PixhawkCheetahNode.cc

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    {-0.911564f,0.411158f,-2.41291e-015f},{-0.327644f,0.944801f,1.60877e-016f},{-5.81917e-015f,-1.0f,0.0f},
    {-3.12964e-015f,-1.0f,0.0f},{0.944801f,-0.327644f,-2.48504e-015f},{0.411158f,-0.911564f,5.40403e-016f},
    {0.642788f,-0.766044f,-2.51303e-015f},{0.826318f,-0.563203f,-2.17261e-015f},{0.158603f,-0.987342f,1.69056e-016f},
    {-1.0f,-1.42312e-031f,5.14886e-015f},{-1.0f,-7.0757e-015f,5.14886e-015f},{-0.158603f,-0.987342f,4.87746e-016f},
    {-0.826318f,-0.563203f,2.94231e-016f},{-0.642788f,-0.766044f,-4.19866e-015f},{-0.411158f,-0.911564f,3.66681e-017f},
    {-0.944801f,-0.327644f,4.51725e-015f},{1.0f,-6.25927e-015f,0.0f},{0.327644f,0.944801f,-7.60102e-017f},
    {0.911564f,0.411158f,-8.94506e-016f},{0.766044f,0.642788f,-2.51041e-015f},{0.563203f,0.826318f,1.48317e-015f},
    {0.987342f,0.158603f,-9.73349e-016f},{2.81922e-015f,-1.0f,2.81578e-016f},{2.21116e-015f,-1.0f,2.81578e-016f},
    {0.987342f,-0.158603f,5.08369e-015f},{0.563203f,-0.826318f,-1.72179e-015f},{0.766044f,-0.642788f,2.02384e-015f},
    {0.911564f,-0.411158f,1.10722e-015f},{0.327644f,-0.944801f,-4.42325e-016f},{2.93403e-016f,1.0f,0.0f},
    {-2.34723e-015f,1.0f,0.0f},{-0.944801f,0.327644f,5.27185e-017f},{-0.411158f,0.911564f,-1.08478e-015f},
    {-0.642788f,0.766044f,-1.94526e-015f},{-0.826318f,0.563203f,3.28157e-015f},{-0.158603f,0.987342f,-5.96628e-016f},
    {-0.158603f,0.987342f,-7.51139e-016f},{-1.50359e-014f,1.0f,-3.86165e-015f},{-2.12271e-014f,1.0f,-3.86165e-015f},
    {-0.563203f,0.826318f,-1.74542e-015f},{-0.766044f,0.642788f,1.27192e-015f},{-0.911564f,0.411158f,0.0f},
    {-0.327644f,0.944801f,-1.40602e-017f},{6.25927e-015f,-1.0f,0.0f},{-2.50371e-014f,-1.0f,0.0f},
    {0.944801f,-0.327644f,-7.60102e-017f},{0.411158f,-0.911564f,-1.34268e-016f},{0.642788f,-0.766044f,-1.4597e-015f},
    {0.826318f,-0.563203f,3.3239e-017f},{0.158603f,-0.987342f,-2.36033e-015f},{-1.0f,-1.50359e-014f,-3.86165e-015f},
    {-1.0f,-2.12271e-014f,-3.86165e-015f},{-0.158603f,-0.987342f,7.37193e-016f},{-0.826318f,-0.563203f,-1.7256e-015f},
    {-0.642788f,-0.766044f,1.218e-015f},{-0.411158f,-0.911564f,-7.33362e-017f},{-0.944801f,-0.327644f,-1.94144e-017f},
    {1.0f,6.25927e-015f,0.0f},{1.0f,-2.50371e-014f,0.0f},{0.327644f,0.944801f,8.43496e-016f},
    {0.911564f,0.411158f,-2.04101e-015f},{0.766044f,0.642788f,-9.60208e-016f},{0.563203f,0.826318f,-7.24964e-016f},
    {0.987342f,0.158603f,-4.26811e-015f},{1.50359e-014f,-1.0f,-3.86165e-015f},{2.12271e-014f,-1.0f,-3.86165e-015f},
