
}
}
const float TWIDDLE_SCALE = 0.01;
for (i = 0; i < NUM_TRIS; i++)
{
twiddles[i*3] = (randFloat() - 0.5)*TWIDDLE_SCALE;
twiddles[i*3 + 1] = (randFloat() - 0.5)*TWIDDLE_SCALE;
twiddles[i*3 + 2] = (randFloat() - 0.5)*TWIDDLE_SCALE;
}
if (serial_on)
{
// Call readsensors for a while to get stable initial values on sensors
printf( "Stabilizing sensors... " );
gettimeofday(&timer_start, NULL);
read_sensors(1, &avg_adc_channels[0], &adc_channels[0]);
int done = 0;
while (!done)
{
read_sensors(0, &avg_adc_channels[0], &adc_channels[0]);
gettimeofday(&timer_end, NULL);
if (diffclock(timer_start,timer_end) > 1000) done = 1;
}
printf( "Done.\n" );
}
gettimeofday(&timer_start, NULL);
gettimeofday(&last_frame, NULL);
}
void terminate () {
// Close serial port
//close(serial_fd);
Audio::terminate();
exit(EXIT_SUCCESS);
}
const float SCALE_SENSORS = 0.3f;
const float SCALE_X = 2.f;
const float SCALE_Y = 1.f;
void update_tris()
{
int i;
float dist_sqrd;
float field_val[3];
for (i = 0; i < NUM_TRIS; i++)
{
if (tris.element[i] == 1) // If moving object, move and drag
{
// Update position
tris.vertices[i*9+0] += tris.vel[i*3];
tris.vertices[i*9+3] += tris.vel[i*3];
tris.vertices[i*9+6] += tris.vel[i*3];
tris.vertices[i*9+1] += tris.vel[i*3+1];
tris.vertices[i*9+4] += tris.vel[i*3+1];
tris.vertices[i*9+7] += tris.vel[i*3+1];
tris.vertices[i*9+2] += tris.vel[i*3+2];
tris.vertices[i*9+5] += tris.vel[i*3+2];
tris.vertices[i*9+8] += tris.vel[i*3+2];
if (0)
{
dist_sqrd = tris.vertices[i*9+0]*tris.vertices[i*9+0] +
tris.vertices[i*9+1]*tris.vertices[i*9+1] +
tris.vertices[i*9+2]*tris.vertices[i*9+2];
if (dist_sqrd > 1.0)
{
glm::vec3 pos (tris.vertices[i*9+0],tris.vertices[i*9+1], tris.vertices[i*9+2]);
glm::normalize(pos);
pos*=-1/dist_sqrd*0.0001;
tris.vel[i*3] += pos.x;
tris.vel[i*3+1] += pos.y;
tris.vel[i*3+2] += pos.z;
}
}
// Add a little gravity
const float GRAVITY = 0.0001;
tris.vel[i*3+1] -= GRAVITY;
// Drag: Decay velocity
tris.vel[i*3] *= 0.99;
tris.vel[i*3+1] *= 0.99;
tris.vel[i*3+2] *= 0.99;
}
if (tris.element[i] == 1)
{
// Read and add velocity from field
field_value(field_val, &tris.vertices[i*9]);
tris.vel[i*3] += field_val[0];
tris.vel[i*3+1] += field_val[1];
tris.vel[i*3+2] += field_val[2];
}
// bounce at edge of world
// X-Direction
if ((tris.vertices[i*9+0] > WORLD_SIZE) || (tris.vertices[i*9+0] < 0.0))
tris.vel[i*3]*= -1.0;
// Y-direction
if ((tris.vertices[i*9+1] > WORLD_SIZE) || (tris.vertices[i*9+1] < 0.0))
{
//tris.vel[i*3+1]*= -1.0;
if (tris.vertices[i*9+1] < 0.0)
{
tris.vertices[i*9+1] = tris.vertices[i*9+4] = tris.vertices[i*9+7] = WORLD_SIZE;
//tris.vel[i*3+1]*= -1.0;
}
}
// Z-Direction
if ((tris.vertices[i*9+2] > WORLD_SIZE) || (tris.vertices[i*9+2] < 0.0))
tris.vel[i*3+2]*= -1.0;
}
}
void reset_sensors()
{
render_yaw = start_yaw;
yaw = render_yaw_rate = 0;
pitch = render_pitch = render_pitch_rate = 0;
lateral_vel = 0;
location[0] = start_location[0];
location[1] = start_location[1];
location[2] = start_location[2];
fwd_vel = 0.0;
head_mouse_x = WIDTH/2;
head_mouse_y = HEIGHT/2;
myHead.reset();
myHand.reset();
if (serial_on) read_sensors(1, &avg_adc_channels[0], &adc_channels[0]);
}
void update_pos(float frametime)
// Using serial data, update avatar/render position and angles
{
float measured_pitch_rate = adc_channels[0] - avg_adc_channels[0];
