bool NRectangle::draw(NGenericPixelMatrix *matrix, NPixelBox geometry, DrawOpt op) {
if(!pixelBoxInLcd(geometry)) return false;
NPoint rightTop(geometry.base().x() + geometry.width(), geometry.base().y());
NPoint rightBottom(geometry.base().x() + geometry.width(), geometry.base().y() + geometry.height());
NPoint leftBottom(geometry.base().x(), geometry.base().y() + geometry.height());
NLine::draw(matrix, geometry.base(), rightTop, op);
NLine::draw(matrix, rightTop.setY(rightTop.y() + 1), rightBottom, op);
NLine::draw(matrix, rightBottom.setX(rightBottom.x() - 1), leftBottom, op);
NLine::draw(matrix, leftBottom.setY(leftBottom.y()-1), geometry.base().setY(geometry.base().y()+1), op);
return true;
}
void Draw::DrawBox(const fRect &rect, float rotation, const cColorRGBA &color, Texture *texture, Shader *shader)
{
VertexDraw2D *buffer = LE_DrawManager.GetVertexBuffer2D(6);
fSize screenSize(LE_DrawManager.GetVirtualScreenSize());
fRect rectInProj = rect / screenSize;
fPoint rightTop(rect.width, 0.0f);
fPoint rightBottom(rect.width, rect.height);
fPoint leftBottom(0.0f, rect.height);
fMatrix4x4 rotmat = fMatrix4x4::RotationZ(rotation);
rightBottom = rotmat * rightBottom / screenSize;
rightBottom += rectInProj.xy();
rightTop = rotmat * rightTop / screenSize;
rightTop += rectInProj.xy();
leftBottom = rotmat * leftBottom / screenSize;
leftBottom += rectInProj.xy();
buffer[0].SetPosition(fVector3(rectInProj.xy(), 0.0f));
buffer[0].SetColor(color);
buffer[0].SetTexcoord(fVector2(0.0f, 0.0f));
buffer[1].SetPosition(fVector3(leftBottom, 0.0f));
buffer[1].SetColor(color);
buffer[1].SetTexcoord(fVector2(0.0f, 1.0f));
buffer[2].SetPosition(fVector3(rightTop, 0.0f));
buffer[2].SetColor(color);
buffer[2].SetTexcoord(fVector2(1.0f, 0.0f));
buffer[3].SetPosition(fVector3(leftBottom, 0.0f));
buffer[3].SetColor(color);
buffer[3].SetTexcoord(fVector2(0.0f, 1.0f));
buffer[4].SetPosition(fVector3(rightBottom, 0.0f));
buffer[4].SetColor(color);
buffer[4].SetTexcoord(fVector2(1.0f, 1.0f));
buffer[5].SetPosition(fVector3(rightTop, 0.0f));
buffer[5].SetColor(color);
buffer[5].SetTexcoord(fVector2(1.0f, 0.0f));
if(shader == NULL) {
if(texture) {
DrawCommand::BindTexture(0, texture);
} else {
DrawCommand::BindTexture(0, RenderContext::GetSingleton().GetDefaultTexture(RenderContext::DefaultTextureTypeWhite));
}
}
LE_DrawManager.Draw2DFlush(GraphicsFlag::PT_TRIANGLELIST, shader);
}
void UiEditorPanel::drawFrame()
{
CCSize size = CCSize(1000, 800);
CCPoint leftBottom(0, 0);
CCPoint leftTop(0, size.height);
CCPoint rightBottom(size.width, 0);
CCPoint rightTop(size.width, size.height);
CCDrawNode *drawNode = CCDrawNode::create();
addChild(drawNode);
drawNode->drawSegment(leftBottom, rightBottom, 0.5f, ccc4f(0.5f, 0.5f, 0.5f, 1));
drawNode->drawSegment(rightBottom, rightTop, 0.5f, ccc4f(0.5f, 0.5f, 0.5f, 1));
drawNode->drawSegment(rightTop, leftTop, 0.5f, ccc4f(0.5f, 0.5f, 0.5f, 1));
drawNode->drawSegment(leftTop, leftBottom, 0.5f, ccc4f(0.5f, 0.5f, 0.5f, 1));
auto winSize = CCDirector::sharedDirector()->getWinSize();
