void CurveAgent::draw()
{
#ifdef ENABLE_GUI
// if the agent is selected, do some annotations just for demonstration
if (gEngine->isAgentSelected(this)) {
Util::Ray ray;
ray.initWithUnitInterval(__position, _forward);
float t = 0.0f;
SteerLib::SpatialDatabaseItem * objectFound;
Util::DrawLib::drawLine(ray.pos, ray.eval(1.0f));
if (gSpatialDatabase->trace(ray, t, objectFound, this, false)) {
Util::DrawLib::drawAgentDisc(__position, _forward, _radius, Util::gOrange);
}
else {
Util::DrawLib::drawAgentDisc(__position, _forward, _radius, Util::gDarkOrange);
}
}
else {
Util::DrawLib::drawAgentDisc(__position, _forward, _radius, agentColor);
}
// Draw flags for all goal targets
for (int i = 0; i < _goalQueue.size(); i++)
{
if (_goalQueue[i].goalType == SteerLib::GOAL_TYPE_SEEK_STATIC_TARGET)
{
Util::DrawLib::drawFlag(_goalQueue[i].targetLocation, agentColor, 2);
}
}
// Draw curve path
curve.drawCurve(agentColor);
#endif
}
void SearchAgent::draw()
{
#ifdef ENABLE_GUI
// if the agent is selected, do some annotations just for demonstration
if (gEngine->isAgentSelected(this)) {
Util::Ray ray;
ray.initWithUnitInterval(__position, _forward);
float t = 0.0f;
SteerLib::SpatialDatabaseItem * objectFound;
Util::DrawLib::drawLine(ray.pos, ray.eval(1.0f));
if (gSpatialDatabase->trace(ray, t, objectFound, this, false)) {
Util::DrawLib::drawAgentDisc(__position, _forward, _radius, Util::gBlue);
}
else {
Util::DrawLib::drawAgentDisc(__position, _forward, _radius);
}
}
else {
Util::DrawLib::drawAgentDisc(__position, _forward, _radius, Util::gGray40);
}
if (_goalQueue.front().goalType == SteerLib::GOAL_TYPE_SEEK_STATIC_TARGET) {
Util::DrawLib::drawFlag(_goalQueue.front().targetLocation);
}
if(__path.size()>0)
{
for(int i = 1; i<__path.size(); ++i)
Util::DrawLib::drawLine(__path[i-1], __path[i], Util::Color(1.0f, 0.0f, 0.0f), 2);
Util::DrawLib::drawCircle(__path[__path.size()-1], Util::Color(0.0f, 1.0f, 0.0f));
}
#endif
}
void SocialForcesAgent::draw()
{
#ifdef ENABLE_GUI
// if the agent is selected, do some annotations just for demonstration
if (gEngine->isAgentSelected(this))
{
Util::Ray ray;
ray.initWithUnitInterval(_position, _forward);
float t = 0.0f;
SteerLib::SpatialDatabaseItem * objectFound;
Util::DrawLib::drawLine(ray.pos, ray.eval(1.0f));
if (gSpatialDatabase->trace(ray, t, objectFound, this, false))
{
Util::DrawLib::drawAgentDisc(_position, _forward, _radius, Util::gBlue);
}
else {
Util::DrawLib::drawAgentDisc(_position, _forward, _radius);
}
Util::DrawLib::drawFlag( this->currentGoal().targetLocation, Color(0.5f,0.8f,0), 2);
if ( this->currentGoal().goalType == GOAL_TYPE_AXIS_ALIGNED_BOX_GOAL )
{
Color color(0.4,0.9,0.4);
DrawLib::glColor(color);
DrawLib::drawQuad(Point(this->currentGoal().targetRegion.xmin, 0.1, this->currentGoal().targetRegion.zmin),
Point(this->currentGoal().targetRegion.xmin, 0.1, this->currentGoal().targetRegion.zmax),
Point(this->currentGoal().targetRegion.xmax, 0.1, this->currentGoal().targetRegion.zmax),
Point(this->currentGoal().targetRegion.xmax, 0.1, this->currentGoal().targetRegion.zmin));
}
int i;
for (i=0; ( _waypoints.size() > 1 ) && (i < (_waypoints.size() - 1)); i++)
{
DrawLib::drawLine(_waypoints.at(i), _waypoints.at(i+1), gYellow);
DrawLib::drawStar(_waypoints.at(i), Util::Vector(1,0,0), 0.34f, gBlue);
