Revision 47:199042980678, committed 2014-04-17

Comitter:

mbedalvaro

Date:

Thu Apr 17 08:04:14 2014 +0000

Parent:

46:e0dd2d1d07c1

Commit message:

publishing for sharing with Ken Iwasaki

Changed in this revision

diff -r e0dd2d1d07c1 -r 199042980678 Scene.h
--- a/Scene.h	Sun Mar 30 08:58:59 2014 +0000
+++ b/Scene.h	Thu Apr 17 08:04:14 2014 +0000
@@ -85,6 +85,12 @@
     // have a clear separation between sensing parameters "tweaking" (like mirror delays, setting methods and variables) and the more pure graphical BaseObject  
 
     Box3d enclosingBox; // this will be filled when rendering the object or when explicitly computing the enclosing box
+    
+    // FUTURE WORK: 
+    // - OBJECTS should have their own transformation matrix, and methods (inherited from a base class?) to modify it or recreate it. This way we will 
+    // avoid transforming the object 3d points independently, which will create problems because approximations. Eventually, these objects will have 
+    // behaviours that will affect this transformation matrix (as a function of time). When rendering an object, the object original 3d points will be first modified by 
+    // the object's own RT, THEN by the global modelview. This is exactly like in an openGL program...
 };
 
 // ==============================================================================================================================================

diff -r e0dd2d1d07c1 -r 199042980678 WrapperFunctions.cpp
--- a/WrapperFunctions.cpp	Sun Mar 30 08:58:59 2014 +0000
+++ b/WrapperFunctions.cpp	Thu Apr 17 08:04:14 2014 +0000
@@ -168,10 +168,10 @@
 // I will implement both, because even the first option can be useful (to create more complex scenes by rotating already created objects for instance - but it will be trickier to understand though)
 
 // (1) applying a transformation on the 3d points (NOTE: we could also apply transformations on the projected points! this is however a work for the "viewport").
-// NOTE: I am not going to create new transform methods (rotation and translations), but instead use the lsr stack. So, I assume the user has set RT to what she wants. Then, we will
+// NOTE: I may later create specific transform methods (rotation and translations), but in general we can use the lsr stack. So, I assume the user has set RT to what she wants. Then, we will
 // just apply RT to the object or whole scene. This method can be used to RESIZE the object (in particular when it is centered).
 //(a) Objects:
-void trasformObject(int _id)   // use maps in the future!!!
+void transformObject(int _id)   // use maps in the future!!!
 {
     BaseObject* ptr_object=NULL;
     for (int i=0; i<scene.totalObjects(); i++) if ((scene.objectArray[i]->ID())==_id) ptr_object=scene.objectArray[i];
@@ -195,6 +195,49 @@
     // lsr.renderScene(&scene);
 }
 
+// Some elementary transformations (again, note that this if applied too much will make the object eventually deform - it would be much better to do the 
+// rotation/translation actions as part of a program IN the mbed, instead of sending commands:
+void translateObject(int _id, int xx, int yy, int zz) {
+    lsr.pushPoseMatrix();
+    lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
+    lsr.flipY(); // there is a pb here...
+    //lsr.flipX();
+    lsr.translate(xx,yy,zz);
+    transformObject(_id);
+    lsr.popPoseMatrix();
+}
+
+void rotateObjectX(int _id, float alpha) {
+    lsr.pushPoseMatrix();
+    lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
+    lsr.flipY();
+    //lsr.flipX();
+    lsr.rotateX(alpha);
+    transformObject(_id);
+    lsr.popPoseMatrix();
+    }
+    
+void rotateObjectY(int _id, float alpha){
+     lsr.pushPoseMatrix();
+    lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
+    lsr.flipY();
+    //lsr.flipX();
+    lsr.rotateY(alpha);
+    transformObject(_id);
+    lsr.popPoseMatrix();
+    }
+    
+void rotateObjectZ(int _id, float alpha) { lsr.pushPoseMatrix();
+    lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
+    lsr.flipY();
+    //lsr.flipX();
+    lsr.rotateZ(alpha);
+    transformObject(_id);
+    lsr.popPoseMatrix();
+    }
+ 
+// =======================================================================================================
+
 //(2) Apply current RT transformation and render but KEEPING the original values of the 3d points:
 //(a) Objects:
 void drawObject(int _id)   // use maps in the future!!!

