void CPFA_qt_user_functions::DrawOnRobot(CFootBotEntity& entity) {
	CPFA_controller& c = dynamic_cast<CPFA_controller&>(entity.GetControllableEntity().GetController());

	if(c.IsHoldingFood() == true) {
		DrawCylinder(CVector3(0.0, 0.0, 0.3), CQuaternion(), loopFunctions.FoodRadius, 0.025, CColor::BLACK);
	}

	if(loopFunctions.DrawIDs == 1) {
		/* Disable lighting, so it does not interfere with the chosen text color */
		glDisable(GL_LIGHTING);
		/* Disable face culling to be sure the text is visible from anywhere */
		glDisable(GL_CULL_FACE);
		/* Set the text color */
		CColor cColor(CColor::BLACK);
		glColor3ub(cColor.GetRed(), cColor.GetGreen(), cColor.GetBlue());

		/* The position of the text is expressed wrt the reference point of the footbot
		 * For a foot-bot, the reference point is the center of its base.
		 * See also the description in
		 * $ argos3 -q foot-bot
		 */
		
		// Disable for now
		//GetOpenGLWidget().renderText(0.0, 0.0, 0.5,             // position
		//			     entity.GetId().c_str()); // text
		
		/* Restore face culling */
		glEnable(GL_CULL_FACE);
		/* Restore lighting */
		glEnable(GL_LIGHTING);
	}
}
// draw function for adding graphics to a foot-bot
void iAnt_qt_user_functions::DrawFood(CFootBotEntity& entity) {
    iAnt_controller& c = dynamic_cast<iAnt_controller&>
                         (entity.GetControllableEntity().GetController());

    UpdateDrawInWorldData(c);

    if(c.IsHoldingFood() == true) {
//#ifdef __APPLE__
        //Edit here for drawing trails
        DrawCylinder(CVector3(0.0f, 0.0f, 0.3f), CQuaternion(), 0.05f, 0.025f, CColor::BLACK);
//#else
//        DrawCylinder(0.05f, 0.025f, CVector3(0.0f, 0.0f, 0.3f), CColor::BLACK);
//#endif
    }
}
Example #3
0
bool CLandmarks::InChain(CFootBotEntity& c_fb) {
   /* Return value: true = robot is part of a chain, false otherwise */
   bool bRetVal = false;
   /* Get reference to robot controller */
   CLuaController& cContr = dynamic_cast<CLuaController&>(c_fb.GetControllableEntity().GetController());
   /* Get 'robot' table */
   lua_getglobal(cContr.GetLuaState(), "robot");
   /* Get 'in_chain' variable */
   lua_getfield(cContr.GetLuaState(), -1, "in_chain");
   if((! lua_isnil(cContr.GetLuaState(), -1)) &&              // 'in_chain' variable found
      (lua_isnumber(cContr.GetLuaState(), -1))) {             // its value is a number
      /* Get value as a real number */
      Real fInChain = lua_tonumber(cContr.GetLuaState(), -1);
      /* If not zero, robot is in a chain */
      if(fInChain != 0.0) {
         bRetVal = true;
      }
   }
   /* Clean up Lua stack */
   lua_pop(cContr.GetLuaState(), 2);
   /* Return result */
   return bRetVal;
}
Example #4
0
void CBuzzQT::Draw(CFootBotEntity& c_entity) {
   Draw(dynamic_cast<CBuzzController&>(c_entity.GetControllableEntity().GetController()));
}
void CRecruitmentQTUserFunctions::Draw(CFootBotEntity& c_entity) {
   CBTFootbotRandomForagingController& cController = dynamic_cast<CBTFootbotRandomForagingController&>(c_entity.GetControllableEntity().GetController());

}