/***********************************************************************/ /***********************************************************************/ /* FreeVR OpenGL tutorial example 13: ex13_socket.c */ /* FreeVR OpenGL tutorial example 14a: ex14a_button.c */ /* Last tested with: FreeVR version 0.6a */ /* Last tested with: FreeVR version 0.6a */ /* Last Modified: July 19, 2004 */ /* Last Modified: January 11, 2007 */ /* URL: http://freevr.org */ /* URL: http://freevr.org */ /***********************************************************************/ /***********************************************************************/ /* This example code demonstrates a VR application program that */ /* This example code demonstrates a VR application program that */ /* uses socket ports to receive commands. Allowing other */ /* allows the user to use special objects in the virtual world. */ /* applications for to give commands to a running VR application. */ /* Because these objects can be used to control the functionality */ /* of the virtual world, they are refered to as "virtual controls". */ /* Specifically, in this example toggle-button virtual control is */ /* introduced. The button is toggled by touching it with the wand. */ /* */ /* */ /* */ /* */ /* The new features of this example include: */ /* The new features of this example include: */ /* - Opening a socket to which clients can connect. */ /* - the use of the expanded wrs_shapes.c file. */ /* - Parsing commands read from a socket. */ /* - App. termination (quitting) can be initiated in the world sim. */ /* */ /* */ /* Considerations: */ /* Considerations: */ /* - Sockets can be connected to using perl scripts, tcl shells, */ /* Intersection testing with an object must be done it its space */ /* telnet, etc. */ /* (ie. UI objects in rw space, and virtual objects in vw space */ /* - This application uses very simple-minded parsing of incoming */ /* Actions from contacted object are specific to the object type. */ /* commands. This is actually fine for clients such as tcl */ /* Don't forget to read/write lock all references to 'wd'. */ /* shells, voice commands sent via telnet, etc. It is primarily */ /* How does the user interface object affect the virtual world? */ /* direct human typing for which more robust parsing is material.*/ /* - The entire message string is assumed to come in one chunk. */ /* - Only one client can connect at a time. */ /* */ /* */ /* This application uses the files: */ /* This application uses the files: */ /* - shapes.c (Bill Sherman's simple OpenGL shapes) */ /* - wrs_shapes.c (Bill Sherman's simple OpenGL shapes) */ /* */ /* */ /* Copyright 2010, William R. Sherman, All Rights Reserved. */ /* Copyright 2010, William R. Sherman, All Rights Reserved. */ /* In particular, the right to republish this file in whole or in */ /* In particular, the right to republish this file in whole or in */ /* part, in any form (including electronic forms) is prohibited */ /* part, in any form (including electronic forms) is prohibited */ /* without written consent of the copyright holder. */ /* without written consent of the copyright holder. */ /***********************************************************************/ /***********************************************************************/ #include <stdio.h> /* needed for printf(), etc. */ #include <stdio.h> /* needed for printf(), etc. */ #include <stdlib.h> /* needed for exit() & getenv() */ #include <stdlib.h> /* needed for exit() & getenv() */ #include <signal.h> /* needed for signal() and its arguments */ #include <signal.h> /* needed for signal() and its arguments */ #include <unistd.h> /* not sure why/whether this is needed */ #include <unistd.h> /* not sure why/whether this is needed */ #include <math.h> /* needed for fabs() */ #include <math.h> /* needed for fabs() */ #include <GL/gl.h> /* needed for all OpenGL functions & values */ #include <GL/gl.h> /* needed for all OpenGL functions & values */ #include "freevr.h" /* needed for FreeVR functions & values */ #include "freevr.h" /* needed for FreeVR functions & values */ #define WAND_SENSOR 1 /* TODO: this should really be based on the c #define WAND_SENSOR 1 /* TODO: this should really be based on the c /* Define some values to adjust the compilation of this example */ /* Define some values to adjust the compilation of this example */ #define MAX_OBJECTS 4 #define DRAW_UITEXT #define USE_SOCKETS #define MAX_OBJECTS 1000 /* Define a structure for information about each individual object. */ /* Define a structure for information about each individual object. */ typedef struct { typedef struct { float x, y, z; /* location o float x, y, z; /* location o float size; /* size of th GLubyte color[3]; /* color of t GLubyte color[3]; /* color of t enum { cube, enum { cube, sphere, pyramid, pyramid, ud_pyramid } shape; /* shape of t ud_pyramid } shape; /* shape of t enum { vw_normal, ui_button } type; /* type of th int ui_button_value; /* button val } ObjectType; } ObjectType; /* Define a structure for holding a database of the virtual world. */ /* Define a structure for holding a database of the virtual world. */ typedef struct { typedef struct { int quit_bit; /* a flag to int quit_bit; /* a flag to int number_of_objects; /* number of int number_of_objects; /* number of int selected_object; /* currently int contacted_object; /* object con int last_contacted_object; /* object pre ObjectType object[MAX_OBJECTS]; /* array of o ObjectType object[MAX_OBJECTS]; /* array of o vrLock lock; /* to avoid b vrLock lock; /* to avoid b } WorldDataType; } WorldDataType; /**************************************************************************** /**************************************************************************** /* These function