food_ring.cpp

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/*
        Challenge - 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--2012:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU Lesser General Public License as published
        by the Free Software Foundation, version 3 of the License.
        
        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 Lesser General Public License for more details.
        
        You should have received a copy of the GNU Lesser 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()
        {
                GLint lid=glGenLists(1);
                glNewList(lid, GL_COMPILE);
                
                glBegin (GL_TRIANGLES);
                for(size_t i=0;i<sizeof(face_indicies)/sizeof(face_indicies[0]);i++)
                {
                        for(size_t 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;
        };
}