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ultimatepp/uppdev/robot/main.cpp
cxl 351994a6cc Adding uppdev.... 
git-svn-id: svn://ultimatepp.org/upp/trunk@328 f0d560ea-af0d-0410-9eb7-867de7ffcac7
2008-08-15 08:36:24 +00:00

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#include "robot.h"
int OpenGL::InitGL(GLvoid) // All Setup For OpenGL Goes Here
{
if (!LoadGLTextures()) // Jump To Texture Loading Routine ( NEW )
{
return FALSE; // If Texture Didn't Load Return FALSE
}
glEnable(GL_TEXTURE_2D); // Enable Texture Mapping ( NEW )
glShadeModel(GL_SMOOTH); // Enable Smooth Shading
glClearColor(0.0f, 0.0f, 0.0f, 0.5f); // Black Background
glClearDepth(1.0f); // Depth Buffer Setup
glEnable(GL_DEPTH_TEST); // Enables Depth Testing
glDepthFunc(GL_LEQUAL); // The Type Of Depth Testing To Do
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST); // Really Nice Perspective Calculations
return TRUE; // Initialization Went OK
}
void OpenGL::GLPaint()
{
//StdView();
glShadeModel(GL_SMOOTH);
glClearColor(0.0f, 0.0f, 0.0f, 0.5f);
glClearDepth(1.0f);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
Size sz = GetSize();
glViewport(0, 0, (GLsizei)sz.cx, (GLsizei)sz.cy);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(55.0f, (GLfloat)(sz.cx)/(GLfloat)(sz.cy), 1.0f, 100.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear The Screen And The Depth Buffer
glLoadIdentity(); // Reset The View
glRotatef(45,1.0f,0,0);
//glRotatef(sceneroty,0,1.0,0);
glTranslatef(-0.0f,-50.0f,-50.0f); // Move Right 1.5 Units And Into The Screen 7.0
//glRotatef(rquad,1.0f,1.0f,1.0f); // Rotate The Quad On The X axis ( NEW )
glBindTexture(GL_TEXTURE_2D, texture[0]);
glBegin(GL_QUADS); // Draw A Quad
glColor3f(0.0f,1.0f,0.0f); // Set The Color To Green
glTexCoord2f(0.0f, 1.0f);glVertex3f( szerokosc/2, 0.0f,-dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(1.0f, 0.0f);glVertex3f(-szerokosc/2, 0.0f,-dlugosc/2); // Top Left Of The Quad (Top)
glTexCoord2f(1.0f, 1.0f);glVertex3f(-szerokosc/2, 0.0f, dlugosc/2); // Bottom Left Of The Quad (Top)
glTexCoord2f(0.0f, 1.0f);glVertex3f( szerokosc/2, 0.0f, dlugosc/2); // Bottom Right Of The Quad (Top)
glColor3f(1.0f,0.0f,0.0f);
glTexCoord2f(0.0f, 1.0f);glVertex3f( szerokosc/2, 0.0f,-dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(20.0f, 1.0f);glVertex3f( szerokosc/2, wysokosc,-dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(20.0f, 0.0f);glVertex3f(-szerokosc/2, wysokosc,-dlugosc/2); // Top Left Of The Quad (Top)
glTexCoord2f(1.0f, 0.0f);glVertex3f(-szerokosc/2, 0.0f,-dlugosc/2); // Top Left Of The Quad (Top)
glColor3f(1.0f,1.0f,0.0f);
