gl.cc

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#include "stage.hh"
using namespace Stg;

// transform the current coordinate frame by the given pose
void Stg::Gl::coord_shift(double x, double y, double z, double a)
{
  glTranslatef(x, y, z);
  glRotatef(rtod(a), 0, 0, 1);
}

// transform the current coordinate frame by the given pose
void Stg::Gl::pose_shift(const Pose &pose)
{
  coord_shift(pose.x, pose.y, pose.z, pose.a);
}

void Stg::Gl::pose_inverse_shift(const Pose &pose)
{
  coord_shift(0, 0, 0, -pose.a);
  coord_shift(-pose.x, -pose.y, -pose.z, 0);
}

void Stg::Gl::draw_array(float x, float y, float w, float h, float *data, size_t len, size_t offset,
                         float min, float max)
{
  float sample_spacing = w / (float)len;
  float yscale = h / (max - min);

  // printf( "min %.2f max %.2f\n", min, max );

  glBegin(GL_LINE_STRIP);

  for (unsigned int i = 0; i < len; i++)
    glVertex3f(x + (float)i * sample_spacing, y + (data[(i + offset) % len] - min) * yscale, 0.01);

  glEnd();

  glColor3f(0, 0, 0);
  char buf[64];
  snprintf(buf, 63, "%.2f", min);
  Gl::draw_string(x, y, 0, buf);
  snprintf(buf, 63, "%.2f", max);
  Gl::draw_string(x, y + h - fl_height(), 0, buf);
}

void Stg::Gl::draw_array(float x, float y, float w, float h, float *data, size_t len, size_t offset)
{
  // wild initial bounds
  float smallest = 1e16;
  float largest = -1e16;

  for (size_t i = 0; i < len; i++) {
    smallest = std::min(smallest, data[i]);
    largest = std::max(largest, data[i]);
  }

  draw_array(x, y, w, h, data, len, offset, smallest, largest);
}

void Stg::Gl::draw_string(float x, float y, float z, const char *str)
{
  glRasterPos3f(x, y, z);

  GLboolean b;
  glGetBooleanv(GL_CURRENT_RASTER_POSITION_VALID, &b);

  // printf( "[%.2f %.2f %.2f] %d string %u %s\n", x,y,z, (int)b, (unsigned
  // int)strlen(str), str );

  if (b)
    gl_draw(str); // fltk function
}

void Stg::Gl::draw_string_multiline(float x, float y, float w, float h, const char *str,
                                    Fl_Align align)
{
  // printf( "[%.2f %.2f %.2f] string %u %s\n", x,y,z,(unsigned int)strlen(str),
  // str );
  gl_draw(str, x, y, w, h, align); // fltk function
}

void Stg::Gl::draw_speech_bubble(float x, float y, float z, const char *str)
{
  draw_string(x, y, z, str);
}

// draw an octagon with center rectangle dimensions w/h
//   and outside margin m
void Stg::Gl::draw_octagon(float w, float h, float m)
{
  glBegin(GL_POLYGON);
  glVertex2f(m + w, 0);
  glVertex2f(w + 2 * m, m);
  glVertex2f(w + 2 * m, h + m);
  glVertex2f(m + w, h + 2 * m);
  glVertex2f(m, h + 2 * m);
  glVertex2f(0, h + m);
  glVertex2f(0, m);
  glVertex2f(m, 0);
  glEnd();
}

// draw an octagon with center rectangle dimensions w/h
//   and outside margin m
void Stg::Gl::draw_octagon(float x, float y, float w, float h, float m)
{
  glBegin(GL_POLYGON);
  glVertex2f(x + m + w, y);
  glVertex2f(x + w + 2 * m, y + m);
  glVertex2f(x + w + 2 * m, y + h + m);
  glVertex2f(x + m + w, y + h + 2 * m);
  glVertex2f(x + m, y + h + 2 * m);
  glVertex2f(x, y + h + m);
  glVertex2f(x, y + m);
  glVertex2f(x + m, y);
  glEnd();
}

void Stg::Gl::draw_centered_rect(float x, float y, float dx, float dy)
{
  glRectf(x - 0.5 * dx, y - 0.5 * dy, x + 0.5 * dx, y + 0.5 * dy);
}

void Stg::Gl::draw_vector(double x, double y, double z)
{
  glBegin(GL_LINES);
  glVertex3f(0, 0, 0);
  glVertex3f(x, y, z);
  glEnd();
}

void Stg::Gl::draw_origin(double len)
{
  draw_vector(len, 0, 0);
  draw_vector(0, len, 0);
  draw_vector(0, 0, len);
}

void Stg::Gl::draw_grid(bounds3d_t vol)
{
  glBegin(GL_LINES);

  for (double i = floor(vol.x.min); i < vol.x.max; i++) {
    glVertex2f(i, vol.y.min);
    glVertex2f(i, vol.y.max);
  }

  for (double i = floor(vol.y.min); i < vol.y.max; i++) {
    glVertex2f(vol.x.min, i);
    glVertex2f(vol.x.max, i);
  }

  glEnd();

  char str[16];

  for (double i = floor(vol.x.min); i < vol.x.max; i++) {
    snprintf(str, 16, "%d", (int)i);
    draw_string(i, 0, 0.00, str);
  }

  for (double i = floor(vol.y.min); i < vol.y.max; i++) {
    snprintf(str, 16, "%d", (int)i);
    draw_string(0, i, 0.00, str);
  }
}