}
// DrawLib::drawStar(_waypoints.at(i), Util::Vector(1,0,0), 0.34f, gBlue);
}
else {
Util::DrawLib::drawAgentDisc(_position, _radius, this->_color);
}
if (_goalQueue.front().goalType == SteerLib::GOAL_TYPE_SEEK_STATIC_TARGET) {
Util::DrawLib::drawFlag(_goalQueue.front().targetLocation);
}
#ifdef DRAW_COLLISIONS
std::set<SteerLib::SpatialDatabaseItemPtr> _neighbors;
gSpatialDatabase->getItemsInRange(_neighbors, _position.x-(this->_radius * 3), _position.x+(this->_radius * 3),
_position.z-(this->_radius * 3), _position.z+(this->_radius * 3), dynamic_cast<SteerLib::SpatialDatabaseItemPtr>(this));
for (std::set<SteerLib::SpatialDatabaseItemPtr>::iterator neighbor = _neighbors.begin(); neighbor != _neighbors.end(); neighbor++)
{
if ( (*neighbor)->isAgent() && (*neighbor)->computePenetration(this->position(), this->_radius) > 0.00001f)
{
Util::DrawLib::drawStar(
this->position()
+
(
(
dynamic_cast<AgentInterface*>(*neighbor)->position()
-
this->position()
)
/2), Util::Vector(1,0,0), 0.8f, gRed);
// Util::DrawLib::drawStar(this->position(), Util::Vector(1,0,0), 1.14f, gRed);
}
}
#endif
#ifdef DRAW_HISTORIES
__oldPositions.push_back(position());
int points = 0;
float mostPoints = 100.0f;
while ( __oldPositions.size() > mostPoints )
{
__oldPositions.pop_front();
}
for (int q = __oldPositions.size()-1 ; q > 0 && __oldPositions.size() > 1; q--)
{
DrawLib::drawLineAlpha(__oldPositions.at(q), __oldPositions.at(q-1),gBlack, q/(float)__oldPositions.size());
}
#endif
#ifdef DRAW_ANNOTATIONS
for (int i=0; ( _waypoints.size() > 1 ) && (i < (_waypoints.size() - 1)); i++)
{
if ( gEngine->isAgentSelected(this) )
{
DrawLib::drawLine(_waypoints.at(i), _waypoints.at(i+1), gYellow);
}
else
{
//DrawLib::drawLine(_waypoints.at(i), _waypoints.at(i+1), gBlack);
}
}
for (int i=0; i < (_waypoints.size()); i++)
{
DrawLib::drawStar(_waypoints.at(i), Util::Vector(1,0,0), 0.34f, gBlue);
}
for (int i=0; ( _midTermPath.size() > 1 ) && (i < (_midTermPath.size() - 1)); i++)
{
if ( gEngine->isAgentSelected(this) )
{
DrawLib::drawLine(_midTermPath.at(i), _midTermPath.at(i+1), gMagenta);
}
else
{
// DrawLib::drawLine(_midTermPath.at(i), _midTermPath.at(i+1), gCyan);
}
}
DrawLib::drawLine(position(), this->_currentLocalTarget, gGray10);
DrawLib::drawStar(this->_currentLocalTarget+Util::Vector(0,0.001,0), Util::Vector(1,0,0), 0.24f, gGray10);
/*
// draw normals and closest points on walls
std::set<SteerLib::ObstacleInterface * > tmp_obs = gEngine->getObstacles();
for (std::set<SteerLib::ObstacleInterface * >::iterator tmp_o = tmp_obs.begin(); tmp_o != tmp_obs.end(); tmp_o++)
{
Util::Vector normal = calcWallNormal( *tmp_o );
std::pair<Util::Point,Util::Point> line = calcWallPointsFromNormal(* tmp_o, normal);
Util::Point midpoint = Util::Point((line.first.x+line.second.x)/2, ((line.first.y+line.second.y)/2)+1,
(line.first.z+line.second.z)/2);
DrawLib::drawLine(midpoint, midpoint+normal, gGreen);
// Draw the closes point as well
std::pair<float, Util::Point> min_stuff = minimum_distance(line.first, line.second, position());
DrawLib::drawStar(min_stuff.second, Util::Vector(1,0,0), 0.34f, gGreen);
}
*/
#endif
#endif
}
void AgentInterface::draw()
{
#ifdef ENABLE_GUI
#ifdef DRAW_HISTORIES
__oldPositions.push_back(position());
float mostPoints = 100.0f;