float measured_yaw_rate = adc_channels[1] - avg_adc_channels[1];
float measured_lateral_accel = adc_channels[2] - avg_adc_channels[2];
float measured_fwd_accel = avg_adc_channels[3] - adc_channels[3];
// Update avatar head position based on measured gyro rates
myHead.addYaw(measured_yaw_rate * 1.20 * frametime);
myHead.addPitch(measured_pitch_rate * -1.0 * frametime);
// Decay avatar head back toward zero
//pitch *= (1.f - 5.0*frametime);
//yaw *= (1.f - 7.0*frametime);
// Update head_mouse model
const float MIN_MOUSE_RATE = 30.0;
const float MOUSE_SENSITIVITY = 0.1;
if (powf(measured_yaw_rate*measured_yaw_rate +
measured_pitch_rate*measured_pitch_rate, 0.5) > MIN_MOUSE_RATE)
{
head_mouse_x -= measured_yaw_rate*MOUSE_SENSITIVITY;
head_mouse_y += measured_pitch_rate*MOUSE_SENSITIVITY*(float)HEIGHT/(float)WIDTH;
}
head_mouse_x = max(head_mouse_x, 0);
head_mouse_x = min(head_mouse_x, WIDTH);
head_mouse_y = max(head_mouse_y, 0);
head_mouse_y = min(head_mouse_y, HEIGHT);
// Update render direction (pitch/yaw) based on measured gyro rates
const int MIN_YAW_RATE = 300;
const float YAW_SENSITIVITY = 0.03;
const int MIN_PITCH_RATE = 300;
const float PITCH_SENSITIVITY = 0.04;
if (fabs(measured_yaw_rate) > MIN_YAW_RATE)
{
if (measured_yaw_rate > 0)
render_yaw_rate -= (measured_yaw_rate - MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
else
render_yaw_rate -= (measured_yaw_rate + MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
}
if (fabs(measured_pitch_rate) > MIN_PITCH_RATE)
{
if (measured_pitch_rate > 0)
render_pitch_rate += (measured_pitch_rate - MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
else
render_pitch_rate += (measured_pitch_rate + MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
}
render_yaw += render_yaw_rate;
render_pitch += render_pitch_rate;
// Decay render_pitch toward zero because we never look constantly up/down
render_pitch *= (1.f - 2.0*frametime);
// Decay angular rates toward zero
render_pitch_rate *= (1.f - 5.0*frametime);
render_yaw_rate *= (1.f - 7.0*frametime);
// Update slide left/right based on accelerometer reading
const int MIN_LATERAL_ACCEL = 20;
const float LATERAL_SENSITIVITY = 0.001;
if (fabs(measured_lateral_accel) > MIN_LATERAL_ACCEL)
{
if (measured_lateral_accel > 0)
lateral_vel += (measured_lateral_accel - MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
else
lateral_vel += (measured_lateral_accel + MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
}
//slide += lateral_vel;
lateral_vel *= (1.f - 4.0*frametime);
// Update fwd/back based on accelerometer reading
const int MIN_FWD_ACCEL = 20;
const float FWD_SENSITIVITY = 0.001;
if (fabs(measured_fwd_accel) > MIN_FWD_ACCEL)
{
if (measured_fwd_accel > 0)
fwd_vel += (measured_fwd_accel - MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
else
fwd_vel += (measured_fwd_accel + MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
}
// Decrease forward velocity
fwd_vel *= (1.f - 4.0*frametime);
// Update forward vector based on pitch and yaw
fwd_vec[0] = -sinf(render_yaw*PI/180);
fwd_vec[1] = sinf(render_pitch*PI/180);
fwd_vec[2] = cosf(render_yaw*PI/180);
// Advance location forward
location[0] += fwd_vec[0]*fwd_vel;
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;
}
void display(void)
{
int i,j;
glEnable (GL_DEPTH_TEST);
glEnable(GL_LIGHTING);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
