1 files changed, 269 insertions, 134 deletions
diff --git a/dev/a2-carsoccer/car_soccer.cc b/dev/a2-carsoccer/car_soccer.cc
index c5619a8..c4de304 100644
--- a/dev/a2-carsoccer/car_soccer.cc
+++ b/dev/a2-carsoccer/car_soccer.cc
@@ -1,134 +1,269 @@
-/** CSci-4611 Assignment 2:  Car Soccer
- */
-
-#include "car_soccer.h"
-#include "config.h"
-
-
-// Remember in C++, the .h file list all the functions and member variables that are part of the class!
-// Look there first to understand what is part of the CarSoccer class, then look below to see how each
-// function is implemented.
-
-
-CarSoccer::CarSoccer() : GraphicsApp(1024,768, "Car Soccer") {
-    // If you are having trouble driving the car with the keybaord, you can set this to true to use
-    // the mouse instead.  The mouse controls are based on the postion of the mouse cursor on the window.
-    // There is a "dead zone" in the middle of the window, and if you move the mouse up/down or left/right
-    // outside of that zone, it is like pushing the up/down and/or left/right keys on the keyboard
-    use_mouse_ = false;
-        
-    // Define a search path for finding data files (images and shaders)
-    searchPath_.push_back(".");
-    searchPath_.push_back("./data");
-    searchPath_.push_back(DATA_DIR_INSTALL);
-    searchPath_.push_back(DATA_DIR_BUILD);
-}
-
-CarSoccer::~CarSoccer() {
-}
-
-
-void CarSoccer::OnMouseMove(const Point2& pos, const Vector2& delta)
-{
-    mouse_pos_ = PixelsToNormalizedDeviceCoords(pos);
-}
-
-void CarSoccer::OnSpecialKeyDown(int key, int scancode, int modifiers) {
-    if (key == GLFW_KEY_SPACE) {
-        // Here's where you could call some form of launch_ball();
-        ball_.Reset();
-    }
-}
-
-/// This is a little utility function that is helpful.  It treats the arrow keys like a joystick or D-pad on a game controller
-/// and returns the direction you are pressing as a 2D vector, taking into account the fact that you might be holding
-/// down more than one key at a time.
-Vector2 CarSoccer::joystick_direction() {
-    Vector2 dir;
-
-    if (use_mouse_) {
-        // threshold defines the size of the "dead zone" in the middle of the screen
-        // if the mouse's x,y position falls outside of this, then it is like pushing
-        // the corresponding key on the keyboard
-        const float threshold = 0.2f;
-        dir[0] = 0;
-        if (mouse_pos_[0] < -threshold) {
-            dir[0] = -1;
-        }
-        else if (mouse_pos_[0] > threshold) {
-            dir[0] = 1;
-        }
-        dir[1] = 0;
-        if (mouse_pos_[1] < -threshold) {
-            dir[1] = -1;
-        }
-        else if (mouse_pos_[1] > threshold) {
-            dir[1] = 1;
-        }
-    }
-    else {
-        // the default user interface is to use the arrow keys on the keyboard.
-        // like a D-pad on a game controller, you can hold more than one key down at a time if you want.
-        if (IsKeyDown(GLFW_KEY_LEFT))
-            dir[0]--;
-        if (IsKeyDown(GLFW_KEY_RIGHT))
-            dir[0]++;
-        if (IsKeyDown(GLFW_KEY_UP))
-            dir[1]++;
-        if (IsKeyDown(GLFW_KEY_DOWN))
-            dir[1]--;
-    }
-
-    return dir;
-}
-
-// 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;
-
-    // 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);
-    
-}
-
-
-void CarSoccer::InitOpenGL() {
-    // Set up the camera in a good position to see the entire field
-    projMatrix_ = Matrix4::Perspective(60, aspect_ratio(), 1, 1000);
-    modelMatrix_ = Matrix4::LookAt(Point3(0,60,70), Point3(0,0,10), Vector3(0,1,0));
- 
-    // Set a background color for the screen (don't worry if you get a depricated warning on this line in OSX)
-    glClearColor(0.8f, 0.8f, 0.8f, 1.0f);
-    
-    // Load some image files we'll use
-    fieldTex_.InitFromFile(Platform::FindFile("pitch.png", searchPath_));
-    crowdTex_.InitFromFile(Platform::FindFile("crowd.png", searchPath_));
-}
-
-
-void CarSoccer::DrawUsingOpenGL() {
-    // Draw the crowd as a fullscreen background image
-    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);
-    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_);
-    
-    // You should add drawing the goals and the boundary of the playing area
-    // using quickShapes_.DrawLines()
-    
-}
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+#include "car_soccer.h"
+#include "config.h"
+
+
+// Remember in C++, the .h file list all the functions and member variables that are part of the class!
