/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/targets/challenge/objects/food_ring.cpp

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/*
        VRCS - Virtual Robot Challenge System
        Copyright (C) 1999 - 2008:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
        3D models
        Copyright (C) 2008:
                Basilio Noris
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2009:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                Mobots group (http://mobots.epfl.ch)
                Laboratory of Robotics Systems (http://lsro.epfl.ch)
                EPFL, Lausanne (http://www.epfl.ch)
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU General Public License as published by
        the Free Software Foundation, either version 3 of the License, or
        any other version as decided by the two original authors
        Stephane Magnenat and Valentin Longchamp.
        
        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.
        
        You should have received a copy of the GNU General Public License
        along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include <QtOpenGL>
#define BYTE unsigned char

namespace Enki
{
        // 48 Verticies
        // 50 Texture Coordinates
        // 48 Normals
        // 48 Triangles
        
        static BYTE face_indicies[48][9] = {
        // Object #-1
                {2,24,1 ,0,1,2 ,0,1,2 }, {2,25,24 ,0,3,1 ,0,3,1 }, {3,25,2 ,4,3,0 ,4,3,0 },
                {3,26,25 ,4,5,3 ,4,5,3 }, {4,26,3 ,6,5,4 ,6,5,4 }, {4,27,26 ,6,7,5 ,6,7,5 },
                {5,27,4 ,8,7,6 ,8,7,6 }, {5,28,27 ,8,9,7 ,8,9,7 }, {6,28,5 ,10,9,8 ,10,9,8 },
                {6,29,28 ,10,11,9 ,10,11,9 }, {7,29,6 ,12,11,10 ,12,11,10 },
                {7,30,29 ,12,13,11 ,12,13,11 }, {8,30,7 ,14,13,12 ,14,13,12 },
                {8,31,30 ,14,15,13 ,14,15,13 }, {9,31,8 ,16,15,14 ,16,15,14 },
                {9,32,31 ,16,17,15 ,16,17,15 }, {10,32,9 ,18,17,16 ,18,17,16 },
                {10,33,32 ,18,19,17 ,18,19,17 }, {11,33,10 ,20,19,18 ,20,19,18 },
                {11,34,33 ,20,21,19 ,20,21,19 }, {12,34,11 ,22,21,20 ,22,21,20 },
                {12,35,34 ,22,23,21 ,22,23,21 }, {13,35,12 ,24,23,22 ,24,23,22 },
                {13,36,35 ,24,25,23 ,24,25,23 }, {14,36,13 ,26,25,24 ,26,25,24 },
                {14,37,36 ,26,27,25 ,26,27,25 }, {15,37,14 ,28,27,26 ,28,27,26 },
                {15,38,37 ,28,29,27 ,28,29,27 }, {16,38,15 ,30,29,28 ,30,29,28 },
                {16,39,38 ,30,31,29 ,30,31,29 }, {17,39,16 ,32,31,30 ,32,31,30 },
                {17,40,39 ,32,33,31 ,32,33,31 }, {18,40,17 ,34,33,32 ,34,33,32 },
                {18,41,40 ,34,35,33 ,34,35,33 }, {19,41,18 ,36,35,34 ,36,35,34 },
                {19,42,41 ,36,37,35 ,36,37,35 }, {20,42,19 ,38,37,36 ,38,37,36 },
                {20,43,42 ,38,39,37 ,38,39,37 }, {21,43,20 ,40,39,38 ,40,41,42 },
                {21,44,43 ,40,41,39 ,40,43,41 }, {22,44,21 ,42,41,40 ,44,43,40 },
                {22,45,44 ,42,43,41 ,44,45,43 }, {23,45,22 ,44,43,42 ,46,45,44 },
                {23,46,45 ,44,45,43 ,46,47,45 }, {0,46,23 ,46,45,44 ,48,47,46 },