glTexCoord2f(0.0f, 1.0f);glVertex3f( szerokosc/2, 0.0f, dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(20.0f, 1.0f);glVertex3f( szerokosc/2, wysokosc, dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(20.0f, 0.0f);glVertex3f(-szerokosc/2, wysokosc, dlugosc/2); // Top Left Of The Quad (Top)
glTexCoord2f(1.0f, 0.0f);glVertex3f(-szerokosc/2, 0.0f, dlugosc/2); // Top Left Of The Quad (Top)
glColor3f(1.0f,0.0f,1.0f);
glTexCoord2f(0.0f, 1.0f);glVertex3f( szerokosc/2, 0.0f, dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(20.0f, 1.0f);glVertex3f( szerokosc/2, wysokosc, dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(20.0f, 0.0f);glVertex3f(szerokosc/2, wysokosc, -dlugosc/2); // Top Left Of The Quad (Top)
glTexCoord2f(1.0f, 0.0f);glVertex3f(szerokosc/2, 0.0f, -dlugosc/2); // Top Left Of The Quad (Top)
glColor3f(0.0f,1.0f,1.0f);
glTexCoord2f(0.0f, 1.0f);glVertex3f( -szerokosc/2, 0.0f, dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(20.0f, 1.0f);glVertex3f( -szerokosc/2, wysokosc, dlugosc/2); // Top Right Of The Quad (Top)
glTexCoord2f(20.0f, 0.0f);glVertex3f(-szerokosc/2, wysokosc, -dlugosc/2); // Top Left Of The Quad (Top)
glTexCoord2f(1.0f, 0.0f);glVertex3f(-szerokosc/2, 0.0f, -dlugosc/2); // Top Left Of The Quad (Top)
/* glColor3f(1.0f,0.5f,0.0f); // Set The Color To Orange
glVertex3f( 1.0f,-1.0f, 1.0f); // Top Right Of The Quad (Bottom)
glVertex3f(-1.0f,-1.0f, 1.0f); // Top Left Of The Quad (Bottom)
glVertex3f(-1.0f,-1.0f,-1.0f); // Bottom Left Of The Quad (Bottom)
glVertex3f( 1.0f,-1.0f,-1.0f); // Bottom Right Of The Quad (Bottom)
glColor3f(1.0f,0.0f,0.0f); // Set The Color To Red
glVertex3f( 1.0f, 1.0f, 1.0f); // Top Right Of The Quad (Front)
glVertex3f(-1.0f, 1.0f, 1.0f); // Top Left Of The Quad (Front)
glVertex3f(-1.0f,-1.0f, 1.0f); // Bottom Left Of The Quad (Front)
glVertex3f( 1.0f,-1.0f, 1.0f); // Bottom Right Of The Quad (Front)
glColor3f(1.0f,1.0f,0.0f); // Set The Color To Yellow
glVertex3f( 1.0f,-1.0f,-1.0f); // Top Right Of The Quad (Back)
glVertex3f(-1.0f,-1.0f,-1.0f); // Top Left Of The Quad (Back)
glVertex3f(-1.0f, 1.0f,-1.0f); // Bottom Left Of The Quad (Back)
glVertex3f( 1.0f, 1.0f,-1.0f); // Bottom Right Of The Quad (Back)
glColor3f(0.0f,0.0f,1.0f); // Set The Color To Blue
glVertex3f(-1.0f, 1.0f, 1.0f); // Top Right Of The Quad (Left)
glVertex3f(-1.0f, 1.0f,-1.0f); // Top Left Of The Quad (Left)
glVertex3f(-1.0f,-1.0f,-1.0f); // Bottom Left Of The Quad (Left)
glVertex3f(-1.0f,-1.0f, 1.0f); // Bottom Right Of The Quad (Left)
glColor3f(1.0f,0.0f,1.0f); // Set The Color To Violet
glVertex3f( 1.0f, 1.0f,-1.0f); // Top Right Of The Quad (Right)
glVertex3f( 1.0f, 1.0f, 1.0f); // Top Left Of The Quad (Right)
glVertex3f( 1.0f,-1.0f, 1.0f); // Bottom Left Of The Quad (Right)
