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main.c
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main.c
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#include <GL/glut.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include "flags.h"
#include "mainflags.h"
#include "collisions.h"
#include "geometry.h"
#include "ball.h"
#include "field.h"
#include "team.h"
#include "keys.h"
#include "menu.h"
#include "mouse.h"
#include "gjoycontrol.h"
#include "gautils.h"
#include "utility.h"
#include "gatimer.h"
#define TOTAL_DEBUG
#define DEBUG_WORLD false
#define CAMERACAR
#define GA_RADAR_WINDOW true
//#define FULLSCREEN
/****************************************** GOLEM RADAR *************************************/
#include "grobjects.h"
#include "grparser.h"
void reshape2(int, int);
void reshape(int, int);
void DrawBattery();
void DrawGas();
void DrawEngines();
bool GRPAUSE=false;
bool TIME_TO_REDRAW=true;
bool TIME_TO_REDRAW2=true;
float RadarRadius=GRRADAR_RADIUS;
/******************* GLPRINTF **********************/
float x=0.2;//(GLfloat)glutGet(GLUT_WINDOW_WIDTH);
float y=0.075;//(GLfloat)glutGet(GLUT_WINDOW_HEIGHT);
int behave_x=220;
int behave_dx=90;
int behave_y=38;
int status_y=23;
int task_y=8;
/***************************************************/
/* messaggio STATUS */
float BatteryValue=0.0; /* valoree reala in Volts */
float BatteryCharge=0.0; /* compresa fra 0.0 e 1.0 */
bool EnginesOn=false;
float GasValue=0.0; /* valoree reala in Volts */
float GasPercentage=0.0; /* compresa fra 0.0 e 1.0 */
/* messaggio Q */
bool NewQ=false;
GBehaviour_Type Behaviour;
Task_Type Task;
Status_Type Status;
/***************************************************/
int mainwin_radar, subwin_radar;
gaTimer *T_radar=NULL;
Point center(0.0, 0.0);
GRBackGround BG(RadarRadius);
void init_radar(void)
{
T_radar=new gaTimer();
}
void initGL_radar()
{
GLfloat a=100.0, aw=8000.0,
d0=600.0, d0w=1000.0,
p0x=5000.0, p0y=0.0, p0z=1000.0, p0w=1000.0;
glClearColor(0.1, 0.1, 0.1, 0.0);
glEnable(GL_LIGHTING);
if(USE_DEPTH_TEST)
glEnable(GL_DEPTH_TEST);
glEnable(GL_LIGHT0);
glEnable(GL_COLOR_MATERIAL);
glShadeModel(GL_FLAT);
glEnable(GL_NORMALIZE);
GLfloat amb0[]={a, a, a, aw};
glLightfv(GL_LIGHT0, GL_AMBIENT, amb0);
GLfloat dif0[]={d0, d0, d0, d0w};
glLightfv(GL_LIGHT0, GL_DIFFUSE, dif0);
GLfloat pos0[]={p0x, p0y, p0z, p0w};
glLightfv(GL_LIGHT0, GL_POSITION, pos0);
}
void display3(void)
{
static int lastdrawtime;
int ddt;
if(FORCE_REDRAW_PERIOD)
{
/*aggiorno la finestra solo se sono passati almeno
MILLI_PERIOD millisecondi dall'aggiornamento precedente */
ddt=glutGet(GLUT_ELAPSED_TIME)-lastdrawtime;
TIME_TO_REDRAW = ddt>=MILLI_PERIOD ? true:false;