auto offset = ccp((winSize.width - size.width) * 0.5f, (winSize.height - size.height) * 0.5f);
drawNode->setPosition(offset);
}
void Sprite::Draw(const iRect &frame, const iRect &rect, float rotation)
{
if (_texture) DrawCommand::BindTexture(0, _texture);
fSize texSize(_texture->GetSize());
fSize screenSize(LE_DrawManager.GetVirtualScreenSize());
VertexDraw2D *buffer = LE_DrawManager.GetVertexBuffer2D(6);
fRect frameInProj = frame / texSize;
fRect rectInProj = rect / screenSize;
fPoint rightTop(float(rect.width), 0.0f);
fPoint rightBottom(float(rect.width), float(rect.height));
fPoint leftBottom(0.0f, float(rect.height));
fMatrix4x4 rotmat = fMatrix4x4::RotationZ(rotation);
rightBottom = rotmat * rightBottom / screenSize;
rightBottom += rectInProj.xy();
rightTop = rotmat * rightTop / screenSize;
rightTop += rectInProj.xy();
leftBottom = rotmat * leftBottom / screenSize;
leftBottom += rectInProj.xy();
buffer[0].SetPosition(rectInProj.xy());
buffer[0].SetColor(0xffffffff);
buffer[0].SetTexcoord(fVector2(frameInProj.x, frameInProj.y));
buffer[1].SetPosition(leftBottom);
buffer[1].SetColor(0xffffffff);
buffer[1].SetTexcoord(fVector2(frameInProj.x, frameInProj.y+frameInProj.height));
buffer[2].SetPosition(rightTop);
buffer[2].SetColor(0xffffffff);
buffer[2].SetTexcoord(fVector2(frameInProj.x + frameInProj.width, frameInProj.y));
buffer[3].SetPosition(leftBottom);
buffer[3].SetColor(0xffffffff);
buffer[3].SetTexcoord(fVector2(frameInProj.x, frameInProj.y + frameInProj.height));
buffer[4].SetPosition(rightBottom);
buffer[4].SetColor(0xffffffff);
buffer[4].SetTexcoord(fVector2(frameInProj.x + frameInProj.width, frameInProj.y + frameInProj.height));
buffer[5].SetPosition(rightTop);
buffer[5].SetColor(0xffffffff);
buffer[5].SetTexcoord(fVector2(frameInProj.x + frameInProj.width, frameInProj.y));
LE_DrawManager.Draw2DFlush(GraphicsFlag::PT_TRIANGLELIST);
}
void
Draw::DrawBox(const fRect &rect, float rotation, const cColorRGBA &leftTopColor, const cColorRGBA &rightTopColor, const cColorRGBA &leftBottomColor, const cColorRGBA &rightBottomColor)
{
VertexDraw2D *buffer = LE_DrawManager.GetVertexBuffer2D(6);
fSize screenSize(LE_DrawManager.GetVirtualScreenSize());
fRect rectInProj = rect / screenSize;
fPoint rightTop(rect.width, 0.0f);
fPoint rightBottom(rect.width, rect.height);
fPoint leftBottom(0.0f, rect.height);
fMatrix4x4 rotmat = fMatrix4x4::RotationZ(rotation);
rightBottom = rotmat * rightBottom / screenSize;
rightBottom += rectInProj.xy();
rightTop = rotmat * rightTop / screenSize;
rightTop += rectInProj.xy();
leftBottom = rotmat * leftBottom / screenSize;
leftBottom += rectInProj.xy();
buffer[0].SetPosition(fVector3(rectInProj.xy(), 0.0f));
buffer[0].SetColor(leftTopColor);
buffer[0].SetTexcoord(fVector2(0.0f, 0.0f));
buffer[1].SetPosition(fVector3(leftBottom, 0.0f));
buffer[1].SetColor(leftBottomColor);
buffer[1].SetTexcoord(fVector2(0.0f, 1.0f));
buffer[2].SetPosition(fVector3(rightTop, 0.0f));
buffer[2].SetColor(rightTopColor);
buffer[2].SetTexcoord(fVector2(1.0f, 0.0f));
