static void FillAllComboCells(HWND hwnd, int maxLine)
{
HWND hwndContainer = GetDlgItem (hwnd, IDC_RELOCATE_CONTAINER);
LPSTORAGEPARAMS lpstorage = GetDlgProp (hwnd);
LPCHECKEDOBJECTS ls, lploc = GetLocations ();
int i, maxlen = 0;
char* item;
char* buffer;
char* first;
ls = lploc;
while (ls)
{
item = (char*) ls->dbname;
maxlen = maxlen + x_strlen (item) +1;
ls = ls->pnext;
}
if (maxlen > 0)
{
buffer = ESL_AllocMem (maxlen +2);
first = buffer;
ls = lploc;
x_strcpy (buffer, (char*) ls->dbname);
ls = ls->pnext;
while (ls)
{
item = (char*) ls->dbname;
buffer = buffer + x_strlen (buffer) +1;
x_strcpy (buffer, item);
ls = ls->pnext;
}
buffer = buffer + x_strlen (buffer) +1;
x_strcpy (buffer, "");
//
// Fill all combos
//
for (i=1; i<maxLine; i++)
{
ContainerFillComboCell(
hwndContainer,
i,
1,
0,
CONT_ALIGN_LEFT,
first);
}
ESL_FreeMem (first);
first = NULL;
}
lploc = FreeCheckedObjects (lploc);
}
void GLES2ShaderContext::DrawRect(const Sprite::RECT_MODE mode)
{
CreateProgram();
int pos, tex;
GetLocations(pos, tex);
if (pos != INVALID_ATTRIB_LOCATION && tex != INVALID_ATTRIB_LOCATION)
{
SetUniformParametersFromCurrentProgram(m_currentVS);
SetUniformParametersFromCurrentProgram(m_currentPS);
m_rectRenderer.Draw(pos, tex, mode, m_logger);
}
else
{
m_logger.Log("DrawRect - could not find the current program in the hash", Platform::FileLogger::ERROR);
}
}
DrawLineShader::DrawLineShader() : OpenGLShaderProgram("drawline")
{
GetLocations();
glGenBuffers(1, &_vbo);
glGenVertexArrays(1, &_vao);
GLuint vertices[] = { 0, 1 };
glBindBuffer(GL_ARRAY_BUFFER, _vbo);
glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
glBindVertexArray(_vao);
glEnableVertexAttribArray(vIndex);
glVertexAttribIPointer(vIndex, 1, GL_INT, 0, nullptr);
Use();
}
static void FillAllData (HWND hwnd)
{
HWND hwndContainer = GetDlgItem (hwnd, IDC_RELOCATE_CONTAINER);
LPSTORAGEPARAMS lpstorage = GetDlgProp (hwnd);
LPCHECKEDOBJECTS lploc = GetLocations ();
LPOBJECTLIST lx;
int i = 1;
char* item;
nLine = ContainerAddCntLine (hwndContainer);
ContainerFillTextCell (hwndContainer, 0, 0, CONT_COLTYPE_TITLE, CONT_ALIGN_LEFT, ResourceString ((UINT)IDS_I_OLD_LOCATIONS));
ContainerFillTextCell (hwndContainer, 0, 1, CONT_COLTYPE_TITLE, CONT_ALIGN_LEFT, ResourceString ((UINT)IDS_I_NEW_LOCATIONS));
lx = lpstorage->lpLocations;
while (lx)
{
nLine = ContainerAddCntLine (hwndContainer);
lx = lx->lpNext;
}
ContainerSetColumnWidth (hwndContainer, 0, 26);
ContainerSetColumnWidth (hwndContainer, 1, 26);
lx = lpstorage->lpLocations;
while (lx)
{
item = (char *)lx->lpObject;
ContainerFillTextCell(
hwndContainer,
i,
0,
CONT_COLTYPE_TEXT,
CONT_ALIGN_LEFT,
item);
lx = lx->lpNext;
i++;
}
lploc = FreeCheckedObjects (lploc);
FillAllComboCells (hwnd, nLine+1);
SelectItemInComboCell (hwnd, nLine);
}
FillRectShader::FillRectShader() : OpenGLShaderProgram("fillrect")
{
GetLocations();
glGenBuffers(1, &_vbo);
glGenVertexArrays(1, &_vao);
GLuint vertices[] = { 0, 1, 2, 2, 1, 3 };
glBindBuffer(GL_ARRAY_BUFFER, _vbo);
glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
glBindVertexArray(_vao);
glEnableVertexAttribArray(vIndex);
glVertexAttribIPointer(vIndex, 1, GL_INT, 0, 0);
Use();
SetFlags(0);
glUniform1i(uSourceFramebuffer, 0);
}
DrawLineShader::DrawLineShader()
: OpenGLShaderProgram("drawline")
{
GetLocations();
glGenBuffers(1, &_vbo);
glGenBuffers(1, &_vboInstances);
glGenVertexArrays(1, &_vao);
glBindBuffer(GL_ARRAY_BUFFER, _vbo);
