cdraw.cc

2007年机器人足球世界杯3D仿真组亚军

#include "gamemodel.hh"
#include "gameobject.hh"
#include <GL/gl.h>
#include <cmath>
#include <iostream>

using namespace bats;
using namespace std;

void GameModel::cDraw(double gameTime, unsigned team, unsigned unum, rPredicate const &pred)
{
  //cerr << "Draw command! " << info.team << " " << info.unum << " " << *pred << endl;
  GameObject extraGfx;// = gameModel.getPlayerInfo(info.team, info.unum).extraGfx;
  extraGfx.glList = 0;
  extraGfx.scale = Vector3D(1, 1, 1);
  extraGfx.gfx = new GFXObject();
  Vector3D color(1.0, 1.0, 1.0);
  
  for (Predicate::iterator iter = pred->begin(); iter != pred->end(); ++iter)
  {
    rPredicate child = *iter;
    //cerr << "child: " << child->getStr() << endl;
    if (child->getStr() == "colour")
    {
      color[0] = *(child->get(0));
      color[1] = *(child->get(1));
      color[2] = *(child->get(2));
    }
    else if (child->getStr() == "circle")
    {
      double x = *(child->get(0));
      double y = *(child->get(1));
      double r = *(child->get(2));
      if (team == 1)
      {
        x = -x;
        y = -y;
      }
      //cerr << "drawing circle (" << x << ", " << y << ", " << r << ")" << endl;
      Face f;
      f.begin(GL_LINE_LOOP);
      f.color(color[0], color[1], color[2]);

      double dalpha = M_PI / 8;
    
      for (double alpha = 0; alpha < 2 * M_PI; alpha += dalpha)
      {
        double dx = r * cos(alpha);
        double dy = r * sin(alpha);
        f.vertex(Vector3D(x + dx, y + dy, 0.0));
      }
      extraGfx.gfx->addFace(f);
    }
    else if (child->getStr() == "line")
    {
      double x1 = *(child->get(0));
      double y1 = *(child->get(1));
      double x2 = *(child->get(2));
      double y2 = *(child->get(3));
      if (team == 1)
      {
        x1 = -x1;
        y1 = -y1;
        x2 = -x2;
        y2 = -y2;
      }
      Face f;
      f.begin(GL_LINES);
      f.color(color[0], color[1], color[2]);
      f.vertex(Vector3D(x1, y1, 0.0));
      f.vertex(Vector3D(x2, y2, 0.0));
      extraGfx.gfx->addFace(f);
    }
    else if (child->getStr() == "vector")
    {
      double x1 = *(child->get(0));
      double y1 = *(child->get(1));
      double x2 = *(child->get(2));
      double y2 = *(child->get(3));
      if (team == 1)
      {
        x1 = -x1;
        y1 = -y1;
        x2 = -x2;
        y2 = -y2;
      }
      Face f1;
      f1.begin(GL_LINES);
      f1.color(color[0], color[1], color[2]);
      f1.vertex(Vector3D(x1, y1, 0.0));
      f1.vertex(Vector3D(x2, y2, 0.0));
      extraGfx.gfx->addFace(f1);
      
      // Draw arrowhead
      double dx = x2 - x1;
      double dy = y2 - y1;

      double beta = -atan(dy/dx);
      if (dx < 0)
        beta += 3.14;

      double lahx = -1 * cos(beta) + 1 * sin(beta);
      double lahy = - (-1) * sin(beta) + 1 * cos(beta);
      
      double rahx = -1 * cos(beta) + (-1) * sin(beta);
      double rahy = - (-1) * sin(beta) + (-1) * cos(beta);

      Face f2;
      f2.begin(GL_TRIANGLES);
      f2.color(color[0], color[1], color[2]);
      f2.vertex(Vector3D(x2, y2, 0.0));
      f2.vertex(Vector3D(x2 + lahx, y2 + lahy, 0.0));
      f2.vertex(Vector3D(x2 + rahx, y2 + rahy, 0.0));
      extraGfx.gfx->addFace(f2);
    }
  }

  getPlayerInfo(team, unum).extraGfx = extraGfx;
}