aseba: aseba: food_ring.cpp Source File

00001 /*
00002         Challenge - Virtual Robot Challenge System
00003         Copyright (C) 1999--2008:
00004                 Stephane Magnenat <stephane at magnenat dot net>
00005                 (http://stephane.magnenat.net)
00006         3D models
00007         Copyright (C) 2008:
00008                 Basilio Noris
00009         Aseba - an event-based framework for distributed robot control
00010         Copyright (C) 2007--2012:
00011                 Stephane Magnenat <stephane at magnenat dot net>
00012                 (http://stephane.magnenat.net)
00013                 and other contributors, see authors.txt for details
00014         
00015         This program is free software: you can redistribute it and/or modify
00016         it under the terms of the GNU Lesser General Public License as published
00017         by the Free Software Foundation, version 3 of the License.
00018         
00019         This program is distributed in the hope that it will be useful,
00020         but WITHOUT ANY WARRANTY; without even the implied warranty of
00021         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00022         GNU Lesser General Public License for more details.
00023         
00024         You should have received a copy of the GNU Lesser General Public License
00025         along with this program. If not, see <http://www.gnu.org/licenses/>.
00026 */
00027 
00028 #include <QtOpenGL>
00029 #define BYTE unsigned char
00030 
00031 namespace Enki
00032 {
00033         // 48 Verticies
00034         // 50 Texture Coordinates
00035         // 48 Normals
00036         // 48 Triangles
00037         
00038         static BYTE face_indicies[48][9] = {
00039         // Object #-1
00040                 {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 },
00041                 {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 },
00042                 {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 },
00043                 {6,29,28 ,10,11,9 ,10,11,9 }, {7,29,6 ,12,11,10 ,12,11,10 },
00044                 {7,30,29 ,12,13,11 ,12,13,11 }, {8,30,7 ,14,13,12 ,14,13,12 },
00045                 {8,31,30 ,14,15,13 ,14,15,13 }, {9,31,8 ,16,15,14 ,16,15,14 },
00046                 {9,32,31 ,16,17,15 ,16,17,15 }, {10,32,9 ,18,17,16 ,18,17,16 },
00047                 {10,33,32 ,18,19,17 ,18,19,17 }, {11,33,10 ,20,19,18 ,20,19,18 },
00048                 {11,34,33 ,20,21,19 ,20,21,19 }, {12,34,11 ,22,21,20 ,22,21,20 },
00049                 {12,35,34 ,22,23,21 ,22,23,21 }, {13,35,12 ,24,23,22 ,24,23,22 },
00050                 {13,36,35 ,24,25,23 ,24,25,23 }, {14,36,13 ,26,25,24 ,26,25,24 },
00051                 {14,37,36 ,26,27,25 ,26,27,25 }, {15,37,14 ,28,27,26 ,28,27,26 },
00052                 {15,38,37 ,28,29,27 ,28,29,27 }, {16,38,15 ,30,29,28 ,30,29,28 },
00053                 {16,39,38 ,30,31,29 ,30,31,29 }, {17,39,16 ,32,31,30 ,32,31,30 },
00054                 {17,40,39 ,32,33,31 ,32,33,31 }, {18,40,17 ,34,33,32 ,34,33,32 },
00055                 {18,41,40 ,34,35,33 ,34,35,33 }, {19,41,18 ,36,35,34 ,36,35,34 },
00056                 {19,42,41 ,36,37,35 ,36,37,35 }, {20,42,19 ,38,37,36 ,38,37,36 },
00057                 {20,43,42 ,38,39,37 ,38,39,37 }, {21,43,20 ,40,39,38 ,40,41,42 },
00058                 {21,44,43 ,40,41,39 ,40,43,41 }, {22,44,21 ,42,41,40 ,44,43,40 },
