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emcplot3d.cc File Reference

#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glx.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <string.h>
#include "rcs.hh"
#include "emc.hh"
#include "canon.hh"
#include "interpl.hh"
#include "rs274ngc.hh"

Include dependency graph for emcplot3d.cc:

Go to the source code of this file.

Data Structures
struct	Image
struct	Point2D
struct	StewartSpecs
Defines
#define	DRIVER_ERROR(message, item)
#define	ESCAPE   27
#define	VECTOR_MAG(x, y, z)   (sqrt( (x)*(x) + (y)*(y) + (z)*(z)))
Typedefs
typedef Image	Image
Functions
void	ReadStewartSpecs (const char *filename)
GLvoid	BuildFont (GLvoid)
GLvoid	KillFont (GLvoid)
GLvoid	glPrint (char *text)
int	interpret_from_file (const char *filename, int no_stop)
void	DoCircularMove (EMC_TRAJ_CIRCULAR_MOVE *cir_move_cmd)
GLvoid	RebuildLivePlot ()
GLvoid	BuildDataPlot ()
GLvoid	BuildList ()
void	InitGL (int Width, int Height)
void	ReSizeGLScene (int Width, int Height)
void	DrawGLScene ()
void	keyPressed (unsigned char key, int x, int y)
void	specialKeyPressed (int key, int x, int y)
void	RedisplayTimerFunc (int val)
int	iniLoad (const char *filename)
int	main (int argc, char **argv)
Variables
PM_ROTATION_VECTOR	view_rv
RCS_STAT_CHANNEL *	emcStatusBuffer = 0
RCS_CMD_CHANNEL *	emcCommandBuffer = 0
RCS_LINKED_LIST *	livePlotList = 0
RCS_LINKED_LIST *	staticPlotList = 0
EmcPose	last_pose
int	timer_count = 0
int	showProgrammedPlot = 1
int	show_stewart_platform = 0
int	refresh_count = 5
double	scale = 1.0
int	timer_period = 10
int	redraw_needed = 1
StewartSpecs	stewart_platform_specs
EMC_STAT *	emcStatus = 0
int	window
GLuint	texture [1]
GLuint	plot
GLuint	lplot = 0
GLuint	plot_rotframes
GLuint	lplot_rotframes = 0
GLuint	xloop
GLuint	yloop
GLfloat	xrot = -45.0
GLfloat	yrot = -45.0
GLfloat	zrot = -45.0
GLfloat	xtran
GLfloat	ytran
GLfloat	ztran
int	show_plot_rotation_frames = 0
int	showLivePlot = 1
const char *	Filename = NULL
GLuint	base
GLfloat	cnt1
GLfloat	cnt2
double	last_x
double	last_y
double	last_z
GLUquadric *	quad = 0
int	wait_count = 0

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Define Documentation

#define DRIVER_ERROR (  message, item    )

Value: if(1) \ {fprintf(stderr, message, item); \ fprintf(stderr, "\n"); \ return RS274NGC_ERROR; } \ else Definition at line 34 of file emcplot3d.cc. Referenced by close_and_down().

#define ESCAPE   27

Definition at line 119 of file emcplot3d.cc.

#define VECTOR_MAG (  x, y, z    )     (sqrt( (x)*(x) + (y)*(y) + (z)*(z)))

Definition at line 342 of file emcplot3d.cc. Referenced by DoCircularMove().

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Typedef Documentation

typedef struct Image Image

Definition at line 152 of file emcplot3d.cc.

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Function Documentation

GLvoid BuildDataPlot (    )

Definition at line 551 of file emcplot3d.cc. Referenced by BuildList(). { FILE *f=stdin; if(Filename != NULL) { if(Filename[0] != 0) { f = fopen(Filename,"r"); } } char buf[256]; if(NULL != staticPlotList) { delete staticPlotList; staticPlotList = NULL; } staticPlotList = new RCS_LINKED_LIST(); while(!feof(f)) { fgets(buf,256,f); double x,y,z,a,b,c; x = y = z = a = b = c = 0.0; if(sscanf(buf,"%lf %lf %lf %lf %lf %lf", &x,&y,&z,&a,&b,&c) < 3) { break; } EmcPose pose; pose.tran.x = x; pose.tran.y = y; pose.tran.z = z; pose.a = a; pose.b = b; pose.c = c; staticPlotList->store_at_tail(&pose,sizeof(EmcPose),1); } if(f != stdin) { fclose(f); } plot_rotframes = glGenLists(1); // generate storage for 2 lists, and return a pointer to the first. glNewList(plot_rotframes, GL_COMPILE); EmcPose *p = (EmcPose *) staticPlotList->get_head(); while(p != NULL) { PM_RPY rpy(p->a*PM_PI/180.0,p->b*PM_PI/180.0,p->c*PM_PI/180.0); PM_ROTATION_VECTOR rv(rpy); glTranslatef(p->tran.x/emcStatus->motion.traj.linearUnits*scale, p->tran.y/emcStatus->motion.traj.linearUnits*scale, p->tran.z/emcStatus->motion.traj.linearUnits*scale); glRotatef(rv.s*180.0/PM_PI,rv.x,rv.y,rv.z); // Axis Lines. glBegin(GL_LINES); glColor3f(0.2f,1.0f,0.2f); glVertex3f(0.5f,0.0f,0.0f); glVertex3f(0.0,0.0,0.0f); glColor3f(1.0f,0.2f,0.2f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.5,0.0); glColor3f(0.2f,0.2f,1.0f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.0,0.5); glEnd(); glRotatef(-rv.s*180.0/PM_PI,rv.x,rv.y,rv.z); glTranslatef(-p->tran.x/emcStatus->motion.traj.linearUnits*scale, -p->tran.y/emcStatus->motion.traj.linearUnits*scale, -p->tran.z/emcStatus->motion.traj.linearUnits*scale); p = (EmcPose *) staticPlotList->get_next(); } glEndList(); plot = glGenLists(1); // generate storage for 2 lists, and return a pointer to the first. glNewList(plot, GL_COMPILE); glColor3f(1.0,1.0,1.0f); glBegin(GL_LINE_STRIP); p = (EmcPose *) staticPlotList->get_head(); while(p != NULL) { glVertex3f(p->tran.x/emcStatus->motion.traj.linearUnits*scale, p->tran.y/emcStatus->motion.traj.linearUnits*scale, p->tran.z/emcStatus->motion.traj.linearUnits*scale); p = (EmcPose *) staticPlotList->get_next(); } glEnd(); glEndList(); }