glVertex3f( 1.0f,-1.0f,-1.0f); // Bottom Right Of The Quad (Right)
*/
glEnd();
for (int i=0;i<ilP;i++)
{
glBegin(GL_QUADS); // Draw A Quad
glColor3f(1.0f,1.0f,1.0f); // Set The Color To Green
glVertex3f( listaP[i].x1, wysokosc,listaP[i].y1); // Top Right Of The Quad (Top)
glVertex3f(listaP[i].x2, wysokosc,listaP[i].y1); // Top Left Of The Quad (Top)
glVertex3f(listaP[i].x2, wysokosc,listaP[i].y2); // Bottom Left Of The Quad (Top)
glVertex3f(listaP[i].x1, wysokosc,listaP[i].y2); // Bottom Right Of The Quad (Top)
glColor3f(1.0f,0.0f,0.0f); // Set The Color To Green
glVertex3f( listaP[i].x1, wysokosc,listaP[i].y1); // Top Right Of The Quad (Top)
glVertex3f(listaP[i].x2, wysokosc,listaP[i].y1); // Top Left Of The Quad (Top)
glVertex3f(listaP[i].x2, 0,listaP[i].y1); // Top Left Of The Quad (Top)
glVertex3f( listaP[i].x1, 0,listaP[i].y1); // Top Right Of The Quad (Top)
glColor3f(1.0f,0.0f,0.0f); // Set The Color To Green
glVertex3f( listaP[i].x1, wysokosc,listaP[i].y2); // Top Right Of The Quad (Top)
glVertex3f(listaP[i].x2, wysokosc,listaP[i].y2); // Top Left Of The Quad (Top)
glVertex3f(listaP[i].x2, 0,listaP[i].y2); // Top Left Of The Quad (Top)
glVertex3f( listaP[i].x1, 0,listaP[i].y2); // Top Right Of The Quad (Top)
glColor3f(1.0f,0.0f,0.0f); // Set The Color To Green
glVertex3f( listaP[i].x1, wysokosc,listaP[i].y1); // Top Right Of The Quad (Top)
glVertex3f(listaP[i].x1, wysokosc,listaP[i].y2); // Top Left Of The Quad (Top)
glVertex3f(listaP[i].x1, 0,listaP[i].y2); // Top Left Of The Quad (Top)
glVertex3f( listaP[i].x1, 0,listaP[i].y1); // Top Right Of The Quad (Top)
glColor3f(1.0f,0.0f,0.0f); // Set The Color To Green
glVertex3f( listaP[i].x2, wysokosc,listaP[i].y1); // Top Right Of The Quad (Top)
glVertex3f(listaP[i].x2, wysokosc,listaP[i].y2); // Top Left Of The Quad (Top)
glVertex3f(listaP[i].x2, 0,listaP[i].y2); // Top Left Of The Quad (Top)
glVertex3f( listaP[i].x2, 0,listaP[i].y1); // Top Right Of The Quad (Top)
glEnd();
}
glTranslatef(ry,1.0f,rx); // Move Right 1.5 Units And Into The Screen 7.0
//glRotatef(rquad*100,1.0f,1.0f,1.0f); // Rotate The Quad On The X axis ( NEW )
glBegin(GL_QUADS); // Draw A Quad
glColor3f(1.0f,1.0f,1.0f); // Set The Color To Green
glVertex3f( 1.0f, 1.0f,-1.0f); // Top Right Of The Quad (Top)
glVertex3f(-1.0f, 1.0f,-1.0f); // Top Left Of The Quad (Top)
glVertex3f(-1.0f, 1.0f, 1.0f); // Bottom Left Of The Quad (Top)
glVertex3f( 1.0f, 1.0f, 1.0f); // Bottom Right Of The Quad (Top)
glColor3f(1.0f,0.5f,0.0f); // Set The Color To Orange
glVertex3f( 1.0f,-1.0f, 1.0f); // Top Right Of The Quad (Bottom)
glVertex3f(-1.0f,-1.0f, 1.0f); // Top Left Of The Quad (Bottom)
glVertex3f(-1.0f,-1.0f,-1.0f); // Bottom Left Of The Quad (Bottom)
