monitor.cpp

robocup rcssserver 运行防真机器人足球比赛所用的服务器端

        default:
            glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, sSphereDefaultColor);
            //glColor4fv(sSphereDefaultColor);
        }

        mGLServer.DrawSphere(pos, size, 8, false);

        glDisable(GL_LIGHTING);

        if (mDrawUnums && unum > 0)
        {
            glColor4fv(sUnumColor);
            std::stringstream ss;
            ss << unum;
            mGLServer.DrawText3D(ss.str(), pos + salt::Vector3f(0.0,0.0,0.3f));
        }

        glEnable(GL_LIGHTING);
    }
}

void
Monitor::DrawBall(const salt::Vector3f& pos, float size, int pass)
{
    if (pass == 0)
    {
        const GLfloat outerlineColor[] = {0.2f,0.2f,0.2f,1.0f};
        glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, outerlineColor);
        mGLServer.DrawShadowOfSphere(pos, size);
    }
    else
    // pass=1, second pass with depth test
    {
        glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, sBallColor);
        //glColor4fv(sBallColor);
        mGLServer.DrawSphere(pos, size);
    }
}

// Example for DrawDebug
void
Monitor::DrawDebug()
{
    // this example method just draws the positive axes on the field
    glColor4fv(sDebugColorPink);

    // mGLServer.DrawArbitraryLine(Vector3f(0,0,0), Vector3f(10,0,0));
    // mGLServer.DrawArbitraryLine(Vector3f(0,0,0), Vector3f(0,10,0));
    // mGLServer.DrawArbitraryLine(Vector3f(0,0,0), Vector3f(0,0,10));

    Vector3f pos;
    float size;

    if (mGameState.GetBall(pos, size))
    {
        mGLServer.DrawCircle(pos, 1.0, 0 , 360);
    }

    return;
}


void
Monitor::DrawVelocities()
{
    Vector3f pos, oldpos;

    float timeDiff = mGameState.GetTime() - mOldGameState.GetTime();

    // if no time has passed, no velocity can be calculated
    // TODO: this should set a default for stop clock cycles
    if (timeDiff == 0.0)
        return;

    //glDisable(GL_DEPTH_TEST);

    glColor3f(0.2f, 0.2f, 0.2f);

    if (mGameState.GetBall(pos) && mOldGameState.GetBall(oldpos))
    {
        //DrawBall(pos, size, pass);
        //For scaling must divide by (timeDiff)

        mGLServer.DrawArbitraryLine(pos, pos + (pos-oldpos)/timeDiff);
        //mGLServer.DrawArbitraryLine(pos, pos + (pos-oldpos)/timeDiff);
    }

    int i = 0;
    int unum;
    TTeamIndex side;
    float size;
    while (mGameState.GetPlayer(i, pos, side, unum, size))
    {
        mOldGameState.GetPlayer(i, oldpos, side, unum, size);
        mGLServer.DrawArbitraryLine(pos, pos + (pos-oldpos)/timeDiff);
        ++i;
    }

    //glEnable(GL_DEPTH_TEST);

}


void
Monitor::Display()
{

    glEnable(GL_POINT_SMOOTH);
    glEnable(GL_LINE_SMOOTH);
    glEnable(GL_BLEND);

    glEnable(GL_LIGHTING);

    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

    const Vector3f szGoal1 = mGameState.GetGoalSize(false);
    const Vector3f szGoal2 = mGameState.GetGoalSize(true);

    glClearColor(0.0f,0.0f,0.0f,1.0f);
    //glClearColor(0.15f,0.15f,0.3f,1.0f);
    glClear (GL_COLOR_BUFFER_BIT| GL_DEPTH_BUFFER_BIT);
    glColor3f (1.0, 1.0, 1.0);

    glLoadIdentity();
    mGLServer.ApplyCamera();

    const float& fl = mGameState.GetFieldLength();
    const float& fw = mGameState.GetFieldWidth();
    const float& fh = mGameState.GetFieldHeight();
    const float& lw = mGameState.GetLineWidth();
    const float& bs = mGameState.GetBorderSize();
    const float& gw = mGameState.GetGoalWidth();

