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-rw-r--r--dev/a2-carsoccer/ball.cc2
-rw-r--r--dev/a2-carsoccer/ball.h1
-rw-r--r--dev/a2-carsoccer/car.cc3
-rw-r--r--dev/a2-carsoccer/car_soccer.cc157
4 files changed, 151 insertions, 12 deletions
diff --git a/dev/a2-carsoccer/ball.cc b/dev/a2-carsoccer/ball.cc
index 10c70df..9e41447 100644
--- a/dev/a2-carsoccer/ball.cc
+++ b/dev/a2-carsoccer/ball.cc
@@ -7,7 +7,7 @@ Ball::Ball() : radius_(2.6f) {
}
Ball::~Ball() {
-
+ Reset();
}
diff --git a/dev/a2-carsoccer/ball.h b/dev/a2-carsoccer/ball.h
index a43eb31..77344eb 100644
--- a/dev/a2-carsoccer/ball.h
+++ b/dev/a2-carsoccer/ball.h
@@ -27,6 +27,7 @@ public:
// Resets the ball's position and velocity to initial values.
void Reset();
+
void Draw(QuickShapes quickShapes, Matrix4 modelMatrix, Matrix4 viewMatrix, Matrix4 projMatrix);
diff --git a/dev/a2-carsoccer/car.cc b/dev/a2-carsoccer/car.cc
index 4b27cfe..ae1a857 100644
--- a/dev/a2-carsoccer/car.cc
+++ b/dev/a2-carsoccer/car.cc
@@ -8,6 +8,7 @@ Car::Car() : size_(3,2,4), collision_radius_(2.5) {
}
Car::~Car() {
+
}
@@ -41,6 +42,8 @@ float Car::speed() {
}
void Car::set_speed(float s) {
+ if (s > 50)
+ s = 50;
speed_ = s;
}
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);
+
}
generated by cgit v1.2.3 (git 2.46.0) at 2024-11-23 18:59:10 +0000