TeamColor PlayerIdToTeam(PlayerId id)
{
if (id >= 244 && id <= 250)
return TeamColor(250 - id);
else
return NoTeam;
}
void RadarRenderer::makeList( SceneRenderer&)
{
// draw walls. walls are flat so a line will do.
const std::vector<WallObstacle>& walls = world.getWalls();
int count = walls.size();
glColor3f(0.25f, 0.5f, 0.5f);
glBegin(GL_LINES);
int i;
for (i = 0; i < count; i++) {
const WallObstacle& wall = walls[i];
const float w = wall.getBreadth();
const float c = w * cosf(wall.getRotation());
const float s = w * sinf(wall.getRotation());
const float* pos = wall.getPosition();
glVertex2f(pos[0] - s, pos[1] + c);
glVertex2f(pos[0] + s, pos[1] - c);
}
glEnd();
// draw box buildings.
const std::vector<BoxBuilding>& boxes = world.getBoxes();
count = boxes.size();
glBegin(GL_QUADS);
for (i = 0; i < count; i++) {
const BoxBuilding& box = boxes[i];
if (box.isInvisible())
continue;
const float cs = colorScale(box.getPosition()[2], box.getHeight(), BZDBCache::enhancedRadar);
glColor4f(0.25f * cs, 0.5f * cs, 0.5f * cs, transScale(box));
const float c = cosf(box.getRotation());
const float s = sinf(box.getRotation());
const float wx = c * box.getWidth(), wy = s * box.getWidth();
const float hx = -s * box.getBreadth(), hy = c * box.getBreadth();
const float* pos = box.getPosition();
glVertex2f(pos[0] - wx - hx, pos[1] - wy - hy);
glVertex2f(pos[0] + wx - hx, pos[1] + wy - hy);
glVertex2f(pos[0] + wx + hx, pos[1] + wy + hy);
glVertex2f(pos[0] - wx + hx, pos[1] - wy + hy);
}
glEnd();
// draw pyramid buildings
const std::vector<PyramidBuilding>& pyramids = world.getPyramids();
count = pyramids.size();
glBegin(GL_QUADS);
for (i = 0; i < count; i++) {
const PyramidBuilding& pyr = pyramids[i];
const float cs = colorScale(pyr.getPosition()[2], pyr.getHeight(), BZDBCache::enhancedRadar);
glColor4f(0.25f * cs, 0.5f * cs, 0.5f * cs, transScale(pyr));
const float c = cosf(pyr.getRotation());
const float s = sinf(pyr.getRotation());
const float wx = c * pyr.getWidth(), wy = s * pyr.getWidth();
const float hx = -s * pyr.getBreadth(), hy = c * pyr.getBreadth();
const float* pos = pyr.getPosition();
glVertex2f(pos[0] - wx - hx, pos[1] - wy - hy);
glVertex2f(pos[0] + wx - hx, pos[1] + wy - hy);
glVertex2f(pos[0] + wx + hx, pos[1] + wy + hy);
glVertex2f(pos[0] - wx + hx, pos[1] - wy + hy);
}
glEnd();
// now draw antialiased outlines around the polygons
count = boxes.size();
for (i = 0; i < count; i++)
{
const BoxBuilding& box = boxes[i];
if (box.isInvisible())
continue;
const float cs = colorScale(box.getPosition()[2], box.getHeight(), BZDBCache::enhancedRadar);
glColor4f(0.25f * cs, 0.5f * cs, 0.5f * cs, transScale(box));
const float c = cosf(box.getRotation());
const float s = sinf(box.getRotation());
const float wx = c * box.getWidth(), wy = s * box.getWidth();
const float hx = -s * box.getBreadth(), hy = c * box.getBreadth();
const float* pos = box.getPosition();
glBegin(GL_LINE_LOOP);
glVertex2f(pos[0] - wx - hx, pos[1] - wy - hy);
glVertex2f(pos[0] + wx - hx, pos[1] + wy - hy);
glVertex2f(pos[0] + wx + hx, pos[1] + wy + hy);
glVertex2f(pos[0] - wx + hx, pos[1] - wy + hy);
glEnd();
}
count = pyramids.size();
for (i = 0; i < count; i++)
{
const PyramidBuilding& pyr = pyramids[i];
const float cs = colorScale(pyr.getPosition()[2], pyr.getHeight(), BZDBCache::enhancedRadar);
glColor4f(0.25f * cs, 0.5f * cs, 0.5f * cs, transScale(pyr));
