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keys.h
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keys.h
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#ifndef __KEYS_H__
#define __KEYS_H__
#include "gautils.h"
#define GA_POV_MOVEMENT 0.05
#define GA_POV_ROTATION 0.01*M_PI
#define GA_MAX_BALL_SPEED 2.0
#define GA_STOP_BALL_AUTO false
extern Point pov, focus;
extern Ball *B;
extern Field *F;
extern Team *TeamA, *TeamB;
extern void reshape(int, int);
void key_press_callback(unsigned char key, int xi,int yi)
{
switch(key)
{
case 27: //escape character
case 'q':
case 'Q':
exit(1);
break;
case '+':
field_z += 0.2;
reshape(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
break;
case '-':
field_z -= 0.2;
reshape(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
break;
case 'r':
if(TEAMA_PRESENT)
TeamA->Reset();
if(TEAMB_PRESENT)
TeamB->Reset();
B->Reset();
/*
view_rotx=0.0;
view_roty=0.0;
view_rotz=0.0;
p=STARTP;
*/
break;
case ' ':
if(GA_STATE==MOVE_BALL)
B->SetV(0.0, 0.0);
break;
case 'a':
if(GA_VIEW==GA_SUBJECTIVE_VIEW && GA_STATE==GA_WALK)
{
GVector view_vector(focus.x-pov.x, focus.y-pov.y, Cartesian);
view_vector.Rotate(GA_POV_ROTATION);
focus.x=pov.x+view_vector.GetX();
focus.y=pov.y+view_vector.GetY();
reshape(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
}
break;
case 'd':
if(GA_VIEW==GA_SUBJECTIVE_VIEW && GA_STATE==GA_WALK)
{
GVector view_vector(focus.x-pov.x, focus.y-pov.y, Cartesian);
view_vector.Rotate(-GA_POV_ROTATION);
focus.x=pov.x+view_vector.GetX();
focus.y=pov.y+view_vector.GetY();
reshape(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
}
break;
case 's':
if(TEAMA_PRESENT)
TeamA->ChangeSide();
if(TEAMB_PRESENT)
TeamB->ChangeSide();
break;
case 't':
switch(team_active)
{
case TEAMA:
if(TEAMB_PRESENT)
team_active=TEAMB;
break;
case TEAMB:
if(TEAMA_PRESENT)
team_active=TEAMA;
break;
}
break;
case 'b':
BALLFLAG = !BALLFLAG;;
break;
case 'F':
GA_STATE = ROTATE_FIELD;
break;
case 'R':
GA_STATE = MOVE_ROBOT;
break;
case 'e' :
BALL_ELASTICITY -= 0.05;
printf("\nkeys: Ball Elasticity=%f ", BALL_ELASTICITY);
break;
case 'E' :
BALL_ELASTICITY += 0.05;
printf("\nkeys: Ball Elasticity=%f ", BALL_ELASTICITY);
break;
case '1':
if(team_active==TEAMA && TEAMA_PRESENT)
{
if(TeamA->Getn()>=1)
r_man = 0;
}
else
if(team_active==TEAMB && TEAMB_PRESENT)
{
if(TeamB->Getn()>=1)
r_man = 0;
}
break;
case '2':
if(team_active==TEAMA && TEAMA_PRESENT)
{
if(TeamA->Getn()>=2)
r_man = 1;
}
else
if(team_active==TEAMB && TEAMB_PRESENT)
{
if(TeamB->Getn()>=2)
r_man = 1;
}
break;
case '3':
if(team_active==TEAMA && TEAMA_PRESENT)
{
if(TeamA->Getn()>=3)
r_man = 2;
}
else
if(team_active==TEAMB && TEAMB_PRESENT)
{
if(TeamB->Getn()>=3)
r_man = 2;
}
break;
case '4':
if(team_active==TEAMA && TEAMA_PRESENT)
{
if(TeamA->Getn()>=4)
r_man = 3;
}
else
if(team_active==TEAMB && TEAMB_PRESENT)
{
if(TeamB->Getn()>=4)
r_man = 3;
}
break;
case 'G' :
if(TEAMA_PRESENT)
for(int i=0; i<TeamA->Getn();i++)
TeamA->RV[i]->SetType(GOLEM);
if(TEAMB_PRESENT)
for(int i=0; i<TeamB->Getn();i++)
TeamB->RV[i]->SetType(GOLEM);
break;
case 'B' :
GA_STATE = MOVE_BALL;
