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Use the OBJ model to render Spiri in the Qt-OpenGL visualization plugin
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@allsey87
allsey87 committed Apr 24, 2019
1 parent d72aa94 commit 58fb400
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306 changes: 7 additions & 299 deletions src/plugins/robots/spiri/simulator/qtopengl_spiri.cpp
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Original file line number Diff line number Diff line change
@@ -1,326 +1,34 @@
/**
* @file <argos3/plugins/robots/spiri/simulator/qtopengl_spiri.h>
* @file <argos3/plugins/robots/spiri/simulator/qtopengl_spiri.cpp>
*
* @author Carlo Pinciroli - <[email protected]>
*/

#include "qtopengl_spiri.h"
#include "spiri_entity.h"
#include <argos3/core/simulator/entity/embodied_entity.h>
#include <argos3/core/utility/math/vector2.h>
#include <argos3/core/utility/math/vector3.h>
#include <argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_obj_model.h>
#include <argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_widget.h>

namespace argos {

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

/* All measures are in meters */
static const GLfloat SIDE = 0.470f;
static const GLfloat DIAGONAL = SIDE * ::sqrt(2);
static const GLfloat OUT_RADIUS = DIAGONAL / 5.0f;
static const GLfloat IN_RADIUS = OUT_RADIUS * 0.95f;
static const GLfloat HEIGHT = 0.090f;

static const GLfloat PROP_HEIGHT = HEIGHT / 2.0f;
static const GLfloat PROP_ELEVATION = HEIGHT - PROP_HEIGHT;
static const GLfloat PROP_ARM = DIAGONAL / 2.0f - OUT_RADIUS;

static const GLfloat LEG_RADIUS = OUT_RADIUS * 0.05f;
static const GLfloat LEG_HEIGHT = HEIGHT - PROP_HEIGHT;

static const GLfloat BODY_SIDE = OUT_RADIUS;
static const GLfloat BODY_HEIGHT = HEIGHT * 3.0f / 4.0f;
static const GLfloat BODY_ELEVATION = HEIGHT - BODY_HEIGHT;

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

CQTOpenGLSpiri::CQTOpenGLSpiri() :
m_unVertices(40) {
/* Reserve the needed display lists */
m_unList = glGenLists(1);
glNewList(m_unList, GL_COMPILE);
MakeModel();
glEndList();
}

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

CQTOpenGLSpiri::~CQTOpenGLSpiri() {
glDeleteLists(m_unList, 1);
}

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

void CQTOpenGLSpiri::Draw(CSpiriEntity& c_entity) {
glCallList(m_unList);
/* Save attributes and current matrix */
glPushAttrib(GL_LINE_BIT);
/* Set line attributes */
glEnable(GL_LINE_SMOOTH);
glLineWidth(2.0);
/* Set color */
SetMainBodyMaterial();
/* Draw ray */
glBegin(GL_LINES);
glVertex3f(0,0,0);
glVertex3f(DIAGONAL,0,0);
glEnd();
/* Restore saved stuff */
glPopAttrib();
}

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

void CQTOpenGLSpiri::SetPlasticMaterial() {
const GLfloat pfColor[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat pfSpecular[] = { 0.9f, 0.9f, 0.9f, 1.0f };
const GLfloat pfShininess[] = { 100.0f };
const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
}

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

void CQTOpenGLSpiri::SetPropellerMaterial() {
const GLfloat pfColor[] = { 0.7f, 0.7f, 0.7f, 1.0f };
const GLfloat pfSpecular[] = { 0.9f, 0.9f, 0.9f, 1.0f };
const GLfloat pfShininess[] = { 100.0f };
const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
}

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

void CQTOpenGLSpiri::SetMainBodyMaterial() {
const GLfloat pfColor[] = { 0.0f, 0.0f, 1.0f, 1.0f };
const GLfloat pfSpecular[] = { 0.9f, 0.9f, 0.9f, 1.0f };
const GLfloat pfShininess[] = { 100.0f };
const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
}

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

void CQTOpenGLSpiri::MakeModel() {
glPushMatrix();
glRotatef(45.0f, 0.0f, 0.0f, 1.0f);
/* Main body */
MakeMainBody();
/* Front propeller */
glTranslatef(PROP_ARM, 0.0f, 0.0f);
MakePropeller();
/* Left propeller */
glTranslatef(-PROP_ARM, PROP_ARM, 0.0f);
MakePropeller();
/* Back propeller */
glTranslatef(-PROP_ARM, -PROP_ARM, 0.0f);
MakePropeller();
/* Right propeller */
glTranslatef(PROP_ARM, -PROP_ARM, 0.0f);
MakePropeller();
glTranslatef(0.0f, PROP_ARM, 0.0f);
glPopMatrix();
}

