ControlledForceFieldRenderable::ControlledForceFieldRenderable(ShaderProgramPtr program,ConstantForceFieldPtr forceField)
: HierarchicalRenderable(program),
m_force(forceField), m_pBuffer(0), m_cBuffer(0), m_nBuffer(0)
{
glm::vec3 initial_direction(1,0,0);
m_status = ControlledForceFieldStatus(initial_direction);
//Create geometric data to display an arrow representing the movement of the particle
const std::vector<ParticlePtr>& particles = m_force->getParticles();
m_positions.clear();
m_colors.clear();
m_normals.clear();
for (ParticlePtr p : particles) {
m_positions.push_back(p->getPosition());
m_positions.push_back(p->getPosition() + m_status.movement);
m_colors.push_back(glm::vec4(1.0,0.0,0.0,1.0));
m_colors.push_back(glm::vec4(1.0,0.0,0.0,1.0));
m_normals.push_back(glm::vec3(1.0,0.0,0.0));
m_normals.push_back(glm::vec3(1.0,0.0,0.0));
}
//Create buffers
glGenBuffers(1, &m_pBuffer); //vertices
glGenBuffers(1, &m_cBuffer); //colors
glGenBuffers(1, &m_nBuffer); //normals
//Activate buffer and send data to the graphics card
glcheck(glBindBuffer(GL_ARRAY_BUFFER, m_pBuffer));
glcheck(glBufferData(GL_ARRAY_BUFFER, m_positions.size()*sizeof(glm::vec3), m_positions.data(), GL_STATIC_DRAW));
glcheck(glBindBuffer(GL_ARRAY_BUFFER, m_cBuffer));
glcheck(glBufferData(GL_ARRAY_BUFFER, m_colors.size()*sizeof(glm::vec4), m_colors.data(), GL_STATIC_DRAW));
glcheck(glBindBuffer(GL_ARRAY_BUFFER, m_nBuffer));
glcheck(glBufferData(GL_ARRAY_BUFFER, m_normals.size()*sizeof(glm::vec3), m_normals.data(), GL_STATIC_DRAW));
}
void dispersion()
{
to_begin=1;
lcd_cursor(1,1);
lcd_string("DISPE");
velocity(VELOCITY_MAX,VELOCITY_MAX);
forward();
while(1)
{
follow();
lcd_print(2,16,bot_dir,1);
if(isPlus())
{
follow();
while(isPlus());
if(value == 0 && end == 0)
initial_direction(bot_id);
if(value == 0 && end == 1)
{
turnRight();
change_dirn(bot_dir);
}
value++;
}
if(isEnd())
{
USART_Transmit('*');
USART_Transmit(bot_id);
switch(bot_id)
{
case 'A': flag[0]++;break;
case 'B': flag[1]++;break;
case 'C': flag[2]++;break;
case 'D': flag[3]++;break;
}
if(end==0)
{
turnBack();
value = 0;
}
if(end==1)
{
turnBack();
value = 0;
}
if(end ==2)
{
length =value-1;
lcd_print(1,7,length,1);
turnBack();
stop();
break;
}
end++;
}
}
}