00059                 {22,45,44 ,42,43,41 ,44,45,43 }, {23,45,22 ,44,43,42 ,46,45,44 },
00060                 {23,46,45 ,44,45,43 ,46,47,45 }, {0,46,23 ,46,45,44 ,48,47,46 },
00061                 {0,47,46 ,46,47,45 ,48,49,47 }, {1,47,0 ,2,47,46 ,2,49,48 },
00062                 {1,24,47 ,2,1,47 ,2,1,49 }
00063         };
00064         static GLfloat vertices [48][3] = {
00065         {-0.0225f,-0.0389711f,0.00525f},{-0.0116469f,-0.0434667f,0.00525f},{0.0f,-0.045f,0.00525f},
00066         {0.0116469f,-0.0434667f,0.00525f},{0.0225f,-0.0389711f,0.00525f},{0.0318198f,-0.0318198f,0.00525f},
00067         {0.0389711f,-0.0225f,0.00525f},{0.0434667f,-0.0116469f,0.00525f},{0.045f,0.0f,0.00525f},
00068         {0.0434667f,0.0116469f,0.00525f},{0.0389711f,0.0225f,0.00525f},{0.0318198f,0.0318198f,0.00525f},
00069         {0.0225f,0.0389711f,0.00525f},{0.0116469f,0.0434667f,0.00525f},{0.0f,0.045f,0.00525f},
00070         {-0.0116469f,0.0434667f,0.00525f},{-0.0225f,0.0389711f,0.00525f},{-0.0318198f,0.0318198f,0.00525f},
00071         {-0.0389711f,0.0225f,0.00525f},{-0.0434667f,0.0116469f,0.00525f},{-0.045f,0.0f,0.00525f},
00072         {-0.0434667f,-0.0116469f,0.00525f},{-0.0389711f,-0.0225f,0.00525f},{-0.0318198f,-0.0318198f,0.00525f},
00073         {-0.0116469f,-0.0434667f,0.045875f},{0.0f,-0.045f,0.045875f},{0.0116469f,-0.0434667f,0.045875f},
00074         {0.0225f,-0.0389711f,0.045875f},{0.0318198f,-0.0318198f,0.045875f},{0.0389711f,-0.0225f,0.045875f},
00075         {0.0434667f,-0.0116469f,0.045875f},{0.045f,0.0f,0.045875f},{0.0434667f,0.0116469f,0.045875f},
00076         {0.0389711f,0.0225f,0.045875f},{0.0318198f,0.0318198f,0.045875f},{0.0225f,0.0389711f,0.045875f},
00077         {0.0116469f,0.0434667f,0.045875f},{0.0f,0.045f,0.045875f},{-0.0116469f,0.0434667f,0.045875f},
00078         {-0.0225f,0.0389711f,0.045875f},{-0.0318198f,0.0318198f,0.045875f},{-0.0389711f,0.0225f,0.045875f},
00079         {-0.0434667f,0.0116469f,0.045875f},{-0.045f,0.0f,0.045875f},{-0.0434667f,-0.0116469f,0.045875f},
00080         {-0.0389711f,-0.0225f,0.045875f},{-0.0318198f,-0.0318198f,0.045875f},{-0.0225f,-0.0389711f,0.045875f}
00081         };
00082         static GLfloat normals [48][3] = {
00083         {-0.0438419f,-0.999038f,0.0f},{-0.216222f,-0.976344f,0.0f},{-0.300918f,-0.95365f,0.0f},
00084         {0.0438419f,-0.999038f,0.0f},{0.216222f,-0.976344f,0.0f},{0.300918f,-0.95365f,0.0f},
00085         {0.461551f,-0.887114f,0.0f},{0.537487f,-0.843272f,0.0f},{0.675426f,-0.737428f,0.0f},
00086         {0.737428f,-0.675426f,0.0f},{0.843272f,-0.537487f,0.0f},{0.887114f,-0.461551f,0.0f},
00087         {0.95365f,-0.300918f,0.0f},{0.976344f,-0.216222f,0.0f},{0.999038f,-0.0438419f,0.0f},
00088         {0.999038f,0.0438419f,0.0f},{0.976344f,0.216222f,0.0f},{0.95365f,0.300918f,0.0f},
00089         {0.887114f,0.461551f,0.0f},{0.843272f,0.537487f,0.0f},{0.737428f,0.675426f,0.0f},
00090         {0.675426f,0.737428f,0.0f},{0.537487f,0.843272f,0.0f},{0.461551f,0.887114f,0.0f},
00091         {0.300918f,0.95365f,0.0f},{0.216222f,0.976344f,0.0f},{0.0438419f,0.999038f,0.0f},
00092         {-0.0438419f,0.999038f,0.0f},{-0.216222f,0.976344f,0.0f},{-0.300918f,0.95365f,0.0f},
00093         {-0.461551f,0.887114f,0.0f},{-0.537487f,0.843272f,0.0f},{-0.675426f,0.737428f,0.0f},
00094         {-0.737428f,0.675426f,0.0f},{-0.843272f,0.537487f,0.0f},{-0.887114f,0.461551f,0.0f},
