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Game.cpp
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#include "Game.h"
#include <SDL/SDL_hints.h>
#include <Urho3D/DebugNew.h>
// Movement speed as world units per second
const float MOVE_SPEED = 10.0f;
// Mouse sensitivity as degrees per pixel
const float MOUSE_SENSITIVITY = 0.1f;
const float CAMERA_MOVE_SPEED = 2.0;
const int START_X = 5;
const float CAR_LENGTH = 4.6;
const float CAR_WIDTH = 2.0;
const float CAR_HEIGHT = 1.5;
const float RADAR_TO_CAMERA = 1.52;
const float TAIL_LIGHT_X = 0;
const float TAIL_LIGHT_Y = 0.2;
const float TAIL_LIGHT_Z = -2.4;
const float TAIL_LIGHT_RANGE = 1.0;
const Color JADE(5 / 255.0, 196 / 255.0, 107 / 255.0);
const Color SUN_GLOW(250 / 255.0, 204 / 255.0, 72 / 255.0);
const Color NA_ORANGE(249 / 255.0, 151 / 255.0, 22 / 255.0);
const Color DARK_TURQ(0, 216 / 255.0, 216 / 255.0);
const Color SPRINT_GREEN(11 / 255.0, 232 / 255.0, 129 / 255.0);
const Color SOFT_BLUE(136 / 255.0, 225 / 255.0, 242 / 255.0);
const Color SOFT_PURPLE(147 / 255.0, 153 / 255.0, 255 / 255.0);
const Color AD_ON_COLOR(86 / 255.0, 164 / 255.0, 118 / 255.0);
static const int GPS = 1;
static const int EMULATOR = 2;
static const int CRUISE = 3;
static const int SET_IP = 2;
static const int GAME_INIT = 3;
static const int NAVI_INIT = 4;
static const int NAVI_ROUTE_NOTIFY = 5;
static const int NAVI_ARRIVED = 6;
static const int NAVI_TEXT = 7;
static const int NAVI_INFO = 8;
static const int NAVI_MAP_TYPE = 9;
static const int NAVI_CAMERA_INFO = 10;
static const int NAVI_INFO2 = 11;
static const int NAVI_FACILITY = 12;
// doc https://a.amap.com/lbs/static/unzip/Android_Navi_Doc/index.html
static const int NAVI_ICON_LEFT = 2;
static const int NAVI_ICON_RIGHT = 3;
static const int NAVI_ICON_STRAIGHT = 9;
static const int NAVI_ICON_RIGHT_BACK = 7;
static const int NAVI_ICON_RIGHT_FRONT = 5;
static const int NAVI_ICON_LEFT_BACK = 6;
static const int NAVI_ICON_LEFT_FRONT = 4;
static const int NAVI_CAMERA_SPEED_LIMIT = 0;
static const int NAVI_CAMERA_BREAKRULE = 3;
static const int NAVI_CAMERA_BUS_WAY = 4;
static const int NAVI_CAMERA_EMERGENCY = 5;
static const int NAVI_CAMERA_SURVEILLANCE = 1;
static const int NAVI_CAMERA_TRAFFICLIGHT = 2;
static const int FROM_NATIVE_GPS = 100;
const float turn_signal_flash_time = 0.5F;
const float RADAR_FILTER_D_DIST = 6.0F;
const float LANE_CHANGE_LINE_PROB = 0.5F;
const float LC_ANIM_TIMER = 6.0F;
const float LC_ANIM_STEP_TIMER = 0.5F;
enum CameraState
{
kCameraFPS,
kCameraTP,
kCameraFixed,
};
// enum cereal_CarState_GearShifter {
// cereal_CarState_GearShifter_unknown = 0,
// cereal_CarState_GearShifter_park = 1,
// cereal_CarState_GearShifter_drive = 2,
// cereal_CarState_GearShifter_neutral = 3,
// cereal_CarState_GearShifter_reverse = 4,
// cereal_CarState_GearShifter_sport = 5,
// cereal_CarState_GearShifter_low = 6,
// cereal_CarState_GearShifter_brake = 7,
// cereal_CarState_GearShifter_eco = 8,
// cereal_CarState_GearShifter_manumatic = 9
// };
Color gear_color(0.4, 0.4, 0.4);
URHO3D_DEFINE_APPLICATION_MAIN(Game);
#ifdef __ANDROID__
extern "C" {
extern int Android_JNI_SendMessage2(int cmd, double data1, double data2, double data3, double data4, double data5);
}
#endif
static void read_points(cereal_ModelDataV2_XYZTData& xyzt_data, PODVector< Vector3 >& ret)
{
auto& x_list = xyzt_data.x;
auto& y_list = xyzt_data.y;
auto len = capn_len(x_list);
// printf("read_points len=%d \n", len);
capn_resolve(&x_list.p);
capn_resolve(&y_list.p);
ret.Resize(len);
for (int i = 0; i < len; ++i)
{
auto x = capn_to_f32(capn_get32(x_list, i));
auto y = capn_to_f32(capn_get32(y_list, i));
// ret[i] = Vector3(-y, 0.0F, x);
ret[i] = Vector3(y, 0.0F, x);
// printf("pos=%s\n", ret[i].ToString().CString());
}
}
static void read_points(cereal_ModelDataV2_XYZTData_ptr xyztp, PODVector< Vector3 >& ret)
{
cereal_ModelDataV2_XYZTData xyzt_data;
cereal_read_ModelDataV2_XYZTData(&xyzt_data, xyztp);
read_points(xyzt_data, ret);
}
static void visualize_lane_geometry(const PODVector< Vector3 >& pvd,
