ARGoS 3
A parallel, multi-engine simulator for swarm robotics
qtopengl_widget.cpp
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1
6
7#include "qtopengl_widget.h"
8#include "qtopengl_main_window.h"
9#include "qtopengl_user_functions.h"
10
11#include <argos3/core/utility/logging/argos_log.h>
12#include <argos3/core/utility/math/plane.h>
13#include <argos3/core/simulator/simulator.h>
14#include <argos3/core/simulator/loop_functions.h>
15#include <argos3/core/simulator/space/space.h>
16#include <argos3/core/simulator/entity/floor_entity.h>
17#include <argos3/core/simulator/entity/composable_entity.h>
18#include <argos3/core/simulator/entity/positional_entity.h>
19
20#include <QDir>
21#include <QToolTip>
22#include <QTimerEvent>
23#include <QMouseEvent>
24#include <QWheelEvent>
25#include <QPainter>
26#include <QOpenGLFramebufferObject>
27
28#ifndef GL_MULTISAMPLE
29#define GL_MULTISAMPLE 0x809D
30#endif
31
32namespace argos {
33
34 static const Real ASPECT_RATIO = 4.0f / 3.0f;
35
36 /****************************************/
37 /****************************************/
38
39 CQTOpenGLWidget::CQTOpenGLWidget(QWidget* pc_parent,
40 CQTOpenGLMainWindow& c_main_window,
41 CQTOpenGLUserFunctions& c_user_functions) :
42 QOpenGLWidget(pc_parent),
43 m_cMainWindow(c_main_window),
44 m_cUserFunctions(c_user_functions),
45 nTimerId(-1),
46 m_bFastForwarding(false),
47 m_nDrawFrameEvery(1),
48 m_nFrameCounter(0),
49 m_bMouseGrabbed(false),
50 m_bShiftPressed(false),
51 m_bInvertMouse(false),
52 m_cSimulator(CSimulator::GetInstance()),
53 m_cSpace(m_cSimulator.GetSpace()),
54 m_bShowBoundary(true),
55 m_bUsingFloorTexture(false),
56 m_pcFloorTexture(nullptr),
57 m_pcGroundTexture(nullptr) {
58 /* Set the widget's size policy */
59 QSizePolicy cSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum);
60 cSizePolicy.setHeightForWidth(true);
61 setSizePolicy(cSizePolicy);
62 /* Grab focus when clicked on */
63 setFocusPolicy(Qt::ClickFocus);
64 /* Force size and geometry */
65 updateGeometry();
66 /* Keys */
67 m_mapPressedKeys[DIRECTION_UP] = false;
68 m_mapPressedKeys[DIRECTION_DOWN] = false;
69 m_mapPressedKeys[DIRECTION_LEFT] = false;
70 m_mapPressedKeys[DIRECTION_RIGHT] = false;
71 m_mapPressedKeys[DIRECTION_FORWARDS] = false;
72 m_mapPressedKeys[DIRECTION_BACKWARDS] = false;
73 }
74
75 /****************************************/
76 /****************************************/
77
78 CQTOpenGLWidget::~CQTOpenGLWidget() {
79 makeCurrent();
80 delete m_pcGroundTexture;
81 if(m_bUsingFloorTexture) {
82 delete m_pcFloorTexture;
83 }
84 doneCurrent();
85 }
86
87 /****************************************/
88 /****************************************/
89
90 void CQTOpenGLWidget::initializeGL() {
91 /* Initializes the openGL functions */
92 initializeOpenGLFunctions();
93 /* Set clear color */
94 glClearColor(0, .5, .5, 255); // dark cyan
95 /* Set up the texture parameters for the floor plane
96 (here we refer to the standard floor, not the floor entity) */
97 m_pcGroundTexture = new QOpenGLTexture(QImage(m_cMainWindow.GetTextureDir() + "/ground.png"));
98 m_pcGroundTexture->setMinMagFilters(QOpenGLTexture::LinearMipMapLinear,
99 QOpenGLTexture::Linear);
100#ifdef ARGOS_WITH_FREEIMAGE
101 /* Now take care of the floor entity */
102 try {
103 /* Create an image to use as texture */
104 m_cSpace.GetFloorEntity().SaveAsImage("/tmp/argos_floor.png");
105 m_bUsingFloorTexture = true;
106 /* Use the image as texture */
107 m_pcFloorTexture = new QOpenGLTexture(QImage("/tmp/argos_floor.png"));
108 m_pcFloorTexture->setMinMagFilters(QOpenGLTexture::LinearMipMapLinear,
109 QOpenGLTexture::Linear);
110 m_cSpace.GetFloorEntity().ClearChanged();
111 }
112 catch(CARGoSException& ex) {}
113#endif
114 /* Nicest hints */
115 glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
116 glHint(GL_TEXTURE_COMPRESSION_HINT, GL_NICEST);
117 /* Setup lighting */
118 GLfloat pfLightAmbient[] = { .2f, .2f, .2f, 1.0f };
119 GLfloat pfLightDiffuse[] = { .8f, .8f, .8f, 1.0f };
120 GLfloat pfLightPosition[] = { 50.0f , 50.0f , 2.0f , 1.0f };
121 glLightfv(GL_LIGHT0, GL_AMBIENT, pfLightAmbient);
122 glLightfv(GL_LIGHT0, GL_DIFFUSE, pfLightDiffuse);
123 glLightfv(GL_LIGHT0, GL_POSITION, pfLightPosition);
124 glEnable(GL_LIGHT0);
125 }
126
127 /****************************************/
128 /****************************************/
129
130 void CQTOpenGLWidget::paintGL() {
131 /* Clear accumulator buffer */
132 glClearAccum(0.0, 0.0, 0.0, 0.0);
133 /* Clear color buffer and depth buffer */
134 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
135 /* Smooth lines and shades */
136 glEnable(GL_LINE_SMOOTH);
137 glShadeModel(GL_SMOOTH);
138 /* Enable depth testing */
139 glEnable(GL_DEPTH_TEST);
140 /* Enable face culling */
141 glEnable(GL_CULL_FACE);
142 /* Enable lighting */
143 glEnable(GL_LIGHTING);
144 /* Calculate the perspective matrix */
145 glMatrixMode(GL_PROJECTION);
146 glLoadIdentity();
147 gluPerspective(m_cCamera.GetActivePlacement().YFieldOfView.GetValue(),
148 ASPECT_RATIO,
149 0.1f, 1000.0f);
150 /* Place the camera */
151 glMatrixMode(GL_MODELVIEW);
152 glLoadIdentity();
153 m_cCamera.Look();
154 /* Draw the arena */
