Graphic

Functions
void	g3d_draw_text (char *string)
void	g3d_set_color_vect (int color, GLdouble color_vect[4])
void	g3d_get_color_vect (int color, GLdouble color_vect[4])
void	g3d_set_color (int color, double color_vect[4])
void	g3d_set_custom_color_draw (p3d_rob *r, int draw_custom)
void	g3d_set_custom_color_vect (GLdouble color_vect[4])
void	g3d_get_custom_color_vect (GLdouble color_vect[4])
void	g3d_drawDisc (double x, double y, double z, float r, int color, GLdouble color_vect[4])
void	g3d_drawSphere (double x, double y, double z, float r)
void	g3d_drawColorSphere (double x, double y, double z, float r, int color, GLdouble color_vect[4])
void	g3d_drawCircle (double x, double y, double r, int color, double *color_vect, double width)
void	g3d_drawOneLine (double x1, double y1, double z1, double x2, double y2, double z2, int color, double *color_vect)
void	g3d_drawSphMoveObj (p3d_matrix4 mat, double length)
void	g3d_drawRepMoveObj (p3d_matrix4 frame, double length, int axis)
void	g3d_draw_arrow (p3d_vector3 p1, p3d_vector3 p2, double red, double green, double blue)
void	g3d_draw_solid_cone (double radius, double height, int nbSegments)
void	g3d_draw_rep_obj (p3d_jnt *jnt, double a, int num)
void	g3d_draw_simple_box (double x1, double x2, double y1, double y2, double z1, double z2, int color, int fill, double width)
void	g3d_draw_a_box (double x1, double x2, double y1, double y2, double z1, double z2, int c, int fill)
int	BoxInFrustum_obj (p3d_obj *o, G3D_Window *win)
int	SphereInFrustum (G3D_Window *win, float x, float y, float z, float radius)
void	g3d_extract_frustum (G3D_Window *win)
int	g3d_calcule_resolution (G3D_Window *win, p3d_poly *p)
void	g3d_draw_primitive (G3D_Window *win, p3d_poly *p, int fill, int opengl_context)
void	g3d_draw_poly (p3d_poly *p, G3D_Window *win, int coll, int fill, int opengl_context)
void	g3d_draw_poly_with_color (p3d_poly *p, G3D_Window *win, int coll, int fill, double color, int opengl_context)
void	g3d_draw_frame (p3d_matrix4 frame, double length)
int	g3d_draw_cylinder (p3d_vector3 p1, p3d_vector3 p2, double radius, unsigned int nbSegments)
void	g3d_rgb_from_int (int i, double color[4])
void	g3d_rgb_from_hue (double hue, double color[4])
int	g3d_draw_robot_joints (p3d_rob *robot, double size)
int	g3d_draw_robot_kinematic_chain (p3d_rob *robot)
int	g3d_draw_p3d_polyhedre (p3d_polyhedre *polyhedron)
int	g3d_circle_table (double **sint, double **cost, const int n)
void	g3d_draw_solid_sphere (double radius, int nbSegments)
void	g3d_draw_solid_sphere (double x_, double y_, double z_, double radius, int nbSegments)
void	g3d_draw_solid_cylinder (double radius, double length, int nbSegments)
void	g3d_draw_solid_cylinder (double x_, double y_, double radius, double length, int nbSegments)
int	g3d_draw_body_normals (p3d_obj *obj, double length)
int	g3d_draw_robot_normals (p3d_rob *robot, double length)
int	g3d_draw_body_vertex_normals (p3d_obj *obj, double length)
int	g3d_draw_robot_vertex_normals (p3d_rob *robot, double length)
int	g3d_is_poly_transparent (p3d_poly *p)
void	g3d_draw_ellipsoid (double a, double b, double c, int nbSegments)
void	g3d_draw_wire_ellipsoid (double a, double b, double c)
void	g3d_draw_floor (GLdouble color[3], int tiles)
void	g3d_draw_wall (int wall, GLdouble color[3], int quadsPerEdge)
void	g3d_draw_env (int opengl_context)
void	g3d_draw (int opengl_context)
void	g3d_set_light (g3d_states &vs)
void	g3d_init_OpenGL ()
void	g3d_set_projection_matrix (g3d_projection_mode mode)
int	g3d_export_OpenGL_display (char *filename)
void	g3d_set_dim_light ()
void	g3d_set_default_material ()
void	g3d_set_shade_material ()
void	g3d_draw_frame (void)
int	g3d_set_camera_parameters_from_frame (p3d_matrix4 frame, g3d_states &vs)
int	g3d_save_state (g3d_win *win, g3d_states *st)
int	g3d_load_state (g3d_win *win, g3d_states *st)

---

Detailed Description

The graphic module contains display functions, mainly based upon OpenGL functions.