}
if(GRPAUSE==false && TIME_TO_REDRAW)
{
lastdrawtime=glutGet(GLUT_ELAPSED_TIME);
if(USE_DEPTH_TEST)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
else
glClear(GL_COLOR_BUFFER_BIT);
if(USE_DEPTH_TEST)
{
/* scrivo informazioni utili sulla finestra */
static int ilasttime;
int dt=glutGet(GLUT_ELAPSED_TIME)-ilasttime;
ilasttime=glutGet(GLUT_ELAPSED_TIME);
float fps=FPS(dt);
glColor3f(1.0,1.0,1.0);
glPrintf(10,10,0,10,"fps %f\n",fps);
glPrintf(glutGet(GLUT_WINDOW_WIDTH)-100,10,0,10,
"time %d:%d\n",(T_radar->ReadTimer()/60), T_radar->ReadTimer()%60);
}
/* disegno */
glPushMatrix();
BG.Draw(center);
float robot_orientation=0.0;
Team *T =NULL;
bool THERESATEAM=false;
if(team_active==TEAMA)
{
if(TEAMA_PRESENT)
{
T=TeamA;
THERESATEAM=true;
}
}
else
{
if(TEAMB_PRESENT)
{
T=TeamB;
THERESATEAM=true;
}
}
if(THERESATEAM)
robot_orientation=T->RV[r_man]->GetP().h;
if(T->RV[r_man]->GetSide()==Gblue)
robot_orientation -= 180.0;
glRotatef(90.0-robot_orientation, 0.0, 0.0, 1.0);
if(THERESATEAM)
{
T->RV[r_man]->myParser->DrawBall();
T->RV[r_man]->myParser->DrawVector();
T->RV[r_man]->myParser->DrawTarget();
T->RV[r_man]->myParser->DrawObjects();
T->RV[r_man]->myParser->DrawMG();
T->RV[r_man]->myParser->DrawOG();
T->RV[r_man]->myParser->DrawFWall();
T->RV[r_man]->myParser->DrawBWall();
T->RV[r_man]->myParser->DrawLWall();
T->RV[r_man]->myParser->DrawRWall();
}
glPopMatrix();
glutSwapBuffers();
TIME_TO_REDRAW=false;
}
glutPostRedisplay();
// reshape(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
}
void reshape3(int w, int h)
{
glViewport(0, 0, w, h-50);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(455.0, (GLfloat)w/(GLfloat)(h-50), 1000.0, RadarRadius+1000.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0.0, 0.0, RadarRadius, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
TIME_TO_REDRAW=true;
}
void display4(void)
{
if(GRPAUSE==false && TIME_TO_REDRAW2)
{
Team *T =NULL;
bool THERESATEAM=false;
if(team_active==TEAMA)
{
if(TEAMA_PRESENT)
{
T=TeamA;
THERESATEAM=true;
}
}
else
{
if(TEAMB_PRESENT)
{
T=TeamB;
THERESATEAM=true;
}
}
if(THERESATEAM)
{
BatteryValue=T->RV[r_man]->myParser->BatteryCharge();
BatteryCharge=(BatteryValue-BATTERY_CHARGE_MIN)/BATTERY_CHARGE_RANGE;
// printf("\ndisplay2: BVal=%f, BCarge=%f ",BatteryValue, BatteryCharge);
if(BatteryCharge<0.0)
BatteryCharge=0.0;
if(BatteryCharge>1.0)
BatteryCharge=1.0;
EnginesOn=T->RV[r_man]->myParser->EnginesOn();
GasValue=T->RV[r_man]->myParser->GasCharge();
GasPercentage=(GasValue-GAS_CHARGE_MIN)/GAS_CHARGE_RANGE;
// printf("\ndisplay2: GasVal=%f, GPer=%f ",GasValue, GasPercentage);
if(GasPercentage<0.0)
GasPercentage=0.0;
if(GasPercentage>1.0)
GasPercentage=1.0;
