RobotPainter.cpp
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00001 /*******************************************************************************
00002  *  RobotPainter.cpp
00003  *
00004  *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
00005  *           Universitaet Koblenz-Landau
00006  *
00007  *  Additional information:
00008  *  $Id: $
00009  *******************************************************************************/
00010 
00011 #include "RobotPainter.h"
00012 
00013 #include "Messages/FastRobotPoseM.h"
00014 #include "Messages/IMUStateM.h"
00015 
00016 #include <QtOpenGL>
00017 #include <GL/glut.h>
00018 
00019 
00020 #define THIS RobotPainter
00021 
00022 THIS::THIS() : PainterPlugin( )
00023 {
00024   setName ( "Main Robot" );
00025   m_RollAngle = 0;
00026   m_PitchAngle = 0;
00027 }
00028 
00029 
00030 THIS::~THIS()
00031 {
00032 }
00033 
00034 
00035 //void THIS::processMessage ( Message* newMessage )
00036 //{
00037 //  PainterPlugin::processMessage ( newMessage );
00038 //  switch ( newMessage->getType() )
00039 //  {
00040 //    /*case MessageTypes::ARTIFICIAL_HORIZON_DATA_M:
00041 //    {
00042 //      ArtificialHorizonDataM* message = Message::castTo<ArtificialHorizonDataM> ( newMessage );
00043 //      if ( message )
00044 //      {
00045 //        m_RollAngle = message->getRollAngle();
00046 //        m_PitchAngle = message->getPitchAngle();
00047 //        ostringstream stream;
00048 //      }
00049 //      break;
00050 //    }*/
00051 
00052 //    case MessageTypes::IMU_STATE_M:
00053 //      {
00054 //        IMUStateM* message = Message::castTo<IMUStateM> ( newMessage );
00055 //        if ( message )
00056 //        {
00057 //          m_RollAngle = message->getRollAngle();
00058 //          m_PitchAngle = message->getPitchAngle();
00059 //          ostringstream stream;
00060 //        }
00061 //        break;
00062 //    }
00063 
00064 //    case MessageTypes::FAST_ROBOT_POSE_M:
00065 //    {
00066 //      FastRobotPoseM* message = Message::castTo<FastRobotPoseM> ( newMessage );
00067 //      if ( message )
00068 //      {
00069 //        m_RobotPose = message->getRobotPose();
00070 //        requestRedraw();
00071 //      }
00072 //      break;
00073 //    }
00074 
00075 //    default:
00076 //      break;
00077 
00078 //  }
00079 //}
00080 
00081 void THIS::paint ( float next2DLayer )
00082 {
00083   glTranslatef ( m_RobotPose.x(), m_RobotPose.y(), next2DLayer );
00084   glRotatef ( m_RobotPose.theta() * 180.0 / M_PI, 0.0, 0.0, 1.0 );
00085 
00086   glRotatef ( -m_RollAngle, 1.0, 0.0, 0.0 );
00087   glRotatef ( -m_PitchAngle, 0.0, 1.0, 0.0 );
00088   //HomMatrix3D robotToWorld = m_RobotPose.localToGlobal();
00089 
00090   glColor4f ( 0.0, 0.0, 0.0, 0.35 );
00091   glPolygonMode ( GL_FRONT_AND_BACK, GL_LINE );
00092   glEnable ( GL_BLEND );
00093   glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );
00094 
00095   // draw arrow
00096   glBegin ( GL_POLYGON );
00097   glVertex3f ( 160, 0, 0 );