---

Function Documentation

int g3d_calcule_resolution	(	G3D_Window *	win,
		p3d_poly *	p
	)

Does not seem to work anymore.

pour appeler la liste opengl de resolution BASSE

pour appeler la liste opengl de resolution MOYENNE

pour appeler la liste opengl de resolution HAUTE

int g3d_circle_table	(	double **	sint,
		double **	cost,
		const int	n
	)

Computes the coordinates of the points of a unit radius circle discretized in n points. sint et cost each have |n+1| elements. Memory is allocated inside the function and must consequently be freed outside the function. The signe of n defines in which direction the circle is travelled around.

void g3d_draw

(

int

opengl_context

)

This function is the main display function called each time an OpenGL window is refreshed. KEEP ONLY WHAT IS NECESSARY INSIDE IT!!: DEFINE YOUR OWN win->fct_draw2() AND PUT YOUR ADDITIONAL DISPLAY INSIDE. OR USE g3d_draw_env() or g3d_draw_env_custom() defined just before this function.

void g3d_draw_a_box	(	double	x1,
		double	x2,
		double	y1,
		double	y2,
		double	z1,
		double	z2,
		int	c,
		int	fill
	)

Fonction tracant une boite en couleur donnee

void g3d_draw_arrow	(	p3d_vector3	p1,
		p3d_vector3	p2,
		double	red,
		double	green,
		double	blue
	)

Draws a 3D arrow.

Parameters:

p1	arrow's starting point
p2	arrow's ending point
red	red component of the arrow's color
green	green component of the arrow's color
blue	blue component of the arrow's color

int g3d_draw_body_normals	(	p3d_obj *	obj,
		double	length
	)

Draws the face normals of a body. Each normal is drawn starting from the face center.

Parameters:

obj	pointer to the body
length	length of the displayed normals

Returns:

1 in case of success, 0 otherwise

int g3d_draw_body_vertex_normals	(	p3d_obj *	obj,
		double	length
	)

Draws the vertex normals of a body.

Parameters:

obj	pointer to the body
length	length of the displayed normals

Returns:

1 in case of success, 0 otherwise

int g3d_draw_cylinder	(	p3d_vector3	p1,
		p3d_vector3	p2,
		double	radius,
		unsigned int	nbSegments
	)

Draws a cylinder from its two face centers.

Parameters:

p1	center of the first face (disc) of the cylinder
p2	center of the second face (disc) of the cylinder
radius	cylinder's radius
nbSegments	number of segments of the cylinder section

Returns:

1 in case of success, 0 otherwise

void g3d_draw_ellipsoid	(	double	a,
		double	b,
		double	c,
		int	nbSegments
	)

Draws an ellipsoid.

Parameters:

a	radius along X axis
b	radius along Y axis
c	radius along Z axis

void g3d_draw_floor	(	GLdouble	color[3],
		int	tiles
	)

Draws the environment floor.

Parameters:

color	the floor color
tiles	boolean to display floor tiles or not

void g3d_draw_frame

(

void

)

The original function of Move3D that displays a frame with black flat arrows.

void g3d_draw_frame	(	p3d_matrix4	frame,
		double	length
	)

Fonction d'affichage d'un repere (matrice 4x4). Les axes sont dessines sur une longueur "length". A utiliser dans une fonction d'affichage OpenGL.

int g3d_draw_p3d_polyhedre

(

p3d_polyhedre *

polyhedron

)

Draws a p3d_polyhedre.

void g3d_draw_poly	(	p3d_poly *	p,
		G3D_Window *	win,
		int	coll,
		int	fill,
		int	opengl_context
	)

Fonction dessinant un polyhedre plein ou en filaire

IN => p : pointeur sur le polyhedre courant => win : pointeur sur la structure fenetre => coll : => fill : type de rendu a effectuer

void g3d_draw_poly_with_color	(	p3d_poly *	p,
		G3D_Window *	win,
		int	coll,
		int	fill,
		double	color,
		int	opengl_context
	)

Fonction dessinant un polyhedre plein ou en filaire avec une couleur

IN => p : pointeur sur le polyhedre courant => win : pointeur sur la structure fenetre => coll : => fill : type de rendu a effectuer

void g3d_draw_primitive	(	G3D_Window *	win,
		p3d_poly *	p,
		int	fill,
		int	opengl_context
	)

Fonction dessinant un polyhedre dont la forme est consideree comme primitive

IN => p : pointeur sur le polyhedre a dessiner => fill : type de dessin a appliquer => win : pointeur sur la structure fenetre

0:MED 1:LO 2:HI

int g3d_draw_robot_joints	(	p3d_rob *	robot,
		double	size
	)

Draws the joint frames of a robot.