declarations are very important -- they will be used as arg /* These function declarations are very important -- they will be used as arg void exit_application(int signal); /* cleanly close down operati void exit_application(int signal); /* cleanly close down operati void init_gfx(); /* initialize the graphics void init_gfx(); /* initialize the graphics void draw_world(WorldDataType *wd, vrRenderInfo *rendinfo); /* render the void draw_world(WorldDataType *wd, vrRenderInfo *rendinfo); /* render the void init_world(WorldDataType *wd); /* initialize the world param void init_world(WorldDataType *wd); /* initialize the world param void update_world(WorldDataType *wd); /* perform the world simulati void update_world(WorldDataType *wd); /* perform the world simulati void end_world(); /* close down the world opera void end_world(); /* close down the world opera void init_objects(WorldDataType *wd); /* initalize the objects in t void init_objects(WorldDataType *wd); /* initalize the objects in t /***********************************************************************/ /***********************************************************************/ main(int argc, char* argv[]) main(int argc, char* argv[]) { { WorldDataType *wd; WorldDataType *wd; /**********************************/ /**********************************/ /*** initialize FreeVR routines ***/ /*** initialize FreeVR routines ***/ /**********************************/ /**********************************/ signal(SIGINT, SIG_IGN); signal(SIGINT, SIG_IGN); vrConfigure(&argc, argv, NULL); /* allow CLAs to affect confi vrConfigure(&argc, argv, NULL); /* allow CLAs to affect confi vrStart(); vrStart(); signal(SIGINT, exit_application); signal(SIGINT, exit_application); /********************/ /********************/ /* create the world */ /* create the world */ wd = (WorldDataType *)vrShmemAlloc0(sizeof(WorldDataType)); wd = (WorldDataType *)vrShmemAlloc0(sizeof(WorldDataType)); wd->lock = vrLockCreate(); wd->lock = vrLockCreate(); init_world(wd); init_world(wd); /***************************************/ /***************************************/ /* set up the FreeVR library functions */ /* set up the FreeVR library functions */ vrFunctionSetCallback(VRFUNC_DISPLAY_INIT, vrCallbackCreate(init_gfx, vrFunctionSetCallback(VRFUNC_DISPLAY_INIT, vrCallbackCreate(init_gfx, vrFunctionSetCallback(VRFUNC_DISPLAY, vrCallbackCreate(draw_world, 1, vrFunctionSetCallback(VRFUNC_DISPLAY, vrCallbackCreate(draw_world, 1, /********************************************************/ /********************************************************/ /* define the application name, authors, controls, etc. */ /* define the application name, authors, controls, etc. */ vrSystemSetName("example 13 -- socket"); vrSystemSetName("example 14a -- button widget"); vrSystemSetAuthors("Bill Sherman"); vrSystemSetAuthors("Bill Sherman"); vrSystemSetExtraInfo("An example to demonstrate communicating with th vrSystemSetExtraInfo("An example to demonstrate a button virtual cont vrSystemSetStatusDescription("Application running fine"); vrSystemSetStatusDescription("Application running fine"); vrInputSet2switchDescription(0, "Terminate the application"); vrInputSet2switchDescription(0, "Terminate the application"); vrInputSet2switchDescription(1, "Move the selected object"); vrInputSet2switchDescription(1, "Move the selected object"); vrInputSet2switchDescription(3, "Reset the travel matrix (take us hom vrInputSet2switchDescription(3, "Reset the travel matrix (take us hom vrInputSetValuatorDescription(0, "Rotate us in the world about the Y- vrInputSetValuatorDescription(0, "Rotate us in the world about the Y- vrInputSetValuatorDescription(1, "Move us though the world in the dir vrInputSetValuatorDescription(1, "Move us though the world in the dir vrInputSet6sensorDescription(WAND_SENSOR, "Move a short cyan pointer vrInputSet6sensorDescription(WAND_SENSOR, "Move a short cyan pointer /***************************/ /***************************/ /*** do world simulation ***/ /*** do world simulation ***/ /***************************/ /***************************/ vrUserTravelReset(VR_ALLUSERS); vrUserTravelReset(VR_ALLUSERS); /* run until the user has indicated it's time not to */ /* run until the user has indicated it's time not to */ while(!wd->quit_bit) { while(!wd->quit_bit) { vrFrame(); vrFrame(); update_world(wd); update_world(wd); } } /*********************/ /*********************/ /*** close up shop ***/ /*** close up shop ***/ /*********************/ /*********************/ exit_application(0); exit_application(0); } } /********************************************************************/ /********************************************************************/ /* exit_application(): clean up anything started by the application */ /* exit_application(): clean up anything started by the application */ /* (forked processes, open files, open sockets, etc.) */ /* (forked processes, open files, open sockets, etc.) */ /********************************************************************/ /********************************************************************/ void exit_application(int signal) void exit_application(int signal) { { end_world(); end_world(); vrExit(); vrExit(); exit(0); exit(0); } } /* ----------------8<-----------------8<-----------------8<----------------*/ /* ----------------8<-----------------8<-----------------8<----------------*/ /* In a non-example applicatation, the following would be a separate file. */ /* In a non-example applicatation, the following would be a separate file. */ /**********************************/ /**********************************/ /**********************************/ /**********************************/ /** The World Simulation section **/ /** The World Simulation