[216] | 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | // main window and event handling for X11 |
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| 24 | |
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| 25 | #include <ode/config.h> |
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| 26 | #include <stdlib.h> |
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| 27 | #include <string.h> |
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| 28 | #include <stdarg.h> |
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| 29 | #include <X11/Xlib.h> |
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| 30 | #include <X11/Xatom.h> |
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| 31 | #include <X11/keysym.h> |
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| 32 | #include <GL/glx.h> |
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| 33 | |
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| 34 | #ifdef HAVE_SYS_TIME_H |
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| 35 | #include <sys/time.h> |
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| 36 | #endif |
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| 37 | |
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| 38 | #include <drawstuff/drawstuff.h> |
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| 39 | #include <drawstuff/version.h> |
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| 40 | #include "internal.h" |
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| 41 | |
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| 42 | //*************************************************************************** |
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| 43 | // error handling for unix |
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| 44 | |
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| 45 | static void printMessage (char *msg1, char *msg2, va_list ap) |
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| 46 | { |
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| 47 | fflush (stderr); |
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| 48 | fflush (stdout); |
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| 49 | fprintf (stderr,"\n%s: ",msg1); |
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| 50 | vfprintf (stderr,msg2,ap); |
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| 51 | fprintf (stderr,"\n"); |
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| 52 | fflush (stderr); |
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| 53 | } |
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| 54 | |
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| 55 | |
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| 56 | extern "C" void dsError (char *msg, ...) |
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| 57 | { |
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| 58 | va_list ap; |
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| 59 | va_start (ap,msg); |
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| 60 | printMessage ("Error",msg,ap); |
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| 61 | exit (1); |
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| 62 | } |
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| 63 | |
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| 64 | |
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| 65 | extern "C" void dsDebug (char *msg, ...) |
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| 66 | { |
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| 67 | va_list ap; |
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| 68 | va_start (ap,msg); |
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| 69 | printMessage ("INTERNAL ERROR",msg,ap); |
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| 70 | // *((char *)0) = 0; ... commit SEGVicide ? |
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| 71 | abort(); |
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| 72 | } |
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| 73 | |
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| 74 | |
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| 75 | extern "C" void dsPrint (char *msg, ...) |
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| 76 | { |
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| 77 | va_list ap; |
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| 78 | va_start (ap,msg); |
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| 79 | vprintf (msg,ap); |
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| 80 | } |
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| 81 | |
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| 82 | //*************************************************************************** |
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| 83 | // openGL window |
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| 84 | |
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| 85 | // X11 display info |
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| 86 | static Display *display=0; |
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| 87 | static int screen=0; |
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| 88 | static XVisualInfo *visual=0; // best visual for openGL |
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| 89 | static Colormap colormap=0; // window's colormap |
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| 90 | static Atom wm_protocols_atom = 0; |
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| 91 | static Atom wm_delete_window_atom = 0; |
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| 92 | |
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| 93 | // window and openGL |
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| 94 | static Window win=0; // X11 window, 0 if not initialized |
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| 95 | static int width=0,height=0; // window size |
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| 96 | static GLXContext glx_context=0; // openGL rendering context |
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| 97 | static int last_key_pressed=0; // last key pressed in the window |
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| 98 | static int run=1; // 1 if simulation running |
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| 99 | static int pause=0; // 1 if in `pause' mode |
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| 100 | static int singlestep=0; // 1 if single step key pressed |
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| 101 | static int writeframes=0; // 1 if frame files to be written |
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| 102 | |
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| 103 | |
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| 104 | static void createMainWindow (int _width, int _height) |
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| 105 | { |
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| 106 | // create X11 display connection |
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| 107 | display = XOpenDisplay (NULL); |
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| 108 | if (!display) dsError ("can not open X11 display"); |
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| 109 | screen = DefaultScreen(display); |
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| 110 | |
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| 111 | // get GL visual |
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| 112 | static int attribList[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE,16, |
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| 113 | GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, |
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| 114 | GLX_BLUE_SIZE,4, None}; |
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| 115 | visual = glXChooseVisual (display,screen,attribList); |
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| 116 | if (!visual) dsError ("no good X11 visual found for OpenGL"); |
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| 117 | |
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| 118 | // create colormap |
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| 119 | colormap = XCreateColormap (display,RootWindow(display,screen), |
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| 120 | visual->visual,AllocNone); |
