a simple decor test in maintraj

osudrl · Aug 9, 2018 · f71deb7 · f71deb7
1 parent e2adb16
commit f71deb7
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Showing 5 changed files with 41 additions and 5 deletions.
diff --git a/src/decor.c b/src/decor.c
@@ -1,9 +1,27 @@
 #include "decor.h"
 
+void decor_single_sphere(traj_info_t* traj_info, mjvScene* scn, int num)
+{
+    mjvGeom* sphere = scn->geoms + scn->ngeom++;
+
+    mjv_initGeom(sphere,
+        2,
+        traj_info->decor.size + 3*num,
+        traj_info->decor.pos + 3*num,
+        NULL,
+        traj_info->decor.color + 4*num);
+
+}
 
-void decor_showdecor(traj_info_t* traj_info)
+
+void decor_showdecor(traj_info_t* traj_info, mjvScene* scn)
 {
-	//no idea what to do lel
+    int i;
+
+    for (i = 0; i < traj_info->decor.count && i < DECOR_BUF_SIZE; i++)
+    {
+        decor_single_sphere(traj_info, scn, i);
+    }
 }
 
 

diff --git a/src/decor.h b/src/decor.h
@@ -3,7 +3,8 @@
 #define DECORATE_H
 
 #include "main.h"
+#include "mujoco.h"
 
-void decor_showdecor(traj_info_t* traj_info);
+void decor_showdecor(traj_info_t* traj_info, mjvScene* scn);
 
 #endif
diff --git a/src/main-traj.c b/src/main-traj.c
@@ -111,6 +111,20 @@ void nodes_recolor(traj_info_t* traj_info)
 
 void traj_foreach_frame(traj_info_t* traj_info)
 {
+    traj_info->decor.pos[0] = 0;
+    traj_info->decor.pos[1] = 0;
+    traj_info->decor.pos[2] = 1;
+
+    traj_info->decor.size[0] = 0.02;
+    traj_info->decor.size[1] = 0.02;
+    traj_info->decor.size[2] = 0.02;
+
+    traj_info->decor.color[0] = .5;
+    traj_info->decor.color[1] = .5;
+    traj_info->decor.color[2] = .5;
+    traj_info->decor.color[3] = 1;
+
+    traj_info->decor.count = 1;
 
     allow_node_transformations(traj_info);
 

diff --git a/src/main.h b/src/main.h
@@ -79,7 +79,8 @@ enum pert_type_e
 struct _decor_t_
 {
     int count;
-    double pos[3 * DECOR_BUF_SIZE];
+    mjtNum pos[3 * DECOR_BUF_SIZE];
+    mjtNum size[3 * DECOR_BUF_SIZE];
     float color[4 * DECOR_BUF_SIZE];
 };
 typedef struct _decor_t_ decor_t;

diff --git a/src/simulate.c b/src/simulate.c
@@ -153,6 +153,8 @@ void reset_traj_info()
     traj_info.selection.node_type = NODE_POSITIONAL;
     traj_info.selection.jointnum =  34;
     traj_info.selection.nodecount = 50;
+
+    traj_info.decor.count = 0;
 
     // ik_default_fill_solver_params(&(traj_info.params));
 
@@ -1166,7 +1168,7 @@ void render(GLFWwindow* window)
     // update scene
     mjv_updateScene(m, d, &vopt, &pert, &cam, mjCAT_ALL, &scn);
 
-    decor_showdecor(&traj_info);
+    decor_showdecor(&traj_info, &scn);
     // render
     mjr_render(rect, &scn, &con);