glVertex3f( 1.0f,-1.0f,-1.0f); // Bottom Right Of The Quad (Bottom)
glColor3f(1.0f,0.0f,0.0f); // Set The Color To Red
glVertex3f( 1.0f, 1.0f, 1.0f); // Top Right Of The Quad (Front)
glVertex3f(-1.0f, 1.0f, 1.0f); // Top Left Of The Quad (Front)
glVertex3f(-1.0f,-1.0f, 1.0f); // Bottom Left Of The Quad (Front)
glVertex3f( 1.0f,-1.0f, 1.0f); // Bottom Right Of The Quad (Front)
glColor3f(1.0f,1.0f,0.0f); // Set The Color To Yellow
glVertex3f( 1.0f,-1.0f,-1.0f); // Top Right Of The Quad (Back)
glVertex3f(-1.0f,-1.0f,-1.0f); // Top Left Of The Quad (Back)
glVertex3f(-1.0f, 1.0f,-1.0f); // Bottom Left Of The Quad (Back)
glVertex3f( 1.0f, 1.0f,-1.0f); // Bottom Right Of The Quad (Back)
glColor3f(0.0f,0.0f,1.0f); // Set The Color To Blue
glVertex3f(-1.0f, 1.0f, 1.0f); // Top Right Of The Quad (Left)
glVertex3f(-1.0f, 1.0f,-1.0f); // Top Left Of The Quad (Left)
glVertex3f(-1.0f,-1.0f,-1.0f); // Bottom Left Of The Quad (Left)
glVertex3f(-1.0f,-1.0f, 1.0f); // Bottom Right Of The Quad (Left)
glColor3f(1.0f,0.0f,1.0f); // Set The Color To Violet
glVertex3f( 1.0f, 1.0f,-1.0f); // Top Right Of The Quad (Right)
glVertex3f( 1.0f, 1.0f, 1.0f); // Top Left Of The Quad (Right)
glVertex3f( 1.0f,-1.0f, 1.0f); // Bottom Left Of The Quad (Right)
glVertex3f( 1.0f,-1.0f,-1.0f); // Bottom Right Of The Quad (Right)
glEnd(); // Done Drawing The Quad
sceneroty+=1;
};
AUX_RGBImageRec *OpenGL::LoadBMP(char *Filename) // Loads A Bitmap Image
{
FILE *File=NULL; // File Handle
if (!Filename) // Make Sure A Filename Was Given
{
return NULL; // If Not Return NULL
}
File=fopen(Filename,"r"); // Check To See If The File Exists
if (File) // Does The File Exist?
{
fclose(File); // Close The Handle
return auxDIBImageLoad(Filename); // Load The Bitmap And Return A Pointer
}
return NULL; // If Load Failed Return NULL
}
int OpenGL::LoadGLTextures() // Load Bitmaps And Convert To Textures
{
int Status=FALSE; // Status Indicator
AUX_RGBImageRec *TextureImage[1]; // Create Storage Space For The Texture
memset(TextureImage,0,sizeof(void *)*1); // Set The Pointer To NULL
// Load The Bitmap, Check For Errors, If Bitmap's Not Found Quit
if (TextureImage[0]=LoadBMP("data/nehe.bmp"))
{
Status=TRUE; // Set The Status To TRUE
glGenTextures(1, &texture[0]); // Create The Texture
// Typical Texture Generation Using Data From The Bitmap
glBindTexture(GL_TEXTURE_2D, texture[0]);
glTexImage2D(GL_TEXTURE_2D, 0, 3, TextureImage[0]->sizeX, TextureImage[0]->sizeY, 0, GL_RGB, GL_UNSIGNED_BYTE, TextureImage[0]->data);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
}
if (TextureImage[0]) // If Texture Exists
{
if (TextureImage[0]->data) // If Texture Image Exists
{
free(TextureImage[0]->data); // Free The Texture Image Memory
}