NewQ=T->RV[r_man]->myParser->NewQ();
// printf("\ndisplay2: NewQ=%f ", NewQ);
Behaviour=T->RV[r_man]->myParser->Behaviour();
Task=T->RV[r_man]->myParser->Task();
Status=T->RV[r_man]->myParser->Status();
}
glClearColor(0.7, 0.7, 0.7, 0.0);
if(USE_DEPTH_TEST)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
else
glClear(GL_COLOR_BUFFER_BIT);
/* disegno */
DrawBattery();
DrawGas();
DrawEngines();
glColor3f(1.0, 1.0, 1.0);
glPrintf(5,17,0,10,"Battery\n");
glPrintf(5,5,0,10,"%.1f", BatteryValue);
glPrintf(80,17,0,10,"Gas\n");
glPrintf(80,5,0,10,"%.1f", GasValue);
glPrintf(145,17,0,10,"Engines\n");
if(EnginesOn)
glPrintf(178,33,0,10,"ON\n");
else
glPrintf(178,33,0,10,"OFF\n");
glPrintf(behave_x, behave_y, 0, 10, "Behaviour\n");
if(NewQ)
{
switch(Behaviour)
{
case SearchBall:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "SRC\n");
break;
case GoToBall:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "GTB\n");
break;
case CarryBall:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "CAR\n");
break;
case NearWall:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "NEW\n");
break;
case CatchBall:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "CAT\n");
break;
case Defend:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "DEF\n");
break;
case Wingman:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "WIN\n");
break;
case AllBack:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "ALB\n");
break;
case Stopper:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "STP\n");
break;
case Goalie:
glPrintf(behave_x+behave_dx,behave_y, 0, 10, "GOA\n");
break;
}
}
glPrintf(behave_x, task_y, 0, 10, "Task\n");
if(NewQ)
{
switch(Task)
{
case RoleG:
glPrintf(behave_x+behave_dx, task_y, 0, 10, "RG\n");
break;
case Role1:
glPrintf(behave_x+behave_dx, task_y, 0, 10, "R1\n");
break;
case Role2:
glPrintf(behave_x+behave_dx, task_y, 0, 10, "R2\n");
break;
case Role3:
glPrintf(behave_x+behave_dx, task_y, 0, 10, "R3\n");
break;
}
}
glPrintf(behave_x, status_y, 0, 10, "Status\n");
if(NewQ)
{
switch(Status)
{
case PlayerStopped:
glPrintf(behave_x+behave_dx, status_y, 0, 10, "PST\n");
break;
case EnemyHasBall:
glPrintf(behave_x+behave_dx, status_y, 0, 10, "EHB\n");
break;
case FreeBall:
glPrintf(behave_x+behave_dx, status_y, 0, 10, "FRB\n");
break;
case BallMine:
glPrintf(behave_x+behave_dx, status_y, 0, 10, "BMN\n");
break;
case Danger:
glPrintf(behave_x+behave_dx, status_y, 0, 10, "DNG\n");
break;
case Quiet:
glPrintf(behave_x+behave_dx, status_y, 0, 10, "QIET\n");
break;
}
}
glutSwapBuffers();
glutPostRedisplay();
TIME_TO_REDRAW2=false;
}
}
/*************************************** Battery **********************************************/
void DrawBattery()