buffer[3].SetPosition(fVector3(leftBottom, 0.0f));
buffer[3].SetColor(leftBottomColor);
buffer[3].SetTexcoord(fVector2(0.0f, 1.0f));
buffer[4].SetPosition(fVector3(rightBottom, 0.0f));
buffer[4].SetColor(rightBottomColor);
buffer[4].SetTexcoord(fVector2(1.0f, 1.0f));
buffer[5].SetPosition(fVector3(rightTop, 0.0f));
buffer[5].SetColor(rightTopColor);
buffer[5].SetTexcoord(fVector2(1.0f, 0.0f));
DrawCommand::BindTexture(0, 0);
LE_DrawManager.Draw2DFlush(GraphicsFlag::PT_TRIANGLELIST);
}
void LivingRoom::draw(Renderer *renderer, const Mat4 &transform, uint32_t flags)
{
//画线，用于测试像素坐标和格子坐标的转换
Vec2 point = Vec2(GRIDMAP_ORIGIN_VERTEX_X, GRIDMAP_ORIGIN_VERTEX_Y);
float slopeRightTop = 1.0 / std::sqrt(3.0);
float slopeLeftTop = -1.0 / std::sqrt(3.0);
int unitX = GRID_WIDTH_X / 2;
int unitY = GRID_WIDTH_Y / 2;
glLineWidth(1.0f);
for (int i = 0; i < 19; ++i)
{
Vec2 leftBottom(0, (0 - point.x) * slopeRightTop + point.y);
Vec2 rightTop(1080, (1080 - point.x) * slopeRightTop + point.y);
DrawPrimitives::drawLine(leftBottom, rightTop);
Vec2 leftTop(0, (0 - point.x) * slopeLeftTop + point.y);
Vec2 rightBottom(1080, (1080 - point.x) * slopeLeftTop + point.y);
DrawPrimitives::drawLine(leftTop, rightBottom);
point.y -= unitY * 2;
}
}
Point3D BodyRegion::getPosition(Region region)
{
Point3D ret = m_center;
switch (region)
{
case LeftTop: ret = leftTop(); break;
case Top: ret = top(); break;
case RightTop: ret = rightTop(); break;
case Left: ret = left(); break;
case Center: ret = center(); break;
case Right: ret = right(); break;
case LeftBottom: ret = leftBottom(); break;
case Bottom: ret = bottom(); break;
case RightBottom: ret = rightBottom(); break;
default:
break;
}
return ret;
}
void GraphicsButton::setup() {
QRectF r = this->boundingRect();
int mx = m_marginLeft;
/// TODO get from keyboard definition
int boxWidth = r.width() - m_marginLeft - m_marginRight;
int boxHeight = r.height() - m_marginTop - m_marginBottom;
/**
* if group count = 2, then we have two columns,one aligned left, the other right
* if group count = 1, and level count = 2,we have one column, centrally aligned
* if group count = 1, and level count = 3,we have two column, left,aligned and right aligned
*
* Within each column, if one item, align central
* if two items, align higher level top, lower level bottom
*
1. one cell
2. two cells split vertically, left cell group1, right cell group 2
3. two cells split horizontally, bottom cell level1, top cell level2 (from group1)
4 three cells, split vertically, left cell split horizontally
left lower, group 1 level1
left top , group 1 level2
right group2 whatever level
5 four cells , both split horizontally and vertically
left low, group 1,level 1
left top, group 1,level 2
right low, group 2, level 1
right top, group 2, level 2
*/
// KeyDef * key = m_keydef;
switch(m_keydef->decorationCount()) {
case 1 : {
QRectF rect(mx,m_marginTop,boxWidth,boxHeight);
decorateKey(rect,1,1);
break;
}
case 2 : {
if (m_keydef->groupCount() == 1) { // split horizontally
qreal y = boxHeight/2;
