trick/trick_sims/SIM_satellite/models/Satellite/graphics/Scene.cpp

#if ( __APPLE__ )
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include "Scene.hh"
#include <iostream>
#include <vector>
#include "trick/tc_proto.h"
#include "trick/vector_macros.h"
#include <stdio.h>

#ifndef PI
#define PI (double)3.14159265358979323846
#endif

void * dl_handle ;
std::vector<SceneElement*> element_list ;
std::vector<Camera*> camera_list ;
int window_ID;

double near_clip_distance = 10.0;
double far_clip_distance = 100000000.0;

Camera* current_camera;
Camera* satellite_camera;

double camera_azimuth = 0.0;
double camera_range = 100.0;

SceneElement* satellite;
SceneElement* planet;

TCDevice listen_device;
TCDevice  connection;
Comm_packet comm_packet;




SceneElement* add_element(const char* model_name) {

   SceneElement* scene_element = new SceneElement(model_name);
   element_list.push_back( scene_element );
   return ( scene_element );

}


void display_init() {

   near_clip_distance = 10.0;
   far_clip_distance = 100000000.0;
   current_camera = NULL;
   window_ID = 0;

   /* Init glut */
   glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
   glutInitWindowSize (810, 500);
   glutInitWindowPosition (100, 100);
   window_ID = glutCreateWindow ("Satellite Display");

}


void keyboard(unsigned char key, int x, int y) {

    switch (key) {

        case 'a':
         camera_azimuth += 1.0;
         if (camera_azimuth > 180.0) camera_azimuth -= 360.0;
        break;

        case 'd':
         camera_azimuth -= 1.0;
         if (camera_azimuth < -180.0) camera_azimuth += 360.0;
        break;

        case 'w':
         camera_range -= 1.0;
         if (camera_range < 20.0) camera_range = 20.0;
        break;

        case 's':
         camera_range += 1.0;
         if (camera_range > 500.0) camera_range = 500.0;
        break;

    }

}


void display() {

    glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

    glLoadIdentity();

    current_camera->look();

    GLfloat light_ambient[] = { 1.0, 1.0, 1.0, 1.0 };
    GLfloat light_position[] = { 200.0, 200.0, 0.0, 1.0 };

    glLightfv(GL_LIGHT0, GL_POSITION, light_position);
    glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);

    glEnable(GL_LIGHT0);
    glEnable(GL_DEPTH_TEST);

    glEnable(GL_BLEND);

    int n =  (int)element_list.size();
    for (int ii=0 ; ii < n ; ii++) {
        element_list[ii]->display();
    }

    glutSwapBuffers();
}

void reshape(int width, int height) {

    glMatrixMode (GL_PROJECTION);
    glLoadIdentity ();
    gluPerspective(30.0, (GLdouble)width / (GLdouble)height, near_clip_distance, far_clip_distance);

    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();

    glViewport (0, 0, (GLsizei) width, (GLsizei) height);

    current_camera->look();

}

void comm_initialize() {

    memset(&listen_device, '\0', sizeof(TCDevice));
    memset(&connection, '\0', sizeof(TCDevice));
    listen_device.port = 9000;
    connection.blockio_type = TC_COMM_NOBLOCKIO;
    tc_init(&listen_device);
    tc_accept(&listen_device, &connection);

}

void comm_read() {

    int nbytes;
    double packet[15];

    if ( tc_isValid( &connection) && tc_pending( &connection)) {

        nbytes = tc_read(& connection, (char*)&packet, sizeof(packet));

        // Satellite Position
//        satellite->pos[0] = packet[0];
//        satellite->pos[1] = packet[1];
//        satellite->pos[2] = packet[2];

        satellite->pos[0] = 0.0;
        satellite->pos[1] = 0.0;
        satellite->pos[2] = 0.0;

        planet->pos[0] = -packet[0];
        planet->pos[1] = -packet[1];
        planet->pos[2] = -packet[2];

        // Satellite Velocity
        satellite->vel[0] = packet[3];
        satellite->vel[1] = packet[4];
        satellite->vel[2] = packet[5];

        // Vehicle Body to World Rotation Matrix
        satellite->R[0][0] = packet[6];
        satellite->R[0][1] = packet[7];
        satellite->R[0][2] = packet[8];
        satellite->R[1][0] = packet[9];
        satellite->R[1][1] = packet[10];
        satellite->R[1][2] = packet[11];
        satellite->R[2][0] = packet[12];
        satellite->R[2][1] = packet[13];
        satellite->R[2][2] = packet[14];

        // The camera position is relative to the satellite position.
        satellite_camera->pos[0] = satellite->pos[0] + camera_range * sin(camera_azimuth * (PI/180.0));
        satellite_camera->pos[1] = satellite->pos[1] + camera_range * cos(camera_azimuth * (PI/180.0));
        satellite_camera->pos[2] = satellite->pos[2] + 0.0;

        // The camera is looking at the satellite.
        satellite_camera->tgt[0] = satellite->pos[0];
        satellite_camera->tgt[1] = satellite->pos[1];
        satellite_camera->tgt[2] = satellite->pos[2];

        // Camera up is in the positive World-Z direction;
        satellite_camera->up[0] = 0.0;
        satellite_camera->up[1] = 0.0;
        satellite_camera->up[2] = 1.0;

        glutPostRedisplay();

    }

}

int main(int argc, char* argv[]) {

    glutInit(&argc, argv);

    display_init();

    comm_initialize();

   /* Call backs */
    glutDisplayFunc( display);
    glutReshapeFunc( reshape);
    glutKeyboardFunc( keyboard);
    glutIdleFunc( comm_read);

    satellite = add_element("Satellite");
    satellite_camera = new Camera();
    current_camera = satellite_camera;

    planet = add_element("Ball");
    for (int ii=0; ii<3 ; ii++) { planet->pos[ii] = 0.0; }

    glutMainLoop();

    return 0;

}