Parameters:

robot	pointer to the robot
size	length of the frame arrows that will be drawn.

Returns:

1 in case of success, 0 otherwise

int g3d_draw_robot_kinematic_chain

(

p3d_rob *

robot

)

Draws the kinematic chain of a robot (draw the links between successive joints).

Parameters:

robot

pointer to the robot

Returns:

1 in case of success, 0 otherwise

int g3d_draw_robot_normals	(	p3d_rob *	robot,
		double	length
	)

Draws the normals of all the robot bodies.

int g3d_draw_robot_vertex_normals	(	p3d_rob *	robot,
		double	length
	)

Draws the vertex normals of all the robot bodies.

void g3d_draw_simple_box	(	double	x1,
		double	x2,
		double	y1,
		double	y2,
		double	z1,
		double	z2,
		int	color,
		int	fill,
		double	width
	)

Fonction tracant une boite en couleur donnee

void g3d_draw_solid_cone	(	double	radius,
		double	height,
		int	nbSegments
	)

Cette fonction dessine un cone solide -dont les facettes sont remplies- d'axe z et dont la pointe est en (0,0,0). A utiliser dans une fonction d'affichage OpenGL.

void g3d_draw_solid_cylinder	(	double	radius,
		double	length,
		int	nbSegments
	)

Draws a cylinder, centered on (0,0,0) and aligned along z-axis.

Parameters:

radius	cylinder radius
length	cylinder length
nbSegments	number of segments of the discretization of the cylinder's section

void g3d_draw_solid_cylinder	(	double	x_,
		double	y_,
		double	radius,
		double	length,
		int	nbSegments
	)

Draws a cylinder and aligned along z-axis.

Parameters:

x	x coordinate of the sphere cylinder
y	y coordinate of the sphere cylinder
radius	cylinder radius
length	cylinder length
nbSegments	number of segments of the discretization of the cylinder's section

void g3d_draw_solid_sphere	(	double	radius,
		int	nbSegments
	)

Draws a sphere with OpenGL functions. The sphere is centered on (0,0,0).

Parameters:

radius	radius of the sphere
nbSegments	number of segments of the discretization of the sphere silhouette

void g3d_draw_solid_sphere	(	double	x_,
		double	y_,
		double	z_,
		double	radius,
		int	nbSegments
	)

Draws a sphere with OpenGL functions.

Parameters:

x	x coordinate of the sphere center
y	y coordinate of the sphere center
z	z coordinate of the sphere center
radius	radius of the sphere
nbSegments	number of segments of the discretization of the sphere silhouette

void g3d_draw_text

(

char *

string

)

Get the current display size and displays the text in the right/bottom corner

Parameters:

string

contains a string to draw

void g3d_draw_wall	(	int	wall,
		GLdouble	color[3],
		int	quadsPerEdge
	)

Draws one of the environnment box walls.

Parameters:

wall	choice of the wall to display (wall=1,2,3 ou 4).
color	wall color
quadsPerEdge	discretization step of the wall surface (The biggest it is, the nicest is the rendering but the more computationly expensive.)

void g3d_draw_wire_ellipsoid	(	double	a,
		double	b,
		double	c
	)

Draws a wireframe ellipsoid.

Parameters:

a	radius along X axis
b	radius along Y axis
c	radius along Z axis

void g3d_drawColorSphere	(	double	x,
		double	y,
		double	z,
		float	r,
		int	color,
		GLdouble	color_vect[4]
	)

Draws a sphere with the specified color.

void g3d_drawRepMoveObj	(	p3d_matrix4	frame,
		double	length,
		int	axis
	)

Parameters:

frame	the Rep position and orientation
length	the lenght of each arrow
axis	the axis to draw : for x = 1 for y = 2 for z = 4. To draw two axis, add their Id

void g3d_drawSphere	(	double	x,
		double	y,
		double	z,
		float	r
	)

Draws a sphere without changing the current color.

int g3d_export_OpenGL_display

(

char *

filename

)

Saves the current OpenGL pixel buffer as a ppm (PortablePixMap) image file (uncompressed format). In other words: takes a screenshot of the current active OpenGL window.