155 DrawArena();
156 /* Draw the objects */
157 CEntity::TVector& vecEntities = m_cSpace.GetRootEntityVector();
158 for(auto itEntities = vecEntities.begin();
159 itEntities != vecEntities.end();
160 ++itEntities) {
161 glPushMatrix();
162 CallEntityOperation<CQTOpenGLOperationDrawNormal, CQTOpenGLWidget, void>(*this, **itEntities);
163 m_cUserFunctions.Call(**itEntities);
164 glPopMatrix();
165 }
166 /* Draw the selected object, if necessary */
167 if(m_sSelectionInfo.IsSelected) {
168 glPushMatrix();
169 CallEntityOperation<CQTOpenGLOperationDrawSelected, CQTOpenGLWidget, void>(*this, *m_sSelectionInfo.Entity);
170 glPopMatrix();
171 }
172 /* Draw in world */
173 glPushMatrix();
174 m_cUserFunctions.DrawInWorld();
175 glPopMatrix();
176 /* Draw axes */
177 DrawAxes();
178 /* Execute overlay drawing */
179 glShadeModel(GL_FLAT);
180 glDisable(GL_LIGHTING);
181 glDisable(GL_CULL_FACE);
182 glDisable(GL_DEPTH_TEST);
183 glMatrixMode(GL_MODELVIEW);
184 QPainter cPainter(this);
185 cPainter.setRenderHint(QPainter::Antialiasing);
186 cPainter.setRenderHint(QPainter::TextAntialiasing);
187 m_cUserFunctions.DrawOverlay(cPainter);
188 // cPainter.drawText(rect(), QString("%1 FPS").arg(m_fFPS, 0, 'f', 0));
189 cPainter.end();
190 /* Grab frame, if necessary */
191 if(m_sFrameGrabData.GUIGrabbing || m_sFrameGrabData.HeadlessGrabbing) {
192 QString strFileName = QString("%1/%2%3.%4")
193 .arg(m_sFrameGrabData.Directory)
194 .arg(m_sFrameGrabData.BaseName)
195 .arg(m_cSpace.GetSimulationClock(), 10, 10, QChar('0'))
196 .arg(m_sFrameGrabData.Format);
197 QToolTip::showText(pos() + geometry().center(), "Stored frame to \"" + strFileName);
198 grabFramebuffer()
199 .save(
200 strFileName,
201 nullptr,
202 m_sFrameGrabData.Quality);
203 }
204 }
205
206 /****************************************/
207 /****************************************/
208
209 CRay3 CQTOpenGLWidget::RayFromWindowCoord(int n_x,
210 int n_y) {
211 /* Make sure OpenGL context is correct */
212 makeCurrent();
213 /* Rescale coordinates by devicePixelRatio */
214 n_x *= devicePixelRatio();
215 n_y *= devicePixelRatio();
216 /* Get current viewport */
217 GLint nViewport[4];
218 glGetIntegerv(GL_VIEWPORT, nViewport);
219 /* Get OpenGL matrices */
220 GLdouble fModelViewMatrix[16];
221 GLdouble fProjectionMatrix[16];
222 glGetDoublev(GL_MODELVIEW_MATRIX, fModelViewMatrix);
223 glGetDoublev(GL_PROJECTION_MATRIX, fProjectionMatrix);
224 /*
225 * Convert mouse position in window into OpenGL representation
226 */
227 /* The x coordinate stays the same */
228 GLfloat fWinX = n_x;
229 /* The y coordinate of the window is top-left; in OpenGL is bottom-left */
230 GLfloat fWinY = nViewport[3] - n_y;
231 /*
232 * Get the position of the ray start in the world
233 * The ray starts at the near clipping plane (depth = 0.0f)
234 */
235 GLdouble fRayStartX, fRayStartY, fRayStartZ;
236 gluUnProject(fWinX, fWinY, 0.0f,
237 fModelViewMatrix, fProjectionMatrix, nViewport,
238 &fRayStartX, &fRayStartY, &fRayStartZ);
239 /*
240 * Get the position of the ray end in the world
241 * The ray starts at the far clipping plane (depth = 1.0f)
242 */
243 GLdouble fRayEndX, fRayEndY, fRayEndZ;
244 gluUnProject(fWinX, fWinY, 1.0f,
245 fModelViewMatrix, fProjectionMatrix, nViewport,
246 &fRayEndX, &fRayEndY, &fRayEndZ);
247 doneCurrent();
248 return CRay3(CVector3(fRayStartX, fRayStartY, fRayStartZ),
249 CVector3(fRayEndX, fRayEndY, fRayEndZ));
250 }
251
252 /****************************************/
253 /****************************************/
254
255 CVector3 CQTOpenGLWidget::GetWindowCoordInWorld(int n_x,
256 int n_y) {
257 /* Make sure OpenGL context is correct */
258 makeCurrent();
259 /* Rescale coordinates by devicePixelRatio */
260 n_x *= devicePixelRatio();
261 n_y *= devicePixelRatio();
262 /* Get current viewport */
263 GLint nViewport[4];
264 glGetIntegerv(GL_VIEWPORT, nViewport);
265 /* Get OpenGL matrices */
266 GLdouble fModelViewMatrix[16];
267 GLdouble fProjectionMatrix[16];
268 glGetDoublev(GL_MODELVIEW_MATRIX, fModelViewMatrix);
269 glGetDoublev(GL_PROJECTION_MATRIX, fProjectionMatrix);
270 /*
271 * Convert mouse position in window into a 3D representation
272 */
273 /* The x coordinate stays the same */
274 GLfloat fWinX = n_x;
275 /* The y coordinate of the window is top-left; in OpenGL is bottom-left */
276 GLfloat fWinY = nViewport[3] - n_y;
277 /* Read the z coordinate from the depth buffer in the back buffer */
278 GLfloat fWinZ;
279 glReadBuffer(GL_BACK);
280 glReadPixels(n_x, (GLint)fWinY, 1, 1, GL_DEPTH_COMPONENT, GL_FLOAT, &fWinZ);
281 /* Get the actual position in the world */
282 GLdouble fWorldX, fWorldY, fWorldZ;
283 gluUnProject(fWinX, fWinY, fWinZ,
284 fModelViewMatrix, fProjectionMatrix, nViewport,
285 &fWorldX, &fWorldY, &fWorldZ);
286 /*
287 * Swap coordinates when creating the ray
288 * In ARGoS, the up vector is the Z-axis, while in OpenGL it is the Y-axis
289 */
290 doneCurrent();
291 return CVector3(fWorldX, fWorldZ, fWorldY);
292 }
293
294 /****************************************/
295 /****************************************/
296
297 CEntity* CQTOpenGLWidget::GetSelectedEntity() {
298 return (m_sSelectionInfo.IsSelected ?