GLvoid BuildFont (  GLvoid    )

Definition at line 160 of file emcplot3d.cc. Referenced by InitGL(). { Display *dpy; XFontStruct *fontInfo; // storage for our font. base = glGenLists(96); // storage for 96 characters. // load the font. what fonts any of you have is going // to be system dependent, but on my system they are // in /usr/X11R6/lib/X11/fonts/*, with fonts.alias and // fonts.dir explaining what fonts the .pcf.gz files // are. in any case, one of these 2 fonts should be // on your system...or you won't see any text. // get the current display. This opens a second // connection to the display in the DISPLAY environment // value, and will be around only long enough to load // the font. dpy = XOpenDisplay(NULL); // default to DISPLAY env. fontInfo = XLoadQueryFont(dpy, "-adobe-helvetica-medium-r-normal--18-*-*-*-p-*-iso8859-1"); if (fontInfo == NULL) { fontInfo = XLoadQueryFont(dpy, "fixed"); if (fontInfo == NULL) { printf("no X font available?\n"); } } // after loading this font info, this would probably be the time // to rotate, scale, or otherwise twink your fonts. // start at character 32 (space), get 96 characters (a few characters past z), and // store them starting at base. glXUseXFont(fontInfo->fid, 32, 96, base); // free that font's info now that we've got the // display lists. XFreeFont(dpy, fontInfo); // close down the 2nd display connection. XCloseDisplay(dpy); }

GLvoid BuildList (    )

Definition at line 654 of file emcplot3d.cc. Referenced by InitGL(). { NMLmsg *cmd; // GLUquadric* quad = gluNewQuadric(); if(NULL == Filename) { BuildDataPlot(); return; } if(NULL != strstr(Filename,".data")) { BuildDataPlot(); return; } if(NULL != Filename) { if(!strncmp(Filename, "NULL",4) || !strncmp(Filename,"null",4)) { Filename = NULL; return; } } if(NULL == Filename) { return; } plot = glGenLists(1); // generate storage for 2 lists, and return a pointer to the first. interpret_from_file(Filename, 1); glNewList(plot, GL_COMPILE); // store this list at location cube, and compile it once. last_x=0.0; last_y=0.0; last_z=0.0; glColor3f(1.0f,1.0f,1.0f); glBegin(GL_LINE_STRIP); while( (cmd = interp_list.get()) > 0) { printf("%d : %s : (%s)\n",interp_list.get_line_number(), emcSymbolLookup(cmd->type),(emcCommandBuffer!=0?emcCommandBuffer->msg2str(cmd):" ")); switch(cmd->type) { case EMC_TRAJ_LINEAR_MOVE_TYPE: { EMC_TRAJ_LINEAR_MOVE *lin_move_cmd = (EMC_TRAJ_LINEAR_MOVE *) cmd; glVertex3f(last_x = lin_move_cmd->end.tran.x/emcStatus->motion.traj.linearUnits*scale, last_y = lin_move_cmd->end.tran.y/emcStatus->motion.traj.linearUnits*scale, last_z = lin_move_cmd->end.tran.z/emcStatus->motion.traj.linearUnits*scale); } break; case EMC_TRAJ_CIRCULAR_MOVE_TYPE: { EMC_TRAJ_CIRCULAR_MOVE *cir_move_cmd = (EMC_TRAJ_CIRCULAR_MOVE *) cmd; DoCircularMove(cir_move_cmd); } break; case EMC_TRAJ_SET_VELOCITY_TYPE: case EMC_TRAJ_SET_ACCELERATION_TYPE: break; default: //printf("Unrecognized cmd->type = %d\n",cmd->type); break; } } glEnd(); glEndList(); interpret_from_file(Filename, 1); plot_rotframes = glGenLists(1); glNewList(plot_rotframes, GL_COMPILE); // store this list at location cube, and compile it once. last_x=0.0; last_y=0.0; last_z=0.0; while( (cmd = interp_list.get()) > 0) { printf("%d : %s : (%s)\n",interp_list.get_line_number(), emcSymbolLookup(cmd->type),(emcCommandBuffer!=0?emcCommandBuffer->msg2str(cmd):" ")); switch(cmd->type) { case EMC_TRAJ_LINEAR_MOVE_TYPE: { EMC_TRAJ_LINEAR_MOVE *lin_move_cmd = (EMC_TRAJ_LINEAR_MOVE *) cmd; PM_RPY rpy(lin_move_cmd->end.a*PM_PI/180.0,lin_move_cmd->end.b*PM_PI/180.0,lin_move_cmd->end.c*PM_PI/180.0); PM_ROTATION_VECTOR rv(rpy); glTranslatef(lin_move_cmd->end.tran.x/emcStatus->motion.traj.linearUnits*scale, lin_move_cmd->end.tran.y/emcStatus->motion.traj.linearUnits*scale, lin_move_cmd->end.tran.z/emcStatus->motion.traj.linearUnits*scale); glRotatef(rv.s*180.0/PM_PI,rv.x,rv.y,rv.z); // Axis Lines. glBegin(GL_LINES); glColor3f(0.2f,1.0f,0.2f); glVertex3f(0.5f,0.0f,0.0f); glVertex3f(0.0,0.0,0.0f); glColor3f(1.0f,0.2f,0.2f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.5,0.0); glColor3f(0.2f,0.2f,1.0f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.0,0.5); glEnd(); glRotatef(-rv.s*180.0/PM_PI,rv.x,rv.y,rv.z); glTranslatef(-lin_move_cmd->end.tran.x/emcStatus->motion.traj.linearUnits*scale, -lin_move_cmd->end.tran.y/emcStatus->motion.traj.linearUnits*scale, -lin_move_cmd->end.tran.z/emcStatus->motion.traj.linearUnits*scale); } break; case EMC_TRAJ_SET_VELOCITY_TYPE: case EMC_TRAJ_SET_ACCELERATION_TYPE: break; default: //printf("Unrecognized cmd->type = %d\n",cmd->type); break; } } glEnd(); glEndList(); }

void DoCircularMove (  EMC_TRAJ_CIRCULAR_MOVE *    cir_move_cmd )

