Merge branch 'master' of github.umn.edu:umn-csci-4611-f21/repo-strap012

1 files changed, 146 insertions, 11 deletions

diff --git a/dev/a2-carsoccer/car_soccer.cc b/dev/a2-carsoccer/car_soccer.cc
index 9fac102..c4de304 100644
--- a/dev/a2-carsoccer/car_soccer.cc
+++ b/dev/a2-carsoccer/car_soccer.cc
@@ -85,17 +85,99 @@ Vector2 CarSoccer::joystick_direction() {
 // dt is for "Delta Time", the elapsed time in seconds since the last frame

 void CarSoccer::UpdateSimulation(double dt) {

     Vector2 dpad_dir = joystick_direction();

-    std::cout << "D-Pad Direction: " << dpad_dir << std::endl;

+    //std::cout << "D-Pad Direction: " << dpad_dir << std::endl;

 

     // Here's where you shound do your "simulation", updating the positions of the

     // car and ball based on the elapsed time and checking for collisions.  Filling

     // in this routine is the main part of the assignment.

 

-    // Example: This is not the "correct way" to drive the car, but this code

-    // will at least move the car around for testing

-    float metersPerSec = 10.0f;

-    car_.set_position(car_.position() + metersPerSec * Vector3(dpad_dir[0], 0, -dpad_dir[1]) * dt);

-    

+    /* Ball Routines */

+    // ball collision with car

+    if ((ball_.position() - car_.position()).Length() <= ball_.radius() + car_.collision_radius()) {

+        Vector3 normal = (ball_.position() - car_.position()).ToUnit();

+        // collision displacement

+        while ((car_.position() - ball_.position()).Length() < ball_.radius() + car_.collision_radius()) {

+            ball_.set_position(ball_.position() + normal * 0.1);

+        }

+        // bounce backwards

+        Vector3 carBounce = ball_.velocity() - car_.velocity();

+        ball_.set_velocity(0.8 * (car_.velocity() + carBounce - 2 * (carBounce.Dot(normal) * normal)));

+    }

+    // ball collision with various things

+    // there's probably a way to do this with less boilerplate but it works

+    if (ball_.position().y() - ball_.radius() <= 0) {

+        // ground

+        ball_.set_position(Point3(ball_.position().x(), ball_.radius(), ball_.position().z()));

+        ball_.set_velocity(0.8 * (ball_.velocity() - 2 * (ball_.velocity().Dot(Vector3(0, 1, 0)) * Vector3(0, 1, 0))));

+    }

+    if (ball_.position().y() - ball_.radius() >= 35) {

+        // ceiling

+        ball_.set_position(Point3(ball_.position().x(), 35-ball_.radius(), ball_.position().z()));

+        ball_.set_velocity(0.8*(ball_.velocity() - 2 * (ball_.velocity().Dot(Vector3(0, -1, 0)) * Vector3(0, -1, 0))));

+    }

+    if (ball_.position().z() + ball_.radius() >= 50) {

+        // home

+        ball_.set_position(Point3(ball_.position().x(), ball_.position().y(),50 - ball_.radius()));

+        ball_.set_velocity(0.8 * (ball_.velocity() - 2 * (ball_.velocity().Dot(Vector3(0, 0, -1)) * Vector3(0, 0, -1))));

+    }

+    if (ball_.position().z() + ball_.radius() <= -50) {

+        // away

+        ball_.set_position(Point3(ball_.position().x(), ball_.position().y(), ball_.radius() - 50));

+        ball_.set_velocity(0.8 * (ball_.velocity() - 2 * (ball_.velocity().Dot(Vector3(0, 0, 1)) * Vector3(0, 0, 1))));

+    }

+    if (ball_.position().x() + ball_.radius() <= -40) {

+        // left

+        ball_.set_position(Point3(ball_.radius() - 40, ball_.position().y(), ball_.position().z()));

+        ball_.set_velocity(0.8 * (ball_.velocity() - 2 * (ball_.velocity().Dot(Vector3(1, 0, 0)) * Vector3(1, 0, 0))));

+    }

+    if (ball_.position().x() + ball_.radius() >= 40) {

+        // right

+        ball_.set_position(Point3(40 - ball_.radius(), ball_.position().y(), ball_.position().z()));