break;
case 'N' :
NEXT_STEP=true;
break;
case 'm' :
if(team_active==TEAMA && TEAMA_PRESENT)
TeamA->RV[r_man]->Man();
else
if(team_active==TEAMB && TEAMB_PRESENT)
TeamB->RV[r_man]->Man();
break;
default:
return;
}
glutPostRedisplay();
}
void key_press_callback2(unsigned char key, int xi,int yi)
{
switch(key)
{
case 27: //escape character
case 'q':
case 'Q':
exit(1);
break;
case '+':
p -= 5.0;
reshape(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
break;
case '-':
p += 5.0;
reshape(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
break;
default:
return;
}
glutPostRedisplay();
}
void SKey(int key, int x,int y)
{
float dx=focus.x-pov.x;
float dy=focus.y-pov.y;
GVector view_vector(dx, dy, Cartesian);
switch(GA_STATE)
{
case MOVE_ROBOT:
if(team_active == TEAMA)
{
float fzero=0.0, fmin=-200.0/180.0*M_PI, fmax=200.0/180.0*M_PI;
GVector vxmax(2.0, 0.0, Cartesian);
GVector vxmin(-2.0, 0.0, Cartesian);
GVector vymax(0.0, 2.0, Cartesian);
GVector vymin(0.0, -2.0, Cartesian);
float factual;
GVector vactual;
TeamA->RV[r_man]->GetVel(vactual, factual);
GVector newv;
switch(key)
{
case GLUT_KEY_LEFT:
newv=vactual+vymax;
TeamA->RV[r_man]->SetVel(newv, factual);
break;
case GLUT_KEY_RIGHT:
newv=vactual+vymin;
TeamA->RV[r_man]->SetVel(newv, factual);
break;
case GLUT_KEY_UP:
newv=vactual+vxmax;
TeamA->RV[r_man]->SetVel(newv, factual);
break;
case GLUT_KEY_DOWN:
newv=vactual+vxmin;
TeamA->RV[r_man]->SetVel(newv, factual);
break;
case GLUT_KEY_F1:
TeamA->RV[r_man]->SetVel(vactual, fmax);
break;
case GLUT_KEY_F2:
TeamA->RV[r_man]->SetVel(vactual, fmin);
break;
}
}
else
{
float fzero=0.0, fmin=-200.0/180.0*M_PI, fmax=200.0/180.0*M_PI;
GVector vxmax(2.0, 0.0, Cartesian);
GVector vxmin(-2.0, 0.0, Cartesian);
GVector vymax(0.0, 2.0, Cartesian);
GVector vymin(0.0, -2.0, Cartesian);
float factual;
GVector vactual;
TeamB->RV[r_man]->GetVel(vactual, factual);
GVector newv;
switch(key)
{
case GLUT_KEY_LEFT:
newv=vactual+vymax;
TeamB->RV[r_man]->SetVel(newv, factual);
break;
case GLUT_KEY_RIGHT:
newv=vactual+vymin;
TeamB->RV[r_man]->SetVel(newv, factual);
break;
case GLUT_KEY_UP:
newv=vactual+vxmax;
TeamB->RV[r_man]->SetVel(newv, factual);
break;
case GLUT_KEY_DOWN:
newv=vactual+vxmin;
TeamB->RV[r_man]->SetVel(newv, factual);
break;
case GLUT_KEY_F1:
TeamB->RV[r_man]->SetVel(vactual, fmax);
break;
case GLUT_KEY_F2:
TeamB->RV[r_man]->SetVel(vactual, fmin);
break;
}
}
break;
case ROTATE_FIELD:
switch (key)
{
case GLUT_KEY_UP:
view_rotx += 5.0;
break;
case GLUT_KEY_DOWN:
view_rotx -= 5.0;
break;
case GLUT_KEY_LEFT:
view_rotz += 5.0;
break;
case GLUT_KEY_RIGHT:
view_rotz -= 5.0;
break;
default:
return;
}
break;
case GA_WALK:
if(GA_VIEW==GA_SUBJECTIVE_VIEW)
{
switch (key)
{
case GLUT_KEY_UP:
pov.x += GA_POV_MOVEMENT*cos(view_vector.GetTheta());
pov.y += GA_POV_MOVEMENT*sin(view_vector.GetTheta());
focus.x =pov.x+view_vector.GetX();
focus.y =pov.y+view_vector.GetY();
break;
case GLUT_KEY_DOWN:
pov.x -= GA_POV_MOVEMENT*cos(view_vector.GetTheta());
pov.y -= GA_POV_MOVEMENT*sin(view_vector.GetTheta());
focus.x =pov.x+view_vector.GetX();
focus.y =pov.y+view_vector.GetY();
