void Car::draw(DrawingState* d)
{
// Draw four wheel
glColor3f(.1f,.1f,.1f);
glPushMatrix();
glTranslatef(w-.5f,h,f-h);
drawWheel(h,1);
glPopMatrix();
glPushMatrix();
glTranslatef(w-.5f,h,f+r-h-1);
drawWheel(h,1);
glPopMatrix();
glPushMatrix();
glTranslatef(-w+.5f,h,f-h);
glRotatef(180,0,1,0);
drawWheel(h,1);
glPopMatrix();
glPushMatrix();
glTranslatef(-w+.5f,h,f+r-h-1);
glRotatef(180,0,1,0);
drawWheel(h,1);
glPopMatrix();
// Draw the body of the car
glColor3fv(&color.r);
drawBody(d);
}
void drawTankForDirectionDOWN()
{
COORD drawPos = {10, 0};
char symbol1 = 203;
char symbol2 = 205;
char symbol3 = 32;
printf("\n");
SetConsoleCursorPosition(hCon,drawPos);
drawWheel(drawPos, symbol2);
drawPos.Y++;
SetConsoleCursorPosition(hCon,drawPos);
drawWheel(drawPos, symbol3);
drawPos.Y++;
SetConsoleCursorPosition(hCon,drawPos);
drawWheel(drawPos, symbol3);
drawPos.Y++;
SetConsoleCursorPosition(hCon,drawPos);
drawWheel(drawPos, symbol1);
drawPos.Y++;
SetConsoleCursorPosition(hCon,drawPos);
printf(" %c ",186);
drawPos.Y++;
SetConsoleCursorPosition(hCon,drawPos);
printf(" %c ",223);
}
void ColorWheel::resizeEvent(QResizeEvent *event)
{
wheel = QPixmap(event->size());
wheel.fill(palette().background().color());
drawWheel(event->size());
//drawSquareImage(current.hue());
update();
}
GLuint wheel::createDL() {
GLuint temp;
temp = glGenLists(1);
glNewList(temp,GL_COMPILE);
drawWheel();
glEndList();
return(temp);
}
void ColorWheel::svChanged(const QColor &newcolor)
{
int hue = current.hue();
current.setHsv(hue, newcolor.saturation(), newcolor.value());
if(!isVisible()) return;
drawWheel(size());
drawSquare(hue);
drawIndicator(hue);
drawPicker(newcolor);
repaint();
emit colorChange(current);
}
void Car::draw()
{
// Draw Chassis
GM_POINT* pos = convert->convertB2Vec2ToGM_Point(m_car->GetPosition());
glPushMatrix();
glTranslatef(pos->x,pos->y,0.0f);
// glRotatef(convert->convertRadiansToDegrees(m_car->GetAngle()),0.0f,0.0f,1.0f);
glBegin(GL_POLYGON);
for(int i = 0; i < chassis.m_vertexCount; ++i)
{
glVertex2f(chassis.m_vertices[i].x*PIXEL_TO_METER,chassis.m_vertices[i].y*PIXEL_TO_METER);
}
glEnd();
// Draw the wheels
// wheel 1
drawWheel(convert->convertB2Vec2ToGM_Point(m_wheel1->GetPosition()),0.4f*PIXEL_TO_METER,m_wheel1->GetAngle());
//wheel 2
drawWheel(convert->convertB2Vec2ToGM_Point(m_wheel2->GetPosition()),0.4f*PIXEL_TO_METER,m_wheel2->GetAngle());
glPopMatrix();
}
void ColorWheel::hueChanged(const int &hue)
{
if( hue<0 ||hue>359)return;
int s = current.saturation();
int v = current.value();
current.setHsv(hue, s, v);
if(!isVisible()) return;
drawWheel(size());
drawSquare(hue);
drawIndicator(hue);
drawPicker(current);
repaint();
emit colorChange(current);
}
/*!