{
glPushMatrix();
glColor3f(1.0, 0.0, 0.0);
glTranslatef(-SUBWIN_X/2.0, SUBWIN_Y/2.0, 0.0);
glPushMatrix();
glTranslatef(0.0, 0.0, GRZ_UP/1000.0);
glBegin(GL_POLYGON);
if(BatteryCharge>0.66667)
glColor3f(0.0, 0.0, 1.0);
else
{
if(BatteryCharge>0.33333)
glColor3f(1.0, 1.0, 0.0);
else
glColor3f(1.0, 0.0, 0.0);
}
glVertex3f(0.0, 0.0, 0.0);
glVertex3f(0.0, -y, 0.0);
glVertex3f(x*BatteryCharge, -y, 0.0);
glVertex3f(x*BatteryCharge, 0.0, 0.0);
glEnd();
glPushMatrix();
glTranslatef(0.0, 0.0, GRZ_UP/1000.0);
glBegin(GL_LINE_STRIP);
glColor3f(0.0, 0.0, 0.0);
glVertex3f(0.0, 0.0, 0.0);
glVertex3f(0.0, -y, 0.0);
glVertex3f(x, -y, 0.0);
glVertex3f(x, -y*3.0/4.0, 0.0);
glVertex3f(x+y/4.0, -y*3.0/4.0, 0.0);
glVertex3f(x+y/4.0,-y/4.0, 0.0);
glVertex3f(x, -y/4.0, 0.0);
glVertex3f(x, 0.0, 0.0);
glVertex3f(0.0, 0.0, 0.0);
glEnd();
glPopMatrix();
glPopMatrix();
glPopMatrix();
}
/***************************************** Gas **********************************************/
void DrawGas()
{
glPushMatrix();
glTranslatef(-SUBWIN_X/2.0+x+x/4.0, SUBWIN_Y/2.0, GRZ_UP/1000.0);
glColor3f(0.5, 0.9, 0.8);
glBegin(GL_POLYGON);
glVertex3f(GasPercentage*x, 0.0, 0.0);
glVertex3f(GasPercentage*x, -y, 0.0);
glVertex3f(0.0, -y, 0.0);
glVertex3f(0.0, 0.0, 0.0);
glEnd();
glPushMatrix();
glTranslatef(0.0, 0.0, GRZ_UP/1000.0);
glColor3f(0.0, 0.0, 0.0);
glBegin(GL_LINE_STRIP);
glVertex3f(x, 0.0, 0.0);
glVertex3f(0.0, 0.0, 0.0);
glVertex3f(0.0, -y, 0.0);
glVertex3f(x, -y, 0.0);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex3f(GasPercentage*x, 0.0, 0.0);
glVertex3f(GasPercentage*x, -y, 0.0);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex3f(GasPercentage*x, -y/2.0, 0.0);
glVertex3f((GasPercentage*x+x/4.0), -y/2.0, 0.0);
glEnd();
glPopMatrix();
glPopMatrix();
}
/************************************************* Engines **********************************************/
void DrawEngines()
{
glPushMatrix();
float dx=x/5.0;
float lato=x/10.0;
glTranslatef(-dx, y*0.6, GRZ_UP/1000.0);
glPushMatrix();
GRCircle C(lato);
GColor enginescolor=Gblack;
if(EnginesOn==true)
enginescolor=Gred;
C.Draw(Point(0.0, 0.0), 10, enginescolor, 1);
glPushMatrix();
glTranslatef(0.0, 0.0, GRZ_UP/1000.0);
C.Draw(Point(0.0, 0.0), 10, Gblack, 0);
glPopMatrix();
glPopMatrix();
glPopMatrix();
}
void reshape4(int w, int h)
{
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(1.0, (GLfloat)w/(GLfloat)h, 0.1, 20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
TIME_TO_REDRAW2=true;
}
void key_press_callback_radar(unsigned char key,int x, int y)
{
switch(key)
{
case 27:
case 'Q':
case 'q':
exit(1);
break;
/* case '1':
P.ListenToRobot(1);
glutSetWindowTitle("Golem Radar ERONE");
break;
case '2':