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| 121 | |
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| 122 | // initialize variables |
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| 123 | win = 0; |
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| 124 | width = _width; |
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| 125 | height = _height; |
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| 126 | glx_context = 0; |
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| 127 | last_key_pressed = 0; |
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| 128 | |
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| 129 | if (width < 1 || height < 1) dsDebug (0,"bad window width or height"); |
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| 130 | |
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| 131 | // create the window |
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| 132 | XSetWindowAttributes attributes; |
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| 133 | attributes.background_pixel = BlackPixel(display,screen); |
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| 134 | attributes.colormap = colormap; |
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| 135 | attributes.event_mask = ButtonPressMask | ButtonReleaseMask | |
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| 136 | KeyPressMask | KeyReleaseMask | ButtonMotionMask | PointerMotionHintMask | |
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| 137 | StructureNotifyMask; |
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| 138 | win = XCreateWindow (display,RootWindow(display,screen),50,50,width,height, |
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| 139 | 0,visual->depth, InputOutput,visual->visual, |
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| 140 | CWBackPixel | CWColormap | CWEventMask,&attributes); |
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| 141 | |
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| 142 | // associate a GLX context with the window |
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| 143 | glx_context = glXCreateContext (display,visual,0,GL_TRUE); |
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| 144 | if (!glx_context) dsError ("can't make an OpenGL context"); |
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| 145 | |
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| 146 | // set the window title |
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| 147 | XTextProperty window_name; |
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| 148 | window_name.value = (unsigned char *) "Simulation"; |
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| 149 | window_name.encoding = XA_STRING; |
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| 150 | window_name.format = 8; |
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| 151 | window_name.nitems = strlen((char *) window_name.value); |
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| 152 | XSetWMName (display,win,&window_name); |
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| 153 | |
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| 154 | // participate in the window manager 'delete yourself' protocol |
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| 155 | wm_protocols_atom = XInternAtom (display,"WM_PROTOCOLS",False); |
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| 156 | wm_delete_window_atom = XInternAtom (display,"WM_DELETE_WINDOW",False); |
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| 157 | if (XSetWMProtocols (display,win,&wm_delete_window_atom,1)==0) |
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| 158 | dsError ("XSetWMProtocols() call failed"); |
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| 159 | |
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| 160 | // pop up the window |
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| 161 | XMapWindow (display,win); |
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| 162 | XSync (display,win); |
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| 163 | } |
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| 164 | |
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| 165 | |
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| 166 | static void destroyMainWindow() |
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| 167 | { |
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| 168 | glXDestroyContext (display,glx_context); |
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| 169 | XDestroyWindow (display,win); |
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| 170 | XSync (display,0); |
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| 171 | XCloseDisplay(display); |
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| 172 | display = 0; |
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| 173 | win = 0; |
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| 174 | glx_context = 0; |
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| 175 | } |
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| 176 | |
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| 177 | |
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| 178 | static void handleEvent (XEvent &event, dsFunctions *fn) |
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| 179 | { |
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| 180 | static int mx=0,my=0; // mouse position |
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| 181 | static int mode = 0; // mouse button bits |
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| 182 | |
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| 183 | switch (event.type) { |
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| 184 | |
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| 185 | case ButtonPress: { |
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| 186 | if (event.xbutton.button == Button1) mode |= 1; |
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| 187 | if (event.xbutton.button == Button2) mode |= 2; |
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| 188 | if (event.xbutton.button == Button3) mode |= 4; |
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| 189 | mx = event.xbutton.x; |
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| 190 | my = event.xbutton.y; |
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| 191 | } |
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| 192 | return; |
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| 193 | |
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| 194 | case ButtonRelease: { |
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| 195 | if (event.xbutton.button == Button1) mode &= (~1); |
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| 196 | if (event.xbutton.button == Button2) mode &= (~2); |
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| 197 | if (event.xbutton.button == Button3) mode &= (~4); |
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| 198 | mx = event.xbutton.x; |
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| 199 | my = event.xbutton.x; |
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| 200 | } |
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| 201 | return; |
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| 202 | |
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| 203 | case MotionNotify: { |
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| 204 | if (event.xmotion.is_hint) { |
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| 205 | Window root,child; |
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| 206 | unsigned int mask; |
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| 207 | XQueryPointer (display,win,&root,&child,&event.xbutton.x_root, |
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| 208 | &event.xbutton.y_root,&event.xbutton.x,&event.xbutton.y, |
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| 209 | &mask); |
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| 210 | } |
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| 211 | dsMotion (mode, event.xmotion.x - mx, event.xmotion.y - my); |
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| 212 | mx = event.xmotion.x; |
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| 213 | my = event.xmotion.y; |
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| 214 | } |
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| 215 | return; |
