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render.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University and Steve LaValle.  
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // Iowa State University and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #ifndef MSL_RENDER_H
00020 #define MSL_RENDER_H
00021 
00022 #include <LEDA/file.h>
00023 #include <LEDA/list.h>
00024 #include <LEDA/matrix.h>
00025 #include <LEDA/point.h>
00026 #include <LEDA/polygon.h>
00027 #include <LEDA/stream.h>
00028 #include <LEDA/string.h>
00029 #include <LEDA/vector.h>
00030 #include <LEDA/window.h>
00031 
00032 #include "scene.h"
00033 #include "gui.h"  // Seems circular, but needed because of mutual reference
00034 
00035 class Gui; // This needs to be here because of mutual reference
00036 
00037 #include <LEDA/REDEFINE_NAMES.h>
00038 
00039 #define RENDERCOLORS 10  // Number of colors
00040 
00044 
00061 class Render 
00062 {
00063  protected:
00065   Scene *S; 
00066 
00069   virtual void SetCurrentAnimationFrame();
00070 
00072   virtual void ShowCurrentAnimationFrame() {};
00073 
00075   list<vector> StateList;
00076 
00078   list<double> TimeList;
00079 
00080   list<string> EnvList; // File names of all stationary environment objects
00081   list<string> BodyList; // File names of all movable bodies
00082 
00084   float RGBRed[RENDERCOLORS]; 
00085   float RGBGreen[RENDERCOLORS];
00086   float RGBBlue[RENDERCOLORS]; 
00087 
00088   public:
00090   string FilePath;
00091 
00093   list<vector> FrameList;
00094 
00096   double FrameTime;
00097 
00099   float LastFrameTime;
00100 
00102   float FrameStuckTime;
00103 
00105   int NumFrames;
00106 
00108   double AnimationStartPause;
00109 
00111   double AnimationEndPause;
00112 
00114   double AnimationTimeScale;
00115   
00117   int AnimationFrameIndex;
00118 
00120   vector CurrentAnimationFrame;
00121 
00123   bool AnimationActive;
00124 
00127   bool ControlFreak;
00128 
00130   window *RenderCtlWindow;
00131 
00133   bool RenderCtlWindowOn;
00134 
00136   bool AttachedCameraOn;
00137 
00139   bool BoundingBoxOn;
00140 
00142   bool MultipleViewsOn;
00143 
00145   bool ShowPathOn;
00146 
00148   double AmbientLight;
00149 
00150   Render();
00151   Render(string filepath);
00152   Render(Scene *s, string filepath);
00153   virtual ~Render() {}
00154 
00156   virtual void Init();
00157 
00159   virtual void HandleEvents() {};
00160   
00162   virtual void MainLoop(Gui *g);
00163 
00165   virtual void Reset();
00166 
00168   virtual void Terminate() {};
00169 
00171   virtual void SetFrameList();
00172 
00174   virtual void MakeAnimationFrames(const list<vector> &xlist, double deltat);
00175   virtual void MakeAnimationFrames(const list<vector> &xlist, 
00176                        const list<double> &timelist);
00177 
00179   virtual void DrawPath() {};
00180 
00182   virtual void ButtonHandle(int b);
00183 
00185   void SetScene(Scene *s);
00186 
00188   void ToggleRenderCtlWindow();
00189 };
00190 
00191 #include <LEDA/UNDEFINE_NAMES.h>
00192 
00193 #endif
Motion Strategy Library


Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.