section **/ /**********************************/ /**********************************/ /**********************************/ /**********************************/ #ifdef USE_SOCKETS /* { */ static int listen_sock = -1; /* socket to receive commands */ static int listen_sock = -1; /* socket to receive commands */ /* listen_sock is not in wd /* listen_sock is not in wd /* because it needs to be /* because it needs to be /* available to exit_application() /* available to exit_application() /* which can have no arguments. /* which can have no arguments. #endif /* } USE_SOCKETS */ /****************************************************************/ /****************************************************************/ /* init_world(): create the initial conditions of the dynamic */ /* init_world(): create the initial conditions of the dynamic */ /* simulation. Now with the addition of code to initialize a */ /* simulation. If the "VR_PORT" environment variable is set, */ /* socket communication interface. */ /* then its value is used as the initial server socket port. */ /* */ /* The socket server port to be used can be set from the */ /* "VR_PORT" environment variable. If it is set, then its */ /* value is used as the initial server socket port. */ /* Otherwise, the arbitrarily chosen port number 4000 is used.*/ /* Otherwise, the arbitrarily chosen port number 4000 is used.*/ /* */ /* Since IRIX, and perhaps other Unicies have a "feature" in */ /* Since IRIX, and perhaps other Unicies have a "feature" in */ /* which a socket port isn't usable again until after 60 */ /* which a socket port isn't usable again until after 60 */ /* seconds have passed since the connection was closed, if the*/ /* seconds have passed since the connection was closed, if the*/ /* initial socket isn't available, we try the next two ports */ /* initial socket isn't available, we try the next two ports */ /* in succession. The selected port is reported to the tty. */ /* in succession. The selected port is reported to the tty. */ /****************************************************************/ /****************************************************************/ void init_world(WorldDataType *wd) void init_world(WorldDataType *wd) { { #ifdef USE_SOCKETS /* { */ int inet_port; int inet_port; int inet_port_max; int inet_port_max; char host_machine[128]; char host_machine[128]; #endif /* } USE_SOCKETS */ /*************************/ /*************************/ /* set world state flags */ /* set world state flags */ vrLockWriteSet(wd->lock); vrLockWriteSet(wd->lock); wd->quit_bit = 0; wd->quit_bit = 0; vrLockWriteRelease(wd->lock); vrLockWriteRelease(wd->lock); /***************************/ /***************************/ /* setup the world content */ /* setup the world content */ init_objects(wd); init_objects(wd); #ifdef USE_SOCKETS /* { */ /******************************/ /******************************/ /* initialize the socket port */ /* initialize the socket port */ gethostname(host_machine, 128); gethostname(host_machine, 128); /* loop through N possible internet ports to hopefully find one that /* loop through N possible internet ports to hopefully find one that if (getenv("VR_PORT") != NULL) if (getenv("VR_PORT") != NULL) inet_port = atoi(getenv("VR_PORT")); inet_port = atoi(getenv("VR_PORT")); else inet_port = 4000; else inet_port = 4000; for (inet_port_max = inet_port + 2; listen_sock < 0 && inet_port <= i for (inet_port_max = inet_port + 2; listen_sock < 0 && inet_port <= i printf("Port %d -- ", inet_port); printf("Port %d -- ", inet_port); fflush(stdout); fflush(stdout); listen_sock = vrSocketCreateListen(&inet_port, 0); listen_sock = vrSocketCreateListen(&inet_port, 0); } } inet_port--; inet_port--; if (listen_sock < 0) if (listen_sock < 0) printf("WARNING: Unable to find an open socket port.\n"); printf("WARNING: Unable to find an open socket port.\n"); else printf("\rConnect to '%s:%d' to send commands to the simulati else printf("\rConnect to '%s:%d' to send commands to the simulati #endif /* } USE_SOCKETS */ } } /***************************************************************/ /***************************************************************/ /* init_objects(): place objects into the world data structure */ /* init_objects(): place objects into the world data structure */ /* at some initial positions. */ /* at some initial positions. */ /***************************************************************/ /***************************************************************/ void init_objects(WorldDataType *wd) void init_objects(WorldDataType *wd) { { int objnum = 0; int objnum = 0; vrLockWriteSet(wd->lock); vrLockWriteSet(wd->lock); /* object 1 - a blue cube */ /* object 1 - a blue cube */ wd->object[objnum].type = vw_normal; wd->object[objnum].shape = cube; wd->object[objnum].shape = cube; wd->object[objnum].size = 1.0; wd->object[objnum].color[0] = 100; wd->object[objnum].color[0] = 100; wd->object[objnum].color[1] = 100; wd->object[objnum].color[1] = 100; wd->object[objnum].color[2] = 255; wd->object[objnum].color[2] = 255; wd->object[objnum].x = 0.0; wd->object[objnum].x = 0.0; wd->object[objnum].y = 5.0; wd->object[objnum].y = 5.0; wd->object[objnum].z = -4.0; wd->object[objnum].z = -4.0; objnum++; objnum++; /* object 2 - a red pyramid */ /* object 2 - a red pyramid */ wd->object[objnum].type = vw_normal; wd->object[objnum].shape = pyramid; wd->object[objnum].shape = pyramid; wd->object[objnum].size = 1.0; wd->object[objnum].color[0] = 255; wd->object[objnum].color[0] = 255; wd->object[objnum].color[1] = 100; wd->object[objnum].color[1] = 100; wd->object[objnum].color[2] = 100; wd->object[objnum].color[2] = 100; wd->object[objnum].x = -4.0; wd->object[objnum].x = -4.0; wd->object[objnum].y = 5.0; wd->object[objnum].y = 