P.ListenToRobot(2);
glutSetWindowTitle("Golem Radar ARCHIMEDE");
break;
case '3':
P.ListenToRobot(3);
glutSetWindowTitle("Golem Radar EUCLIDE");
break;
case '4':
P.ListenToRobot(4);
glutSetWindowTitle("Golem Radar EULERO");
break;
*/
case '-':
if(RadarRadius<20000.0)
{
RadarRadius+=1000.0;
BG=GRBackGround(RadarRadius);
TIME_TO_REDRAW=true;
}
break;
case '+':
if(RadarRadius>2000.0)
{
RadarRadius-=1000.0;
BG=GRBackGround(RadarRadius);
TIME_TO_REDRAW=true;
}
break;
/*
case 's':
case 'S':
P.SendMsg(StartMsg);
break;
case 't':
case 'T':
P.SendMsg(StopMsg);
break;
case 'a':
case 'A':
P.SendMsg(SetupAttackMsg);
break;
case 'd':
case 'D':
P.SendMsg(SetupDefendMsg);
break;
*/
}
reshape3(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
}
void key_press_callback2_radar(unsigned char key,int x, int y)
{
switch(key)
{
case 'r':
TIME_TO_REDRAW2=true;
break;
}
glutPostRedisplay();
}
void visibility_callback(int state)
{
if(state==1)
{
TIME_TO_REDRAW=true;
TIME_TO_REDRAW2=true;
glutPostRedisplay();
}
}
/****************************************** GOLEM RADAR END *********************************/
Point pov(0.0, 0.0, 90.0);
Point focus(-3.0, 0.0, 0.0);
int mainwin, camcarwin;
Field *F=NULL;
Team *TeamA=NULL;
Team *TeamB=NULL;
Ball *B=NULL;
gaTimer *T=NULL;
ETTimer *ET;
GJoyControl *Joy=NULL;
bool JOY_ENABLED=false;
bool GA_TIME_TO_REDRAW=true;
void GiveSightToAll();
void reshape2(int, int );
void ReadJoy();
void init(void)
{
F = new Field();
B = new Ball(0.0, 0.0, 0.0, 0.0);
BALL_PRESENT=true;
T=new gaTimer();
ET=new ETTimer();
ET->ResetTimer();
TeamA=new Team(Gcyan, Gyellow, 1);
TEAMA_PRESENT=true;
r_man=0;
team_active=TEAMA;
GA_STATE=MOVE_BALL;
GA_VIEW=GA_GLOBAL_VIEW;
}
void initGL()
{
GLfloat a=0.1, aw=8.0,
d0=0.6, d0w=1.0,
d1=0.8, d1w=1.0,
p0x=5.0, p0y=0.0, p0z=1.0, p0w=1.0,
p1x=6.0, p1y=3.0, p1z=1.0, p1w=0.5;
glClearColor(0.1, 0.1, 0.1, 0.0);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT0);
glEnable(GL_COLOR_MATERIAL);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glEnable(GL_NORMALIZE);
GLfloat amb0[]={a, a, a, aw};
glLightfv(GL_LIGHT0, GL_AMBIENT, amb0);
GLfloat dif0[]={d0, d0, d0, d0w};
glLightfv(GL_LIGHT0, GL_DIFFUSE, dif0);
GLfloat pos0[]={p0x, p0y, p0z, p0w};
glLightfv(GL_LIGHT0, GL_POSITION, pos0);
GLfloat dif1[]={d1, d1, d1, d1w};
glLightfv(GL_LIGHT0, GL_DIFFUSE, dif1);
GLfloat pos1[]={p1x, p1y, p1z, p1w};
glLightfv(GL_LIGHT0, GL_POSITION, pos1);
}
void display(void)
{
#ifdef TOTAL_DEBUG
if(NEXT_STEP)
{
#endif
float time=ET->ReadTimer();
static float lasttime;
GA_TIME_TO_REDRAW = time-lasttime>0.05 ? true: false;
if(GAPAUSE==false && GA_TIME_TO_REDRAW)
{
lasttime=time;
static float Period = 20000.0; // microsecondi !!