Definition at line 346 of file emcplot3d.cc. Referenced by BuildList(). { int simple = 0; int axis = 0; #if 0 printf("DoCircularMove :\n"); printf(" \t end = %f %f %f\n", cir_move_cmd->end.tran.x, cir_move_cmd->end.tran.y,cir_move_cmd->end.tran.z); printf(" \t normal = %f %f %f\n", cir_move_cmd->normal.x, cir_move_cmd->normal.y,cir_move_cmd->normal.z); printf(" \t center = %f %f %f\n", cir_move_cmd->center.x, cir_move_cmd->center.y,cir_move_cmd->center.z); printf(" \t turn = %d\n",cir_move_cmd->turn); printf(" \t last = %f %f %f\n", last_x, last_y, last_z); #endif double axis_diff; if(cir_move_cmd->normal.x == 0 && cir_move_cmd->normal.y == 0) { axis_diff = cir_move_cmd->end.tran.z/emcStatus->motion.traj.linearUnits*scale - last_z; simple = 1; axis = 2; } else if(cir_move_cmd->normal.x == 0 && cir_move_cmd->normal.z == 0) { axis_diff = cir_move_cmd->end.tran.y/emcStatus->motion.traj.linearUnits*scale - last_y; simple = 1; axis = 1; } else if(cir_move_cmd->normal.y == 0 && cir_move_cmd->normal.z == 0) { axis_diff = cir_move_cmd->end.tran.x/emcStatus->motion.traj.linearUnits*scale - last_x; simple = 1; axis = 0; } if(simple) { double r = VECTOR_MAG(cir_move_cmd->end.tran.x - cir_move_cmd->center.x, cir_move_cmd->end.tran.y - cir_move_cmd->center.y, cir_move_cmd->end.tran.z - cir_move_cmd->center.z)/emcStatus->motion.traj.linearUnits*scale; double start_angle, sweep_angle; switch(axis) { case 0: start_angle = atan2( last_z/emcStatus->motion.traj.linearUnits*scale-cir_move_cmd->center.z, last_y/emcStatus->motion.traj.linearUnits*scale-cir_move_cmd->center.y); sweep_angle = atan2( cir_move_cmd->end.tran.z-cir_move_cmd->center.z, cir_move_cmd->end.tran.y-cir_move_cmd->center.y); break; case 1: start_angle = atan2( last_z/emcStatus->motion.traj.linearUnits*scale-cir_move_cmd->center.z, last_x/emcStatus->motion.traj.linearUnits*scale-cir_move_cmd->center.x ); sweep_angle = atan2( cir_move_cmd->end.tran.z-cir_move_cmd->center.z, cir_move_cmd->end.tran.x-cir_move_cmd->center.x); break; case 2: start_angle = atan2( last_y/emcStatus->motion.traj.linearUnits*scale-cir_move_cmd->center.y, last_x/emcStatus->motion.traj.linearUnits*scale-cir_move_cmd->center.x); sweep_angle = atan2( cir_move_cmd->end.tran.y-cir_move_cmd->center.y, cir_move_cmd->end.tran.x-cir_move_cmd->center.x); break; } double angle_increment = 0.01; double angle = start_angle; double angle_diff = fabs(angle - sweep_angle); angle_increment = (cir_move_cmd->turn < 0)?-0.01:+0.01; double axis_increment = fabs(angle_increment/angle_diff)*axis_diff; int i = 0; double x,y,z; x = last_x; y = last_y; z = last_z; for(; i < 3 || angle_diff > 1.5*fabs(angle_increment); angle += angle_increment) { i++; //printf("angle_diff = %f\n",angle_diff); angle_diff = fabs(angle - sweep_angle); if(angle_diff > 2*PM_PI) { angle_diff -= 2*PM_PI; } switch(axis) { case 0: x += axis_increment; y = cir_move_cmd->center.y/emcStatus->motion.traj.linearUnits*scale + cos(angle)*r; z = cir_move_cmd->center.z/emcStatus->motion.traj.linearUnits*scale + sin(angle)*r; break; case 1: y += axis_increment; x = cir_move_cmd->center.x/emcStatus->motion.traj.linearUnits*scale + cos(angle)*r; z = cir_move_cmd->center.z/emcStatus->motion.traj.linearUnits*scale + sin(angle)*r; break; case 2: z += axis_increment; x = cir_move_cmd->center.x/emcStatus->motion.traj.linearUnits*scale + cos(angle)*r; y = cir_move_cmd->center.y/emcStatus->motion.traj.linearUnits*scale + sin(angle)*r; break; } //printf("angle=%f, vertex = %f %f %f\n",angle,x,y,z); glVertex3f(x,y,z); } } else { printf("Circular moves not aligned with an axis are not supported.\n"); } glVertex3f(last_x = cir_move_cmd->end.tran.x/emcStatus->motion.traj.linearUnits*scale, last_y = cir_move_cmd->end.tran.y/emcStatus->motion.traj.linearUnits*scale, last_z = cir_move_cmd->end.tran.z/emcStatus->motion.traj.linearUnits*scale); }

void DrawGLScene (    )

