bool Obstacle_Detection::is_obstacle_path(Pose &global_pose, const Command &command, double interval_time)
{
static double distance_interval = 0.8;
double distance, distance_time;
int size;
Pose p;
p = Ackerman::predict_next_pose(global_pose, command, interval_time);
//verify final pose
if (is_obstacle(p))
{
return true;
}
distance = global_pose.distance(p);
distance_time = min((distance_interval * interval_time) / distance, interval_time);
size = ceil(interval_time / distance_time) - 1;
p = global_pose;
for (int i = 1; i < size; i++)
{
p = Ackerman::predict_next_pose(p, command, distance_time);
if (is_obstacle(p))
{
return true;
}
}
return false;
}
// seg004:08C3
void __pascal far check_guard_bumped() {
short var_2;
if (
word_1F950 == 0 &&
Char.action == actions_1_run_jump &&
Char.alive < 0 &&
Char.sword >= sword_2_drawn
) {
if (
get_tile_at_char() == tiles_20_wall ||
curr_tile2 == tiles_7_doortop_with_floor ||
(curr_tile2 == tiles_4_gate && can_bump_into_gate()) ||
(Char.direction >= dir_0_right && (
get_tile(curr_room, --tile_col, tile_row) == tiles_7_doortop_with_floor ||
(curr_tile2 == tiles_4_gate && can_bump_into_gate())
))
) {
load_frame_to_obj();
set_char_collision();
if (is_obstacle()) {
var_2 = dist_from_wall_behind(curr_tile2);
if (var_2 < 0 && var_2 > -13) {
Char.x = char_dx_forward(-var_2);
seqtbl_offset_char(65); // pushed to wall with sword (Guard)
play_seq();
load_fram_det_col();
}
}
}
}
}
int Model::highestBlock(float x, float z)
{
int result = -1;
int nx = roundf(x);
int nz = roundf(z);
int p = Chunk::chunked(x);
int q = Chunk::chunked(z);
Chunk *chunk = chunks->findChunk(p, q);
if (chunk) {
Map *map = &chunk->map;
MAP_FOR_EACH(map, ex, ey, ez, ew) {
int ex2 = Map::getX(i)+p*(CHUNK_SIZE+1)-1;
int ey2 = Map::getY(i);
int ez2 = Map::getZ(i)-q*(CHUNK_SIZE+1)-1;
/*int ex2 = ex+p*(CHUNK_SIZE+1)-1;
int ey2 = ey;
int ez2 = ez-q*(CHUNK_SIZE+1)-1;*/
if (is_obstacle(ew) && ex2 == nx && ez2 == nz)
{
result = MAX(result, ey2);
}
/*if (is_obstacle(ew) && ex == nx && ez == nz) {
result = MAX(result, ey);
}*/
} END_MAP_FOR_EACH;
}
static int move_car(struct lthread* self) {
goto *lthread_resume(self, &&update);
update:
if (is_game_over)
return 0;
if (race_is_car_moved()) {
road[car_line_nr*RACE_ROAD_LEN] = RACE_SPACE;
car_line_nr = (car_line_nr + 1) % RACE_ROAD_WDT;
road[car_line_nr*RACE_ROAD_LEN] = RACE_CAR;
race_print_road(road);
is_game_over |= is_obstacle(car_line_nr*RACE_ROAD_LEN);
if (is_game_over)
return 0;
}
wait:
if (SCHED_WAIT_TIMEOUT_LTHREAD(self, 0, RACE_CAR_UPD_MS) == -EAGAIN) {
return lthread_yield(&&update, &&wait);
}
goto update;
}
static int move_road(struct lthread *self) {
int to_wait;
/* Multiple entry points are provided by lthread_resume() and
* lthread_yield() functions. */
goto *lthread_resume(self, &&update);
update:
is_game_over |= is_obstacle(car_line_nr*RACE_ROAD_LEN + 1);
if (is_game_over)
return 0;
race_update_road();
race_print_road(road);
wait:
to_wait = RACE_ROAD_UPD_MS - (step / RACE_LVL_STEP) * RACE_LVLUP_MS;
if (SCHED_WAIT_TIMEOUT_LTHREAD(self, 0, to_wait) == -EAGAIN) {
/* Next time the function will start from the 'wait' label. Return
* in order to not to block other threads. */
return lthread_yield(&&update, &&wait);
}
goto update;
}
/** compute a mix of ponderated classes
*
* w/ threshold on obstacle and unknown
* @returns weight from probabilities ponderated by robot model
* (in seconds per meter)
*/
void weight_map::_load() {
assert(terrains.bands.size() > 1);
map.copy_meta(terrains, 1);
gdalwrap::raster& weights = map.bands[0];
width = map.get_width();
map.names[0] = "WEIGHT";
float weight = 1.0;
std::map<std::string, float> costs = rmdl.get_costs();
size_t idx_no_3d_class = terrains.get_band_id("NO_3D_CLASS");
size_t idx_obstacle = terrains.get_band_id("OBSTACLE");
for (size_t pos = 0; pos < width * map.get_height(); pos++) {
if (terrains.bands[idx_no_3d_class][pos] > 0.9)
weights[pos] = W_UNKNOWN; // UNKNOWN
else if (terrains.bands[idx_obstacle][pos] > 0.4) // TODO tune this threshold
weights[pos] = std::numeric_limits<float>::infinity(); // OBSTACLE
else {
weight = 1.0;
// compute a mix of ponderated classes TODO dynamicaly json conf
for (const auto& kv : costs)
weight += kv.second * terrains.get_band(kv.first)[pos];
weights[pos] = weight / rmdl.get_velocity();
}
}
#if 0
// inflate obstacle by robot radius relative to map scale {x,y}
// averaged up raduis {x,y}