                {0,47,46 ,46,47,45 ,48,49,47 }, {1,47,0 ,2,47,46 ,2,49,48 },
                {1,24,47 ,2,1,47 ,2,1,49 }
        };
        static GLfloat vertices [48][3] = {
        {-0.0225f,-0.0389711f,0.00525f},{-0.0116469f,-0.0434667f,0.00525f},{0.0f,-0.045f,0.00525f},
        {0.0116469f,-0.0434667f,0.00525f},{0.0225f,-0.0389711f,0.00525f},{0.0318198f,-0.0318198f,0.00525f},
        {0.0389711f,-0.0225f,0.00525f},{0.0434667f,-0.0116469f,0.00525f},{0.045f,0.0f,0.00525f},
        {0.0434667f,0.0116469f,0.00525f},{0.0389711f,0.0225f,0.00525f},{0.0318198f,0.0318198f,0.00525f},
        {0.0225f,0.0389711f,0.00525f},{0.0116469f,0.0434667f,0.00525f},{0.0f,0.045f,0.00525f},
        {-0.0116469f,0.0434667f,0.00525f},{-0.0225f,0.0389711f,0.00525f},{-0.0318198f,0.0318198f,0.00525f},
        {-0.0389711f,0.0225f,0.00525f},{-0.0434667f,0.0116469f,0.00525f},{-0.045f,0.0f,0.00525f},
        {-0.0434667f,-0.0116469f,0.00525f},{-0.0389711f,-0.0225f,0.00525f},{-0.0318198f,-0.0318198f,0.00525f},
        {-0.0116469f,-0.0434667f,0.045875f},{0.0f,-0.045f,0.045875f},{0.0116469f,-0.0434667f,0.045875f},
        {0.0225f,-0.0389711f,0.045875f},{0.0318198f,-0.0318198f,0.045875f},{0.0389711f,-0.0225f,0.045875f},
        {0.0434667f,-0.0116469f,0.045875f},{0.045f,0.0f,0.045875f},{0.0434667f,0.0116469f,0.045875f},
        {0.0389711f,0.0225f,0.045875f},{0.0318198f,0.0318198f,0.045875f},{0.0225f,0.0389711f,0.045875f},
        {0.0116469f,0.0434667f,0.045875f},{0.0f,0.045f,0.045875f},{-0.0116469f,0.0434667f,0.045875f},
        {-0.0225f,0.0389711f,0.045875f},{-0.0318198f,0.0318198f,0.045875f},{-0.0389711f,0.0225f,0.045875f},
        {-0.0434667f,0.0116469f,0.045875f},{-0.045f,0.0f,0.045875f},{-0.0434667f,-0.0116469f,0.045875f},
        {-0.0389711f,-0.0225f,0.045875f},{-0.0318198f,-0.0318198f,0.045875f},{-0.0225f,-0.0389711f,0.045875f}
        };
        static GLfloat normals [48][3] = {
        {-0.0438419f,-0.999038f,0.0f},{-0.216222f,-0.976344f,0.0f},{-0.300918f,-0.95365f,0.0f},
        {0.0438419f,-0.999038f,0.0f},{0.216222f,-0.976344f,0.0f},{0.300918f,-0.95365f,0.0f},
        {0.461551f,-0.887114f,0.0f},{0.537487f,-0.843272f,0.0f},{0.675426f,-0.737428f,0.0f},
        {0.737428f,-0.675426f,0.0f},{0.843272f,-0.537487f,0.0f},{0.887114f,-0.461551f,0.0f},
        {0.95365f,-0.300918f,0.0f},{0.976344f,-0.216222f,0.0f},{0.999038f,-0.0438419f,0.0f},
        {0.999038f,0.0438419f,0.0f},{0.976344f,0.216222f,0.0f},{0.95365f,0.300918f,0.0f},
        {0.887114f,0.461551f,0.0f},{0.843272f,0.537487f,0.0f},{0.737428f,0.675426f,0.0f},
        {0.675426f,0.737428f,0.0f},{0.537487f,0.843272f,0.0f},{0.461551f,0.887114f,0.0f},
        {0.300918f,0.95365f,0.0f},{0.216222f,0.976344f,0.0f},{0.0438419f,0.999038f,0.0f},
        {-0.0438419f,0.999038f,0.0f},{-0.216222f,0.976344f,0.0f},{-0.300918f,0.95365f,0.0f},
        {-0.461551f,0.887114f,0.0f},{-0.537487f,0.843272f,0.0f},{-0.675426f,0.737428f,0.0f},
        {-0.737428f,0.675426f,0.0f},{-0.843272f,0.537487f,0.0f},{-0.887114f,0.461551f,0.0f},
        {-0.95365f,0.300918f,0.0f},{-0.976344f,0.216222f,0.0f},{-0.999038f,0.0438419f,0.0f},