299 m_sSelectionInfo.Entity :
300 nullptr);
301 }
302
303 /****************************************/
304 /****************************************/
305
306 void CQTOpenGLWidget::SelectEntity(CEntity& c_entity) {
307 /* Check whether an entity had previously been selected */
308 if(m_sSelectionInfo.IsSelected) {
309 /* An entity had previously been selected */
310 /* Is that entity already selected? */
311 if(m_sSelectionInfo.Entity == &c_entity) return;
312 /* Deselect the previous one */
313 emit EntityDeselected(m_sSelectionInfo.Entity);
314 m_cUserFunctions.EntityDeselected(
315 *m_sSelectionInfo.Entity);
316 }
317 else {
318 /* No entity had previously been selected */
319 m_sSelectionInfo.IsSelected = true;
320 }
321 /* Select the new entity */
322 m_sSelectionInfo.Entity = &c_entity;
323 emit EntitySelected(&c_entity);
324 m_cUserFunctions.EntitySelected(c_entity);
325 update();
326 }
327
328 /****************************************/
329 /****************************************/
330
331 void CQTOpenGLWidget::DeselectEntity() {
332 /* If no entity was selected, nothing to do */
333 if(!m_sSelectionInfo.IsSelected) return;
334 /* Deselect the entity */
335 emit EntityDeselected(m_sSelectionInfo.Entity);
336 m_cUserFunctions.EntityDeselected(
337 *m_sSelectionInfo.Entity);
338 m_sSelectionInfo.IsSelected = false;
339 update();
340 }
341
342 /****************************************/
343 /****************************************/
344
354
355 /****************************************/
356 /****************************************/
357
358 void CQTOpenGLWidget::DrawEntity(CPositionalEntity& c_entity) {
359 /* Get the position of the entity */
360 const CVector3& cPosition = c_entity.GetPosition();
361 /* Get the orientation of the entity */
362 const CQuaternion& cOrientation = c_entity.GetOrientation();
363 CRadians cZAngle, cYAngle, cXAngle;
364 cOrientation.ToEulerAngles(cZAngle, cYAngle, cXAngle);
365 /* First, translate the entity */
366 glTranslated(cPosition.GetX(), cPosition.GetY(), cPosition.GetZ());
367 /* Second, rotate the entity */
368 glRotated(ToDegrees(cXAngle).GetValue(), 1.0f, 0.0f, 0.0f);
369 glRotated(ToDegrees(cYAngle).GetValue(), 0.0f, 1.0f, 0.0f);
370 glRotated(ToDegrees(cZAngle).GetValue(), 0.0f, 0.0f, 1.0f);
371 }
372
373 /****************************************/
374 /****************************************/
375
376 void CQTOpenGLWidget::DrawEntity(CEmbodiedEntity& c_entity) {
377 /* Get the position of the entity */
378 const CVector3& cPosition = c_entity.GetOriginAnchor().Position;
379 /* Get the orientation of the entity */
380 const CQuaternion& cOrientation = c_entity.GetOriginAnchor().Orientation;
381 CRadians cZAngle, cYAngle, cXAngle;
382 cOrientation.ToEulerAngles(cZAngle, cYAngle, cXAngle);
383 /* First, translate the entity */
384 glTranslated(cPosition.GetX(), cPosition.GetY(), cPosition.GetZ());
385 /* Second, rotate the entity */
386 glRotated(ToDegrees(cXAngle).GetValue(), 1.0f, 0.0f, 0.0f);
387 glRotated(ToDegrees(cYAngle).GetValue(), 0.0f, 1.0f, 0.0f);
388 glRotated(ToDegrees(cZAngle).GetValue(), 0.0f, 0.0f, 1.0f);
389 }
390
391 /****************************************/
392 /****************************************/
393
394 void CQTOpenGLWidget::DrawRays(CControllableEntity& c_entity) {
395 if(! c_entity.GetCheckedRays().empty()) {
396 glDisable(GL_LIGHTING);
397 glLineWidth(1.0f);
398 glBegin(GL_LINES);
399 for(UInt32 i = 0; i < c_entity.GetCheckedRays().size(); ++i) {
400 if(c_entity.GetCheckedRays()[i].first) {
401 glColor3f(1.0, 0.0, 1.0);
402 }
403 else {
404 glColor3f(0.0, 1.0, 1.0);
405 }
406 const CVector3& cStart = c_entity.GetCheckedRays()[i].second.GetStart();
407 const CVector3& cEnd = c_entity.GetCheckedRays()[i].second.GetEnd();
408 glVertex3d(cStart.GetX(), cStart.GetY(), cStart.GetZ());
409 glVertex3d(cEnd.GetX(), cEnd.GetY(), cEnd.GetZ());
410 }
411 glEnd();
412 glPointSize(5.0);
413 glColor3f(0.0, 0.0, 0.0);
414 glBegin(GL_POINTS);
415 for(UInt32 i = 0; i < c_entity.GetIntersectionPoints().size(); ++i) {
416 const CVector3& cPoint = c_entity.GetIntersectionPoints()[i];
417 glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
418 }
419 glEnd();
420 glPointSize(1.0);
421 glEnable(GL_LIGHTING);
422 }
423 }
424
425 /****************************************/
426 /****************************************/
427
428 void CQTOpenGLWidget::DrawBoundingBox(CEmbodiedEntity& c_entity) {
429 const SBoundingBox& sBBox = c_entity.GetBoundingBox();
430 glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
431 glDisable(GL_LIGHTING);
432 glLineWidth(3.0f);
433 glColor3f(1.0f, 1.0f, 1.0f);
434 /* This part covers the top and bottom faces (parallel to XY) */
435 glBegin(GL_QUADS);
436 /* Bottom face */
437 glNormal3d(0.0f, 0.0f, -1.0f);
438 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MinCorner.GetZ());
439 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MinCorner.GetZ());
440 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MinCorner.GetZ());
441 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MinCorner.GetZ());
442 /* Top face */
443 glNormal3d(0.0f, 0.0f, 1.0f);
444 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MaxCorner.GetZ());
445 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MaxCorner.GetZ());
446 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MaxCorner.GetZ());
447 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MaxCorner.GetZ());
448 glEnd();
449 /* This part covers the faces (South, East, North, West) */
450 glBegin(GL_QUADS);
451 /* South face */
452 glNormal3d(-1.0f, 0.0f, 0.0f);
453 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MinCorner.GetZ());
454 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MaxCorner.GetZ());
455 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MaxCorner.GetZ());
456 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MinCorner.GetZ());
457 /* East face */
458 glNormal3d(0.0f, -1.0f, 0.0f);
459 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MinCorner.GetZ());
460 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MinCorner.GetZ());
461 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MaxCorner.GetZ());
462 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MaxCorner.GetZ());
463 /* North face */