+        ball_.set_velocity(0.8 * (ball_.velocity() - 2 * (ball_.velocity().Dot(Vector3(-1, 0, 0)) * Vector3(-1, 0, 0))));

+    }

+    // ball gravity

+    Vector3 gravity = 30 * Vector3(0, -1, 0);

+    ball_.set_velocity(ball_.velocity() + gravity * dt);

+    ball_.set_position(ball_.position() + dt * ball_.velocity());

+

+    /* Car Routines */

+    car_.set_speed(car_.speed() + 20.0f * dt);

+    car_.set_forward(Vector3(dpad_dir[0], 0, -dpad_dir[1]));

+    car_.set_position(car_.position() + car_.speed() * Vector3(dpad_dir[0], 0, -dpad_dir[1]) * dt);

+    if (car_.position().z() + car_.collision_radius() >= 50) {

+        // home

+        car_.set_position(Point3(car_.position().x(), car_.position().y(), 50 - car_.collision_radius()));

+    }

+    if (car_.position().z() + car_.collision_radius() <= -50) {

+        // away

+        car_.set_position(Point3(car_.position().x(), car_.position().y(), car_.collision_radius() - 50));

+    }

+    if (car_.position().x() + car_.collision_radius() <= -40) {

+        // left

+        std::cout << "left collide" << std::endl;

+        car_.set_position(Point3(car_.collision_radius() - 40, car_.position().y(), car_.position().z()));

+    }

+    if (car_.position().x() + car_.collision_radius() >= 40) {

+        // right

+        car_.set_position(Point3(40 - car_.collision_radius(), car_.position().y(), car_.position().z()));

+    }

+

+    /* Goal Routines */

+    if (ball_.position().x() + ball_.radius() >= -20 && ball_.position().x() + ball_.radius() <= 20

+        && ball_.position().y() - ball_.radius() >= 0 && ball_.position().y() - ball_.radius() <= 10

+        && ball_.position().z() + ball_.radius() >= 50) {

+        //Goal scenario: home

+        ball_.Reset();

+        car_.Reset();

+    }

+    if (ball_.position().x() + ball_.radius() >= -20 && ball_.position().x() + ball_.radius() <= 20

+        && ball_.position().y() - ball_.radius() >= 0 && ball_.position().y() - ball_.radius() <= 10

+        && ball_.position().z() + ball_.radius() <= -50) {

+        //Goal scenario: away

+        ball_.Reset();

+        car_.Reset();

+    }

+

 }

 

 

@@ -115,20 +197,73 @@ void CarSoccer::InitOpenGL() {
 

 void CarSoccer::DrawUsingOpenGL() {

     // Draw the crowd as a fullscreen background image

-    quickShapes_.DrawFullscreenTexture(Color(1,1,1), crowdTex_);

+    quickShapes_.DrawFullscreenTexture(Color(1, 1, 1), crowdTex_);

 

     // Draw the car and the ball

     car_.Draw(quickShapes_, modelMatrix_, viewMatrix_, projMatrix_);

     ball_.Draw(quickShapes_, modelMatrix_, viewMatrix_, projMatrix_);

-    

+

     // Draw the field with the field texture on it.

-    Color col(16.0f/255.0f, 46.0f/255.0f, 9.0f/255.0f);

+    Color col(16.0f / 255.0f, 46.0f / 255.0f, 9.0f / 255.0f);

     Matrix4 M = Matrix4::Translation(Vector3(0.0f, -0.201f, 0.0f)) * Matrix4::Scale(Vector3(50.0f, 1.0f, 60.0f));

     quickShapes_.DrawSquare(modelMatrix_ * M, viewMatrix_, projMatrix_, col);

     M = Matrix4::Translation(Vector3(0.0f, -0.2f, 0.0f)) * Matrix4::Scale(Vector3(40.0f, 1.0f, 50.0f));

-    quickShapes_.DrawSquare(modelMatrix_ * M, viewMatrix_, projMatrix_, Color(1,1,1), fieldTex_);

-    

+    quickShapes_.DrawSquare(modelMatrix_ * M, viewMatrix_, projMatrix_, Color(1, 1, 1), fieldTex_);

+

     // You should add drawing the goals and the boundary of the playing area

     // using quickShapes_.DrawLines()

