vpVwstack.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Le module "vwstack.c" contient les procedures de gestion
 * de la pile des points de vue (VieW STACK).
 *
 * Authors:
 * Jean-Luc CORRE
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

#ifndef DOXYGEN_SHOULD_SKIP_THIS

#include    <stdio.h>
#include    <string.h>
#include    <limits>
#include    <cmath> // std::fabs()

// #include <varargs.h> /* modif Fedora
#include    <stdarg.h>

#include    <visp3/robot/vpMy.h>
#include    <visp3/robot/vpArit.h>
#include    <visp3/robot/vpView.h>
#include    <visp3/robot/vpVwstack.h>


#define STACKSIZE   4


static  View_parameters stack[STACKSIZE]= { vpDEFAULT_VIEW };
static  View_parameters *sp     = stack;

/*
 * La procedure "fprintf_vwstack" affiche un parametre du sommet
 * de la pile des prises de vue.
 * Entree :
 * fp       Fichier de sortie.
 * argv     Argument a afficher.
 *      Si argv est nul, tous les parametres sont affiches.
 */
void
fprintf_vwstack (FILE *fp, char *argv)
{
    static   char   proc_name[] = "fprintf_vwstack";

    if (argv == NULL || strcmp (argv, "type") == 0) {
    const char  *typetoa;

        switch (sp->type) {
        case PARALLEL   :
            typetoa = "parallel";
            break;
        case PERSPECTIVE :
            typetoa = "perspective";
            break;
        default :
            typetoa = "unknown";
            break;
        }
        fprintf (fp, "(type\t%s)\n", typetoa);
        if (argv != NULL) return;
    }
    if (argv == NULL || strcmp (argv, "cop") == 0) {
        fprintf (fp, "(cop\t%.3f\t%.3f\t%.3f)\n",
            sp->cop.x, sp->cop.y, sp->cop.z);
        if (argv != NULL) return;
    }
    if (argv == NULL || strcmp (argv, "vrp") == 0) {
        fprintf (fp, "(vrp\t%.3f\t%.3f\t%.3f)\n",
            sp->vrp.x, sp->vrp.y, sp->vrp.z);
        if (argv != NULL) return;
    }
    if (argv == NULL || strcmp (argv, "vpn") == 0) {
        fprintf (fp, "(vpn\t%.3f\t%.3f\t%.3f)\n",
            sp->vpn.x, sp->vpn.y, sp->vpn.z);
        if (argv != NULL) return;
    }
    if (argv == NULL || strcmp (argv, "vup") == 0) {
        fprintf (fp, "(vup\t%.3f\t%.3f\t%.3f)\n",
            sp->vup.x, sp->vup.y, sp->vup.z);
        if (argv != NULL) return;
    }
    if (argv == NULL || strcmp (argv, "window") == 0) {
        fprintf (fp, "(window\t%.3f\t%.3f\t%.3f\t%.3f)\n",
             sp->vwd.umin,sp->vwd.umax,sp->vwd.vmin,sp->vwd.vmax);
        if (argv != NULL) return;
    }
    if (argv == NULL || strcmp (argv, "depth") == 0) {
        fprintf (fp, "(depth\t%.3f\t%.3f)\n",
            sp->depth.front, sp->depth.back);
        if (argv != NULL) return;
    }
    if (argv != NULL)
        fprintf (stderr, "%s: argument unknown\n", proc_name);
}

/*
 * La procedure "get_vwstack" retourne le point de vue au sommet
 * de la pile des points de vue.
 * Sortie :
 *      Pointeur sur le point de vue du sommet de la pile.
 */
View_parameters *
get_vwstack (void)
{
    return (sp);
}

/*
 * La procedure "load_vwstack" charge un point de vue au sommet
 * de la pile des points de vue.
 * Entree :
 * vp       Point de vue a charger.
 */
void
load_vwstack (View_parameters *vp)
{
    *sp = *vp;
}

/*
 * La procedure "pop_vwstack" depile le point de vue au sommet
 * de la pile des points de vue.
 */
void
pop_vwstack (void)
{
    static  char    proc_name[] = "pop_vwstack";

    if (sp == stack) {
        fprintf (stderr, "%s: stack underflow\n", proc_name);
        return;
    }
    else    sp--;
}

