drawfield.cc

2007年机器人足球世界杯3D仿真组亚军

#include "monitorframe.ih"

void MonitorFrame::drawField()
{
  static GLuint fieldList = 0;
  
  if (fieldList == 0)
  {
    fieldList = glGenLists(1);
    glNewList(fieldList, GL_COMPILE);
    // Draw field
    glTexImage2D(GL_TEXTURE_2D, 0, 3, 512, 
          512, 0, GL_RGB, GL_UNSIGNED_BYTE, 
          d_grassTex);
    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
    glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);
  
    double fl = d_gameModel.getVarDbl(GameModel::FieldLength) / 2;
    double fw = d_gameModel.getVarDbl(GameModel::FieldWidth) / 2;
    double flb = fl + d_gameModel.getVarDbl(GameModel::BorderSize);
    double fwb = fw + d_gameModel.getVarDbl(GameModel::BorderSize);
    
    GLfloat material_border_aandd[] = {0.0, 0.75, 0.0, 1.0};
    GLfloat material_field_aandd[] = {0.0, 0.5, 0.0, 1.0};
    GLfloat material_lines_aandd[] = {1.0, 1.0, 1.0, 1.0};
    
    glNormal3f(0.0, 0.0, 1.0);
    
    glBegin(GL_QUADS);
      //glColor3f(0, 0.75, 0.0);
      glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, material_border_aandd);
      glVertex3f(-flb, -fwb, 0.0);
      glVertex3f(-flb, fwb, 0.0);
      glVertex3f(flb, fwb, 0.0);
      glVertex3f(flb, -fwb, 0.0);
    glEnd();
    
    glEnable(GL_TEXTURE_2D);
    glBegin(GL_QUADS);
      //glColor3f(0, 0.5, 0.0);
      glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, material_field_aandd);
      glTexCoord2f(0.0, 0.0); glVertex3f(-fl, -fw, 0.0);
      glTexCoord2f(0.0, 2.0); glVertex3f(-fl, fw, 0.0);
      glTexCoord2f(3.0, 2.0); glVertex3f(fl, fw, 0.0);
      glTexCoord2f(3.0, 0.0); glVertex3f(fl, -fw, 0.0);
    glEnd();
    glDisable(GL_TEXTURE_2D);
  
    //  glBegin(GL_TRIANGLES);
    //  drawObject(*d_gfxField);
    //  glEnd();
  
    //glColor3f(1.0, 1.0, 1.0);
    glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, material_lines_aandd);
    
    glBegin(GL_LINE_LOOP);
      // Draw side lines
      glVertex3f(-fl, -fw, 0.0);
      glVertex3f(fl, -fw, 0.0);
      glVertex3f(fl, fw, 0.0);
      glVertex3f(-fl, fw, 0.0);
    glEnd();
  
    glBegin(GL_LINES);
      // Draw middle line
      glVertex3f(0.0, -fw, 0.0);
      glVertex3f(0.0, fw, 0.0);
    glEnd();
  
    glBegin(GL_LINE_LOOP);
      // Draw middle circle
      double r = 9.15;
      double dalpha = M_PI / 16;
      
      for (double alpha = 0; alpha < 2 * M_PI; alpha += dalpha)
      {
        double x = r * cos(alpha);
        double y = r * sin(alpha);
        glVertex3f(x, y, 0.0);
      }
    glEnd();
    
    double goalDepth = d_gameModel.getVarDbl(GameModel::GoalDepth);
    double goalWidth = d_gameModel.getVarDbl(GameModel::GoalWidth);
  
    glBegin(GL_LINE_STRIP);
      // Draw left goal
      glVertex3f(-fl, 0.5 * goalWidth, 0.0);
      glVertex3f(-fl - goalDepth, 0.5 * goalWidth, 0.0);
      glVertex3f(-fl - goalDepth, -0.5 * goalWidth, 0.0);
      glVertex3f(-fl, -0.5 * goalWidth, 0.0);
    glEnd();
      
    glBegin(GL_LINE_STRIP);
      // Draw right goal
      glVertex3f(fl, 0.5 * goalWidth, 0.0);
      glVertex3f(fl + goalDepth, 0.5 * goalWidth, 0.0);
      glVertex3f(fl + goalDepth, -0.5 * goalWidth, 0.0);
      glVertex3f(fl, -0.5 * goalWidth, 0.0);
    glEnd();
  
    glBegin(GL_LINE_STRIP);
      // Draw left goal area
      glVertex3f(-fl, 0.5 * goalWidth + 5.5, 0.0);
      glVertex3f(-fl + 5.5, 0.5 * goalWidth + 5.5, 0.0);
      glVertex3f(-fl + 5.5, -0.5 * goalWidth - 5.5, 0.0);
      glVertex3f(-fl, -0.5 * goalWidth - 5.5, 0.0);
    glEnd();
  
    glBegin(GL_LINE_STRIP);
      // Draw right goal area
      glVertex3f(fl, 0.5 * goalWidth + 5.5, 0.0);
      glVertex3f(fl - 5.5, 0.5 * goalWidth + 5.5, 0.0);
      glVertex3f(fl - 5.5, -0.5 * goalWidth - 5.5, 0.0);
      glVertex3f(fl, -0.5 * goalWidth - 5.5, 0.0);
    glEnd();
  
    glBegin(GL_LINE_STRIP);
      // Draw left penalty area
      glVertex3f(-fl, 0.5 * goalWidth + 16.5, 0.0);
      glVertex3f(-fl + 16.5, 0.5 * goalWidth + 16.5, 0.0);
      glVertex3f(-fl + 16.5, -0.5 * goalWidth - 16.5, 0.0);
      glVertex3f(-fl, -0.5 * goalWidth - 16.5, 0.0);
    glEnd();
  
    glBegin(GL_LINE_STRIP);
      // Draw right penalty area
      glVertex3f(fl, 0.5 * goalWidth + 16.5, 0.0);
      glVertex3f(fl - 16.5, 0.5 * goalWidth + 16.5, 0.0);
      glVertex3f(fl - 16.5, -0.5 * goalWidth - 16.5, 0.0);
      glVertex3f(fl, -0.5 * goalWidth - 16.5, 0.0);
    glEnd();
    
    glEndList();
  }

  glCallList(fieldList);
}