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

void CQTOpenGLSpiri::MakePropeller() {
glPushMatrix();
SetPlasticMaterial();
/*
* Leg
*/
MakeCylinder(LEG_RADIUS, LEG_HEIGHT);
/*
* Propeller itself
*/
/* Go above the leg */
glTranslatef(0.0f, 0.0f, PROP_ELEVATION);
/* Draw propeller side surfaces */
MakeCylinderSurface(OUT_RADIUS, PROP_HEIGHT);
glCullFace(GL_FRONT);
MakeCylinderSurface(IN_RADIUS, PROP_HEIGHT);
glCullFace(GL_BACK);
/* Draw propeller bottom */
glRotatef(180.0f, 1.0f, 0.0f, 0.0f);
SetPlasticMaterial();
MakeRing(OUT_RADIUS, IN_RADIUS);
/* Draw rotating propeller */
glRotatef(-180.0f, 1.0f, 0.0f, 0.0f);
glTranslatef(0.0f, 0.0f, PROP_HEIGHT / 2.0f);
SetPropellerMaterial();
MakeDisk(IN_RADIUS);
/* Draw propeller top */
glTranslatef(0.0f, 0.0f, PROP_HEIGHT / 2.0f);
SetPlasticMaterial();
MakeRing(OUT_RADIUS, IN_RADIUS);
glPopMatrix();
}

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

void CQTOpenGLSpiri::MakeMainBody() {
glPushMatrix();
SetMainBodyMaterial();
glTranslatef(0.0f, 0.0f, BODY_ELEVATION);
MakeBox(BODY_SIDE, BODY_SIDE, BODY_HEIGHT);
glPopMatrix();
}

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

void CQTOpenGLSpiri::MakeRing(GLfloat f_out_radius,
GLfloat f_in_radius) {
CVector2 cVertex(1.0f, 0.0f);
CRadians cAngle(CRadians::TWO_PI / m_unVertices);
glBegin(GL_QUAD_STRIP);
glNormal3f(0.0f, 0.0f, 1.0f);
for(GLuint i = 0; i <= m_unVertices; i++) {
glVertex3f(cVertex.GetX() * f_in_radius, cVertex.GetY() * f_in_radius, 0.0f);
glVertex3f(cVertex.GetX() * f_out_radius, cVertex.GetY() * f_out_radius, 0.0f);
cVertex.Rotate(cAngle);
}
glEnd();
}

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

void CQTOpenGLSpiri::MakeDisk(GLfloat f_radius) {
CVector2 cVertex(f_radius, 0.0f);
CRadians cAngle(CRadians::TWO_PI / m_unVertices);
glBegin(GL_POLYGON);
glNormal3f(0.0f, 0.0f, 1.0f);
for(GLuint i = 0; i <= m_unVertices; i++) {
glVertex3f(cVertex.GetX(), cVertex.GetY(), 0.0f);
cVertex.Rotate(cAngle);
}
glEnd();
}

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

void CQTOpenGLSpiri::MakeCylinderSurface(GLfloat f_radius,
GLfloat f_height) {
CVector2 cVertex(f_radius, 0.0f);
CRadians cAngle(CRadians::TWO_PI / m_unVertices);
glEnable(GL_NORMALIZE);
glBegin(GL_QUAD_STRIP);
for(GLuint i = 0; i <= m_unVertices; i++) {
glNormal3f(cVertex.GetX(), cVertex.GetY(), 0.0f);
glVertex3f(cVertex.GetX(), cVertex.GetY(), f_height);
glVertex3f(cVertex.GetX(), cVertex.GetY(), 0.0f);
cVertex.Rotate(cAngle);
}
glEnd();
glDisable(GL_NORMALIZE);
}

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

void CQTOpenGLSpiri::MakeCylinder(GLfloat f_radius,
GLfloat f_height) {
glPushMatrix();
MakeDisk(f_radius);
MakeCylinderSurface(f_radius, f_height);
glRotatef(180.0f, 1.0f, 0.0f, 0.0f);
MakeDisk(f_radius);
glPopMatrix();
}