	// skybox background
    if (mUseTexture)
    {
        glEnable(GL_TEXTURE_2D);
        mGLServer.DrawSkyBackground(0,0,100,200,200,200);
//    glDisable(GL_TEXTURE_2D);
    }


    // ground
    glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, sGroundColor);
    //glColor4fv(sGroundColor);
    //glColor4fv(sDebugColorPink);

    // left half
    //JANxxx

//     if (mUseTexture)
//         glEnable(GL_TEXTURE_2D);

    mGLServer.DrawGroundRectangle(Vector3f(-fl/2 + lw, -fw/2 + lw, 0),
                                  fl/2 - lw - lw/2, fw - 2*lw, 0);


    // right half
    mGLServer.DrawGroundRectangle(Vector3f(lw/2, -fw/2 + lw, 0),
                                  fl/2 - lw - lw/2, fw - 2*lw, 0);
    if (mUseTexture)
        glDisable(GL_TEXTURE_2D);

// ------------------------------

//     glPushMatrix();
//     glRotatef(0,1,0,0);
//     //glTranslatef(pos[0],pos[1], pos[2]);
//     glNormal3f(0,0,1);

//     glBegin(GL_QUADS);
//     glVertex3f(-4.5,-4.5,3.0);
//     glVertex3f( 4.5,-4.5,3.0);
//     glVertex3f( 4.5, 4.5,3.0);
//     glVertex3f(-4.5, 4.5,3.0);
//     glEnd();
//     glPopMatrix();

    //--------------------------------------------------------------

    // border
    glColor4fv(sBorderColor);

    glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, sBorderColor);
    mGLServer.DrawGroundRectangle(Vector3f(-fl/2-bs,-fw/2-bs,-0.01), fl + 2*bs, fw+2*bs,-0.01);

    glDisable (GL_DEPTH_TEST);

    const GLfloat outerlineColor[] = {0.2f,0.2f,0.2f,1.0f};
    glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, outerlineColor);
    //glColor3f(0.2f,0.2f,0.2f);
    glLineWidth(4);
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2-bs,-fw/2-bs,0.01),Vector3f(-fl/2-bs,fw/2+bs,0.02));
    mGLServer.DrawArbitraryLine(Vector3f( fl/2+bs,-fw/2-bs,0.01),Vector3f( fl/2+bs,fw/2+bs,0.02));
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2-bs,-fw/2-bs,0.01),Vector3f(fl/2+bs,-fw/2-bs,0.02));
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2-bs, fw/2+bs,0.01),Vector3f(fl/2+bs,fw/2+bs,0.02));

    // fieldBox
//     glLineWidth(1);
//     mGLServer.DrawWireBox(Vector3f(-fl/2.0,-fw/2.0,0.0),
//                           Vector3f(fl,fw,fh));

    // lines
    glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, sLineColor);
    //glColor4fv(sLineColor);
    glLineWidth(3);
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2,-fw/2,0.01),Vector3f(-fl/2,fw/2,0.02));
    mGLServer.DrawArbitraryLine(Vector3f( fl/2,-fw/2,0.01),Vector3f( fl/2,fw/2,0.02));
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2,-fw/2,0.01),Vector3f(fl/2,-fw/2,0.02));
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2, fw/2,0.01),Vector3f(fl/2,fw/2,0.02));

    mGLServer.DrawArbitraryLine(Vector3f(0,-fw/2,0.01),Vector3f(0,fw/2,0.02));

    // goal box area right side
    mGLServer.DrawArbitraryLine(Vector3f(fl/2 - sGoalBoxLength, -gw/2 - sGoalBoxLength, 0.02),
                                Vector3f(fl/2, -gw/2 - sGoalBoxLength, 0.02));
    mGLServer.DrawArbitraryLine(Vector3f(fl/2 - sGoalBoxLength, gw/2 + sGoalBoxLength, 0.02),
                                Vector3f(fl/2, gw/2 + sGoalBoxLength, 0.02));
    mGLServer.DrawArbitraryLine(Vector3f(fl/2 - sGoalBoxLength, -gw/2 - sGoalBoxLength, 0.02),
                                Vector3f(fl/2 - sGoalBoxLength, gw/2 + sGoalBoxLength, 0.02) );