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(render_pitch, 1, 0, 0);
glRotatef(render_yaw, 0, 1, 0);
glTranslatef(location[0], location[1], location[2]);
glEnable(GL_DEPTH_TEST);
// Draw a few 'planets' to find and explore
glPushMatrix();
glTranslatef(1.f, 1.f, 1.f);
glColor3f(1, 0, 0);
glutSolidSphere(0.6336, 20, 20);
glTranslatef(5, 5, 5);
glColor3f(1, 1, 0);
glutSolidSphere(0.4, 20, 20);
glTranslatef(-2.5, -2.5, 2.5);
glColor3f(1, 0, 1);
glutSolidSphere(0.3, 20, 20);
glPopMatrix();
// Draw Triangles
glBegin(GL_TRIANGLES);
for (i = 0; i < NUM_TRIS; i++)
{
glColor3f(tris.colors[i*3],
tris.colors[i*3+1],
tris.colors[i*3+2]);
for (j = 0; j < 3; j++)
{
glVertex3f(tris.vertices[i*9 + j*3],
tris.vertices[i*9 + j*3 + 1],
tris.vertices[i*9 + j*3 + 2]);
}
glNormal3f(tris.normals[i*3],
tris.normals[i*3 + 1],
tris.normals[i*3 + 2]);
}
glEnd();
// Show field vectors
if (display_field) field_render();
render_world_box();
// Display floating head in front of viewer
if (display_head)
{
myHead.render();
}
myHand.render();
// 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);
if (mouse_pressed == 1)
{
glPointSize(20.f);
glColor3f(1,1,1);
glEnable(GL_POINT_SMOOTH);
glBegin(GL_POINTS);
glVertex2f(target_x, target_y);
glEnd();
}
if (display_head_mouse)
{
glPointSize(20.f);
glColor4f(1.0, 1.0, 0.0, 0.8);
glEnable(GL_POINT_SMOOTH);
glBegin(GL_POINTS);
glVertex2f(head_mouse_x, head_mouse_y);
glEnd();
}
/*
if (display_ping)
{
// Draw a green dot to indicate receipt of ping signal
glPointSize(10.f);
if (display_ping == 2)
glColor4f(1.f, 0.f, 0.f, 1.f);
else
glColor4f(0.f, 1.f, 0.f, 1.f);
glBegin(GL_POINTS);
glVertex2f(50, 400);
glEnd();
display_ping = 0;
}
*/
if (display_levels)
{
glColor4f(1.f, 1.f, 1.f, 1.f);
glBegin(GL_LINES);
glVertex2f(10, HEIGHT*0.95);
glVertex2f(10, HEIGHT*(0.25 + 0.75f*adc_channels[0]/4096));
glVertex2f(20, HEIGHT*0.95);
glVertex2f(20, HEIGHT*(0.25 + 0.75f*adc_channels[1]/4096));
glVertex2f(30, HEIGHT*0.95);
glVertex2f(30, HEIGHT*(0.25 + 0.75f*adc_channels[2]/4096));
glVertex2f(40, HEIGHT*0.95);
glVertex2f(40, HEIGHT*(0.25 + 0.75f*adc_channels[3]/4096));
glEnd();
}
if (stats_on) display_stats();
glPopMatrix();
glutSwapBuffers();
framecount++;
}
void key(unsigned char k, int x, int y)
{
// Process keypresses
last_key = k;
if (k == 'q') ::terminate();
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 == 'f') display_field = !display_field;
if (k == 'e') location[1] -= WORLD_SIZE/100.0;
if (k == 'c') location[1] += WORLD_SIZE/100.0;
if (k == 'w') fwd_vel += 0.05;
if (k == 's') fwd_vel -= 0.05;
if (k == ' ') reset_sensors();
if (k == 'a') render_yaw_rate -= 0.25;
if (k == 'd') render_yaw_rate += 0.25;
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 == 't') {
Audio::writeTone(0, 400, 1.0f, 0.5f);
}
if (k == '1')
{
myHead.SetNewHeadTarget((randFloat()-0.5)*20.0, (randFloat()-0.5)*20.0);
}
}
void read_network()
{
// Receive packets
int bytes_recvd = network_receive(UDP_socket, incoming_packet);
if (bytes_recvd > 0)
{
bytes_in += bytes_recvd;
if (incoming_packet[0] == 'M')
{
sscanf(incoming_packet, "M %d %d", &target_x, &target_y);
target_display = 1;
printf("X = %d Y = %d\n", target_x, target_y);
}
}
}
void idle(void)
{
timeval check;
gettimeofday(&check, NULL);
// Check and render display frame
if (diffclock(last_frame,check) > RENDER_FRAME_MSECS)
