Merge branch 'python-kin-refactor' of github.com:LonghornRacingElectric/simulation_toolkit into python-kin-refactor

Author: rhorvath02

src/applications/opengl/imgui.ini

@@ -3,20 +3,24 @@ Pos=60,60
 Size=400,400
 
 [Window][Cube Control]
-Pos=60,60
+Pos=49,59
 Size=362,142
 
 [Window][Node Info]
-Pos=86,86
+Pos=73,90
 Size=418,505
 Collapsed=1
 
 [Window][Rod Info]
-Pos=74,49
-Size=452,289
+Pos=73,115
+Size=756,840
 Collapsed=1
 
 [Window][Control Panel]
-Pos=419,581
-Size=589,213
+Pos=1380,28
+Size=589,270
+
+[Window][Model Rotation]
+Pos=0,1045
+Size=1908,50
 

src/applications/opengl/main

@@ -1,6 +1,6 @@
 nodes:
   # FL (Front Left) QuarterCar nodes
-  - position: [0,0,0]
+  - position: [-0.73,0,0]
   - position: [0.087376, 0.215900, 0.090000]    # FL lower wishbone fore inboard
   - position: [-0.095250, 0.215900, 0.090000]   # FL lower wishbone aft inboard
   - position: [0, 0.556499, 0.124998]           # FL lower wishbone outboard

src/applications/opengl/model.yml

@@ -8,6 +8,7 @@
 #include "../glm/gtc/matrix_transform.hpp"
 #include "../glm/gtc/type_ptr.hpp"
 #include <vector>
+#include <float.h>
 #include "GLFW/glfw3.h"  // For GLFWwindow
 #include "sphere.h"
 
@@ -30,7 +31,9 @@ struct RodInstance {
 extern int x, y, z;
 extern bool createNewNode;
 extern bool createNewRod;
-extern float camAngleX, camAngleY, camAngleZ, camDistance, zoom;
+extern float camAngleX, camAngleZ, camDistance, zoom;
+extern int selectedNodeIndex, selectedRodIndex;
+extern glm::vec3 recenterOffset;
 extern float xyzRodEnd1[3];
 extern float xyzRodEnd2[3];
 extern std::vector<SphereInstance> spheres;
@@ -45,6 +48,120 @@ void initImGui(GLFWwindow* window) {
     ImGui_ImplOpenGL3_Init("#version 330");
 }
 