float LastPeriod=Period;
if(TEAMA_PRESENT)
LastPeriod = TeamA->GetPeriod();
else
if(TEAMB_PRESENT)
LastPeriod = TeamB->GetPeriod();
static float lasttime = 0.0;
static bool PERIOD_CHANGED = false;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
if(GA_VIEW==GA_GLOBAL_VIEW)
{
glRotatef(view_rotx, 1.0, 0.0, 0.0);
glRotatef(view_roty, 0.0, 1.0, 0.0);
glRotatef(view_rotz, 0.0, 0.0, 1.0);
glTranslatef(field_x, field_y, field_z);
}
static int ilasttime;
int dt;
dt=glutGet(GLUT_ELAPSED_TIME)-ilasttime;
ilasttime=glutGet(GLUT_ELAPSED_TIME);
float fps=FPS(dt);
glColor3f(1,1,1);
glPrintf(10,10,0,10,"fps %f\n",fps);
glPrintf(glutGet(GLUT_WINDOW_WIDTH)-100,10,0,10,
"time %d:%d\n",(T->ReadTimer()/60), T->ReadTimer()%60);
F->Draw(); // fondo campo
if(TEAMA_PRESENT)
TeamA->Draw();
if(TEAMB_PRESENT)
TeamB->Draw();
if(BALLFLAG)
B->Draw(); // palla
Period=((float)glutGet(GLUT_ELAPSED_TIME)-lasttime)*1000.0;
PERIOD_CHANGED = (fabs(Period-LastPeriod) > 1000.0) ? true : false;
// if (PERIOD_CHANGED)
{ if(TEAMA_PRESENT)
TeamA->SetPeriod(Period);
if(TEAMB_PRESENT)
TeamB->SetPeriod(Period);
if(BALLFLAG)
B->SetPeriod(Period);
}
lasttime = (float)glutGet((GLenum)GLUT_ELAPSED_TIME);
// printf("%s%f\n","Period (microseconds) : ",Period);
/* aggiorno le squadre */
/*
if(JOY_ENABLED)
ReadJoy();
*/
if(TEAMA_PRESENT)
TeamA->Update();
if(TEAMB_PRESENT)
TeamB->Update();
/* seleziono il robot del team attivo */
if(team_active==TEAMA)
{
if(TEAMA_PRESENT)
TeamA->Select(r_man);
if(TEAMB_PRESENT)
TeamB->DeselectAll();
}
else
{
if(TEAMB_PRESENT)
TeamB->Select(r_man);
if(TEAMA_PRESENT)
TeamA->DeselectAll();
}
/* chiamo la funzione degli urti robot-robot */
RRCollide(TeamA, TeamB);
/* ricostruisco il mondo in coordinate globali
e lo passo ai robot che lo manipoleranno */
GiveSightToAll();
/* chiamo la funzione che calcola gli urti palla-robot */
if(BALLFLAG)
{
B->Update();
if(TEAMA_PRESENT)
RBCollide(TeamA);
if(TEAMB_PRESENT)
RBCollide(TeamB);
}
glPopMatrix();
GA_TIME_TO_REDRAW=false;
}
glutSwapBuffers();
glutPostRedisplay();
#ifdef TOTAL_DEBUG
}
#endif
NEXT_STEP=false;
}
void reshape(int w, int h)
{
if(GA_VIEW==GA_SUBJECTIVE_VIEW)
{
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45.0, (GLdouble)w/(GLdouble)h, 0.1, 20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
GLfloat myangle = pov.h;
GLfloat myx = pov.x;
GLfloat lookatx = focus.x;//myx+(1.1*cos(myangle*M_PI/180.0));
GLfloat myy = pov.y;
GLfloat lookaty = focus.y;//myy+(1.1*sin(myangle*M_PI/180.0));
GLfloat myz = 1.8;
GLfloat lookatz = 0.0;
gluLookAt(myx, myy, myz, lookatx, lookaty, lookatz, 0.0, 0.0, 1.0);
}
else
{
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(p, (GLfloat)w/(GLfloat)h, l, m);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
}
}
void display2()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
F->Draw(); // fondo campo
if(TEAMA_PRESENT)
TeamA->Draw();
if(TEAMB_PRESENT)
TeamB->Draw();
if(BALLFLAG)
B->Draw(); // palla
glPopMatrix();
glutSwapBuffers();
glutPostRedisplay();
glutSetWindow(camcarwin);
reshape2(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));;
}
void reshape2(int w, int h)
{
Team *T;
bool TEAM_PRESENT=false;
if(TEAMA_PRESENT && team_active==TEAMA)