QRectF top(mx,m_marginTop,boxWidth,y);
QRectF bottom(mx,m_marginTop + y, boxWidth,y);
decorateKey(bottom,1,1);
decorateKey(top,1,2);
}
else {
qreal x = boxWidth/2;
QRectF left(mx,m_marginTop,x,boxHeight);
QRectF right(x,m_marginTop,x,boxHeight);
decorateKey(left,1,1);
decorateKey(right,2,1);
}
break;
}
case 3 : {
qreal y = boxHeight/2;
qreal x = boxWidth/2;
QRectF leftTop(mx,m_marginTop,x,y);
QRectF leftBottom(mx,m_marginTop+y,x,y);
decorateKey(leftBottom,1,1);
decorateKey(leftTop,1,2);
/// if one group, but third level in the bottom right
if (m_keydef->groupCount() == 1) {
QRectF right(mx+x,m_marginTop+y,x,y);
decorateKey(right,1,3);
}
else { // otherwise put it in the middle
QRectF right(mx+x,m_marginTop,x,boxHeight);
decorateKey(right,2,1);
}
break;
}
case 4: {
qreal y = boxHeight/2;
qreal x = boxWidth/2;
QRectF leftTop(mx,m_marginTop,x,y);
QRectF leftBottom(mx,m_marginTop+y,x,y);
QRectF rightTop(mx+x,m_marginTop,x,y);
QRectF rightBottom(mx+x,m_marginTop+y,x,y);
decorateKey(leftBottom,1,1);
decorateKey(leftTop,1,2);
decorateKey(rightBottom,2,1);
decorateKey(rightTop,2,2);
break;
}
}
setPen(QPen(m_keyboardColor));
}
bool CSMClusterWindow::init(void)
{
MultiDisplayWindowUnrecPtr pCMDWindow = NULL;
BalancedMultiWindowUnrecPtr pCBMWindow = NULL;
SortFirstWindowUnrecPtr pCSFWindow = NULL;
SortLastWindowUnrecPtr pCSLWindow = NULL;
if(_sfClusterMode.getValue() == "Multi")
{
pCMDWindow = MultiDisplayWindow::create();
_pWindow = pCMDWindow;
_pClusterWindow = pCMDWindow;
}
else if(_sfClusterMode.getValue() == "Balanced")
{
pCBMWindow = BalancedMultiWindow::create();
pCMDWindow = pCBMWindow;
_pWindow = pCBMWindow;
_pClusterWindow = pCBMWindow;
}
else if(_sfClusterMode.getValue() == "SortFirst")
{
pCSFWindow = SortFirstWindow::create();
_pWindow = pCSFWindow;
_pClusterWindow = pCSFWindow;
}
else if(_sfClusterMode.getValue() == "SortLast")
{
pCSLWindow = SortLastWindow::create();
_pWindow = pCSLWindow;
_pClusterWindow = pCSLWindow;
}
else
{
fprintf(stderr, "Unknown cluster mode %s\n",
_sfClusterMode.getValue().c_str());
}
MFString::const_iterator serverIt = this->getMFServers()->begin();
MFString::const_iterator serverEnd = this->getMFServers()->end ();
UInt32 uiNumServer = 0;
while(serverIt != serverEnd)
{
fprintf(stderr, "Connecting to %s\n", serverIt->c_str());
_pClusterWindow->editMFServers()->push_back(serverIt->c_str());
++uiNumServer;
++serverIt;
}
bool bServerIdsValid = false;
if(this->getMFServers()->size() <= this->getMFServerIds()->size())
{
_pClusterWindow->editMFServerIds()->setValues(
*(this->getMFServerIds()));
bServerIdsValid = true;
}
else
{
if(this->getMFServerIds()->size() != 0)
{
FWARNING(("Not enough server ids (%d/%d), field ignored\n",
this->getMFServerIds()->size(),
this->getMFServers ()->size() ));
}
}
_pClusterWindow->setSize(UInt16(this->getXSize()),
UInt16(this->getYSize()));
_pClusterWindow->setConnectionType(this->getConnectionType());
if(this->getSFComposer()->getValue() != NULL)
{
_pClusterWindow->setComposer(this->getSFComposer()->getValue());
}
