func Draw() {
gl.Clear(gl.COLOR_BUFFER_BIT)
gl.PushMatrix()
defer gl.PopMatrix()
gl.Color4f(0, 1, 0, .5)
DrawCircle(vect.Vect{ScreenSize.X / 2, ScreenSize.Y / 2}, ScreenSize.Y/2.0-5.0, false)
if Settings.Paused {
gl.Color3f(1, 1, 1)
RenderFontAt("Paused", 20, 30)
}
//draw collision objects
gl.PushMatrix()
gl.Translated(ScreenSize.X/2, ScreenSize.Y/2, 0)
gl.Scaled(Settings.Scale, Settings.Scale, 1)
DrawDebugData(space)
gl.PopMatrix()
}
func drawCircle(s CircleShape) {
center := s.Center()
radius := s.Radius()
angle := s.Body().Angle()
gl.VertexPointer(2, 0, circleVerts)
gl.PushMatrix()
gl.Translated(center.X, center.Y, 0.0)
gl.Rotated(angle*180.0/math.Pi, 0.0, 0.0, 1.0)
gl.Scaled(radius, radius, 1.0)
gl.DrawArrays(gl.LINE_STRIP, 0, len(circleVerts)/2)
gl.PopMatrix()
}
func plot_list(list uint) {
gl.Enable(gl.BLEND)
gl.Enable(gl.POINT_SMOOTH)
gl.BlendFunc(gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA)
gl.PointSize(1.0)
gl.LoadIdentity()
gl.Rotated(xrot, 1, 0, 0)
gl.Rotated(yrot, 0, 1, 0)
gl.Rotated(zrot, 0, 0, 1)
gl.Scaled(scale, scale, scale)
gl.Translated(xoff, yoff, zoff)
gl.CallList(list)
gl.Flush()
}
func (v *Voronoi) Render(w, h, d float64) {
gl.PushMatrix()
gl.Scaled(w, h, 1)
rng := rand.New(rand.NewSource(42))
rng.Seed(42)
// Draw fill colors
for _, wall := range v.cellWalls {
gl.Color3ub(
uint8(100+rng.Int31n(128)),
uint8(100+rng.Int31n(128)),
uint8(100+rng.Int31n(128)))
gl.Begin(gl.TRIANGLE_FAN)
for _, p := range wall {
if p != nil && boundedPoint(p) {
gl.Vertex2d(p.X, p.Y)
}
}
gl.End()
}
// Draw lines
gl.LineWidth(1.5)
gl.Color3ub(0, 128, 0)
gl.Begin(gl.LINES)
for _, edge := range v.edges {
if boundedEdge(edge) {
gl.Vertex2d(edge.Start.X, edge.Start.Y)
gl.Vertex2d(edge.End.X, edge.End.Y)
}
}
gl.End()
// Draw points.
gl.PointSize(2)
gl.Color3ub(255, 255, 255)
gl.Begin(gl.POINTS)
for _, point := range v.points {
gl.Vertex2d(point.X, point.Y)
}
gl.End()
gl.PopMatrix()
}
func (world *World) Render(w, h, d float64) {
gl.PushMatrix()
gl.Scaled(w, h, d)
// Draw the goal
gl.Begin(gl.POINTS)
gl.Color3ub(255, 0, 0)
gl.PointSize(6)
gl.Vertex2d(world.goal.X, world.goal.Y)
gl.End()
// Draw the obstacles
gl.Color4ub(0, 0, 255, 63)
world.obstacles.Render()
// Draw the percept
gl.Color4ub(0, 255, 0, 127)
gl.LineWidth(1.5)
gl.Begin(gl.LINES)
for _, pt := range world.percept {
gl.Vertex2d(world.robot.X, world.robot.Y)
gl.Vertex2d(world.robot.X+pt.X, world.robot.Y+pt.Y)
}
gl.End()
// Draw the map
gl.Color3ub(0, 0, 255)
gl.LineWidth(2)
// FIXME
// Draw the robot
gl.Color3ub(0, 255, 0)
gl.PointSize(4)
gl.Begin(gl.POINTS)
gl.Vertex2d(world.robot.X, world.robot.Y)
gl.End()
gl.PopMatrix()
}
func (s *Scatter) Render(w, h, d float64) {
gl.PushMatrix()
min, max := s.points.Bounds()
dim := max.Sub(min)
gl.Scaled(w/dim.X, h/dim.Y, d/dim.Z)
gl.Translated(-min.X, -min.Y, -min.Z)
// Draw axes: red X, green Y, blue Z.
