void DefaultSensors::displaySensor(SDL_Surface *screen, Point2d position, double orientation, std::deque<bool> &displayed, bool force){
// * show sensors
for (int i = 0; i < _sensorCount; i++) {
// Warning: the following is a repetition of code already in the move method (sensor ray casting) in order to display it (coordinates are not stored)
double x1 = (position.x + _sensors[i][1] * cos(_sensors[i][2] + orientation * M_PI / 180));
double y1 = (position.y + _sensors[i][1] * sin(_sensors[i][2] + orientation * M_PI / 180));
double x2 = (position.x + _sensors[i][3] * cos(_sensors[i][4] + orientation * M_PI / 180));
double y2 = (position.y + _sensors[i][3] * sin(_sensors[i][4] + orientation * M_PI / 180));
// sensor ray casting is also performed in the move method -- this time we dont store data (already done). -- this one is only used to *display* the ray.
/*_sensors[i][5] = */
castSensorRay(gEnvironmentImage, x1, y1, &x2, &y2, getSensorMaximumDistanceValue(i)); // x2 and y2 are overriden with collision coordinate if ray hits object.
// display on screen
if (!displayed[i] && _sensors[i][5] < getSensorMaximumDistanceValue(i) - 1) {//gSensorRange-1 )
displayed[i] = true;
traceRayRGBA(screen, int(x1 + 0.5) - gCamera.x, int(y1 + 0.5) - gCamera.y, int(x2 + 0.5) - gCamera.x, int(y2 + 0.5) - gCamera.y, 255, 0, 0, 255);
} else if (gEnergyMode && !displayed[i] && _energySensor[i][0] < getSensorMaximumDistanceValue(i) - 1) {
displayed[i] = true;
traceRayRGBA(screen, int(x1 + 0.5) - gCamera.x, int(y1 + 0.5) - gCamera.y, int(x2 + 0.5) - gCamera.x, int(y2 + 0.5) - gCamera.y, 0, 255, 0, 255);
} else if (!displayed[i] && force) {
displayed[i] = true;
traceRayRGBA(screen, int(x1 + 0.5) - gCamera.x, int(y1 + 0.5) - gCamera.y, int(x2 + 0.5) - gCamera.x, int(y2 + 0.5) - gCamera.y, 0, 0, 255, 255);
}
}
}
/**
* Display agent on screen. Add information caption if needed.
*
* (render mode only)
*/
void RobotAgent::show() // display on screen
{
//Show the dot
if (gNiceRendering) {
if (gUseOrganisms && _connectToOthers == POSITIVE) {
apply_surface(_x - gCamera.x, _y - gCamera.y, gAgentPositiveMaskImage, gScreen);
} else if (gUseOrganisms && _connectToOthers == NEGATIVE) {
apply_surface(_x - gCamera.x, _y - gCamera.y, gAgentNegativeMaskImage, gScreen);
} else {
apply_surface(_x - gCamera.x, _y - gCamera.y, gAgentMaskImage, gScreen); // OPTIONAL (agent is already visible/registered through the environment image -- but: may be useful for image capture
}
}
if(gRenderRobotId){
std::string str = "";
str += boost::lexical_cast<std::string > (this->_wm->_agentId);
RenderTextToSurface(str, _x + (gAgentWidth / 4) - gCamera.x, _y - gCamera.y, gScreen);
}
if (getWorldModel()->getRobotLED_status() == true) {
int dx = 1;
int dy = 1;
int xcenter = (int)(_wm->_xReal + 0.5);
int ycenter = (int)(_wm->_yReal + 0.5);
int r = getWorldModel()->getRobotLED_redValue();
int g = getWorldModel()->getRobotLED_greenValue();
int b = getWorldModel()->getRobotLED_blueValue();
for (int xTmp = xcenter - dx; xTmp != xcenter + dx + 1; xTmp++)
for (int yTmp = ycenter - dy - 1; yTmp != ycenter + dy; yTmp++) {
putPixel32secure(gScreen, xTmp - gCamera.x, yTmp + dy - gCamera.y, SDL_MapRGB(gScreen->format, r, g, b));
}
}
if (_wm->_agentId == gAgentIndexFocus && gUserCommandMode) // && _iterations%10 < 5)
{
int dx = 10;
int dy = 10;
int xcenter = (int) _wm->_xReal + 0.5;
int ycenter = (int) _wm->_yReal + 0.5;
int r = 255.0 * ranf();
int g = 255.0 * ranf();
int b = 255.0 * ranf();
for (int xTmp = xcenter - dx; xTmp != xcenter + dx + 1; xTmp++) {
putPixel32secure(gScreen, xTmp - gCamera.x, ycenter - dy - gCamera.y, SDL_MapRGB(gScreen->format, r, g, b));
putPixel32secure(gScreen, xTmp - gCamera.x, ycenter + dy - gCamera.y, SDL_MapRGB(gScreen->format, r, g, b));
}
for (int yTmp = ycenter - dy; yTmp != ycenter + dy + 1; yTmp++) {
putPixel32secure(gScreen, xcenter - dx - gCamera.x, yTmp - gCamera.y, SDL_MapRGB(gScreen->format, r, g, b));
putPixel32secure(gScreen, xcenter + dx - gCamera.x, yTmp - gCamera.y, SDL_MapRGB(gScreen->format, r, g, b));