diff -r e0dd2d1d07c1 -r 199042980678 WrapperFunctions.h
--- a/WrapperFunctions.h	Sun Mar 30 08:58:59 2014 +0000
+++ b/WrapperFunctions.h	Thu Apr 17 08:04:14 2014 +0000
@@ -105,6 +105,11 @@
 // =================================   OTHER auxiliary GLOBAL SCENE/OBJECT TRANSFORMATIONS ==========================================
 
 void trasformObject(int _id) ;
+void translateObject(int _id, int xx, int yy, int zz=0);
+void rotateObjectX(int _id, float alpha);
+void rotateObjectY(int _id, float alpha);
+void rotateObjectZ(int _id, float alpha);
+
 void transformObject(BaseObject* ptr_object) ;
 void transformScene();
 void changeColorScene(unsigned char _color);

diff -r e0dd2d1d07c1 -r 199042980678 main.cpp
--- a/main.cpp	Sun Mar 30 08:58:59 2014 +0000
+++ b/main.cpp	Thu Apr 17 08:04:14 2014 +0000
@@ -140,7 +140,7 @@
 
 // this is a hack for the time being:
 int objectID;
-int xx, yy; // initial position of object
+int xx, yy; // initial position of object or displacement
 bool firstTimeDisplay=true;
 
 // ==============================================================================================================
@@ -626,11 +626,6 @@
             indexStringData = 0;
             objectID=atoi(receivedStringData);
        }
-        
-       else if (command1=="initialPosition") { // this is for setting the POSITION of the object to be created:
-           xx=auxDataBuffer[0]; yy=auxDataBuffer[1];
-           auxDataBuffer_index=0;
-       }
 
     else if (command1 == "mbedReset" ) mbed_reset();
 
@@ -674,7 +669,7 @@
     }
 
 
-// ===================  CREATION and DESTRUCTION of objects =========================================================
+// ===================  CREATION and DESTRUCTION of objects =====================================================
     else if (command1 == "clearScene") {
         clearScene();
     }
@@ -682,6 +677,22 @@
     else if (command1 =="deleteObject") { // second address is object identifier (a string that will be converted
         deleteObject(objectID);
     }
+    
+       else if (command1=="initialPosition") { // this is for setting the POSITION of the object to be created (or displacement):
+           xx=auxDataBuffer[0]; yy=auxDataBuffer[1];
+           auxDataBuffer_index=0;
+       }
+    
+// ===================  TRANSFORMATION OF OBJECT POINTS =========================================================
+// NOTE: this may in the end destroy the object rigidity because approximations... but without an RT per object, this is the only way to 
+// modify object pose independently of the whole scene...
+else if (command1 =="moveObject") {
+       translateObject(objectID,  xx,  yy, 0);
+    }
+
+
+// ==============================================================================================================
+
 
     // Produce a grid of points. The projection is ORTHOGRAPHIC. Also, POSE is reset to identity (i.e., the sent points should have
     // been translated previously - this may be optional, we could first send the pose, then the points...)
@@ -1046,11 +1057,21 @@
             command1="objectID";
             interpretCommand();
        }
+       
+       else if (incomingByte == '[') {
+        command1 =="deleteObject";
+        interpretCommand();
+       }
+       
+       else if (incomingByte == '}') {
+        command1 =="moveObject";
+       interpretCommand();; // xx, yy contains already the necessary displacement
+    }
+
         
        else if (incomingByte == '~') { // this is for setting the POSITION of the object to be created:
             command1="initialPosition";
             interpretCommand();
-            
        }