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Merge remote-tracking branch 'origin/Sterowanie_na_3' into Sterowanie_na_3

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sherl
2025-01-08 05:10:12 +01:00
parent 395b470b5d 79c6a1e144
commit 0725312d80
4 changed files with 432 additions and 234 deletions
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634
main.cpp
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@@ -33,7 +33,8 @@
#include "timeh.hpp"
#include "texture.hpp"
#include "shader.hpp"
#include "FPSCounter.cpp"
#include <thread>
using namespace glm;
@@ -79,8 +80,8 @@ int monitormodecounter = 0;
std::time_t monitormodehelper;
//Zmienne do ruchu ##############################################
float Foward = 0.0f; // Pozycja łazika w przód/tył
/*
float Foward = 0.0f; // Pozycja łazika w przód/tył
float Sides = 0.0f; // Pozycja łazika w lewo/prawo
float Rotation = 0.0f; // Rotacja łazika (w stopniach)
@@ -113,6 +114,131 @@ void RotateRoverAndCamera(float angle) {
if (Rotation >= 360.0f) Rotation -= 360.0f;
if (Rotation < 0.0f) Rotation += 360.0f;
}
*/
//Zmienne do ruchu ##############################################^^^^^^^^^^^^^^^^^^^^^^^^^^^^
FPSCounter fpsCounter;
static const int targetFPS = 144; // Celowany FPS
//Fps counter
void LimitFPS(int targetFPS) {
static auto lastTime = std::chrono::high_resolution_clock::now();
auto currentTime = std::chrono::high_resolution_clock::now();
std::chrono::duration<double> elapsed = currentTime - lastTime;
// Jeśli upłynęło za mało czasu, aby osiągnąć target FPS, czekamy
double frameTime = 1.0 / targetFPS; // Czas na jedną klatkę w sekundach
if (elapsed.count() < frameTime) {
std::this_thread::sleep_for(std::chrono::duration<double>(frameTime - elapsed.count()));
}
lastTime = std::chrono::high_resolution_clock::now();
}
bool keyWPressed = false;
bool keySPressed = false;
bool keyAPressed = false;
bool keyDPressed = false;
float Foward = 0.0f; // Pozycja łazika w przód/tył
float Sides = 0.0f; // Pozycja łazika w lewo/prawo
float Rotation = 0.0f; // Rotacja łazika (w stopniach)
float CameraHeight = 50.0f; // Wysokość kamery
float MoveSpeed = 1.0f; // Prędkość poruszania się
float velocity = 0.0f; // Aktualna prędkość łazika
const float friction = 0.1f; // Współczynnik tarcia (μ)
const float maxSpeed = 3.0f; // Maksymalna prędkość łazika
const float acceleration = 0.1f;
float rotationVelocity = 0.0f; // Prędkość obrotu łazika
const float rotationAcceleration = 0.1f; // Przyspieszenie obrotu
const float rotationFriction = 0.05f; // Współczynnik tarcia obrotu
const float maxRotationSpeed = 5.0f; // Maksymalna prędkość obrotu
// Funkcja do poruszania łazikiem
void MoveRover(bool forward) {
// Zamieniamy kąt na radiany
float radRotation = Rotation * GL_PI / 180.0f;
// Wektor ruchu w kierunku przód/tył (kierunek łazika)
float moveX = cos(radRotation);
float moveZ = sin(radRotation);
// Ruch w przód
if (forward) {
Sides -= MoveSpeed * moveX;
Foward -= MoveSpeed * moveZ;
}
// Ruch w tył
else {
Sides += MoveSpeed * moveX;
Foward += MoveSpeed * moveZ;
}
}
// Funkcja do obracania łazika wokół osi Y
void RotateRoverAndCamera(float angle) {
Rotation += angle;
if (Rotation >= 360.0f) Rotation -= 360.0f;
if (Rotation < 0.0f) Rotation += 360.0f;
}
void UpdateRover() {
// Przyspieszanie w przód
if (keyWPressed) {