Definition at line 962 of file emcplot3d.cc. { if(!redraw_needed) { return; } redraw_needed=0; glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear The Screen And The Depth Buffer // glBindTexture(GL_TEXTURE_2D, texture[0]); //printf(" %f %f %f %f %f %f\n", xtran, ytran, ztran,xrot,yrot,zrot); glLoadIdentity(); char buf[256]; glTranslatef(0.0,0.0,-30.0); PM_QUATERNION view_quat(view_rv); PM_RPY view_rpy(view_quat); // Position The Text On The Screen glColor3f(1.0,0.0,0.0); glRasterPos2f(-7.0,7.0); sprintf(buf,"View Offset -- (X=%2.2f,Y=%2.2f,Z=%2.2f, Roll=%2.2f, Pitch=%2.2f, Yaw=%2.2f)", xtran,ytran,ztran-30,view_rpy.r*180.0/PM_PI,view_rpy.p*180.0/PM_PI,view_rpy.y*180.0/PM_PI); glPrint(buf); glRasterPos2f(-7.0,6.5); sprintf(buf,"EMC Position -- (X=%2.2f,Y=%2.2f,Z=%2.2f, A=%2.2f, B=%2.2f, C=%2.2f)", last_pose.tran.x,last_pose.tran.y,last_pose.tran.z, last_pose.a, last_pose.b, last_pose.c); glPrint(buf); if(NULL != Filename) { glRasterPos2f(-7.0,6.0); sprintf(buf,"Program File: %s",Filename); glPrint(buf); } PM_RPY rpy(xrot*PM_PI/180.0, yrot*PM_PI/180.0, zrot*PM_PI/180); PM_ROTATION_VECTOR rv(rpy); glTranslatef(xtran,ytran,ztran); //glRotatef(zrot,0.0,0.0,1.0); //glRotatef(yrot,0.0,1.0,0.0); //glRotatef(xrot,1.0,0.0,0.0); #if 0 glBegin(GL_LINES); glColor3f(1.0,0.0,1.0); glVertex3f(0.0,0.0,0.0); glVertex3f(2*rv.x,2*rv.y,2*rv.z); glEnd(); glColor3f(0.0,1.0,1.0); gluCylinder(quad, 0.01f, rv.s, 1.1f,100, 10); #endif glRotatef(view_rv.s*180/PM_PI,view_rv.x,view_rv.y,view_rv.z); // Axis Lines. glBegin(GL_LINES); glColor3f(0.2f,1.0f,0.2f); glVertex3f(10.0f,0.0f,0.0f); glVertex3f(0.0,0.0,0.0f); glColor3f(1.0f,0.2f,0.2f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,10.0,0.0); glColor3f(0.2f,0.2f,1.0f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.0,10.0); glEnd(); //glColor3fv(boxcol[yloop-1]); if(lplot != 0 && showLivePlot) { glCallList(lplot); if(show_plot_rotation_frames&2) { glCallList(lplot_rotframes); } } if(showProgrammedPlot && plot) { glCallList(plot); if(show_plot_rotation_frames&1) { glCallList(plot_rotframes); } } PM_RPY rpy2(last_pose.a*PM_PI/180.0,last_pose.b*PM_PI/180.0,last_pose.c*PM_PI/180.0); PM_ROTATION_VECTOR rv2(rpy2); glTranslatef(last_pose.tran.x/emcStatus->motion.traj.linearUnits*scale, last_pose.tran.y/emcStatus->motion.traj.linearUnits*scale, last_pose.tran.z/emcStatus->motion.traj.linearUnits*scale); glRotatef(rv2.s*180.0/PM_PI,rv2.x,rv2.y,rv2.z); if(1) { // Axis Lines. glBegin(GL_LINES); glColor3f(0.4f,1.0f,0.4f); glVertex3f(0.6f,0.0f,0.0f); glVertex3f(0.0,0.0,0.0f); glColor3f(1.0f,0.4f,0.4f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.6,0.0); glColor3f(0.4f,0.4f,1.0f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.0,0.6); glEnd(); glColor3f(0.5,0.5,0.5); gluCylinder(quad, 0.01f, 0.05f, 1.1, 100, 10); } glRotatef(-rv2.s*180.0/PM_PI,rv2.x,rv2.y,rv2.z); glTranslatef(-last_pose.tran.x/emcStatus->motion.traj.linearUnits*scale, -last_pose.tran.y/emcStatus->motion.traj.linearUnits*scale, -last_pose.tran.z/emcStatus->motion.traj.linearUnits*scale); if(show_stewart_platform) { glEnable(GL_BLEND); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glColor4f(1.0,0.0,0.0,0.75); glBegin(GL_POLYGON); for(int i = 0; i < 6; i++) { glVertex3f(stewart_platform_specs.plate_points[i].x, stewart_platform_specs.plate_points[i].y, 1.0); } glEnd(); glDisable(GL_BLEND); glTranslatef(-last_pose.tran.x,-last_pose.tran.y,-last_pose.tran.z); glColor4f(0.0,1.0,1.0,1.0); glBegin(GL_LINES); for(int i = 0; i < 6; i++) { glVertex3f(stewart_platform_specs.plate_points[i].x+last_pose.tran.x, stewart_platform_specs.plate_points[i].y+last_pose.tran.y, 1.0+last_pose.tran.z); glVertex3f(stewart_platform_specs.mount_points[i].x, stewart_platform_specs.mount_points[i].y, 10.0); } glEnd(); } // since this is double buffered, swap the buffers to display what just got drawn. glutSwapBuffers(); }

void InitGL (  int    Width, int    Height )

Definition at line 915 of file emcplot3d.cc. Referenced by main(). { PM_RPY rpy_zero(-PM_PI/4.0,-PM_PI/4.0,-PM_PI/4.0); PM_ROTATION_VECTOR rv_zero(rpy_zero); view_rv = rv_zero; #if 0 LoadGLTextures(); // Load The Texture(s) #endif quad = gluNewQuadric(); BuildList(); // set up our display lists. glEnable(GL_TEXTURE_2D); // Enable Texture Mapping glClearColor(0.0f, 0.0f, 0.0f, 0.0f); // Clear The Background Color To Blue glClearDepth(1.0); // Enables Clearing Of The Depth Buffer glDepthFunc(GL_LESS); // The Type Of Depth Test To Do glEnable(GL_DEPTH_TEST); // Enables Depth Testing glShadeModel(GL_SMOOTH); // Enables Smooth Color Shading glMatrixMode(GL_PROJECTION); glLoadIdentity(); // Reset The Projection Matrix gluPerspective(30.0f,(GLfloat)Width/(GLfloat)Height,0.1f,1000.0f); // Calculate The Aspect Ratio Of The Window glMatrixMode(GL_MODELVIEW); //glEnable(GL_LIGHT0); //glEnable(GL_LIGHTING); glEnable(GL_COLOR_MATERIAL); BuildFont(); }

GLvoid KillFont (  GLvoid    )

Definition at line 203 of file emcplot3d.cc. { glDeleteLists(base, 96); // delete all 96 characters. }

void ReSizeGLScene (  int    Width, int    Height )