size_t rx = std::floor( map.get_scale_x() * rmdl.get_radius() );
size_t ry = std::floor( map.get_scale_y() * rmdl.get_radius() );
for (size_t px_x = rx; px_x < width - rx; px_x++)
for (size_t px_y = ry; px_y < map.get_height() - ry; px_y++) {
if ( is_obstacle(weights[px_x + px_y * width]) ) {
for (size_t irx = 1; irx <= rx; irx++)
for (size_t iry = 1; iry <= ry; iry++) {
flag_as_obstacle(weights[px_x + (px_y - iry) * width]);
flag_as_obstacle(weights[px_x + (px_y + iry) * width]);
flag_as_obstacle(weights[px_x - irx + (px_y ) * width]);
flag_as_obstacle(weights[px_x - irx + (px_y - iry) * width]);
flag_as_obstacle(weights[px_x - irx + (px_y + iry) * width]);
flag_as_obstacle(weights[px_x + irx + (px_y ) * width]);
flag_as_obstacle(weights[px_x + irx + (px_y - iry) * width]);
flag_as_obstacle(weights[px_x + irx + (px_y + iry) * width]);
}
}
}
// see http://www.ros.org/wiki/costmap_2d#Inflation
for (auto& weight : weights)
if (is_flag_obstacle(weight))
weight = 99;
#endif
}
// seg004:0343
int __pascal far is_obstacle_at_col(int tile_col) {
short tile_row;
tile_row = Char.curr_row;
if (tile_row < 0) {
tile_row += 3;
}
if (tile_row >= 3) {
tile_row -= 3;
}
get_tile(curr_row_coll_room[tile_col], tile_col, tile_row);
return is_obstacle();
}
int highest_block(Chunk *chunks, int chunk_count, float x, float z) {
int result = -1;
int nx = roundf(x);
int nz = roundf(z);
int p = floorf(roundf(x) / CHUNK_SIZE);
int q = floorf(roundf(z) / CHUNK_SIZE);
Chunk *chunk = find_chunk(chunks, chunk_count, p, q);
if (chunk) {
Map *map = &chunk->map;
MAP_FOR_EACH(map, e) {
if (is_obstacle(e->w) && e->x == nx && e->z == nz) {
result = MAX(result, e->y);
}
} END_MAP_FOR_EACH;
}
return result;
}
// seg004:08C3
void __pascal far check_guard_bumped() {
if (
Char.action == actions_1_run_jump &&
Char.alive < 0 &&
Char.sword >= sword_2_drawn
) {
if (
#ifdef FIX_PUSH_GUARD_INTO_WALL
// Should also check for a wall BEHIND the guard, instead of only the current tile
(fixes->fix_push_guard_into_wall && get_tile_behind_char() == tiles_20_wall) ||
#endif
get_tile_at_char() == tiles_20_wall ||
curr_tile2 == tiles_7_doortop_with_floor ||
(curr_tile2 == tiles_4_gate && can_bump_into_gate()) ||
(Char.direction >= dir_0_right && (
get_tile(curr_room, --tile_col, tile_row) == tiles_7_doortop_with_floor ||
(curr_tile2 == tiles_4_gate && can_bump_into_gate())
))
) {
load_frame_to_obj();
set_char_collision();
if (is_obstacle()) {
short delta_x;
delta_x = dist_from_wall_behind(curr_tile2);
if (delta_x < 0 && delta_x > -13) {
Char.x = char_dx_forward(-delta_x);
seqtbl_offset_char(seq_65_bump_forward_with_sword); // pushed to wall with sword (Guard)
play_seq();
load_fram_det_col();
}
}
}
}
}
int collide(
Chunk *chunks, int chunk_count,
int height, float *x, float *y, float *z)
{
int result = 0;
int p = floorf(roundf(*x) / CHUNK_SIZE);
int q = floorf(roundf(*z) / CHUNK_SIZE);
Chunk *chunk = find_chunk(chunks, chunk_count, p, q);
if (!chunk) {
return result;
}
Map *map = &chunk->map;
int nx = roundf(*x);
int ny = roundf(*y);
int nz = roundf(*z);
float px = *x - nx;
float py = *y - ny;
float pz = *z - nz;
float pad = 0.25;
for (int dy = 0; dy < height; dy++) {
if (px < -pad && is_obstacle(map_get(map, nx - 1, ny - dy, nz))) {
*x = nx - pad;
}
if (px > pad && is_obstacle(map_get(map, nx + 1, ny - dy, nz))) {
*x = nx + pad;
}
if (py < -pad && is_obstacle(map_get(map, nx, ny - dy - 1, nz))) {
*y = ny - pad;
result = 1;
}
if (py > pad && is_obstacle(map_get(map, nx, ny - dy + 1, nz))) {
*y = ny + pad;
result = 1;
}
if (pz < -pad && is_obstacle(map_get(map, nx, ny - dy, nz - 1))) {
*z = nz - pad;
}
if (pz > pad && is_obstacle(map_get(map, nx, ny - dy, nz + 1))) {
*z = nz + pad;
}
}
return result;
}
int main(int argc, char **argv) {
srand(time(NULL));
rand();
if (argc == 2 || argc == 3) {
char *hostname = argv[1];
int port = DEFAULT_PORT;
if (argc == 3) {
port = atoi(argv[2]);
}
db_disable();
client_enable();
client_connect(hostname, port);
client_start();
}
if (!glfwInit()) {
return -1;
}
create_window();
if (!window) {
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
glfwSwapInterval(VSYNC);
glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
glfwSetKeyCallback(window, on_key);
glfwSetMouseButtonCallback(window, on_mouse_button);
glfwSetScrollCallback(window, on_scroll);
#ifndef __APPLE__
if (glewInit() != GLEW_OK) {
return -1;
}
#endif
if (db_init()) {