const float c = cosf(pyr.getRotation());
const float s = sinf(pyr.getRotation());
const float wx = c * pyr.getWidth(), wy = s * pyr.getWidth();
const float hx = -s * pyr.getBreadth(), hy = c * pyr.getBreadth();
const float* pos = pyr.getPosition();
glBegin(GL_LINE_LOOP);
glVertex2f(pos[0] - wx - hx, pos[1] - wy - hy);
glVertex2f(pos[0] + wx - hx, pos[1] + wy - hy);
glVertex2f(pos[0] + wx + hx, pos[1] + wy + hy);
glVertex2f(pos[0] - wx + hx, pos[1] - wy + hy);
glEnd();
}
// draw team bases
if(world.allowTeamFlags()) {
for(i = 1; i < NumTeams; i++) {
for (int j = 0;;j++) {
const float *base = world.getBase(i, j);
if (base == NULL)
break;
glColor3fv(Team::getRadarColor(TeamColor(i)));
glBegin(GL_LINE_LOOP);
const float beta = atan2f(base[5], base[4]);
const float r = hypotf(base[4], base[5]);
glVertex2f(base[0] + r * cosf(base[3] + beta),
base[1] + r * sinf(base[3] + beta));
glVertex2f(base[0] + r * cosf(base[3] - beta + M_PI),
base[1] + r * sinf(base[3] - beta + M_PI));
glVertex2f(base[0] + r * cosf(base[3] + beta + M_PI),
base[1] + r * sinf(base[3] + beta + M_PI));
glVertex2f(base[0] + r * cosf(base[3] - beta),
base[1] + r * sinf(base[3] - beta));
glEnd();
}
}
}
// draw teleporters. teleporters are pretty thin so use lines
// (which, if longer than a pixel, are guaranteed to draw something;
// not so for a polygon). just in case the system doesn't correctly
// filter the ends of line segments, we'll draw the line in each
// direction (which degrades the antialiasing). Newport graphics
// is one system that doesn't do correct filtering.
const std::vector<Teleporter>& teleporters = world.getTeleporters();
count = teleporters.size();
glColor3f(1.0f, 1.0f, 0.25f);
glBegin(GL_LINES);
for (i = 0; i < count; i++) {
const Teleporter& tele = teleporters[i];
const float cs = colorScale(tele.getPosition()[2], tele.getHeight(), BZDBCache::enhancedRadar);
glColor4f(1.0f * cs, 1.0f * cs, 0.25f * cs, transScale(tele));
const float w = tele.getBreadth();
const float c = w * cosf(tele.getRotation());
const float s = w * sinf(tele.getRotation());
const float* pos = tele.getPosition();
glVertex2f(pos[0] - s, pos[1] + c);
glVertex2f(pos[0] + s, pos[1] - c);
glVertex2f(pos[0] + s, pos[1] - c);
glVertex2f(pos[0] - s, pos[1] + c);
}
glEnd();
}
Settings::Settings()
{
static_assert(TEAM_BLUE == blue && TEAM_RED == red && TEAM_YELLOW == yellow && TEAM_BLACK == black
&& TEAM_WHITE == white && TEAM_GREEN == green && TEAM_ORANGE == orange
&& TEAM_PURPLE == purple && TEAM_BROWN == brown && TEAM_GRAY == gray,
"These macros and enums have to match!");
if(!loaded)
{
VERIFY(settings.load());
loaded = true;
}
*this = settings;
#ifdef TARGET_SIM
if(SystemCall::getMode() == SystemCall::simulatedRobot)
{
int index = atoi(RoboCupCtrl::controller->getRobotName().c_str() + 5) - 1;
teamNumber = index < 6 ? 1 : 2;
teamPort = 10000 + teamNumber;
teamColor = index < 6
? TeamColor(RoboCupCtrl::controller->gameController.teamInfos[0].teamColor)
: TeamColor(RoboCupCtrl::controller->gameController.teamInfos[1].teamColor);
playerNumber = index % 6 + 1;
}
headName = bodyName = "Nao";
ConsoleRoboCupCtrl* ctrl = dynamic_cast<ConsoleRoboCupCtrl*>(RoboCupCtrl::controller);
if(ctrl)
{
std::string logFileName = ctrl->getLogFile();
if(logFileName != "")
{
QRegExp re1("([A-Za-z]*)_([A-Za-z]*)__", Qt::CaseSensitive, QRegExp::RegExp2);
QRegExp re2("([A-Za-z]*)_([A-Za-z]*)_([A-Za-z0-9]*)_([A-Za-z0-9]*)__");