    {0.987342f,-0.158603f,8.96059e-016f},{0.563203f,-0.826318f,-1.76241e-015f},{0.766044f,-0.642788f,1.23341e-015f},
    {0.911564f,-0.411158f,0.0f},{0.327644f,-0.944801f,-1.48839e-017f},{-6.25927e-015f,1.0f,0.0f},
    {2.50371e-014f,1.0f,0.0f},{-0.944801f,0.327644f,9.19506e-016f},{-0.411158f,0.911564f,-2.04721e-015f},
    {-0.642788f,0.766044f,-9.47279e-016f},{-0.826318f,0.563203f,-6.58486e-016f},{-0.158603f,0.987342f,-4.27439e-015f},
    {-1.0f,-5.52789e-017f,-2.01127e-016f},{-1.0f,-4.42231e-016f,-2.01127e-016f},{-0.158603f,-0.987342f,2.56736e-015f},
    {-0.826318f,-0.563203f,2.03441e-015f},{-0.642788f,-0.766044f,-1.89456e-015f},{-0.411158f,-0.911564f,-2.2806e-015f},
    {-0.944801f,-0.327644f,-6.80855e-016f},{1.0f,-1.02691e-015f,0.0f},{1.0f,7.82409e-016f,0.0f},
    {0.327644f,0.944801f,-4.81193e-015f},{0.911564f,0.411158f,1.02824e-016f},{0.766044f,0.642788f,0.0f},
    {0.563203f,0.826318f,-1.01834e-015f},{0.987342f,0.158603f,1.80074e-016f},{2.43227e-015f,-1.0f,2.81578e-016f},
    {2.65339e-015f,-1.0f,2.81578e-016f},{0.987342f,-0.158603f,-2.51632e-015f},{0.563203f,-0.826318f,-1.48159e-015f},
    {0.766044f,-0.642788f,5.18888e-016f},{0.911564f,-0.411158f,-1.17338e-015f},{0.327644f,-0.944801f,-1.30642e-017f},
    {1.95602e-016f,1.0f,0.0f},{-0.944801f,0.327644f,-4.86465e-015f},{-0.411158f,0.911564f,3.45909e-016f},
    {-0.642788f,0.766044f,5.06146e-016f},{-0.826318f,0.563203f,2.08199e-015f},{-0.158603f,0.987342f,3.01313e-016f},
    {-0.158603f,0.987342f,7.86925e-017f},{1.0f,1.10558e-016f,-2.41353e-016f},{1.0f,4.42231e-016f,-2.41353e-016f},
    {0.158603f,0.987342f,2.56736e-015f},{0.826318f,0.563203f,-1.66982e-016f},{0.642788f,0.766044f,-1.94627e-015f},
    {0.944801f,0.327644f,-1.31395e-015f},{-1.0f,1.95602e-016f,0.0f},{-1.0f,-2.34723e-015f,0.0f},
    {-0.327644f,-0.944801f,-2.37961e-015f},{-0.911564f,-0.411158f,5.88225e-016f},{-0.766044f,-0.642788f,1.27192e-015f},
    {-0.563203f,-0.826318f,-1.10896e-015f},{-0.987342f,-0.158603f,-2.16372e-016f},{1.42312e-031f,-1.0f,5.14886e-015f},
    {7.0757e-015f,-1.0f,5.14886e-015f},{0.987342f,-0.158603f,4.08313e-016f},{0.563203f,-0.826318f,2.82904e-016f},
    {0.766044f,-0.642788f,-4.12933e-015f},{0.327644f,-0.944801f,4.50922e-015f},{6.25927e-015f,1.0f,0.0f},
    {-0.944801f,0.327644f,0.0f},{-0.411158f,0.911564f,-8.71765e-016f},{-0.642788f,0.766044f,-2.4393e-015f},
    {-0.826318f,0.563203f,1.44993e-015f},{-0.158603f,0.987342f,-9.70258e-016f},{1.0f,1.42312e-031f,5.14886e-015f},
