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render.h

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//----------------------------------------------------------------------
//               The Motion Strategy Library (MSL)
//----------------------------------------------------------------------
//
// Copyright (c) University of Illinois and Steven M. LaValle.     
// All Rights Reserved.
// 
// Permission to use, copy, and distribute this software and its 
// documentation is hereby granted free of charge, provided that 
// (1) it is not a component of a commercial product, and 
// (2) this notice appears in all copies of the software and
//     related documentation. 
// 
// The University of Illinois and the author make no representations
// about the suitability or fitness of this software for any purpose.  
// It is provided "as is" without express or implied warranty.
//----------------------------------------------------------------------

#ifndef MSL_RENDER_H
#define MSL_RENDER_H

#include <stdlib.h>
#include <stdio.h>
#include <string.h>

#include "scene.h"
#include "gui.h"  // Seems circular, but needed because of mutual reference
#include "util.h"

class Gui; // This needs to be here because of mutual reference

#define RENDERCOLORS 10  // Number of colors


class Render 
{
 protected:
  Scene *S; 

  virtual void SetCurrentAnimationFrame();

  virtual void ShowCurrentAnimationFrame() {};

  list<MSLVector> StateList;

  list<double> TimeList;

  list<string> EnvList; // File names of all stationary environment objects
  list<string> BodyList; // File names of all movable bodies

  float RGBRed[RENDERCOLORS]; 
  float RGBGreen[RENDERCOLORS];
  float RGBBlue[RENDERCOLORS]; 

  public:
  string FilePath;

  list<MSLVector> FrameList;

  double FrameTime;

  float LastFrameTime;

  float FrameStuckTime;

  int NumFrames;

  double AnimationStartPause;

  double AnimationEndPause;

  double AnimationTimeScale;
  
  int AnimationFrameIndex;

  MSLVector CurrentAnimationFrame;

  bool AnimationActive;

  bool ControlFreak;

  //  window *RenderCtlWindow;

  bool RenderCtlWindowOn;

  bool AttachedCameraOn;

  bool BoundingBoxOn;

  bool MultipleViewsOn;

  bool ShowPathOn;

  double AmbientLight;

  Render();
  Render(string filepath);
  Render(Scene *s, string filepath);
  virtual ~Render() {}

  virtual void Init();

  virtual void HandleEvents() {};
  
  virtual void MainLoop(Gui *g);

  virtual void Reset();

  virtual void Terminate() {};

  virtual void SetFrameList();

  virtual void MakeAnimationFrames(const list<MSLVector> &xlist, double deltat);
  virtual void MakeAnimationFrames(const list<MSLVector> &xlist, 
                       const list<double> &timelist);

  virtual void DrawPath() {};

  virtual void ButtonHandle(int b);

  void SetScene(Scene *s);

  //void ToggleRenderCtlWindow();
};

#endif

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Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.