simulation_draw.H

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// Copyright (C) 2004-2006 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Nitin, Arun Pratap, Christopher Mire

#include "drawing.H"
#include "simview.H"
#include "draw_path_wp.H"
#include "draw_path_exploration.H"
#include "draw_grid_tile.H"
#include "draw_iteris.H"
#include "draw_iteris_gp.H"
#include "draw_scan_gp.H"
#include "draw_scan_lane_gp.H"
#include "draw_survey_gp.H"
#include "draw_static_scangp.H"
#include "draw_camera_splines.H"
#include "draw_static_las.H"
#include "draw_lane_data.H"
#include "draw_mesh_cell.H"
#include "draw_rndf_lane.H"
#include "draw_rndf_file.H"
#include "draw_static_triangles.H"
#include "draw_blocked_lanes.H"
#include "draw_triangles.H"
#include "draw_rndf.H"
#include "draw_obstacles.H"
#include "draw_obstacle_points.H"
#include "draw_robot.H"
#include "frequency_counter.H"
#include "control_panel_window.H"
#include "bitmap_window.H"
#include "component_interface.H"
#include "draw_map.H"

#ifndef CAJUN_SIMULATION_DRAW_H
#define CAJUN_SIMULATION_DRAW_H

namespace cajun
{
class simulation_draw_t : public drawing_t
{
public:
        simulation_draw_t (double cbviz_origin_pos[3],
                           char const *robot_model_file,
                           char const *conf_filename,
                           char const *rndf_filename,
                           char const *vision_file_,
                           char const *lane_markings_file,
                           char const *indices_file_,
                           char const *vertices_file_,
                           char const *static_file_,
                           char const *static_las_file_,
                           char const *geotiff_dir_,
                           char const *camera_script_file,
                           int viz_mode,
                           int utm_zone, world_state_t *ws_,
                           graphic_interface_t *interface_);
        virtual ~simulation_draw_t ();
        draw_robot_t *m_robot_viz;
        void load_terrain_textures (char const *terrain_texture_file,
                                    char const *sky_terrain_file);
        void load_context_data ();
private:
        void draw_fog ();
        void write_control_data ();
        void write_playback_data ();

        double m_projection_dist, m_projection_height;
        double m_prev_time;
        double m_elapsed_time;
#ifdef VR_JUGGLER
        double m_button_press_time;
#endif
        unsigned m_frame_count;

        proj_t m_proj;
        rndf_t const *m_rndf;
        char const *m_rndf_filename;

        int m_utm_zone;
        int m_viz_mode;
        bool m_static_mode;

        graphic_interface_t *m_interface_;

        std::vector <component_interface_t *> m_components;
        control_panel_window_t *m_control_panel_window;
        bitmap_window_t *m_bitmap_window;

        world_state_t *m_world_state;
        access_data_t *m_access_data;

        guide_data_t m_guide_data;
        playback_control_data_t m_playback_control_data;
        control_data_t m_control_data;

        cb_time_t m_timer;
        double m_cbviz_origin[3];

        draw_path_wp_t *m_draw_path_0_wp;
        draw_path_wp_t *m_draw_path_1_wp;
        draw_path_wp_t *m_draw_path_2_wp;

        draw_path_exploration_t *m_draw_path_exploration;

        draw_grid_tile_t *m_draw_search_grid;
        draw_grid_tile_t *m_draw_map_grid;
        draw_mesh_cell_t *m_draw_mesh_cell;
        draw_rndf_t *m_draw_rndf;
        monovision_visualization_t *m_draw_lane_data;
        draw_map_t *m_draw_map;
        draw_iteris_t *m_draw_iteris;
        draw_iteris_gp_t *m_draw_iteris_gp;
        draw_rndf_lane_t *m_draw_rndf_lane;
        draw_rndf_file_t *m_draw_rndf_file;
        draw_blocked_lanes_t *m_draw_blocked_lanes;
        draw_scan_lane_gp_t *m_draw_scan_lane_gp;
        draw_survey_gp_t *m_draw_survey_gp;
        draw_static_scangp_t *m_draw_static_scangp;
        draw_static_las_t *m_draw_static_las;
        draw_static_triangles_t *m_draw_static_triangles;
        draw_camera_splines_t *m_draw_camera_splines;

        std::vector <draw_obstacles_t *> m_obstacle_visualization;
        std::vector <laser_visualization_t *> m_laser_visualization;
        std::vector <draw_scan_gp_t *> m_scan_gp_visualization;
        std::vector <draw_triangles_t *> m_triangle_visualization;
        std::vector <draw_obstacle_points_t *> m_obstacle_points_visualization;

        simview_t::simview_interface_t *m_simview_interface;
        Model *m_pTerrain;
        Model *m_pSky;
        bool m_ground_texture;
        bool m_sky_texture;
        bool m_show_fps;
        bool m_display_guide;
        bool m_display_coordinate_axes;
        bool m_display_compass;

        double m_ref_pos[3];
        double m_ground_ref_height;
        double m_ref_orientation[3];

        void dynamic_data ();
        void intra_update_data ();
        void update_data ();
        void update_data2 ();
        void update_data3 ();
        void draw ();
        void draw2 ();
        void draw3 ();
        void reshape (int w, int h);
        void reshape2 (int w, int h);
        void reshape3 (int w, int h);
        void normalKey_callback (int key, int x, int y, int mod);
        void controlKey_callback (int key, int x, int y, int mod);
        void mousemotion_callback (int x, int y);
        void mousebutton_callback (int button, int state, int x, int y,
                                   int mod);
        bool check_video_display ();
        bool check_ctrl_panel_display ();
        void BuildTerrain ();
        void display_guide ();
        void draw_compass ();
};
};
#endif

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