glBufferData(GL_ARRAY_BUFFER, sizeof(VertexData), VertexData, GL_STATIC_DRAW);
glBindVertexArray(_vao);
glVertexAttribPointer(vVertMat + 0, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, mat[0]));
glVertexAttribPointer(vVertMat + 1, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, mat[1]));
glVertexAttribPointer(vVertMat + 2, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, mat[2]));
glVertexAttribPointer(vVertMat + 3, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, mat[3]));
glBindBuffer(GL_ARRAY_BUFFER, _vboInstances);
glVertexAttribIPointer(vClip, 4, GL_INT, sizeof(DrawLineCommand), (void*)offsetof(DrawLineCommand, clip));
glVertexAttribIPointer(vBounds, 4, GL_INT, sizeof(DrawLineCommand), (void*)offsetof(DrawLineCommand, bounds));
glVertexAttribIPointer(vColour, 1, GL_UNSIGNED_INT, sizeof(DrawLineCommand), (void*)offsetof(DrawLineCommand, colour));
glVertexAttribIPointer(vDepth, 1, GL_INT, sizeof(DrawLineCommand), (void*)offsetof(DrawLineCommand, depth));
glEnableVertexAttribArray(vVertMat + 0);
glEnableVertexAttribArray(vVertMat + 1);
glEnableVertexAttribArray(vVertMat + 2);
glEnableVertexAttribArray(vVertMat + 3);
glEnableVertexAttribArray(vClip);
glEnableVertexAttribArray(vBounds);
glEnableVertexAttribArray(vColour);
glEnableVertexAttribArray(vDepth);
glVertexAttribDivisor(vClip, 1);
glVertexAttribDivisor(vBounds, 1);
glVertexAttribDivisor(vColour, 1);
glVertexAttribDivisor(vDepth, 1);
Use();
}
ApplyPaletteShader::ApplyPaletteShader()
: OpenGLShaderProgram("applypalette")
{
GetLocations();
glGenBuffers(1, &_vbo);
glGenVertexArrays(1, &_vao);
glBindBuffer(GL_ARRAY_BUFFER, _vbo);
glBufferData(GL_ARRAY_BUFFER, sizeof(VertexData), VertexData, GL_STATIC_DRAW);
glBindVertexArray(_vao);
glVertexAttribPointer(vPosition, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, position));
glVertexAttribPointer(
vTextureCoordinate, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, texturecoordinate));
glEnableVertexAttribArray(vPosition);
glEnableVertexAttribArray(vTextureCoordinate);
Use();
glUniform1i(uTexture, 0);
}
void CustomKernel::Compile()
{
kernel = new Kernel();
kernel->shaderProgram.Compile(vCustomKernelSrc, src);
GetLocations();
}
void controller::runGame()
{
try
{
string PutTextString = "";
while(1)
{
Vision.visionMain();
GetLocations();
PrepCalcLength(DistancesResults, LOCATIONS_RESULT_NUM, LocationsArray, LOCATIONS_NUM,
Angles, FixDirection, &DriveForward);
PrintDistances();
cout << "Sigma is: " << Angles[0] << endl;
cout << "Sigma2 is: " << Angles[1] << endl;
cout << "Robot should turn to: " << FixDirection[0] << endl;
if(!goal)
{
if(DriveForward)
PutTextString = "Drive - ";
else
PutTextString = "Stop - ";
switch(FixDirection[0])
{
case -1:
PutTextString += "Left";
Command = LEFT;
break;
case 0:
PutTextString += "Keep direction";
Command = FORWARD;
break;
case 1:
PutTextString += "Right";
Command = RIGHT;
break;
default:
break;
}
// Stop - KeepDirection and go for the Goal.
if(!DriveForward && !FixDirection[0])
{
PutTextString = "Attacking!!!";
switch(FixDirection[1])
{
case -1:
PutTextString += "Left";
Command = LEFT;
break;
case 0:
PutTextString += "Keep direction";
Command = FORWARD;
break;
case 1:
PutTextString += "Right";
Command = RIGHT;
break;
default:
break;
}
}
if(DistancesResults[3] < 30)
{
PutTextString = "Goallllll";
Command = STOP;
goal = true;
}
// Check if reset robot was set.
