void print( const PlayerT & player )
{
if ( player.state_ )
{
std::cout << "<Player side=\"" << player.side_ << "\"";
std::cout << " unum=\"" << player.unum_ << "\"";
std::cout << " type=\"" << player.type_ << "\"";
if ( player.state_ != 1 ) std::cout << " mode=\"" << player.state_ << "\"";
std::cout << ">\n";
printPos( player.x_, player.y_ );
printVel( player.vx_, player.vy_ );
printAngles( player.body_, player.neck_ );
printView( player.view_width_, player.view_quality_ == 'h' );
printStamina( player.stamina_, player.effort_, player.recovery_ );
printCounts( player.kick_count_,
player.dash_count_,
player.turn_count_,
player.say_count_,
player.turn_neck_count_,
player.catch_count_,
player.move_count_,
player.change_view_count_ );
std::cout << "</Player>\n";
}
}
int main(int argc, char **argv) {
linkDLLs();
FILE *fp;
if(argc < 2) {
fp = stdin;
} else {
fp = fopen(argv[1], "r");
}
molecule_t *mol;
input(&mol, fp);
printDists(mol);
printAngles(mol);
printMoments(mol);
printRotor(mol);
fclose(fp);
deleteMolecule(mol);
unlinkDLLs();
return (0);
}
void sample_layout_1::calculateAnglesAndPrint(int label, float O, float A, float *theta, float thetaDegrees){
calculateAngles(O, A, *theta, thetaDegrees);
printAngles(label, O, A, *theta, thetaDegrees);
}
void printAngles( double body,
double head )
{
printAngles( body );
std::cout << "<HeadAng>" << head << "</HeadAng>\n";
}
void Kitten::draw() const {
// Retrieve the current (interpolated) pose of the kitten.
Pose pose = getPose();
// incase we have no pose angles set default to all zero
if (pose.angles_.size() <NUM_ANGLES){
for (int i =pose.angles_.size();i<NUM_ANGLES;i++){
pose.angles_.push_back(0.0);
}
}
if (DEBUG){
printed++;
std::cout << pose.x_ << ", " << pose.y_ << ", " << pose.z_ << " x,y,z" << std::endl;
int i =0;
//for (std::vector<double>::iterator it = pose.angles_.begin(); it != pose.angles_.end();it++){
////for (int i = 0; i < pose.angles_.size(); i++) {
// std::cout << "\t" << i++ << "\t" << *it << '\n';
//}
printAngles(&pose.angles_);
}
// The kitten should be dark brown.
glColor4d(0.46f, 0.3f, 0.13f, 1);
// @@@@ Add your own code to draw the kitten. You might want to split
// @@@@ this into multiple functions for drawing different parts of the
// @@@@ creature.
GLfloat overlap = .2; // factor to adjust object seperation down by
// midsection
glPushMatrix(); // global matrix save
glTranslatef(pose.x_,pose.y_,pose.z_);
GLfloat midXRadius = .8;
GLfloat midYRadius = .8;
GLfloat midZRadius = .6;
GLfloat midx = 0;
GLfloat midy = 0;
GLfloat midz = 0;
glRotatef(pose.angles_[BODY_ANGLE],0,0,1);
glRotatef(pose.angles_[BODY_ROTX],1,0,0);
glRotatef(pose.angles_[BODY_ROTY],0,1,0);
drawEllipse(midXRadius,midYRadius,midZRadius);
// chest
GLfloat ChestXRadius = .8;
GLfloat ChestYRadius = 1.0;
GLfloat ChestZRadius = .7;
GLfloat Chestx = ChestXRadius + midXRadius;
GLfloat Chesty = midy;
GLfloat Chestz = midz;
glTranslatef(midXRadius,0,0);
glRotatef(pose.angles_[SHOULDERS], 0,0,1);
glRotatef(pose.angles_[SHOULDER_X], 1,0,0);
glRotatef(pose.angles_[SHOULDER_Y], 0,1,0);
//glTranslatef(Chestx*(1-overlap),Chesty,Chestz);
glTranslatef(ChestXRadius*(1-overlap),Chesty,Chestz);
drawEllipse(ChestXRadius,ChestYRadius,ChestZRadius);
