//-------------------------helper functions--------------------------------------------------------
bool DetectLights_Robot (Light lig, RobotClass r1){ //used to avoid light/robot overlap
double xdiff = lig.getXPosition() - r1.getXPosition();
double ydiff = lig.getYPosition() - r1.getYPosition();
double distance = lig.getWidth()/2 + r1.getWidth()/2;
if(xdiff*xdiff + ydiff*ydiff <= distance*distance){
return true;
}
else return false;
}
bool DetectRobot_Robot (RobotClass r1, RobotClass r2){ //used to avoid robot/robot overlap
double xdiff = r1.getXPosition() - r2.getXPosition();
double ydiff = r1.getYPosition() - r2.getYPosition();
double distance = r1.getWidth()/2 + r2.getWidth()/2;
if(xdiff*xdiff + ydiff*ydiff <= distance*distance){
return true;
}
else return false;
}
void Simulation::renderRobot(RobotClass robot, int count){
int i = 0;
double r = robot.getWidth()/2.0;
double ori = robot.getOrientation();
int k = count % 50;
int k2 = (count + 20) % 50;
int k3 = (count + 40) % 50;
double s = (robot.getActionRange() - r)/50;
glPushMatrix();
if (robot.getShapeType() == Circle){
glTranslatef(robot.getXPosition(), robot.getYPosition(), 0.0f);
glColor3f(1.0, 0.0, 1.0);
glBegin(GL_TRIANGLE_FAN);
for (i = 0; i <= 50; i++){
glVertex2f(
(r *cos (i * 2.0 * M_PI/50)),
(r *sin (i * 2.0 * M_PI/50))
);
}
glEnd();
glColor3f(0.5 + 0.5 * k/49.0, 0.0, 0.5 + 0.5 * k/49.0);
glBegin(GL_LINE_LOOP);
for (i = 0; i <= 50; i++){
glVertex2f(
((r + s * k3) *cos (i * 2.0 * M_PI/50)),
((r + s * k3) *sin (i * 2.0 * M_PI/50))
);
}
glEnd();
glColor3f(0.3 + 0.5 * k/49.0, 0.0, 0.3 + 0.5 * k/49.0);
glBegin(GL_LINE_LOOP);
for (i = 0; i <= 50; i++){
glVertex2f(
((r + s * k2) *cos (i * 2.0 * M_PI/50)),
((r + s * k2) *sin (i * 2.0 * M_PI/50))
);
}
glEnd();
glColor3f(0.0 + 0.5 * k/49.0, 0.0, 0.0 + 0.5 * k/49.0);
glBegin(GL_LINE_LOOP);
for (i = 0; i <= 50; i++){
glVertex2f(
((r + s * k) *cos (i * 2.0 * M_PI/50)),
((r + s * k) *sin (i * 2.0 * M_PI/50))
);
}
glEnd();
glColor3f(1.0, 0.0, 1.0);
glBegin(GL_LINE_LOOP);
for (i = 0; i <= 50; i++){
glVertex2f(
(robot.getActionRange() *cos (i * 2.0 * M_PI/50)),
(robot.getActionRange() *sin (i * 2.0 * M_PI/50))
);
}
glEnd();
glColor3f(1.0, 1.0, 1.0);
glBegin(GL_TRIANGLES);
glVertex2f(
1.5* r * cos(ori),
1.5* r * sin(ori)
);
glVertex2f(
2* r* cos(robot.regular_Ori(ori+2*M_PI/3.0)),
2* r* sin(robot.regular_Ori(ori+2*M_PI/3.0))
);
glVertex2f(
0.5* r* cos(-1 * ori),
0.5* r* sin(-1 * ori)
);
glVertex2f(
1.5* r * cos(ori),
1.5* r * sin(ori)
);
glVertex2f(
2* r* cos(robot.regular_Ori(ori-2*M_PI/3.0)),
2* r* sin(robot.regular_Ori(ori-2*M_PI/3.0))
);
glVertex2f(
0.5* r* cos(robot.regular_Ori(-1 * ori)),
0.5* r* sin(robot.regular_Ori(-1 * ori))
);
glEnd();
}
glPopMatrix();
}
bool RobotClass::equals(RobotClass robot){
if (x_coord == robot.getXPosition() && y_coord == robot.getYPosition()) return true;
else return false;
}
