// Here is the function that gets called each time the window needs to be redrawn.
// It is the "paint" method for our program, and is set up from the glutDisplayFunc in main
void render() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
if(start){
depth += speed/2.0;
puckFB -= speed;
checkGoal();
}
AdjustVertexData(puckLR, puckFB);
glUseProgram(shaderProgramID);
// Fill the matrices with valid data
MathHelper::makeScale(scaleMatrix, scaleAmount, scaleAmount, scaleAmount);
MathHelper::makeRotateY(rotYMatrix, thetaY);
MathHelper::makeRotateX(rotXMatrix, thetaX);
MathHelper::makeTranslate(transMatrix, horizontal, vertical, depth);
/*multiply the matricies*/
MathHelper::matrixMult4x4(tempMatrix1, rotXMatrix, scaleMatrix);
MathHelper::matrixMult4x4(tempMatrix2, rotYMatrix, tempMatrix1);
MathHelper::matrixMult4x4(M, transMatrix, tempMatrix2);
glUniformMatrix4fv(modelMatrixID, 1, GL_TRUE, M);
glUniformMatrix4fv(viewMatrixID, 1, GL_TRUE, V);
glUniformMatrix4fv(perspectiveMatrixID, 1, GL_TRUE, P);
glPolygonMode(GL_FRONT_AND_BACK, GL_QUADS);
glDrawElements (GL_TRIANGLES, ARRAY_COUNT( indices ), GL_UNSIGNED_INT, NULL);
glutSwapBuffers();
glutPostRedisplay();
}
IContextReturnData InGameContext::frameFunc()
{
try
{
float dt = _hge->Timer_GetDelta();
auto data = std::dynamic_pointer_cast<InGameContextData>(_data);
Player& currentPlayer = _players[data->currentPlayerId];
Player& enemyPlayer = _players[!data->currentPlayerId];
if (_hge->Input_IsMouseOver() && _hge->Input_GetKeyState(HGEK_LBUTTON))
{
timeoutTimer.stop();
float mouse_x = 0;
float mouse_y = 0;
_hge->Input_GetMousePos(&mouse_x, &mouse_y);
checkAllowedBounds(mouse_x, mouse_y);
mover.moveTo(mouse_x, mouse_y);
timeoutTimer.start();
}
mover.update(dt);
Client::getInstance().getEnemyPaddlePos(enemyPlayer.paddle()->x, enemyPlayer.paddle()->y);
Client::getInstance().getPuckPos(_puck->x, _puck->y);
checkCollisions();
checkGoal();
timers.update(dt);
timeoutTimer.update(dt);
if(Client::getInstance().isGameOver())
{
bool win = Client::getInstance().getWinnerId() == data->currentPlayerId;
return IContextReturnData(Context::GameOverContext,
std::make_shared<GameOverContextData>(
_data->screenWidth,
_data->screenHeight,
win,
&_players[0], &_players[1]));
}
if(Client::getInstance().shouldStop())
return IContextReturnData(Context::GameErrorContext, nullptr);
return IContextReturnData(Context::InGameContext, data);
}
catch (std::exception& e)
{
return IContextReturnData(Context::GameErrorContext, nullptr);
}
}
void PositionCommand::actionRecive()
{
feedback_.pose.pose.position.x = current_pose_(0,0);
feedback_.pose.pose.position.y = current_pose_(1,0);
feedback_.pose.pose.position.z = current_pose_(2,0);
feedback_.pose.pose.orientation.x = current_pose_(3,0);
feedback_.pose.pose.orientation.y = current_pose_(4,0);
feedback_.pose.pose.orientation.z = current_pose_(5,0);
as_.publishFeedback(feedback_);
if(checkGoal(current_error_))
{
res_.pose = feedback_.pose;
ROS_INFO("%s: Succeeded", action_name_.c_str());
as_.setSucceeded(res_);
action_recived_ = false;
}
}
void idle(void) {
/*
* Increment time to render puck at various times in its trajectory. Puck's trajectory is rendered until puck reaches bounds
* of clipping volume, until time = 20, or if a goal is scored.
*/
if (time < 20.0 && puckShot == 1 && puckAtTime[0] <= 500.0 && puckAtTime[0] >= 0.0 && puckAtTime[1] >= 10
&& puckAtTime[1] <= 500 && puckAtTime[2] >= 1.0 && puckAtTime[2] <= 900.0){
time += 0.02;
checkGoal();
}
else if (puckShot == 1){
textNum = 2;
resetPuck();
}
/*
* Move power bar back and forth between x= 230 and
* x = 280 (the min and max x values of power meter)
*/
if (power < 50 && reachedRight == 0 && stopPowerBar == 0){
power += 1;
if (power == 50) {
reachedRight = 1;
}
} else if (power <= 50 && reachedRight == 1 && stopPowerBar == 0){
power += -1;
if (power == 0){
reachedRight = 0;
}
}
/* Change camera view
* puckCam = 0 -> Stick cam
* puckCam = 1 -> Puck cam
* puckCam = 2 -> Goal cam
*
*/
if (puckCam == 1){
viewer[0] = puckAtTime[0];
viewer[1] = puckAtTime[1];
viewer[2] = puckAtTime[2] - 25;
} else if (puckCam == 2){
viewer[0] = 250.0;
viewer[1] = 100.0;
viewer[2] = 210.0;
reference[0] = puckAtTime [0];
reference[1] = puckAtTime [1];
reference[2] = puckAtTime [2];
}
else if (puckCam == 0){
viewer[0] = 250.0;
viewer[1] = 50.0;
viewer[2] = 1000.0;
reference[0] = 250.0;
reference[1] = 50.0;
reference[2] = 1.0;
}
/*
* Flash 'Goals Scored' yellow if goal scored
*/
if (textNum == 1){
scoreColor[2] = 0.0+flash;
if (flash == 0){
flash++;
} else if (flash == 1) {
flash--;
}
} else{
scoreColor[2] = 1.0;
}
display();
}
