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Merge branch 'master' of https://github.com/ilpincy/argos3
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Carlo Pinciroli committed Apr 11, 2013
2 parents b4ce002 + 967356a commit 4d752e3
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6 changes: 5 additions & 1 deletion README.asciidoc
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Expand Up @@ -2,7 +2,7 @@ ARGoS README
=============
:Author: Carlo Pinciroli
:Email: [email protected]
:Date: March 10th, 2013
:Date: April 1st, 2013

What is ARGoS?
---------------
Expand Down Expand Up @@ -182,6 +182,10 @@ the file +$HOME/.config/Iridia-ULB/ARGoS.conf+ as follows:
# more stuff
#

IMPORTANT: You can't install ARGoS system-wide and run the source version at the same time.
If you intend to run ARGoS from the sources, you must uninstall it from the
system.

Debugging the ARGoS simulator
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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130 changes: 63 additions & 67 deletions src/plugins/simulator/visualizations/qt-opengl/qtopengl_widget.cpp
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Expand Up @@ -27,9 +27,12 @@

namespace argos {

static const Real ASPECT_RATIO = 4.0f / 3.0f;
static const Real ASPECT_RATIO = 4.0f / 3.0f;
static const UInt32 SELECT_BUFFER_SIZE = 128;

static const Real FLOOR_SIDE = 1000.0f;
static const Real HALF_FLOOR_SIDE = FLOOR_SIDE * 0.5f;
static const Real FLOOR_ELEVATION = -0.001f;

/****************************************/
/****************************************/

Expand Down Expand Up @@ -136,6 +139,7 @@ namespace argos {
glEnable(GL_LIGHTING);
glEnable(GL_CULL_FACE);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
glHint(GL_TEXTURE_COMPRESSION_HINT, GL_NICEST);
glEnable(GL_DEPTH_TEST);

qglClearColor(Qt::darkCyan);
Expand Down Expand Up @@ -179,28 +183,12 @@ namespace argos {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
/* Place the camera */
m_cCamera.Look();
/* Draw the arena */
/* Switch anti-aliasing on */
if(m_bAntiAliasing) {
glEnable(GL_MULTISAMPLE);
}
glPushMatrix();
glCallList(m_unArenaList);
if(m_bUsingFloorTexture) {
if(m_cSpace.GetFloorEntity().HasChanged()) {
deleteTexture(m_unFloorTexture);
/* Create an image to use as texture */
m_cSpace.GetFloorEntity().SaveAsImage("/tmp/argos_floor.png");
/* Use the image as texture */
m_unFloorTexture = bindTexture(QImage("/tmp/argos_floor.png"));
/* Clear the 'changed' flag on the floor entity */
m_cSpace.GetFloorEntity().ClearChanged();
}
else {
glBindTexture(GL_TEXTURE_2D, m_unFloorTexture);
}
glCallList(m_unFloorList);
}
glPopMatrix();
/* Draw the arena */
DrawArena();
/* Draw the objects */
CEntity::TVector& vecEntities = m_cSpace.GetRootEntityVector();
for(CEntity::TVector::iterator itEntities = vecEntities.begin();
Expand All @@ -217,9 +205,11 @@ namespace argos {
CallEntityOperation<CQTOpenGLOperationDrawSelected, CQTOpenGLWidget, void>(*this, *vecEntities[m_sSelectionInfo.Index]);
glPopMatrix();
}
/* Switch anti-aliasing off */
if(m_bAntiAliasing) {
glDisable(GL_MULTISAMPLE);
}
/* Draw in world */
glPushMatrix();
m_cUserFunctions.DrawInWorld();
glPopMatrix();
Expand Down Expand Up @@ -585,76 +575,82 @@ namespace argos {
/****************************************/

void CQTOpenGLWidget::InitializeArena() {
const Real fFloorSide = 1000.0f;
const Real fFloorElevation = -0.001f;
/* Set up the texture parameters for the floor plane
(here we refer to the standard floor, not the floor entity) */
glEnable(GL_TEXTURE_2D);
QImage cGroundTexture(pcMainWindow->GetTextureDir() + "/ground.png");
m_unGroundTexture = bindTexture(cGroundTexture,
GL_TEXTURE_2D,
GL_RGB,
QGLContext::MipmapBindOption | QGLContext::LinearFilteringBindOption);
/* Now take care of the floor entity */
try {
/* Create an image to use as texture */
m_cSpace.GetFloorEntity().SaveAsImage("/tmp/argos_floor.png");
m_bUsingFloorTexture = true;
/* Use the image as texture */
m_unFloorTexture = bindTexture(QImage("/tmp/argos_floor.png"),
GL_TEXTURE_2D,
GL_RGB,
QGLContext::MipmapBindOption | QGLContext::LinearFilteringBindOption);
m_cSpace.GetFloorEntity().ClearChanged();
}
catch(CARGoSException& ex) {}
}