}
// for ( int xTmp = (int)_wm->_xReal - dx ; xTmp != (int)_wm->_xReal + dx + 1 ; xTmp++ )
// for ( int yTmp = (int)_wm->_yReal - dy ; yTmp != (int)_wm->_yReal + dy + 1 ; yTmp++ )
// putPixel32secure( gScreen, xTmp - gCamera.x, yTmp - gCamera.y , SDL_MapRGB( gScreen->format, 0xFF, 0x00, ranf() ) );
}
if (gDisplaySensors == true) {
// * show orientation
int xOrientationMarker = (int) (_wm->_xReal + 0.5) + gAgentWidth / 2 * cos(_wm->_agentAbsoluteOrientation * M_PI / 180);
int yOrientationMarker = (int) (_wm->_yReal + 0.5) + gAgentWidth / 2 * sin(_wm->_agentAbsoluteOrientation * M_PI / 180);
if (_wm->_agentId == gAgentIndexFocus && gUserCommandMode) {
int g, b;
g = b = (32 * _iterations % 256) > 128 ? 0 : 255;
for (int xTmp = -2; xTmp != 3; xTmp++)
for (int yTmp = -2; yTmp != 3; yTmp++)
putPixel32secure(gScreen, xOrientationMarker - gCamera.x + xTmp, yOrientationMarker - gCamera.y + yTmp, SDL_MapRGB(gScreen->format, 0x00, b, g));
} else {
for (int xTmp = -2; xTmp != 3; xTmp++)
for (int yTmp = -2; yTmp != 3; yTmp++)
putPixel32secure(gScreen, xOrientationMarker - gCamera.x + xTmp, yOrientationMarker - gCamera.y + yTmp, SDL_MapRGB(gScreen->format, 0xFF, 0x00, 0x00));
}
// * show sensors
for (int i = 0; i < _wm->_sensorCount; i++) {
// Warning: the following is a repetition of code already in the move method (sensor ray casting) in order to display it (coordinates are not stored)
double x1 = (_wm->_xReal + _wm->_sensors[i][1] * cos(_wm->_sensors[i][2] + _wm->_agentAbsoluteOrientation * M_PI / 180));
double y1 = (_wm->_yReal + _wm->_sensors[i][1] * sin(_wm->_sensors[i][2] + _wm->_agentAbsoluteOrientation * M_PI / 180));
double x2 = (_wm->_xReal + _wm->_sensors[i][3] * cos(_wm->_sensors[i][4] + _wm->_agentAbsoluteOrientation * M_PI / 180));
double y2 = (_wm->_yReal + _wm->_sensors[i][3] * sin(_wm->_sensors[i][4] + _wm->_agentAbsoluteOrientation * M_PI / 180));
// sensor ray casting is also performed in the move method -- this time we dont store data (already done). -- this one is only used to *display* the ray.
/*_sensors[i][5] = */castSensorRay(gEnvironmentImage, x1, y1, &x2, &y2, _wm->getSensorMaximumDistanceValue(i)); // x2 and y2 are overriden with collision coordinate if ray hits object.
// display on screen
if (_wm->_sensors[i][5] < _wm->getSensorMaximumDistanceValue(i) - 1) //gSensorRange-1 )
traceRayRGBA(gScreen, int(x1 + 0.5) - gCamera.x, int(y1 + 0.5) - gCamera.y, int(x2 + 0.5) - gCamera.x, int(y2 + 0.5) - gCamera.y, 255, 0, 0, 255);
else
traceRayRGBA(gScreen, int(x1 + 0.5) - gCamera.x, int(y1 + 0.5) - gCamera.y, int(x2 + 0.5) - gCamera.x, int(y2 + 0.5) - gCamera.y, 0, 0, 255, 255);
}
}
// caption for storyzones
if (gDisplayZoneCaption) {
Uint32 pixel = getPixel32(gZoneImage, _x + gAgentWidth / 2, _y + gAgentHeight / 2);
if (pixel != SDL_MapRGB(gZoneImage->format, 0x00, 0x00, 0x00)) // check if there's a "story" to display
{
// extract story index (if any)
Uint8 r, g, b;
SDL_GetRGB(pixel, gZoneImage->format, &r, &g, &b);
int storyId = r; // assume the red component holds the story index.
if (storyId >= 0 && storyId < 256 && gZoneCaptionImage[storyId] != NULL && gZoneStatus[storyId]) // security check: story exists?
{
// display story caption
//set caption position
int xCaption = 0, yCaption = 0;
if (_x < gAreaWidth / 2)
xCaption = _x - gCamera.x + 40;
else
xCaption = _x - gCamera.x - gZoneCaptionImage[storyId]->w - 40;
if (_y < gAreaHeight / 2)
yCaption = _y - gCamera.y + 40;
else
yCaption = _y - gCamera.y - gZoneCaptionImage[storyId]->h - 40;
//display caption
apply_surface(xCaption, yCaption, gZoneCaptionImage[storyId], gScreen);
// update story flags (if needed)
if (storyId >= 100 && storyId < 200 && storyId % 10 == 0) // key story, btw 100 and 199: activate story flag of the 9 next sub-stories
{
for (int i = 1; i != 10; i++)
gZoneStatus[storyId + i] = true;
} else
if (storyId >= 200 && storyId < 256 && storyId % 10 != 9) // sub-story, btw 200 and 299: activate the next story flag (if not last)
{
gZoneStatus[storyId + 1] = true;
}
}
}
}
}