void Graphics::HandleEventOnDisplay(void)
{
char str[100];
if(m_motionPlannerDraw)
m_motionPlanner->Draw();
//draw robot
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glColor3f(1, 0, 0);
glBegin(GL_POLYGON);
glVertex2dv(&(m_motionPlanner->m_simulator->m_robotCurr[0]));
glVertex2dv(&(m_motionPlanner->m_simulator->m_robotCurr[2]));
glVertex2dv(&(m_motionPlanner->m_simulator->m_robotCurr[4]));
glVertex2dv(&(m_motionPlanner->m_simulator->m_robotCurr[6]));
glEnd();
glColor3f(0, 0, 0);
DrawPoint2D(m_motionPlanner->m_simulator->GetRobotCenterX(),
m_motionPlanner->m_simulator->GetRobotCenterY());
if(m_bestPathAnimate && m_bestPath.size() > 0)
{
sprintf(str, "%d", m_bestPathCurrReward);
glColor3f(0, 0, 0);
DrawString2D(m_motionPlanner->m_simulator->GetRobotCenterX(),
m_motionPlanner->m_simulator->GetRobotCenterY(), str);
}
//draw obstacles
glColor3f(0.45, 0.34, 0.76);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glBegin(GL_TRIANGLES);
const int no = m_motionPlanner->m_simulator->GetNrObstacles();
for(int i = 0; i < no; ++i)
{
Simulator::Obstacle *obst = m_motionPlanner->m_simulator->m_obstacles[i];
const int ntri = obst->m_triangles.size();
for(int j = 0; j < ntri; j += 3)
{
glVertex2dv(&obst->m_vertices[2 * obst->m_triangles[j + 0]]);
glVertex2dv(&obst->m_vertices[2 * obst->m_triangles[j + 1]]);
glVertex2dv(&obst->m_vertices[2 * obst->m_triangles[j + 2]]);
}
}
glEnd();
//draw reward regions
if(m_bestPathAnimate && m_bestPath.size() > 0)
{
for(int i = 0; i < m_bestPathCurrRemainingRewards.size(); ++i)
{
const int id = m_bestPathCurrRemainingRewards[i];
glColor3f(0, 1, 0);
DrawCircle2D(m_motionPlanner->m_simulator->GetRewardRegionCenterX(id),
m_motionPlanner->m_simulator->GetRewardRegionCenterY(id),
m_motionPlanner->m_simulator->GetRewardRegionRadius(id));
sprintf(str, "%d", m_motionPlanner->m_simulator->GetRewardRegionValue(id));
glColor3f(0, 0, 0);
DrawString2D(m_motionPlanner->m_simulator->GetRewardRegionCenterX(id),
m_motionPlanner->m_simulator->GetRewardRegionCenterY(id),
str);
}
}
else
{
for(int i = 0; i < m_motionPlanner->m_simulator->GetNrRewardRegions(); ++i)
{
const int id = i;
glColor3f(0, 1, 0);
DrawCircle2D(m_motionPlanner->m_simulator->GetRewardRegionCenterX(id),
m_motionPlanner->m_simulator->GetRewardRegionCenterY(id),
m_motionPlanner->m_simulator->GetRewardRegionRadius(id));
sprintf(str, "%d", m_motionPlanner->m_simulator->GetRewardRegionValue(id));
glColor3f(0, 0, 0);
DrawString2D(m_motionPlanner->m_simulator->GetRewardRegionCenterX(id),
m_motionPlanner->m_simulator->GetRewardRegionCenterY(id),
str);
}
}
}
void iGraphics::draw_point (int x, int y)
{
DrawPoint2D (x, invert (y));
};