    //mGLServer.DrawGroundRectangle(Vector3f(fl/2 - sGoalBoxLength, -gw/2 - sGoalBoxLength, 0.05), lw, gw + 11, 0);
    //mGLServer.DrawGroundRectangle(Vector3f(fl/2 - sGoalBoxLength, -gw/2 - sGoalBoxLength, 0.05), sGoalBoxLength, lw, 0);
    //mGLServer.DrawGroundRectangle(Vector3f(fl/2 - sGoalBoxLength, gw/2 + sGoalBoxLength, 0.05), sGoalBoxLength, lw, 0);

    // goal box area left side
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2 + sGoalBoxLength, -gw/2 - sGoalBoxLength, 0.02),
                                Vector3f(-fl/2, -gw/2 - sGoalBoxLength, 0.02));
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2 + sGoalBoxLength, gw/2 + sGoalBoxLength, 0.02),
                                Vector3f(-fl/2, gw/2 + sGoalBoxLength, 0.02));
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2 + sGoalBoxLength, -gw/2 - sGoalBoxLength, 0.02),
                                Vector3f(-fl/2 + sGoalBoxLength, gw/2 + sGoalBoxLength, 0.02) );

    //mGLServer.DrawGroundRectangle(Vector3f(-fl/2 + sGoalBoxLength, -gw/2 - sGoalBoxLength, 0.05), lw, gw + 11, 0);
    //mGLServer.DrawGroundRectangle(Vector3f(-fl/2 + sGoalBoxLength, -gw/2 - sGoalBoxLength, 0.05), -sGoalBoxLength, lw, 0);
    //mGLServer.DrawGroundRectangle(Vector3f(-fl/2 + sGoalBoxLength, gw/2 + sGoalBoxLength, 0.05), -sGoalBoxLength, lw, 0);

    // penalty area right side
    mGLServer.DrawArbitraryLine(Vector3f(fl/2 - sPenaltyLength, -gw/2 - sPenaltyLength, 0.02),
                                Vector3f(fl/2, -gw/2 - sPenaltyLength, 0.02));
    mGLServer.DrawArbitraryLine(Vector3f(fl/2 - sPenaltyLength, gw/2 + sPenaltyLength, 0.02),
                                Vector3f(fl/2, gw/2 + sPenaltyLength, 0.02));
    mGLServer.DrawArbitraryLine(Vector3f(fl/2 - sPenaltyLength, -gw/2 - sPenaltyLength, 0.02),
                                Vector3f(fl/2 - sPenaltyLength, gw/2 + sPenaltyLength, 0.02) );

    //mGLServer.DrawGroundRectangle(Vector3f(fl/2 - sPenaltyLength, -gw/2 - sPenaltyLength, 0.05), lw, gw + 33, 0);
    //mGLServer.DrawGroundRectangle(Vector3f(fl/2 - sPenaltyLength, -gw/2 - sPenaltyLength, 0.05), sPenaltyLength, lw, 0);
    //mGLServer.DrawGroundRectangle(Vector3f(fl/2 - sPenaltyLength, gw/2 + sPenaltyLength, 0.05), sPenaltyLength, lw, 0);

    // penalty area left side
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2 + sPenaltyLength, -gw/2 - sPenaltyLength, 0.02),
                                Vector3f(-fl/2, -gw/2 - sPenaltyLength, 0.02));
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2 + sPenaltyLength, gw/2 + sPenaltyLength, 0.02),
                                Vector3f(-fl/2, gw/2 + sPenaltyLength, 0.02));
    mGLServer.DrawArbitraryLine(Vector3f(-fl/2 + sPenaltyLength, -gw/2 - sPenaltyLength, 0.02),
                                Vector3f(-fl/2 + sPenaltyLength, gw/2 + sPenaltyLength, 0.02) );