{
// Simulation
update_pos(1.f/FPS);
update_tris();
myHead.simulate(1.f/FPS);
myHand.simulate(1.f/FPS);
if (!step_on) glutPostRedisplay();
last_frame = check;
}
// Read network packets
read_network();
// Read serial data
if (serial_on) samplecount += read_sensors(0, &avg_adc_channels[0], &adc_channels[0]);
if (SLEEP)
{
usleep(SLEEP);
}
}
void reshape(int width, int height)
{
glViewport(0, 0, width, height);
/*
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0, width, height, 0);
glMatrixMode(GL_MODELVIEW);
*/
glMatrixMode(GL_PROJECTION); //hello
gluPerspective(45, //view angle
1.0, //aspect ratio
1.0, //near clip
200.0);//far clip
glMatrixMode(GL_MODELVIEW);
}
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;
}
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));
}
}
int main(int argc, char** argv)
{
// Create network socket and buffer
UDP_socket = network_init();
if (UDP_socket) printf( "Created UDP socket.\n" );
incoming_packet = new char[MAX_PACKET_SIZE];
// Test network loopback
char test_data[] = "Test!";
int bytes_sent = network_send(UDP_socket, test_data, 5);
if (bytes_sent) printf("%d bytes sent.", bytes_sent);
int test_recv = network_receive(UDP_socket, incoming_packet);
printf("Received %i bytes\n", test_recv);
// Load textures
//Img.Load("/Users/philip/Downloads/galaxy1.tga");
// Try to setup the serial port I/O
if (serial_on)
{
//serial_fd = open(SERIAL_PORT_NAME, O_RDWR | O_NOCTTY | O_NDELAY);
// List usbSerial devices using Terminal ls /dev/tty.*
if(init_port(115200) == -1) { // Check for port errors
perror("Unable to open serial port\n");
return (0);
}
}
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
glutInitWindowSize(RIGHT_MARGIN + WIDTH, BOTTOM_MARGIN + HEIGHT);
glutCreateWindow("Interface Test");
printf( "Created Display Window.\n" );
initDisplay();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(key);
glutMotionFunc(motionFunc);
glutMouseFunc(mouseFunc);
glutIdleFunc(idle);
printf( "Initialized Display.\n" );
init();
printf( "Init() complete.\n" );
glutTimerFunc(1000,Timer,0);
glutMainLoop();
::terminate();
return EXIT_SUCCESS;
}
/*
//Create the texture using the hard-coded bitmap data
glTexImage2D(GL_TEXTURE_2D,0,3,Img.GetWidth(),Img.GetHeight(),0,GL_RGB,GL_UNSIGNED_BYTE,Img.GetImg());
//Set the magnification and minimization filtering to GL_NEAREST
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
// Trails - Draw a single Quad to blend instead of clear screen
glColor4f(0.f, 0.f, 0.f, 0.9f); //glColor4f(0.f, 0.f, 0.f, 0.01f);
//glEnable(GL_TEXTURE_2D); //Enable the texture to draw the polygon
glBegin(GL_QUADS);
glTexCoord2f(0, 1); glVertex2f(0.f, HEIGHT);
glTexCoord2f(1, 1); glVertex2f(WIDTH, HEIGHT);
glTexCoord2f(1, 0); glVertex2f( WIDTH,0.f);
glTexCoord2f(0, 0); glVertex2f(0.f,0.f);
glEnd();
//glDisable(GL_TEXTURE_2D);
//glTexCoord2f(1, 0); glVertex2f(1, -1);
//glTexCoord2f(1, 1); glVertex2f(1,1);
//glTexCoord2f(0, 1); glVertex2f(-1, 1);
// But totally clear stats display area
glBegin(GL_QUADS);
glColor4f(0.f, 0.f, 0.f, 1.f);
glVertex2f(0.f, HEIGHT/10.f);
glVertex2f(WIDTH, HEIGHT/10.f);
glVertex2f( WIDTH,0.f);
glVertex2f(0.f,0.f);
glVertex2f(0.f, HEIGHT);
glVertex2f(WIDTH/20.f, HEIGHT);
glVertex2f( WIDTH/20.f,0.f);
glVertex2f(0.f,0.f);
glEnd();
*/
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