QRegExp re3("_([0-9][0-9]*)(_\\([0-9][0-9]*\\)){0,1}\\.");
int pos1 = re1.indexIn(logFileName.c_str());
int pos2 = re2.indexIn(logFileName.c_str());
int pos3 = re3.indexIn(logFileName.c_str());
if(pos2 != -1)
{
headName = re2.capturedTexts()[1].toUtf8().constData();
bodyName = re2.capturedTexts()[2].toUtf8().constData();
scenario = re2.capturedTexts()[3].toUtf8().constData();
location = re2.capturedTexts()[4].toUtf8().constData();
}
else if(pos1 != -1)
{
headName = re1.capturedTexts()[1].toUtf8().constData();
bodyName = re1.capturedTexts()[2].toUtf8().constData();
}
else
bodyName = headName = "Default";
if(pos3 != -1)
playerNumber = re3.capturedTexts()[1].toUtf8().constData()[0] - '0';
}
}
#endif
}
void* WorldBuilder::unpack(void* buf)
{
// unpack world database from network transfer
// read style header
uint16_t code, len;
buf = nboUnpackUShort(buf, len);
buf = nboUnpackUShort(buf, code);
if (code != WorldCodeHeader) return NULL;
// read style
uint16_t gameStyle, maxPlayers, maxShots, maxFlags,serverMapVersion;
buf = nboUnpackUShort(buf, serverMapVersion);
if (serverMapVersion != mapVersion)
return NULL;
float worldSize;
buf = nboUnpackFloat(buf, worldSize);
BZDB.set(StateDatabase::BZDB_WORLDSIZE, string_util::format("%f", worldSize));
buf = nboUnpackUShort(buf, gameStyle);
setGameStyle(short(gameStyle));
buf = nboUnpackUShort(buf, maxPlayers);
setMaxPlayers(int(maxPlayers));
buf = nboUnpackUShort(buf, maxShots);
setMaxShots(int(maxShots));
buf = nboUnpackUShort(buf, maxFlags);
setMaxFlags(int(maxFlags));
buf = nboUnpackFloat(buf, world->linearAcceleration);
buf = nboUnpackFloat(buf, world->angularAcceleration);
uint16_t shakeTimeout = 0, shakeWins;
buf = nboUnpackUShort(buf, shakeTimeout);
setShakeTimeout(0.1f * float(shakeTimeout));
buf = nboUnpackUShort(buf, shakeWins);
setShakeWins(shakeWins);
uint32_t epochOffset;
buf = nboUnpackUInt(buf, epochOffset);
setEpochOffset(epochOffset);
// read geometry
buf = nboUnpackUShort(buf, len);
buf = nboUnpackUShort(buf, code);
while (code != WorldCodeEnd) {
switch (code) {
case WorldCodeBox: {
float data[7];
unsigned char tempflags;
if (len != WorldCodeBoxSize)
return NULL;
memset(data, 0, sizeof(float) * 7);
buf = nboUnpackFloat(buf, data[0]);
buf = nboUnpackFloat(buf, data[1]);
buf = nboUnpackFloat(buf, data[2]);
buf = nboUnpackFloat(buf, data[3]);
buf = nboUnpackFloat(buf, data[4]);
buf = nboUnpackFloat(buf, data[5]);
buf = nboUnpackFloat(buf, data[6]);
buf = nboUnpackUByte(buf, tempflags);
BoxBuilding box(data, data[3], data[4], data[5], data[6],
(tempflags & _DRIVE_THRU)!=0, (tempflags & _SHOOT_THRU)!=0);
append(box);
break;
}
case WorldCodePyramid: {
float data[7];
unsigned char tempflags;
if (len != WorldCodePyramidSize)
return NULL;
buf = nboUnpackFloat(buf, data[0]);
buf = nboUnpackFloat(buf, data[1]);
buf = nboUnpackFloat(buf, data[2]);
buf = nboUnpackFloat(buf, data[3]);
buf = nboUnpackFloat(buf, data[4]);
buf = nboUnpackFloat(buf, data[5]);
buf = nboUnpackFloat(buf, data[6]);
buf = nboUnpackUByte(buf, tempflags);
PyramidBuilding pyr(data, data[3], data[4], data[5], data[6],
(tempflags & _DRIVE_THRU)!=0, (tempflags & _SHOOT_THRU)!=0);
if (tempflags & _FLIP_Z)
pyr.setZFlip();
append(pyr);
break;
}
case WorldCodeTeleporter: {
float data[8];
unsigned char tempflags;
if (len != WorldCodeTeleporterSize)
return NULL;
buf = nboUnpackFloat(buf, data[0]);
