void Renderer::drawLimb(const Limb& limb) {
// Joints
glColor3ub(0xf9, 0xe0, 0x4c);
drawSolidCircle(limb.jointPos(), 0.1f);
glColor3ub(0xf7, 0xe8, 0xaa);
drawSolidCircle(limb.edgePos(), 0.1f);
// links
glLineWidth(2.0f);
drawLineBetween(glm::vec2(), limb.jointPos());
drawLineBetween(limb.jointPos(), limb.edgePos());
}
void Renderer::drawManBodyCenter() {
// Draw circle at center of man.. for reference
const auto center = _gameState.man().pos();
const float radius = 0.1f;
glColor3ub(0x00, 0xA6, 0x00);
drawSolidCircle(center, radius);
}
void drawSolidCircle( const Vec2& center, float radius, float angle, unsigned int segments)
{
drawSolidCircle(center, radius, angle, segments, 1.0f, 1.0f);
}
void DrawNode::drawSolidCircle( const Vec2& center, float radius, float angle, unsigned int segments, const Color4F& color)
{
drawSolidCircle(center, radius, angle, segments, 1.0f, 1.0f, color);
}
void OpenglManager::writeFieldObjectsToDisplay(FieldObjects* AllObjects, GLDisplay::display displayId)
{
//! CLEAR DRAWING LIST
if(displayStored[displayId])
{
glDeleteLists(displays[displayId],1);
}
displays[displayId] = glGenLists(1);
glNewList(displays[displayId],GL_COMPILE); // START OF LIST
glDisable(GL_TEXTURE_2D);
glLineWidth(2.0); // Line width
//! DRAW STATIONARY OBJECTS:
vector < StationaryObject > ::iterator statFOit;
for(statFOit = AllObjects->stationaryFieldObjects.begin(); statFOit < AllObjects->stationaryFieldObjects.end(); )
{
//! Check if the object is seen, if seen then continue to next Object
if((*statFOit).isObjectVisible() == false)
{
++statFOit;
continue;
}
unsigned char r,g,b;
if( (*statFOit).getID() == FieldObjects::FO_BLUE_LEFT_GOALPOST ||
(*statFOit).getID() == FieldObjects::FO_BLUE_RIGHT_GOALPOST )
{
ClassIndex::getColourIndexAsRGB(ClassIndex::blue,r,g,b);
glColor3ub(r,g,b);
}
else if( (*statFOit).getID() == FieldObjects::FO_YELLOW_LEFT_GOALPOST ||
(*statFOit).getID() == FieldObjects::FO_YELLOW_RIGHT_GOALPOST )
{
ClassIndex::getColourIndexAsRGB(ClassIndex::yellow,r,g,b);
glColor3ub(r,g,b);
}
else
{
ClassIndex::getColourIndexAsRGB(ClassIndex::white,r,g,b);
glColor3ub(r,g,b);
}
if((*statFOit).getID() == FieldObjects::FO_CORNER_CENTRE_CIRCLE)
{
drawEllipse((*statFOit).ScreenX(),(*statFOit).ScreenY(), (*statFOit).getObjectWidth()/2, (*statFOit).getObjectHeight()/2);
++statFOit;
continue;
}
int X = (*statFOit).ScreenX();
int Y = (*statFOit).ScreenY();
int ObjectWidth = (*statFOit).getObjectWidth();
int ObjectHeight = (*statFOit).getObjectHeight();
glBegin(GL_QUADS); // Start Lines
glVertex2i( X-ObjectWidth/2, Y-ObjectHeight/2); //TOP LEFT
glVertex2i( X+ObjectWidth/2, Y-ObjectHeight/2); //TOP RIGHT
glVertex2i( X+ObjectWidth/2, Y+ObjectHeight/2); //BOTTOM RIGHT
glVertex2i( X-ObjectWidth/2, Y+ObjectHeight/2); //BOTTOM LEFT
glEnd();
//! Incrememnt to next object:
++statFOit;
}
//! DRAW MOBILE OBJECTS:
vector < MobileObject > ::iterator mobileFOit;
for(mobileFOit = AllObjects->mobileFieldObjects.begin(); mobileFOit < AllObjects->mobileFieldObjects.end(); )
{
//! Check if the object is seen, if seen then continue to next Object
if((*mobileFOit).isObjectVisible() == false)
{
++mobileFOit;
continue;
}
qDebug() << "Seen: Mobile: " <<(*mobileFOit).getID() ;
unsigned char r,g,b;
//CHECK IF BALL: if so Draw a circle
if( (*mobileFOit).getID() == FieldObjects::FO_BALL)
{
ClassIndex::getColourIndexAsRGB(ClassIndex::orange,r,g,b);
glColor3ub(r,g,b);
int cx = (*mobileFOit).ScreenX();
int cy = (*mobileFOit).ScreenY();
int radius = (*mobileFOit).getObjectWidth()/2;
int num_segments = 360;
drawSolidCircle(cx, cy, radius, num_segments);
++mobileFOit;
continue;
}
