main.cpp

浙江大学 RoboCup3D 2006 源代码

    int len;
    NMUDP1->ReadBuffer(buff, 4096, len);
    AnsiString s;
    if(buff[0]=='M'){
        s = buff+2;
        Memo1->Lines->Add(s);
        return;
    } else if (buff[0] == '!') {
        MyPaint();
        return;
    }
    geoDebug.push_back(buff);
//    MyPaint();

}
//---------------------------------------------------------------------------

void __fastcall TForm1::TrackBar1Change(TObject *Sender)
{
    SendWM(TrackBar1->Position);
}
//---------------------------------------------------------------------------




void __fastcall TForm1::Timer1Timer(TObject *Sender)
{
    if (!mLiveMonitor) {
        TrackBar1->Position += interval;
        if (TrackBar1->Position >= TrackBar1->Max) {
            TrackBar1->Position = TrackBar1->Max - 1;
        }
        SendWM(TrackBar1->Position);
    }
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ToolButton5Click(TObject *Sender)
{
    Timer1->Enabled = true;
    if(interval<0)
        interval = -interval;

}
//---------------------------------------------------------------------------

void __fastcall TForm1::ToolButton4Click(TObject *Sender)
{
    Timer1->Enabled = false;
    Timer1->Interval = 150;
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ToolButton3Click(TObject *Sender)
{
    Timer1->Enabled = true;
    if(interval>0)
        interval = -interval;
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ToolButton2Click(TObject *Sender)
{
    TrackBar1->Position --;
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ToolButton6Click(TObject *Sender)
{
    TrackBar1->Position ++;
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ToolButton1Click(TObject *Sender)
{
    TrackBar1->Position = 1;
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ToolButton8Click(TObject *Sender)
{
    Timer1->Interval /= 2;
    if (Timer1->Interval > 150. / 8 - 1e-7) {
        Timer1->Interval = 150. / 8;
    }
/*
    interval *=2;
    if(interval>16)
        interval = 16;
*/
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ToolButton7Click(TObject *Sender)
{
    Timer1->Interval *= 2;
    if (Timer1->Interval > 1200 - 1e-7) {
        Timer1->Interval = 1200;
    }
/*
    interval /=2;
    if(interval<1)
        interval = 1;
*/
}
//---------------------------------------------------------------------------


void __fastcall TForm1::Timer2Timer(TObject *Sender)
{
    int i;
    for(i=0;i<connects;i++)
    {
    }
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ServerSocket1ClientConnect(TObject *Sender,
      TCustomWinSocket *Socket)
{
    connects ++;    
}
//---------------------------------------------------------------------------

void __fastcall TForm1::ServerSocket1ClientDisconnect(TObject *Sender,
      TCustomWinSocket *Socket)
{
    connects --;    
}
//---------------------------------------------------------------------------

void __fastcall TForm1::Button1Click(TObject *Sender)
{
    Timer1->Enabled = false;
    interval = 1;
    if(OpenDialog1->Execute()){
        for(int i=0;i<11;i++)
            collWM[i].clear();
        monitor.clear();
        ReadFiles(OpenDialog1->Files);
        SendWM(TrackBar1->Position);
    }
}
//---------------------------------------------------------------------------


void __fastcall TForm1::Button2Click(TObject *Sender)
{
    SendWM(TrackBar1->Position);
}
//---------------------------------------------------------------------------

void TForm1::ParseWM()
{
    //TODO: Add your source code here
    int myNumber;
    double currentTime;
    int pm;
    double player_size=0.22,ball_size=0.111;
	istringstream is(strWM);
	string s;
//    TCanvas* c = Image2->Canvas;

//===========================================
        // my number
	is>>s;	is>>wm.myNumber;
        // current time
	is>>s;	is>>wm.currentTime;
        // play mode
	is>>s;	is>>wm.pm;
        // sensation count
	is>>s;	is>>wm.mSensationCount;
        // my position
	is>>s;	is>>wm.myPos.x>>wm.myPos.y>>wm.myPos.z;
        // my velocity
	is>>s;	is>>wm.myVel.x>>wm.myVel.y>>wm.myVel.z;
        // my position in the next cycle
	is>>s;	is>>wm.nextPos.x>>wm.nextPos.y>>wm.nextPos.z;
        // my velocity in the next cycle
	is>>s;	is>>wm.nextVel.x>>wm.nextVel.y>>wm.nextVel.z;
        // my pan angle && tile angle
        is>>s;  is>>wm.myPanAngle>>wm.myTiltAngle;
        // positions of teammates
	for(int i=0;i<11;i++){
		is>>s>>s>>s;
		is>>wm.ourPos[i].x>>wm.ourPos[i].y>>wm.ourPos[i].z;
		is>>s>>s>>s;
		is>>wm.ourVel[i].x>>wm.ourVel[i].y>>wm.ourVel[i].z;
        if(i == wm.myNumber -1) {
            wm.ourPos[i] = wm.myPos;
            continue;
        }
	}
        // positions of opponents
	for(int i=0;i<11;i++){
		is>>s>>s>>s;
		is>>wm.oppPos[i].x>>wm.oppPos[i].y>>wm.oppPos[i].z;
		is>>s>>s>>s;
		is>>wm.oppVel[i].x>>wm.oppVel[i].y>>wm.oppVel[i].z;
	}
        // the position and velocity of the ball
	is>>s;
	is>>wm.ballPos.x>>wm.ballPos.y>>wm.ballPos.z;
	is>>wm.ballVel.x>>wm.ballVel.y>>wm.ballVel.z;
        // the cycles with no flag/player/ball seen
        is >> s;
        for (int i = 0; i < 8; ++i) {   // flag
            is >> wm.noflag[i];
        }
        for (int i = 0; i < 11; ++i) {   // teammates
            is >> wm.noour[i];
        }
        for (int i = 0; i < 11; ++i) {   // oppenents
            is >> wm.noopp[i];
        }
        is >> wm.noball;

