void ofTurtle::draw(int _x, int _y)
{
int ppi=pixPerInch;
ofPoint wheel(.25*ppi,(2+3/8)*ppi);
ofPoint rWheel(1.125*ppi,1.875*ppi);
ofRectangle body(-3.25*ppi/2,-wheel.y/2,ppi*3.25,ppi*4.5);
//int body=w-whlWid*2;
//int leng=h;
ofEnableSmoothing();
for (unsigned int i=0; i<lines.size()-1&&lines.size()>1; i++) {
ofSetLineWidth(2);
ofLine(lines[i].x, lines[i].y, lines[i+1].x, lines[i+1].y);
}
ofDisableSmoothing();
ofPushMatrix();
ofTranslate(pos.x, pos.y, 0);
ofRotate(360-bearing.absoluteAngle());
ofEnableSmoothing();
ofSetColor(black.opacity(128));
ofRect(body.x,body.y,body.width,body.height);
ofSetColor(white);
ofNoFill();
ofRect(body.x,body.y,body.width,body.height);
ofFill();
ofSetColor(black);
ofRect(body.x-ppi*3/8, body.y, wheel.x, wheel.y);
ofRect(body.x+body.width+ppi*3/32, body.y, wheel.x, wheel.y);
/*ofSetColor(white*.8);
ofRect(body.x+(body.width-ppi*1.375)/2, body.y+body.height, 1.375*ppi, .25*ppi);
ofRect(body.x+(body.width-ppi*1.375)/2+1.125*ppi, body.y+body.height, .25*ppi,1.375*ppi);
ofSetColor(white*.5);
ofRect(body.x+(body.width-ppi*1.375)/2+.125*ppi, body.y+body.height+.5*ppi, .875*ppi, 1.5*ppi);
ofSetColor(orange);
ofRect(body.x+(body.width-ppi*1.375)/2+.125*ppi, body.y+body.height+.50625*ppi, .375*ppi, .4375*ppi);
ofRect(body.x+(body.width-ppi*1.375)/2+.125*ppi, body.y+body.height+(2.-.4375)*ppi, .375*ppi, .4375*ppi);
ofRect(body.x+(body.width-ppi*1.375)/2+(1-.375)*ppi, body.y+body.height+(.5+(1.5-.4375)/2)*ppi, .375*ppi, .4375*ppi);*/
ofPopMatrix();
ofDisableSmoothing();
if(!frontIsClear(frontCheckDist)) ofSetColor(255, 0, 0);
else ofSetColor(0, 255, 0);
ofPoint ps = pointAlongBearing(frontCheckDist+wheel.y/2);
ofCircle(ps.x, ps.y, 5);
if(!leftIsClear(leftCheckDist)) ofSetColor(255, 0, 0);
else ofSetColor(0, 255, 0);
ps = pos+bearing.ortho().unit()*w/2-bearing.unit()*w/2+bearing.unit().rotate(270)*leftCheckDist;
ofCircle(ps.x, ps.y, 5);
for (unsigned int i=0; i<bdy.size(); i++) {
ofSetColor(yellow);
ofVector t=bdy[i];
ofLine(pos, pos+t.rotate(360-bearing.absoluteAngle()));
}
}
/**
* @brief Funkcia zistuje ci je na lavo od karla stena alebo koniec sveta.
* @return Vracia TRUE ak je na lavo od karla prekazka alebo koniec sveta. FALSE ak je na lavo od karla prazdno alebo znacka.
*/
int leftIsBlocked(void) {
return !leftIsClear();
}
bool ofTurtle::leftIsClear(int distance)
{
return leftIsClear(distance,map);
}