void CPFA_qt_user_functions::DrawOnRobot(CFootBotEntity& entity) {
CPFA_controller& c = dynamic_cast<CPFA_controller&>(entity.GetControllableEntity().GetController());
if(c.IsHoldingFood() == true) {
DrawCylinder(CVector3(0.0, 0.0, 0.3), CQuaternion(), loopFunctions.FoodRadius, 0.025, CColor::BLACK);
}
if(loopFunctions.DrawIDs == 1) {
/* Disable lighting, so it does not interfere with the chosen text color */
glDisable(GL_LIGHTING);
/* Disable face culling to be sure the text is visible from anywhere */
glDisable(GL_CULL_FACE);
/* Set the text color */
CColor cColor(CColor::BLACK);
glColor3ub(cColor.GetRed(), cColor.GetGreen(), cColor.GetBlue());
/* The position of the text is expressed wrt the reference point of the footbot
* For a foot-bot, the reference point is the center of its base.
* See also the description in
* $ argos3 -q foot-bot
*/
// Disable for now
//GetOpenGLWidget().renderText(0.0, 0.0, 0.5, // position
// entity.GetId().c_str()); // text
/* Restore face culling */
glEnable(GL_CULL_FACE);
/* Restore lighting */
glEnable(GL_LIGHTING);
}
}
// draw function for adding graphics to a foot-bot
void iAnt_qt_user_functions::DrawFood(CFootBotEntity& entity) {
iAnt_controller& c = dynamic_cast<iAnt_controller&>
(entity.GetControllableEntity().GetController());
UpdateDrawInWorldData(c);
if(c.IsHoldingFood() == true) {
//#ifdef __APPLE__
//Edit here for drawing trails
DrawCylinder(CVector3(0.0f, 0.0f, 0.3f), CQuaternion(), 0.05f, 0.025f, CColor::BLACK);
//#else
// DrawCylinder(0.05f, 0.025f, CVector3(0.0f, 0.0f, 0.3f), CColor::BLACK);
//#endif
}
}
bool CLandmarks::InChain(CFootBotEntity& c_fb) {
/* Return value: true = robot is part of a chain, false otherwise */
bool bRetVal = false;
/* Get reference to robot controller */
CLuaController& cContr = dynamic_cast<CLuaController&>(c_fb.GetControllableEntity().GetController());
/* Get 'robot' table */
lua_getglobal(cContr.GetLuaState(), "robot");
/* Get 'in_chain' variable */
lua_getfield(cContr.GetLuaState(), -1, "in_chain");
if((! lua_isnil(cContr.GetLuaState(), -1)) && // 'in_chain' variable found
(lua_isnumber(cContr.GetLuaState(), -1))) { // its value is a number
/* Get value as a real number */
Real fInChain = lua_tonumber(cContr.GetLuaState(), -1);
/* If not zero, robot is in a chain */
if(fInChain != 0.0) {
bRetVal = true;
}
}
/* Clean up Lua stack */
lua_pop(cContr.GetLuaState(), 2);
/* Return result */
return bRetVal;
}
void CBuzzQT::Draw(CFootBotEntity& c_entity) {
Draw(dynamic_cast<CBuzzController&>(c_entity.GetControllableEntity().GetController()));
}
void CRecruitmentQTUserFunctions::Draw(CFootBotEntity& c_entity) {
CBTFootbotRandomForagingController& cController = dynamic_cast<CBTFootbotRandomForagingController&>(c_entity.GetControllableEntity().GetController());
}