while ( __oldPositions.size() > mostPoints )
{
__oldPositions.pop_front();
}
for (int q = __oldPositions.size()-1 ; q > 0 && __oldPositions.size() > 1; q--)
{
DrawLib::drawLineAlpha(__oldPositions.at(q), __oldPositions.at(q-1),gBlack, q/(float)__oldPositions.size());
}
#endif
Util::Vector adjust = Util::Vector(0.0,0.6,0.0);
if (getSimulationEngine()->isAgentSelected(this))
{
Util::Ray ray;
ray.initWithUnitInterval(_position, _forward);
float t = 0.0f;
SteerLib::SpatialDatabaseItem * objectFound;
Util::DrawLib::drawLine(ray.pos + adjust, ray.eval(1.0f));
// if (getSimulationEngine()->getSpatialDatabase()->trace(ray, t, objectFound, this, false))
{
Util::DrawLib::drawAgentDisc(_position, _forward, _radius, Util::gBlue);
}
// else
{
// Util::DrawLib::drawAgentDisc(_position, _forward, _radius);
}
Util::DrawLib::drawFlag( this->currentGoal().targetLocation, Color(0.5f,0.8f,0), 2);
if ( this->currentGoal().goalType == GOAL_TYPE_AXIS_ALIGNED_BOX_GOAL )
{
Color color(0.4,0.9,0.4);
DrawLib::glColor(color);
DrawLib::drawQuad(Point(this->currentGoal().targetRegion.xmin, 0.1, this->currentGoal().targetRegion.zmin),
Point(this->currentGoal().targetRegion.xmin, 0.1, this->currentGoal().targetRegion.zmax),
Point(this->currentGoal().targetRegion.xmax, 0.1, this->currentGoal().targetRegion.zmax),
Point(this->currentGoal().targetRegion.xmax, 0.1, this->currentGoal().targetRegion.zmin));
}
if ( _midTermPath.size() > 0 )
{
// DrawLib::drawStar(_midTermPath.at(0), Util::Vector(1,0,0), 0.34f, gBlue);
DrawLib::drawLine(this->position(), _midTermPath.at(0), gOrange, 1.5f);
}
for (size_t p=1; ( _midTermPath.size() > 1 ) && p < _midTermPath.size(); p++)
{
DrawLib::drawLine(_midTermPath.at(p), _midTermPath.at(p-1), gOrange, 1.5f);
// DrawLib::drawStar(_midTermPath.at(p), Util::Vector(1,0,0), 0.34f, gOrange);
// std::cout << "point " << p << ", " << _midTermPath.at(p) << std::endl;
}
int i;
for (i=0; ( _waypoints.size() > 1 ) && (i < (_waypoints.size() - 1)); i++)
{
// DrawLib::drawLine(_waypoints.at(i)+adjust, _waypoints.at(i+1)+adjust, gYellow);
// DrawLib::drawStar(_waypoints.at(i)+adjust, Util::Vector(1,0,0), 0.34f, gBlue);
}
// DrawLib::drawStar(_waypoints.at(i), Util::Vector(1,0,0), 0.34f, gBlue);
// draw line to current localTarget
// DrawLib::drawLine(position()+adjust, this->_currentLocalTarget+adjust, gYellow);
// DrawLib::drawLine(position()+adjust, position()+_prefVelocity+adjust, Util::gCyan, 20.0f);
if (false)
{
Util::Vector _rightSide = rightSideInXZPlane(this->forward()*this->radius());
SpatialDatabaseItemPtr dummyObject;
Ray lineOfSightTestRight, lineOfSightTestLeft, lineOfSightTestCentre, lineOfSightTestBack;
Util::Point tmp_pos;
// lineOfSightTestRight.initWithUnitInterval(_position + _radius*_rightSide, target - (_position + _radius*_rightSide));
// lineOfSightTestLeft.initWithUnitInterval(_position + _radius*(_rightSide), target - (_position - _radius*_rightSide));
tmp_pos = _position + _rightSide + (Util::Vector(0.0,0.0,0.0));
lineOfSightTestRight.initWithUnitInterval(tmp_pos, this->_currentLocalTarget - tmp_pos);
DrawLib::drawRay(lineOfSightTestRight, gGray60);
tmp_pos = _position + (-_rightSide) + (Util::Vector(0.0,0.0,0.0));
lineOfSightTestLeft.initWithUnitInterval(tmp_pos, this->_currentLocalTarget - tmp_pos);