if(pCMDWindow != NULL)
{
if(uiNumServer != 0)
{
pCMDWindow->setHServers(uiNumServer / this->getServerRows());
pCMDWindow->setVServers(this->getServerRows());
}
else
{
pCMDWindow->setHServers(1);
pCMDWindow->setVServers(1);
}
CSMMultiWinOptions *pOpts =
dynamic_cast<CSMMultiWinOptions *>(this->getOptions());
if(pOpts != NULL)
{
pCMDWindow->setXOverlap(pOpts->getXOverlap());
pCMDWindow->setYOverlap(pOpts->getYOverlap());
pCMDWindow->setManageClientViewports(
pOpts->getManageClientViewports());
}
}
if(pCBMWindow != NULL)
{
CSMMultiWinOptions *pOpts =
dynamic_cast<CSMMultiWinOptions *>(this->getOptions());
if(pOpts != NULL)
{
pCBMWindow->setBalance (pOpts->getBalance ());
pCBMWindow->setBestCut (pOpts->getBestCut ());
pCBMWindow->setShowBalancing(pOpts->getShowBalancing());
}
}
if(pCSFWindow != NULL)
{
CSMSortFirstWinOptions *pOpts =
dynamic_cast<CSMSortFirstWinOptions *>(this->getOptions());
if(pOpts != NULL)
{
pCSFWindow->setCompression (pOpts->getCompression ());
pCSFWindow->setCompose (pOpts->getCompose ());
pCSFWindow->setSubtileSize (pOpts->getSubtileSize ());
pCSFWindow->setUseFaceDistribution(pOpts->getUseFaceDistribution());
}
}
if(pCMDWindow != NULL)
{
MFUnrecCSMViewportPtr::const_iterator vIt = getMFViewports()->begin();
MFUnrecCSMViewportPtr::const_iterator vEnd = getMFViewports()->end ();
while(vIt != vEnd)
{
if((*vIt)->getServerId() != -1)
{
UInt32 uiRealServerId = (*vIt)->getServerId();
if(bServerIdsValid == true)
{
Int32 iIdx =
this->getMFServerIds()->findIndex(uiRealServerId);
if(iIdx != -1)
uiRealServerId = iIdx;
}
UInt32 uiHor = uiRealServerId % pCMDWindow->getHServers();
UInt32 uiVert = uiRealServerId / pCMDWindow->getHServers();
Real32 rHFact = 1.f / Real32(pCMDWindow->getHServers());
Real32 rVFact = 1.f / Real32(pCMDWindow->getVServers());
Vec2f leftBottom(Real32(uiHor ) * rHFact,
Real32(uiVert) * rVFact);
Vec2f rightTop (Real32(uiHor + 1) * rHFact,
Real32(uiVert + 1) * rVFact);
(*vIt)->setLeftBottom(leftBottom);
(*vIt)->setRightTop (rightTop );
}
++vIt;
}
}
if(_sfClientWindow.getValue() != NULL)
{
_sfClientWindow.getValue()->init();
if(this->getRenderClient() == true)
{
_pClusterWindow->setClientWindow(
_sfClientWindow.getValue()->getWindow());
}
}
_pClusterWindow->init();
Inherited::init();
return true;
}
void NaoHeadControl::ScanAwayFromBall()
{
float neckYaw, headPitch;
if ( headPathPlanner.isLastPathFinished())
{
if (lastScanWasLeft)
{
Vector3f centerTop(0.0,45.0,headPathPlanner.lastNeckYaw), rightTop(0.0,45.0,-120.0), rightBottom(0.0,-45.0,-120.0);
Vector3f points[4]={centerTop,rightTop, rightBottom, headDown};
headPathPlanner.oldInit(points, sizeof(points)/sizeof(Vector3f), 600);
}
else
{
Vector3f centerTop(0.0,45.0,headPathPlanner.lastNeckYaw), leftTop(0.0,45.0,120.0), leftBottom(0.0,-45.0,120.0);
Vector3f points[4]={centerTop,leftTop, leftBottom, headDown};
headPathPlanner.oldInit(points, sizeof(points)/sizeof(Vector3f), 600);
}
lastScanWasLeft = !lastScanWasLeft;
}
headPathPlanner.getAngles(neckYaw, headPitch);
setJointsDirect(neckYaw, headPitch);
}