Redraw panel and wheel
\param painter Painter
*/
void QwtWheel::draw(QPainter *painter, const QRect&)
{
qDrawShadePanel( painter, rect().x(), rect().y(),
rect().width(), rect().height(),
#if QT_VERSION < 0x040000
colorGroup(),
#else
palette(),
#endif
true, d_data->borderWidth );
drawWheel( painter, d_data->sliderRect );
if ( hasFocus() )
QwtPainter::drawFocusRect(painter, this);
}
/*** シミュレーションループ ***/
static void simLoop(int pause)
{
if (!pause)
{
dSpaceCollide(space,0,&nearCallback); // add
control();
dWorldStep(world, 0.01);
dJointGroupEmpty(contactgroup); // add
}
const dReal *linear_vel = dBodyGetLinearVel(base.body);
const dReal *angular_vel = dBodyGetAngularVel(base.body);
printf("linear : %.3f %.3f %.3f\n", linear_vel[0], linear_vel[1], linear_vel[2]);
printf("angular: %.3f %.3f %.3f\n", angular_vel[0], angular_vel[1], angular_vel[2]);
drawBase();
drawWheel(); // add
drawBall(); //add
drawGoal();
}
void Car::draw()
{
if (!active) return;
// Reinicia transformações
glPushMatrix();
glTranslatef(_position.getX(), _position.getY(), _position.getZ() + 0.2);
glRotatef(_turnAngle, 0, 0, 1);
//corpo do carro
glPushMatrix();
GLfloat bodyAmb[] = { 0.35f,0.0f,0.0f,1.0f };
GLfloat bodyDiff[] = { 0.69f,0.0f,0.0f,1.0f };
GLfloat bodySpec[] = { 0.29f,0.28f,0.29f,1.0f };
GLfloat bodyShine = 46;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, bodyAmb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, bodyDiff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, bodySpec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, bodyShine);
glColor3f(1.0f, 0.0f, 0.0f);
glScalef(1.0f, 0.8f, 0.3f);
drawCube();
glPopMatrix();
//cockpit do carro
glPushMatrix();
glTranslatef(-0.2f, 0.0f, 0.20f);
glScalef(0.4f, 0.6f, 0.1f);
GLfloat cockpitAmb[] = { 0.07f,0.07f,0.07f,1.0f };
GLfloat cockpitDiff[] = { 0.13f,0.17f,0.17f,1.0f };
GLfloat cockpitSpec[] = { 0.42f,0.41f,0.41f,1.0f };
GLfloat cockpitShine = 4;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, cockpitAmb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, cockpitDiff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, cockpitSpec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, cockpitShine);
glColor3f(1.0, 1.0, 1.0);
drawCube();
glColor3f(1.0, 0.0, 0.0);
glutWireCube(1.0);
glPopMatrix();
// roda traseira direita
glPushMatrix();
GLfloat wheel1Amb[] = { 0.0f,0.0f,0.0f,1.0f };
GLfloat wheel1Diff[] = { 0.13f,0.13f,0.14f,1.0f };
GLfloat wheel1Spec[] = { 0.17f,0.18f,0.19f,1.0f };
GLfloat wheel1Shine = 12;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, wheel1Amb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, wheel1Diff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, wheel1Spec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, wheel1Shine);
glColor3f(1.0, 1.0, 1.0);
glTranslatef(-0.3f, -0.45f, 0.0f);
glRotated(90, 1, 0, 0);
glScalef(0.4f, 0.4f, 1.5f);
drawWheel();
glColor3f(0, 0, 0);
glutWireTorus(0.05, 0.2, 32, 32);
glPopMatrix();
//perna dianteira direita
glPushMatrix();
GLfloat wheel2Amb[] = { 0.0f,0.0f,0.0f,1.0f };
GLfloat wheel2Diff[] = { 0.13f,0.13f,0.14f,1.0f };
GLfloat wheel2Spec[] = { 0.17f,0.18f,0.19f,1.0f };