+// --------- Keyboard Input Handling --------- //
+// Handle object selection with Shift+Click
+void handleObjectSelection(GLFWwindow* window) {
+    // Only handle Shift+Click for object selection
+    bool shiftPressed = glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS || 
+                       glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT) == GLFW_PRESS;
+    
+    if (shiftPressed && glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT) == GLFW_PRESS) {
+        static bool wasPressed = false;
+        if (!wasPressed) { // Only trigger on press, not hold
+            wasPressed = true;
+            
+            double xpos, ypos;
+            glfwGetCursorPos(window, &xpos, &ypos);
+            
+            int width, height;
+            glfwGetWindowSize(window, &width, &height);
+            
+            // Convert screen coordinates to normalized device coordinates
+            float x = (2.0f * xpos) / width - 1.0f;
+            float y = 1.0f - (2.0f * ypos) / height;
+            
+            // Simple selection logic - find closest object to mouse position
+            float minDistance = 0.3f; // Selection threshold
+            int closestNode = -1;
+            int closestRod = -1;
+            float closestNodeDist = FLT_MAX; // Start with very large distance
+            float closestRodDist = FLT_MAX;  // Start with very large distance
+            
+            // Check nodes (spheres) - use actual world positions
+            for (int i = 0; i < spheres.size(); i++) {
+                glm::vec3 worldPos = spheres[i].position;
+                // Convert to screen space (very simplified - assumes orthographic projection)
+                float screenX = worldPos.x * 0.3f; // Scale factor for ortho projection
+                float screenY = worldPos.y * 0.3f;
+                
+                float distance = sqrt((x - screenX) * (x - screenX) + (y - screenY) * (y - screenY));
+                if (distance < closestNodeDist) {
+                    closestNode = i;
+                    closestNodeDist = distance;
+                }
+            }
+            
+            // Check rods
+            for (int i = 0; i < rods.size(); i++) {
+                glm::vec3 mid = (rods[i].end1 + rods[i].end2) * 0.5f;
+                float screenX = mid.x * 0.3f;
+                float screenY = mid.y * 0.3f;
+                
+                float distance = sqrt((x - screenX) * (x - screenX) + (y - screenY) * (y - screenY));
+                if (distance < closestRodDist) {
+                    closestRod = i;
+                    closestRodDist = distance;
+                }
+            }
+            
+            // Always clear selections first
+            selectedNodeIndex = -1;
+            selectedRodIndex = -1;
+            
+            // Select the closest object (node or rod) if it's within threshold
+            if (closestNodeDist < closestRodDist && closestNodeDist < minDistance) {
+                selectedNodeIndex = closestNode;
+            } else if (closestRodDist < minDistance) {
+                selectedRodIndex = closestRod;
+            }
+            // If no object is close enough, selections remain cleared (deselection)
+        }
+    } else {
+        static bool wasPressed = false;
+        wasPressed = false; // Reset when button is released or shift is not pressed
+    }
+}
+
+void handleKeyboardInput(GLFWwindow* window) {
+    // Arrow key controls for camera
+    float step = 2.0f; // Step size for camera angle changes
+    float zoomStep = 0.1f; // Step size for zoom changes
+    
+    // Check if Shift is pressed
+    bool shiftPressed = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS || 
+                        glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT) == GLFW_PRESS);
+    
+    if (shiftPressed) {
+        // Shift + arrow keys for Z axis and zoom controls
+        if (glfwGetKey(window, GLFW_KEY_LEFT) == GLFW_PRESS) {
+            camAngleZ -= step;
+            if (camAngleZ < -180.0f) camAngleZ += 360.0f;
+        }
+        if (glfwGetKey(window, GLFW_KEY_RIGHT) == GLFW_PRESS) {
+            camAngleZ += step;
+            if (camAngleZ > 180.0f) camAngleZ -= 360.0f;
+        }
+        if (glfwGetKey(window, GLFW_KEY_UP) == GLFW_PRESS) {
+            zoom += zoomStep;
+            if (zoom > 3.0f) zoom = 3.0f;
+        }
+        if (glfwGetKey(window, GLFW_KEY_DOWN) == GLFW_PRESS) {
+            zoom -= zoomStep;
+            if (zoom < 0.1f) zoom = 0.1f;
+        }
+    } else {
+        // Regular arrow keys for X axis controls only (limited to -89 to 89 degrees)
+        if (glfwGetKey(window, GLFW_KEY_UP) == GLFW_PRESS) {
+            camAngleX += step;
+            if (camAngleX > 89.0f) camAngleX = 89.0f;
+        }
+        if (glfwGetKey(window, GLFW_KEY_DOWN) == GLFW_PRESS) {
+            camAngleX -= step;
+            if (camAngleX < -89.0f) camAngleX = -89.0f;
+        }
+    }
+}
+
 // --------- ImGui UI Controls --------- //
 void renderImGuiControls() {
     ImGui_ImplOpenGL3_NewFrame();
@@ -65,9 +182,16 @@ void renderImGuiControls() {
     ImGui::Separator();
     ImGui::Text("Camera Controls");
     ImGui::SliderFloat("Orbit X (up/down)", &camAngleX, -89.0f, 89.0f);
-    ImGui::SliderFloat("Orbit Y (left/right)", &camAngleY, 0.0f, 360.0f);
-    ImGui::SliderFloat("Orbit Z (roll)", &camAngleZ, -180.0f, 180.0f);  // Add this line
+    ImGui::SliderFloat("Orbit Z (roll)", &camAngleZ, 0.0f, 360.0f);  
     ImGui::SliderFloat("Zoom (distance)", &zoom, 0.1f, 3.0f);
+    
+    ImGui::Separator();
+    ImGui::Text("Recenter Controls");
+    ImGui::DragFloat3("Recenter Offset", glm::value_ptr(recenterOffset), 0.01f);
+    ImGui::TextColored(ImVec4(0.8f, 0.8f, 0.0f, 1.0f), "Note: Recenter offset is applied when loading YAML");
+    
+    ImGui::Separator();
+    ImGui::TextColored(ImVec4(0.0f, 0.0f, 1.0f, 1.0f), "Click on items in dropdowns to select");
 
     ImGui::End();
 