00095         {-0.95365f,0.300918f,0.0f},{-0.976344f,0.216222f,0.0f},{-0.999038f,0.0438419f,0.0f},
00096         {-0.999038f,-0.0438419f,0.0f},{-0.976344f,-0.216222f,0.0f},{-0.95365f,-0.300918f,0.0f},
00097         {-0.887114f,-0.461551f,0.0f},{-0.843272f,-0.537487f,0.0f},{-0.737428f,-0.675426f,0.0f},
00098         {-0.675426f,-0.737428f,0.0f},{-0.537487f,-0.843272f,0.0f},{-0.461551f,-0.887114f,0.0f}
00099         };
00100         static GLfloat textures [50][2] = {
00101         {0.251939f,0.326379f},{0.210595f,0.428389f},{0.210595f,0.326379f},
00102         {0.251939f,0.428389f},{0.293282f,0.326379f},{0.293282f,0.428389f},
00103         {0.334626f,0.326379f},{0.334626f,0.428389f},{0.375969f,0.326379f},
00104         {0.375969f,0.428389f},{0.417313f,0.326379f},{0.417313f,0.428389f},
00105         {0.458656f,0.326379f},{0.458656f,0.428389f},{0.5f,0.326379f},
00106         {0.5f,0.428389f},{0.541343f,0.326379f},{0.541343f,0.428389f},
00107         {0.582687f,0.326379f},{0.582687f,0.428389f},{0.62403f,0.326379f},
00108         {0.62403f,0.428389f},{0.665374f,0.326379f},{0.665374f,0.428389f},
00109         {0.706717f,0.326379f},{0.706717f,0.428389f},{0.748061f,0.326379f},
00110         {0.748061f,0.428389f},{0.789404f,0.326379f},{0.789404f,0.428389f},
00111         {0.830748f,0.326379f},{0.830748f,0.428389f},{0.872092f,0.326379f},
00112         {0.872092f,0.428389f},{0.913435f,0.326379f},{0.913435f,0.428389f},
00113         {0.954778f,0.326379f},{0.954778f,0.428389f},{0.996122f,0.326379f},
00114         {0.996122f,0.428389f},{0.0452214f,0.326379f},{0.00387793f,0.427763f},
00115         {0.00387793f,0.326379f},{0.0452214f,0.428389f},{0.086565f,0.326379f},
00116         {0.086565f,0.428389f},{0.127908f,0.326379f},{0.127908f,0.428389f},
00117         {0.169252f,0.326379f},{0.169252f,0.428389f}
00118         };
00119 
00120         GLint GenFeederRing()
00121         {
00122                 GLint lid=glGenLists(1);
00123                 glNewList(lid, GL_COMPILE);
00124                 
00125                 glBegin (GL_TRIANGLES);
00126                 for(size_t i=0;i<sizeof(face_indicies)/sizeof(face_indicies[0]);i++)
00127                 {
00128                         for(size_t j=0;j<3;j++)
00129                         {
00130                                 int vi=face_indicies[i][j];
00131                                 int ni=face_indicies[i][j+3];//Normal index
00132                                 int ti=face_indicies[i][j+6];//Texture index
00133                                 /*glNormal3f (normals[ni][0],normals[ni][1],normals[ni][2]);
00134                                 glTexCoord2f(textures[ti][0],textures[ti][1]);
00135                                 glVertex3f (vertices[vi][0],vertices[vi][1],vertices[vi][2]);*/
00136                                 
00137                                 // rotate 90 deg around z
00138                                 glNormal3f (normals[ni][1],-normals[ni][0],normals[ni][2]);
00139                                 glTexCoord2f(textures[ti][0],textures[ti][1]);
00140                                 glVertex3f (100.f*vertices[vi][1],-100.f*vertices[vi][0],100.f*vertices[vi][2]);
00141                         }
00142                 }
00143                 glEnd ();
00144                 
00145                 glEndList();
00146                 return lid;
00147         };
00148 }