GLfloat wheel2Shine = 12;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, wheel2Amb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, wheel2Diff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, wheel2Spec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, wheel2Shine);
glColor3f(1.0, 1.0, 1.0);
glTranslatef(0.3f, -0.45f, 0.0);
glRotated(90, 1, 0, 0);
glScalef(0.4f, 0.4f, 1.5f);
drawWheel();
glColor3f(0.0, 0.0, 0.0);
glutWireTorus(0.05, 0.2, 32, 32);
glPopMatrix();
// roda traseira direita
glPushMatrix();
GLfloat wheel3Amb[] = { 0.0f,0.0f,0.0f,1.0f };
GLfloat wheel3Diff[] = { 0.13f,0.13f,0.14f,1.0f };
GLfloat wheel3Spec[] = { 0.17f,0.18f,0.19f,1.0f };
GLfloat wheel3Shine = 12;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, wheel3Amb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, wheel3Diff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, wheel3Spec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, wheel3Shine);
glColor3f(1.0, 1.0, 1.0);
glTranslatef(-0.3f, 0.45f, 0.0f);
glRotated(90, 1, 0, 0);
glScalef(0.4f, 0.4f, 1.5f);
drawWheel();
glColor3f(0, 0, 0);
glutWireTorus(0.05, 0.2, 32, 32);
glPopMatrix();
//perna dianteira direita
glPushMatrix();
GLfloat wheel4Amb[] = { 0.0f,0.0f,0.0f,1.0f };
GLfloat wheel4Diff[] = { 0.13f,0.13f,0.14f,1.0f };
GLfloat wheel4Spec[] = { 0.17f,0.18f,0.19f,1.0f };
GLfloat wheel4Shine = 12;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, wheel4Amb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, wheel4Diff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, wheel4Spec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, wheel4Shine);
glColor3f(1.0, 1.0, 1.0);
glTranslatef(0.3f, 0.45f, 0.0);
glRotated(90, 1, 0, 0);
glScalef(0.4f, 0.4f, 1.5f);
drawWheel();
glColor3f(0.0, 0.0, 0.0);
glutWireTorus(0.05, 0.2, 32, 32);
glPopMatrix();
glPopMatrix();
}
void display(void)
{
/*clear all pixels*/
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// we'll explain this later, but it's setting our default modelview matrix
if (camera == STATIC_CAMERA)
{
if (staticCameraCenterOfStage == true)
{
mv = LookAt(vec4(0, CAR_HEIGHT+(WHEEL_RADIUS), dolly, 1.0), vec4(0, 0, 0, 1.0), vec4(0, 1, 0, 0.0));
}
else
{
mv = LookAt(vec4(0, CAR_HEIGHT+(WHEEL_RADIUS), dolly, 1.0), vec4(xPosition, yPosition, zPosition, 1.0), vec4(0, 1, 0, 0.0));
}
}
else if (camera == VIEWPOINT_CAMERA)
{
float Angle = (M_PI*(carAngle+headAngle)/180);
float X = sin(Angle)*40;
float Z = cos(Angle)*40;
mv = LookAt(vec4(xPosition, yPosition+STAGE_HEIGHT+(CAR_HEIGHT*2)+WHEEL_RADIUS+(HEAD_RADIUS*2), zPosition, 1.0),
vec4(X+xPosition, 1, Z+zPosition, 1.0), vec4(0, 1, 0, 0.0));
}
else if (camera == CHASE_CAMERA)
{
float Angle = (M_PI*(carAngle)/180);
float X = sin(Angle)*20;
float Z = cos(Angle)*20;
mv = LookAt(vec4(xPosition+X, 20, zPosition+Z, 1.0),
vec4(xPosition-X, 1, zPosition-Z, 1.0), vec4(0, 1, 0, 0.0));
}
mv = mv*Translate(tx, ty, tz);
mv = mv*RotateX(rx);
mv = mv*RotateY(ry);
mv = mv*RotateZ(rz);
mv = mv*Scale(sx, sy, sz);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
// and we also need to send our projection matrix, which again is more appropriately