        {-0.999038f,-0.0438419f,0.0f},{-0.976344f,-0.216222f,0.0f},{-0.95365f,-0.300918f,0.0f},
        {-0.887114f,-0.461551f,0.0f},{-0.843272f,-0.537487f,0.0f},{-0.737428f,-0.675426f,0.0f},
        {-0.675426f,-0.737428f,0.0f},{-0.537487f,-0.843272f,0.0f},{-0.461551f,-0.887114f,0.0f}
        };
        static GLfloat textures [50][2] = {
        {0.251939f,0.326379f},{0.210595f,0.428389f},{0.210595f,0.326379f},
        {0.251939f,0.428389f},{0.293282f,0.326379f},{0.293282f,0.428389f},
        {0.334626f,0.326379f},{0.334626f,0.428389f},{0.375969f,0.326379f},
        {0.375969f,0.428389f},{0.417313f,0.326379f},{0.417313f,0.428389f},
        {0.458656f,0.326379f},{0.458656f,0.428389f},{0.5f,0.326379f},
        {0.5f,0.428389f},{0.541343f,0.326379f},{0.541343f,0.428389f},
        {0.582687f,0.326379f},{0.582687f,0.428389f},{0.62403f,0.326379f},
        {0.62403f,0.428389f},{0.665374f,0.326379f},{0.665374f,0.428389f},
        {0.706717f,0.326379f},{0.706717f,0.428389f},{0.748061f,0.326379f},
        {0.748061f,0.428389f},{0.789404f,0.326379f},{0.789404f,0.428389f},
        {0.830748f,0.326379f},{0.830748f,0.428389f},{0.872092f,0.326379f},
        {0.872092f,0.428389f},{0.913435f,0.326379f},{0.913435f,0.428389f},
        {0.954778f,0.326379f},{0.954778f,0.428389f},{0.996122f,0.326379f},
        {0.996122f,0.428389f},{0.0452214f,0.326379f},{0.00387793f,0.427763f},
        {0.00387793f,0.326379f},{0.0452214f,0.428389f},{0.086565f,0.326379f},
        {0.086565f,0.428389f},{0.127908f,0.326379f},{0.127908f,0.428389f},
        {0.169252f,0.326379f},{0.169252f,0.428389f}
        };

        GLint GenFeederRing()
        {
                int i;
                int j;
                
                GLint lid=glGenLists(1);
                glNewList(lid, GL_COMPILE);
                
                glBegin (GL_TRIANGLES);
                for(i=0;i<sizeof(face_indicies)/sizeof(face_indicies[0]);i++)
                {
                        for(j=0;j<3;j++)
                        {
                                int vi=face_indicies[i][j];
                                int ni=face_indicies[i][j+3];//Normal index
                                int ti=face_indicies[i][j+6];//Texture index
                                /*glNormal3f (normals[ni][0],normals[ni][1],normals[ni][2]);
                                glTexCoord2f(textures[ti][0],textures[ti][1]);
                                glVertex3f (vertices[vi][0],vertices[vi][1],vertices[vi][2]);*/
                                
                                // rotate 90 deg around z
                                glNormal3f (normals[ni][1],-normals[ni][0],normals[ni][2]);
                                glTexCoord2f(textures[ti][0],textures[ti][1]);
                                glVertex3f (100.f*vertices[vi][1],-100.f*vertices[vi][0],100.f*vertices[vi][2]);
                        }
                }
                glEnd ();
                
                glEndList();
                return lid;
        };
}

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011