int main() { int idCenario = 0; int quadId; vector3df p1, p2, p3, p4; SMatrix mtxCenario; CArquivoMatrizes *_fileMtx = new CArquivoMatrizes(); CSampleSceneNode *myQuad[2500]; CGerEventos eventos; IrrlichtDevice *device = createDevice(EDT_OPENGL, dimension2d<s32>(800, 600), 16, false,false,false, &eventos); device->setWindowCaption(L"Editor de matrizes - Warbugs"); IVideoDriver* driver = device->getVideoDriver(); ISceneManager* smgr = device->getSceneManager(); smgr->addCameraSceneNodeFPS(); //smgr->addCameraSceneNode(0, vector3df(0,100,0), vector3df(0,0,0)); smgr->loadScene(pathCenario[idCenario]); mtxCenario = _fileMtx->getMatrix(idCenario); ITerrainSceneNode *sceneTerrain = (ITerrainSceneNode*)smgr->getSceneNodeFromType(ESNT_TERRAIN, 0); ITriangleSelector *sceneTris = smgr->createTerrainTriangleSelector(sceneTerrain, 0); sceneTerrain->setTriangleSelector(sceneTris); for(int i=0; i<50; i++) // z { for(int j=0; j<50;j++) // x { //if( //{ p1.X = 10.0; p1.Y = 1.0; p1.Z = 0.0; p2.X = 10.0; p2.Y = 1.0; p2.Z = 500.0; p3.X = 0.0; p3.Y = 1.0; p3.Z = 500.0; p4.X = 0.0; p4.Y = 1.0; p4.Z = 0.0; quadId = j + (i * 10); myQuad[quadId] = new CSampleSceneNode(smgr->getRootSceneNode(), smgr, quadId, p1, p2, p3, p4); //} } } while(device->run()) { driver->beginScene(true, true, SColor(0,100,100,100)); smgr->drawAll(); driver->endScene(); } device->drop(); return 0; }
int main() { const int nRobots = 2; //given robot numbers will be controlled by humans vector<int> humanBrainIds; //humanBrainIds.push_back(1); //humanBrainIds.push_back(0); //-- device ------------------------------------------------------------// IrrlichtDevice* device; device = createDevice( EDT_OPENGL, //driverType windowSize, 16, //bits false, false, //stencilbuffer false, //vsync NULL //receiver ); //advanced device params //SIrrlichtCreationParameters params; //params.DeviceType = EIDT_CONSOLE; //params.DriverType = EDT_OPENGL; //params.WindowSize = windowSize; //device = createDeviceEx(params); if (device == 0) return EXIT_FAILURE; // could not create selected driver. IVideoDriver* driver = device->getVideoDriver(); ISceneManager* smgr = device->getSceneManager(); //-- lights ------------------------------------------------------------// //ambient light //smgr->setAmbientLight( SColorf(1.0f,1.0f,1.0f,1.0f) ); //smgr->setAmbientLight( SColorf(.3f,.3f,.3f,1.0f) ); //diffusive light SLight light_data; light_data.AmbientColor = SColorf(.3,.3,.3); //light_data.Attenuation = vector3df(.3,.3,.3); //Attenuation cte, linear quadratic TODO ?? light_data.DiffuseColor = SColorf(.0,.0,.0); light_data.SpecularColor = SColorf(.0,.0,.0); light_data.CastShadows = true; light_data.Radius = 100.0f; light_data.Type = ELT_DIRECTIONAL; //ELT_POINT point light, it has a position in space and radiates light in all directions //ELT_SPOT spot light, it has a position in space, a direction, and a limited cone of influence //ELT_DIRECTIONAL directional light, coming from a direction from an infinite distance ILightSceneNode* light = smgr->addLightSceneNode(0, core::vector3df(.5f,.0f,.5f)); light->setLightData(light_data); //-- objects ------------------------------------------------------------// IMesh* mesh; ISceneNode * node; float HEIGHT=1000.f, WIDTH=1.f; //height