// a uniform instead of an attribute since it's the same for every vertex
if (camera == STATIC_CAMERA)
{
p = Perspective(zoom, (float)ww/(float)wh, 1.0, 100.0);
}
else if (camera == VIEWPOINT_CAMERA)
{
p = Perspective(45, (float)ww/(float)wh, (HEAD_RADIUS*2+(EYE_RADIUS*2)), 100.0);
}
else if (camera == CHASE_CAMERA)
{
p = Perspective(45, (float)ww/(float)wh, 1.0, 100.0);
}
glUniformMatrix4fv(projection, 1, GL_TRUE, p);
glBindVertexArray( vao[STAGE] );
glDrawArrays( GL_TRIANGLES, 0, STAGE_POINT_COUNT ); // draw the stage
mat4 original = mv;
mv = mv*Translate(-20, 0, -20);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
glBindVertexArray( vao[PYLON] );
glDrawArrays( GL_TRIANGLES, 0, PYLON_POINT_COUNT ); // draw the pylons
mv = original;
mv = mv*Translate(20, 0, -20);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
glBindVertexArray( vao[PYLON] );
glDrawArrays( GL_TRIANGLES, PYLON_POINT_COUNT, PYLON_POINT_COUNT*2 );
mv = original;
mv = mv*Translate(20, 0, 20);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
glBindVertexArray( vao[PYLON] );
glDrawArrays( GL_TRIANGLES, PYLON_POINT_COUNT*2, PYLON_POINT_COUNT*3 );
mv = original;
mv = mv*Translate(-20, 0, 20);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
glBindVertexArray( vao[PYLON] );
glDrawArrays( GL_TRIANGLES, PYLON_POINT_COUNT*3, PYLON_POINT_COUNT*4 );
mv = original;
mv = mv*Translate(0.0, CAR_HEIGHT+(WHEEL_RADIUS), 0.0);
mv = mv*Translate(xPosition, yPosition, zPosition);
mv = mv*RotateY(carAngle);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
glBindVertexArray( vao[CAR] );
glDrawArrays( GL_TRIANGLES, 0, CAR_POINT_COUNT ); // draw the car
original = mv;
mv = mv*Translate(0.0, CAR_HEIGHT+(HEAD_RADIUS*2), 0.0);
mv = mv*RotateY(headAngle);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
glBindVertexArray( vao[HEAD] );
glDrawArrays( GL_LINE_LOOP, 0, HEAD_POINT_COUNT ); // draw the head
mat4 headOriginal = mv;
mv = mv*Translate(.4*HEAD_RADIUS, 0.0, HEAD_RADIUS);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
glBindVertexArray( vao[EYE] );
glDrawArrays( GL_LINE_LOOP, 0, EYE_POINT_COUNT ); // draw one eye
mv = headOriginal;
mv = mv*Translate(-.4*HEAD_RADIUS, 0.0, HEAD_RADIUS);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
glBindVertexArray( vao[EYE] );
glDrawArrays( GL_LINE_LOOP, 0, EYE_POINT_COUNT ); // draw the other eye
mv = original;
mv = mv*Translate(WHEEL_X_OFFSET, WHEEL_Y_OFFSET, -WHEEL_Z_OFFSET);
mv = mv*RotateY(90-steering);
mv = mv*RotateZ(wheelRollAngle);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
drawWheel();
mv = original;
mv = mv*Translate(-WHEEL_X_OFFSET, WHEEL_Y_OFFSET, -WHEEL_Z_OFFSET);
mv = mv*RotateY(-90-steering);
mv = mv*RotateZ(-wheelRollAngle);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
drawWheel();
mv = original;
mv = mv*Translate(WHEEL_X_OFFSET, WHEEL_Y_OFFSET, WHEEL_Z_OFFSET);
mv = mv*RotateY(90);
mv = mv*RotateZ(wheelRollAngle);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
drawWheel();
mv = original;
mv = mv*Translate(-WHEEL_X_OFFSET, WHEEL_Y_OFFSET, WHEEL_Z_OFFSET);
mv = mv*RotateY(-90);
mv = mv*RotateZ(-wheelRollAngle);
glUniformMatrix4fv(model_view, 1, GL_TRUE, mv);
drawWheel();
glutSwapBuffers();
}