464 glNormal3d(1.0f, 0.0f, 0.0f);
465 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MinCorner.GetZ());
466 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MinCorner.GetZ());
467 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MaxCorner.GetZ());
468 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MinCorner.GetY(), sBBox.MaxCorner.GetZ());
469 /* West face */
470 glNormal3d(0.0f, 1.0f, 0.0f);
471 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MinCorner.GetZ());
472 glVertex3d(sBBox.MinCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MaxCorner.GetZ());
473 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MaxCorner.GetZ());
474 glVertex3d(sBBox.MaxCorner.GetX(), sBBox.MaxCorner.GetY(), sBBox.MinCorner.GetZ());
475 glEnd();
476 glEnable(GL_LIGHTING);
477 glLineWidth(1.0f);
478 glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
479 }
480
481 /****************************************/
482 /****************************************/
483
484 void CQTOpenGLWidget::PlayExperiment() {
485 m_bFastForwarding = false;
486 if(nTimerId != -1) killTimer(nTimerId);
487 nTimerId = startTimer(static_cast<UInt32>(CPhysicsEngine::GetSimulationClockTick() * 1000.0f));
488 }
489
490 /****************************************/
491 /****************************************/
492
493 void CQTOpenGLWidget::FastForwardExperiment() {
494 m_nFrameCounter = 0;
495 m_bFastForwarding = true;
496 if(nTimerId != -1) killTimer(nTimerId);
497 nTimerId = startTimer(1);
498 }
499
500 /****************************************/
501 /****************************************/
502
503 void CQTOpenGLWidget::PauseExperiment() {
504 m_bFastForwarding = false;
505 if(nTimerId != -1) killTimer(nTimerId);
506 nTimerId = -1;
507 }
508
509 /****************************************/
510 /****************************************/
511
512 void CQTOpenGLWidget::StepExperiment() {
513 if(!m_cSimulator.IsExperimentFinished()) {
514 m_cSimulator.UpdateSpace();
515 if(m_bFastForwarding) {
516 /* Frame dropping happens only in fast-forward */
517 m_nFrameCounter = m_nFrameCounter % m_nDrawFrameEvery;
518 if(m_nFrameCounter == 0) {
519 update();
520 }
521 ++m_nFrameCounter;
522 } else {
523 update();
524 }
525 m_cCamera.UpdateTimeline();
526 emit StepDone(m_cSpace.GetSimulationClock());
527 }
528 else {
529 PauseExperiment();
530 emit ExperimentDone();
531 }
532 }
533
534 /****************************************/
535 /****************************************/
536
537 void CQTOpenGLWidget::ResetExperiment() {
538 m_cSimulator.Reset();
539 m_cCamera.Reset();
540 delete m_pcGroundTexture;
541 if(m_bUsingFloorTexture) delete m_pcFloorTexture;
542 initializeGL();
543 update();
544 }
545
546 /****************************************/
547 /****************************************/
548
549 void CQTOpenGLWidget::SetDrawFrameEvery(SInt32 n_every) {
550 m_nDrawFrameEvery = n_every;
551 }
552
553 /****************************************/
554 /****************************************/
555
556 void CQTOpenGLWidget::SetGrabFrame(bool b_grab_on) {
557 m_sFrameGrabData.GUIGrabbing = b_grab_on;
558 }
559
560 /****************************************/
561 /****************************************/
562
563 void CQTOpenGLWidget::SetCamera(int n_camera) {
564 m_cCamera.SetActivePlacement(n_camera);
565 update();
566 QToolTip::showText(pos() + geometry().center(), QString("Current camera: #%1").arg(n_camera+1));
567 }
568
569 /****************************************/
570 /****************************************/
571
572 void CQTOpenGLWidget::SetCameraFocalLength(double f_length) {
573 m_cCamera.GetActivePlacement().LensFocalLength = f_length / 1000.0f;
574 m_cCamera.GetActivePlacement().CalculateYFieldOfView();
575 update();
576 }
577
578 /****************************************/
579 /****************************************/
580
581 void CQTOpenGLWidget::KeyPressed(QKeyEvent* pc_event) {
582 switch(pc_event->key()) {
583 case Qt::Key_W:
584 case Qt::Key_Up:
585 /* Forwards */
586 m_mapPressedKeys[DIRECTION_FORWARDS] = true;
587 reactToKeyEvent();
588 break;
589 case Qt::Key_S:
590 case Qt::Key_Down:
591 /* Backwards */
592 m_mapPressedKeys[DIRECTION_BACKWARDS] = true;
593 reactToKeyEvent();
594 break;
595 case Qt::Key_A:
596 case Qt::Key_Left:
597 /* Left */
598 m_mapPressedKeys[DIRECTION_LEFT] = true;
599 reactToKeyEvent();
600 break;
601 case Qt::Key_D:
602 case Qt::Key_Right:
603 /* Right */
604 m_mapPressedKeys[DIRECTION_RIGHT] = true;
605 reactToKeyEvent();
606 break;
607 case Qt::Key_E:
608 /* Up */
609 m_mapPressedKeys[DIRECTION_UP] = true;
610 reactToKeyEvent();
611 break;
612 case Qt::Key_Q:
613 /* Up */
614 m_mapPressedKeys[DIRECTION_DOWN] = true;
615 reactToKeyEvent();
616 break;
617 default:
618 /* Unknown key */
619 QOpenGLWidget::keyPressEvent(pc_event);
620 break;
621 }
622 }
623
624 /****************************************/
625 /****************************************/
626
627 void CQTOpenGLWidget::KeyReleased(QKeyEvent* pc_event) {
628 switch(pc_event->key()) {
629 case Qt::Key_W:
630 case Qt::Key_Up:
631 /* Forwards */
632 m_mapPressedKeys[DIRECTION_FORWARDS] = false;
633 reactToKeyEvent();
634 break;
635 case Qt::Key_S:
636 case Qt::Key_Down:
637 /* Backwards */
638 m_mapPressedKeys[DIRECTION_BACKWARDS] = false;
639 reactToKeyEvent();
640 break;
641 case Qt::Key_A:
642 case Qt::Key_Left:
643 /* Left */
644 m_mapPressedKeys[DIRECTION_LEFT] = false;
645 reactToKeyEvent();
646 break;
647 case Qt::Key_D:
648 case Qt::Key_Right:
649 /* Right */
650 m_mapPressedKeys[DIRECTION_RIGHT] = false;
651 reactToKeyEvent();
652 break;
653 case Qt::Key_E:
654 /* Up */
655 m_mapPressedKeys[DIRECTION_UP] = false;
656 reactToKeyEvent();
657 break;
658 case Qt::Key_Q:
659 /* Up */
660 m_mapPressedKeys[DIRECTION_DOWN] = false;
661 reactToKeyEvent();
662 break;
663 default:
664 /* Unknown key */
665 QOpenGLWidget::keyPressEvent(pc_event);
666 break;
667 }
668 }
669
670 /****************************************/
671 /****************************************/
672
673 void CQTOpenGLWidget::DrawArena() {
674 CVector3 cArenaSize(m_cSpace.GetArenaSize());
675 CVector3 cArenaMinCorner(m_cSpace.GetArenaCenter().GetX() - cArenaSize.GetX() * 0.5f,
676 m_cSpace.GetArenaCenter().GetY() - cArenaSize.GetY() * 0.5f,