+

+    // Bounding box

+    std::vector<Point3> line;

+    line.push_back(Point3(1.0, 0.0, 1.0));   line.push_back(Point3(1.0, 35.0, 1.0));

+    line.push_back(Point3(-1.0, 0.0, -1.0)); line.push_back(Point3(-1.0, 35.0, -1.0));

+    line.push_back(Point3(-1.0, 0.0, 1.0));  line.push_back(Point3(-1.0, 35.0, 1.0));

+    line.push_back(Point3(1.0, 0.0, -1.0));  line.push_back(Point3(1.0, 35.0, -1.0));

+    line.push_back(Point3(-1.0, 35.0, 1.0)); line.push_back(Point3(1.0, 35.0, 1.0));

+    line.push_back(Point3(1.0, 35.0, 1.0));  line.push_back(Point3(1.0, 35.0, -1.0));

+    line.push_back(Point3(1.0, 35.0, -1.0)); line.push_back(Point3(-1.0, 35.0, -1.0));

+    line.push_back(Point3(-1.0, 35.0, -1.0)); line.push_back(Point3(-1.0, 35.0, 1.0));

+    quickShapes_.DrawLines(modelMatrix_ * M, viewMatrix_, projMatrix_, Color(1, 1, 1, 0.1), line, QuickShapes::LinesType::LINES, 0.001);

+    

+    // Away Goal

+    std::vector<Point3> awayBounds;

+    awayBounds.push_back(Point3(20.0 / 80.0, 0.0, -1));

+    awayBounds.push_back(Point3(20.0 / 80.0, 10.0, -1));

+    awayBounds.push_back(Point3(-20.0 / 80.0, 10.0, -1));

+    awayBounds.push_back(Point3(-20.0 / 80.0, 0.0, -1));

+    quickShapes_.DrawLines(modelMatrix_ * M, viewMatrix_, projMatrix_, Color(0, 0, 1), awayBounds, QuickShapes::LinesType::LINE_LOOP, .01);

+

+    std::vector<Point3> awayGrid;

+    for (int i = 0; i < 10; i++) {

+        //Vertial grid

+        awayGrid.push_back(Point3(-20.0 / 80.0 + i / 20.0, 0.0, -1));

+        awayGrid.push_back(Point3(-20.0 / 80.0 + i / 20.0, 10.0, -1));

+    }

+    for (int j = 0; j < 10; j++) {

+        //Horz grid

+        awayGrid.push_back(Point3(-20.0 / 80.0, j, -1));

+        awayGrid.push_back(Point3(20.0 / 80.0, j, -1));

+    } quickShapes_.DrawLines(modelMatrix_ * M, viewMatrix_, projMatrix_, Color(0, 0, 1, 0.2), awayGrid, QuickShapes::LinesType::LINES, .003);

+

+

+    // Home Goal

+    std::vector<Point3> homeBounds;

+    homeBounds.push_back(Point3(20.0 / 80.0, 0.0, 1));

+    homeBounds.push_back(Point3(20.0 / 80.0, 10.0, 1));

+    homeBounds.push_back(Point3(-20.0 / 80.0, 10.0, 1));

+    homeBounds.push_back(Point3(-20.0 / 80.0, 0.0, 1));

+    quickShapes_.DrawLines(modelMatrix_ * M, viewMatrix_, projMatrix_, Color(1, 0, 0), homeBounds, QuickShapes::LinesType::LINE_LOOP, .01);

     

+    std::vector<Point3> homeGrid;

+    for (int i = 0; i < 10; i++) {

+        //Vertial grid

+        homeGrid.push_back(Point3(-20.0 / 80.0 + i / 20.0, 0.0, 1));

+        homeGrid.push_back(Point3(-20.0 / 80.0 + i / 20.0, 10.0, 1));

+    }

+    for (int j = 0; j < 10; j++) {

+        //Horz grid

+        homeGrid.push_back(Point3(-20.0 / 80.0, j, 1));

+        homeGrid.push_back(Point3(20.0 / 80.0, j, 1));

+    } quickShapes_.DrawLines(modelMatrix_ * M, viewMatrix_, projMatrix_, Color(1, 0, 0, 0.2), homeGrid, QuickShapes::LinesType::LINES, .003);

+

 }