5.0; wd->object[objnum].z = -4.0; wd->object[objnum].z = -4.0; objnum++; objnum++; /* object 3 - an upside-down green pyramid */ /* object 3 - an upside-down green pyramid */ wd->object[objnum].type = vw_normal; wd->object[objnum].shape = ud_pyramid; wd->object[objnum].shape = ud_pyramid; wd->object[objnum].size = 1.0; wd->object[objnum].color[0] = 100; wd->object[objnum].color[0] = 100; wd->object[objnum].color[1] = 255; wd->object[objnum].color[1] = 255; wd->object[objnum].color[2] = 100; wd->object[objnum].color[2] = 100; wd->object[objnum].x = 4.0; wd->object[objnum].x = 4.0; wd->object[objnum].y = 5.0; wd->object[objnum].y = 5.0; wd->object[objnum].z = -4.0; wd->object[objnum].z = -4.0; objnum++; objnum++; /* object 4 - a user interface button */ wd->object[objnum].type = ui_button; wd->object[objnum].shape = cube; wd->object[objnum].size = 0.4; wd->object[objnum].ui_button_value = 1; wd->object[objnum].color[0] = 200; wd->object[objnum].color[1] = 100; wd->object[objnum].color[2] = 255; wd->object[objnum].x = -4.0; wd->object[objnum].y = 4.0; wd->object[objnum].z = -2.0; objnum++; wd->number_of_objects = objnum; wd->number_of_objects = objnum; wd->selected_object = -1; wd->contacted_object = -1; wd->last_contacted_object = wd->contacted_object; /* sanity test */ /* sanity test */ if (objnum > MAX_OBJECTS) { if (objnum > MAX_OBJECTS) { printf("DANGER: Number of objects (%d), exceeds maximum allow printf("DANGER: Number of objects (%d), exceeds maximum allow } } vrLockWriteRelease(wd->lock); vrLockWriteRelease(wd->lock); } } /*******************************************************/ /*******************************************************/ /* end_world(): clean up anything opened by simulation */ /* end_world(): clean up anything opened by simulation */ /*******************************************************/ /*******************************************************/ void end_world() void end_world() { { #ifdef USE_SOCKETS /* { */ vrSocketClose(listen_sock); vrSocketClose(listen_sock); #endif /* } USE_SOCKETS */ } } /*********************************************************************/ /*********************************************************************/ /* update_world(): In this version, we handle the user interactions. */ /* update_world(): In this version, we handle the user interactions. */ /* Both selecting, and moving the selected object. */ /* Both selecting, and moving the contacted object. */ /*********************************************************************/ /*********************************************************************/ void update_world(WorldDataType *wd) void update_world(WorldDataType *wd) { { #define JS_EPSILON 0.125 /* the dead-zone befo #define JS_EPSILON 0.125 /* the dead-zone befo #define MOVE_FACTOR 2.5 /* a scale factor to #define MOVE_FACTOR 2.5 /* a scale factor to #define TURN_FACTOR 25.0 /* a scale factor to #define TURN_FACTOR 25.0 /* a scale factor to #define SUB_JS_EPSILON(a) ((a)-copysign(JS_EPSILON,(a))) /* a macro to #define SUB_JS_EPSILON(a) ((a)-copysign(JS_EPSILON,(a))) /* a macro to #ifdef USE_SOCKETS /* { */ static char *help_msg = "Socket commands:\n" static char *help_msg = "Socket commands:\n" "\thelp -- this message\n" "\thelp -- this message\n" "\tquit -- quit the application\n" "\tquit -- quit the application\n" "\tclose -- close the connection\n" "\tclose -- close the connection\n" "\treset -- reset the application\n" "\treset -- reset the application\n" "\tbutton? -- report the value of the UI butt "\tbutton on -- set the value of the UI butto "\tbutton off -- set the value of the UI butt "\tmove cube up -- translate the cube up 2 fe "\tmove cube up -- translate the cube up 2 fe "\tmove cube down -- translate the cube down "\tmove cube down -- translate the cube down "\twhere -- report the user's position in the "\twhere -- report the user's position in the "\twhere am i -- report the user's position i "\twhere am i -- report the user's position i "\tshow ActiveWalls -- report some CAVE confi "\tshow ActiveWalls -- report some CAVE confi ""; ""; static int cmd_socket = -1; /* socket to get commands from */ static int cmd_socket = -1; /* socket to get commands from */ static char buf[128]; /* socket read buffer */ static char buf[128]; /* socket read buffer */ static char msg[128]; /* socket send buffer */ static char msg[128]; /* socket send buffer */ int result; /* result of reading a socket */ int result; /* result of reading a socket */ #endif /* } USE_SOCKETS */ static vrTime last_time = -1.0; /* initially set to a static vrTime last_time = -1.0; /* initially set to a vrTime sim_time = vrCurrentSimTime(); /* the current time o vrTime sim_time = vrCurrentSimTime(); /* the current time o static vrPoint last_wand_vw_locpnt; /* VW location of the static vrPoint last_wand_vw_locpnt; /* VW location of the vrPoint wand_vw_locpnt; /* current location o vrPoint wand_vw_locpnt; /* current location o vrPoint wand_rw_locpnt; /* current location o #define last_wand_vw_loc last_wand_vw_locpnt.v #define last_wand_vw_loc last_wand_vw_locpnt.v #define wand_vw_location wand_vw_locpnt.v #define wand_vw_location wand_vw_locpnt.v #define wand_rw_location wand_rw_locpnt.v vrVector wand_rw_pointvec; /* current vector poi vrVector wand_rw_pointvec; /* current vector poi double delta_time; /* time since last up double delta_time; /* time since last up double delta_move; /* distance an object double delta_move; /* distance an object double joy_x, joy_y; /* Joystick values */ double joy_x, joy_y; /* Joystick values */ int selected_obj; /* the currently sele int touch_obj = -1; /* the currently touc int touch_obj = -1; /* the currently touc int objnum; /* for looping throuh int objnum; /* for looping throuh ObjectType *object; /* pointer to object ObjectType *object; /* pointer to object float size; /* size of object -- int button_value; /*****************************************************/ /*****************************************************/ /** Determine delta time from last simulation frame **/ /** Determine delta time from last simulation frame **/ /*****************************************************/ /*****************************************************/ if (last_time == -1.0) if (last_time == -1.0) delta_time = 0.0; delta_time = 0.0; else delta_time = sim_time - last_time; else delta_time = sim_time - last_time; last_time = sim_time; /* now that delta_tim last_time = sim_time; /* now that delta_tim /* skip the update if the delta isn't big enough */ /* skip the update if the delta isn't big enough */ if (delta_time <= 0.0) /* can also choose a non-zero epsilon */ if (delta_time <= 0.0) /* can also choose a non-zero epsilon */ return; return; /**********************************/ /**********************************/ /** Handle Manipulation via wand **/ /** Handle Manipulation via wand **/ /**********************************/ /**********************************/ /**********************************************************/ /**********************************************************/ /* check for contact between the wand and all the objects */ /* check for contact between the wand and all the objects */ vrLockReadSet(wd->lock); vrLockReadSet(wd->lock); vrPointGetVWFromUser6sensor(&wand_vw_locpnt, 0, WAND_SENSOR); vrPointGetVWFromUser6sensor(&wand_vw_locpnt, 0, WAND_SENSOR); vrPointGetRWFrom6sensor(&wand_rw_locpnt, WAND_SENSOR); for (objnum = 0; objnum < wd->number_of_objects; objnum++) { for (objnum = 0; objnum < wd->number_of_objects; objnum++) { object = &(wd->object[objnum]); object = &(wd->object[objnum]); if ( (wand_vw_location[VR_X] < object->x + 1.0) size = object->size; && (wand_vw_location[VR_X] > object->x - 1.0) && (wand_vw_location[VR_Y] < object->y + 1.0) switch (object->type) { && (wand_vw_location[VR_Y] > object->y - 1.0) case vw_normal: /* determine contact with normal object */ && (wand_vw_location[VR_Z] < object->z + 1.0) if ( (wand_vw_location[VR_X] < object->x + size) && (wand_vw_location[VR_Z] > object->z - 1.0) ) { && (wand_vw_location[VR_X] > object->x - size) touch_obj = objnum; && (wand_vw_location[VR_Y] < object->y + size) && (wand_vw_location[VR_Y] > object->y - size) && (wand_vw_location[VR_Z] < object->z + size) && (wand_vw_location[VR_Z] > object->z - size) ) { touch_obj = objnum; } break; case ui_button: /* determine contact with button widget */ if ( (wand_rw_location[VR_X] < object->x + size) && (wand_rw_location[VR_X] > object->x - size) && (wand_rw_location[VR_Y] < object->y + size) && (wand_rw_location[VR_Y] > object->y - size) && (wand_rw_location[VR_Z] < object->z + size) && (wand_rw_location[VR_Z] > object->z - size) ) { touch_obj = objnum; } break; } } } } vrLockReadRelease(wd->lock); selected_obj = wd->selected_object; vrLockReadRelease(wd->lock); /*************************************************************/ /* perform type-appropriate actions for the contacted object */ if (selected_obj != touch_obj) { /* NOTE: ideally we would use write-locks specific to each */ /* NOTE: a local variable (touch_obj) is used because it */ /* object, and only where that object is being changed. */ /* decreases the time the lock must be held. */ vrLockWriteSet(wd->lock); /* lock while changing an object's lo vrLockWriteSet(wd->lock); wd->last_contacted_object = wd->contacted_object; wd->selected_object = touch_obj; wd->contacted_object = touch_obj; vrLockWriteRelease(wd->lock); if (wd->contacted_object != -1) { object = &(wd->object[wd->contacted_object]); size = object->size; selected_obj = touch_obj; switch (object->type) { } case vw_normal: /* perform manipulation on normal object */ /* when left wand button is pressed, a contacted VW o if (vrGet2switchValue(1)) { /* when left wand button is pressed, the selected object is moved */ object->x += (wand_vw_location[VR_X] - last_w if (vrGet2switchValue(1) && (selected_obj != -1)) { object->y += (wand_vw_location[VR_Y] - last_w vrLockWriteSet(wd->lock); object->z += (wand_vw_location[VR_Z] - last_w object = &(wd->object[selected_obj]); } object->x += (wand_vw_location[VR_X] - last_wand_vw_loc[VR_X] break; object->y += (wand_vw_location[VR_Y] - last_wand_vw_loc[VR_Y] object->z += (wand_vw_location[VR_Z] - last_wand_vw_loc[VR_Z] case ui_button: /* perform manipulation on button widget */ vrLockWriteRelease(wd->lock); /* this code only needed for direct-control of button /* CONTACT-trigger: when we begin to touch a button, if (wd->contacted_object != wd->last_contacted_object object->ui_button_value ^= 1; } break; } } } vrLockWriteRelease(wd->lock); /******************************************************************/ /******************************************************************/ /* store the current wand location for next time through the loop */ /* store the current wand location for next time through the loop */ last_wand_vw_loc[VR_X] = wand_vw_location[VR_X]; last_wand_vw_loc[VR_X] = wand_vw_location[VR_X]; last_wand_vw_loc[VR_Y] = wand_vw_location[VR_Y]; last_wand_vw_loc[VR_Y] = wand_vw_location[VR_Y]; last_wand_vw_loc[VR_Z] = wand_vw_location[VR_Z]; last_wand_vw_loc[VR_Z] = wand_vw_location[VR_Z]; /****************************/ /************************************************/ /** Handle Travel via wand **/ /** Handle Travel via wand and virtual devices **/ /****************************/ /************************************************/ /* pressing the right wand button resets us to the initial position * vrLockReadSet(wd->lock); /* lock while getting the UI values * if (vrGet2switchValue(3)) { button_value = wd->object[3].ui_button_value; vrUserTravelReset(VR_ALLUSERS); vrLockReadRelease(wd->lock); } /* use wand joystick to fly through world */ /* only travel if UI-button is on */ joy_x = vrGetValuatorValue(0); if (button_value) { joy_y = vrGetValuatorValue(1); /* pressing the right wand button resets us to the initial po if (vrGet2switchValue(3)) { vrUserTravelReset(VR_ALLUSERS); } if (fabs(joy_x) > JS_EPSILON) /* use wand joystick to fly through world */ vrUserTravelRotateId(VR_ALLUSERS, VR_Y, (delta_time * SUB_JS_ joy_x = vrGetValuatorValue(0); joy_y = vrGetValuatorValue(1); if (fabs(joy_y) > JS_EPSILON) { if (fabs(joy_x) > JS_EPSILON) delta_move = delta_time * SUB_JS_EPSILON(joy_y) * MOVE_FACTOR vrUserTravelRotateId(VR_ALLUSERS, VR_Y, (delta_time * vrVectorGetRWFrom6sensorDir(&wand_rw_pointvec, WAND_SENSOR, V vrUserTravelTranslate3d(VR_ALLUSERS, if (fabs(joy_y) > JS_EPSILON) { wand_rw_pointvec.v[VR_X] * delta_move, delta_move = delta_time * SUB_JS_EPSILON(joy_y) * MOV wand_rw_pointvec.v[VR_Y] * delta_move, vrVectorGetRWFrom6sensorDir(&wand_rw_pointvec, WAND_S wand_rw_pointvec.v[VR_Z] * delta_move); vrUserTravelTranslate3d(VR_ALLUSERS, wand_rw_pointvec.v[VR_X] * delta_move, wand_rw_pointvec.v[VR_Y] * delta_move, wand_rw_pointvec.v[VR_Z] * delta_move); } } } #ifdef USE_SOCKETS /* { */ /*******************************/ /*******************************/ /* Handle Commands from socket */ /* Handle Commands from socket */ /* if no connection (and a listen socket is open), see if someone is /* if no connection (and a listen socket is open), see if someone is if (cmd_socket < 0 && listen_sock >= 0) { if (cmd_socket < 0 && listen_sock >= 0) { /* cmd_socket will be -1 when no one is connected */ /* cmd_socket will be -1 when no one is connected */ cmd_socket = vrSocketAnswer(listen_sock); cmd_socket = vrSocketAnswer(listen_sock); if (cmd_socket > 0) { if (cmd_socket > 0) { printf("New client connected.\n"); printf("New client connected.\n"); vrSocketSendMsg(cmd_socket, "Your wish is my command vrSocketSendMsg(cmd_socket, "Your wish is my command } } } } /* if a connection, see if client sent a command. If so, act on it * /* if a connection, see if client sent a command. If so, act on it * if (cmd_socket > 0) { if (cmd_socket > 0) { result = vrSocketReadMsgClean(cmd_socket, buf, 128); result = vrSocketReadMsgClean(cmd_socket, buf, 128); switch (result) { switch (result) { case -1: case -1: break; break; case 0: case 0: printf("Client stopped communicating.\n"); printf("Client stopped communicating.\n"); close(cmd_socket); close(cmd_socket); cmd_socket = -1; cmd_socket = -1; break; break; default: default: printf("socket cmd = '%s'\n", buf); printf("socket cmd = '%s'\n", buf); /* parse command here -- very simple-minded parsing * /* parse command here -- very simple-minded parsing * if (strcmp(buf, "quit") == 0) { if (strcmp(buf, "quit") == 0) { /* set the world for termination */ /* set the world for termination */ wd->quit_bit = 1; wd->quit_bit = 1; } else } else if (strcmp(buf, "help") == 0 || strcmp(buf, "?") == 0 if (strcmp(buf, "help") == 0 || strcmp(buf, "?") == 0 /* give usage information */ /* give usage information */ vrSocketSendMsg(cmd_socket, help_msg); vrSocketSendMsg(cmd_socket, help_msg); } else } else if (strcmp(buf, "close") == 0) { if (strcmp(buf, "close") == 0) { /* close socket connection */ /* close socket connection */ printf("Client ending communication.\n"); printf("Client ending communication.\n"); close(cmd_socket); close(cmd_socket); cmd_socket = -1; cmd_socket = -1; } else } else if (strcmp(buf, "reset") == 0) { if (strcmp(buf, "reset") == 0) { /* make the world as it was in the beginning /* make the world as it was in the beginning init_objects(wd); init_objects(wd); vrUserTravelReset(VR_ALLUSERS); vrUserTravelReset(VR_ALLUSERS); } else } else if (strcmp(buf, "button?") == 0) { /* report the user-interface button value */ sprintf(msg, "The button is %s.\n", (wd->obje vrSocketSendMsg(cmd_socket, msg); } else if (strcmp(buf, "button on") == 0) { /* turn the user-interface button on */ wd->object[3].ui_button_value = 1; } else if (strcmp(buf, "button off") == 0) { /* turn the user-interface button on */ wd->object[3].ui_button_value = 0; } else if (strcmp(buf, "move cube up") == 0) { if (strcmp(buf, "move cube up") == 0) { /* move the blue cube up 2.0 units */ /* move the blue cube up 2.0 units */ wd->object[0].y += 2.0; wd->object[0].y += 2.0; } else } else if (strcmp(buf, "move cube down") == 0) { if (strcmp(buf, "move cube down") == 0) { /* move the blue cube down 2.0 units */ /* move the blue cube down 2.0 units */ wd->object[0].y -= 2.0; wd->object[0].y -= 2.0; } else } else if (strcmp(buf, "where") == 0 || strcmp(buf, "where a if (strcmp(buf, "where") == 0 || strcmp(buf, "where a /* report the user's location */ /* report the user's location */ vrMatrix *headmat; vrMatrix *headmat; vrPoint headloc; vrPoint headloc; headmat = vrMatrixCreate(); headmat = vrMatrixCreate(); vrMatrixGetRWFromUserHead(headmat, 0); vrMatrixGetRWFromUserHead(headmat, 0); vrPointGetVWFromUserMatrix(&headloc, 0, headm vrPointGetVWFromUserMatrix(&headloc, 0, headm sprintf(msg, "You are at (%f %f %f).\n", head sprintf(msg, "You are at (%f %f %f).