planners/PL_OpenGL.cpp

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#include "paths/pa_points.h"
#include "Planners/PL_OpenGL.h"
#include "opengl/glos.h"
#include <gl/gl.h>



// Class PL_OpenGL 

PL_OpenGL::~PL_OpenGL()
{
  //## begin PL_OpenGL::~PL_OpenGL%.body preserve=yes
  //## end PL_OpenGL::~PL_OpenGL%.body
}

void PL_OpenGL::Draw( const Configuration& config )
{
    float x = 0.0f;
    float y = 0.0f;
    float z = 0.0f;
    const unsigned int DOF = config.DOF();
    if( DOF > 0 )
    {
        x = config[ 0 ];
    }
    if( DOF > 1 )
    {
        y = config[ 1 ];
    }
    if( DOF > 2 )
    {
        z = config[ 2 ];
    }
    glVertex3f( x, y, z );
}

//=============================================================================
// PL_OpenGL::DrawArrow
//
// draw an arrow
//=============================================================================
void PL_OpenGL::DrawArrow( const VectorN& point, const VectorN& direction )
{
    //
    // draw the point
    //
    glBegin( GL_POINTS );
        Draw( point );
    glEnd();

    //
    // draw the arrow portion
    //
    glBegin( GL_LINE );
        Draw( point );
        Draw( point + direction );
    glEnd();
}

//=============================================================================
// PL_OpenGL::DrawArrorOverlay
//
// draw an arrow
//=============================================================================
void PL_OpenGL::DrawArrorOverlay( const VectorN& point, const VectorN& direction )
{
    //
    // draw the point
    //
    glBegin( GL_POINTS );
        DrawOverlay( point );
    glEnd();

    //
    // draw the arrow portion
    //
    glBegin( GL_LINES );
        DrawOverlay( point );
        DrawOverlay( point + direction );
    glEnd();
}


void PL_OpenGL::DrawOverlay( const Configuration& config )
{
    float x = 0.0f;
    float y = 0.0f;
    float z = 0.0f;
    const unsigned int DOF = config.DOF();
    if( DOF > 0 )
    {
        x = config[ 0 ];
    }
    if( DOF > 1 )
    {
        y = config[ 1 ];
    }
    if( DOF > 2 )
    {
        z = config[ 2 ];
    }
    glVertex3f( y, -x, z );
}

//=============================================================================
// PL_OpenGL::Draw
//
// draw the path
//=============================================================================
void PL_OpenGL::Draw( const PA_Points& path )
{
    unsigned int size = path.Size();
    int i;
    glBegin( GL_LINE_STRIP );
    for( i = 0; i < size; ++i )
    {
        const Configuration& config = path[ i ];
        Draw( config );
    }
    glEnd();

    glBegin( GL_POINTS );
    for( i = 0; i < size; ++i )
    {
        const Configuration& config = path[ i ];
        Draw( config );
    }
    glEnd();
}

void PL_OpenGL::DrawOverlay( const PA_Points& path )
{
    unsigned int size = path.Size();
    int i;
    glBegin( GL_LINE_STRIP );
    for( i = 0; i < size; ++i )
    {
        const Configuration& config = path[ i ];
        DrawOverlay( config );
    }
    glEnd();

    glBegin( GL_POINTS );
    for( i = 0; i < size; ++i )
    {
        const Configuration& config = path[ i ];
        DrawOverlay( config );
    }
    glEnd();
}


//## Other Operations (implementation)
bool PL_OpenGL::DrawExplicit () const
{
  //## begin PL_OpenGL::DrawExplicit%964739311.body preserve=yes

        //by default this should do virtually nothing
        glClearColor( 0.0f, 0.0f, 0.5, 1.0 );
        glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
        return true;
  //## end PL_OpenGL::DrawExplicit%964739311.body
}

void PL_OpenGL::DrawUniversePortion() const
{
        // nothing
}

void PL_OpenGL::GLDraw () const
{
  //## begin PL_OpenGL::GLDraw%964739312.body preserve=yes
        this->DrawExplicit();
  //## end PL_OpenGL::GLDraw%964739312.body
}

// Additional Declarations
  //## begin PL_OpenGL%3980C19B0168.declarations preserve=yes
  //## end PL_OpenGL%3980C19B0168.declarations

//## begin module%3980C19B0168.epilog preserve=yes
//## end module%3980C19B0168.epilog

---