677 m_cSpace.GetArenaCenter().GetZ() - cArenaSize.GetZ() * 0.5f);
678 CVector3 cArenaMaxCorner(m_cSpace.GetArenaCenter().GetX() + cArenaSize.GetX() * 0.5f,
679 m_cSpace.GetArenaCenter().GetY() + cArenaSize.GetY() * 0.5f,
680 m_cSpace.GetArenaCenter().GetZ() + cArenaSize.GetZ() * 0.5f);
681 /* Disable lighting - no funny color effects */
682 glDisable(GL_LIGHTING);
683 /* Enable textures */
684 glEnable(GL_TEXTURE_2D);
685 /* Take care of the floor entity if necessary */
686 /* The texture covers the object like a decal */
687 glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);
688#ifdef ARGOS_WITH_FREEIMAGE
689 if(m_bUsingFloorTexture) {
690 /* Use the image as texture */
691 if(m_cSpace.GetFloorEntity().HasChanged()) {
692 /* Create an image to use as texture */
693 m_pcFloorTexture->destroy();
694 m_pcFloorTexture->create();
695 m_cSpace.GetFloorEntity().SaveAsImage("/tmp/argos_floor.png");
696 m_pcFloorTexture->setData(QImage("/tmp/argos_floor.png"));
697 m_pcFloorTexture->setMinMagFilters(QOpenGLTexture::LinearMipMapLinear,
698 QOpenGLTexture::Linear);
699 /* Clear the 'changed' flag on the floor entity */
700 m_cSpace.GetFloorEntity().ClearChanged();
701 }
702 /* Draw the floor entity along with its texture */
703 m_pcFloorTexture->bind();
704 glBegin(GL_QUADS);
705 glTexCoord2d(0.0f, 1.0f); glVertex3d(cArenaMinCorner.GetX(), cArenaMinCorner.GetY(), 0.0f);
706 glTexCoord2d(1.0f, 1.0f); glVertex3d(cArenaMaxCorner.GetX(), cArenaMinCorner.GetY(), 0.0f);
707 glTexCoord2d(1.0f, 0.0f); glVertex3d(cArenaMaxCorner.GetX(), cArenaMaxCorner.GetY(), 0.0f);
708 glTexCoord2d(0.0f, 0.0f); glVertex3d(cArenaMinCorner.GetX(), cArenaMaxCorner.GetY(), 0.0f);
709 glEnd();
710 }
711 else {
712#endif
713 /* Wrap the texture at the edges, which in this case means that it is repeated */
714 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
715 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
716 m_pcGroundTexture->bind();
717 /* Draw the floor along with its texture */
718 glBegin(GL_QUADS);
719 glTexCoord2d(0.0f, cArenaSize.GetY()); glVertex3d(cArenaMinCorner.GetX(), cArenaMinCorner.GetY(), 0.0f);
720 glTexCoord2d(cArenaSize.GetX(), cArenaSize.GetY()); glVertex3d(cArenaMaxCorner.GetX(), cArenaMinCorner.GetY(), 0.0f);
721 glTexCoord2d(cArenaSize.GetX(), 0.0f); glVertex3d(cArenaMaxCorner.GetX(), cArenaMaxCorner.GetY(), 0.0f);
722 glTexCoord2d(0.0f, 0.0f); glVertex3d(cArenaMinCorner.GetX(), cArenaMaxCorner.GetY(), 0.0f);
723 glEnd();
724#ifdef ARGOS_WITH_FREEIMAGE
725 }
726#endif
727 /* Disable the textures */
728 glDisable(GL_TEXTURE_2D);
729 if(m_bShowBoundary) {
730 /* Draw walls */
731 glDisable(GL_CULL_FACE);
732 glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
733 glLineWidth(10.0f);
734 glColor3f(0.0f, 0.0f, 0.0f);
735 /* This part covers the top and bottom faces (parallel to XY) */
736 glBegin(GL_QUADS);
737 /* Top face */
738 glVertex3d(cArenaMinCorner.GetX(), cArenaMinCorner.GetY(), cArenaMaxCorner.GetZ());
739 glVertex3d(cArenaMaxCorner.GetX(), cArenaMinCorner.GetY(), cArenaMaxCorner.GetZ());
740 glVertex3d(cArenaMaxCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMaxCorner.GetZ());
741 glVertex3d(cArenaMinCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMaxCorner.GetZ());
742 glEnd();
743 /* This part covers the faces (South, East, North, West) */
744 glBegin(GL_QUADS);
745 /* South face */
746 glVertex3d(cArenaMinCorner.GetX(), cArenaMinCorner.GetY(), cArenaMinCorner.GetZ());
747 glVertex3d(cArenaMinCorner.GetX(), cArenaMinCorner.GetY(), cArenaMaxCorner.GetZ());
748 glVertex3d(cArenaMinCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMaxCorner.GetZ());
749 glVertex3d(cArenaMinCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMinCorner.GetZ());
750 /* East face */
751 glVertex3d(cArenaMinCorner.GetX(), cArenaMinCorner.GetY(), cArenaMinCorner.GetZ());
752 glVertex3d(cArenaMaxCorner.GetX(), cArenaMinCorner.GetY(), cArenaMinCorner.GetZ());
753 glVertex3d(cArenaMaxCorner.GetX(), cArenaMinCorner.GetY(), cArenaMaxCorner.GetZ());
754 glVertex3d(cArenaMinCorner.GetX(), cArenaMinCorner.GetY(), cArenaMaxCorner.GetZ());
755 /* North face */
756 glVertex3d(cArenaMaxCorner.GetX(), cArenaMinCorner.GetY(), cArenaMinCorner.GetZ());
757 glVertex3d(cArenaMaxCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMinCorner.GetZ());
758 glVertex3d(cArenaMaxCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMaxCorner.GetZ());
759 glVertex3d(cArenaMaxCorner.GetX(), cArenaMinCorner.GetY(), cArenaMaxCorner.GetZ());
760 /* West face */
761 glVertex3d(cArenaMinCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMinCorner.GetZ());
762 glVertex3d(cArenaMinCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMaxCorner.GetZ());
763 glVertex3d(cArenaMaxCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMaxCorner.GetZ());
764 glVertex3d(cArenaMaxCorner.GetX(), cArenaMaxCorner.GetY(), cArenaMinCorner.GetZ());
765 glEnd();
766 glLineWidth(1.0f);
767 glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
768 glEnable(GL_CULL_FACE);
769 }
770 /* Restore lighting */
771 glEnable(GL_LIGHTING);
772 }
773
774 /****************************************/
775 /****************************************/
776
779
780 /****************************************/
781 /****************************************/
782
783 void CQTOpenGLWidget::timerEvent(QTimerEvent* pc_event) {
784 StepExperiment();
785 }
786
787 /****************************************/
788 /****************************************/
789
790 void CQTOpenGLWidget::mousePressEvent(QMouseEvent* pc_event) {
791 /*
792 * Mouse press without shift
793 * Either pure press, or press + CTRL
794 */
795 if(! (pc_event->modifiers() & Qt::ShiftModifier)) {
796 if(! (pc_event->modifiers() & Qt::AltModifier)) {
797 m_bMouseGrabbed = true;
798 m_cMouseGrabPos = pc_event->pos();
799 }
800 else {
801 m_cUserFunctions.MouseKeyPressed(pc_event);
802 }
803 }
804 /*
805 * Mouse press with shift
806 */
807 else {
808 m_bMouseGrabbed = false;
809 SelectInScene(pc_event->pos().x(),
810 pc_event->pos().y());
811 }
812 }
813
814 /****************************************/
815 /****************************************/
816
817 void CQTOpenGLWidget::mouseReleaseEvent(QMouseEvent* pc_event) {
818 /*
819 * Mouse grabbed, selected entity, CTRL pressed
820 */
