@Override
public void onDrawFrame(GL10 gl) {
try {
gl.glClear(GL10.GL_COLOR_BUFFER_BIT | GL10.GL_DEPTH_BUFFER_BIT);
gl.glMatrixMode(GL10.GL_MODELVIEW);
gl.glLoadIdentity();
if (positionBuffer != null) {
gl.glLightfv(GL10.GL_LIGHT0, GL10.GL_POSITION, positionBuffer);
}
synchronized (camera) {
PointF c = getCameraLocation();
if (c == camera) {
GLU.gluLookAt(gl, c.x, c.y, zoom, camera.x, camera.y, 0.0f, 0.0f, 1.0f, 0.0f);
} else {
GLU.gluLookAt(
gl,
c.x,
c.y,
zoom / followHeightFactor,
camera.x,
camera.y,
-FOLLOW_LOOK_AT_HEIGHT,
0.0f,
0.0f,
-1.0f);
}
}
synchronized (areas) {
for (SimArea area : areas.values()) {
if (!onlySeenAreas || seenAreas.contains(area.getID())) {
area.draw(gl);
}
}
}
if (drawWalls) {
synchronized (walls) {
for (SimWall wall : walls) {
wall.draw(gl);
}
}
synchronized (wallTops) {
for (SimWallTop wallTop : wallTops) {
wallTop.draw(gl);
}
}
}
synchronized (objects) {
for (SimObject obj : objects.values()) {
obj.draw(gl);
}
}
synchronized (robots) {
for (SimRobot robot : robots.values()) {
robot.draw(gl, drawRedLidar, drawBlueLidar, drawYellowWaypoint);
}
}
synchronized (lastFloorTouch) {
GLUtil.drawRect(
gl,
lastFloorTouch.x - 0.05f,
lastFloorTouch.y - 0.25f,
-0.01f,
0.1f,
0.5f,
GLUtil.GRAY);
GLUtil.drawRect(
gl,
lastFloorTouch.x - 0.25f,
lastFloorTouch.y - 0.05f,
-0.01f,
0.5f,
0.1f,
GLUtil.GRAY);
}
} catch (ConcurrentModificationException e) {
e.printStackTrace();
}
}