glPushMatrix();// save Chest center for legs after done with head
// head
GLfloat headXRadius = .6;
GLfloat headyRadius = .4;
GLfloat headzRadius = .6;
GLfloat headWRTchestAngle=45;
//GLfloat headx = ChestXRadius*(cos(headWRTchestAngle))+headXRadius;
//GLfloat heady = ChestXRadius*sin(headWRTchestAngle)+headyRadius;
//GLfloat headz = Chestz;
//GLfloat headRotationCntrx = ChestXRadius*(cos(headWRTchestAngle)*cos(headWRTchestAngle))*(1-overlap);//wrt chest
//GLfloat headRotationCntry = ChestYRadius*(sin(headWRTchestAngle)*sin(headWRTchestAngle))*(1-overlap);
GLfloat headRotationCntrx = ChestXRadius*ChestXRadius*(cos(headWRTchestAngle)*cos(headWRTchestAngle));//wrt chest
GLfloat headRotationCntry = ChestYRadius*ChestYRadius*(sin(headWRTchestAngle)*sin(headWRTchestAngle));
GLfloat headRotationCntrz = 0;
glTranslatef(headRotationCntrx,headRotationCntry,headRotationCntrz);
glRotatef(pose.angles_[HEAD], 0,0,1);
glRotatef(pose.angles_[HEAD_X], 1,0,0);
glRotatef(pose.angles_[HEAD_Y], 0,1,0);
glTranslatef(headXRadius, headyRadius,midz);
glPushMatrix(); // save head center for second ear
drawEllipse(headXRadius,headyRadius,headzRadius);
// right ear
glTranslatef(-0.2*headXRadius, headyRadius*(1-overlap), headzRadius*.8);
drawEllipse(.1,.25,.2);
// left ear
glPopMatrix(); // restore head center
glTranslatef(-0.2*headXRadius, headyRadius*(1-overlap), -headzRadius*.8);
drawEllipse(.1,.25,.2);
//glPopMatrix();
// front legs
glPopMatrix(); // restore chest center
glPushMatrix(); // save chest center for second leg
GLfloat thighxradius = .3;
GLfloat thighyradius = .5;
GLfloat thighzradius = .4;
//right front thigh
GLfloat rfThighxPos = 0; // wrt chest center
GLfloat rfThighyPos = -ChestYRadius*.3;
GLfloat rfThighzPos = ChestZRadius*1.0;
glTranslatef(rfThighxPos,rfThighyPos,rfThighzPos);
glRotatef(pose.angles_[FRONT_RIGHT_SHOULDER],0,0,1);
glRotatef(pose.angles_[FR_SHOULDER_X],1,0,0);
glTranslatef(0,-thighyradius,0);
drawEllipse(thighxradius,thighyradius,thighzradius);
//right front shin
GLfloat shinxradius = .2;
GLfloat shinyradius = .6;
GLfloat shinzradius = .2;
glTranslatef(0,-thighyradius,0);
glRotatef(pose.angles_[FRONT_RIGHT_KNEE], 0,0,1);
glTranslatef(0,-shinyradius*(1-overlap),0);
drawEllipse(shinxradius,shinyradius,shinzradius);
//left front thigh
glPopMatrix(); // recover chest center for second leg
GLfloat lfThighxPos = 0; // wrt chest center
GLfloat lfThighyPos = -ChestYRadius*.3;
GLfloat lfThighzPos = -ChestZRadius*1.0;
glTranslatef(lfThighxPos,lfThighyPos,lfThighzPos);
glRotatef(pose.angles_[FRONT_LEFT_SHOULDER],0,0,1);
glRotatef(pose.angles_[FL_SHOULDER_X],1,0,0);
glTranslatef(0,-thighyradius,0);
drawEllipse(thighxradius,thighyradius,thighzradius);
//left front shin
glTranslatef(0,-thighyradius,0);
glRotatef(pose.angles_[FRONT_LEFT_KNEE], 0,0,1);
glTranslatef(0,-shinyradius*(1-overlap),0);
drawEllipse(shinxradius,shinyradius,shinzradius);
glPopMatrix(); // restore global
glPushMatrix(); // save global
// back legs
// back right thigh
glTranslatef(pose.x_,pose.y_,pose.z_);
glRotatef(pose.angles_[BODY_ANGLE],0,0,1);
glRotatef(pose.angles_[BODY_ROTX],1,0,0);
glRotatef(pose.angles_[BODY_ROTY],0,1,0);
GLfloat backThighXRadius = .5;