\n", head vrSocketSendMsg(cmd_socket, msg); vrSocketSendMsg(cmd_socket, msg); } else } else if (strcmp(buf, "show ActiveWalls") == 0) { if (strcmp(buf, "show ActiveWalls") == 0) { /* report the type of graphics (VR) display * /* report the type of graphics (VR) display * sprintf(msg, "Application has %d active walls sprintf(msg, "Application has %d active walls vrSocketSendMsg(cmd_socket, msg); vrSocketSendMsg(cmd_socket, msg); } else } else /* default: */ { /* default: */ { vrSocketSendMsg(cmd_socket, "Unknown command. vrSocketSendMsg(cmd_socket, "Unknown command. } } /* prompt for another command (if socket still open) /* prompt for another command (if socket still open) if (cmd_socket > 0) { if (cmd_socket > 0) { vrSocketSendMsg(cmd_socket, "Your wish is my vrSocketSendMsg(cmd_socket, "Your wish is my } } } } } } #endif /* } USE_SOCKETS */ /*********************************/ /*********************************/ /* Handle Commands from keyboard */ /* Handle Commands from keyboard */ if (vrGet2switchValue(0)) { if (vrGet2switchValue(0)) { wd->quit_bit = 1; wd->quit_bit = 1; } } /****************************************************/ /****************************************************/ /* yield to allow other processes access to the CPU */ /* yield to allow other processes access to the CPU */ vrSleep(0); vrSleep(0); } } /* ----------------8<-----------------8<-----------------8<----------------*/ /* ----------------8<-----------------8<-----------------8<----------------*/ /* In a non-example applicatation, the following would be a separate file. */ /* In a non-example applicatation, the following would be a separate file. */ /**************************/ /**************************/ /**************************/ /**************************/ /** The Graphics section **/ /** The Graphics section **/ /**************************/ /**************************/ /**************************/ /**************************/ /* functions from shapes.c */ /* functions from wrs_shapes.c */ void draw_floor(); void draw_floor(); void draw_cube(); void draw_cube(); void draw_pyramid(); void draw_pyramid(); void draw_cube_outline(); void draw_cube_outline(); void draw_pyramid_outline(); void draw_pyramid_outline(); void draw_box_outlineonly(float x2, float x1, float y2, float y1, float z2 /*********************************************************************/ /*********************************************************************/ /* init_gfx(): initialize general graphics properties (eg. lighting) */ /* init_gfx(): initialize general graphics properties (eg. lighting) */ /*********************************************************************/ /*********************************************************************/ void init_gfx() void init_gfx() { { GLfloat location_0[4] = { 0.0, 10.0, 10.0, 1.0 /* 0 = directional, 1 GLfloat location_0[4] = { 0.0, 10.0, 10.0, 1.0 /* 0 = directional, 1 ambient_0[4] = { 0.2, 0.2, 0.2, 1.0 }, ambient_0[4] = { 0.2, 0.2, 0.2, 1.0 }, diffuse_0[4] = { 0.8, 0.8, 0.8, 1.0 }, diffuse_0[4] = { 0.8, 0.8, 0.8, 1.0 }, specular_0[4] = { 0.2, 0.2, 0.2, 1.0 }; specular_0[4] = { 0.2, 0.2, 0.2, 1.0 }; /****************************************/ /****************************************/ /* set the render initialization values */ /* set the render initialization values */ glClearColor(0.0, 0.0, 0.0, 0.0); glClearColor(0.0, 0.0, 0.0, 0.0); glClearDepth(1.0); glClearDepth(1.0); /********************************************************/ /********************************************************/ /* set the polygon shading/lighting/material parameters */ /* set the polygon shading/lighting/material parameters */ glShadeModel(GL_SMOOTH); glShadeModel(GL_SMOOTH); glEnable(GL_LIGHTING); glEnable(GL_LIGHTING); glLightfv(GL_LIGHT0, GL_POSITION, location_0); glLightfv(GL_LIGHT0, GL_POSITION, location_0); glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_0); glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_0); glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_0); glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_0); glLightfv(GL_LIGHT0, GL_SPECULAR, specular_0); glLightfv(GL_LIGHT0, GL_SPECULAR, specular_0); glEnable(GL_LIGHT0); glEnable(GL_LIGHT0); /* These two lines cause the vertex colors to be used (otherwise all /* These two lines cause the vertex colors to be used (otherwise all glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE); glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE); glEnable(GL_COLOR_MATERIAL); glEnable(GL_COLOR_MATERIAL); glEnable(GL_NORMALIZE); /* this is required when calling glScalef() w glEnable(GL_NORMALIZE); /* this is required when calling glScalef() w /***************************/ /***************************/ /* set the line parameters */ /* set the line parameters */ glEnable(GL_LINE_SMOOTH); glEnable(GL_LINE_SMOOTH); glLineWidth(2.0); glLineWidth(2.0); } } /*******************************************************************/ /*******************************************************************/ /* draw_world(): Now will render how ever many objects are in the */ /* draw_world(): Now will render how ever many objects are in the */ /* world data structure. The color, type (and maybe rotation) */ /* world data structure. The color, type (and maybe rotation) */ /* are all now stored for each object, in addition to location. */ /* are all now stored for each object, in addition to location. */ /* The currently selected object is highlighted by adding a */ /* wireframe outline to the representation. */ /*******************************************************************/ /*******************************************************************/ void draw_world(WorldDataType *wd, vrRenderInfo *rendinfo) void draw_world(WorldDataType *wd, vrRenderInfo *rendinfo) { { static GLfloat location_0[4] = { 0.0, 10.0, 0.0, 1.0 /* 0 = directio static GLfloat location_0[4] = { 0.0, 10.0, 0.0, 1.0 /* 0 = directio static char msg[128]; /* memory for text st static char msg[128]; /* memory for text st int objnum; /* object counter */ int objnum; /* object counter */ ObjectType *object; /* pointer to current ObjectType *object; /* pointer to current float size; /* size of current ob /**************************************/ /**************************************/ /* clear the screen -- very important */ /* clear the screen -- very important */ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); /******************************************************************** /******************************************************************** /* update the light's location -- must be done independently for each /* update the light's location -- must be done independently for each glLightfv(GL_LIGHT0, GL_POSITION, location_0); glLightfv(GL_LIGHT0, GL_POSITION, location_0); /************************************/ /************************************/ /* draw a short pointer at the wand */ /* draw a short pointer at the wand */ glPushMatrix(); glPushMatrix(); glColor3ub(100, 255, 255); /* cyan */ glColor3ub(100, 255, 255); /* cyan */ vrRenderTransform6sensor(rendinfo, WAND_SENSOR); vrRenderTransform6sensor(rendinfo, WAND_SENSOR); glRotatef(-90.0, 1.0, 0.0, 0.0); glRotatef(-90.0, 1.0, 0.0, 0.0); glScalef(0.15, 0.15, 0.15); glScalef(0.15, 0.15, 0.15); glTranslatef(0.0, 1.5, 0.0); glTranslatef(0.0, -1.0, 0.0); /* move the tip to (0,0,0) */ draw_pyramid_outline(); draw_pyramid_outline(); glPopMatrix(); glPopMatrix(); /*******************************************************/ /********************************************************/ /* draw an object that remains fixed in physical space */ /* draw all the objects, taking care to put each one in */ glColor3ub(200, 100, 255); /* purple */ /* the proper coordinate system (virtual world space */ /* vs. real world space for the user-interface). */ /* draw the floor */ glPushMatrix(); glPushMatrix(); glTranslatef(-4.0, 1.0, -1.0); vrRenderTransformUserTravel(rendinfo); /* change to virtual- draw_cube(); draw_floor(); glPopMatrix(); glPopMatrix(); /******************************************************************/ /* draw the rest of the objects in virtual (user navigated) space */ glPushMatrix(); /* save the real-world coordinate system */ vrRenderTransformUserTravel(rendinfo); /* change to virtual-world co draw_floor(); vrLockReadSet(wd->lock); /* lock while reading info about obje vrLockReadSet(wd->lock); /* lock while reading info about obje for (objnum = 0; objnum < wd->number_of_objects; objnum++) { for (objnum = 0; objnum < wd->number_of_objects; objnum++) { object = &(wd->object[objnum]); object = &(wd->object[objnum]); glColor3ubv(object->color); glColor3ubv(object->color); glPushMatrix(); glPushMatrix(); glTranslatef(object->x, object->y, object->z); size = object->size; switch (object->shape) { case cube: switch (object->type) { if (objnum == wd->selected_object) draw_cube_outline(); case vw_normal: /* render normal object (in virtual w else draw_cube(); vrRenderTransformUserTravel(rendinfo); /* ch break; glTranslatef(object->x, object->y, object->z) case pyramid: glScalef(size, size, size); if (objnum == wd->selected_object) draw_pyramid_outline(); switch (object->shape) { else draw_pyramid(); case cube: if (objnum == wd->contacted_object) draw_cube_outline(); else draw_cube(); break; case sphere: if (objnum == wd->contacted_object) draw_sphere_outline(); else draw_sphere(); break; case pyramid: if (objnum == wd->contacted_object) draw_pyramid_outline(); else draw_pyramid(); break; case ud_pyramid: glScalef(1.0, -1.0, 1.0); if (objnum == wd->contacted_object) draw_pyramid_outline(); else draw_pyramid(); break; } break; break; case ud_pyramid: glScalef(1.0, -1.0, 1.0); case ui_button: /* render button widget (in real worl if (objnum == wd->selected_object) /* widgets remain in real-world coordinates * draw_pyramid_outline(); glTranslatef(object->x, object->y, object->z) else draw_pyramid(); #ifdef DRAW_UITEXT /* { */ glPushMatrix(); glTranslatef(0.0, -(size + 0.5), 0.0) glRasterPos3f(0.0, 0.0, 0.0); /* go if (object->ui_button_value) vrRenderText(rendinfo, "on"); else vrRenderText(rendinfo, "off") glPopMatrix(); #endif /* } DRAW_UITEXT */ glScalef(size, size, size); glPushMatrix(); /* for now we'll ignore shape and all /* draw the base box */ if (objnum == wd->contacted_object) draw_cube_outline(); else draw_cube(); /* draw the button part */ if (object->ui_button_value) { /* button is pressed (so bare glTranslatef(0.4, 0.0, 0.0); /* move color halfway to whit glColor3ub( object->color[0] + (( object->color[1] + (( object->color[2] + (( } else { /* button is not pressed (so glTranslatef(0.8, 0.0, 0.0); /* move color halfway to blac glColor3ub(object->color[0]/2 } glScalef(0.7, 0.7, 0.7); draw_cube_outline(); glPopMatrix(); break; break; } } glPopMatrix(); glPopMatrix(); } } glPopMatrix(); /* return to real-world coordinates */ /* NOTE: 2-D text is best rendered in a fixed location in the world * /* NOTE: 2-D text is best rendered in a fixed location in the world * /*************************************************/ /*************************************************/ /* draw text indicating which object is selected */ /* draw text indicating which object is contacted */ if (wd->selected_object < 0) { if (wd->contacted_object < 0) { sprintf(msg, "Object selected: none"); sprintf(msg, "Object contacted: none"); } else { } else { sprintf(msg, "Object selected: %d", wd->selected_object); sprintf(msg, "Object contacted: %d", wd->contacted_object); } } vrLockReadRelease(wd->lock); vrLockReadRelease(wd->lock); glDisable(GL_LIGHTING); /* make the text bright regardless of glDisable(GL_LIGHTING); /* make the text bright regardless of glColor3ub(255, 255, 255); /* white */ glColor3ub(255, 255, 255); /* white */ glPushMatrix(); glPushMatrix(); glTranslatef(-4.0, 7.0, -5.0); /* on the front screen */ glTranslatef(-4.0, 7.0, -5.0); /* on the front screen */ glRasterPos3f(0.0, 0.0, 0.0); /* go to the 3D location */ glRasterPos3f(0.0, 0.0, 0.0); /* go to the 3D location */ vrRenderText(rendinfo, msg); vrRenderText(rendinfo, msg); glPopMatrix(); glPopMatrix(); glEnable(GL_LIGHTING); glEnable(GL_LIGHTING); } }