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| 216 | |
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| 217 | case KeyPress: { |
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| 218 | KeySym key; |
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| 219 | XLookupString (&event.xkey,NULL,0,&key,0); |
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| 220 | if ((event.xkey.state & ControlMask) == 0) { |
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| 221 | if (key >= ' ' && key <= 126 && fn->command) fn->command (key); |
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| 222 | } |
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| 223 | else if (event.xkey.state & ControlMask) { |
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| 224 | switch (key) { |
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| 225 | case 't': case 'T': |
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| 226 | dsSetTextures (dsGetTextures() ^ 1); |
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| 227 | break; |
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| 228 | case 's': case 'S': |
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| 229 | dsSetShadows (dsGetShadows() ^ 1); |
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| 230 | break; |
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| 231 | case 'x': case 'X': |
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| 232 | run = 0; |
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| 233 | break; |
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| 234 | case 'p': case 'P': |
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| 235 | pause ^= 1; |
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| 236 | singlestep = 0; |
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| 237 | break; |
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| 238 | case 'o': case 'O': |
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| 239 | if (pause) singlestep = 1; |
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| 240 | break; |
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| 241 | case 'v': case 'V': { |
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| 242 | float xyz[3],hpr[3]; |
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| 243 | dsGetViewpoint (xyz,hpr); |
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| 244 | printf ("Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n", |
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| 245 | xyz[0],xyz[1],xyz[2],hpr[0],hpr[1],hpr[2]); |
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| 246 | break; |
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| 247 | } |
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| 248 | case 'w': case 'W': |
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| 249 | writeframes ^= 1; |
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| 250 | if (writeframes) printf ("Now writing frames to PPM files\n"); |
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| 251 | break; |
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| 252 | } |
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| 253 | } |
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| 254 | last_key_pressed = key; // a kludgy place to put this... |
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| 255 | } |
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| 256 | return; |
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| 257 | |
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| 258 | case KeyRelease: { |
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| 259 | // hmmmm... |
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| 260 | } |
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| 261 | return; |
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| 262 | |
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| 263 | case ClientMessage: |
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| 264 | if (event.xclient.message_type == wm_protocols_atom && |
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| 265 | event.xclient.format == 32 && |
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| 266 | Atom(event.xclient.data.l[0]) == wm_delete_window_atom) { |
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| 267 | run = 0; |
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| 268 | return; |
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| 269 | } |
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| 270 | return; |
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| 271 | |
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| 272 | case ConfigureNotify: |
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| 273 | width = event.xconfigure.width; |
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| 274 | height = event.xconfigure.height; |
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| 275 | return; |
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| 276 | } |
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| 277 | } |
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| 278 | |
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| 279 | |
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| 280 | // return the index of the highest bit |
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| 281 | static int getHighBitIndex (unsigned int x) |
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| 282 | { |
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| 283 | int i = 0; |
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| 284 | while (x) { |
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| 285 | i++; |
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| 286 | x >>= 1; |
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| 287 | } |
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| 288 | return i-1; |
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| 289 | } |
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| 290 | |
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| 291 | |
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| 292 | // shift x left by i, where i can be positive or negative |
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| 293 | #define SHIFTL(x,i) (((i) >= 0) ? ((x) << (i)) : ((x) >> (-i))) |
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| 294 | |
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| 295 | |
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| 296 | static void captureFrame (int num) |
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| 297 | { |
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| 298 | fprintf (stderr,"capturing frame %04d\n",num); |
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| 299 | |
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| 300 | char s[100]; |
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| 301 | sprintf (s,"frame/frame%04d.ppm",num); |
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| 302 | FILE *f = fopen (s,"wb"); |
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| 303 | if (!f) dsError ("can't open \"%s\" for writing",s); |
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| 304 | fprintf (f,"P6\n%d %d\n255\n",width,height); |
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| 305 | XImage *image = XGetImage (display,win,0,0,width,height,~0,ZPixmap); |
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| 306 | |
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| 307 | int rshift = 7 - getHighBitIndex (image->red_mask); |
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| 308 | int gshift = 7 - getHighBitIndex (image->green_mask); |
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| 309 | int bshift = 7 - getHighBitIndex (image->blue_mask); |
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| 310 | |
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| 311 | for (int y=0; y<height; y++) { |
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| 312 | for (int x=0; x<width; x++) { |
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| 313 | unsigned long pixel = XGetPixel (image,x,y); |
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| 314 | unsigned char b[3]; |
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| 315 | b[0] = SHIFTL(pixel & image->red_mask,rshift); |
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| 316 | b[1] = SHIFTL(pixel & image->green_mask,gshift); |