GLfloat backThighYRadius = .6;
GLfloat backThighZRadius = .3;
glTranslatef(-midXRadius/2,-midYRadius/3*(1-overlap),midZRadius*(1-overlap));
glRotatef(pose.angles_[BACK_RIGHT_SHOULDER],0,0,1);
glRotatef(pose.angles_[BR_SHOULDER_X],1,0,0);
glTranslatef(0,-backThighYRadius,0);
drawEllipse(backThighXRadius,backThighYRadius,backThighZRadius);
// back right shin
GLfloat backShinXRadius = .2;
GLfloat backShinYRadius = .5;
GLfloat backShinZRadius = .2;
glTranslatef(0,-backThighYRadius,0);
glRotatef(pose.angles_[BACK_RIGHT_KNEE],0,0,1);
glTranslatef(0,-backShinYRadius*(1-overlap),0);
drawEllipse(backShinXRadius,backShinYRadius,backShinZRadius);
glPopMatrix(); // restore global
glPushMatrix(); // save global
// back left thigh
glTranslatef(pose.x_,pose.y_,pose.z_);
glRotatef(pose.angles_[BODY_ANGLE],0,0,1);
glRotatef(pose.angles_[BODY_ROTX],1,0,0);
glRotatef(pose.angles_[BODY_ROTY],0,1,0);
glTranslatef(-midXRadius/2,-midYRadius/2*(1-overlap),-midZRadius*(1-overlap));
glRotatef(pose.angles_[BACK_LEFT_SHOULDER],0,0,1);
glRotatef(pose.angles_[BL_SHOULDER_X],1,0,0);
glTranslatef(0,-backThighYRadius,0);
drawEllipse(backThighXRadius,backThighYRadius,backThighZRadius);
// back left shin
glTranslatef(0,-backThighYRadius,0);
glRotatef(pose.angles_[BACK_LEFT_KNEE],0,0,1);
glTranslatef(0,-backShinYRadius*(1-overlap),0);
drawEllipse(backShinXRadius,backShinYRadius,backShinZRadius);
glPopMatrix();// restore global
glPushMatrix();// save global state
GLfloat tailBaseXRadius = .40;
GLfloat tailBaseYRadius = 0.15;
GLfloat tailBaseZRadius = 0.15;
GLfloat tailTipXRadius = .40;
GLfloat tailTipYRadius = 0.15;
GLfloat tailTipZRadius = 0.15;
glTranslatef(pose.x_,pose.y_,pose.z_);
glRotatef(pose.angles_[BODY_ANGLE],0,0,1);
glRotatef(pose.angles_[BODY_ROTX],1,0,0);
glRotatef(pose.angles_[BODY_ROTY],0,1,0);
glTranslatef(-midXRadius,0,0);
if (specialtailtype==0){
glRotatef(pose.angles_[TAIL_BASE],0,0,1);
glTranslatef(-tailBaseXRadius*(1-overlap),0,0);
drawEllipse(tailBaseXRadius,tailBaseYRadius,tailBaseZRadius);
glTranslatef(-tailBaseXRadius,0,0);
glRotatef(pose.angles_[TAIL_TIP],0,0,1);
glTranslatef(-tailTipXRadius*(1-overlap),0,0);
drawEllipse(tailTipXRadius,tailTipYRadius,tailTipZRadius);
}else if (specialtailtype >=1){
int segments = 20;
double segmentradius = 2*tailBaseXRadius/segments;
for (int i = 0; i< segments;i++){
glRotatef(pose.angles_[TAIL_BASE]/segments,0,0,1);
glTranslatef(-segmentradius*(1-overlap),-0,0);
drawEllipse(tailBaseYRadius,tailBaseYRadius,tailBaseZRadius);
}
int tipreverse;
if (specialtailtype==1)
tipreverse=1;
else
tipreverse=-1;
segmentradius = 2*tailTipXRadius/segments;
glTranslatef(-segmentradius*(1-overlap),0,0);
for (int i = 0; i< segments;i++){
glRotatef(pose.angles_[TAIL_TIP]/segments*tipreverse,0,0,1);
glTranslatef(-segmentradius*(1-overlap),0,0);
drawEllipse(tailBaseYRadius,tailTipYRadius,tailTipZRadius);
}
}
glPopMatrix(); // restore global state
GLint depth;
glGetIntegerv(GL_MODELVIEW_STACK_DEPTH, &depth);
// this should never exceed max (32 typical) and should
// really be set back to one by the time we reach bottom of loop
if (depth > lastdepth){
std::cout << "matrix depth: " << depth << std::endl;
lastdepth = depth;
}
}
