void sched (Info * info) {
//mylogfd (SCHFD, "%d\n", info->state);
// if (!info->video_info->is_valid) return;
// mylogfd(SCHFD, "%d %d\n", IsEdgeValid(info), getEdgeX(info));
// mylogfd(SCHFD, "IsDoorSeen %d IsDoorAllSeen %d IsDoorLeft %d IsDoorRight %d IsDoorMiddle %d DoorMidX %d DoorMidY %d\n",
// IsDoorSeen(info), IsDoorAllSeen(info), IsDoorLeft(info), IsDoorRight(info), IsDoorMiddle(info), getDoorMidx(info), getDoorMidy(info));
/*static int wait_edge = -1;
if (wait_edge >= 0) {
wait_edge ++;
if (wait_edge >= 5) {
mylogfd(SCHFD, "Touch edges->Stop\n");
do_stop(info);
wait_edge = -1;
}
return;
}*/
// mylogfd(SCHFD, "IsDoorSeen:%d IsEdgeValid:%d IsOutSide:%d edgeX %d\n", IsDoorAllSeen(info), IsEdgeValid(info), IsOutSide(info), getEdgeX(info));
estimate_seen_state(info);
// mylogfd(SCHFD, "IsRobotSeen %d RobotX %d RobotY %d\n", IsRobotSeen(info), getRobotX(info), getRobotY(info));
if (info->last_cmd == CMD_FORWARD && info->state != SHOOTING && IsOutSide(info)) {
mylogfd(SCHFD, "Outside\n");
info->last_cmd = CMD_STOP;
do_stop(info);
info->state = OUTSIDE;
return;
}
/* if (info->last_cmd == CMD_FORWARD && IsOutSide(info) && IsEdgeValid(info)) {
if (getEdgeX(info) < 50 && getEdgeX(info) >= 0) {
mylogfd(SCHFD, "Touch edges %d\n", getEdgeX(info));
do_stop(info);
info->state = DONE;
//wait_edge = 0;
return;
}
}*/
/* if (info->last_cmd == CMD_FORWARD && IsRobotSeen(info)) {
if (IsRobotAcc(info)) {
if (getRobotY(info) < 30) {
do_stop(info);
info->state = SEARCH_BALL;
} else if (getRobotY(info) < 60) {
info->destP.x = 0;
info->destP.y = getRobotY(info) + 50;
info->obstacle[0].x = getRobotY(info);
info->obstacle[0].y = - getRobotX(info);
do_obstacle(info);
info->state = OBSTACLE;
}
}
}*/
//mylogfd(-1, "s");
switch (info->state) {
case START: //chang in state machine -- redwalker
start(info);
case FIND_PLACE:
// find_place(info);
break;
case SEARCH_BALL:
search_ball(info);
break;
case SEARCHING_BALL:
searching_ball(info);
break;
case SEARCHING_ADJUST:
searching_adjust(info);
break;
case FORWARDING_BALL:
forwarding_ball(info);
break;
case CATCHING_BALL:
catching_ball(info);
break;
case BALL_CATCHED:
ball_catched(info);
break;
case SHOOT:
shoot(info);
break;
case SHOOTING:
shooting(info);
break;
case MOVING:
moving(info);
break;
case CHANGE_PLACE:
change_place(info);
break;
case FINDING_DIR:
finding_dir(info);
break;
case CHANGING_PLACE:
changing_place(info);
break;
case OBSTACLE:
obstacle(info);
break;
case PROTECT_DOOR:
protect_door(info);
break;
case OUTSIDE:
if (!IsOutSide(info)) {
mylogfd(SCHFD, "Inside restart to search_ball\n");
info->state = SEARCH_BALL;
}
break;
case FACE_DOOR:
face_door(info);
break;
case DONE:
break;
case GAME:
//game(info);
break;
case SHOOTED:
shooted(info);
default :
break;
}
}
// RENDERING DEL SISTEMA SOLARE
void solarScene(void){
// ogni volta che disegno incremento il numero dei frame
g_frames++;
// Do all your OpenGL rendering here
// cancelliamo il buffer video e lo z buffer
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
/* ------------------------------------------------------------------------- */
// attiva il viewport principale
glViewport( 0, 0, width, height);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glPushMatrix();
g_camera.look(); // chiama la gluLookAt con i parametri opportuni
// posizionando la luce dopo la telecamera la luce risulta fissa nel mondo
glLightfv(GL_LIGHT0, GL_POSITION, g_light0_pos);
glLightfv(GL_LIGHT1, GL_POSITION, g_light1_pos);
glLightfv(GL_LIGHT2, GL_POSITION, g_light2_pos);
glDisable(GL_CULL_FACE);
// texture dello sfondo
{
GLUquadric* a = gluNewQuadric();
glPushAttrib(GL_ALL_ATTRIB_BITS);
glEnable(GL_TEXTURE_2D);
Point3 poscam = g_camera.getPos();
glPushMatrix();
glTranslatef(poscam.x, poscam.y, poscam.z);
gluQuadricOrientation(a, GLU_INSIDE);
glBindTexture(GL_TEXTURE_2D, g_textureSfondo[0]);
gluQuadricTexture(a, GL_TRUE);
gluSphere(a, 900, 24, 24);
glPopMatrix();
glDisable(GL_TEXTURE_2D);
glPopAttrib();
}
glEnable(GL_CULL_FACE);
/* PIANETI */
drawPlanet(posPlanet[0], radius[0], g_texturePlanet[0]); // mercury
drawPlanet(posPlanet[1], radius[1], g_texturePlanet[1]); // venus
drawPlanet(posPlanet[2], radius[2], g_texturePlanet[2]); // earth
drawPlanet(posPlanet[3], radius[3], g_texturePlanet[3]); // mars
drawPlanet(posPlanet[4], radius[4], g_texturePlanet[4]); // jupiter
drawPlanet(posPlanet[5], radius[5], g_texturePlanet[5]); // saturn
drawPlanet(posPlanet[6], radius[6], g_texturePlanet[6]); // uranus
drawPlanet(posPlanet[7], radius[7], g_texturePlanet[7]); // neptune
drawPlanet(posPlanet[8], radius[8], g_texturePlanet[8]); // pluto
/* SATELLITI */
drawSatellite(&satellite[0], 'y', 0.00012, g_textureSatellite[0]); // moon
//drawShield(satellite[0].pos, satellite[0].rad+1);
drawSatellite(&satellite[1], 'z', 0.00024, g_textureSatellite[1]); // io
drawSatellite(&satellite[2], 'y', 0.00012, g_textureSatellite[2]); // europa
/* ANELLI DI SATURNO */
drawRing(posPlanet[5], 85, 120); // anello saturno
// HENRY
// gestione dei nemici: posizione, movimenti, inseguimenti
// FILE: enemy_police.c
insertEnemy();
insertPolice();
//ALBERTO
// disegno di tutte le collisioni se attivate
// FILE explosion.c
insertExplosion();
//ALBERTO LASER
// disegno di tutti i laser e controllo collisioni
// FILE shooting.c
hitEnemy=laserHitEnemy();
hitPolice=laserHitPolice();
insertRemoveLaser();
// se siamo stati colpiti dal laser nemico si decrementa la vita
shooted();
// inseriamo il super-sparo
insertSuperShoot();
glPopMatrix();
}