Parameters:

filename

name of the image file where to save the pixel buffer

Returns:

1 in case of success, 0,otherwise

void g3d_get_color_vect	(	int	color,
		GLdouble	color_vect[4]
	)

Fills a array with the RGBA coordinates of the specified color index.

Parameters:

color	color index (see the #define in include/p3d_type.h)
color_vect	the vector that will be filled with RGBA components

void g3d_get_custom_color_vect

(

GLdouble

color_vect[4]

)

Stores one color to be called latter to draw a robot for example

Parameters:

color_vect

the vector that will be filled with RGBA components

void g3d_init_OpenGL

(

)

Initializes OpenGL main parameters.

on desactive tout mode OpenGL inutile

int g3d_is_poly_transparent

(

p3d_poly *

p

)

Tests wether or not a p3d_poly is transparent.

Returns:

1 if it is transparent, 0 otherwise

int g3d_load_state	(	g3d_win *	win,
		g3d_states *	st
	)

Loads the viewer state of a given window This function DOES NOT load all the contents of the state. It's created for a specific use.

Parameters:

win	windows
st	viewer state

Returns:

1 in case of success, 0 means failure

void g3d_rgb_from_hue	(	double	hue,
		double	color[4]
	)

Computes an RGB color from a hue value. If the hue parameter varies from 0 to 1, the color will vary from red -> green -> cyan -> blue -> magenta -> red with all intermediate hues.

Parameters:

hue	hue value (must be between 0 and 1)
color	an array that will be filled with the RGB values corresponding to the given hue. The fourth element is set to 1

void g3d_rgb_from_int	(	int	i,
		double	color[4]
	)

Returns an RGB color (among a set of predefined colors) from an int. e.g. it can be used to select different colors according to the value of a counter.

Parameters:

i	an integer value
color	an array that will be filled with the RGB values corresponding to the given hue. The fourth element is set to 1

int g3d_save_state	(	g3d_win *	win,
		g3d_states *	st
	)

Saves the viewer state of a given window This function DOES NOT save all the contents of the state. It's created for a specific use.

Parameters:

win	windows
st	viewer state

Returns:

1 in case of success, 0 means failure

int g3d_set_camera_parameters_from_frame	(	p3d_matrix4	frame,
		g3d_states &	vs
	)

Sets the camera parameters (focus point position, zoom factor, elevation and azimuth angles) from a frame matrix. The camera will look in the direction of the X axis of the frame, with the Z axis pointing to the left and the Y axis pointg downward. This function is based on the conventions used in calc_cam_param and get_pos_cam_matrix.

Parameters:

frame	desired pose of the camera.
vs	camera parameters output

Returns:

0 in case of success, 1 otherwise

void g3d_set_color	(	int	color,
		double	color_vect[4]
	)

This function does the same thing than g3d_set_color_vect().

void g3d_set_color_vect	(	int	color,
		GLdouble	color_vect[4]
	)

Sets the current OpenGL color from a color index or an RGBA vector.

Parameters:

color	color index (see the #define in include/p3d_type.h)
color_vect	a vector of RGBA components (used only if color==Any)

void g3d_set_custom_color_draw	(	p3d_rob *	r,
		int	draw_custom
	)

Stores one color to be called latter to draw a robot for example

Parameters:

draw_custom

TRUE or FALSE

void g3d_set_custom_color_vect

(

GLdouble

color_vect[4]

)

Stores one color to be called latter to draw a robot for example

Parameters:

color_vect

the vector that will be filled with RGBA components

void g3d_set_default_material

(

)

Sets the default material parameters for OpenGL.

void g3d_set_dim_light

(

)

Sets the light parameters for things that will be displayed in the shadow.

void g3d_set_light

(

g3d_states &

vs

)

Sets the default light parameters.

void g3d_set_projection_matrix

(

g3d_projection_mode

mode

)

Sets the OpenGL projection matrix used by default by the g3d_windows. Use this function instead of calling directly gluPerspective (unlesss you want some specific parameters) to avoid dispersion of the same setting code.

Parameters:

mode	projection mode (perspective or orthographic)

void g3d_set_shade_material

(

)

Set the material parameters for things that are in the shadow (floor or wall part) for OpenGL.