buf = nboUnpackFloat(buf, data[1]);
buf = nboUnpackFloat(buf, data[2]);
buf = nboUnpackFloat(buf, data[3]);
buf = nboUnpackFloat(buf, data[4]);
buf = nboUnpackFloat(buf, data[5]);
buf = nboUnpackFloat(buf, data[6]);
buf = nboUnpackFloat(buf, data[7]);
buf = nboUnpackUByte(buf, tempflags);
Teleporter tele(data, data[3], data[4], data[5], data[6],data[7],
(tempflags & _DRIVE_THRU)!=0, (tempflags & _SHOOT_THRU)!=0);
append(tele);
break;
}
case WorldCodeLink: {
uint16_t data[2];
if (len != WorldCodeLinkSize)
return NULL;
buf = nboUnpackUShort(buf, data[0]);
buf = nboUnpackUShort(buf, data[1]);
setTeleporterTarget(int(data[0]), int(data[1]));
break;
}
case WorldCodeWall: {
float data[6];
if (len != WorldCodeWallSize)
return NULL;
buf = nboUnpackFloat(buf, data[0]);
buf = nboUnpackFloat(buf, data[1]);
buf = nboUnpackFloat(buf, data[2]);
buf = nboUnpackFloat(buf, data[3]);
buf = nboUnpackFloat(buf, data[4]);
buf = nboUnpackFloat(buf, data[5]);
WallObstacle wall(data, data[3], data[4], data[5]);
append(wall);
break;
}
case WorldCodeBase: {
uint16_t team;
float data[10];
if (len != WorldCodeBaseSize)
return NULL;
buf = nboUnpackUShort(buf, team);
buf = nboUnpackFloat(buf, data[0]);
buf = nboUnpackFloat(buf, data[1]);
buf = nboUnpackFloat(buf, data[2]);
buf = nboUnpackFloat(buf, data[3]);
buf = nboUnpackFloat(buf, data[4]);
buf = nboUnpackFloat(buf, data[5]);
buf = nboUnpackFloat(buf, data[6]);
buf = nboUnpackFloat(buf, data[7]);
buf = nboUnpackFloat(buf, data[8]);
buf = nboUnpackFloat(buf, data[9]);
BaseBuilding base(data, data[3], data +4, team);
append(base);
setBase(TeamColor(team), data, data[3], data[4], data[5], data[6]);
break;
}
case WorldCodeWeapon: {
Weapon weapon;
uint16_t delays;
buf = FlagType::unpack(buf, weapon.type);
buf = nboUnpackFloat(buf, weapon.pos[0]);
buf = nboUnpackFloat(buf, weapon.pos[1]);
buf = nboUnpackFloat(buf, weapon.pos[2]);
buf = nboUnpackFloat(buf, weapon.dir);
buf = nboUnpackFloat(buf, weapon.initDelay);
buf = nboUnpackUShort(buf, delays);
uint16_t weapon_len = WorldCodeWeaponSize + (delays * sizeof(float));
if (len != weapon_len) {
return NULL;
}
int i;
for (i = 0; i < delays; i++) {
float delay;
buf = nboUnpackFloat(buf, delay);
weapon.delay.push_back(delay);
}
append(weapon);
break;
}
case WorldCodeZone: {
EntryZone zone;
uint16_t flags, teams, safety;
buf = nboUnpackFloat(buf, zone.pos[0]);
buf = nboUnpackFloat(buf, zone.pos[1]);
buf = nboUnpackFloat(buf, zone.pos[2]);
buf = nboUnpackFloat(buf, zone.size[0]);
buf = nboUnpackFloat(buf, zone.size[1]);
buf = nboUnpackFloat(buf, zone.size[2]);
buf = nboUnpackFloat(buf, zone.rot);
buf = nboUnpackUShort(buf, flags);
buf = nboUnpackUShort(buf, teams);
buf = nboUnpackUShort(buf, safety);
uint16_t zone_len = WorldCodeZoneSize;
zone_len += FlagType::packSize * flags;
zone_len += sizeof(uint16_t) * teams;
zone_len += sizeof(uint16_t) * safety;
if (len != zone_len) {
return NULL;
}
int i;
for (i = 0; i < flags; i++) {
FlagType *type;
buf = FlagType::unpack (buf, type);
zone.flags.push_back(type);
}
for (i = 0; i < teams; i++) {
uint16_t team;
buf = nboUnpackUShort(buf, team);
zone.teams.push_back((TeamColor)team);
}
for (i = 0; i < safety; i++) {
uint16_t safety;
buf = nboUnpackUShort(buf, safety);
zone.safety.push_back((TeamColor)safety);
}
append(zone);
break;
}
default:
return NULL;
}
buf = nboUnpackUShort(buf, len);
buf = nboUnpackUShort(buf, code);
}
return buf;
}
