threads.cpp

3D仿真组实物机器人环境下的机器人模型的设计工具。可以查看和修改现有模型的详细参数

/*
*********************************************************************************
*                            In the name of Almighty                            *
*                                                                               *
*       Threads.cpp : Robocup Soccer Simulator Developement Team: Zigorat       *
*                                                                               *
*  Date: 07/08/2007                                                             *
*  Author: Mahdi Hamdarsi                                                       *
*  Research Coordinator: Amin Mohammadi                                         *
*  Comments: Threads to handle GTK and MESA operations simultinously            *
*                                                                               *
*********************************************************************************
*/

/*! \file Threads.cpp
<pre>
<b>File:</b>          Threads.cpp
<b>Project:</b>       Robocup Soccer Simulator Developement Team: Zigorat
<b>Authors:</b>       Mahdi Hamdarsi, Amin Mohammadi
<b>Created:</b>       12/02/2001
<b>Last Revision:</b> $ID$
<b>Contents:</b>      Threads to handle GTK and MESA operations simultinously
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
07/08/2007       Mahdi Hamdarsi       Initial version created
</pre>
*/


#include <GL/glut.h>
#include <gtk/gtk.h>
#include "GraphicEngine.h"
#include "RubySceneGraph.h"
#include "SharedData.h"
#include "Editor.h"
#include "interface.h"
#include "support.h"

GtkWidget *m_SaveDialog = NULL;
GtkWidget *m_MainWindow = NULL;
GtkWidget *m_AboutWin = NULL;
GtkWidget *m_MyEventHandlerButton = NULL;

extern TOpenGLEngine * OpenGLEngine;
extern TRubySceneGraph * RubySceneGraph;

bool bQuit = false;
string path;

void display(void)
{
  if( bQuit )
    glutDestroyWindow( OpenGLEngine->getWindowID() );
  else
  {
    OpenGLEngine->updateAll();
    OpenGLEngine->renderAll(); 
  }
}

gint delete_event( GtkWidget *widget, GdkEvent *event, gpointer data )
{
  return FALSE;
}

void * OpenGLThreadCallback( void * data )
{
  InitializeOpenGLEngine( "ZigoBot Viewer" );
  OpenGLEngine->setOnDisplay( display );

  OpenGLEngine->setLightPosition( VecPosition( 100,-100,4 ), 0 );
  OpenGLEngine->setLightDirection( VecPosition(0,0,0), 0 );
  
  OpenGLEngine->setLightPosition( VecPosition( -100,-100,4 ), 1 );
  OpenGLEngine->setLightDirection( VecPosition(0,0,0), 1 );
  
  OpenGLEngine->setLightPosition( VecPosition( 0,0,100 ), 2 );
  OpenGLEngine->setLightDirection( VecPosition(0,0,0), 2 );
  
  VecPosition a(2, -10, 3);
  OpenGLEngine->setCameraPosition( a.getX(), a.getY(), a.getZ() );
  a = -a;
  a.setZ( -1 );
  OpenGLEngine->setCameraDirection( a.getX(), a.getY(), a.getZ() );
  OpenGLEngine->setCameraUpDirection( 0,0,1 );
  
  RubySceneGraph->initializeRendering();

  OpenGLEngine->startEngine();

  FinalizeOpenGLEngine();

  return NULL;
}

void * GTKThreadCallback( void * data )
{
  gtk_init(0, 0);

  gtk_set_locale();
  add_pixmap_directory("/root/Projects/ZigoBotDesigner/graphics/");
  m_MainWindow = create_winMain();
  gtk_widget_show_all(m_MainWindow);

  TMessage msg;
  UpdateLists(msg);

  gtk_main();
  bQuit = true;

  return NULL;
}