Definition at line 947 of file emcplot3d.cc. { if (Height==0) // Prevent A Divide By Zero If The Window Is Too Small Height=1; glViewport(0, 0, Width, Height); // Reset The Current Viewport And Perspective Transformation glMatrixMode(GL_PROJECTION); glLoadIdentity(); gluPerspective(30.0f,(GLfloat)Width/(GLfloat)Height,0.1f,1000.0f); glMatrixMode(GL_MODELVIEW); }

void ReadStewartSpecs (  const char *    filename )

Definition at line 75 of file emcplot3d.cc. Referenced by main(). { stewart_platform_specs.plate_height = 1.0; for(int i = 0; i< 3; i++) { stewart_platform_specs.plate_points[2*i].x = 2.0*cos(2.0*PM_PI/3.0*i - PM_PI/30.0); stewart_platform_specs.plate_points[2*i].y = 2.0*sin(2.0*PM_PI/3.0*i - PM_PI/30.0); stewart_platform_specs.plate_points[2*i+1].x = 2.0*cos(2.0*PM_PI/3.0*i + PM_PI/30.0); stewart_platform_specs.plate_points[2*i+1].y = 2.0*sin(2.*PM_PI/3.0*i + PM_PI/30.0); } stewart_platform_specs.mount_height = 1.0; for(int i = 0; i< 3; i++) { stewart_platform_specs.mount_points[2*i+1].x = 10.0*cos(2.0*PM_PI/3.0*i +PM_PI/3.0); stewart_platform_specs.mount_points[2*i+1].y = 10.0*sin(2.0*PM_PI/3.0*i +PM_PI/3.0); stewart_platform_specs.mount_points[(2*i+2)%6].x = 10.0*cos(2.0*PM_PI/3.0*i+ PM_PI/3.0); stewart_platform_specs.mount_points[(2*i+2)%6].y = 10.0*sin(2.0*PM_PI/3.0*i+ PM_PI/3.0); } }

GLvoid RebuildLivePlot (    )

Definition at line 462 of file emcplot3d.cc. Referenced by RedisplayTimerFunc(), and keyPressed(). { GLuint lplot_temp; GLuint lplot_rotframes_temp; lplot_temp = lplot; lplot_rotframes_temp=lplot_rotframes_temp; lplot=0; lplot_rotframes=0; if(0 != lplot_temp) { glDeleteLists(lplot_temp,1); lplot_temp = 0; } if(0 != lplot_rotframes_temp) { glDeleteLists(lplot_rotframes_temp,1); lplot_rotframes_temp = 0; } lplot_temp = glGenLists(1); glNewList(lplot_temp, GL_COMPILE); glColor3f(0.0,0.0,1.0); glBegin(GL_LINE_STRIP); EmcPose *emcPose = (EmcPose *) livePlotList->get_head(); while(NULL != emcPose) { glVertex3f(emcPose->tran.x/emcStatus->motion.traj.linearUnits*scale, emcPose->tran.y/emcStatus->motion.traj.linearUnits*scale, emcPose->tran.z/emcStatus->motion.traj.linearUnits*scale); emcPose = (EmcPose *) livePlotList->get_next(); } glEnd(); glEndList(); lplot_rotframes_temp = glGenLists(1); // generate storage for 1 lists, and return a pointer to the first. glNewList(lplot_rotframes_temp, GL_COMPILE); EmcPose last_p; EmcPose *p = (EmcPose *) livePlotList->get_head(); while(p != NULL) { if( fabs(last_p.tran.x - p->tran.x) >= 0.01*emcStatus->motion.traj.linearUnits/scale || fabs(last_p.tran.y - p->tran.y) >= 0.01*emcStatus->motion.traj.linearUnits/scale || fabs(last_p.tran.z - p->tran.z) >= 0.01*emcStatus->motion.traj.linearUnits/scale || fabs(last_p.a - p->a) >= 0.1 || fabs(last_p.b - p->b) >= 0.1 || fabs(last_p.c - p->c) >= 0.1 ) { PM_RPY rpy(p->a*PM_PI/180.0,p->b*PM_PI/180.0,p->c*PM_PI/180.0); PM_ROTATION_VECTOR rv(rpy); glTranslatef(p->tran.x/emcStatus->motion.traj.linearUnits*scale, p->tran.y/emcStatus->motion.traj.linearUnits*scale, p->tran.z/emcStatus->motion.traj.linearUnits*scale); glRotatef(rv.s*180.0/PM_PI,rv.x,rv.y,rv.z); // Axis Lines. glBegin(GL_LINES); glColor3f(0.4f,1.0f,0.4f); glVertex3f(0.6f,0.0f,0.0f); glVertex3f(0.0,0.0,0.0f); glColor3f(1.0f,0.4f,0.4f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.6,0.0); glColor3f(0.4f,0.4f,1.0f); glVertex3f(0.0,0.0,0.0); glVertex3f(0.0,0.0,0.6); glEnd(); glRotatef(-rv.s*180.0/PM_PI,rv.x,rv.y,rv.z); glTranslatef(-p->tran.x/emcStatus->motion.traj.linearUnits*scale, -p->tran.y/emcStatus->motion.traj.linearUnits*scale, -p->tran.z/emcStatus->motion.traj.linearUnits*scale); last_p = *p; } p = (EmcPose *) livePlotList->get_next(); } glEndList(); lplot = lplot_temp; lplot_rotframes=lplot_rotframes_temp; }

void RedisplayTimerFunc (  int    val )

Definition at line 1304 of file emcplot3d.cc. { if(val == 1) { if(0 != emcStatusBuffer && 0 != livePlotList) { if(emcStatusBuffer->peek() == EMC_STAT_TYPE) { emcStatus = (EMC_STAT *) emcStatusBuffer->get_address(); if(last_pose.tran.x != emcStatus->motion.traj.actualPosition.tran.x || last_pose.tran.y != emcStatus->motion.traj.actualPosition.tran.y || last_pose.tran.z != emcStatus->motion.traj.actualPosition.tran.z || last_pose.a != emcStatus->motion.traj.actualPosition.a || last_pose.b != emcStatus->motion.traj.actualPosition.b || last_pose.c != emcStatus->motion.traj.actualPosition.c ) { livePlotList->store_at_tail(&(emcStatus->motion.traj.actualPosition), sizeof(EmcPose),1); timer_count++; wait_count = 0; if(timer_count%refresh_count == 0) { RebuildLivePlot(); redraw_needed=1; glutPostRedisplay(); wait_count = 0; } last_pose = emcStatus->motion.traj.actualPosition; } else { wait_count++; if(wait_count > 2*refresh_count) { if(timer_count > 0) { RebuildLivePlot(); } redraw_needed=1; glutPostRedisplay(); timer_count = 0; wait_count = 0; } } } else { wait_count++; if(wait_count > 2*refresh_count) { if(timer_count > 0) { RebuildLivePlot(); } redraw_needed=1; glutPostRedisplay(); timer_count = 0; wait_count = 0; } } glutTimerFunc(50,&RedisplayTimerFunc,1); } } }

GLvoid glPrint (  char *    text )

Definition at line 208 of file emcplot3d.cc. Referenced by DrawGLScene(). { if (text == NULL) { // if there's no text, do nothing. return; } glPushAttrib(GL_LIST_BIT); // alert that we're about to offset the display lists with glListBase glListBase(base - 32); // sets the base character to 32. glCallLists(strlen(text), GL_UNSIGNED_BYTE, text); // draws the display list text. glPopAttrib(); // undoes the glPushAttrib(GL_LIST_BIT); }

int iniLoad (  const char *    filename )  [static]

Definition at line 1376 of file emcplot3d.cc. { INIFILE inifile; const char *inistring; char version[INIFILE_MAX_LINELEN]; int saveInt; double saveDouble; // open it if (-1 == inifile.open(filename)) { return -1; } if (NULL != (inistring = inifile.find("DEBUG", "EMC"))) { // copy to global if (1 != sscanf(inistring, "%i", &EMC_DEBUG)) { EMC_DEBUG = 0; } } else { // not found, use default EMC_DEBUG = 0; } if (EMC_DEBUG & EMC_DEBUG_VERSIONS) { if (NULL != (inistring = inifile.find("VERSION", "EMC"))) { // print version sscanf(inistring, "$Revision: %s", version); rcs_print("Version: %s\n", version); } else { // not found, not fatal rcs_print("Version: (not found)\n"); } if (NULL != (inistring = inifile.find("MACHINE", "EMC"))) { // print machine rcs_print("Machine: %s\n", inistring); } else { // not found, not fatal rcs_print("Machine: (not found)\n"); } } if (NULL != (inistring = inifile.find("NML_FILE", "EMC"))) { // copy to global strcpy(EMC_NMLFILE, inistring); } else { // not found, use default } // close it inifile.close(); return 0; }

int interpret_from_file (  const char *    filename, int    no_stop )

Definition at line 263 of file emcplot3d.cc. : name of the rs274kt file */ int no_stop) /* switch which is ON or OFF */ { int status; int reads; // char trash[INTERP_TEXT_SIZE]; int program_status; program_status SET_TO RS274NGC_OK; if (rs274ngc_init() ISNT RS274NGC_OK) { printf("rs274ngc_init failed.\n"); return -1; } if (rs274ngc_open(filename) ISNT RS274NGC_OK) { printf("rs274ngc_open(%s) failed.\n",filename); return -1; } for(reads SET_TO 0; ; reads++) { interp_list.set_line_number(reads); status SET_TO rs274ngc_read(); if (status IS RS274NGC_ENDFILE) return RS274NGC_ENDFILE; if (status ISNT RS274NGC_OK) { printf("rs274ngc_read failed.\n"); return -1; #if 0 /* should not be RS274NGC_EXIT or RS274NGC_ERROR */ // fprintf(stderr, "%s\n", _interpreter_linetext); if (no_stop IS OFF) return RS274NGC_ERROR; else { program_status SET_TO RS274NGC_ERROR; rs274ngc_open(filename); /* will have been closed */ for(k SET_TO -1; k < reads; k++) /* read up to where we were */ { // read_ok SET_TO // fgets(trash, INTERP_TEXT_SIZE, _interpreter_fp); if (read_ok IS NULL) return RS274NGC_ERROR; } continue; } #endif } status SET_TO rs274ngc_execute(NULL); if (status ISNT RS274NGC_OK) { printf("rs274ngc_execute failed.\n"); return -1; #if 0 //fprintf(stderr, "%s\n", _interpreter_linetext); if (no_stop IS OFF) return RS274NGC_ERROR; else { program_status SET_TO RS274NGC_ERROR; rs274ngc_open(filename); /* will have been closed */ for(k SET_TO -1; k < reads; k++) /* read up to where we were */ { // read_ok SET_TO // fgets(trash, INTERP_TEXT_SIZE, _interpreter_fp); if (read_ok IS NULL) return RS274NGC_ERROR; } continue; } #endif } else if (status IS RS274NGC_EXIT) return program_status; } }

void keyPressed (  unsigned char    key, int    x, int    y )

Definition at line 1123 of file emcplot3d.cc. { /* If escape is pressed, kill everything. */ if (key == ESCAPE) { /* shut down our window */ glutDestroyWindow(window); /* exit the program...normal termination. */ exit(0); } else if(key == ' ') { PM_RPY rpytemp(-PM_PI/4.0,-PM_PI/4.0,-PM_PI/4.0); PM_ROTATION_VECTOR rvtemp(rpytemp); view_rv = rvtemp; xtran = 0.0; ytran = 0.0; ztran = 0.0; xrot = -45.0; yrot = -45.0; zrot = -45.0; } else if(key == 'x' || key == 'X') { PM_RPY rpytemp(-PM_PI/2.0,-PM_PI/2.0,0.0); PM_ROTATION_VECTOR rvtemp(rpytemp); view_rv = rvtemp; } else if(key == 'y' || key == 'Y') { PM_RPY rpytemp(-PM_PI/2.0,0.0,0.0); PM_ROTATION_VECTOR rvtemp(rpytemp); view_rv = rvtemp; } else if(key == 'z' || key == 'Z') { PM_RPY rpytemp(0.0,0.0,0.0); PM_ROTATION_VECTOR rvtemp(rpytemp); view_rv = rvtemp; } else if(key == 'k' || key == 'K') { PM_RPY rpytemp(-PM_PI/4.0,-PM_PI/4.0,-PM_PI/4.0); PM_ROTATION_VECTOR rvtemp(rpytemp); view_rv = rvtemp; } else if(key == 'c' || key == 'C') { if(NULL != livePlotList) { delete livePlotList; livePlotList = new RCS_LINKED_LIST; } RebuildLivePlot(); } else if(key == 'p' || key == 'P') { showProgrammedPlot = !showProgrammedPlot; } else if(key == 's' || key == 'S') { show_stewart_platform = !show_stewart_platform; } else if(key == 'r' || key == 'R') { show_plot_rotation_frames++; show_plot_rotation_frames %=4; } else if(key == 'l' || key == 'L') { showLivePlot = !showLivePlot; } redraw_needed=1; glutPostRedisplay(); }

int main (  int    argc, char **    argv )

Definition at line 1439 of file emcplot3d.cc. { // process command line args emcGetArgs(argc, argv); // initialize globals emcInitGlobals(); // get configuration information iniLoad(EMC_INIFILE); // load rs274ngc parameters. rs274ngc_ini_load(EMC_INIFILE); emcStatusBuffer = new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "xemc", EMC_NMLFILE); if (! emcStatusBuffer->valid()) { printf("emcStatusBuffer NOT valid.\n"); printf("\n -- \tYou can ignore any errors above this line \n" "\t if all you want to do is view a tool path from \n" "\t an rs274ngc program, but plotting\n" "\t live EMC movement will not be possible.\n\n"); emcStatus = new EMC_STAT(); emcStatus->motion.traj.position.tran.x = 0.0; emcStatus->motion.traj.position.tran.y = 0.0; emcStatus->motion.traj.position.tran.z = 0.0; emcStatus->motion.traj.position.a = 0.0; emcStatus->motion.traj.position.b = 0.0; emcStatus->motion.traj.position.c = 0.0; emcStatus->motion.traj.queue =0; emcStatus->motion.traj.velocity=1.0; emcStatus->motion.traj.maxVelocity=1.0; emcStatus->motion.traj.linearUnits=0.03937007874016; emcStatus->motion.traj.angularUnits=1.0; emcStatus->io.tool.toolInSpindle=0; emcStatus->io.coolant.flood=0; emcStatus->io.tool.toolPrepped=0; } else { if(emcStatusBuffer->peek() == EMC_STAT_TYPE) { emcStatus = (EMC_STAT *) emcStatusBuffer->get_address(); } livePlotList = new RCS_LINKED_LIST(); } emcCommandBuffer = new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "xemc", EMC_NMLFILE); printf("\n********************************************************\n\n"); printf("EMC 3-D Plotter\n"); printf("\nKeyboard Controls:\n"); printf("\tTranslate X: \t<LEFT ARROW KEY>/<RIGHT ARROW KEY>\n"); printf("\tTranslate Y: \t<UP ARROW KEY>/<DOWN ARROW KEY>\n"); printf("\tTranslate Z: \t<PAGE UP KEY>/<PAGE DOWN KEY>\n"); printf("\n"); printf("\tRotate around X axis: \t<SHIFT><LEFT ARROW KEY>/<SHIFT><RIGHT ARROW KEY>\n"); printf("\tRotate around Y axis: \t<SHIFT><UP ARROW KEY>/<SHIFT><DOWN ARROW KEY>\n"); printf("\tRotate around Z axis: \t<SHIFT><PAGE UP KEY>/<SHIFT><PAGE DOWN KEY>\n"); printf("\n"); printf("\tView from X perspective: \tx\n"); printf("\tView from Y perspective: \ty\n"); printf("\tView from Z perspective: \tz\n"); printf("\tView from 45 degree angle: \tk\n"); printf("\tReset view: \t<SPACE KEY>\n"); printf("\tClear live plot(Blue): \tc\n"); printf("\tToggle display of programmed plot(White) \tp\n"); printf("\tToggle display of rotation frames \tr\n"); printf("\tToggle display of live plot(Blue) \tl\n"); printf("\tQuit: \t<ESC KEY>\n"); printf("\n********************************************************\n\n"); /* Initialize GLUT state - glut will take any command line arguments that pertain to it or X Windows - look at its documentation at http://reality.sgi.com/mjk/spec3/spec3.html */ glutInit(&argc, argv); /* Select type of Display mode: Double buffer RGBA color Alpha components supported Depth buffer */ glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_ALPHA | GLUT_DEPTH); for(int i = 0; i < argc; i++) { if((!strcmp(argv[i],"-prog") || !strcmp(argv[i],"--prog")) && i < argc -1) { Filename = argv[++i]; } if(!strcmp(argv[i],"-f") && i < argc -1) { Filename = argv[++i]; } if((!strcmp(argv[i],"-r") || !strcmp(argv[i],"--refresh")) && i < argc -1) { refresh_count = strtol(argv[++i],0,0); } if((!strcmp(argv[i],"-s") || !strcmp(argv[i],"--scale")) && i < argc -1) { scale = strtod(argv[++i],0); } if(!strcmp(argv[i],"-t") || !strcmp(argv[i],"--timer") && i < argc -1) { timer_period = strtol(argv[++i],0,0); } if(!strcmp("--stewart",argv[i])) { show_stewart_platform = 1; if(argc > i+1) { printf("Showing stewart platform %s\n",argv[i+1]); ReadStewartSpecs(argv[++i]); } else { ReadStewartSpecs(NULL); } } } /* get a 640 x 480 window */ glutInitWindowSize(640, 480); /* the window starts at the upper left corner of the screen */ glutInitWindowPosition(0, 0); /* Open a window */ window = glutCreateWindow("EMC 3-D Plotter"); /* Register the function to do all our OpenGL drawing. */ glutDisplayFunc(&DrawGLScene); /* Go fullscreen. This is as soon as possible. */ glutFullScreen(); /* Even if there are no events, redraw our gl scene. */ //glutIdleFunc(&DrawGLScene); /* Register the function called when our window is resized. */ glutReshapeFunc(&ReSizeGLScene); /* Register the function called when the keyboard is pressed. */ glutKeyboardFunc(&keyPressed); /* Register the function called when special keys (arrows, page down, etc) are pressed. */ glutSpecialFunc(&specialKeyPressed); /* Initialize our window. */ InitGL(640, 480); /* Start timer function to check EMC status every 50 milliseconds.*/ if(0 != emcStatusBuffer) { glutTimerFunc(timer_period,&RedisplayTimerFunc,1); } /* Start Event Processing Engine */ glutMainLoop(); if(0 != emcStatusBuffer) { delete emcStatusBuffer; emcStatusBuffer=0; } if(0 != emcCommandBuffer) { delete emcCommandBuffer; emcCommandBuffer=0; } return 1; }

void specialKeyPressed (  int    key, int    x, int    y )

Definition at line 1201 of file emcplot3d.cc. { int modifiers; modifiers = glutGetModifiers(); if(modifiers & GLUT_ACTIVE_SHIFT) { PM_QUATERNION view_quat(view_rv); switch (key) { case GLUT_KEY_UP: { PM_ROTATION_VECTOR rv_up(2.0*PM_PI/180,0.0,1.0,0.0); PM_QUATERNION quat_up(rv_up); view_rv = view_quat *quat_up; } break; case GLUT_KEY_DOWN: { PM_ROTATION_VECTOR rv_down(-2.0*PM_PI/180,0.0,1.0,0.0); PM_QUATERNION quat_down(rv_down); view_rv = view_quat *quat_down; } break; case GLUT_KEY_LEFT: { PM_ROTATION_VECTOR rv_left(-2.0*PM_PI/180,1.0,0.0,0.0); PM_QUATERNION quat_left(rv_left); view_rv = view_quat *quat_left; } break; case GLUT_KEY_RIGHT: { PM_ROTATION_VECTOR rv_right(2.0*PM_PI/180,1.0,0.0,0.0); PM_QUATERNION quat_right(rv_right); view_rv = view_quat *quat_right; } break; case GLUT_KEY_PAGE_UP: { PM_ROTATION_VECTOR rv_zup(2.0*PM_PI/180,0.0,0.0,1.0); PM_QUATERNION quat_zup(rv_zup); view_rv = view_quat *quat_zup; } break; case GLUT_KEY_PAGE_DOWN: { PM_ROTATION_VECTOR rv_zdown(-2.0*PM_PI/180,0.0,0.0,1.0); PM_QUATERNION quat_zdown(rv_zdown); view_rv = view_quat *quat_zdown; } break; default: printf ("Special key %d pressed. No action there yet.\n", key); break; } /* printf("view_rv : %f %f %f %f\n", view_rv.s, view_rv.x, view_rv.y,view_rv.z); */ } else { switch (key) { case GLUT_KEY_UP: ytran += 0.2f; break; case GLUT_KEY_DOWN: ytran -= 0.2f; break; case GLUT_KEY_LEFT: xtran -= 0.2f; break; case GLUT_KEY_RIGHT: xtran += 0.2f; break; case GLUT_KEY_PAGE_UP: ztran -= 0.2f; break; case GLUT_KEY_PAGE_DOWN: ztran += 0.2f; break; default: printf ("Special key %d pressed. No action there yet.\n", key); break; } } redraw_needed=1; glutPostRedisplay(); }

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Variable Documentation

const char* Filename = NULL

Definition at line 154 of file emcplot3d.cc.

GLuint base

Definition at line 156 of file emcplot3d.cc.

GLfloat cnt1

Definition at line 157 of file emcplot3d.cc.

GLfloat cnt2

Definition at line 158 of file emcplot3d.cc.

RCS_CMD_CHANNEL* emcCommandBuffer = 0 [static]

Definition at line 42 of file emcplot3d.cc.

EMC_STAT* emcStatus = 0

Definition at line 115 of file emcplot3d.cc.

RCS_STAT_CHANNEL* emcStatusBuffer = 0 [static]

Definition at line 41 of file emcplot3d.cc.

EmcPose last_pose [static]

Definition at line 45 of file emcplot3d.cc.

double last_x

Definition at line 344 of file emcplot3d.cc.

double last_y

Definition at line 344 of file emcplot3d.cc.

double last_z

Definition at line 344 of file emcplot3d.cc.

RCS_LINKED_LIST* livePlotList = 0 [static]

Definition at line 43 of file emcplot3d.cc.

GLuint lplot = 0

Definition at line 128 of file emcplot3d.cc.

GLuint lplot_rotframes = 0

Definition at line 130 of file emcplot3d.cc.

GLuint plot

Definition at line 127 of file emcplot3d.cc.

GLuint plot_rotframes

Definition at line 129 of file emcplot3d.cc.

GLUquadric* quad = 0

Definition at line 912 of file emcplot3d.cc.

int redraw_needed = 1 [static]

Definition at line 70 of file emcplot3d.cc.

int refresh_count = 5 [static]

Definition at line 67 of file emcplot3d.cc.

double scale = 1.0 [static]

Definition at line 68 of file emcplot3d.cc.

int showLivePlot = 1

Definition at line 143 of file emcplot3d.cc.

int showProgrammedPlot = 1 [static]

Definition at line 47 of file emcplot3d.cc.

int show_plot_rotation_frames = 0

Definition at line 142 of file emcplot3d.cc.

int show_stewart_platform = 0 [static]

Definition at line 48 of file emcplot3d.cc.

RCS_LINKED_LIST* staticPlotList = 0 [static]

Definition at line 44 of file emcplot3d.cc.

StewartSpecs stewart_platform_specs [static]

Definition at line 73 of file emcplot3d.cc.

GLuint texture[1]

Definition at line 125 of file emcplot3d.cc.

int timer_count = 0 [static]

Definition at line 46 of file emcplot3d.cc.

int timer_period = 10 [static]

Definition at line 69 of file emcplot3d.cc.

PM_ROTATION_VECTOR view_rv

Definition at line 31 of file emcplot3d.cc.

int wait_count = 0 [static]

Definition at line 1301 of file emcplot3d.cc.

int window

Definition at line 122 of file emcplot3d.cc.

GLuint xloop

Definition at line 131 of file emcplot3d.cc.

GLfloat xrot = -45.0

Definition at line 134 of file emcplot3d.cc.

GLfloat xtran

Definition at line 138 of file emcplot3d.cc.

GLuint yloop

Definition at line 132 of file emcplot3d.cc.

GLfloat yrot = -45.0

Definition at line 135 of file emcplot3d.cc.

GLfloat ytran

Definition at line 139 of file emcplot3d.cc.

GLfloat zrot = -45.0

Definition at line 136 of file emcplot3d.cc.

GLfloat ztran

Definition at line 140 of file emcplot3d.cc.

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