velocity += acceleration;
if (velocity > maxSpeed) velocity = maxSpeed;
}
// Przyspieszanie w tył
else if (keySPressed) {
velocity -= acceleration;
if (velocity < -maxSpeed) velocity = -maxSpeed;
}
// Hamowanie (wytracanie prędkości z powodu tarcia)
else {
if (velocity > 0) {
velocity -= friction;
if (velocity < 0) velocity = 0;
}
else if (velocity < 0) {
velocity += friction;
if (velocity > 0) velocity = 0;
}
}
// Obracanie
if (keyAPressed) {
rotationVelocity += rotationAcceleration;
if (rotationVelocity > maxRotationSpeed) rotationVelocity = maxRotationSpeed;
}
else if (keyDPressed) {
rotationVelocity -= rotationAcceleration;
if (rotationVelocity < -maxRotationSpeed) rotationVelocity = -maxRotationSpeed;
}
else {
// Hamowanie obrotu (wytracanie prędkości z powodu tarcia)
if (rotationVelocity > 0) {
rotationVelocity -= rotationFriction;
if (rotationVelocity < 0) rotationVelocity = 0;
}
else if (rotationVelocity < 0) {
rotationVelocity += rotationFriction;
if (rotationVelocity > 0) rotationVelocity = 0;
}
}
// Aktualizacja pozycji na podstawie prędkości
float radRotation = Rotation * GL_PI / 180.0f;
Sides -= velocity * cos(radRotation);
Foward -= velocity * sin(radRotation);
// Aktualizacja kąta obrotu
Rotation += rotationVelocity;
if (Rotation >= 360.0f) Rotation -= 360.0f;
if (Rotation < 0.0f) Rotation += 360.0f;
}
// Change viewing volume and viewport. Called when window is resized
void ChangeSize(GLsizei w, GLsizei h) {
@@ -648,7 +774,7 @@ void SetupRC() {
// do przepisania kodu na podobny do tego stąd:
// https://github.com/opengl-tutorials/ogl/blob/master/tutorial07_model_loading/tutorial07.cpp
timestampedCout("Inicjalizowanie GLFW3...");
if(!glfwInit()) {
if (!glfwInit()) {
timestampedCout("Failed to initialize GLFW");
}
timestampedCout("Zainicjalizowano GLFW3.");
@@ -672,10 +798,11 @@ void SetupRC() {
glfwSwapInterval(1);
//glClearColor(0.0f, 0.0f, 0.4f, 0.0f);
}
void RenderScene(void) {
//float normal[3]; // Storage for calculated surface normal
// Save the matrix state and do the rotations
@@ -730,11 +857,11 @@ void RenderScene(void) {
//Sterowanie
//############################################################################################
gluLookAt(
Foward - 50.0f * sin((Rotation + 180.0f) * GL_PI / 180.0f), // Pozycja kamery wokół łazika (w poziomie)
CameraHeight, // Wysokość kamery
Sides - 50.0f * cos((Rotation + 180.0f) * GL_PI / 180.0f), // Kamera wzdłuż osi X i Z
Foward, 0.0f, Sides, // Punkt, na który patrzy kamera (łazik)
0.0f, 1.0f, 0.0f // Wektor "góry"
Foward - 100.0f * sin((Rotation + 180.0f) * GL_PI / 180.0f), // Pozycja kamery wokół łazika (w poziomie)
CameraHeight, // Wysokość kamery
Sides - 100.0f * cos((Rotation + 180.0f) * GL_PI / 180.0f), // Kamera wzdłuż osi X i Z
Foward, 0.0f, Sides, // Punkt, na który patrzy kamera (łazik)
0.0f, 1.0f, 0.0f // Wektor "góry"
);
// Rysowanie mapy (nie porusza się)
@@ -746,10 +873,12 @@ void RenderScene(void) {
// Rysowanie łazika (porusza się i obraca)
glPushMatrix();
glTranslatef(Foward, 0.0f, Sides); // Translacja łazika na jego pozycję
glRotatef(Rotation, 0.0f, 1.0f, 0.0f); // Obrót łazika wokół własnej osi
glColor3f(1.0, 0.0, 0.0); // Czerwony kolor dla łazika
user.draw();
UpdateRover();
glPopMatrix();
//skrzynka(50);
@@ -767,6 +896,10 @@ void RenderScene(void) {
//glColor3f(0.0, 1.0, 0.0);
//mapa.draw();
//glColor3f(0.0, 0.0, 0.0);
fpsCounter.update();
// Zamiana buforów (double buffering)
// Swap buffers
//glfwSwapBuffers(window);
@@ -853,66 +986,85 @@ HPALETTE GetOpenGLPalette(HDC hDC) {
// Return the handle to the new palette
return hRetPal;
}
int APIENTRY WinMain(HINSTANCE hInst, HINSTANCE hPrevInstance, LPSTR lpCmdLine, int nCmdShow) {
MSG msg; // Windows message structure
WNDCLASS wc; // Windows class structure
HWND hWnd; // Storeage for window handle
hInstance = hInst;
// Register Window style
wc.style = CS_HREDRAW | CS_VREDRAW;
wc.lpfnWndProc = (WNDPROC)WndProc;
wc.cbClsExtra = 0;
wc.cbWndExtra = 0;
wc.hInstance = hInstance;
wc.hIcon = NULL;
wc.hCursor = LoadCursor(NULL, IDC_ARROW);
// No need for background brush for OpenGL window
wc.hbrBackground = NULL;
wc.lpszMenuName = MAKEINTRESOURCE(IDR_MENU);
wc.lpszClassName = lpszAppName;
// Register the window class
if (RegisterClass(&wc) == 0) return FALSE;
// Create the main application window
hWnd = CreateWindow(
lpszAppName,
lpszAppName,
// OpenGL requires WS_CLIPCHILDREN and WS_CLIPSIBLINGS
WS_OVERLAPPEDWINDOW | WS_CLIPCHILDREN | WS_CLIPSIBLINGS,
// Window position and size
50, 50,
400, 400,
NULL,
NULL,
hInstance,
NULL);
// If window was not created, quit
if (hWnd == NULL) return FALSE;
// Display the window
ShowWindow(hWnd, SW_SHOW);
UpdateWindow(hWnd);
// Process application messages until the application closes
while (GetMessage(&msg, NULL, 0, 0)) {
TranslateMessage(&msg);
DispatchMessage(&msg);
void CreateConsole() {
// Tworzenie nowej konsoli
if (AllocConsole()) {
// Przekierowanie standardowych strumieni do konsoli
FILE* conin;
FILE* conout;
FILE* conerr;
freopen_s(&conin, "conin$", "r", stdin);
freopen_s(&conout, "conout$", "w", stdout);
freopen_s(&conerr, "conout$", "w", stderr);
}
else {
MessageBox(NULL, "Nie udało się utworzyć konsoli.", "Błąd", MB_OK | MB_ICONERROR);
}
return msg.wParam;
}
int APIENTRY WinMain(HINSTANCE hInst, HINSTANCE hPrevInstance, LPSTR lpCmdLine, int nCmdShow) {
CreateConsole();
MSG msg; // Windows message structure
WNDCLASS wc; // Windows class structure
HWND hWnd; // Storeage for window handle
hInstance = hInst;
// Register Window style
wc.style = CS_HREDRAW | CS_VREDRAW;
wc.lpfnWndProc = (WNDPROC)WndProc;
wc.cbClsExtra = 0;
wc.cbWndExtra = 0;
wc.hInstance = hInstance;
wc.hIcon = NULL;
wc.hCursor = LoadCursor(NULL, IDC_ARROW);
// No need for background brush for OpenGL window
wc.hbrBackground = NULL;
wc.lpszMenuName = MAKEINTRESOURCE(IDR_MENU);
wc.lpszClassName = lpszAppName;
// Register the window class
if (RegisterClass(&wc) == 0) return FALSE;
// Create the main application window
hWnd = CreateWindow(
lpszAppName,
lpszAppName,
// OpenGL requires WS_CLIPCHILDREN and WS_CLIPSIBLINGS
WS_OVERLAPPEDWINDOW | WS_CLIPCHILDREN | WS_CLIPSIBLINGS,
// Window position and size
50, 50,
800, 800,
NULL,
NULL,
hInstance,
NULL);
// If window was not created, quit
if (hWnd == NULL) return FALSE;
const WORD ID_TIMER = 1;
SetTimer(hWnd, ID_TIMER, 100, NULL);
// Display the window
ShowWindow(hWnd, SW_SHOW);
UpdateWindow(hWnd);
// Process application messages until the application closes
while (GetMessage(&msg, NULL, 0, 0)) {
TranslateMessage(&msg);
DispatchMessage(&msg);
}
return msg.wParam;
}
// Window procedure, handles all messages for this program
@@ -920,18 +1072,23 @@ LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
static HGLRC hRC; // Permenant Rendering context
static HDC hDC; // Private GDI Device context
float radRotation = Rotation * GL_PI / 180.0f;
float radRotation = Rotation * GL_PI / 180.0f;
switch (message) {
// Window creation, setup for OpenGL
case WM_CREATE:
// Store the device context
hDC = GetDC(hWnd);
case WM_CREATE:
// Store the device context
hDC = GetDC(hWnd);
// Select the pixel format
SetDCPixelFormat(hDC);
// Select the pixel format
SetDCPixelFormat(hDC);
// Create palette if needed
hPalette = GetOpenGLPalette(hDC);
// Create palette if needed
hPalette = GetOpenGLPalette(hDC);
// Create the rendering context and make it current
hRC = wglCreateContext(hDC);
wglMakeCurrent(hDC, hRC);
SetupRC();
// Create the rendering context and make it current
hRC = wglCreateContext(hDC);
@@ -1053,149 +1210,168 @@ float radRotation = Rotation * GL_PI / 180.0f;
else InvalidateRect(hWnd, NULL, FALSE);
break;
// Windows is telling the application that it may modify
// the system palette. This message in essance asks the
// application for a new palette.
case WM_QUERYNEWPALETTE:
// If the palette was created.
if (hPalette) {
int nRet;
// Limit FPS
LimitFPS(targetFPS);
// Selects the palette into the current device context
SelectPalette(hDC, hPalette, FALSE);
// Update FPS counter
fpsCounter.update();
break;
case WM_QUERYNEWPALETTE:
// If the palette was created.
if (hPalette) {
int nRet;
// Map entries from the currently selected palette to
// the system palette. The return value is the number
// of palette entries modified.
nRet = RealizePalette(hDC);
// Selects the palette into the current device context
SelectPalette(hDC, hPalette, FALSE);
// Repaint, forces remap of palette in current window
InvalidateRect(hWnd, NULL, FALSE);
// Map entries from the currently selected palette to
// the system palette. The return value is the number
// of palette entries modified.
nRet = RealizePalette(hDC);
return nRet;
}
break;
// Repaint, forces remap of palette in current window
InvalidateRect(hWnd, NULL, FALSE);
return nRet;
}
break;
// This window may set the palette, even though it is not the
// currently active window.
case WM_PALETTECHANGED:
// Don't do anything if the palette does not exist, or if
// this is the window that changed the palette.
if ((hPalette != NULL) && ((HWND)wParam != hWnd)) {
// Select the palette into the device context
SelectPalette(hDC, hPalette, FALSE);
case WM_PALETTECHANGED:
// Don't do anything if the palette does not exist, or if
// this is the window that changed the palette.
if ((hPalette != NULL) && ((HWND)wParam != hWnd)) {
// Select the palette into the device context
SelectPalette(hDC, hPalette, FALSE);
// Map entries to system palette
RealizePalette(hDC);
// Map entries to system palette
RealizePalette(hDC);
// Remap the current colors to the newly realized palette
UpdateColors(hDC);
return 0;
}
// Remap the current colors to the newly realized palette
UpdateColors(hDC);
return 0;
}
break;
case WM_KEYUP:
switch (wParam) {
case 'W':
keyWPressed = false;
break;
case 'S':
keySPressed = false;
break;
case 'A':
keyAPressed = false;
break;
case 'D':
keyDPressed = false;
break;
// Obsługa innych klawiszy
}
break;
case WM_KEYDOWN:
switch (wParam) {
case VK_UP:
xRot -= 5.0f;
break;
// Key press, check for arrow keys to do cube rotation.
case WM_KEYDOWN:
switch (wParam) {
case VK_UP:
xRot -= 5.0f;
break;
case VK_DOWN:
xRot += 5.0f;
break;
case VK_LEFT:
yRot -= 5.0f;
break;
case VK_RIGHT:
yRot += 5.0f;
break;
case 'Q':
zRot += 5.0f;
break;
case 'E':
zRot -= 5.0f;
break;
case 'R':
xRot = 0;
yRot = 0;
zRot = 0;
break;
case ' ': // 32
polygonmode = !polygonmode;
if (polygonmode) timestampedCout("Uwaga! Tryb wireframe jest niewydajny i powinien sluzyc tylko do debugowania!");
break;
case 'W': // Ruch w przód
MoveRover(true);
break;
case 'S': // Ruch w tył
MoveRover(false);
break;
case 'A': // Obrót w lewo
RotateRoverAndCamera(5.0f); // Obrót łazika i kamery w lewo
break;
case 'D': // Obrót w prawo
RotateRoverAndCamera(-5.0f); // Obrót łazika i kamery w prawo
break;
case 'J': // Obrót w lewo (wokół własnej osi)
Rotation += 5.0f;
if (Rotation > 360.0f || Rotation < 0.0f) Rotation -= 360.0f;
break;
case 'K': // Obrót w prawo (wokół własnej osi)
Rotation -= 5.0f;
if (Rotation > 360.0f || Rotation < 0.0f) Rotation += 360.0f;
break;
case 114: // F3
monitormode = !monitormode;
if (monitormode) {
monitormodehelper = std::time(nullptr) - 1;
timestampedCout("Wlaczono tryb monitorowania wydajnosci.");
}
if (!monitormode) timestampedCout("Wylaczono tryb monitorowania wydajnosci.");
break;
default:
timestampedCout("Nacisnieto nierozpoznany klawisz: " << (int)wParam);
}
xRot = (const int)xRot % 360;
yRot = (const int)yRot % 360;
zRot = (const int)zRot % 360;
InvalidateRect(hWnd, NULL, FALSE);
case VK_DOWN:
xRot += 5.0f;
break;
case VK_LEFT:
yRot -= 5.0f;
break;
case VK_RIGHT:
yRot += 5.0f;
break;
case 'Q':
zRot += 5.0f;
break;
case 'E':
zRot -= 5.0f;
break;
case 'R':
xRot = 0;
yRot = 0;
zRot = 0;
break;
case ' ': // 32
polygonmode = !polygonmode;
if (polygonmode) timestampedCout("Uwaga! Tryb wireframe jest niewydajny i powinien sluzyc tylko do debugowania!");
break;
case 'W':
keyWPressed = true;
break;
case 'S':
keySPressed = true;
break;
case 'A':
keyAPressed = true;
break;
case 'D':
keyDPressed = true;
break;
case 114: // F3
monitormode = !monitormode;
if (monitormode) {
monitormodehelper = std::time(nullptr) - 1;
timestampedCout("Wlaczono tryb monitorowania wydajnosci.");
}
if (!monitormode) timestampedCout("Wylaczono tryb monitorowania wydajnosci.");
break;
default:
timestampedCout("Nacisnieto nierozpoznany klawisz: " << (int)wParam);
}
xRot = (const int)xRot % 360;
yRot = (const int)yRot % 360;
zRot = (const int)zRot % 360;
InvalidateRect(hWnd, NULL, FALSE);
break;
// A menu command
case WM_COMMAND:
case WM_COMMAND:
switch (LOWORD(wParam)) {
switch (LOWORD(wParam)) {
// Exit the program
case ID_FILE_EXIT:
DestroyWindow(hWnd);
break;
// Display the about box
case ID_HELP_ABOUT:
DialogBox(hInstance, MAKEINTRESOURCE(IDD_DIALOG_ABOUT), hWnd, (DLGPROC)AboutDlgProc);
break;
}
// Exit the program
case ID_FILE_EXIT:
DestroyWindow(hWnd);
break;
default: // Passes it on if unproccessed
return (DefWindowProc(hWnd, message, wParam, lParam));
// Display the about box
case ID_HELP_ABOUT:
DialogBox(hInstance, MAKEINTRESOURCE(IDD_DIALOG_ABOUT), hWnd, (DLGPROC)AboutDlgProc);
break;
}
break;
case WM_TIMER:
RenderScene();
SwapBuffers(hDC);
ValidateRect(hWnd, NULL);
break;
default: // Passes it on if unproccessed
return (DefWindowProc(hWnd, message, wParam, lParam));
}
return (0L);
@@ -1206,48 +1382,48 @@ BOOL APIENTRY AboutDlgProc(HWND hDlg, UINT message, UINT wParam, LONG lParam) {
switch (message) {
// Initialize the dialog box
case WM_INITDIALOG:
int i;
GLenum glError;
case WM_INITDIALOG:
int i;
GLenum glError;
// glGetString demo
SetDlgItemText(hDlg, IDC_OPENGL_VENDOR, reinterpret_cast<LPCSTR>(glGetString(GL_VENDOR)));
SetDlgItemText(hDlg, IDC_OPENGL_RENDERER, (LPCSTR)glGetString(GL_RENDERER));
SetDlgItemText(hDlg, IDC_OPENGL_VERSION, (LPCSTR)glGetString(GL_VERSION));
SetDlgItemText(hDlg, IDC_OPENGL_EXTENSIONS, (LPCSTR)glGetString(GL_EXTENSIONS));
// glGetString demo
SetDlgItemText(hDlg, IDC_OPENGL_VENDOR, reinterpret_cast<LPCSTR>(glGetString(GL_VENDOR)));
SetDlgItemText(hDlg, IDC_OPENGL_RENDERER, (LPCSTR)glGetString(GL_RENDERER));
SetDlgItemText(hDlg, IDC_OPENGL_VERSION, (LPCSTR)glGetString(GL_VERSION));
SetDlgItemText(hDlg, IDC_OPENGL_EXTENSIONS, (LPCSTR)glGetString(GL_EXTENSIONS));
// gluGetString demo
SetDlgItemText(hDlg, IDC_GLU_VERSION, (LPCSTR)gluGetString(GLU_VERSION));
SetDlgItemText(hDlg, IDC_GLU_EXTENSIONS, (LPCSTR)gluGetString(GLU_EXTENSIONS));
// gluGetString demo
SetDlgItemText(hDlg, IDC_GLU_VERSION, (LPCSTR)gluGetString(GLU_VERSION));
SetDlgItemText(hDlg, IDC_GLU_EXTENSIONS, (LPCSTR)gluGetString(GLU_EXTENSIONS));
// Display any recent error messages
i = 0;
do {
glError = glGetError();
SetDlgItemText(hDlg, IDC_ERROR1 + i, (LPCSTR)gluErrorString(glError));
i++;
} while (i < 6 && glError != GL_NO_ERROR);
// Display any recent error messages
i = 0;
do {
glError = glGetError();
SetDlgItemText(hDlg, IDC_ERROR1 + i, (LPCSTR)gluErrorString(glError));
i++;
} while (i < 6 && glError != GL_NO_ERROR);
return (TRUE);
return (TRUE);
break;
break;
// Process command messages
case WM_COMMAND:
case WM_COMMAND:
// Validate and Make the changes
if (LOWORD(wParam) == IDOK) EndDialog(hDlg, TRUE);
break;
// Validate and Make the changes
if (LOWORD(wParam) == IDOK) EndDialog(hDlg, TRUE);
break;
// Closed from sysbox
case WM_CLOSE:
case WM_CLOSE:
EndDialog(hDlg, TRUE);
break;
EndDialog(hDlg, TRUE);
break;
}
return FALSE;
}
}