return -1;
}
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
glEnable(GL_LINE_SMOOTH);
glLogicOp(GL_INVERT);
glClearColor(0.53, 0.81, 0.92, 1.00);
GLuint texture;
glGenTextures(1, &texture);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, texture);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
load_png_texture("texture.png");
GLuint block_program = load_program(
"shaders/block_vertex.glsl", "shaders/block_fragment.glsl");
GLuint matrix_loc = glGetUniformLocation(block_program, "matrix");
GLuint camera_loc = glGetUniformLocation(block_program, "camera");
GLuint sampler_loc = glGetUniformLocation(block_program, "sampler");
GLuint timer_loc = glGetUniformLocation(block_program, "timer");
GLuint position_loc = glGetAttribLocation(block_program, "position");
GLuint normal_loc = glGetAttribLocation(block_program, "normal");
GLuint uv_loc = glGetAttribLocation(block_program, "uv");
GLuint line_program = load_program(
"shaders/line_vertex.glsl", "shaders/line_fragment.glsl");
GLuint line_matrix_loc = glGetUniformLocation(line_program, "matrix");
GLuint line_position_loc = glGetAttribLocation(line_program, "position");
GLuint item_position_buffer = 0;
GLuint item_normal_buffer = 0;
GLuint item_uv_buffer = 0;
int previous_block_type = 0;
Chunk chunks[MAX_CHUNKS];
int chunk_count = 0;
Player players[MAX_PLAYERS];
int player_count = 0;
FPS fps = {0, 0};
float matrix[16];
float x = (rand_double() - 0.5) * 10000;
float z = (rand_double() - 0.5) * 10000;
float y = 0;
float dy = 0;
float rx = 0;
float ry = 0;
double px = 0;
double py = 0;
int loaded = db_load_state(&x, &y, &z, &rx, &ry);
ensure_chunks(chunks, &chunk_count,
floorf(roundf(x) / CHUNK_SIZE),
floorf(roundf(z) / CHUNK_SIZE), 1);
if (!loaded) {
y = highest_block(chunks, chunk_count, x, z) + 2;
}
glfwGetCursorPos(window, &px, &py);
double previous = glfwGetTime();
while (!glfwWindowShouldClose(window)) {
update_fps(&fps, SHOW_FPS);
double now = glfwGetTime();
double dt = MIN(now - previous, 0.2);
previous = now;
if (exclusive && (px || py)) {
double mx, my;
glfwGetCursorPos(window, &mx, &my);
float m = 0.0025;
rx += (mx - px) * m;
ry -= (my - py) * m;
if (rx < 0) {
rx += RADIANS(360);
}
if (rx >= RADIANS(360)){
rx -= RADIANS(360);
}
ry = MAX(ry, -RADIANS(90));
ry = MIN(ry, RADIANS(90));
px = mx;
py = my;
}
else {
glfwGetCursorPos(window, &px, &py);
}
int sz = 0;
int sx = 0;
ortho = glfwGetKey(window, 'F');
fov = glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) ? 15.0 : 65.0;
if (glfwGetKey(window, 'Q')) break;
if (glfwGetKey(window, 'W')) sz--;
if (glfwGetKey(window, 'S')) sz++;
if (glfwGetKey(window, 'A')) sx--;
if (glfwGetKey(window, 'D')) sx++;
float m = dt * 1.0;
if (glfwGetKey(window, GLFW_KEY_LEFT)) rx -= m;
if (glfwGetKey(window, GLFW_KEY_RIGHT)) rx += m;
if (glfwGetKey(window, GLFW_KEY_UP)) ry += m;
if (glfwGetKey(window, GLFW_KEY_DOWN)) ry -= m;
float vx, vy, vz;
get_motion_vector(flying, sz, sx, rx, ry, &vx, &vy, &vz);
if (glfwGetKey(window, GLFW_KEY_SPACE)) {
if (flying) {
vy = 1;
}
else if (dy == 0) {
dy = 8;
}
}
if (glfwGetKey(window, 'Z')) {
vx = -1; vy = 0; vz = 0;
}
if (glfwGetKey(window, 'X')) {
vx = 1; vy = 0; vz = 0;
}
if (glfwGetKey(window, 'C')) {
vx = 0; vy = -1; vz = 0;
}
if (glfwGetKey(window, 'V')) {
vx = 0; vy = 1; vz = 0;
}
if (glfwGetKey(window, 'B')) {
vx = 0; vy = 0; vz = -1;
}
if (glfwGetKey(window, 'N')) {
vx = 0; vy = 0; vz = 1;
}
float speed = flying ? 20 : 5;
int step = 8;
float ut = dt / step;
vx = vx * ut * speed;
vy = vy * ut * speed;
vz = vz * ut * speed;
for (int i = 0; i < step; i++) {
if (flying) {
dy = 0;
}
else {
dy -= ut * 25;
dy = MAX(dy, -250);
}
x += vx;
y += vy + dy * ut;
z += vz;
if (collide(chunks, chunk_count, 2, &x, &y, &z)) {
dy = 0;
}
}
if (y < 0) {
y = highest_block(chunks, chunk_count, x, z) + 2;
}
for (int i = 0; i < chunk_count; i++) {
Chunk *chunk = chunks + i;
chunk->dirty = 0;
}
if (left_click) {
left_click = 0;
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 0, x, y, z, rx, ry,
&hx, &hy, &hz);
if (hy > 0 && is_destructable(hw)) {
set_block(chunks, chunk_count, hx, hy, hz, 0, 1);
}
}
if (right_click) {
right_click = 0;
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 1, x, y, z, rx, ry,
&hx, &hy, &hz);
if (is_obstacle(hw)) {
if (!player_intersects_block(2, x, y, z, hx, hy, hz)) {
set_block(chunks, chunk_count, hx, hy, hz, block_type, 1);
}
}
}
if (middle_click) {