@@ -76,23 +200,46 @@ void renderImGuiControls() {
 
     if (ImGui::Button("Clear All Nodes")) {
         spheres.clear();
+        selectedNodeIndex = -1; // Clear selection when clearing all nodes
     }
 
     for (int i = 0; i < static_cast<int>(spheres.size()); ++i) {
         std::string header = "Node " + std::to_string(i);
-        if (ImGui::CollapsingHeader(header.c_str())) {
-            ImGui::PushID(i);
-
+        bool isSelected = (i == selectedNodeIndex);
+        
+        // Highlight selected node with blue background
+        if (isSelected) {
+            ImGui::PushStyleColor(ImGuiCol_Header, ImVec4(0.0f, 0.0f, 1.0f, 0.3f)); // Blue background
+            ImGui::PushStyleColor(ImGuiCol_HeaderHovered, ImVec4(0.0f, 0.0f, 1.0f, 0.5f)); // Brighter blue on hover
+        }
+        
+        // Make the header clickable for selection
+        if (ImGui::Selectable(header.c_str(), isSelected, ImGuiSelectableFlags_AllowItemOverlap)) {
+            // Clear other selections and select this node
+            selectedNodeIndex = i;
+            selectedRodIndex = -1;
+        }
+        
+        // Show properties if this node is selected
+        if (isSelected) {
+            ImGui::Indent();
             ImGui::DragFloat3("Position", glm::value_ptr(spheres[i].position), 0.1f);
             ImGui::ColorEdit4("Color", glm::value_ptr(spheres[i].color));
-
+            
             if (ImGui::Button("Delete Node")) {
                 spheres.erase(spheres.begin() + i);
-                ImGui::PopID();
+                selectedNodeIndex = -1; // Clear selection if deleting selected node
+                ImGui::Unindent();
+                // Pop the blue background colors before breaking
+                ImGui::PopStyleColor(2);
                 break;
             }
-
-            ImGui::PopID();
+            ImGui::Unindent();
+        }
+        
+        // Pop the blue background colors if this was the selected node
+        if (isSelected) {
+            ImGui::PopStyleColor(2);
         }
     }
 
@@ -103,24 +250,47 @@ void renderImGuiControls() {
 
     if (ImGui::Button("Clear All Rods")) {
         rods.clear();
+        selectedRodIndex = -1; // Clear selection when clearing all rods
     }
 
     for (int i = 0; i < static_cast<int>(rods.size()); ++i) {
         std::string header = "Rod " + std::to_string(i);
-        if (ImGui::CollapsingHeader(header.c_str())) {
-            ImGui::PushID(i);
-
+        bool isSelected = (i == selectedRodIndex);
+        
+        // Highlight selected rod with blue background
+        if (isSelected) {
+            ImGui::PushStyleColor(ImGuiCol_Header, ImVec4(0.0f, 0.0f, 1.0f, 0.3f)); // Blue background
+            ImGui::PushStyleColor(ImGuiCol_HeaderHovered, ImVec4(0.0f, 0.0f, 1.0f, 0.5f)); // Brighter blue on hover
+        }
+        
+        // Make the header clickable for selection
+        if (ImGui::Selectable(header.c_str(), isSelected, ImGuiSelectableFlags_AllowItemOverlap)) {
+            // Clear other selections and select this rod
+            selectedRodIndex = i;
+            selectedNodeIndex = -1;
+        }
+        
+        // Show properties if this rod is selected
+        if (isSelected) {
+            ImGui::Indent();
             ImGui::DragFloat3("Start", glm::value_ptr(rods[i].end1), 0.1f);
             ImGui::DragFloat3("End", glm::value_ptr(rods[i].end2), 0.1f);
             ImGui::ColorEdit4("Color", glm::value_ptr(rods[i].color));
-
+            
             if (ImGui::Button("Delete Rod")) {
                 rods.erase(rods.begin() + i);
-                ImGui::PopID();
+                selectedRodIndex = -1; // Clear selection if deleting selected rod
+                ImGui::Unindent();
+                // Pop the blue background colors before breaking
+                ImGui::PopStyleColor(2);
                 break;
             }
-
-            ImGui::PopID();
+            ImGui::Unindent();
+        }
+        
+        // Pop the blue background colors if this was the selected rod
+        if (isSelected) {
+            ImGui::PopStyleColor(2);
         }
     }
 

src/applications/opengl/src/imgui.h

@@ -8,10 +8,13 @@ Commands:
     imgui/imgui_widgets.cpp \
     imgui/imgui_impl_glfw.cpp \
     imgui/imgui_impl_opengl3.cpp \
-    -lglfw -ldl -lGL -I./imgui -I./src
+    -lglfw -ldl -lGL -I./imgui -I./src 
 
 2.  ./main
 
+3.  (optional) if segmentation fault, before ./main:
+    export MESA_LOADER_DRIVER_OVERRIDE=zink
+
 
 temp.cpp: Cube Model (just for demo)
 Commands: