public void drawMap()
{
GList = new List <Int32>();
GList.Add(0);
foreach (Objects.Plane plane in map.planes)
{
GL.NewList(GList.Count, ListMode.Compile);
GL.BindTexture(TextureTarget.Texture2D, Engine.Texture.LoadTexture(plane.textureName, plane.repeat, plane.rotate));
GL.Color3(plane.color);
foreach (Objects.Rectangle rectangle in plane.rectangles)
{
GL.Begin(BeginMode.Polygon);
for (int i = 0; i < rectangle.points.Count; i++)
{
if (i == 0)
{
GL.TexCoord2(0, 0);
}
if (i == 1)
{
GL.TexCoord2(1, 0);
}
if (i == 2)
{
GL.TexCoord2(1, 1);
}
if (i == 3)
{
GL.TexCoord2(0, 1);
}
GL.Vertex3(rectangle.points[i][0], rectangle.points[i][1], rectangle.points[i][2]);
}
GL.End();
}
GL.EndList();
GList.Add(GList.Count);
}
foreach (Objects.Sphere sphere in map.spheres)
{
GL.NewList(GList.Count, ListMode.Compile);
GL.PushMatrix();
GL.Color3(sphere.color);
IntPtr q = Glu.NewQuadric();
GL.Translate(sphere.position[0], sphere.position[1], sphere.position[2]);
Glu.Sphere(q, sphere.radio, 100, 100);
GL.Translate(-sphere.position[0], -sphere.position[1], -sphere.position[2]);
GL.PopMatrix();
GL.EndList();
GList.Add(GList.Count);
}
foreach (Objects.Cone cone in map.cones)
{
GL.NewList(GList.Count, ListMode.Compile);
GL.PushMatrix();
GL.Color3(cone.color);
IntPtr q = Glu.NewQuadric();
GL.Translate(cone.position[0], cone.position[1], cone.position[2] - (cone.height / 2));
Glu.Cylinder(q, 0, cone.radio, cone.height, Engine.Constant.QUALITY, Engine.Constant.QUALITY);
GL.Translate(-cone.position[0], -cone.position[1], -cone.position[2] + (cone.height / 2));
GL.PopMatrix();
GL.EndList();
GList.Add(GList.Count);
}
gl_Paint(gl, null);
loaded = true;
}
public void narisi()
{
#region simple model
if (!modelOK) //če so bile napake pri nalaganju modela, potem nariši osnovno obliko robota
{
GL.Begin(BeginMode.Quads);
GL.PushMatrix();
GL.LoadIdentity();
//spordaj osnova
GL.Color3(Color.Blue);
GL.Translate(0.0f, 0.0f, -6.0f);
IntPtr quadric = GLU.NewQuadric();
GL.Rotate(-90, 1.0f, 0.0f, 0.0f);
GLU.Cylinder(quadric, 2.0, 2.0, 1.0, 32, 32);
GL.Translate(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.PartialDisk(quadric, 0.1, 2.0, 32, 32, 0, 360);
// 1 del zgoraj
GL.Rotate(rotacija1 + 90, 0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.Cylinder(quadric, 0.5, 0.5, 2.0, 32, 32);
GL.Translate(0.0f, 0.0f, 2.0f);
GL.Color3(Color.SkyBlue);
quadric = GLU.NewQuadric();
GLU.Sphere(quadric, 0.5, 32, 32);
GL.Color3(Color.Blue);
GL.Rotate(-90, 1.0f, 0.0f, 0.0f);
GL.Translate(0.0f, 0.0f, 0.0f);
quadric = GLU.NewQuadric();
GLU.Cylinder(quadric, 0.5f, 0.5f, 1.0f, 32, 32);
GL.Color3(Color.SkyBlue);
GL.Translate(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.Sphere(quadric, 0.5, 32, 32);
//2 del
GL.Color3(Color.Blue);
quadric = GLU.NewQuadric();
GL.Rotate(-90, 0.0f, 1.0f, 0.0f);
GL.Rotate(rotacija2, 1.0f, 0.0f, 0.0f);
GLU.Cylinder(quadric, 0.5f, 0.5f, 7.0f, 32, 32);
GL.Color3(Color.SkyBlue);
GL.Translate(0.0f, 0.0f, 7.0f);
quadric = GLU.NewQuadric();