gl.Begin(gl.LINES)
gl.LineWidth(1.5)
gl.Color3ub(255, 0, 0)
gl.Vertex3d(min.X, min.Y, min.Z)
gl.Vertex3d(max.X, min.Y, min.Z)
gl.Color3ub(0, 255, 0)
gl.Vertex3d(min.X, min.Y, min.Z)
gl.Vertex3d(min.X, max.Y, min.Z)
gl.Color3ub(0, 0, 255)
gl.Vertex3d(min.X, min.Y, min.Z)
gl.Vertex3d(min.X, min.Y, max.Z)
gl.End()
// Draw 2d plots on the XY, YZ, and XZ planes.
gl.PointSize(10.0)
gl.Begin(gl.POINTS)
// X plot
gl.Color4ub(255, 0, 0, 31)
for _, p := range s.points {
gl.Vertex3d(p.X, min.Y, min.Z)
}
// Y plot
gl.Color4ub(0, 255, 0, 31)
for _, p := range s.points {
gl.Vertex3d(min.X, p.Y, min.Z)
}
// Z plot
gl.Color4ub(0, 0, 255, 31)
for _, p := range s.points {
gl.Vertex3d(min.X, min.Y, p.Z)
}
// XY plot
gl.Color4ub(255, 255, 0, 63)
for _, p := range s.points {
gl.Vertex3d(p.X, p.Y, min.Z)
}
// YZ plot
gl.Color4ub(0, 255, 255, 63)
for _, p := range s.points {
gl.Vertex3d(min.X, p.Y, p.Z)
}
// XZ plot
gl.Color4ub(255, 0, 255, 63)
for _, p := range s.points {
gl.Vertex3d(p.X, min.Y, p.Z)
}
// XYZ plot
gl.Color4ub(255, 255, 255, 128)
for _, p := range s.points {
gl.Vertex3d(p.X, p.Y, p.Z)
}
gl.End()
gl.PopMatrix()
}
func testPlot(dimension, order int) {
var (
iterations float64 = 0
start_t = time.Now()
split time.Time = start_t
total time.Duration
fps float64 = 1.0
new_attractor, redraw bool = true, true
npoints int = 1e5
coeffs []float64
//offsets, offset_coeffs []float64
start Matrix = MakeMatrix(1, int(math.Max(3, float64(dimension))))
points, points2/*, points3*/ Matrix
//attractor = gl.GenLists(1);
)
//offsets = make([]float64, ncoeffs(order))
//offset_coeffs = make([]float64, ncoeffs(order))
//coeffs = make([]float64, dimension + nCoeffs(order, dimension) * dimension)
//for i := range offsets { offsets[i] += rand.Float64() }
for handleEvents(&new_attractor, &redraw, &npoints) {
xoff += xvel / fps
yoff += yvel / fps
zoff += zvel / fps
xrot += xrotvel / fps
yrot += yrotvel / fps
zrot += zrotvel / fps
scale += svel / fps
if new_attractor {
coeffs, start = find_map_with_L(dimension, order, 0.1, 0.4)
redraw = true
new_attractor = false
}
if redraw {
points = MakePointMatrix(makeMapFn(dimension, order, coeffs), start, 500, npoints)
points2 = MakeMatrix(npoints, points.Height())
//points3 = MakeMatrix(npoints, points.Height())
redraw = false
fmt.Println("Redraw", npoints, "points")
}
//points2 = points
//RotationXW(xwrot).Apply(points, points2)
//RotationYW(xwrot + 0.25).Apply(points2, points3)
//RotationZW(xwrot + 0.50).Apply(points3, points2)
if dimension == 4 {
RotationZW(xwrot).Apply(points, points2)
xwrot += 0.05
ApplyW(points2, points2)
} else {
points2 = points
}
gl.Enable(gl.BLEND)
gl.Enable(gl.POINT_SMOOTH)
gl.BlendFunc(gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA)
gl.PointSize(1.0)
gl.LoadIdentity()
gl.Rotated(xrot, 1, 0, 0)
gl.Rotated(yrot, 0, 1, 0)
gl.Rotated(zrot, 0, 0, 1)
gl.Scaled(scale, scale, scale)
gl.Translated(xoff, yoff, zoff)
gl.Color4d(1, 1, 1, 0.25)
gl.EnableClientState(gl.VERTEX_ARRAY)
if dimension > 3 {
gl.VertexPointer(3, (dimension-3)*32, points2.FlatCols())
} else {
gl.VertexPointer(3, 0, points2.FlatCols())
}
gl.DrawArrays(gl.POINTS, 0, points2.Width())
gl.DisableClientState(gl.VERTEX_ARRAY)
sdl.GL_SwapBuffers()
gl.Clear(gl.COLOR_BUFFER_BIT | gl.DEPTH_BUFFER_BIT)
iterations++
if time.Since(split).Seconds() > 1.0 {
total = time.Since(start_t)
fps = iterations / total.Seconds()
fmt.Println(iterations, "iterations in", total.Seconds(), "gives",
fps, "fps")
split = time.Now()
}
}
}
