func (f frame) Render(w, h, d float64) {
// Draw a wireframe around the arena
gl.Color4ub(255, 255, 255, 31)
gl.LineWidth(2.0)
gl.Begin(gl.LINE_STRIP)
gl.Vertex3d(0, 0, 0)
gl.Vertex3d(w, 0, 0)
gl.Vertex3d(w, h, 0)
gl.Vertex3d(0, h, 0)
gl.Vertex3d(0, 0, 0)
gl.Vertex3d(0, 0, d)
gl.Vertex3d(0, h, d)
gl.Vertex3d(w, h, d)
gl.Vertex3d(w, 0, d)
gl.Vertex3d(0, 0, d)
gl.End()
gl.Begin(gl.LINES)
gl.Vertex3d(0, h, 0)
gl.Vertex3d(0, h, d)
gl.Vertex3d(w, 0, 0)
gl.Vertex3d(w, 0, d)
gl.Vertex3d(w, h, 0)
gl.Vertex3d(w, h, d)
gl.End()
// Render the page.
if f.renderer != nil {
f.renderer.Render(w, h, d)
}
}
func main() {
glut.InitDisplayMode(glut.SINGLE | glut.RGB)
glut.InitWindowSize(465, 250)
glut.CreateWindow("GLUT bitmap & stroke font example")
gl.ClearColor(1.0, 1.0, 1.0, 1.0)
gl.Color3f(0, 0, 0)
gl.LineWidth(3.0)
glut.DisplayFunc(display)
glut.ReshapeFunc(reshape)
glut.MainLoop()
}
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 (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 (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()
}
