public MovementPlanner(Player player, float distanceScalar)
{
_player = player;
_intersectionDetector = new IntersectionDetector();
_obstaclePathFinder = new ObstaclePathFinder();
_distanceScalar = distanceScalar;
}
static void Main(string[] args)
{
// Initialize GLFW
int result = Glfw.Init();
if (result == 0)
{
Console.WriteLine("Failed to initialize GLFW");
return;
}
// Display GLFW version initialized
Console.WriteLine("GLFW Version: " + Marshal.PtrToStringAnsi(Glfw.GetVersionString()));
// Set window creation hints
Glfw.WindowHint((int)GlfwWindowHint.ContextVersionMajor, 3);
Glfw.WindowHint((int)GlfwWindowHint.ContextVersionMinor, 2);
// Create window
IntPtr windowHandle = Glfw.CreateWindow(800, 600, "Seacow Engine", IntPtr.Zero, IntPtr.Zero);
// Make the window's context current
Glfw.MakeContextCurrent(windowHandle);
// Display context information
int majorVersion = Glfw.GetWindowAttrib(windowHandle, (int)GlfwWindowHint.ContextVersionMajor);
int minorVersion = Glfw.GetWindowAttrib(windowHandle, (int)GlfwWindowHint.ContextVersionMinor);
Console.WriteLine("OpenGL Major Version: " + majorVersion);
Console.WriteLine("OpenGL Minor Version: " + minorVersion);
// Set GLFW input callback
Glfw.SetKeyCallback(windowHandle, Marshal.GetFunctionPointerForDelegate(callback));
// Own init stuff
Renderer myRenderer = new Renderer();
Shader myVertexShader = new Shader("Data/Shaders/Vertex.Shader", ShaderType.VertexShader);
Shader myFragmentShader = new Shader("Data/Shaders/Fragment.Shader", ShaderType.FragmentShader);
Material mySimpleMaterial = new Material(new List <Shader>()
{
myVertexShader, myFragmentShader
});
// Load texture
Texture dirtTexture = new Texture("Data/Textures/simpleTex.bmp");
// Load sphere
ObjLoader experimentalLoader = new ObjLoader("Data/Models/sphere/textureSphere.obj");
ModelData experimentalModelData = experimentalLoader.LoadModel();
ObjWeaver objWeave = new ObjWeaver();
var weavedModelData = objWeave.WeaveModelData(experimentalModelData);
// Load box
ObjLoader boxLoader = new ObjLoader("Data/Models/Box/simpleBox.obj");
ModelData boxModelData = boxLoader.LoadModel();
ObjWeaver boxModelDataWeaver = new ObjWeaver();
var weavedBoxModelData = boxModelDataWeaver.WeaveModelData(boxModelData);
// Create sphere
mySphere = new Mesh(
weavedModelData.weavedVertexData,
weavedModelData.indexes.Select(i => (uint)i).ToList(),
mySimpleMaterial,
dirtTexture);
mySphere.Scale = 0.1f;
mySphere.Position = new vec3(0.3f, 1.0f, 0.0f);
mySimpleMaterial.Activate();
// Create box
Mesh myBox = new Mesh(
weavedBoxModelData.weavedVertexData,
weavedBoxModelData.indexes.Select(i => (uint)i).ToList(),
mySimpleMaterial
);
myBox.Position = vec3.UnitX * 1;
myBox.Scale = 0.5f;
myBox.UserColor = new Vector3(0.0f, 0.0f, 1.0f);
// Create indicator sphere
indicatorSphere = new Mesh(
weavedModelData.weavedVertexData,
weavedModelData.indexes.Select(i => (uint)i).ToList(),
mySimpleMaterial
);
indicatorSphere.UserColor = new Vector3(1.0f, 0.0f, 0.0f);
indicatorSphere.Scale = 0.1f;
// Add objects to world
myRenderer.WorldMeshes.Add(mySphere);
myRenderer.WorldMeshes.Add(myBox);
//myRenderer.WorldMeshes.Add(indicatorSphere);
// ** Do all sorts of fun collision stuff! :D :D **
Aabb colBox = new Aabb(new Vector3(0.5f, -0.5f, -0.5f), new Vector3(1.5f, 0.5f, 0.5f));
Vector3 circlePoint = new Vector3(mySphere.Position.x, mySphere.Position.y, mySphere.Position.z);
// Enable depth testing
Gl.Enable((uint)Capability.DepthTest);
Gl.CheckForError();
const double dt = 0.01;
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
double currentTime = stopwatch.ElapsedMilliseconds / 1000.0f;
double accumulator = 0.0;
while (Glfw.WindowShouldClose(windowHandle) == 0)
{