/* Create a display list for faster drawing */
m_unArenaList = glGenLists(1);
glNewList(m_unArenaList, GL_COMPILE);
/****************************************/
/****************************************/

void CQTOpenGLWidget::DrawArena() {
/* Disable lighting - no funny color effects */
glDisable(GL_LIGHTING);
/* Set up the texture parameters for the floor
(here we refer to the standard floor, not the floor entity) */
QImage cGroundTexture(pcMainWindow->GetTextureDir() + "/ground.png");
m_unGroundTexture = bindTexture(cGroundTexture);
glEnable(GL_TEXTURE_2D);
/* The texture covers the object like a decal */
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);
/* Bilinear filtering for zooming in and out */
gluBuild2DMipmaps(GL_TEXTURE_2D, 3, cGroundTexture.width(), cGroundTexture.height(),
GL_LUMINANCE, GL_UNSIGNED_BYTE, cGroundTexture.bits());
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR_MIPMAP_LINEAR);
/* Wrap the texture at the edges, which in this case means that it is repeated */
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glBindTexture(GL_TEXTURE_2D, m_unGroundTexture);
/* Draw the floor along with its texture */
glEnable(GL_TEXTURE_2D);
glBegin(GL_QUADS);
glTexCoord2d( 0.5f, 0.5f); glVertex3f(-fFloorSide, -fFloorSide, fFloorElevation);
glTexCoord2d(2.0f*fFloorSide+0.5f, 0.5f); glVertex3f( fFloorSide, -fFloorSide, fFloorElevation);
glTexCoord2d(2.0f*fFloorSide+0.5f, 2.0f*fFloorSide+0.5f); glVertex3f( fFloorSide, fFloorSide, fFloorElevation);
glTexCoord2d( 0.5f, 2.0f*fFloorSide+0.5f); glVertex3f(-fFloorSide, fFloorSide, fFloorElevation);
glTexCoord2f(0.0f, FLOOR_SIDE); glVertex3f(-HALF_FLOOR_SIDE, -HALF_FLOOR_SIDE, FLOOR_ELEVATION);
glTexCoord2f(FLOOR_SIDE, FLOOR_SIDE); glVertex3f( HALF_FLOOR_SIDE, -HALF_FLOOR_SIDE, FLOOR_ELEVATION);
glTexCoord2f(FLOOR_SIDE, 0.0f); glVertex3f( HALF_FLOOR_SIDE, HALF_FLOOR_SIDE, FLOOR_ELEVATION);
glTexCoord2f(0.0f, 0.0f); glVertex3f(-HALF_FLOOR_SIDE, HALF_FLOOR_SIDE, FLOOR_ELEVATION);
glEnd();
glDisable(GL_TEXTURE_2D);
/* Restore lighting */
glEnable(GL_LIGHTING);
/* The list is done */
glEndList();

/* Now take care of the floor entity */
try {
/* Create an image to use as texture */
m_cSpace.GetFloorEntity().SaveAsImage("/tmp/argos_floor.png");
m_bUsingFloorTexture = true;
if(m_bUsingFloorTexture) {
/* Use the image as texture */
m_unFloorTexture = bindTexture(QImage("/tmp/argos_floor.png"));
if(m_cSpace.GetFloorEntity().HasChanged()) {
deleteTexture(m_unFloorTexture);
/* Create an image to use as texture */
m_cSpace.GetFloorEntity().SaveAsImage("/tmp/argos_floor.png");
m_unFloorTexture = bindTexture(QImage("/tmp/argos_floor.png"),
GL_TEXTURE_2D,
GL_RGB,
QGLContext::MipmapBindOption | QGLContext::LinearFilteringBindOption);
/* Clear the 'changed' flag on the floor entity */
m_cSpace.GetFloorEntity().ClearChanged();
}
glBindTexture(GL_TEXTURE_2D, m_unFloorTexture);
/* Draw the floor entity along with its texture */
CVector3 cHalfArenaSize = m_cSpace.GetArenaSize() * 0.5f;
/* Create a display list for faster drawing */
m_unFloorList = glGenLists(1);
glNewList(m_unFloorList, GL_COMPILE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
/* Disabling the depth test solves an annoying glitch:
since the floor and the floor entity are very close, the
textures flicker */
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glBegin(GL_QUADS);
glTexCoord2d(0.0f, 0.0f); glVertex3f(-cHalfArenaSize.GetX(), -cHalfArenaSize.GetY(), 0.0f);
glTexCoord2d(1.0f, 0.0f); glVertex3f( cHalfArenaSize.GetX(), -cHalfArenaSize.GetY(), 0.0f);
glTexCoord2d(1.0f, 1.0f); glVertex3f( cHalfArenaSize.GetX(), cHalfArenaSize.GetY(), 0.0f);
glTexCoord2d(0.0f, 1.0f); glVertex3f(-cHalfArenaSize.GetX(), cHalfArenaSize.GetY(), 0.0f);
glTexCoord2d(0.0f, 1.0f); glVertex3f(-cHalfArenaSize.GetX(), -cHalfArenaSize.GetY(), 0.0f);
glTexCoord2d(1.0f, 1.0f); glVertex3f( cHalfArenaSize.GetX(), -cHalfArenaSize.GetY(), 0.0f);
glTexCoord2d(1.0f, 0.0f); glVertex3f( cHalfArenaSize.GetX(), cHalfArenaSize.GetY(), 0.0f);
glTexCoord2d(0.0f, 0.0f); glVertex3f(-cHalfArenaSize.GetX(), cHalfArenaSize.GetY(), 0.0f);
glEnd();
glDisable(GL_TEXTURE_2D);
/* Restore depth test */
glEnable(GL_DEPTH_TEST);
/* Restore lighting */
glEnable(GL_LIGHTING);
/* The list is done */
glEndList();
}
catch(CARGoSException& ex) {}
glDisable(GL_TEXTURE_2D);
/* Restore lighting */
glEnable(GL_LIGHTING);
}

/****************************************/
Expand Down
1 change: 1 addition & 0 deletions src/plugins/simulator/visualizations/qt-opengl/qtopengl_widget.h
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Expand Up @@ -155,6 +155,7 @@ namespace argos {
protected:

void InitializeArena();
void DrawArena();

virtual void timerEvent(QTimerEvent* pc_event);
virtual void mouseMoveEvent(QMouseEvent* pc_event);
Expand Down
Binary file modified src/plugins/simulator/visualizations/qt-opengl/textures/ground.png
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