if(TrackBars.ResetRobot == 1)
{
Command = STOP;
PutTextString += " - Reset";
}
}
else // goal
{
PutTextString = "Goallllll";
Command = STOP;
if(TrackBars.ResetRobot == 1)
{
PutTextString += " - Reset";
goal = false;
}
}
Vision.SetRobotCommands(PutTextString);
try
{
PrintToRS232(Command);
}
catch(const char *e)
{
std::cerr << e;
cout << "Exception occured: " << e;
int x;
cin >> x;
}
waitKey(3);
}
}
catch(const char *e)
{
std::cerr << e;
cout << "Exception occured: " << e;
int x;
cin >> x;
}
}
DrawRectShader::DrawRectShader()
: OpenGLShaderProgram("drawrect")
{
GetLocations();
glGenBuffers(1, &_vbo);
glGenBuffers(1, &_vboInstances);
glGenVertexArrays(1, &_vao);
glBindBuffer(GL_ARRAY_BUFFER, _vbo);
glBufferData(GL_ARRAY_BUFFER, sizeof(VertexData), VertexData, GL_STATIC_DRAW);
glBindVertexArray(_vao);
glVertexAttribPointer(vVertMat + 0, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, mat[0]));
glVertexAttribPointer(vVertMat + 1, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, mat[1]));
glVertexAttribPointer(vVertMat + 2, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, mat[2]));
glVertexAttribPointer(vVertMat + 3, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, mat[3]));
glVertexAttribPointer(vVertVec, 2, GL_FLOAT, GL_FALSE, sizeof(VDStruct), (void*)offsetof(VDStruct, vec));
glBindBuffer(GL_ARRAY_BUFFER, _vboInstances);
glVertexAttribIPointer(vClip, 4, GL_INT, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, clip));
glVertexAttribIPointer(
vTexColourAtlas, 1, GL_INT, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, texColourAtlas));
glVertexAttribPointer(
vTexColourBounds, 4, GL_FLOAT, GL_FALSE, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, texColourBounds));
glVertexAttribIPointer(vTexMaskAtlas, 1, GL_INT, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, texMaskAtlas));
glVertexAttribPointer(
vTexMaskBounds, 4, GL_FLOAT, GL_FALSE, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, texMaskBounds));
glVertexAttribIPointer(vPalettes, 3, GL_INT, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, palettes));
glVertexAttribIPointer(vFlags, 1, GL_INT, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, flags));
glVertexAttribIPointer(vColour, 1, GL_UNSIGNED_INT, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, colour));
glVertexAttribIPointer(vBounds, 4, GL_INT, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, bounds));
glVertexAttribIPointer(vDepth, 1, GL_INT, sizeof(DrawRectCommand), (void*)offsetof(DrawRectCommand, depth));
glEnableVertexAttribArray(vVertMat + 0);
glEnableVertexAttribArray(vVertMat + 1);
glEnableVertexAttribArray(vVertMat + 2);
glEnableVertexAttribArray(vVertMat + 3);
glEnableVertexAttribArray(vVertVec);
glEnableVertexAttribArray(vClip);
glEnableVertexAttribArray(vTexColourAtlas);
glEnableVertexAttribArray(vTexColourBounds);
glEnableVertexAttribArray(vTexMaskAtlas);
glEnableVertexAttribArray(vTexMaskBounds);
glEnableVertexAttribArray(vPalettes);
glEnableVertexAttribArray(vFlags);
glEnableVertexAttribArray(vColour);
glEnableVertexAttribArray(vBounds);
glEnableVertexAttribArray(vDepth);
glVertexAttribDivisor(vClip, 1);
glVertexAttribDivisor(vTexColourAtlas, 1);
glVertexAttribDivisor(vTexColourBounds, 1);
glVertexAttribDivisor(vTexMaskAtlas, 1);
glVertexAttribDivisor(vTexMaskBounds, 1);
glVertexAttribDivisor(vPalettes, 1);
glVertexAttribDivisor(vFlags, 1);
glVertexAttribDivisor(vColour, 1);
glVertexAttribDivisor(vBounds, 1);
glVertexAttribDivisor(vDepth, 1);
Use();
glUniform1i(uTexture, 0);
glUniform1i(uPaletteTex, 1);
glUniform1i(uPeelingTex, 2);
glUniform1i(uPeeling, 0);
}
