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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