void MapPresenter::initializeScene(const QRectF& rect,
const Ogre::ColourValue& bkcolor,
const Ogre::Vector3& eye_pos,
const Ogre::Vector3& target_pos)
{
if (!view_->renderWindow())
return;
OgreContext* pOgreContext = WorkspaceRoot::instance()->ogreContext();
scene_ = pOgreContext->createScene("MainRenderScene");
//----------------------------------scene rendering test-------------------
// Setup animation default
Ogre::Animation::setDefaultInterpolationMode(Ogre::Animation::IM_LINEAR);
Ogre::Animation::setDefaultRotationInterpolationMode(Ogre::Animation::RIM_LINEAR);
// Set ambient light
scene_->setAmbientLight(Ogre::ColourValue(0.5, 0.5, 1));
//create camera
active_camera_ = scene_->createCamera("MainRenderScene.Camera");
//initialise camera man
camera_man_= new SdkCameraMan(active_camera_);
camera_man_->setStyle(OgreBites::CS_ORBIT);
// Position it at 500 in Z direction
active_camera_->setPosition(eye_pos);
// Look back along -Z
active_camera_->lookAt(target_pos);
//camera->setPolygonMode(Ogre::PM_WIREFRAME);
//set aspect ratio determine left and right
active_camera_->setAspectRatio(rect.width() / rect.height());
//set fovy determine top and bottom
float near_distance = 10;
float far_distance = 10000;
float fov = 2 * ::atan(rect.height() * 0.5F / near_distance);
//camera->setFOVy(Ogre::Radian(fov));
//set near and far distance
active_camera_->setNearClipDistance(near_distance);
active_camera_->setFarClipDistance(far_distance);
//add viewport
Ogre::RenderWindow* pRenderWindow = view_->renderWindow();
Viewport* vp = pRenderWindow->addViewport(active_camera_);
vp->setBackgroundColour(bkcolor);
//------------------------------rendering test---------------------
// Create the robot scene
Entity* robotEntity = scene_->createEntity("robot", "robot.mesh");
// Add entity to the scene node
// Place and rotate to face the Z direction
Vector3 robotLoc(1500, 1480, 0);
Quaternion robotRot(Degree(-90), Vector3(0, 1, 0));
scene_->getRootSceneNode()->createChildSceneNode(robotLoc, robotRot)->attachObject(robotEntity);
/*AnimationState* robotWalkState = robotEntity->getAnimationState("Walk");
robotWalkState->setEnabled(true);*/
// Create the ninja entity
Entity *ent = scene_->createEntity("ninja", "ninja.mesh");
// Add entity to the scene node
// Place and rotate to face the Z direction
Vector3 ninjaLoc(1460, 1470, 0);
Quaternion ninjaRot(Degree(180), Vector3(0, 1, 0));
SceneNode *ninjaNode = scene_->getRootSceneNode()->createChildSceneNode(ninjaLoc, ninjaRot);
ninjaNode->scale(0.5, 0.5, 0.5); // He's twice as big as our robot...
ninjaNode->attachObject(ent);
/*AnimationState* ninjaWalkState = ent->getAnimationState("Walk");
ninjaWalkState->setEnabled(true);*/
// Give it a little ambience with lights
Ogre::Light* l;
l = scene_->createLight("BlueLight");
l->setPosition(1500,1500,100);
l->setDiffuseColour(0.5, 0.5, 1.0);
l = scene_->createLight("GreenLight");
l->setPosition(1460,1450,-100);
l->setDiffuseColour(0.5, 1.0, 0.5);
camera_man_->setTarget(ninjaNode);
//---------------------------------------------rendering test-------------------------
view_->sceneLoaded();
}
bool NavigationDefault::execute(int rid, Position FinalPos, Position &TargetPos)
{
Vector2D currentLoc = robotLoc(rid,true);
Vector2D nearestOBS;
bool foundNearest = false;
//for oppROBOTS
for(int i=0; i < PLAYERS_MAX_NUM ;i++)
{
if(!_wm->oppRobot[i].isValid)
continue;
Vector2D rbTemp = _wm->oppRobot[i].pos.loc;
if(intersectOBS(rbTemp,currentLoc,FinalPos.loc))
{
if(!foundNearest)
{
nearestOBS = rbTemp;
foundNearest = true;
}
else if (currentLoc.dist2(rbTemp) <= currentLoc.dist2(nearestOBS) )
{
nearestOBS = rbTemp;
}
}
}
//for ourROBOT
for(int i=0; i < PLAYERS_MAX_NUM ; i++)
{
if(!_wm->oppRobot[i].isValid)
continue;
if(i==rid)
continue;
Vector2D rbTemp = _wm->ourRobot[i].pos.loc;
if(intersectOBS(rbTemp,currentLoc,FinalPos.loc))
{
if(!foundNearest)
{
nearestOBS = rbTemp;
foundNearest = true;
}
else if (currentLoc.dist2(rbTemp) <= currentLoc.dist2(nearestOBS) )
{
nearestOBS = rbTemp;
}
}
}
//check ball
if(_wm->ball.isValid)
{
Vector2D balltmp = _wm->ball.pos.loc;
if(intersectOBS(balltmp,currentLoc,FinalPos.loc)){
if(!foundNearest)
{
nearestOBS = balltmp;
foundNearest = true;
}
else if (currentLoc.dist2(balltmp) <= currentLoc.dist2(nearestOBS) )
{
nearestOBS = balltmp;
}
}
}
if(!foundNearest)
TargetPos = FinalPos;
else {
Line2D interline(currentLoc,nearestOBS);
Circle2D obs(nearestOBS,300);
Vector2D res1,res2;
obs.intersection(interline.perpendicular(nearestOBS),&res1,&res2);
if(FinalPos.loc.dist2(res1) <= FinalPos.loc.dist2(res2))
{
FinalPos.loc = res1;
TargetPos = FinalPos;
}else
{
FinalPos.loc = res2;
TargetPos = FinalPos;
}
}
return true;
}