+// Look there first to understand what is part of the CarSoccer class, then look below to see how each
+// function is implemented.
+
+
+CarSoccer::CarSoccer() : GraphicsApp(1024,768, "Car Soccer") {
+    // If you are having trouble driving the car with the keybaord, you can set this to true to use
+    // the mouse instead.  The mouse controls are based on the postion of the mouse cursor on the window.
+    // There is a "dead zone" in the middle of the window, and if you move the mouse up/down or left/right
+    // outside of that zone, it is like pushing the up/down and/or left/right keys on the keyboard
+    use_mouse_ = false;
+        
+    // Define a search path for finding data files (images and shaders)
+    searchPath_.push_back(".");
+    searchPath_.push_back("./data");
+    searchPath_.push_back(DATA_DIR_INSTALL);
+    searchPath_.push_back(DATA_DIR_BUILD);
+}
+
+CarSoccer::~CarSoccer() {
+}
+
+
+void CarSoccer::OnMouseMove(const Point2& pos, const Vector2& delta)
+{
+    mouse_pos_ = PixelsToNormalizedDeviceCoords(pos);
+}
+
+void CarSoccer::OnSpecialKeyDown(int key, int scancode, int modifiers) {
+    if (key == GLFW_KEY_SPACE) {
+        // Here's where you could call some form of launch_ball();
+        ball_.Reset();
+    }
+}
+
+/// This is a little utility function that is helpful.  It treats the arrow keys like a joystick or D-pad on a game controller
+/// and returns the direction you are pressing as a 2D vector, taking into account the fact that you might be holding
+/// down more than one key at a time.
+Vector2 CarSoccer::joystick_direction() {
+    Vector2 dir;
+
+    if (use_mouse_) {
+        // threshold defines the size of the "dead zone" in the middle of the screen
+        // if the mouse's x,y position falls outside of this, then it is like pushing
+        // the corresponding key on the keyboard
+        const float threshold = 0.2f;
+        dir[0] = 0;
+        if (mouse_pos_[0] < -threshold) {
+            dir[0] = -1;
+        }
+        else if (mouse_pos_[0] > threshold) {
+            dir[0] = 1;
+        }
+        dir[1] = 0;
+        if (mouse_pos_[1] < -threshold) {
+            dir[1] = -1;
+        }
+        else if (mouse_pos_[1] > threshold) {
+            dir[1] = 1;
+        }
+    }
+    else {
+        // the default user interface is to use the arrow keys on the keyboard.
+        // like a D-pad on a game controller, you can hold more than one key down at a time if you want.
+        if (IsKeyDown(GLFW_KEY_LEFT))
+            dir[0]--;
+        if (IsKeyDown(GLFW_KEY_RIGHT))
+            dir[0]++;
+        if (IsKeyDown(GLFW_KEY_UP))
+            dir[1]++;
+        if (IsKeyDown(GLFW_KEY_DOWN))
+            dir[1]--;
+    }
+
+    return dir;
+}
+
+// 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;
+
+    // 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.
+
+    /* 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();
+    }
+
+}
+
+
+void CarSoccer::InitOpenGL() {
+    // Set up the camera in a good position to see the entire field
+    projMatrix_ = Matrix4::Perspective(60, aspect_ratio(), 1, 1000);
+    modelMatrix_ = Matrix4::LookAt(Point3(0,60,70), Point3(0,0,10), Vector3(0,1,0));
+ 
+    // Set a background color for the screen (don't worry if you get a depricated warning on this line in OSX)
+    glClearColor(0.8f, 0.8f, 0.8f, 1.0f);
+    
+    // Load some image files we'll use
+    fieldTex_.InitFromFile(Platform::FindFile("pitch.png", searchPath_));
+    crowdTex_.InitFromFile(Platform::FindFile("crowd.png", searchPath_));
+}
+
+
+void CarSoccer::DrawUsingOpenGL() {
+    // Draw the crowd as a fullscreen background image
+    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);
+    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_);
+
+    // 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);
+
+}