break;
case GLUT_KEY_LEFT:
pov.x -= GA_POV_MOVEMENT*cos(view_vector.GetTheta()-M_PI/2.0);
pov.y -= GA_POV_MOVEMENT*sin(view_vector.GetTheta()-M_PI/2.0);
focus.x =pov.x+view_vector.GetX();
focus.y =pov.y+view_vector.GetY();
break;
case GLUT_KEY_RIGHT:
pov.x += GA_POV_MOVEMENT*cos(view_vector.GetTheta()-M_PI/2.0);
pov.y += GA_POV_MOVEMENT*sin(view_vector.GetTheta()-M_PI/2.0);
focus.x =pov.x+view_vector.GetX();
focus.y =pov.y+view_vector.GetY();
break;
case GLUT_KEY_PAGE_UP:
focus.x += GA_POV_MOVEMENT*cos(view_vector.GetTheta());
focus.y += GA_POV_MOVEMENT*sin(view_vector.GetTheta());
break;
case GLUT_KEY_PAGE_DOWN:
focus.x -= GA_POV_MOVEMENT*cos(view_vector.GetTheta());
focus.y -= GA_POV_MOVEMENT*sin(view_vector.GetTheta());
break;
default:
return;
}
reshape(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
}
break;
case MOVE_BALL:
if(BALL_FREE)
{
switch(GA_VIEW)
{
case GA_GLOBAL_VIEW:
switch (key)
{
case GLUT_KEY_UP:
B->SetVY(2.0);
break;
case GLUT_KEY_DOWN:
B->SetVY(-2.0);
break;
case GLUT_KEY_LEFT:
B->SetVX(-2.0);
break;
case GLUT_KEY_RIGHT:
B->SetVX(2.0);
break;
}
break;
case GA_SUBJECTIVE_VIEW:
switch (key)
{
case GLUT_KEY_UP:
B->SetV(GVector(GA_MAX_BALL_SPEED, view_vector.GetTheta()), 0.0);
break;
case GLUT_KEY_DOWN:
B->SetV(GVector(GA_MAX_BALL_SPEED, view_vector.GetTheta()+M_PI), 0.0);
break;
case GLUT_KEY_LEFT:
B->SetV(GVector(GA_MAX_BALL_SPEED, view_vector.GetTheta()+M_PI/2.0), 0.0);
break;
case GLUT_KEY_RIGHT:
B->SetV(GVector(GA_MAX_BALL_SPEED, view_vector.GetTheta()-M_PI/2.0), 0.0);
break;
}
break;
}
}
break;
}
glutPostRedisplay();
}
void SKeyUp(int key,int x,int y)
{
switch(GA_STATE)
{
case MOVE_ROBOT:
if(team_active == TEAMA)
{
if(TeamA->RV[r_man]->Type()==PIONEER)
switch (key)
{
case GLUT_KEY_LEFT:
case GLUT_KEY_RIGHT:
TeamA->RV[r_man]->SetJog(0.0);
break;
case GLUT_KEY_UP:
case GLUT_KEY_DOWN:
TeamA->RV[r_man]->SetVel(0.0);
break;
}
else
{
float fzero=0.0;
GVector vnull(0.0, 0.0, Cartesian);
float factual;
GVector vactual;
TeamA->RV[r_man]->GetVel(vactual, factual);
switch(key)
{
case GLUT_KEY_LEFT:
case GLUT_KEY_RIGHT:
case GLUT_KEY_UP:
case GLUT_KEY_DOWN:
TeamA->RV[r_man]->SetVel(vnull, factual);
break;
case GLUT_KEY_F1:
case GLUT_KEY_F2:
TeamA->RV[r_man]->SetVel(vactual, fzero);
break;
}
}
}
else
{
if(TeamB->RV[r_man]->Type()==PIONEER)
switch (key)
{
case GLUT_KEY_LEFT:
case GLUT_KEY_RIGHT:
TeamB->RV[r_man]->SetJog(0.0);
break;
case GLUT_KEY_UP:
case GLUT_KEY_DOWN:
TeamB->RV[r_man]->SetVel(0.0);
break;
}
else
{
float fzero=0.0;
GVector vnull(0.0, 0.0, Cartesian);
float factual;
GVector vactual;
TeamB->RV[r_man]->GetVel(vactual, factual);
switch(key)
{
case GLUT_KEY_LEFT:
case GLUT_KEY_RIGHT:
case GLUT_KEY_UP:
case GLUT_KEY_DOWN:
TeamB->RV[r_man]->SetVel(vnull, factual);
break;
case GLUT_KEY_F1:
case GLUT_KEY_F2:
TeamB->RV[r_man]->SetVel(vactual, fzero);
break;
}
}
}
break;
case ROTATE_FIELD:
break;
case MOVE_BALL:
if(GA_STOP_BALL_AUTO)
{
switch (key)
{
case GLUT_KEY_UP:
case GLUT_KEY_DOWN:
B->SetV(0.0, 0.0);
break;
case GLUT_KEY_LEFT:
case GLUT_KEY_RIGHT:
B->SetV(0.0, 0.0);
break;
}
}
break;
default:
return;
}
}
#endif