middle_click = 0;
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 0, x, y, z, rx, ry,
&hx, &hy, &hz);
if (is_selectable(hw)) {
block_type = hw;
}
}
if (teleport) {
teleport = 0;
if (player_count) {
int index = rand_int(player_count);
Player *player = players + index;
x = player->x;
y = player->y;
z = player->z;
rx = player->rx;
ry = player->ry;
ensure_chunks(chunks, &chunk_count,
floorf(roundf(x) / CHUNK_SIZE),
floorf(roundf(z) / CHUNK_SIZE), 1);
}
}
client_position(x, y, z, rx, ry);
char buffer[RECV_BUFFER_SIZE];
while (client_recv(buffer, RECV_BUFFER_SIZE)) {
float ux, uy, uz, urx, ury;
if (sscanf(buffer, "U,%*d,%f,%f,%f,%f,%f",
&ux, &uy, &uz, &urx, &ury) == 5)
{
x = ux; y = uy; z = uz; rx = urx; ry = ury;
ensure_chunks(chunks, &chunk_count,
floorf(roundf(x) / CHUNK_SIZE),
floorf(roundf(z) / CHUNK_SIZE), 1);
y = highest_block(chunks, chunk_count, x, z) + 2;
}
int bx, by, bz, bw;
if (sscanf(buffer, "B,%*d,%*d,%d,%d,%d,%d",
&bx, &by, &bz, &bw) == 4)
{
set_block(chunks, chunk_count, bx, by, bz, bw, 0);
if ((int)roundf(x) == bx && (int)roundf(z) == bz) {
y = highest_block(chunks, chunk_count, x, z) + 2;
}
}
int pid;
float px, py, pz, prx, pry;
if (sscanf(buffer, "P,%d,%f,%f,%f,%f,%f",
&pid, &px, &py, &pz, &prx, &pry) == 6)
{
Player *player = find_player(players, player_count, pid);
if (!player && player_count < MAX_PLAYERS) {
player = players + player_count;
player_count++;
player->id = pid;
player->position_buffer = 0;
player->normal_buffer = 0;
player->uv_buffer = 0;
printf("%d other players are online\n", player_count);
}
if (player) {
update_player(player, px, py, pz, prx, pry);
}
}
if (sscanf(buffer, "D,%d", &pid) == 1) {
delete_player(players, &player_count, pid);
printf("%d other players are online\n", player_count);
}
}
for (int i = 0; i < chunk_count; i++) {
Chunk *chunk = chunks + i;
if (chunk->dirty) {
update_chunk(chunk);
}
}
int p = floorf(roundf(x) / CHUNK_SIZE);
int q = floorf(roundf(z) / CHUNK_SIZE);
ensure_chunks(chunks, &chunk_count, p, q, 0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
update_matrix_3d(matrix, x, y, z, rx, ry);
// render chunks
glUseProgram(block_program);
glUniformMatrix4fv(matrix_loc, 1, GL_FALSE, matrix);
glUniform3f(camera_loc, x, y, z);
glUniform1i(sampler_loc, 0);
glUniform1f(timer_loc, glfwGetTime());
for (int i = 0; i < chunk_count; i++) {
Chunk *chunk = chunks + i;
if (chunk_distance(chunk, p, q) > RENDER_CHUNK_RADIUS) {
continue;
}
if (!chunk_visible(chunk, matrix)) {
continue;
}
draw_chunk(chunk, position_loc, normal_loc, uv_loc);
}
// render players
for (int i = 0; i < player_count; i++) {
Player *player = players + i;
draw_player(player, position_loc, normal_loc, uv_loc);
}
// render focused block wireframe
int hx, hy, hz;
int hw = hit_test(
chunks, chunk_count, 0, x, y, z, rx, ry, &hx, &hy, &hz);
if (is_obstacle(hw)) {
glUseProgram(line_program);
glLineWidth(1);
glEnable(GL_COLOR_LOGIC_OP);
glUniformMatrix4fv(line_matrix_loc, 1, GL_FALSE, matrix);
GLuint cube_buffer = make_cube_buffer(hx, hy, hz, 0.51);
draw_lines(cube_buffer, line_position_loc, 3, 48);
glDeleteBuffers(1, &cube_buffer);
glDisable(GL_COLOR_LOGIC_OP);
}
update_matrix_2d(matrix);
// render crosshairs
glUseProgram(line_program);
glLineWidth(4);
glEnable(GL_COLOR_LOGIC_OP);
glUniformMatrix4fv(line_matrix_loc, 1, GL_FALSE, matrix);
GLuint line_buffer = make_line_buffer();
draw_lines(line_buffer, line_position_loc, 2, 4);
glDeleteBuffers(1, &line_buffer);
glDisable(GL_COLOR_LOGIC_OP);
// render selected item
update_matrix_item(matrix);
if (block_type != previous_block_type) {
previous_block_type = block_type;
make_single_cube(
&item_position_buffer, &item_normal_buffer, &item_uv_buffer,
0, 0, 0, 0.5, block_type);
}
glUseProgram(block_program);
glUniformMatrix4fv(matrix_loc, 1, GL_FALSE, matrix);
glUniform3f(camera_loc, 0, 0, 5);
glUniform1i(sampler_loc, 0);
glUniform1f(timer_loc, glfwGetTime());
glDisable(GL_DEPTH_TEST);
draw_single_cube(
item_position_buffer, item_normal_buffer, item_uv_buffer,
position_loc, normal_loc, uv_loc);
glEnable(GL_DEPTH_TEST);
glfwSwapBuffers(window);
glfwPollEvents();
}
client_stop();
db_save_state(x, y, z, rx, ry);
db_close();
glfwTerminate();
return 0;
}
int main(int argc, char **argv) {
srand(time(NULL));
rand();
if (!glfwInit()) {
return -1;
}
create_window();
if (!window) {
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
glfwSwapInterval(VSYNC);
glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
glfwSetKeyCallback(window, on_key);
glfwSetMouseButtonCallback(window, on_mouse_button);
#ifndef __APPLE__
if (glewInit() != GLEW_OK) {
return -1;
}
#endif
if (db_init()) {
return -1;
}
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
glEnable(GL_LINE_SMOOTH);
glLogicOp(GL_INVERT);
glClearColor(0.53, 0.81, 0.92, 1.00);
GLuint vertex_array;
glGenVertexArrays(1, &vertex_array);
glBindVertexArray(vertex_array);
GLuint texture;
glGenTextures(1, &texture);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, texture);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
load_png_texture("texture.png");
GLuint block_program = load_program(
"shaders/block_vertex.glsl", "shaders/block_fragment.glsl");
GLuint matrix_loc = glGetUniformLocation(block_program, "matrix");
GLuint camera_loc = glGetUniformLocation(block_program, "camera");
GLuint sampler_loc = glGetUniformLocation(block_program, "sampler");
GLuint timer_loc = glGetUniformLocation(block_program, "timer");
GLuint position_loc = glGetAttribLocation(block_program, "position");
GLuint normal_loc = glGetAttribLocation(block_program, "normal");
GLuint uv_loc = glGetAttribLocation(block_program, "uv");
GLuint line_program = load_program(
"shaders/line_vertex.glsl", "shaders/line_fragment.glsl");
GLuint line_matrix_loc = glGetUniformLocation(line_program, "matrix");
GLuint line_position_loc = glGetAttribLocation(line_program, "position");
GLuint item_position_buffer = 0;
GLuint item_normal_buffer = 0;
GLuint item_uv_buffer = 0;
int previous_block_type = 0;
Chunk chunks[MAX_CHUNKS];
int chunk_count = 0;
FPS fps = {0, 0};
float matrix[16];
float x = (rand_double() - 0.5) * 10000;
float z = (rand_double() - 0.5) * 10000;
float y = 0;
float dy = 0;
float rx = 0;
float ry = 0;
double px = 0;
double py = 0;
int loaded = db_load_state(&x, &y, &z, &rx, &ry);
ensure_chunks(chunks, &chunk_count,
floorf(roundf(x) / CHUNK_SIZE),
floorf(roundf(z) / CHUNK_SIZE), 1);
if (!loaded) {
y = highest_block(chunks, chunk_count, x, z) + 2;
}
glfwGetCursorPos(window, &px, &py);
double previous = glfwGetTime();
while (!glfwWindowShouldClose(window)) {
update_fps(&fps, SHOW_FPS);
double now = glfwGetTime();
double dt = MIN(now - previous, 0.2);
previous = now;
if (exclusive && (px || py)) {
double mx, my;
glfwGetCursorPos(window, &mx, &my);
float m = 0.0025;
rx += (mx - px) * m;
ry -= (my - py) * m;
if (rx < 0) {
rx += RADIANS(360);
}
if (rx >= RADIANS(360)){
rx -= RADIANS(360);
}
ry = MAX(ry, -RADIANS(90));
ry = MIN(ry, RADIANS(90));
px = mx;
py = my;
}
else {
glfwGetCursorPos(window, &px, &py);
}
if (left_click) {
left_click = 0;
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 0, x, y, z, rx, ry,
&hx, &hy, &hz);
if (hy > 0 && is_destructable(hw)) {
set_block(chunks, chunk_count, hx, hy, hz, 0);
}
}
if (right_click) {
right_click = 0;
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 1, x, y, z, rx, ry,
&hx, &hy, &hz);
if (is_obstacle(hw)) {
if (!player_intersects_block(2, x, y, z, hx, hy, hz)) {
set_block(chunks, chunk_count, hx, hy, hz, block_type);
}
}
}
int sz = 0;
int sx = 0;
ortho = glfwGetKey(window, 'F');
fov = glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) ? 15.0 : 65.0;
if (glfwGetKey(window, 'Q')) break;
if (glfwGetKey(window, 'W')) sz--;
if (glfwGetKey(window, 'S')) sz++;
if (glfwGetKey(window, 'A')) sx--;
if (glfwGetKey(window, 'D')) sx++;
if (dy == 0 && glfwGetKey(window, GLFW_KEY_SPACE)) {
dy = 8;
}
float vx, vy, vz;
get_motion_vector(flying, sz, sx, rx, ry, &vx, &vy, &vz);
if (glfwGetKey(window, 'Z')) {
vx = -1; vy = 0; vz = 0;
}
if (glfwGetKey(window, 'X')) {
vx = 1; vy = 0; vz = 0;
}
if (glfwGetKey(window, 'C')) {
vx = 0; vy = -1; vz = 0;
}
if (glfwGetKey(window, 'V')) {
vx = 0; vy = 1; vz = 0;
}
if (glfwGetKey(window, 'B')) {
vx = 0; vy = 0; vz = -1;
}
if (glfwGetKey(window, 'N')) {
vx = 0; vy = 0; vz = 1;
}
float speed = flying ? 20 : 5;
int step = 8;
float ut = dt / step;
vx = vx * ut * speed;
vy = vy * ut * speed;
vz = vz * ut * speed;
for (int i = 0; i < step; i++) {
if (flying) {
dy = 0;
}
else {
dy -= ut * 25;
dy = MAX(dy, -250);
}
x += vx;
y += vy + dy * ut;
z += vz;
if (collide(chunks, chunk_count, 2, &x, &y, &z)) {
dy = 0;
}
}
int p = floorf(roundf(x) / CHUNK_SIZE);
int q = floorf(roundf(z) / CHUNK_SIZE);
ensure_chunks(chunks, &chunk_count, p, q, 0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