GLU.Sphere(quadric, 0.5, 32, 32);
GL.Color3(Color.Blue);
GL.Rotate(-90, 0.0f, 1.0f, 0.0f);
GL.Translate(0.0f, 0.0f, 0.0f);
quadric = GLU.NewQuadric();
GLU.Cylinder(quadric, 0.5f, 0.5f, 1.0f, 32, 32);
//3del
GL.Color3(Color.SkyBlue);
GL.Translate(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.Sphere(quadric, 0.5, 32, 32);
GL.Color3(Color.Blue);
quadric = GLU.NewQuadric();
GL.Rotate(-90, 0.0f, 1.0f, 0.0f);
GL.Rotate((rotacija3 * -1), 1.0f, 0.0f, 0.0f);
GLU.Cylinder(quadric, 0.5f, 0.5f, 2.3f, 32, 32);
GL.Color3(Color.SkyBlue);
quadric = GLU.NewQuadric();
GL.Translate(0.0f, 0.0f, 2.3f);
GLU.Cylinder(quadric, 0.7f, 0.7f, 1.0f, 32, 32);
quadric = GLU.NewQuadric();
GLU.PartialDisk(quadric, 0.1, 0.7f, 32, 32, 0, 360);
GL.Translate(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.PartialDisk(quadric, 0.1, 0.7f, 32, 32, 0, 360);
//4 del
GL.Color3(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GL.Rotate(rotacija4, 0.0f, 0.0f, 1.0f);
GLU.Cylinder(quadric, 0.4f, 0.4f, 2.5f, 32, 32);
GL.Translate(0.0f, 0.3f, 2.7f);
GL.Color3(1.0f, 0.0f, 0.0f);
quadric = GLU.NewQuadric();
GL.Rotate(90, 1.0f, 0.0f, 0.0f);
GLU.Cylinder(quadric, 0.1f, 0.1f, 0.6f, 32, 32);
GL.Translate(0.0f, 0.0f, 0.3f);
GL.Color3(1.0f, 0.0f, 0.0f);
quadric = GLU.NewQuadric();
GL.Rotate(-90, 1.0f, 0.0f, 0.0f);
GL.Rotate(rotacija5, 0.0f, 1.0f, 0.0f);
GLU.Cylinder(quadric, 0.01f, 0.01f, 1.0f, 32, 32);
GL.End();
}
#endregion
else //če pa ni bilo napak pa nariši naložen LWO objekt
{
GL.Rotate(90, 1.0f, 0.0f, 0.0f);
/* okolica robota */
GL.PushMatrix();
GL.Translate(0.0f, -3.2f, 0.0f);
risi_model(okolica[2]);
GL.Translate(-5.0f, 0.0f, -50.0f);
risi_model(okolica[0]);
GL.Translate(7.0f, 0.0f, 0.0f);
risi_model(okolica[0]);
GL.Translate(-3.5f, 10.0f, 0.0f);
risi_model(okolica[0]);
GL.PopMatrix();
GL.PushMatrix();
GL.Translate(0.0f, -3.0f, 0.0f);
risi_model(okolica[1]);
GL.PopMatrix();
// robot
GL.PushMatrix();
//dolžine posameznih objektov
//podstavek: 0, -3.2, 0;
//prvi zglob: 3.75, 8.3, -1.6; rot: z : rot1+90
//prva roka: 0, 15.35, -0.4; rot: z
//drugi zglob: 5.2, 3.9, 2.0; rot: x, pa -90 po x
//druga roka: 10.8, 0, 0; rot: z
//zadnji zglob: 2.2, 0, 0; rot: x
//oni krogec za orodja montirat: 0.4, 0, 0
risi_model(robot_model[0]); //podstavek
GL.Rotate(rotacija1 + 90, 0.0f, 1.0f, 0.0f);
risi_model(robot_model[1]); // prvi motor
GL.Translate(3.75f, 8.30f, -1.60f); // prva roka
GL.Rotate(rotacija2, 0.0f, 0.0f, 1.0f);
risi_model(robot_model[2]);
GL.Translate(0.0f, 15.35f, -0.4f);
GL.Rotate(rotacija3, 0.0f, 0.0f, 1.0f);
risi_model(robot_model[3]);
GL.Translate(5.2f, 3.9f, 2.0f);
GL.Rotate(rotacija4, 1.0f, 0.0f, 0.0f);
GL.Rotate(-90.0f, 1.0f, 0.0f, 0.0f);
risi_model(robot_model[4]);
GL.Translate(10.8f, 0.0f, 0.0f);
GL.Rotate(rotacija5, 0.0f, 0.0f, 1.0f);
risi_model(robot_model[5]);
GL.Translate(2.2f, 0.0f, 0.0f);
GL.Rotate(rotacija6, 1.0f, 0.0f, 0.0f);
risi_model(robot_model[6]);
if (set_tool)
{
GL.Translate(0.4f, 0.0f, 0.0f);
risi_model(robot_model[7]);
}
GL.PopMatrix();
}
}