821 if(m_bMouseGrabbed &&
822 m_sSelectionInfo.IsSelected &&
823 (pc_event->modifiers() & Qt::ControlModifier)) {
824 /* Treat selected entity as an embodied entity */
825 auto* pcEntity = dynamic_cast<CEmbodiedEntity*>(m_sSelectionInfo.Entity);
826 if(pcEntity == nullptr) {
827 /* Treat selected entity as a composable entity with an embodied component */
828 auto* pcCompEntity = dynamic_cast<CComposableEntity*>(m_sSelectionInfo.Entity);
829 if(pcCompEntity != nullptr && pcCompEntity->HasComponent("body")) {
830 pcEntity = &pcCompEntity->GetComponent<CEmbodiedEntity>("body");
831 }
832 else {
833 /* All conversions failed, get out */
834 m_bMouseGrabbed = false;
835 return;
836 }
837 }
838 /*
839 * If we get here, pcEntity is set to a non-NULL value
840 * Move the entity to the wanted place
841 */
842 /* Create a plane coincident with the world XY plane, centered at the entity position */
843 CPlane cXYPlane(pcEntity->GetOriginAnchor().Position, CVector3::Z);
844 /* Create a ray from the image pixel to the world */
845 CRay3 cMouseRay =
846 RayFromWindowCoord(pc_event->pos().x(),
847 pc_event->pos().y());
848 /* Calculate the new entity position as the intersection of the projected mouse position
849 with the plane created before */
850 CVector3 cNewPos;
851 if(cMouseRay.Intersects(cXYPlane, cNewPos)) {
852 CVector3 cOldPos(pcEntity->GetOriginAnchor().Position);
853 if(pcEntity->MoveTo(cNewPos, pcEntity->GetOriginAnchor().Orientation)) {
854 m_cUserFunctions.EntityMoved(pcEntity->GetRootEntity(), cOldPos, cNewPos);
855 }
856 /* Entity moved, redraw */
857 update();
858 }
859 }
860 else {
861 m_cUserFunctions.MouseKeyReleased(pc_event);
862 }
863 /*
864 * Mouse was grabbed, button released -> ungrab mouse
865 */
866 m_bMouseGrabbed = false;
867 }
868
869 /****************************************/
870 /****************************************/
871
872 void CQTOpenGLWidget::mouseMoveEvent(QMouseEvent* pc_event) {
873 /*
874 * Moving while mouse grabbed -> camera movement
875 */
876 if(m_bMouseGrabbed) {
877 if(! (pc_event->modifiers() & Qt::ControlModifier)) {
878 /*
879 * Camera movement
880 */
881 if(pc_event->buttons() == Qt::LeftButton) {
882 if (m_bInvertMouse) m_cCamera.Rotate( pc_event->pos() - m_cMouseGrabPos);
883 else m_cCamera.Rotate( m_cMouseGrabPos - pc_event->pos());
884 m_cMouseGrabPos = pc_event->pos();
885 update();
886 }
887 else if(pc_event->buttons() == Qt::RightButton) {
888 QPoint cDelta(pc_event->pos() - m_cMouseGrabPos);
889 m_cCamera.Move(-cDelta.y(), cDelta.x(), 0);
890 m_cMouseGrabPos = pc_event->pos();
891 update();
892 }
893 else if(pc_event->buttons() == Qt::MiddleButton) {
894 QPoint cDelta(pc_event->pos() - m_cMouseGrabPos);
895 m_cCamera.Move(0, 0, cDelta.y());
896 m_cMouseGrabPos = pc_event->pos();
897 update();
898 }
899 }
900 }
901 else {
902 m_cUserFunctions.MouseMoved(pc_event);
903 }
904 }
905
906 /****************************************/
907 /****************************************/
908
909 void CQTOpenGLWidget::wheelEvent(QWheelEvent *pc_event) {
910 if(m_sSelectionInfo.IsSelected && (pc_event->modifiers() & Qt::ControlModifier)) {
911 /* Treat selected entity as an embodied entity */
912 auto* pcEntity = dynamic_cast<CEmbodiedEntity*>(m_sSelectionInfo.Entity);
913 if(pcEntity == nullptr) {
914 /* Treat selected entity as a composable entity with an embodied component */
915 auto* pcCompEntity = dynamic_cast<CComposableEntity*>(m_sSelectionInfo.Entity);
916 if(pcCompEntity != nullptr && pcCompEntity->HasComponent("body")) {
917 pcEntity = &pcCompEntity->GetComponent<CEmbodiedEntity>("body");
918 }
919 else {
920 return;
921 }
922 }
923 /*
924 * If we get here, pcEntity is set to a non-NULL value
925 * Rotate the entity
926 */
927 CDegrees cDegrees(pc_event->angleDelta().y() / 8);
928 CQuaternion cRotation(ToRadians(cDegrees), CVector3::Z);
929 CQuaternion cOldOrientation(pcEntity->GetOriginAnchor().Orientation);
930 CQuaternion cNewOrientation(cOldOrientation * cRotation);
931 if(pcEntity->MoveTo(pcEntity->GetOriginAnchor().Position, cNewOrientation)) {
932 m_cUserFunctions.EntityRotated(pcEntity->GetRootEntity(), cOldOrientation, cNewOrientation);
933 }
934 /* entity updated, redraw the scene */
935 update();
936 }
937 }
938
939 /****************************************/
940 /****************************************/
941
942 void CQTOpenGLWidget::keyPressEvent(QKeyEvent* pc_event) {
943 m_cUserFunctions.KeyPressed(pc_event);
944 }
945
946 /****************************************/
947 /****************************************/
948
949 void CQTOpenGLWidget::keyReleaseEvent(QKeyEvent* pc_event) {
950 m_cUserFunctions.KeyReleased(pc_event);
951 }
952
953 /****************************************/
954 /****************************************/
955
956 void CQTOpenGLWidget::reactToKeyEvent() {
957 SInt32 nForwardsBackwards = 0;
958 SInt32 nSideways = 0;
959 SInt32 nUpDown = 0;
960
961 if(m_mapPressedKeys[DIRECTION_UP]) nUpDown++;
962 if(m_mapPressedKeys[DIRECTION_DOWN]) nUpDown--;
963 if(m_mapPressedKeys[DIRECTION_LEFT]) nSideways++;
964 if(m_mapPressedKeys[DIRECTION_RIGHT]) nSideways--;
965 if(m_mapPressedKeys[DIRECTION_FORWARDS]) nForwardsBackwards++;
966 if(m_mapPressedKeys[DIRECTION_BACKWARDS]) nForwardsBackwards--;
967
968 if(nForwardsBackwards != 0 ||
969 nSideways != 0 ||
970 nUpDown != 0) {
971 m_cCamera.Move(15 * nForwardsBackwards,
972 15 * nSideways,
973 15 * nUpDown);
974 update();
975 }
976 }
977
978 /****************************************/
979 /****************************************/
980
981 void CQTOpenGLWidget::resizeEvent(QResizeEvent* pc_event) {
982 /* Call parent's resize event handler */
983 QOpenGLWidget::resizeEvent(pc_event);
984 /* Show new window size */
985 QToolTip::showText(pos() + geometry().center(), QString("Size: %1 x %2").arg(pc_event->size().width()).arg(pc_event->size().height()));
986 }
987
988 /****************************************/
989 /****************************************/
990
991 void CQTOpenGLWidget::SFrameGrabData::Init(TConfigurationNode& t_tree) {
992 if(NodeExists(t_tree, "frame_grabbing")) {
993 TConfigurationNode& tNode = GetNode(t_tree, "frame_grabbing");
994 std::string strBuffer;
995 /* Parse directory, removing trailing '/' */
996 strBuffer = ".";