free(TextureImage[0]); // Free The Image Structure
}
return Status; // Return The Status
}
GLvoid OpenGL::ReSizeGLScene(GLsizei width, GLsizei height)
{
if (height==0) // Prevent A Divide By Zero By
{
height=1; // Making Height Equal One
}
glViewport(0,0,width,height); // Reset The Current Viewport
glMatrixMode(GL_PROJECTION); // Select The Projection Matrix
glLoadIdentity(); // Reset The Projection Matrix
// Calculate The Aspect Ratio Of The Window
gluPerspective(45.0f,(GLfloat)width/(GLfloat)height,0.1f,100.0f);
glMatrixMode(GL_MODELVIEW); // Select The Modelview Matrix
glLoadIdentity(); // Reset The Modelview Matrix
};
void OpenGL::NextMove()
{
if ((rx+dx+1>dlugosc/2) || (rx+dx-1<-dlugosc/2)) dx=-dx;
if ((ry+dy+1>szerokosc/2) || (ry+dy-1<-szerokosc/2)) dy=-dy;
for (int i=0;i<ilP;i++)
{
if ((rx+dx+1>listaP[i].x1) && (rx+dx+1<listaP[i].x2)&&(ry+dy+1>listaP[i].y1) && (ry+dy+1<listaP[i].y2)) dx=-dx;
//if ((ry+dy+1>listaP[i].y1) && (ry+dy+1<listaP[i].x2)) dy=-dy;
}
rx+=dx;
ry+=dy;
}
robot::robot()
{
gl.SetFrame(InsetFrame());
Add(gl.HSizePos(10, 10).VSizePos(110, 10));
gl.wysokosc=2;
gl.lookupdown=0;
gl.sceneroty=0;
gl.dx=1.3f;
gl.dy=1.3f;
gl.rx=0;
gl.ry=0;
gl.InitGL();
CtrlLayout(zadanie);
tab.Add(zadanie, "Parametry zadania");
zadanie.SizePos();
CtrlLayout(teren);
tab.Add(teren, "Parametry terenu");
teren.SizePos();
teren.lista.AddColumn("x1",0).Edit(x1);
teren.lista.AddColumn("y1",0).Edit(y1);
teren.lista.AddColumn("x2",0).Edit(x2);
teren.lista.AddColumn("y2",0).Edit(y2);
teren.lista.Appending().Removing();
CtrlLayout(probota);
tab.Add(probota, "Parametry robota");
probota.SizePos();
SetTimeCallback(-1, THISBACK(Change));
teren.Bteren <<= THISBACK(UstawTeren);
teren.ilP<<=1;
teren.Edlugosc<<=60;
teren.Eszerokosc<<=80;
teren.lista.Set(0,0,-25);
teren.lista.Set(0,1,-20);
teren.lista.Set(0,2,-5);
teren.lista.Set(0,3,20);
//teren.lista.OddRowColor(SWhite,SWhite);
// teren.lista.SetEditable();
// teren.lista.StartEdit(0);
// teren.lista.IsEdit=true;
teren.ilP.WhenAction=THISBACK(ilPrzeszkod);
ilPrzeszkod();
UstawTeren();
Sizeable().Zoomable();
CtrlLayout(*this, "Symulacja ruchu robota");
}
void robot::Change()
{
gl.NextMove();
gl.Refresh();
}
void robot::ilPrzeszkod()
{
if (teren.ilP>0 && teren.ilP<100) teren.lista.SetCount(teren.ilP);
}
void robot::UstawTeren()
{
_przeszkoda P;
gl.ilP=teren.ilP;
gl.listaP.Clear();
for (int i=0;i<gl.ilP;i++)
{
P.x1=(double)teren.lista.Get(i,0);
P.y1=(double)teren.lista.Get(i,1);
P.x2=(double)teren.lista.Get(i,2);
P.y2=(double)teren.lista.Get(i,3);
gl.listaP.Add(P);
}
gl.szerokosc=(GLfloat)teren.Eszerokosc;
gl.dlugosc=(GLfloat)teren.Edlugosc;
gl.Refresh();
}
GUI_APP_MAIN
{
robot().Run();
}
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