/*
 * La procedure "push_vwstack" empile et duplique le point de vue au sommet
 * de la pile des points de vue.
 */
void
push_vwstack (void)
{
    static  char    proc_name[] = "push_vwstack";

    if (sp == stack + STACKSIZE - 1) {
        fprintf (stderr, "%s: stack overflow\n", proc_name);
        return;
    }
    sp++;
    *sp = *(sp - 1);
}

/*
 * La procedure "swap_vwstack" echange les deux premiers elements
 * de la pile des points de vue.
 */
void
swap_vwstack (void)
{
    View_parameters *vp, tmp;

    vp = (sp == stack) ? sp + 1 : sp - 1;
    SWAP(*sp, *vp, tmp);
}

/*
 * La procedure "add_vwstack" modifie un agrument du point de vue au sommet
 * de la pile des points de vue.
 * Entree :
 * va_alist Nom de l'argument a modifier suivi de ses parametres.
 */

void
add_vwstack (const char* path, ... )
//add_vwstack (va_alist)
// va_dcl
{
    static  char    proc_name[] = "add_vwstack";

        va_list ap;
    char    *argv;

    va_start (ap,path);
    argv = va_arg (ap, char *);
    if (strcmp (argv, "cop") == 0) {
        /* initialise le centre de projection   */
        SET_COORD3(sp->cop,
            (float) va_arg (ap, double),
            (float) va_arg (ap, double),
            (float) va_arg (ap, double));
    }
    else if (strcmp (argv, "depth") == 0) {
        /* initialise les distances des plans de decoupage  */
        sp->depth.front = (float) va_arg (ap, double);
        sp->depth.back  = (float) va_arg (ap, double);
    }
    else if (strcmp (argv, "type") == 0) {
        /* initialise le type de projection */
        sp->type = (Type) va_arg (ap, int);
    }
    else if (strcmp (argv, "vpn") == 0) {
        /* initialise le vecteur normal au plan */
        float   x = (float) va_arg (ap, double);
        float   y = (float) va_arg (ap, double);
        float   z = (float) va_arg (ap, double);

        //if (x == 0 && y == 0 && z == 0)
    if (std::fabs(x) <= std::numeric_limits<double>::epsilon() && std::fabs(y) <= std::numeric_limits<double>::epsilon() && std::fabs(z) <= std::numeric_limits<double>::epsilon())
            fprintf (stderr, "%s: bad vpn\n", proc_name);
        else {
            SET_COORD3(sp->vpn,x,y,z);
        }
    }
    else if (strcmp (argv, "vrp") == 0) {
        /* initialise le vecteur de reference   */
        SET_COORD3(sp->vrp,
            (float) va_arg (ap, double),
            (float) va_arg (ap, double),
            (float) va_arg (ap, double));
    }
    else if (strcmp (argv, "vup") == 0) {
        /* initialise le vecteur haut du plan   */
        float   x = (float) va_arg (ap, double);
        float   y = (float) va_arg (ap, double);
        float   z = (float) va_arg (ap, double);

        //if (x == 0 && y == 0 && z == 0)
    if (std::fabs(x) <= std::numeric_limits<double>::epsilon() && std::fabs(y) <= std::numeric_limits<double>::epsilon() && std::fabs(z) <= std::numeric_limits<double>::epsilon())
            fprintf (stderr, "%s: bad vup\n", proc_name);
        else {
            SET_COORD3(sp->vup,x,y,z);
        }
    }
    else if (strcmp (argv, "window") == 0) {
        /* initialise la fenetre de projection  */
        sp->vwd.umin = (float) va_arg (ap, double);
        sp->vwd.umax = (float) va_arg (ap, double);
        sp->vwd.vmin = (float) va_arg (ap, double);
        sp->vwd.vmax = (float) va_arg (ap, double);
    }
    else
        fprintf (stderr, "%s: bad argument\n", proc_name);
    va_end (ap);
}

#endif