{
T=TeamA;
TEAM_PRESENT=true;
}
else
if(TEAMB_PRESENT && team_active==TEAMB)
{
T=TeamB;
TEAM_PRESENT=true;
}
if(TEAM_PRESENT)
{
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0, (GLdouble)w/(GLdouble)h, 0.3, 20.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
GLfloat myangle = T->RV[r_man]->GetP().h;
GLfloat myx = T->RV[r_man]->GetP().x;
GLfloat lookatx = myx+(1.1*cos(myangle*M_PI/180.0));
GLfloat myy = T->RV[r_man]->GetP().y;
GLfloat lookaty = myy+(1.1*sin(myangle*M_PI/180.0));
GLfloat myz = 0.6;
GLfloat lookatz = 0.0;
gluLookAt(myx, myy, myz, lookatx, lookaty, lookatz, 0.0, 0.0, 1.0);
}
}
/************** Gestione del Joystick *****************************/
void ReadJoy()
{
Team *T;
bool THERESATEAM=false;
if(team_active==TEAMA)
{
if(TEAMA_PRESENT)
{
T=TeamA;
THERESATEAM=true;
}
}
else
{
if(TEAMB_PRESENT)
if(team_active==TEAMB)
{
T=TeamB;
THERESATEAM=true;
}
}
if(THERESATEAM)
{
float jog=0.0;
GVector vel;
Joy->ReadAndParse();
jog=Joy->ReadJog();
Joy->ReadSpeed(vel);
// printf("\nmain: jog=%f, vel=%f,%f ",jog, vel.GetRo(), vel.GetTheta());
// fflush(stdout);
T->RV[r_man]->SetVel(vel*0.001, jog);
/*
kd = gj->ReadKickDX();
ks = gj->ReadKickSX();
kf = gj->ReadKickFWD();
*/
}
}
void GiveSightToAll()
{
//************** Comunica gli oggetti ai Golem *******************
int gindex=0;
Balloon_struct bs;
Goals_struct gs;
Walls_struct ws;
int Robot_Seen=0;
All_Robots_struct rs;
/**********************************/
/* palla */
/**********************************/
if(BALL_PRESENT)
{
bs.Pos=GVector(B->GetP().x, B->GetP().y, Cartesian);
bs.Speed=GVector(B->GetV().x, B->GetV().y, Cartesian);
bs.Ball_Vision=Seen;
/* TimeStamp e PointOfView vengono settati in Robot.cpp */
}
else
bs.Ball_Vision=Unseen;
/**********************************/
/* robots */
/**********************************/
if(TEAMA_PRESENT)
for(int i=0;i<TeamA->Getn(); i++)
{
rs.Robot[gindex].ID=gindex; //Assolutamente non index!!!!!!!!!!!!!!!!!!!!!! by Roby
rs.Robot[gindex].Pos=GVector(TeamA->RV[i]->GetP().x, TeamA->RV[i]->GetP().y, Cartesian);
rs.Robot[gindex].Speed=GVector(TeamA->RV[i]->GetV().x, TeamA->RV[i]->GetV().y, Cartesian);
/* momentaneamente imposto come TeamMate tutti i robot
Gcyan e come Enemy tutti i Gmagenta. Ci penserà Robot.cpp a correggere */
rs.Robot[gindex].Type= TeamA->GetColor()==Gcyan ? TeamMate : Enemy;
gindex++;
/* TimeStamp e PointOfView vengono settati in Robot.cpp */
}
if(TEAMB_PRESENT)
for(int i=0;i<TeamB->Getn(); i++)
{
rs.Robot[gindex].ID=gindex;
rs.Robot[gindex].Pos=GVector(TeamB->RV[i]->GetP().x, TeamB->RV[i]->GetP().y, Cartesian);
rs.Robot[gindex].Speed=GVector(TeamB->RV[i]->GetV().x, TeamB->RV[i]->GetV().y, Cartesian);
/* momentaneamente imposto come TeamMate tutti i robot
Gcyan e come Enemy tutti i magente. Ci penserà Robot.cpp a correggere */
rs.Robot[gindex].Type= TeamB->GetColor()==Gcyan ? TeamMate : Enemy;
gindex++;
/* TimeStamp e PointOfView vengono settati in Robot.cpp */
}
if(DEBUG_WORLD)
{
Point center(0.0, 0.0);
for(int i=0; i<gindex; i++)
DrawVector(center, rs.Robot[i].Pos);
}
if(TEAMA_PRESENT)
Robot_Seen += TeamA->Getn();
if(TEAMB_PRESENT)
Robot_Seen += TeamB->Getn();
/**********************************/
/* porte */