update_matrix_3d(matrix, x, y, z, rx, ry);
// render chunks
glUseProgram(block_program);
glUniformMatrix4fv(matrix_loc, 1, GL_FALSE, matrix);
glUniform3f(camera_loc, x, y, z);
glUniform1i(sampler_loc, 0);
glUniform1f(timer_loc, glfwGetTime());
for (int i = 0; i < chunk_count; i++) {
Chunk *chunk = chunks + i;
if (chunk_distance(chunk, p, q) > RENDER_CHUNK_RADIUS) {
continue;
}
if (!chunk_visible(chunk, matrix)) {
continue;
}
draw_chunk(chunk, position_loc, normal_loc, uv_loc);
}
// render focused block wireframe
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 0, x, y, z, rx, ry, &hx, &hy, &hz);
if (is_obstacle(hw)) {
glUseProgram(line_program);
glLineWidth(1);
glEnable(GL_COLOR_LOGIC_OP);
glUniformMatrix4fv(line_matrix_loc, 1, GL_FALSE, matrix);
GLuint buffer = make_cube_buffer(hx, hy, hz, 0.51);
draw_lines(buffer, line_position_loc, 3, 48);
glDeleteBuffers(1, &buffer);
glDisable(GL_COLOR_LOGIC_OP);
}
update_matrix_2d(matrix);
// render crosshairs
glUseProgram(line_program);
glLineWidth(4);
glEnable(GL_COLOR_LOGIC_OP);
glUniformMatrix4fv(line_matrix_loc, 1, GL_FALSE, matrix);
GLuint buffer = make_line_buffer();
draw_lines(buffer, line_position_loc, 2, 4);
glDeleteBuffers(1, &buffer);
glDisable(GL_COLOR_LOGIC_OP);
// render selected item
update_matrix_item(matrix);
if (block_type != previous_block_type) {
previous_block_type = block_type;
make_single_cube(
&item_position_buffer, &item_normal_buffer, &item_uv_buffer,
block_type);
}
glUseProgram(block_program);
glUniformMatrix4fv(matrix_loc, 1, GL_FALSE, matrix);
glUniform3f(camera_loc, 0, 0, 5);
glUniform1i(sampler_loc, 0);
glUniform1f(timer_loc, glfwGetTime());
glDisable(GL_DEPTH_TEST);
draw_single_cube(
item_position_buffer, item_normal_buffer, item_uv_buffer,
position_loc, normal_loc, uv_loc);
glEnable(GL_DEPTH_TEST);
glfwSwapBuffers(window);
glfwPollEvents();
}
db_save_state(x, y, z, rx, ry);
db_close();
glfwTerminate();
return 0;
}
int main(int argc, char **argv) {
srand(time(NULL));
rand();
if (argc == 2 || argc == 3) {
char *hostname = argv[1];
int port = DEFAULT_PORT;
if (argc == 3) {
port = atoi(argv[2]);
}
db_disable();
client_enable();
client_connect(hostname, port);
client_start();
}
if (!glfwInit()) {
return -1;
}
create_window();
if (!window) {
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
glfwSwapInterval(VSYNC);
glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
glfwSetKeyCallback(window, on_key);
glfwSetCharCallback(window, on_char);
glfwSetMouseButtonCallback(window, on_mouse_button);
glfwSetScrollCallback(window, on_scroll);
#ifndef __APPLE__
if (glewInit() != GLEW_OK) {
return -1;
}
#endif
if (db_init()) {
return -1;
}
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
glEnable(GL_LINE_SMOOTH);
glLogicOp(GL_INVERT);
glClearColor(0.53, 0.81, 0.92, 1.00);
GLuint texture;
glGenTextures(1, &texture);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, texture);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
load_png_texture("texture.png");
GLuint font;
glGenTextures(1, &font);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, font);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
load_png_texture("font.png");
GLuint block_program = load_program(
"shaders/block_vertex.glsl", "shaders/block_fragment.glsl");
GLuint matrix_loc = glGetUniformLocation(block_program, "matrix");
GLuint camera_loc = glGetUniformLocation(block_program, "camera");
GLuint sampler_loc = glGetUniformLocation(block_program, "sampler");
GLuint timer_loc = glGetUniformLocation(block_program, "timer");
GLuint position_loc = glGetAttribLocation(block_program, "position");
GLuint normal_loc = glGetAttribLocation(block_program, "normal");
GLuint uv_loc = glGetAttribLocation(block_program, "uv");
GLuint line_program = load_program(
"shaders/line_vertex.glsl", "shaders/line_fragment.glsl");
GLuint line_matrix_loc = glGetUniformLocation(line_program, "matrix");
GLuint line_position_loc = glGetAttribLocation(line_program, "position");
GLuint text_program = load_program(
"shaders/text_vertex.glsl", "shaders/text_fragment.glsl");
GLuint text_matrix_loc = glGetUniformLocation(text_program, "matrix");
GLuint text_sampler_loc = glGetUniformLocation(text_program, "sampler");
GLuint text_position_loc = glGetAttribLocation(text_program, "position");
GLuint text_uv_loc = glGetAttribLocation(text_program, "uv");
GLuint item_position_buffer = 0;
