public void controlState() {
final Mat image = camera.getLastFrame();
final ComputerVisionSummary summaryOfImage = ComputerVisionSummary.produceFullSummary(image);
final double wallThresholdDistance = 10;
// if wall is close, and we are not currently avoiding walls, then avoid walls
if ((summaryOfImage.getDistanceToBlueWall() <= wallThresholdDistance)
&& !(currentStateController.getStateMachineType() == StateMachineType.AVOID_WALLS
&& !currentStateController.isDone())) {
avoidWalls();
}
// else if see ball, and not currently collecting one, then collect ball
else if ((summaryOfImage.isGreenBall() || summaryOfImage.isRedBall())
&& !(currentStateController.getStateMachineType() == StateMachineType.COLLECT_GROUND_BALLS
&& !currentStateController.isDone())) {
collectGroundBalls();
}
// if see reactor and have green balls then score
// if see interface wall and have red balls then score over wall
// if see energy silo then collect ball
}
@Override
public void draw(Graphics g) {
super.draw(g);
if (Camera.isObjectVisible(getWorldRect())) {
currentState.draw(g);
}
}
public void Draw() {
mCamera.Set();
/*mShadowMaskObject.Begin();
{
glPushAttrib(GL_COLOR_BUFFER_BIT);
{
mShadowMaskObject.Clear();
glPushMatrix();
{
glLoadIdentity();
glColor3f(0, 0, 0);
glBegin(GL_QUADS);
{
glVertex2f(0, 0);
glVertex2f(mGameWindow.Width(), 0);
glVertex2f(mGameWindow.Width(), mGameWindow.Height());
glVertex2f(0, mGameWindow.Height());
}
glEnd();
}
glPopMatrix();
}
glPopAttrib();
}
mShadowMaskObject.End();*/
CalculateLighting();
DrawScene();
// draw mask over scene to occlude shadows
glPushMatrix();
{
glLoadIdentity();
glColor4f(1, 1, 1, 1);
Texture.Begin();
{
mShadowMask.BindTexture();
mShadowMask.Draw(0, 0, 1, -1);
}
Texture.End();
}
glPopMatrix();
}
public void Load() {
mCamera = new Camera(GetGameWindow());
Light.Load(mGameWindow.Width(), mGameWindow.Height());
ComplexPolygon.Load(mGameWindow.Width(), mGameWindow.Height());
mShadowMask = new Texture(mGameWindow.Width(), mGameWindow.Height());
try {
mShadowMaskObject = new FrameBufferObject(mShadowMask);
} catch (Exception e) {
e.printStackTrace();
}
mCamera.ForceScaleFocus((mGameWindow.Width() / 1600.0f + mGameWindow.Height() / 900.0f) / 2);
mAmbientLighting = 0.0f;
}
public void CalculateLighting() {
mShadowMaskObject.Begin();
{
glPushAttrib(GL_COLOR_BUFFER_BIT);
{
mShadowMaskObject.Clear();
// additive blending
glBlendFunc(GL_ONE, GL_ONE);
// Draw lights:
// ambient lighting
glPushMatrix();
{
glLoadIdentity();
glColor4f(1, 1, 1, mAmbientLighting);
glBegin(GL_QUADS);
{
glVertex2f(0, 0);
glVertex2f(mGameWindow.Width(), 0);
glVertex2f(mGameWindow.Width(), mGameWindow.Height());
glVertex2f(0, mGameWindow.Height());
}
glEnd();
}
glPopMatrix();
Vector2 middleScreen =
mCamera.ScreenToWorld(
new Vector2(mGameWindow.Width(), mGameWindow.Height()).DividedBy(2));
Vector2 topLeft = mCamera.ScreenToWorld(new Vector2(0, 0));
Vector2 topRight = mCamera.ScreenToWorld(new Vector2(mGameWindow.Width(), 0));
Vector2 bottomRight =
mCamera.ScreenToWorld(new Vector2(mGameWindow.Width(), mGameWindow.Height()));
Vector2 bottomLeft = mCamera.ScreenToWorld(new Vector2(0, mGameWindow.Height()));
SimplePolygon screen = new SimplePolygon(this, middleScreen);
screen.AddVertexAbsolute(topLeft);
screen.AddVertexAbsolute(topRight);
screen.AddVertexAbsolute(bottomRight);
screen.AddVertexAbsolute(bottomLeft);
mLevel.DrawLights(screen);
// blend lights with shadow:
glPushMatrix();
{
glLoadIdentity();
glBlendFuncSeparate(GL_ONE, GL_ZERO, GL_ONE_MINUS_DST_ALPHA, GL_ZERO);
glColor3f(0, 0, 0);
glBegin(GL_QUADS);
{
glVertex2f(0, 0);
glVertex2f(mGameWindow.Width(), 0);
glVertex2f(mGameWindow.Width(), mGameWindow.Height());
glVertex2f(0, mGameWindow.Height());
}
glEnd();
}
glPopMatrix();
}
glPopAttrib();
}
mShadowMaskObject.End();
}
public void Update(GameTime gameTime) {
mCamera.Update(gameTime);
}
public Unit(Vector2 worldPos) {
this.worldPos = worldPos;
screenPos = Camera.worldToScreen(worldPos);
dest = worldPos;
}