// Timer stuff
double newTime = stopwatch.ElapsedMilliseconds / 1000.0f;
double frameTime = newTime - currentTime;
currentTime = newTime;
accumulator += frameTime;
int counter = 0;
// Fixed timestep
while (accumulator >= dt)
{
Sphere theSphere = new Sphere(new Vector3(mySphere.Position.x, mySphere.Position.y, mySphere.Position.z), 0.1f);
var colResult = IntersectionDetector.TestSphereAgainstAabb(theSphere, colBox);
if (colResult)
{
Console.WriteLine("COLLISION");
}
//Integrate(dt);
accumulator -= dt;
}
// Rendering
Gl.ClearColor(0.39f, 0.58f, 0.92f, 0.0f);
Gl.CheckForError();
Gl.Clear((int)ColorBit.ColorBuffer | (int)ColorBit.DepthBuffer);
Gl.CheckForError();
myRenderer.Render((float)(accumulator / dt));
Glfw.SwapBuffers(windowHandle);
Glfw.PollEvents();
}
Glfw.Terminate();
}
public override UIElement[] RenderUIElements()
{
UIElement[] uiElements;
if (!NodeSettings.IsFocused)
{
ILineSegment arrowLineSegment = new LineSegment(new Point(NodeUIElementLocation.X + 25, NodeUIElementLocation.Y + 23), new Point(NodeUIElementLocation.X + 130, NodeUIElementLocation.Y + 27));
Point A = new Point(NodeUIElementLocation.X + 5, NodeUIElementLocation.Y + 5);
Point B = new Point(NodeUIElementLocation.X + 5, NodeUIElementLocation.Y + 22);
Point C = new Point(NodeUIElementLocation.X + 5, NodeUIElementLocation.Y + 45);
Point D = new Point(NodeUIElementLocation.X + 89, NodeUIElementLocation.Y + 45);
Point E = new Point(NodeUIElementLocation.X + 174, NodeUIElementLocation.Y + 45);
Point F = new Point(NodeUIElementLocation.X + 174, NodeUIElementLocation.Y + 22);
Point G = new Point(NodeUIElementLocation.X + 174, NodeUIElementLocation.Y + 5);
Point H = new Point(NodeUIElementLocation.X + 89, NodeUIElementLocation.Y + 5);
Point arrowEnd = new Point(NodeSettings.CentreX, NodeSettings.CentreY);
List <Point> elements = new List <Point>();
elements.Add(A);
elements.Add(B);
elements.Add(C);
elements.Add(D);
elements.Add(E);
elements.Add(F);
elements.Add(G);
elements.Add(H);
Point arrowStart = elements.FindClosestPoint(arrowEnd);
ILineSegment arrowCoordinates = new LineSegment(arrowStart, arrowEnd);
Point cornerA = new Point(NodeUIElementLocation.X, NodeUIElementLocation.Y);
Point cornerB = new Point(NodeUIElementLocation.X + 5, NodeUIElementLocation.Y + 55);
Point cornerC = new Point(NodeUIElementLocation.X + 179, NodeUIElementLocation.Y + 50);
Point cornerD = new Point(NodeUIElementLocation.X + 184, NodeUIElementLocation.Y + 5);
Point triangulationPoint = new Point(NodeUIElementLocation.X + 90, NodeUIElementLocation.Y + 25);
double mainTopLeftX = NodeSettings.CentreX - 90;
double mainTopLeftY = NodeSettings.CentreY - 125;
Point mainCornerA = new Point(mainTopLeftX - 5, mainTopLeftY - 6);
Point mainCornerB = new Point(mainTopLeftX - 6, mainTopLeftY + 255);
Point mainCornerC = new Point(mainTopLeftX + 185, mainTopLeftY + 256);
Point mainCornerD = new Point(mainTopLeftX + 186, mainTopLeftY - 5);
Point mainTriangulationPoint = new Point(NodeSettings.CentreX, NodeSettings.CentreY);
IntersectionDetector detector = new IntersectionDetector();
detector.Add(new LineSegment(cornerA, cornerB, mainTriangulationPoint));
detector.Add(new LineSegment(cornerB, cornerC, mainTriangulationPoint));
detector.Add(new LineSegment(cornerC, cornerD, mainTriangulationPoint));
detector.Add(new LineSegment(cornerD, cornerA, mainTriangulationPoint));
IntersectionDetector detector2 = new IntersectionDetector();
detector2.Add(new LineSegment(mainCornerA, mainCornerB, triangulationPoint));
detector2.Add(new LineSegment(mainCornerB, mainCornerC, triangulationPoint));
detector2.Add(new LineSegment(mainCornerC, mainCornerD, triangulationPoint));
detector2.Add(new LineSegment(mainCornerD, mainCornerA, triangulationPoint));
