void World_draw(void) {
Draw* map = Draw_new("mapa",0,500,500);
int i,j;
for (i=0; i<=8; i++) {
Draw_line(map,0,i*500/8,500,i*500/8);
Draw_line(map,i*500/8,0,i*500/8,500);
for (j=0;j<8&&i<8;j++) {
if (World_get_cell(j,i) == 1) Draw_circle(map,j*500/8+500/16,i*500/8+500/16,500/16);
}
}
Draw_destroy(map);
}
// Ⱦ
void Channel2D::paintGL()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
glTranslatef(0.0, 0.0, translate);// translate is included in <QKeyEvent>
glTranslatef(0.0, -0.5, 0.3);// translate is included in <QKeyEvent>
glRotatef(xRot, 1.0, 0.0, 0.0);
glRotatef(yRot, 0.0, 1.0, 0.0);
glRotatef(zRot, 0.0, 0.0, 1.0);
glBegin(GL_QUADS);
glEnable (GL_LINE_SMOOTH );
glHint (GL_POLYGON_SMOOTH , GL_NICEST);
//histoPlot1();
//histoPlot2();
//histoPlot3();
//histoPlot4();
//floor
wallplot();
glEnd();
//Draw_point();
Draw_line();
}
void Navigate_test_sensor_data_parse_1() {
Polygon* obstacle = NULL;
float distance = 200.0f, angle = 0, x, y;
char test_name[100], label[20], i;
// using binary for combinatorics with k = 2
unsigned char sensor_switch;
for (sensor_switch = 0; sensor_switch < 32; sensor_switch++) {
sprintf(label, "[ %s, %s, %s, %s, %s ]",
(sensor_switch & 0b0000001) ? "1" : "0",
(sensor_switch & 0b0000010) ? "1" : "0",
(sensor_switch & 0b0000100) ? "1" : "0",
(sensor_switch & 0b0001000) ? "1" : "0",
(sensor_switch & 0b0010000) ? "1" : "0");
sprintf(test_name, "Navigate_test_sensor_data_parse_%s", label);
Draw* TEST_CANVAS = Draw_new(test_name, NULL, WORLD_MAX_X, WORLD_MAX_Y);
TEST_CANVAS->style = "stroke:red;fill:red;stroke-width:2";
for (i = 0; i < SENSOR_ORIENTATION->n; i++) {
if (sensor_switch & (1 << i)) {
angle = Vector_get(SENSOR_ORIENTATION, i);
x = distance * cosf((90 - angle) * M_PI / 180.0f);
y = distance * sinf((90 - angle) * M_PI / 180.0f);
Draw_line(TEST_CANVAS, 0, 0, x, y);
Draw_circle(TEST_CANVAS, x, y , 3);
}
}
int sensor_data[5] = {
(sensor_switch & 0b0000001) ? distance : NAVIGATION_DISTANCE_SAFE,
(sensor_switch & 0b0000010) ? distance : NAVIGATION_DISTANCE_SAFE,
(sensor_switch & 0b0000100) ? distance : NAVIGATION_DISTANCE_SAFE,
(sensor_switch & 0b0001000) ? distance : NAVIGATION_DISTANCE_SAFE,
(sensor_switch & 0b0010000) ? distance : NAVIGATION_DISTANCE_SAFE };
char sensor_data_raw[32];
sprintf(sensor_data_raw, "[%d,%d,%d,%d,%d]",
sensor_data[0],
sensor_data[1],
sensor_data[2],
sensor_data[3],
sensor_data[4]);
obstacle = Navigate_parse_sensor_data(sensor_data_raw);
if (obstacle != NULL) {
TEST_CANVAS->style = "stroke:blue;fill:none;stroke-width:2";
Polygon_draw(obstacle);
Polygon_destroy(obstacle);
}
TEST_CANVAS->style = "stroke:black;fill:black;stroke-width:2";
Draw_text(TEST_CANVAS, -125, 450, 40, label);
Draw_destroy(TEST_CANVAS);
}
}
// Ⱦ
void Ch2_1::paintGL()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
glTranslatef(0.0, 0.0, translate);// translate is included in <QKeyEvent>
glTranslatef(0.0, -0.5, 0.3);// translate is included in <QKeyEvent>
glRotatef(xRot, 1.0, 0.0, 0.0);
glRotatef(yRot, 0.0, 1.0, 0.0);
glRotatef(zRot, 0.0, 0.0, 1.0);
glBegin(GL_QUADS);
glEnable (GL_LINE_SMOOTH );
glHint (GL_POLYGON_SMOOTH , GL_NICEST);
//histoPlot1();
//histoPlot2();
//histoPlot3();
//histoPlot4();
//floor
wallplot();
glEnd();
//Draw_point();
Draw_line();
glBegin(GL_LINE_STRIP); // 用折线绘
double point2[8][3] = {{2,2,2},{-2,2,2},{-2,2,-2},{2,2,-2},{2,-1,6},{-2,-1,6},{-2,-1,-4},{2,-1,-4}};
for(int i = 0 ; i < 4 ; i++){
L_Adjust(&point2[i+4][2]);
D_Adjust(&point2[i+4][0]);
}
glColor4f(0,0,0,0.2);
int crr = 6;
int num_p = 50;
double step = 10.0/num_p;
for(int i = 0 ; i < num_p ; i++){
glVertex3f(point2[crr][0]+2.3, point2[crr][1]+0.2 , point2[crr][2]);
//point2[crr][0] = 0.3*sin(point2[crr][2])+(qrand() % 10)/100.0;
point2[crr][2] += step;
}
glEnd();
}