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| 317 | b[2] = SHIFTL(pixel & image->blue_mask,bshift); |
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| 318 | fwrite (b,3,1,f); |
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| 319 | } |
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| 320 | } |
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| 321 | fclose (f); |
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| 322 | XDestroyImage (image); |
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| 323 | } |
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| 324 | |
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| 325 | |
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| 326 | void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn, |
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| 327 | int initial_pause) |
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| 328 | { |
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| 329 | pause = initial_pause; |
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| 330 | createMainWindow (window_width, window_height); |
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| 331 | glXMakeCurrent (display,win,glx_context); |
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| 332 | |
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| 333 | dsStartGraphics (window_width,window_height,fn); |
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| 334 | |
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| 335 | static bool firsttime=true; |
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| 336 | if (firsttime) |
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| 337 | { |
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| 338 | fprintf |
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| 339 | ( |
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| 340 | stderr, |
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| 341 | "\n" |
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| 342 | "Simulation test environment v%d.%02d\n" |
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| 343 | " Ctrl-P : pause / unpause (or say `-pause' on command line).\n" |
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| 344 | " Ctrl-O : single step when paused.\n" |
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| 345 | " Ctrl-T : toggle textures (or say `-notex' on command line).\n" |
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| 346 | " Ctrl-S : toggle shadows (or say `-noshadow' on command line).\n" |
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| 347 | " Ctrl-V : print current viewpoint coordinates (x,y,z,h,p,r).\n" |
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| 348 | " Ctrl-W : write frames to ppm files: frame/frameNNN.ppm\n" |
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| 349 | " Ctrl-X : exit.\n" |
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| 350 | "\n" |
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| 351 | "Change the camera position by clicking + dragging in the window.\n" |
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| 352 | " Left button - pan and tilt.\n" |
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| 353 | " Right button - forward and sideways.\n" |
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| 354 | " Left + Right button (or middle button) - sideways and up.\n" |
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| 355 | "\n",DS_VERSION >> 8,DS_VERSION & 0xff |
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| 356 | ); |
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| 357 | firsttime = false; |
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| 358 | } |
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| 359 | |
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| 360 | if (fn->start) fn->start(); |
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| 361 | |
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| 362 | int frame = 1; |
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| 363 | run = 1; |
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| 364 | while (run) { |
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| 365 | // read in and process all pending events for the main window |
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| 366 | XEvent event; |
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| 367 | while (run && XPending (display)) { |
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| 368 | XNextEvent (display,&event); |
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| 369 | handleEvent (event,fn); |
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| 370 | } |
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| 371 | |
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| 372 | dsDrawFrame (width,height,fn,pause && !singlestep); |
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| 373 | singlestep = 0; |
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| 374 | |
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| 375 | glFlush(); |
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| 376 | glXSwapBuffers (display,win); |
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| 377 | XSync (display,0); |
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| 378 | |
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| 379 | // capture frames if necessary |
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| 380 | if (pause==0 && writeframes) { |
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| 381 | captureFrame (frame); |
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| 382 | frame++; |
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| 383 | } |
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| 384 | }; |
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| 385 | |
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| 386 | if (fn->stop) fn->stop(); |
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| 387 | dsStopGraphics(); |
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| 388 | |
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| 389 | destroyMainWindow(); |
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| 390 | } |
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| 391 | |
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| 392 | |
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| 393 | extern "C" void dsStop() |
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| 394 | { |
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| 395 | run = 0; |
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| 396 | } |
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| 397 | |
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| 398 | |
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| 399 | extern "C" double dsElapsedTime() |
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| 400 | { |
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| 401 | #if HAVE_GETTIMEOFDAY |
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| 402 | static double prev=0.0; |
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| 403 | timeval tv ; |
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| 404 | |
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| 405 | gettimeofday(&tv, 0); |
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| 406 | double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ; |
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| 407 | if (!prev) |
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| 408 | prev=curr; |
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| 409 | double retval = curr-prev; |
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| 410 | prev=curr; |
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| 411 | if (retval>1.0) retval=1.0; |
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| 412 | if (retval<dEpsilon) retval=dEpsilon; |
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| 413 | return retval; |
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| 414 | #else |
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| 415 | return 0.01666; // Assume 60 fps |
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| 416 | #endif |
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| 417 | } |
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| 418 | |
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