    {1.0f,7.0757e-015f,5.14886e-015f},{0.158603f,0.987342f,4.08313e-016f},{0.826318f,0.563203f,2.46089e-016f},
    {0.642788f,0.766044f,-4.11392e-015f},{0.411158f,0.911564f,3.66681e-017f},{0.944801f,0.327644f,4.51313e-015f},
    {-1.0f,6.25927e-015f,0.0f},{-0.911564f,-0.411158f,-8.90371e-016f},{-0.766044f,-0.642788f,-2.52334e-015f},
    {-0.563203f,-0.826318f,1.38345e-015f},{-0.987342f,-0.158603f,-9.72053e-016f},{-1.50359e-014f,1.0f,3.86165e-015f},
    {-1.41514e-014f,1.0f,3.86165e-015f},{-0.563203f,0.826318f,2.60249e-016f},{-0.766044f,0.642788f,-4.12933e-015f},
    {-0.911564f,0.411158f,3.66681e-017f},{-0.327644f,0.944801f,4.53578e-015f},{-1.7213e-014f,-1.0f,0.0f},
    {1.25185e-014f,-1.0f,0.0f},{0.944801f,-0.327644f,1.68699e-015f},{0.411158f,-0.911564f,-2.19388e-015f},
    {0.642788f,-0.766044f,-9.92528e-016f},{0.826318f,-0.563203f,2.89985e-015f},{0.158603f,-0.987342f,-9.67866e-016f},
    {1.0f,8.84462e-016f,1.20676e-016f},{1.0f,4.42231e-016f,1.20676e-016f},{0.826318f,0.563203f,-7.99752e-016f},
    {0.642788f,0.766044f,5.96458e-016f},{0.411158f,0.911564f,1.10722e-015f},{0.944801f,0.327644f,-1.19869e-015f},
    {-1.0f,2.93403e-016f,0.0f},{-0.327644f,-0.944801f,-5.27185e-017f},{-0.327644f,-0.944801f,-2.43232e-015f},
    {-0.911564f,-0.411158f,6.36047e-016f},{-0.563203f,-0.826318f,1.06365e-015f},{-0.987342f,-0.158603f,-1.62229e-016f},
    {1.43725e-015f,1.0f,-3.21804e-016f},{1.76892e-015f,1.0f,-3.21804e-016f},{-0.987342f,0.158603f,2.51632e-015f},
    {-0.563203f,0.826318f,3.20933e-016f},{-0.766044f,0.642788f,1.73942e-015f},{-0.911564f,0.411158f,2.37984e-015f},
    {-0.327644f,0.944801f,5.5243e-017f},{-2.68953e-015f,-1.0f,0.0f},{0.944801f,-0.327644f,-4.81193e-015f},
    {0.411158f,-0.911564f,-1.59493e-015f},{0.642788f,-0.766044f,3.34044e-015f},{0.826318f,-0.563203f,-1.01834e-015f},
    {0.158603f,-0.987342f,-8.62776e-016f},{-1.0f,1.93476e-015f,-2.81578e-016f},{-1.0f,2.21116e-015f,-2.81578e-016f},
    {-0.158603f,-0.987342f,5.10921e-015f},{-0.826318f,-0.563203f,-2.16142e-015f},{-0.642788f,-0.766044f,1.58252e-015f},
    {-0.411158f,-0.911564f,-1.1403e-015f},{-0.944801f,-0.327644f,-1.28754e-015f},{1.0f,-2.78733e-015f,0.0f},
    {1.0f,-1.56482e-015f,0.0f},{0.327644f,0.944801f,0.0f},{0.911564f,0.411158f,2.03571e-015f},
    {0.766044f,0.642788f,-4.90281e-015f},{0.563203f,0.826318f,3.19095e-015f},{0.987342f,0.158603f,-6.10433e-016f}
};
GLfloat textures[1][2]= {{0.0f,0.0f}};
/*Material indicies*/
/*{material index,face count}*/
//static int material_ref [1][2] = {
//{0,77848}
//};