between center/sky == height bottom/center //large so that scene looks 2d on interactive test mode. //on automatic mode, only middle pixel row is taken, so this does not matter //outter boundary //square node = smgr->addCubeSceneNode( 2.f*WIDTH, // width 0, // parent -1, // id vector3df(0, 0, 0), // center vector3df(0, 0, 0), // rotation vector3df(1.0f, HEIGHT, 1.0f)*-1.f // scale. *-1 turns it inside out. to use both faces make two cubes. ); //circle //mesh = smgr->getGeometryCreator()->createCylinderMesh( //1.f, //radius //1., //length //50, //tesselation //SColor(0,0,0,255), //color //false, //closeTop //0.f //oblique //); //node = smgr->addMeshSceneNode( //mesh, //0, //ISceneNode * parent //-1, //s32 id //vector3df(0, -HEIGHT, 0), //const core::vector3df & position //vector3df(0, 0, 0), //const core::vector3df & rotation //vector3df(1.0f, 2.f*HEIGHT, 1.0f) //const core::vector3df & scale //); node->getMaterial(0).AmbientColor.set(0,0,0,0); node->getMaterial(0).DiffuseColor.set(0,0,0,0); //node->getMaterial(0).SpecularColor.set(255,255,255,255); //node->getMaterial(0).Shininess = 20.0f; //node->getMaterial(0).EmissiveColor.set(0,0,0,0); //node->setMaterialFlag(EMF_WIREFRAME,true); //wireframe only //left cube node = smgr->addCubeSceneNode( 0.2, // width 0, // parent -1, // id vector3df(-.3, 0, 0), // center vector3df(0, 0, 0), // rotation vector3df(1.0f, HEIGHT, 1.0f) // scale ); node->getMaterial(0).AmbientColor.set(0,255,0,0); node->getMaterial(0).DiffuseColor.set(0,255,0,0); //right cube node = smgr->addCubeSceneNode( .2f, // width 0, // parent -1, // id vector3df(.3, 0, 0), // center vector3df(0, 0, 0), // rotation vector3df(1.0f, HEIGHT, 1.0f) // scale ); node->getMaterial(0).AmbientColor.set(0,0,255,0); node->getMaterial(0).DiffuseColor.set(0,0,255,0); //cylinder //mesh = smgr->getGeometryCreator()->createCylinderMesh( //.1f, //radius //1., //length //50, //tesselation //SColor(), //color //false, //closeTop //0.f //oblique //); //node = smgr->addMeshSceneNode( //mesh, //0, //ISceneNode * parent //-1, //s32 id //vector3df(0, -HEIGHT, 0), //const core::vector3df & position //vector3df(0, 0, 0), //const core::vector3df & rotation //vector3df(1.0f, 2.*HEIGHT, 1.0f) //const core::vector3df & scale //); //node->getMaterial(0).AmbientColor.set(0,0,0,255); //node->getMaterial(0).DiffuseColor.set(0,0,0,255); //sphere //node = smgr->addSphereSceneNode( //0.1, // radius //50, // poly count //0, // parent //FruitID, // id //vector3df(0, 0, 0), // center //vector3df(0, 0, 0), // rotation //vector3df(1.0f, 1.0f, 1.0f) // scale //); //node->getMaterial(0).AmbientColor.set(0,0,0,255); //node->getMaterial(0).DiffuseColor.set(0,0,0,255); //node->getMaterial(0).Lighting = true; //-- collision ------------------------------------------------------------// /* Put everything we want to do collision checking with inside the meta selector. */ IMetaTriangleSelector * meta = smgr->createMetaTriangleSelector(); array<ISceneNode *> nodes; smgr->getSceneNodesFromType(ESNT_ANY, nodes); // Find all nodes for (u32 i=0; i < nodes.size(); ++i) { ISceneNode * node = nodes[i]; ITriangleSelector * selector = 0; switch(node->getType()) { case ESNT_CUBE: case ESNT_ANIMATED_MESH: // Because the selector won't animate with the mesh, // and is only being used for camera collision, we'll just use an approximate // bounding box instead of ((IAnimatedMeshSceneNode*)node)->getMesh(0) selector = smgr->createTriangleSelectorFromBoundingBox(node); break; case ESNT_MESH: case ESNT_SPHERE: // Derived from IMeshSceneNode selector = smgr->createTriangleSelector(((IMeshSceneNode*)node)->getMesh(), node); break; case ESNT_TERRAIN: selector = smgr->createTerrainTriangleSelector((ITerrainSceneNode*)node); break; case ESNT_OCTREE: selector = smgr->createOctreeTriangleSelector(((IMeshSceneNode*)node)->getMesh(), node); break; default: // Don't create a selector for this node type break; } if(selector) { // Add it to the meta selector, which will take a reference to it meta->addTriangleSelector(selector); // And drop my reference to it, so that the meta selector owns it. selector->drop(); } } //-- robots ------------------------------------------------------------// //create robots Fly2D::Brain* brains[nRobots]; //all to a default type //for ( int i=0; i<nRobots; i++ ) //{ //brains[i] = new Fly2D::BrainForward; ////brains[i] = new Fly2D::BrainCircle(); //} brains[0] = new Fly2D::BrainForward; brains[1] = new Fly2D::BrainForward; //decide human control vector<Fly2D::BrainHuman*> hBrains; for ( vector<int>::iterator i = humanBrainIds.begin(); i != humanBrainIds.end(); ++i ) { if ( *i > nRobots ) { cerr << "no such robot: " << *i << endl; exit(EXIT_FAILURE); } delete brains[*i]; Fly2D::BrainHuman* hBrain = new Fly2D::BrainHuman; brains[*i] = hBrain; hBrains.push_back(hBrain); } Fly2D::ReceiverHuman hReceiver = Fly2D::ReceiverHuman( hBrains ); device->setEventReceiver( &hReceiver ); Robot* robots[nRobots]; robots[0] = new Fly2D::Robot( *device, *meta, *brains[0], vector3df(0,0,-0.5f), vector3df(0,0, 0.5f), 0.01 ); robots[1] = new Fly2D::Robot( *device, *meta, *brains[1], vector3df(0,0,0.5f), vector3df(0,0, -0.5f), 0.01 ); meta->drop(); // As soon as we're done with the selector, drop it. //-- run ------------------------------------------------------------// //TEST vector3df oldpos, oldtarget; //END TEST int nFrames = 0; ITimer* timer = device->getTimer(); int t0 = timer->getTime(); int w = driver->getScreenSize().Width; int h = driver->getScreenSize().Height; int dh = h/nRobots; int observeRobot = 0; while(device->run()) { //if (device->isWindowActive()) //only work if window has focus. //draw driver->setViewPort(rect<s32>(0,0,w,h)); driver->beginScene(true,true,0); for(int i=0; i<nRobots; i++) { driver->setViewPort(rect<s32>(0,dh*i,w,dh*(i+1))); //only part of window gets drawn into smgr->setActiveCamera(robots[i]->camera); smgr->drawAll(); //draws on window scene of active camera robots[i]->update(); } driver->endScene(); //TEST //if //( //robots[observeRobot].getPosition() != oldpos //|| robots[observeRobot].getTarget() != oldtarget //) //oldpos = robots[observeRobot].getPosition(); //oldtarget = robots[observeRobot].getTarget(); cout << robots[observeRobot]->str(); //FPS info //cout << "frame no:" << endl << nFrames << endl;; //cout << "average fps:" << endl << 1000*nFrames/(float)(timer->getTime()-t0) << endl; //nFrames++; cout << "fps:" << endl << driver->getFPS() << endl; //END TEST } device->drop(); return 0; }