DrawLib::drawRay(lineOfSightTestLeft, gGray60);
tmp_pos = _position - this->forward()*this->radius() ;
lineOfSightTestBack.initWithUnitInterval(tmp_pos, this->_currentLocalTarget - tmp_pos);
DrawLib::drawRay(lineOfSightTestBack, gGray60);
lineOfSightTestCentre.initWithUnitInterval(_position, this->_currentLocalTarget - _position);
}
}
else {
Util::DrawLib::drawAgentDisc(_position, _radius, this->_color);
}
if (_goalQueue.front().goalType == SteerLib::GOAL_TYPE_SEEK_STATIC_TARGET) {
Util::DrawLib::drawFlag(_goalQueue.front().targetLocation);
}
#endif
}
void CurveAgent::draw()
{
#ifdef ENABLE_GUI
// if the agent is selected, do some annotations just for demonstration
if (gEngine->isAgentSelected(this)) {
Util::Ray ray;
ray.initWithUnitInterval(__position, _forward);
float t = 0.0f;
SteerLib::SpatialDatabaseItem * objectFound;
Util::DrawLib::drawLine(ray.pos, ray.eval(1.0f));
if (gSpatialDatabase->trace(ray, t, objectFound, this, false)) {
//Draw pyramid
glPushMatrix();
{
Util::DrawLib::glTranslate(__position);
Util::DrawLib::glColor(agentColor);
glScalef(_radius, _radius, _radius);
glDisable(GL_CULL_FACE);
glBegin(GL_TRIANGLES);
//Back tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, 1.0f);
glVertex3f(1.0f, 0.0f, 1.0f);
//Left tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, 1.0f);
glVertex3f(-1.0f, 0.0f, -1.0f);
//Right tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(1.0f, 0.0f, 1.0f);
glVertex3f(1.0f, 0.0f, -1.0f);
//Front tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, -1.0f);
glVertex3f(1.0f, 0.0f, -1.0f);
glEnd();
glEnable(GL_CULL_FACE);
}
glPopMatrix();
}
else {
//Draw pyramid
glPushMatrix();
{
Util::DrawLib::glTranslate(__position);
Util::DrawLib::glColor(agentColor);
glScalef(_radius, _radius, _radius);
glDisable(GL_CULL_FACE);
glBegin(GL_TRIANGLES);
//Back tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, 1.0f);
glVertex3f(1.0f, 0.0f, 1.0f);
//Left tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, 1.0f);
glVertex3f(-1.0f, 0.0f, -1.0f);
//Right tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(1.0f, 0.0f, 1.0f);
glVertex3f(1.0f, 0.0f, -1.0f);
//Front tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, -1.0f);
glVertex3f(1.0f, 0.0f, -1.0f);
glEnd();
glEnable(GL_CULL_FACE);
}
glPopMatrix();
}
}
else {
//Draw pyramid
glPushMatrix();
{
Util::DrawLib::glTranslate(__position);
Util::DrawLib::glColor(agentColor);
glScalef(_radius, _radius, _radius);
glDisable(GL_CULL_FACE);
glBegin(GL_TRIANGLES);
//Back tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, 1.0f);
glVertex3f(1.0f, 0.0f, 1.0f);
//Left tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, 1.0f);
glVertex3f(-1.0f, 0.0f, -1.0f);
//Right tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(1.0f, 0.0f, 1.0f);
glVertex3f(1.0f, 0.0f, -1.0f);
//Front tri
glVertex3f(0.0f, 2.0f, 0.0f);
glVertex3f(-1.0f, 0.0f, -1.0f);
glVertex3f(1.0f, 0.0f, -1.0f);
glEnd();
glEnable(GL_CULL_FACE);
}
glPopMatrix();
}
// Draw flags for all goal targets
for (int i = 0; i < _goalQueue.size(); i++)
{
if (_goalQueue[i].goalType == SteerLib::GOAL_TYPE_SEEK_STATIC_TARGET)
{
Util::DrawLib::drawFlag(_goalQueue[i].targetLocation, agentColor, 2);
}
}
// Draw curve path
curve.drawCurve(agentColor);
#endif
}