void MyMaterial(GLenum mode, GLfloat * f, GLfloat alpha)
{
    GLfloat d[4];
    d[0] = f[0];
    d[1] = f[1];
    d[2] = f[2];
    d[3] = alpha;
    glMaterialfv(GL_FRONT_AND_BACK, mode, d);
}

/*
 *  SelectMaterial uses OpenGL commands to define facet colors.
 *
 *  Returns:
 *    Nothing
 */

void SelectMaterial(int i)
{
//
// Define the reflective properties of the 3D Object faces.
//
    glEnd();
    GLfloat alpha = materials[i].alpha;
    MyMaterial(GL_AMBIENT, materials[i].ambient, alpha);
    MyMaterial(GL_DIFFUSE, materials[i].diffuse, alpha);
    MyMaterial(GL_SPECULAR, materials[i].specular, alpha);
    MyMaterial(GL_EMISSION, materials[i].emission, alpha);
    glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, materials[i].phExp);
    glBegin(GL_TRIANGLES);

};

osg::ref_ptr<osg::Node> PixhawkCheetahNode::mInstance;

PixhawkCheetahNode::PixhawkCheetahNode()
{

}

osg::ref_ptr<osg::Node>
PixhawkCheetahNode::instance(void)
{
    if (!mInstance.valid())
    {
        QColor color(255, 255, 255);
        mInstance = create(color);
    }

    return mInstance;
}

osg::ref_ptr<osg::Node>
PixhawkCheetahNode::create(const QColor& color)
{
    osg::ref_ptr<osg::PositionAttitudeTransform> pat(new osg::PositionAttitudeTransform);
    pat->setScale(osg::Vec3(0.5f, 0.5f, 0.5f));

    osg::ref_ptr<osg::Geode> geode(new osg::Geode());
    geode->setName("Pixhawk Bravo");
    osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry());
    geode->addDrawable(geometry);

    pat->addChild(geode);

    osg::ref_ptr<osg::Vec3Array> osgVertices(new osg::Vec3Array);
    osg::ref_ptr<osg::Vec3Array> osgNormals(new osg::Vec3Array);
    osg::ref_ptr<osg::Vec2Array> osgTextures(new osg::Vec2Array);

    unsigned int numFaces = sizeof(face_indicies)/sizeof(face_indicies[0]);
    for (unsigned int i = 0; i < numFaces; ++i)
    {
        osg::ref_ptr<osg::DrawElementsUInt> face(
            new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES, 0));

        for (int j = 0; j < 3; ++j)
        {
            int vi = face_indicies[i][j];     // Vertice index
            int ni = face_indicies[i][j + 3]; // Normal index
            int ti = face_indicies[i][j + 6]; // Texture index

            osgVertices->push_back(osg::Vec3(vertices[vi][0],
            vertices[vi][1],
            vertices[vi][2]));

            osgNormals->push_back(osg::Vec3(normals[ni][0],
            normals[ni][1],
            normals[ni][2]));

            osgTextures->push_back(osg::Vec2(textures[ti][0],
            textures[ti][1]));

            face->push_back(i * 3 + j);
        }

        geometry->addPrimitiveSet(face);
    }

    geometry->setVertexArray(osgVertices);
    geometry->setNormalArray(osgNormals);
    geometry->setTexCoordArray(0, osgTextures);

    osg::ref_ptr<osg::Vec4Array> colors(new osg::Vec4Array);
    colors->push_back(osg::Vec4(color.redF(), color.greenF(), color.blueF(), 1.0f));

    geometry->setColorArray(colors);
    geometry->setColorBinding(osg::Geometry::BIND_OVERALL);

    return pat;
};