GLuint item_normal_buffer = 0;
GLuint item_uv_buffer = 0;
int previous_block_type = 0;
char messages[MAX_MESSAGES][TEXT_BUFFER_SIZE] = {0};
int message_index = 0;
Chunk chunks[MAX_CHUNKS];
int chunk_count = 0;
Player players[MAX_PLAYERS];
int player_count = 0;
FPS fps = {0, 0};
float matrix[16];
float x = (rand_double() - 0.5) * 10000;
float z = (rand_double() - 0.5) * 10000;
float y = 0;
float dy = 0;
float rx = 0;
float ry = 0;
double px = 0;
double py = 0;
int loaded = db_load_state(&x, &y, &z, &rx, &ry);
ensure_chunks(chunks, &chunk_count, x, y, z, 1);
if (!loaded) {
y = highest_block(chunks, chunk_count, x, z) + 2;
}
glfwGetCursorPos(window, &px, &py);
double previous = glfwGetTime();
while (!glfwWindowShouldClose(window)) {
int width, height;
glfwGetFramebufferSize(window, &width, &height);
glViewport(0, 0, width, height);
update_fps(&fps, SHOW_FPS);
double now = glfwGetTime();
double dt = MIN(now - previous, 0.2);
previous = now;
if (exclusive && (px || py)) {
double mx, my;
glfwGetCursorPos(window, &mx, &my);
float m = 0.0025;
rx += (mx - px) * m;
ry -= (my - py) * m;
if (rx < 0) {
rx += RADIANS(360);
}
if (rx >= RADIANS(360)){
rx -= RADIANS(360);
}
ry = MAX(ry, -RADIANS(90));
ry = MIN(ry, RADIANS(90));
px = mx;
py = my;
}
else {
glfwGetCursorPos(window, &px, &py);
}
int sz = 0;
int sx = 0;
if (!typing) {
float m = dt * 1.0;
ortho = glfwGetKey(window, CRAFT_KEY_ORTHO);
fov = glfwGetKey(window, CRAFT_KEY_ZOOM) ? 15.0 : 65.0;
if (glfwGetKey(window, CRAFT_KEY_QUIT)) break;
if (glfwGetKey(window, CRAFT_KEY_FORWARD)) sz--;
if (glfwGetKey(window, CRAFT_KEY_BACKWARD)) sz++;
if (glfwGetKey(window, CRAFT_KEY_LEFT)) sx--;
if (glfwGetKey(window, CRAFT_KEY_RIGHT)) sx++;
if (glfwGetKey(window, GLFW_KEY_LEFT)) rx -= m;
if (glfwGetKey(window, GLFW_KEY_RIGHT)) rx += m;
if (glfwGetKey(window, GLFW_KEY_UP)) ry += m;
if (glfwGetKey(window, GLFW_KEY_DOWN)) ry -= m;
}
float vx, vy, vz;
get_motion_vector(flying, sz, sx, rx, ry, &vx, &vy, &vz);
if (!typing) {
if (glfwGetKey(window, CRAFT_KEY_JUMP)) {
if (flying) {
vy = 1;
}
else if (dy == 0) {
dy = 8;
}
}
if (glfwGetKey(window, CRAFT_KEY_XM)) {
vx = -1; vy = 0; vz = 0;
}
if (glfwGetKey(window, CRAFT_KEY_XP)) {
vx = 1; vy = 0; vz = 0;
}
if (glfwGetKey(window, CRAFT_KEY_YM)) {
vx = 0; vy = -1; vz = 0;
}
if (glfwGetKey(window, CRAFT_KEY_YP)) {
vx = 0; vy = 1; vz = 0;
}
if (glfwGetKey(window, CRAFT_KEY_ZM)) {
vx = 0; vy = 0; vz = -1;
}
if (glfwGetKey(window, CRAFT_KEY_ZP)) {
vx = 0; vy = 0; vz = 1;
}
}
float speed = flying ? 20 : 5;
int step = 8;
float ut = dt / step;
vx = vx * ut * speed;
vy = vy * ut * speed;
vz = vz * ut * speed;
for (int i = 0; i < step; i++) {
if (flying) {
dy = 0;
}
else {
dy -= ut * 25;
dy = MAX(dy, -250);
}
x += vx;
y += vy + dy * ut;
z += vz;
if (collide(chunks, chunk_count, 2, &x, &y, &z)) {
dy = 0;
}
}
if (y < 0) {
y = highest_block(chunks, chunk_count, x, z) + 2;
}
if (left_click) {
left_click = 0;
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 0, x, y, z, rx, ry,
&hx, &hy, &hz);
if (hy > 0 && is_destructable(hw)) {
set_block(chunks, chunk_count, hx, hy, hz, 0);
int above = get_block(chunks, chunk_count, hx, hy + 1, hz);
if (is_plant(above)) {
set_block(chunks, chunk_count, hx, hy + 1, hz, 0);
}
}
}
if (right_click) {
right_click = 0;
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 1, x, y, z, rx, ry,
&hx, &hy, &hz);
if (is_obstacle(hw)) {
if (!player_intersects_block(2, x, y, z, hx, hy, hz)) {
set_block(chunks, chunk_count, hx, hy, hz, block_type);
}
}
}
if (middle_click) {
middle_click = 0;
int hx, hy, hz;
int hw = hit_test(chunks, chunk_count, 0, x, y, z, rx, ry,
&hx, &hy, &hz);
if (is_selectable(hw)) {
block_type = hw;
}
}
if (teleport) {
teleport = 0;
if (player_count) {
int index = rand_int(player_count);
Player *player = players + index;
x = player->x; y = player->y; z = player->z;
rx = player->rx; ry = player->ry;
ensure_chunks(chunks, &chunk_count, x, y, z, 1);
}
}
client_position(x, y, z, rx, ry);
char buffer[RECV_BUFFER_SIZE];
while (client_recv(buffer, RECV_BUFFER_SIZE)) {
float ux, uy, uz, urx, ury;
if (sscanf(buffer, "U,%*d,%f,%f,%f,%f,%f",
&ux, &uy, &uz, &urx, &ury) == 5)
{
x = ux; y = uy; z = uz; rx = urx; ry = ury;
ensure_chunks(chunks, &chunk_count, x, y, z, 1);
y = highest_block(chunks, chunk_count, x, z) + 2;
}
int bp, bq, bx, by, bz, bw;
if (sscanf(buffer, "B,%d,%d,%d,%d,%d,%d",
&bp, &bq, &bx, &by, &bz, &bw) == 6)
{
