From 79eca25c945a535a7a0325999034bae17da92412 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:15:33 +0000 Subject: resubmitting ode --- libraries/ode-0.9/drawstuff/src/x11.cpp | 418 ++++++++++++++++++++++++++++++++ 1 file changed, 418 insertions(+) create mode 100644 libraries/ode-0.9/drawstuff/src/x11.cpp (limited to 'libraries/ode-0.9/drawstuff/src/x11.cpp') diff --git a/libraries/ode-0.9/drawstuff/src/x11.cpp b/libraries/ode-0.9/drawstuff/src/x11.cpp new file mode 100644 index 0000000..639ce7b --- /dev/null +++ b/libraries/ode-0.9/drawstuff/src/x11.cpp @@ -0,0 +1,418 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +// main window and event handling for X11 + +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include +#include +#include "internal.h" + +//*************************************************************************** +// error handling for unix + +static void printMessage (char *msg1, char *msg2, va_list ap) +{ + fflush (stderr); + fflush (stdout); + fprintf (stderr,"\n%s: ",msg1); + vfprintf (stderr,msg2,ap); + fprintf (stderr,"\n"); + fflush (stderr); +} + + +extern "C" void dsError (char *msg, ...) +{ + va_list ap; + va_start (ap,msg); + printMessage ("Error",msg,ap); + exit (1); +} + + +extern "C" void dsDebug (char *msg, ...) +{ + va_list ap; + va_start (ap,msg); + printMessage ("INTERNAL ERROR",msg,ap); + // *((char *)0) = 0; ... commit SEGVicide ? + abort(); +} + + +extern "C" void dsPrint (char *msg, ...) +{ + va_list ap; + va_start (ap,msg); + vprintf (msg,ap); +} + +//*************************************************************************** +// openGL window + +// X11 display info +static Display *display=0; +static int screen=0; +static XVisualInfo *visual=0; // best visual for openGL +static Colormap colormap=0; // window's colormap +static Atom wm_protocols_atom = 0; +static Atom wm_delete_window_atom = 0; + +// window and openGL +static Window win=0; // X11 window, 0 if not initialized +static int width=0,height=0; // window size +static GLXContext glx_context=0; // openGL rendering context +static int last_key_pressed=0; // last key pressed in the window +static int run=1; // 1 if simulation running +static int pause=0; // 1 if in `pause' mode +static int singlestep=0; // 1 if single step key pressed +static int writeframes=0; // 1 if frame files to be written + + +static void createMainWindow (int _width, int _height) +{ + // create X11 display connection + display = XOpenDisplay (NULL); + if (!display) dsError ("can not open X11 display"); + screen = DefaultScreen(display); + + // get GL visual + static int attribList[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE,16, + GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, + GLX_BLUE_SIZE,4, None}; + visual = glXChooseVisual (display,screen,attribList); + if (!visual) dsError ("no good X11 visual found for OpenGL"); + + // create colormap + colormap = XCreateColormap (display,RootWindow(display,screen), + visual->visual,AllocNone); + + // initialize variables + win = 0; + width = _width; + height = _height; + glx_context = 0; + last_key_pressed = 0; + + if (width < 1 || height < 1) dsDebug (0,"bad window width or height"); + + // create the window + XSetWindowAttributes attributes; + attributes.background_pixel = BlackPixel(display,screen); + attributes.colormap = colormap; + attributes.event_mask = ButtonPressMask | ButtonReleaseMask | + KeyPressMask | KeyReleaseMask | ButtonMotionMask | PointerMotionHintMask | + StructureNotifyMask; + win = XCreateWindow (display,RootWindow(display,screen),50,50,width,height, + 0,visual->depth, InputOutput,visual->visual, + CWBackPixel | CWColormap | CWEventMask,&attributes); + + // associate a GLX context with the window + glx_context = glXCreateContext (display,visual,0,GL_TRUE); + if (!glx_context) dsError ("can't make an OpenGL context"); + + // set the window title + XTextProperty window_name; + window_name.value = (unsigned char *) "Simulation"; + window_name.encoding = XA_STRING; + window_name.format = 8; + window_name.nitems = strlen((char *) window_name.value); + XSetWMName (display,win,&window_name); + + // participate in the window manager 'delete yourself' protocol + wm_protocols_atom = XInternAtom (display,"WM_PROTOCOLS",False); + wm_delete_window_atom = XInternAtom (display,"WM_DELETE_WINDOW",False); + if (XSetWMProtocols (display,win,&wm_delete_window_atom,1)==0) + dsError ("XSetWMProtocols() call failed"); + + // pop up the window + XMapWindow (display,win); + XSync (display,win); +} + + +static void destroyMainWindow() +{ + glXDestroyContext (display,glx_context); + XDestroyWindow (display,win); + XSync (display,0); + XCloseDisplay(display); + display = 0; + win = 0; + glx_context = 0; +} + + +static void handleEvent (XEvent &event, dsFunctions *fn) +{ + static int mx=0,my=0; // mouse position + static int mode = 0; // mouse button bits + + switch (event.type) { + + case ButtonPress: { + if (event.xbutton.button == Button1) mode |= 1; + if (event.xbutton.button == Button2) mode |= 2; + if (event.xbutton.button == Button3) mode |= 4; + mx = event.xbutton.x; + my = event.xbutton.y; + } + return; + + case ButtonRelease: { + if (event.xbutton.button == Button1) mode &= (~1); + if (event.xbutton.button == Button2) mode &= (~2); + if (event.xbutton.button == Button3) mode &= (~4); + mx = event.xbutton.x; + my = event.xbutton.x; + } + return; + + case MotionNotify: { + if (event.xmotion.is_hint) { + Window root,child; + unsigned int mask; + XQueryPointer (display,win,&root,&child,&event.xbutton.x_root, + &event.xbutton.y_root,&event.xbutton.x,&event.xbutton.y, + &mask); + } + dsMotion (mode, event.xmotion.x - mx, event.xmotion.y - my); + mx = event.xmotion.x; + my = event.xmotion.y; + } + return; + + case KeyPress: { + KeySym key; + XLookupString (&event.xkey,NULL,0,&key,0); + if ((event.xkey.state & ControlMask) == 0) { + if (key >= ' ' && key <= 126 && fn->command) fn->command (key); + } + else if (event.xkey.state & ControlMask) { + switch (key) { + case 't': case 'T': + dsSetTextures (dsGetTextures() ^ 1); + break; + case 's': case 'S': + dsSetShadows (dsGetShadows() ^ 1); + break; + case 'x': case 'X': + run = 0; + break; + case 'p': case 'P': + pause ^= 1; + singlestep = 0; + break; + case 'o': case 'O': + if (pause) singlestep = 1; + break; + case 'v': case 'V': { + float xyz[3],hpr[3]; + dsGetViewpoint (xyz,hpr); + printf ("Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n", + xyz[0],xyz[1],xyz[2],hpr[0],hpr[1],hpr[2]); + break; + } + case 'w': case 'W': + writeframes ^= 1; + if (writeframes) printf ("Now writing frames to PPM files\n"); + break; + } + } + last_key_pressed = key; // a kludgy place to put this... + } + return; + + case KeyRelease: { + // hmmmm... + } + return; + + case ClientMessage: + if (event.xclient.message_type == wm_protocols_atom && + event.xclient.format == 32 && + Atom(event.xclient.data.l[0]) == wm_delete_window_atom) { + run = 0; + return; + } + return; + + case ConfigureNotify: + width = event.xconfigure.width; + height = event.xconfigure.height; + return; + } +} + + +// return the index of the highest bit +static int getHighBitIndex (unsigned int x) +{ + int i = 0; + while (x) { + i++; + x >>= 1; + } + return i-1; +} + + +// shift x left by i, where i can be positive or negative +#define SHIFTL(x,i) (((i) >= 0) ? ((x) << (i)) : ((x) >> (-i))) + + +static void captureFrame (int num) +{ + fprintf (stderr,"capturing frame %04d\n",num); + + char s[100]; + sprintf (s,"frame/frame%04d.ppm",num); + FILE *f = fopen (s,"wb"); + if (!f) dsError ("can't open \"%s\" for writing",s); + fprintf (f,"P6\n%d %d\n255\n",width,height); + XImage *image = XGetImage (display,win,0,0,width,height,~0,ZPixmap); + + int rshift = 7 - getHighBitIndex (image->red_mask); + int gshift = 7 - getHighBitIndex (image->green_mask); + int bshift = 7 - getHighBitIndex (image->blue_mask); + + for (int y=0; yred_mask,rshift); + b[1] = SHIFTL(pixel & image->green_mask,gshift); + b[2] = SHIFTL(pixel & image->blue_mask,bshift); + fwrite (b,3,1,f); + } + } + fclose (f); + XDestroyImage (image); +} + + +void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn, + int initial_pause) +{ + pause = initial_pause; + createMainWindow (window_width, window_height); + glXMakeCurrent (display,win,glx_context); + + dsStartGraphics (window_width,window_height,fn); + + static bool firsttime=true; + if (firsttime) + { + fprintf + ( + stderr, + "\n" + "Simulation test environment v%d.%02d\n" + " Ctrl-P : pause / unpause (or say `-pause' on command line).\n" + " Ctrl-O : single step when paused.\n" + " Ctrl-T : toggle textures (or say `-notex' on command line).\n" + " Ctrl-S : toggle shadows (or say `-noshadow' on command line).\n" + " Ctrl-V : print current viewpoint coordinates (x,y,z,h,p,r).\n" + " Ctrl-W : write frames to ppm files: frame/frameNNN.ppm\n" + " Ctrl-X : exit.\n" + "\n" + "Change the camera position by clicking + dragging in the window.\n" + " Left button - pan and tilt.\n" + " Right button - forward and sideways.\n" + " Left + Right button (or middle button) - sideways and up.\n" + "\n",DS_VERSION >> 8,DS_VERSION & 0xff + ); + firsttime = false; + } + + if (fn->start) fn->start(); + + int frame = 1; + run = 1; + while (run) { + // read in and process all pending events for the main window + XEvent event; + while (run && XPending (display)) { + XNextEvent (display,&event); + handleEvent (event,fn); + } + + dsDrawFrame (width,height,fn,pause && !singlestep); + singlestep = 0; + + glFlush(); + glXSwapBuffers (display,win); + XSync (display,0); + + // capture frames if necessary + if (pause==0 && writeframes) { + captureFrame (frame); + frame++; + } + }; + + if (fn->stop) fn->stop(); + dsStopGraphics(); + + destroyMainWindow(); +} + + +extern "C" void dsStop() +{ + run = 0; +} + + +extern "C" double dsElapsedTime() +{ +#if HAVE_GETTIMEOFDAY + static double prev=0.0; + timeval tv ; + + gettimeofday(&tv, 0); + double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ; + if (!prev) + prev=curr; + double retval = curr-prev; + prev=curr; + if (retval>1.0) retval=1.0; + if (retval