00098   glVertex3f ( -106, 100, 0 );
00099   glVertex3f ( -50, 0, 0 );
00100   glVertex3f ( -106, -100, 0 );
00101   glEnd();
00102 
00103   glRotatef ( 180, 0.0, 0.0, 1.0 );
00104 
00105   float extrudeHeight = 0.0;
00106 
00107   // draw robbie
00108   glBegin ( GL_POLYGON );
00109   glVertex3f ( 232, 115, extrudeHeight );
00110   glVertex3f ( 240, 136, extrudeHeight );
00111   glVertex3f ( 240, 225, extrudeHeight );
00112   glVertex3f ( 40, 225, extrudeHeight );
00113   glVertex3f ( 40, 172, extrudeHeight );
00114   glVertex3f ( -10, 172, extrudeHeight );
00115 
00116   glVertex3f ( -10, 225, extrudeHeight );
00117   glVertex3f ( -215, 225, extrudeHeight );
00118   glVertex3f ( -215, 135, extrudeHeight );
00119   glVertex3f ( -285, 135, extrudeHeight );
00120   glVertex3f ( -285, 12, extrudeHeight );
00121   glVertex3f ( -285, -12 , extrudeHeight );
00122   glVertex3f ( -285, -135 , extrudeHeight );
00123   glVertex3f ( -215, -135 , extrudeHeight );
00124   glVertex3f ( -215, -225 , extrudeHeight );
00125   glVertex3f ( -10, -225 , extrudeHeight );
00126 
00127   glVertex3f ( -10, -172 , extrudeHeight );
00128   glVertex3f ( 40, -172 , extrudeHeight );
00129   glVertex3f ( 40, -225 , extrudeHeight );
00130   glVertex3f ( 240, -225 , extrudeHeight );
00131   glVertex3f ( 240, -136, extrudeHeight );
00132   glVertex3f ( 232, -115 , extrudeHeight );
00133   glVertex3f ( 282, -115 , extrudeHeight );
00134   glVertex3f ( 282, 115 , extrudeHeight );
00135   glEnd();
00136 
00137   extrudeHeight = 150.0;
00138 
00139   // draw robbie
00140   glColor4f ( 1.0, 1.0, 1.0, 0.35 );
00141   glPolygonMode ( GL_FRONT, GL_FILL );
00142   glPolygonMode ( GL_BACK, GL_NONE );
00143   glBegin ( GL_POLYGON );
00144   glVertex3f ( 100, 0, extrudeHeight );
00145   glVertex3f ( 232, 115, extrudeHeight );
00146   glVertex3f ( 240, 136, extrudeHeight );
00147   glVertex3f ( 240, 225, extrudeHeight );
00148   glVertex3f ( 40, 225, extrudeHeight );
00149   glVertex3f ( 40, 172, extrudeHeight );
00150   glVertex3f ( -10, 172, extrudeHeight );
00151   glVertex3f ( -10, -172 , extrudeHeight );
00152   glVertex3f ( 40, -172 , extrudeHeight );
00153   glVertex3f ( 40, -225 , extrudeHeight );
00154   glVertex3f ( 240, -225 , extrudeHeight );
00155   glVertex3f ( 240, -136, extrudeHeight );
00156   glVertex3f ( 232, -115 , extrudeHeight );
00157   glVertex3f ( 282, -115 , extrudeHeight );
00158   glVertex3f ( 282, 115 , extrudeHeight );
00159   glVertex3f ( 232, 115, extrudeHeight );
00160   glEnd();
00161   glBegin ( GL_POLYGON );
00162   glVertex3f ( -100, 0, extrudeHeight );
00163   glVertex3f ( -10, 225, extrudeHeight );
00164   glVertex3f ( -215, 225, extrudeHeight );
00165   glVertex3f ( -215, 135, extrudeHeight );
00166   glVertex3f ( -285, 135, extrudeHeight );
00167   glVertex3f ( -285, 12, extrudeHeight );
00168   glVertex3f ( -285, -12 , extrudeHeight );
00169   glVertex3f ( -285, -135 , extrudeHeight );
00170   glVertex3f ( -215, -135 , extrudeHeight );