    // set onto screen
    for (int i = 0; i < 11; ++ i) {
        hMonitor.mGameState.SetPlayer(i,
            Vector3(wm.ourPos[i].x, wm.ourPos[i].y, wm.ourPos[i].z),
            TI_LEFT, i + 1);
        hMonitor.mGameState.SetPlayer(11 + i,
            Vector3(wm.oppPos[i].x, wm.oppPos[i].y, wm.oppPos[i].z),
            TI_RIGHT, i + 1);
    }
    hMonitor.mGameState.SetPanTilt(wm.myPanAngle, wm.myTiltAngle,
        Vector3(wm.myPos.x, wm.myPos.y, wm.myPos.z));
    hMonitor.mGameState.SetBall(Vector3(wm.ballPos.x, wm.ballPos.y, wm.ballPos.z));
    hMonitor.mGameState.SetTime(wm.currentTime);
    hMonitor.mGameState.SetPlayMode(wm.pm);
}

Vector TForm1::RealToScreen(Vector p)
{
    Vector result;
    result.y=p.y*scale;
    result.x=p.x*scale;
    result.x +=  center.x;
    result.y +=  center.y;
    result.z +=  center.z;
    return result;
}

void TForm1::MyPaint()
{
    wglMakeCurrent(hdc, hrc);
//    glOrtho(-1, 1, -1.2, 1, -1, 1);

    //TODO: Add your source code here
    Vector pos;
    int i;
    double x,y;
/*
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glColor3f(1, 1, 1);
    glBegin(GL_LINE_LOOP);
    glVertex3f(0, 0, 0);
    glVertex3f(0.5, 0, 0);
    glVertex3f(0.5, 0.5, 0);
    glVertex3f(0, 0.5, 0);
    glEnd();
*/
    if (monitor.size() > 0) {
        // parse && display WM
        if (!mLiveMonitor && !mMonitorOnly) {
            if (!mMonitorOnly) {
                ParseWM();
            }
            if (mShowReal || mMonitorOnly) {
                Predicate predicate;
                Parser::Parse(strWMReal, predicate);
                if (!mMonitorOnly) {
                    hMonitor.mGameStateReal.ProcessInput(predicate);
                } else {
                    hMonitor.mGameState.ProcessInput(predicate);
                }
                if (mFieldReverse) {
                    Vector3 pos;
                    if (!mMonitorOnly) {
                        hMonitor.mGameStateReal.GetBall(pos);
                    } else {
                        hMonitor.mGameState.GetBall(pos);
                    }
                    pos.x = -pos.x; pos.y = -pos.y;
                    if (!mMonitorOnly) {
                        hMonitor.mGameStateReal.SetBall(pos);
                    } else {
                        hMonitor.mGameState.SetBall(pos);
                    }
                    for (int i = 0; i < 22; ++ i) {
                        TTeamIndex side;
                        int unum;
                        double size;
                        if (!mMonitorOnly) {
                            hMonitor.mGameStateReal.GetPlayer(i, pos, side, unum, size);
                        } else {
                            hMonitor.mGameState.GetPlayer(i, pos, side, unum, size);
                        }
                        pos.x = -pos.x; pos.y = -pos.y;
                        if (!mMonitorOnly) {
                            hMonitor.mGameStateReal.SetPlayer(i, pos, side, unum);
                        } else {
                            hMonitor.mGameState.SetPlayer(i, pos, side, unum);
                        }
                    }
                }
            }
        }
        if (mMonitorOnly) {
            mShowReal = false;
        }
        if (mFieldReverse) {
            swap(wm.noflag[0], wm.noflag[3]);
            swap(wm.noflag[1], wm.noflag[2]);
            swap(wm.noflag[4], wm.noflag[7]);
            swap(wm.noflag[5], wm.noflag[6]);
        }
        hMonitor.Display(geoDebug, mShowReal, mMonitorOnly || mLiveMonitor, wm);
        if (mFieldReverse) {
            swap(wm.noflag[0], wm.noflag[3]);
            swap(wm.noflag[1], wm.noflag[2]);
            swap(wm.noflag[4], wm.noflag[7]);
            swap(wm.noflag[5], wm.noflag[6]);
        }
    }

    glFlush();
    SwapBuffers(hdc);
    wglMakeCurrent(hdc,NULL);
    return;
}
void __fastcall TForm1::FormPaint(TObject *Sender)
{
    MyPaint();
}
//---------------------------------------------------------------------------







void __fastcall TForm1::FormMouseDown(TObject *Sender, TMouseButton Button,
      TShiftState Shift, int X, int Y)
{
    if (Button == mbLeft) {
        mouse_left_down = true;
        mouse = Vector(X,Y);
        hMonitor.Mouse(0, 0, X, Y);
    } else if (Button == mbRight) {
        mouse_right_down = true;
    }
}
//---------------------------------------------------------------------------

void __fastcall TForm1::FormMouseMove(TObject *Sender, TShiftState Shift,
      int X, int Y)
{
/*
    if(mouse_down){
        center += (Vector(X,Y)-mouse);