_set_block(chunks, chunk_count, bp, bq, bx, by, bz, bw);
if (player_intersects_block(2, x, y, z, bx, by, bz)) {
y = highest_block(chunks, chunk_count, x, z) + 2;
}
}
int pid;
float px, py, pz, prx, pry;
if (sscanf(buffer, "P,%d,%f,%f,%f,%f,%f",
&pid, &px, &py, &pz, &prx, &pry) == 6)
{
Player *player = find_player(players, player_count, pid);
if (!player && player_count < MAX_PLAYERS) {
player = players + player_count;
player_count++;
player->id = pid;
player->position_buffer = 0;
player->normal_buffer = 0;
player->uv_buffer = 0;
}
if (player) {
update_player(player, px, py, pz, prx, pry);
}
}
if (sscanf(buffer, "D,%d", &pid) == 1) {
delete_player(players, &player_count, pid);
}
if (buffer[0] == 'T' && buffer[1] == ',') {
char *text = buffer + 2;
printf("%s\n", text);
snprintf(
messages[message_index], TEXT_BUFFER_SIZE, "%s", text);
message_index = (message_index + 1) % MAX_MESSAGES;
}
}
int p = chunked(x);
int q = chunked(z);
ensure_chunks(chunks, &chunk_count, x, y, z, 0);
// RENDER 3-D SCENE //
glClear(GL_COLOR_BUFFER_BIT);
glClear(GL_DEPTH_BUFFER_BIT);
set_matrix_3d(matrix, width, height, x, y, z, rx, ry, fov, ortho);
// render chunks
glUseProgram(block_program);
glUniformMatrix4fv(matrix_loc, 1, GL_FALSE, matrix);
glUniform3f(camera_loc, x, y, z);
glUniform1i(sampler_loc, 0);
glUniform1f(timer_loc, glfwGetTime());
for (int i = 0; i < chunk_count; i++) {
Chunk *chunk = chunks + i;
if (chunk_distance(chunk, p, q) > RENDER_CHUNK_RADIUS) {
continue;
}
if (y < 100 && !chunk_visible(chunk, matrix)) {
continue;
}
draw_chunk(chunk, position_loc, normal_loc, uv_loc);
}
// render players
for (int i = 0; i < player_count; i++) {
Player *player = players + i;
draw_player(player, position_loc, normal_loc, uv_loc);
}
// render focused block wireframe
int hx, hy, hz;
int hw = hit_test(
chunks, chunk_count, 0, x, y, z, rx, ry, &hx, &hy, &hz);
if (is_obstacle(hw)) {
glUseProgram(line_program);
glLineWidth(1);
glEnable(GL_COLOR_LOGIC_OP);
glUniformMatrix4fv(line_matrix_loc, 1, GL_FALSE, matrix);
GLuint wireframe_buffer = gen_wireframe_buffer(hx, hy, hz, 0.51);
draw_lines(wireframe_buffer, line_position_loc, 3, 48);
glDeleteBuffers(1, &wireframe_buffer);
glDisable(GL_COLOR_LOGIC_OP);
}
// RENDER 2-D HUD PARTS //
glClear(GL_DEPTH_BUFFER_BIT);
set_matrix_2d(matrix, width, height);
// render crosshairs
glUseProgram(line_program);
glLineWidth(4);
glEnable(GL_COLOR_LOGIC_OP);
glUniformMatrix4fv(line_matrix_loc, 1, GL_FALSE, matrix);
GLuint crosshair_buffer = gen_crosshair_buffer(width, height);
draw_lines(crosshair_buffer, line_position_loc, 2, 4);
glDeleteBuffers(1, &crosshair_buffer);
glDisable(GL_COLOR_LOGIC_OP);
// render text
glUseProgram(text_program);
glUniformMatrix4fv(text_matrix_loc, 1, GL_FALSE, matrix);
glUniform1i(text_sampler_loc, 1);
char text_buffer[1024];
float ts = 12;
float tx = ts / 2;
float ty = height - ts;
snprintf(
text_buffer, 1024, "%d, %d, %.2f, %.2f, %.2f [%d, %d]",
p, q, x, y, z, player_count, chunk_count);
print(
text_position_loc, text_uv_loc,
tx, ty, ts, text_buffer);
for (int i = 0; i < MAX_MESSAGES; i++) {
int index = (message_index + i) % MAX_MESSAGES;
if (strlen(messages[index])) {
ty -= ts * 2;
print(
text_position_loc, text_uv_loc,
tx, ty, ts, messages[index]);
}
}
if (typing) {
ty -= ts * 2;
snprintf(text_buffer, 1024, "> %s", typing_buffer);
print(
text_position_loc, text_uv_loc,
tx, ty, ts, text_buffer);
}
// RENDER 3-D HUD PARTS //
set_matrix_item(matrix, width, height);
// render selected item
if (block_type != previous_block_type) {
previous_block_type = block_type;
if (is_plant(block_type)) {
gen_plant_buffers(
&item_position_buffer, &item_normal_buffer, &item_uv_buffer,
0, 0, 0, 0.5, block_type);
}
else {
gen_cube_buffers(
&item_position_buffer, &item_normal_buffer, &item_uv_buffer,
0, 0, 0, 0.5, block_type);
}
}
glUseProgram(block_program);
glUniformMatrix4fv(matrix_loc, 1, GL_FALSE, matrix);
glUniform3f(camera_loc, 0, 0, 5);
glUniform1i(sampler_loc, 0);
glUniform1f(timer_loc, glfwGetTime());
if (is_plant(block_type)) {
draw_plant(
item_position_buffer, item_normal_buffer, item_uv_buffer,
position_loc, normal_loc, uv_loc);
}
else {
draw_cube(
item_position_buffer, item_normal_buffer, item_uv_buffer,
position_loc, normal_loc, uv_loc);
}
// swap buffers
glfwSwapBuffers(window);
glfwPollEvents();
}
client_stop();
db_save_state(x, y, z, rx, ry);
db_close();
glfwTerminate();
return 0;
}