From 9caf19335bec237d8910536fed543f641ef5f2a2 Mon Sep 17 00:00:00 2001
From: Fumio KANEHIRO <fkanehiro@gmail.com>
Date: Fri, 14 Sep 2012 03:13:18 +0000
Subject: [PATCH] adds -bg option to hrpsys-*

git-svn-id: https://hrpsys-base.googlecode.com/svn/trunk@517 a991ac11-fb38-5095-8c12-a1ddb0715245
---
 doc/utilities.h          |  3 +++
 lib/util/GLsceneBase.cpp | 10 +++++++---
 lib/util/GLsceneBase.h   |  2 ++
 util/monitor/main.cpp    |  8 +++++++-
 util/simulator/main.cpp  |  7 +++++++
 util/viewer/main.cpp     | 10 ++++++++++
 6 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/doc/utilities.h b/doc/utilities.h
index 5854b51025f..a3526e11d39 100644
--- a/doc/utilities.h
+++ b/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
 
diff --git a/lib/util/GLsceneBase.cpp b/lib/util/GLsceneBase.cpp
index a42ee085594..0e563d05022 100644
--- a/lib/util/GLsceneBase.cpp
+++ b/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];
+}
diff --git a/lib/util/GLsceneBase.h b/lib/util/GLsceneBase.h
index 2882a70a26b..89d7efc75a3 100644
--- a/lib/util/GLsceneBase.h
+++ b/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
diff --git a/util/monitor/main.cpp b/util/monitor/main.cpp
index 5d285635bab..b2940011a56 100644
--- a/util/monitor/main.cpp
+++ b/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;
     }
 
@@ -56,6 +56,7 @@ 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];
@@ -63,6 +64,10 @@ int main(int argc, char* argv[])
             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);
diff --git a/util/simulator/main.cpp b/util/simulator/main.cpp
index bfa59c88d8d..78d5ce2bd7d 100644
--- a/util/simulator/main.cpp
+++ b/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);
diff --git a/util/viewer/main.cpp b/util/viewer/main.cpp
index 614ade20d3a..b57db9b193d 100644
--- a/util/viewer/main.cpp
+++ b/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);