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

void CQTOpenGLSpiri::MakeBox(GLfloat f_length,
GLfloat f_width,
GLfloat f_height) {
glEnable(GL_NORMALIZE);
glPushMatrix();
glScalef(f_length, f_width, f_height);
/* This part covers the top and bottom faces (parallel to XY) */
glBegin(GL_QUADS);
/* Bottom face */
glNormal3f(0.0f, 0.0f, -1.0f);
glVertex3f( 0.5f, 0.5f, 0.0f);
glVertex3f( 0.5f, -0.5f, 0.0f);
glVertex3f(-0.5f, -0.5f, 0.0f);
glVertex3f(-0.5f, 0.5f, 0.0f);
/* Top face */
glNormal3f(0.0f, 0.0f, 1.0f);
glVertex3f(-0.5f, -0.5f, 1.0f);
glVertex3f( 0.5f, -0.5f, 1.0f);
glVertex3f( 0.5f, 0.5f, 1.0f);
glVertex3f(-0.5f, 0.5f, 1.0f);
glEnd();
/* This part covers the faces (South, East, North, West) */
glBegin(GL_QUADS);
/* South face */
glNormal3f(0.0f, -1.0f, 0.0f);
glVertex3f(-0.5f, -0.5f, 1.0f);
glVertex3f(-0.5f, -0.5f, 0.0f);
glVertex3f( 0.5f, -0.5f, 0.0f);
glVertex3f( 0.5f, -0.5f, 1.0f);
/* East face */
glNormal3f(1.0f, 0.0f, 0.0f);
glVertex3f( 0.5f, -0.5f, 1.0f);
glVertex3f( 0.5f, -0.5f, 0.0f);
glVertex3f( 0.5f, 0.5f, 0.0f);
glVertex3f( 0.5f, 0.5f, 1.0f);
/* North face */
glNormal3f(0.0f, 1.0f, 0.0f);
glVertex3f( 0.5f, 0.5f, 1.0f);
glVertex3f( 0.5f, 0.5f, 0.0f);
glVertex3f(-0.5f, 0.5f, 0.0f);
glVertex3f(-0.5f, 0.5f, 1.0f);
/* West face */
glNormal3f(-1.0f, 0.0f, 0.0f);
glVertex3f(-0.5f, 0.5f, 1.0f);
glVertex3f(-0.5f, 0.5f, 0.0f);
glVertex3f(-0.5f, -0.5f, 0.0f);
glVertex3f(-0.5f, -0.5f, 1.0f);
glEnd();
/* The shape definitions is finished */
glPopMatrix();
glDisable(GL_NORMALIZE);
}

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

class CQTOpenGLOperationDrawSpiriNormal : public CQTOpenGLOperationDrawNormal {
public:
void ApplyTo(CQTOpenGLWidget& c_visualization,
CSpiriEntity& c_entity) {
static CQTOpenGLSpiri m_cModel;
static CQTOpenGLObjModel m_cSpiriModel("spiri.obj");
c_visualization.DrawRays(c_entity.GetControllableEntity());
c_visualization.DrawEntity(c_entity.GetEmbodiedEntity());
m_cModel.Draw(c_entity);
m_cSpiriModel.Draw();
}
};

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

class CQTOpenGLOperationDrawSpiriSelected : public CQTOpenGLOperationDrawSelected {
public:
void ApplyTo(CQTOpenGLWidget& c_visualization,
Expand Down
60 changes: 0 additions & 60 deletions src/plugins/robots/spiri/simulator/qtopengl_spiri.h
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Original file line number Diff line number Diff line change
Expand Up @@ -12,64 +12,4 @@ namespace argos {
class CSpiriEntity;
}


#ifdef __APPLE__
#include <gl.h>
#else
#include <GL/gl.h>
#endif

namespace argos {

class CQTOpenGLSpiri {

public:

CQTOpenGLSpiri();

virtual ~CQTOpenGLSpiri();

virtual void Draw(CSpiriEntity& c_entity);

private:

void SetPlasticMaterial();

void SetPropellerMaterial();

void SetMainBodyMaterial();

void MakeModel();

void MakePropeller();

void MakeMainBody();

void MakeRing(GLfloat f_out_radius,
GLfloat f_in_radius);

void MakeDisk(GLfloat f_radius);

void MakeCylinderSurface(GLfloat f_radius,
GLfloat f_height);

void MakeCylinder(GLfloat f_radius,
GLfloat f_height);

void MakeBox(GLfloat f_length,
GLfloat f_width,
GLfloat f_height);

private:

/* Display list */
GLuint m_unList;

/* Number of vertices to display the round parts */
GLuint m_unVertices;

};

}

#endif

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