    //mGLServer.DrawGroundRectangle(Vector3f(-fl/2 + sPenaltyLength, -gw/2 - sPenaltyLength, 0.05), lw, gw + 33, 0);
    //mGLServer.DrawGroundRectangle(Vector3f(-fl/2 + sPenaltyLength, -gw/2 - sPenaltyLength, 0.05), -sPenaltyLength, lw, 0);
    //mGLServer.DrawGroundRectangle(Vector3f(-fl/2 + sPenaltyLength, gw/2 + sPenaltyLength, 0.05), -sPenaltyLength, lw, 0);

    glLineWidth(2);

    mGLServer.DrawCircle(Vector3f(-fl/2, -fw/2, 0.02), 1.0);
    mGLServer.DrawCircle(Vector3f(-fl/2,  fw/2, 0.02), 1.0);
    mGLServer.DrawCircle(Vector3f( fl/2, -fw/2, 0.02), 1.0);
    mGLServer.DrawCircle(Vector3f( fl/2,  fw/2, 0.02), 1.0);

    // center circle
    mGLServer.DrawCircle(Vector3f(0.0,0.0,0.015), sCenterRadius);

    // draw shadows of cached positions
    DrawScene(0);
    glEnable(GL_DEPTH_TEST);

    // goal
    glLineWidth(1);
    glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, sGoalColor);
    //glColor3f(0.6f,0.6f,0.4f);
    mGLServer.DrawWireBox(Vector3f(-fl/2 - 0.0,-gw/2.0,0.0),szGoal1);
    //glColor4fv(sGoalColor);
    mGLServer.DrawGoal(Vector3f(-fl/2,-gw/2.0,0),szGoal1,lw/2.0);

    // goal
    glLineWidth(1);
    //glColor3f(0.6f,0.6f,0.4f);
    mGLServer.DrawWireBox(Vector3f(fl/2 + 0.0,-gw/2.0,0.0),szGoal2);
    //glColor4fv(sGoalColor);
    mGLServer.DrawGoal(Vector3f(fl/2,-gw/2.0,0),szGoal2,lw/2.0);

    glLineWidth(1);

    // draw cached positions
    DrawScene(1);

    glDisable(GL_LIGHTING);

    if (mDrawDebug)
        DrawDebug();

    // JAN
    if (mDrawVelocity)
        DrawVelocities();

    DrawStatusText();

    // draw 2D Elements
    glMatrixMode(GL_PROJECTION);
    glPushMatrix();
    glLoadIdentity();

    float aspect = float(mGLServer.GetWidth())/mGLServer.GetHeight();

    gluOrtho2D(-1.0*aspect, 1.0*aspect, -1.0,  1.0);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();

    // draw the info text
    DrawStatusLine();


    // mit fenstergroesse skalieren
//     glBegin(GL_QUADS);
//     glVertex2f(1.0,1.0);
//     glVertex2f(1.0,0.0);
//     glVertex2f(0.0,0.0);
//     glVertex2f(0.0,1.0);
//     glEnd();

    // draw two dimensional overview
    if (mDrawOverview)
    {
        DrawOverview();
    }

    glMatrixMode(GL_PROJECTION);
    glPopMatrix();
    glMatrixMode(GL_MODELVIEW);
    // (end 2D Elements)

		checkAndShow();

    glutSwapBuffers();
}

void
Monitor::MouseMotion(int x, int y)
{
    Vector2f tmp(static_cast<float>(x), static_cast<float>(y));
    mGLServer.SetViewByMouse(tmp, mMousePosition);
    mMousePosition = tmp;
    glutPostRedisplay();
}

void
Monitor::Keyboard(unsigned char key, int /*x*/, int /*y*/)
{
    float hfl = mGameState.GetFieldLength()/2;
    Vector3f uv = mGLServer.GetUpVector();

