independent footprint/trail length for each model

Author: rtv

libstage/canvas.cc

@@ -999,7 +999,11 @@ void Canvas::renderFrame()
     colorstack.Push(0.8, 0.8, 1.0); // pale blue
     glRectf(0, 0, width, height);
     colorstack.Push(0, 0, 0); // black
-    Gl::draw_string(margin, margin, 0, clockstr.c_str());
+
+    //char buf[ clockstr.size() ];
+    //strcpy( buf, clockstr.c_str() );
+
+    Gl::draw_string(margin, margin, 0, clockstr.c_str() );
     colorstack.Pop();
     colorstack.Pop();
 

libstage/model.cc

@@ -144,8 +144,6 @@ using namespace Stg;
 
 // static members
 uint32_t Model::count(0);
-uint32_t Model::trail_length(50);
-uint64_t Model::trail_interval(5);
 std::map<Stg::id_t, Model *> Model::modelsbyid;
 std::map<std::string, creator_t> Model::name_map;
 
@@ -238,8 +236,8 @@ Model::Model(World *world, Model *parent, const std::string &type, const std::st
       interval_energy((usec_t)1e5), // 100msec
       last_update(0), log_state(false), map_resolution(0.1), mass(0), parent(parent), pose(),
       power_pack(NULL), pps_charging(), rastervis(), rebuild_displaylist(true), say_string(),
-      stack_children(true), stall(false), subs(0), thread_safe(false), trail(trail_length),
-      trail_index(0), type(type), event_queue_num(0), used(false), watts(0.0), watts_give(0.0),
+      stack_children(true), stall(false), subs(0), thread_safe(false), trail(20),
+      trail_index(0),  trail_interval(10), type(type), event_queue_num(0), used(false), watts(0.0), watts_give(0.0),
       watts_take(0.0), wf(NULL), wf_entity(0), world(world),
       world_gui(dynamic_cast<WorldGui *>(world))
 {
@@ -735,7 +733,7 @@ void Model::UpdateTrail()
   item->color = color;
 
   // wrap around ring buffer
-  trail_index %= trail_length;
+  trail_index %= trail.size();
 }
 
 Model *Model::GetUnsubscribedModelOfType(const std::string &type) const
@@ -1407,9 +1405,8 @@ void Model::Load()
 
   Say(wf->ReadString(wf_entity, "say", ""));
 
-  trail_length = wf->ReadInt(wf_entity, "trail_length", trail_length);
+  int trail_length = wf->ReadInt(wf_entity, "trail_length", (int)trail.size() );
   trail.resize(trail_length);
-
   trail_interval = wf->ReadInt(wf_entity, "trail_interval", trail_interval);
 
   this->alwayson = wf->ReadInt(wf_entity, "alwayson", alwayson);

libstage/model_draw.cc

@@ -49,25 +49,27 @@ void Model::DrawSelected()
 void Model::DrawTrailFootprint()
 {
   double darkness = 0;
-  double fade = 0.5 / (double)(trail_length + 1);
+  double fade = 0.5 / (double)(trail.size() + 1);
 
   PushColor(0, 0, 0, 1); // dummy push just saving the color
 
   // this loop could be faster, but optimzing vis is not a priority
-  for (unsigned int i = 0; i < trail_length; i++) {
+  
+  for (unsigned int i = 0; i < trail.size(); i++) {
+    
     // find correct offset inside ring buffer
-    TrailItem &checkpoint = trail[(i + trail_index) % trail_length];
-
+    TrailItem &checkpoint = trail[(i + trail_index) % trail.size()];
+    
     // ignore invalid items
     if (checkpoint.time == 0)
       continue;
-
+    
     glPushMatrix();
     Pose pz = checkpoint.pose;
-
+    
     Gl::pose_shift(pz);
     Gl::pose_shift(geom.pose);
-
+    
     darkness += fade;
     Color c = checkpoint.color;
     c.a = darkness;

libstage/stage.hh

@@ -1868,13 +1868,13 @@ allow parallel Updates(). */
   /** current position in the ring buffer */
   unsigned int trail_index;
 
-  /** The maxiumum length of the trail drawn. Default is 20, but can
-be set in the world file using the trail_length model
-property. */
-  static unsigned int trail_length;
+//   /** The maxiumum length of the trail drawn. Default is 20, but can
+// be set in the world file using the trail_length model
+// property. */
+//   unsigned int trail_length;
 
   /** Number of world updates between trail records. */
-  static uint64_t trail_interval;
+  uint64_t trail_interval;
 
   /** Record the current pose in our trail. Delete the trail head if it is full. */
   void UpdateTrail();

libstage/worldgui.cc

@@ -400,8 +400,8 @@ bool WorldGui::Update()
   // inherit
   const bool done = World::Update();
 
-  if (Model::trail_length > 0 && updates % Model::trail_interval == 0)
     FOR_EACH (it, active_velocity)
+      if ((*it)->trail.size() > 0 && updates % (*it)->trail_interval == 0)
       (*it)->UpdateTrail();
 
   if (done) {

worlds/simple.world

@@ -55,6 +55,9 @@ pioneer2dx
   # report error-free position in world coordinates
   localization "gps"
   localization_origin [ 0 0 0 0 ]
+
+  trail_length 400
+    
 )
 
 pioneer2dx