Fixed issues with manipulation of the main 3D view as well as restruc…

…tured SimulationApp code to support ROS2 interface.
patrykcieslak · Oct 6, 2023 · 658523b · 658523b
1 parent 1ff9a89
commit 658523b
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Showing 8 changed files with 164 additions and 148 deletions.
diff --git a/Library/include/core/ConsoleSimulationApp.h b/Library/include/core/ConsoleSimulationApp.h
@@ -52,16 +52,14 @@ namespace sf
         bool hasGraphics();
 
     protected:
-        virtual void Loop();
+        void Init();
+        void LoopInternal();
         void StartSimulation();
         void ResumeSimulation();
         void StopSimulation();
 
     private:
-        void Init();
-
         SDL_Thread* simulationThread;
-
         static int RunSimulation(void* data);
     };
 

diff --git a/Library/include/core/GraphicalSimulationApp.h b/Library/include/core/GraphicalSimulationApp.h
@@ -166,19 +166,21 @@ namespace sf
 
         //! A method returning a mutable reference to the helper object rendering settings.
         HelperSettings& getHelperSettings();
+
+        //! A method used to enable frame rate limitting.
+        void setLimitFramerate(bool enabled);
 
     protected:
-        void Loop();
+        void Init();
+        void LoopInternal();
         void CleanUp();
-
         void StartSimulation();
         void ResumeSimulation();
         void StopSimulation();
 
         virtual void InitializeGUI();
 
     private:
-        void Init();
         void InitializeSDL();
         void RenderLoop();
 
@@ -191,6 +193,7 @@ namespace sf
         bool* joystickButtons;
         int16_t* joystickAxes;
         uint8_t* joystickHats;
+        SDL_Event mouseWasDown;
 
         IMGUI* gui;
         OpenGLPipeline* glPipeline;
@@ -212,6 +215,7 @@ namespace sf
         HelperSettings hSettings;
         GLuint timeQuery[2];
         GLint timeQueryPingpong;
+        bool limitFramerate;
 
         static int RenderLoadingScreen(void* data);
         static int RunSimulation(void* data);

diff --git a/Library/include/core/SimulationApp.h b/Library/include/core/SimulationApp.h
@@ -71,10 +71,10 @@ namespace sf
 
         //! A method informing if the simulation is running.
         bool isRunning();
-        
+
         //! A method informing if the simulation has finished.
         bool hasFinished();
-
+          
         //! A method returning the path to the directory containing simulation data.
         std::string getDataPath();
 
@@ -88,8 +88,10 @@ namespace sf
         static SimulationApp* getApp();
 
     protected:
+        void Loop();
+
         virtual void Init();
-        virtual void Loop() = 0;
+        virtual void LoopInternal() = 0;
         virtual void CleanUp();
         virtual void Quit();
 
@@ -99,6 +101,7 @@ namespace sf
         virtual void StopSimulation();
 
         Console* console;
+        uint64_t startTime;
 
     private:
         SimulationManager* simulation;

diff --git a/Library/src/core/ConsoleSimulationApp.cpp b/Library/src/core/ConsoleSimulationApp.cpp
@@ -58,10 +58,9 @@ void ConsoleSimulationApp::Init()
     cInfo("Ready for running...");
 }
 
-void ConsoleSimulationApp::Loop()
+void ConsoleSimulationApp::LoopInternal()
 {
-    while(!hasFinished())
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 void ConsoleSimulationApp::StartSimulation()