adds -bg option to hrpsys-*

git-svn-id: https://hrpsys-base.googlecode.com/svn/trunk@517 a991ac11-fb38-5095-8c12-a1ddb0715245

doc/utilities.h

@@ -38,6 +38,7 @@ hrpsys-simulator-jython [project file] [jython script] [options]
 -endless never finish simulation<br>
 -showsensor show sensor output<br>
 -size size specify initial window size<br>
+-bg r g b background color
 
 \section hrpsys-simulator-python hrpsys-simulator-python
 
@@ -51,6 +52,7 @@ usebbox use bounding boxes instead of actual geometries<br>
 endless never finish simulation<br>
 showsensor show sensor output<br>
 size [size] set window size<br>
+bg [r] [g] [b] background color
 
 Note:NameSever and openhrp-model-loader must be running
 
@@ -75,6 +77,7 @@ hrpsys-monitor [project file] [-rh rtcName] [-sh rtcName] [-size size]
 -rh name of %RTC which provides OpenHRP::RobotHardwareService (default:RobotHardware0)<br>
 -sh name of %RTC which provides OpenHRP::StateHolderService (default:StateHolder0)<br>
 -size initial window size<br>
+-bg r g b background color
 
 Note:NameSever and openhrp-model-loader must be running
 

lib/util/GLsceneBase.cpp

@@ -39,6 +39,7 @@ GLsceneBase::GLsceneBase(LogManagerBase *i_log) :
  m_default_camera->setViewTarget(0,0,0.8);
  m_camera = m_default_camera;
  m_sem = SDL_CreateSemaphore(0);
+ m_bgColor[0] = m_bgColor[1] = m_bgColor[2] = 0.0;
 
  hrp::Light::nextId = 2;
 }
@@ -174,9 +175,7 @@ void GLsceneBase::init()
  glewInit();
  initLights();
 
- //glClearColor(0.4, 0.4, 0.55, 1.0);
- //glClearColor(0.2, 0.2, 0.5, 1.0);
- glClearColor(0.0, 0.0, 0.0, 1.0);
+ glClearColor(m_bgColor[0], m_bgColor[1], m_bgColor[2], 0.0);
  glEnable(GL_DEPTH_TEST);
 
  glEnable(GL_CULL_FACE);
@@ -422,3 +421,8 @@ hrp::BodyPtr GLsceneBase::targetObject()
  return hrp::BodyPtr();
  }
 }
+
+void GLsceneBase::setBackGroundColor(float rgb[3])
+{
+ for (int i=0; i<3; i++) m_bgColor[i] = rgb[i];
+}

lib/util/GLsceneBase.h

@@ -57,6 +57,7 @@ class GLsceneBase : virtual public hrp::World<hrp::ConstraintForceSolver>
  void addBody(hrp::BodyPtr i_body);
  void maxEdgeLen(double i_len);
  hrp::BodyPtr targetObject();
+ void setBackGroundColor(float rgb[3]);
 protected:
  enum {REQ_NONE, REQ_CLEAR, REQ_CAPTURE};
 
@@ -77,6 +78,7 @@ class GLsceneBase : virtual public hrp::World<hrp::ConstraintForceSolver>
  std::string m_fname;
  double m_maxEdgeLen;
  int m_targetObject;
+ float m_bgColor[3];
 };
 
 #endif

util/monitor/main.cpp

@@ -44,7 +44,7 @@ hrp::BodyPtr createBody(const std::string& name, const ModelItem& mitem,
 int main(int argc, char* argv[]) 
 {
  if (argc < 2){
- std::cerr << "Usage:" << argv[0] << " project.xml [-rh RobotHardwareComponent] [-sh StateHolder component] [-size size]" << std::endl;
+ std::cerr << "Usage:" << argv[0] << " project.xml [-rh RobotHardwareComponent] [-sh StateHolder component] [-size size] [-bg r g b]" << std::endl;
  return 1;
  }
 
@@ -56,13 +56,18 @@ int main(int argc, char* argv[])
 
  char *rhname = NULL, *shname = NULL;
  int wsize = 0;
+ float bgColor[] = {0,0,0};
  for (int i = 2; i<argc; i++){
  if (strcmp(argv[i], "-rh")==0){
  rhname = argv[++i];
  }else if(strcmp(argv[i], "-sh")==0){
  shname = argv[++i];
  }else if(strcmp(argv[i], "-size")==0){
  wsize = atoi(argv[++i]);
+ }else if(strcmp(argv[i], "-bg")==0){
+ bgColor[0] = atof(argv[++i]);
+ bgColor[1] = atof(argv[++i]);
+ bgColor[2] = atof(argv[++i]);
  }
  }
 
@@ -119,6 +124,7 @@ int main(int argc, char* argv[])
  }
  //==================== viewer ===============
  GLscene scene(&log);
+ scene.setBackGroundColor(bgColor);
 
  SDLwindow window(&scene, &log, &monitor);
  window.init(wsize, wsize);

util/simulator/main.cpp

@@ -100,6 +100,7 @@ int main(int argc, char* argv[])
  return 1;
  }
 
+ float bgColor[]={0,0,0};
  for (int i=2; i<argc; i++){
  if (strcmp("-nodisplay",argv[i])==0){
  display = false;
@@ -122,6 +123,10 @@ int main(int argc, char* argv[])
  }else if(strcmp("-record", argv[i])==0){
  record = true;
  exitOnFinish = true;
+ }else if(strcmp("-bg", argv[i])==0){
+ bgColor[0] = atof(argv[++i]);
+ bgColor[1] = atof(argv[++i]);
+ bgColor[2] = atof(argv[++i]);
  }
  }
 
@@ -140,6 +145,7 @@ int main(int argc, char* argv[])
  && strcmp(argv[i], "-max-edge-length")
  && strcmp(argv[i], "-exit-on-finish")
  && strcmp(argv[i], "-record")
+ && strcmp(argv[i], "-bg")
  ){
  rtmargv.push_back(argv[i]);
  rtmargc++;
@@ -167,6 +173,7 @@ int main(int argc, char* argv[])
  //==================== Viewer setup ===============
  LogManager<SceneState> log;
  GLscene scene(&log);
+ scene.setBackGroundColor(bgColor);
  scene.showSensors(showsensors);
  scene.maxEdgeLen(maxEdgeLen);
  scene.showCollision(prj.view().showCollision);

util/viewer/main.cpp

@@ -18,6 +18,15 @@ using namespace OpenHRP;
 
 int main(int argc, char *argv[])
 {
+ float bgColor[3];
+ for (int i=1; i<argc; i++){
+ if (strcmp(argv[i], "-bg")==0){
+ bgColor[0] = atof(argv[++i]);
+ bgColor[1] = atof(argv[++i]);
+ bgColor[2] = atof(argv[++i]);
+ }
+ }
+
  CORBA::ORB_var orb = CORBA::ORB::_nil();
 
  try {
@@ -39,6 +48,7 @@ int main(int argc, char *argv[])
 
  LogManager<OpenHRP::WorldState> log;
  GLscene scene(&log);
+ scene.setBackGroundColor(bgColor);
 
  OnlineViewer_impl* OnlineViewerImpl 
  = new OnlineViewer_impl(orb, poa, &scene, &log);