if( (*mobileFOit).getID() == FieldObjects::FO_BLUE_ROBOT_1 ||
(*mobileFOit).getID() == FieldObjects::FO_BLUE_ROBOT_2 ||
(*mobileFOit).getID() == FieldObjects::FO_BLUE_ROBOT_3 ||
(*mobileFOit).getID() == FieldObjects::FO_BLUE_ROBOT_4 )
{
ClassIndex::getColourIndexAsRGB(ClassIndex::shadow_blue,r,g,b);
glColor3ub(r,g,b);
}
else if( (*mobileFOit).getID() == FieldObjects::FO_PINK_ROBOT_1 ||
(*mobileFOit).getID() == FieldObjects::FO_PINK_ROBOT_2 ||
(*mobileFOit).getID() == FieldObjects::FO_PINK_ROBOT_3 ||
(*mobileFOit).getID() == FieldObjects::FO_PINK_ROBOT_4)
{
ClassIndex::getColourIndexAsRGB(ClassIndex::pink,r,g,b);
glColor3ub(r,g,b);
}
int X = (*mobileFOit).ScreenX();
int Y = (*mobileFOit).ScreenY();
int ObjectWidth = (*mobileFOit).getObjectWidth();
int ObjectHeight = (*mobileFOit).getObjectHeight();
glBegin(GL_LINE_STRIP); // Start Lines
glVertex2i( X-ObjectWidth/2, Y-ObjectHeight/2);
glVertex2i( X-ObjectWidth/2, Y+ObjectHeight/2);
glVertex2i( X+ObjectWidth/2, Y+ObjectHeight/2);
glVertex2i( X+ObjectWidth/2, Y-ObjectHeight/2);
glVertex2i( X-ObjectWidth/2, Y-ObjectHeight/2);
glEnd();
//! Increment to next object
++mobileFOit;
}
//! DRAW AMBIGUOUS OBJECTS: Using itterator as size is unknown
vector < AmbiguousObject > ::iterator ambigFOit;
qDebug() <<"Size Of Ambig Objects: " << AllObjects->ambiguousFieldObjects.size();
for(ambigFOit = AllObjects->ambiguousFieldObjects.begin(); ambigFOit < AllObjects->ambiguousFieldObjects.end(); )
{
//! Check if the object is seen, if seen then continue to next Object
if((*ambigFOit).isObjectVisible() == false)
{
++ambigFOit;
continue;
}
qDebug() <<"Ambig Objects seen: " << (*ambigFOit).getID();
unsigned char r,g,b;
if( (*ambigFOit).getID() == FieldObjects::FO_BLUE_ROBOT_UNKNOWN)
{
ClassIndex::getColourIndexAsRGB(ClassIndex::shadow_blue,r,g,b);
glColor3ub(r,g,b);
}
else if( (*ambigFOit).getID() == FieldObjects::FO_PINK_ROBOT_UNKNOWN)
{
ClassIndex::getColourIndexAsRGB(ClassIndex::pink,r,g,b);
glColor3ub(r,g,b);
}
else if( (*ambigFOit).getID() == FieldObjects::FO_BLUE_GOALPOST_UNKNOWN)
{
ClassIndex::getColourIndexAsRGB(ClassIndex::blue,r,g,b);
glColor3ub(r,g,b);
}
else if( (*ambigFOit).getID() == FieldObjects::FO_YELLOW_GOALPOST_UNKNOWN)
{
ClassIndex::getColourIndexAsRGB(ClassIndex::yellow,r,g,b);
glColor3ub(r,g,b);
}
else
{
ClassIndex::getColourIndexAsRGB(ClassIndex::white,r,g,b);
glColor3ub(r,g,b);
}
int X = (*ambigFOit).ScreenX();
int Y = (*ambigFOit).ScreenY();
int ObjectWidth = (*ambigFOit).getObjectWidth();
int ObjectHeight = (*ambigFOit).getObjectHeight();
glBegin(GL_LINE_STRIP); // Start Lines
glVertex2i( X-ObjectWidth/2, Y-ObjectHeight/2);
glVertex2i( X-ObjectWidth/2, Y+ObjectHeight/2);
glVertex2i( X+ObjectWidth/2, Y+ObjectHeight/2);
glVertex2i( X+ObjectWidth/2, Y-ObjectHeight/2);
glVertex2i( X-ObjectWidth/2, Y-ObjectHeight/2);
glEnd();
//! Increment to next object
++ambigFOit;
}
//! UPDATE THE DISPLAY:
glEnable(GL_TEXTURE_2D);
glEndList(); // END OF LIST
displayStored[displayId] = true;
emit updatedDisplay(displayId, displays[displayId], width, height);
}
void drawSolidCircle( const Point& center, const Size& contentSize, float angle, unsigned int segments)
{
drawSolidCircle(center, contentSize, angle, segments, 1.0f, 1.0f);
}
void drawSolidCircle( const Point& center, const Size& contentSize, float angle, unsigned int segments, float scaleX, float scaleY)
{
drawSolidCircle(center, contentSize.width, contentSize.height, angle, segments, scaleX, scaleY);
}
void drawSolidCircle( const Point& center, float width, float height, float angle, unsigned int segments)
{
drawSolidCircle(center, width, height, angle, segments, 1.0f, 1.0f);
}