arrowCoordinates = arrowCoordinates.Resize(detector);
arrowCoordinates = arrowCoordinates.Resize(detector2);
Arrow arrow = new Arrow(arrowCoordinates);
List <UIElement> newElements = new List <UIElement>(base.RenderUIElements());
newElements.Add(arrow.Sprite);
uiElements = newElements.ToArray();
}
else
{
uiElements = base.RenderUIElements();
}
return(uiElements);
}
public override UIElement[] RenderUIElements()
{
UIElement[] uiElements;
if (!NodeSettings.IsFocused)
{
ILineSegment arrowLineSegment = new LineSegment(new Point(NodeUIElementLocation.X + 25, NodeUIElementLocation.Y + 23), new Point(NodeUIElementLocation.X + 130, NodeUIElementLocation.Y + 27));
Point A = new Point(NodeUIElementLocation.X + 5, NodeUIElementLocation.Y + 5);
Point B = new Point(NodeUIElementLocation.X + 5, NodeUIElementLocation.Y + 22);
Point C = new Point(NodeUIElementLocation.X + 5, NodeUIElementLocation.Y + 45);
Point D = new Point(NodeUIElementLocation.X + 89, NodeUIElementLocation.Y + 45);
Point E = new Point(NodeUIElementLocation.X + 174, NodeUIElementLocation.Y + 45);
Point F = new Point(NodeUIElementLocation.X + 174, NodeUIElementLocation.Y + 22);
Point G = new Point(NodeUIElementLocation.X + 174, NodeUIElementLocation.Y + 5);
Point H = new Point(NodeUIElementLocation.X + 89, NodeUIElementLocation.Y + 5);
Point arrowEnd = new Point(NodeSettings.CentreX, NodeSettings.CentreY);
List<Point> elements = new List<Point>();
elements.Add(A);
elements.Add(B);
elements.Add(C);
elements.Add(D);
elements.Add(E);
elements.Add(F);
elements.Add(G);
elements.Add(H);
Point arrowStart = elements.FindClosestPoint(arrowEnd);
ILineSegment arrowCoordinates = new LineSegment(arrowStart, arrowEnd);
Point cornerA = new Point(NodeUIElementLocation.X, NodeUIElementLocation.Y);
Point cornerB = new Point(NodeUIElementLocation.X + 5, NodeUIElementLocation.Y + 55);
Point cornerC = new Point(NodeUIElementLocation.X + 179, NodeUIElementLocation.Y + 50);
Point cornerD = new Point(NodeUIElementLocation.X + 184, NodeUIElementLocation.Y + 5);
Point triangulationPoint = new Point(NodeUIElementLocation.X + 90, NodeUIElementLocation.Y + 25);
double mainTopLeftX = NodeSettings.CentreX - 90;
double mainTopLeftY = NodeSettings.CentreY - 125;
Point mainCornerA = new Point(mainTopLeftX - 5, mainTopLeftY - 6);
Point mainCornerB = new Point(mainTopLeftX - 6, mainTopLeftY + 255);
Point mainCornerC = new Point(mainTopLeftX + 185, mainTopLeftY + 256);
Point mainCornerD = new Point(mainTopLeftX + 186, mainTopLeftY - 5);
Point mainTriangulationPoint = new Point(NodeSettings.CentreX, NodeSettings.CentreY);
IntersectionDetector detector = new IntersectionDetector();
detector.Add(new LineSegment(cornerA, cornerB, mainTriangulationPoint));
detector.Add(new LineSegment(cornerB, cornerC, mainTriangulationPoint));
detector.Add(new LineSegment(cornerC, cornerD, mainTriangulationPoint));
detector.Add(new LineSegment(cornerD, cornerA, mainTriangulationPoint));
IntersectionDetector detector2 = new IntersectionDetector();
detector2.Add(new LineSegment(mainCornerA, mainCornerB, triangulationPoint));
detector2.Add(new LineSegment(mainCornerB, mainCornerC, triangulationPoint));
detector2.Add(new LineSegment(mainCornerC, mainCornerD, triangulationPoint));
detector2.Add(new LineSegment(mainCornerD, mainCornerA, triangulationPoint));
arrowCoordinates = arrowCoordinates.Resize(detector);
arrowCoordinates = arrowCoordinates.Resize(detector2);
Arrow arrow = new Arrow(arrowCoordinates);
List<UIElement> newElements = new List<UIElement>(base.RenderUIElements());
newElements.Add(arrow.Sprite);
uiElements = newElements.ToArray();
}
else
{
uiElements = base.RenderUIElements();
}
return uiElements;
}