00171   glVertex3f ( -215, -225 , extrudeHeight );
00172   glVertex3f ( -10, -225 , extrudeHeight );
00173   glVertex3f ( -10, 225, extrudeHeight );
00174   glEnd();
00175   glColor4f ( 0.7, 0.7, 0.7, 0.2 );
00176   glPolygonMode ( GL_BACK, GL_FILL );
00177   glPolygonMode ( GL_FRONT, GL_NONE );
00178   glBegin ( GL_TRIANGLE_STRIP );
00179   glVertex3f ( 232, 115, 0.0 );
00180   glVertex3f ( 232, 115, extrudeHeight );
00181   glVertex3f ( 223, 130, 0.0 );
00182   glVertex3f ( 223, 130, extrudeHeight );
00183   glVertex3f ( 223, 138, 0.0 );
00184   glVertex3f ( 223, 138, extrudeHeight );
00185   glVertex3f ( 240, 136, 0.0 );
00186   glVertex3f ( 240, 136, extrudeHeight );
00187   glVertex3f ( 240, 225, 0.0 );
00188   glVertex3f ( 240, 225, extrudeHeight );
00189   glVertex3f ( 40, 225, 0.0 );
00190   glVertex3f ( 40, 225, extrudeHeight );
00191   glVertex3f ( 40, 172, 0.0 );
00192   glVertex3f ( 40, 172, extrudeHeight );
00193   glVertex3f ( -10, 172, 0.0 );
00194   glVertex3f ( -10, 172, extrudeHeight );
00195   glVertex3f ( -10, 225, 0.0 );
00196   glVertex3f ( -10, 225, extrudeHeight );
00197   glVertex3f ( -215, 225, 0.0 );
00198   glVertex3f ( -215, 225, extrudeHeight );
00199   glVertex3f ( -215, 135, 0.0 );
00200   glVertex3f ( -215, 135, extrudeHeight );
00201   glVertex3f ( -285, 135, 0.0 );
00202   glVertex3f ( -285, 135, extrudeHeight );
00203   glVertex3f ( -285, 12, 0.0 );
00204   glVertex3f ( -285, 12, extrudeHeight );
00205   glVertex3f ( -285, -12 , 0.0 );
00206   glVertex3f ( -285, -12 , extrudeHeight );
00207   glVertex3f ( -285, -135 , 0.0 );
00208   glVertex3f ( -285, -135 , extrudeHeight );
00209   glVertex3f ( -215, -135 , 0.0 );
00210   glVertex3f ( -215, -135 , extrudeHeight );
00211   glVertex3f ( -215, -225 , 0.0 );
00212   glVertex3f ( -215, -225 , extrudeHeight );
00213   glVertex3f ( -10, -225 , 0.0 );
00214   glVertex3f ( -10, -225 , extrudeHeight );
00215   glVertex3f ( -10, -172 , 0.0 );
00216   glVertex3f ( -10, -172 , extrudeHeight );
00217   glVertex3f ( 40, -172 , 0.0 );
00218   glVertex3f ( 40, -172 , extrudeHeight );
00219   glVertex3f ( 40, -225 , 0.0 );
00220   glVertex3f ( 40, -225 , extrudeHeight );
00221   glVertex3f ( 240, -225 , 0.0 );
00222   glVertex3f ( 240, -225 , extrudeHeight );
00223   glVertex3f ( 240, -136, 0.0 );
00224   glVertex3f ( 240, -136, extrudeHeight );
00225   glVertex3f ( 223, -138, 0.0 );
00226   glVertex3f ( 223, -138, extrudeHeight );
00227   glVertex3f ( 223, -130 , 0.0 );
00228   glVertex3f ( 223, -130 , extrudeHeight );
00229   glVertex3f ( 232, -115 , 0.0 );
00230   glVertex3f ( 232, -115 , extrudeHeight );
00231   glVertex3f ( 282, -115 , 0.0 );
00232   glVertex3f ( 282, -115 , extrudeHeight );
00233   glVertex3f ( 282, 115 , 0.0 );
00234   glVertex3f ( 282, 115 , extrudeHeight );
00235   glEnd();
00236 
00237   glDisable ( GL_BLEND );
00238 
00239 }
00240 
00241 #undef THIS

obj_rec_gui
Author(s): AGAS/agas@uni-koblenz.de
autogenerated on Mon Oct 6 2014 02:53:43