997 GetNodeAttributeOrDefault(tNode, "directory", strBuffer, strBuffer);
998 size_t unEndPos = strBuffer.find_last_not_of("/ \t");
999 if(unEndPos != std::string::npos) {
1000 strBuffer = strBuffer.substr(0, unEndPos+1);
1001 }
1002 Directory = strBuffer.c_str();
1003 QDir cDirectory(Directory);
1004 if(!cDirectory.exists()) {
1005 THROW_ARGOSEXCEPTION("QTOpenGL: frame grabbing directory \"" << strBuffer << "\" does not exist. Create it first!");
1006 }
1007 /* Parse base name */
1008 strBuffer = "frame_";
1009 GetNodeAttributeOrDefault(tNode, "base_name", strBuffer, strBuffer);
1010 BaseName = strBuffer.c_str();
1011 /* Parse format */
1012 strBuffer = "png";
1013 GetNodeAttributeOrDefault(tNode, "format", strBuffer, strBuffer);
1014 Format = strBuffer.c_str();
1015 /* Parse quality */
1016 GetNodeAttributeOrDefault(tNode, "quality", Quality, Quality);
1017
1018 /* Parse headless grabbing */
1019 GetNodeAttributeOrDefault(tNode,
1020 "headless_grabbing",
1021 HeadlessGrabbing,
1022 HeadlessGrabbing);
1023 /* Parse headless frame size */
1024 strBuffer = "1600x1200";
1025 GetNodeAttributeOrDefault(tNode,
1026 "headless_frame_size",
1027 strBuffer,
1028 strBuffer);
1029 uint dims[2];
1030 ParseValues(strBuffer, 2, dims, 'x');
1031 Size = QSize(dims[0], dims[1]);
1032
1033 /* Parse headless frame rate */
1034 GetNodeAttributeOrDefault(tNode,
1035 "headless_frame_rate",
1036 HeadlessFrameRate,
1037 HeadlessFrameRate);
1038 }
1039 }
1040
1041 /****************************************/
1042 /****************************************/
1043
1044}
SInt32
signed int SInt32
32-bit signed integer.
Definition datatypes.h:93
UInt32
unsigned int UInt32
32-bit unsigned integer.
Definition datatypes.h:97
Real
float Real
Collects all ARGoS code.
Definition datatypes.h:39
THROW_ARGOSEXCEPTION
#define THROW_ARGOSEXCEPTION(message)
This macro throws an ARGoS exception with the passed message.
Definition argos_exception.h:111
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CallEntityOperation
RETURN_VALUE CallEntityOperation(PLUGIN &t_plugin, CEntity &c_entity)
Calls the operation corresponding to the given context and operand Skips the function call if the ope...
Definition entity.h:418
argos::GetClosestEmbodiedEntityIntersectedByRay
bool GetClosestEmbodiedEntityIntersectedByRay(SEmbodiedEntityIntersectionItem &s_item, const CRay3 &c_ray)
Returns the closest intersection with an embodied entity to the ray start.
Definition physics_engine.cpp:41
argos::GetNodeAttributeOrDefault
void GetNodeAttributeOrDefault(TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer, const T &t_default)
Returns the value of a node's attribute, or the passed default value.
Definition argos_configuration.h:318
argos::ParseValues
void ParseValues(std::istream &str_input, UInt32 un_num_fields, T *pt_field_buffer, const char ch_delimiter='\n')
Definition string_utilities.h:70
argos::ToDegrees
CDegrees ToDegrees(const CRadians &c_radians)
Converts CRadians to CDegrees.
Definition angles.h:489
argos::TConfigurationNode
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Definition argos_configuration.h:27
argos::NodeExists
bool NodeExists(TConfigurationNode &t_node, const std::string &str_tag)
Given a tree root node, returns true if one of its child nodes has the wanted name.
Definition argos_configuration.h:44
argos::GetNode
TConfigurationNode & GetNode(TConfigurationNode &t_node, const std::string &str_tag)
Given a tree root node, returns the first of its child nodes with the wanted name.
Definition argos_configuration.h:63
argos::ToRadians
CRadians ToRadians(const CDegrees &c_degrees)
Converts CDegrees to CRadians.
Definition angles.h:498
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition composable_entity.h:32
argos::CControllableEntity
An entity that contains a pointer to the user-defined controller.
Definition controllable_entity.h:26
argos::CControllableEntity::GetCheckedRays
std::vector< std::pair< bool, CRay3 > > & GetCheckedRays()
Returns the list of checked rays.
Definition controllable_entity.h:204
argos::CControllableEntity::GetIntersectionPoints
std::vector< CVector3 > & GetIntersectionPoints()
Returns the list of intersection points.
Definition controllable_entity.h:214
argos::CEmbodiedEntity
This entity is a link to a body in the physics engine.
Definition embodied_entity.h:48
argos::CEmbodiedEntity::GetBoundingBox
const SBoundingBox & GetBoundingBox() const
Returns the bounding box of this embodied entity.
Definition embodied_entity.cpp:232
argos::CEmbodiedEntity::GetOriginAnchor
const SAnchor & GetOriginAnchor() const
Returns a const reference to the origin anchor associated to this entity.
Definition embodied_entity.h:119
argos::CEntity
The basic entity type.
Definition entity.h:90
argos::CEntity::TVector
std::vector< CEntity * > TVector
A vector of entities.
Definition entity.h:97
argos::CEntity::GetRootEntity
CEntity & GetRootEntity()
Returns the root entity containing this entity.
Definition entity.cpp:115
argos::CPositionalEntity::GetOrientation
const CQuaternion & GetOrientation() const
Definition positional_entity.h:52
argos::CPositionalEntity::GetPosition
const CVector3 & GetPosition() const
Definition positional_entity.h:36
argos::CPhysicsEngine::GetSimulationClockTick
static Real GetSimulationClockTick()
Returns the simulation clock tick.
Definition physics_engine.cpp:264
argos::SAnchor::Orientation
CQuaternion Orientation
The orientation of the anchor wrt the global coordinate system.
Definition physics_model.h:53
argos::SAnchor::Position
CVector3 Position
The position of the anchor wrt the global coordinate system.
Definition physics_model.h:51
argos::CSimulator
The core class of ARGOS.
Definition simulator.h:62
argos::CARGoSException
The exception that wraps all errors in ARGoS.
Definition argos_exception.h:61
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition angles.h:42
argos::CDegrees
It defines the basic type CDegrees, used to store an angle value in degrees.
Definition angles.h:288
argos::CQuaternion::ToEulerAngles
void ToEulerAngles(CRadians &c_z_angle, CRadians &c_y_angle, CRadians &c_x_angle) const
Definition quaternion.h:172
argos::CRay3::Intersects
bool Intersects(const CPlane &c_plane, CVector3 &c_point) const
Definition ray3.cpp:15
argos::CVector3
A 3D vector class.