    salt::Vector3f pos;
    switch (key) {
    case 'w':
        //move cam in
        mGLServer.MoveCamForward(mCamDelta);
        break;
    case 's':
        //move cam out
        mGLServer.MoveCamForward(-mCamDelta);
        break;
    case 'a':
        //strafe cam left
        mGLServer.MoveCamStrafe(mCamDelta);
        break;
    case 'd':
        // strafe cam right
        mGLServer.MoveCamStrafe(-mCamDelta);
        break;
    case 'c':
        // select camera mode
        mCameraMode = NextCameraMode(mCameraMode);
        // reset time to show icon (10 cycles)
        mShowCamIconTime = 10;
        break;
    case '+':
        //move camera up
        mGLServer.MoveCamUp(mCamDelta);
        break;
    case '-':
        //move camera down
        mGLServer.MoveCamUp(-mCamDelta);
        break;
    case '{':
        // select CenterBall camera mode
        mCenterBallCameraZ += 1.0;
        break;
    case '}':
        // select CenterBall camera mode
        mCenterBallCameraZ -= 1.0;
        break;
    case ']':
        mCenterBallCameraY += 2.0;
        break;
    case '[':
        mCenterBallCameraY -= 2.0;
        break;
    case ')':
        {
            //Rotate cam to right
            Vector3f t(mGLServer.GetLookAtPos()-mGLServer.GetCameraPos() );
            Vector3f d(cos(0.02) * t.x() + sin(0.02) * t.y()
                       ,-sin(0.02) * t.x() + cos(0.02) * t.y(), t.z());
            mGLServer.SetLookAtPos(d + mGLServer.GetCameraPos());
            mGLServer.SetUpVector(Vector3f(0,0,1));
        }
        break;
    case '(':
        {
            //Rotate cam to left
            Vector3f t(mGLServer.GetLookAtPos()-mGLServer.GetCameraPos() );
            Vector3f d(cos(0.02) * t.x() - sin(0.02) * t.y()
                       ,sin(0.02) * t.x() + cos(0.02) * t.y(), t.z());
            mGLServer.SetLookAtPos(d + mGLServer.GetCameraPos());
            mGLServer.SetUpVector(Vector3f(0,0,1));
        }
        break;
    case '1':
        // toggle drawing of debug stuff
        mDrawDebug  = !mDrawDebug;
        break;
    case '2':
        // toggle drawing of 2D overview
        mDrawOverview  = !mDrawOverview;
        break;
    case '3':
        //Move cam behind left goal
        mGLServer.SetCameraPos(Vector3f(-hfl-5,0,4.2));
        mGLServer.SetLookAtPos(Vector3f(0,0,1));
        mGLServer.SetUpVector(Vector3f(0,0,1));
        break;
    case '4':
        //Move cam behind right goal
        mGLServer.SetCameraPos(Vector3f(hfl+5,0,4.2));
        mGLServer.SetLookAtPos(Vector3f(0,0,1));
        mGLServer.SetUpVector(Vector3f(0,0,1));
        break;
    case '5':
        //Move cam to left half
        mGLServer.SetCameraPos(NextCameraPosition(mLeftCamPositions));
        if (mCameraMode == eFree) mGLServer.SetLookAtPos(Vector3f(0,0,1));
        mGLServer.SetUpVector(Vector3f(0,0,1));
        break;
    case '6':
        //Move cam to right half
        mGLServer.SetCameraPos(NextCameraPosition(mRightCamPositions));
        if (mCameraMode == eFree) mGLServer.SetLookAtPos(Vector3f(0,0,1));
        mGLServer.SetUpVector(Vector3f(0,0,1));
        break;
    case 'n':
        // toggle drawing of unums
        mDrawUnums = !mDrawUnums;
        break;
    case 'q':
        // quit
        mCommServer->SendDisconnectCmd();
        exit(0);
    case 'k' :
        // kick off
        cerr << "(rcssmonitor3d) " << mGameState.GetTime() << ": Kickoff "
             << ((mKickOff == CommServerBase::eLeft) ? "left" :
                 ((mKickOff == CommServerBase::eRight) ? "right" : "random")) << endl;
        mCommServer->SendKickOffCmd(mKickOff);
        break;
    case 'b':
        // drop ball
        mCommServer->SendDropBallCmd();
        break;