Definition vector3.h:31
argos::CVector3::GetX
Real GetX() const
Returns the x coordinate of this vector.
Definition vector3.h:105
argos::CVector3::GetY
Real GetY() const
Returns the y coordinate of this vector.
Definition vector3.h:121
argos::CVector3::Z
static const CVector3 Z
The z axis.
Definition vector3.h:42
argos::CVector3::GetZ
Real GetZ() const
Returns the z coordinate of this vector.
Definition vector3.h:137
argos::CQTOpenGLUserFunctions
The QTOpenGL user functions.
Definition qtopengl_user_functions.h:74
argos::CQTOpenGLWidget::GetSelectedEntity
CEntity * GetSelectedEntity()
Returns the currently selected entity, or NULL if none is selected.
Definition qtopengl_widget.cpp:297
argos::CQTOpenGLWidget::StepExperiment
void StepExperiment()
Executes one experiment time step.
Definition qtopengl_widget.cpp:512
argos::CQTOpenGLWidget::GetWindowCoordInWorld
CVector3 GetWindowCoordInWorld(int n_x, int n_y)
Returns the position in the world corresponding to the given window coordinate.
Definition qtopengl_widget.cpp:255
argos::CQTOpenGLWidget::mouseReleaseEvent
virtual void mouseReleaseEvent(QMouseEvent *pc_event)
Definition qtopengl_widget.cpp:817
argos::CQTOpenGLWidget::wheelEvent
virtual void wheelEvent(QWheelEvent *pc_event)
Definition qtopengl_widget.cpp:909
argos::CQTOpenGLWidget::KeyPressed
void KeyPressed(QKeyEvent *pc_event)
Handles key press events.
Definition qtopengl_widget.cpp:581
argos::CQTOpenGLWidget::RayFromWindowCoord
CRay3 RayFromWindowCoord(int n_x, int n_y)
Casts a ray from the given window coordinate.
Definition qtopengl_widget.cpp:209
argos::CQTOpenGLWidget::~CQTOpenGLWidget
virtual ~CQTOpenGLWidget()
Class destructor.
Definition qtopengl_widget.cpp:78
argos::CQTOpenGLWidget::SelectEntity
void SelectEntity(CEntity &c_entity)
Selects the passed entity.
Definition qtopengl_widget.cpp:306
argos::CQTOpenGLWidget::KeyReleased
void KeyReleased(QKeyEvent *pc_event)
Handles key release events.
Definition qtopengl_widget.cpp:627
argos::CQTOpenGLWidget::SetCameraFocalLength
void SetCameraFocalLength(double f_length)
Sets the focal length of the current camera.
Definition qtopengl_widget.cpp:572
argos::CQTOpenGLWidget::FastForwardExperiment
void FastForwardExperiment()
Fast forwards the experiment.
Definition qtopengl_widget.cpp:493
argos::CQTOpenGLWidget::EntitySelected
void EntitySelected(CEntity *pc_entity)
Emitted when an entity is selected.
argos::CQTOpenGLWidget::DrawRays
void DrawRays(CControllableEntity &c_entity)
Draws a ray.
Definition qtopengl_widget.cpp:394
argos::CQTOpenGLWidget::PlayExperiment
void PlayExperiment()
Plays the experiment.
Definition qtopengl_widget.cpp:484
argos::CQTOpenGLWidget::ResetExperiment
void ResetExperiment()
Resets the state of the experiment to its state right after initialization.
Definition qtopengl_widget.cpp:537
argos::CQTOpenGLWidget::mouseMoveEvent
virtual void mouseMoveEvent(QMouseEvent *pc_event)
Definition qtopengl_widget.cpp:872
argos::CQTOpenGLWidget::EntityDeselected
void EntityDeselected(CEntity *pc_entity)
Emitted when an entity is deselected.
argos::CQTOpenGLWidget::DrawEntity
void DrawEntity(CPositionalEntity &c_entity)
Draws a positional entity.
Definition qtopengl_widget.cpp:358
argos::CQTOpenGLWidget::DeselectEntity
void DeselectEntity()
Deselects the currently selected entity.
Definition qtopengl_widget.cpp:331
argos::CQTOpenGLWidget::SetGrabFrame
void SetGrabFrame(bool b_grab_on)
Toggles frame grabbing.
Definition qtopengl_widget.cpp:556
argos::CQTOpenGLWidget::keyReleaseEvent
virtual void keyReleaseEvent(QKeyEvent *pc_event)
Definition qtopengl_widget.cpp:949
argos::CQTOpenGLWidget::DrawBoundingBox
void DrawBoundingBox(CEmbodiedEntity &c_entity)
Draws the bounding box of an embodied entity.
Definition qtopengl_widget.cpp:428
argos::CQTOpenGLWidget::keyPressEvent
virtual void keyPressEvent(QKeyEvent *pc_event)
Definition qtopengl_widget.cpp:942
argos::CQTOpenGLWidget::SetDrawFrameEvery
void SetDrawFrameEvery(int n_every)
When fast-forwarding, sets every how many steps a frame must be drawn.
Definition qtopengl_widget.cpp:549
argos::CQTOpenGLWidget::SelectInScene
void SelectInScene(UInt32 un_x, UInt32 un_y)
Selects the entity closest to the camera at the given screen coordinates.
Definition qtopengl_widget.cpp:345
argos::CQTOpenGLWidget::paintGL
virtual void paintGL()
Logic for scene drawing.
Definition qtopengl_widget.cpp:130
argos::CQTOpenGLWidget::CQTOpenGLWidget
CQTOpenGLWidget(QWidget *pc_parent, CQTOpenGLMainWindow &c_main_window, CQTOpenGLUserFunctions &c_user_functions)
Class constructor.
Definition qtopengl_widget.cpp:39
argos::CQTOpenGLWidget::ExperimentDone
void ExperimentDone()
Emitted when the experiment is finished.
argos::CQTOpenGLWidget::initializeGL
virtual void initializeGL()
Called when the GL context must be initialized.
Definition qtopengl_widget.cpp:90
argos::CQTOpenGLWidget::mousePressEvent
virtual void mousePressEvent(QMouseEvent *pc_event)
Definition qtopengl_widget.cpp:790
argos::CQTOpenGLWidget::PauseExperiment
void PauseExperiment()
Pauses the experiment.
Definition qtopengl_widget.cpp:503
argos::CQTOpenGLWidget::resizeEvent
virtual void resizeEvent(QResizeEvent *pc_event)
Definition qtopengl_widget.cpp:981
argos::CQTOpenGLWidget::StepDone
void StepDone(int n_step)
Emitted whenever a time step has been executed.
argos::CQTOpenGLWidget::SetCamera
void SetCamera(int n_camera)
Sets the current camera in use.
Definition qtopengl_widget.cpp:563
argos::CQTOpenGLWidget::timerEvent
virtual void timerEvent(QTimerEvent *pc_event)
Definition qtopengl_widget.cpp:783
argos::CQTOpenGLWidget::SFrameGrabData::Init
void Init(TConfigurationNode &t_tree)
Definition qtopengl_widget.cpp:991