CustomGeometry* lane_geometry,
Material* mat,
float width,
bool solid,
float max_distance,
float x_offset = 0.0F)
{
lane_geometry->Clear();
lane_geometry->SetNumGeometries(1);
lane_geometry->SetDynamic(true);
Vector3 offset(x_offset, 0, 0);
if (solid)
{
lane_geometry->BeginGeometry(0, TRIANGLE_STRIP);
for (const auto& pos : pvd)
{
if (pos.z_ > max_distance)
break;
lane_geometry->DefineVertex(pos + Vector3(width, 0, 0) + offset);
lane_geometry->DefineVertex(pos + Vector3(-width, 0, 0) + offset);
}
}
else
{
lane_geometry->BeginGeometry(0, TRIANGLE_LIST);
const int N = 10;
int cut_num = N;
for (int i = 0; i < pvd.Size() - 1; ++i)
{
int k = i / N;
if (k % 2 != 0)
continue;
auto pos0 = pvd[i];
auto pos1 = pvd[i + 1];
auto p0 = pos0 + Vector3(width, 0, 0);
auto p1 = pos0 + Vector3(-width, 0, 0);
auto p2 = pos1 + Vector3(width, 0, 0);
auto p3 = pos1 + Vector3(-width, 0, 0);
if (p0.z_ > max_distance)
break;
lane_geometry->DefineVertex(p0 + offset);
lane_geometry->DefineVertex(p1 + offset);
lane_geometry->DefineVertex(p3 + offset);
lane_geometry->DefineVertex(p3 + offset);
lane_geometry->DefineVertex(p2 + offset);
lane_geometry->DefineVertex(p0 + offset);
}
}
lane_geometry->SetMaterial(mat);
lane_geometry->Commit();
}
static void visualize_line(LineVisData& data, float max_distance)
{
visualize_lane_geometry(data.points, data.geometry, data.material, data.width, data.solid, max_distance);
}
static void set_scale_by_car_size(Drawable* drawable)
{
auto* node = drawable->GetNode();
const auto& bb = drawable->GetWorldBoundingBox();
auto size = bb.Size();
// URHO3D_LOGINFOF("size=%s", size.ToString().CString());
node->SetScale(Vector3(CAR_WIDTH / size.x_, CAR_HEIGHT / size.y_, CAR_LENGTH / size.z_));
}
static Game* g_game = NULL;
static void android_callback(int msg_Code, double data1, double data2, double data3, const char* data4)
{
if (g_game)
g_game->OnAndroidCallback(msg_Code, data1, data2, data3, data4);
}
static void apply_rotation(Node* node, float yaw)
{
Quaternion q;
// q.FromEulerAngles(0, 180, 0);
q.FromEulerAngles(90, 180 + yaw, 90);
node->SetRotation(q);
}
Game::Game(Context* context)
: Sample(context),
last_sync_time_(0.0F),
op_status_(-1),
camera_dist_(config_.camera_init_dist),
yaw_(0),
pitch_(config_.camera_init_pitch),
model_changed_(false),
message_time_(0),
speed_(0),
longitude_(0),
latitude_(0),
touch_down_time_(0),
debug_touch_flag_(0),
android_(false),
num_cpu_cores_(0),
turn_signal_time_(0),
turn_signal_(0),
last_speed_limit_(0),
target_pitch_(-999.0F),
target_dist_(-1.0F),
target_yaw_(-999.0F),
control_enabled_(false),
touch_up_time_(0.0F),
camera_state_(kCameraTP),
show_live_tracks_(true),
op_debug_mode_(0),
set_speed_(0.0F),
steering_wheel_(0.0F),
speed_ms_(0),
lc_dir_(0),
lc_send_frames_(0),
brake_lights_(false),
road_edge_left_(10.0),
road_edge_right_(10.0),
car_gear_(1),
camera_blend_speed_(0.1F),
camera_blend_acceleration_(0.1F),
status_text_time_out_(5.0F),
debug_test_(false),
navigation_exit_(false)
{
URHO3D_LOGINFOF("************************ Game::Game() tid=%u ************************ ", pthread_self());
memset(&model_, 0x00, sizeof(model_));
g_game = this;
SetFuncCallback(android_callback);
}
Game::~Game()
{
g_game = NULL;
}
void Game::InitOP()
{
URHO3D_LOGINFOF("************************ InitOP tid=%u ************************ ", pthread_self());
URHO3D_LOGINFOF("%s", Time::GetTimeStamp().CString());
const auto& arg_list = GetArguments();
for (int i = 0; i < arg_list.Size(); ++i)
{
if (arg_list[i] == "-ip")
{
op_ip_address_ = arg_list[i + 1];
URHO3D_LOGINFOF("command line ip=%s", op_ip_address_.CString());
}
else if (arg_list[i] == "test")
{
debug_test_ = true;
}
}
auto vec = op_ip_address_.Split('.');
bool ping_successed = false;
if (vec.Size() != 4)
{
#ifdef __ANDROID__
const char* ip_list[] = {"192.168.3.9", "192.168.43.138", "192.168.137.138"};
#else
const char* ip_list[] = {"192.168.5.11", "192.168.3.138", "192.168.43.138", "192.168.137.138", "127.0.0.1"};
#endif
for (int i = 0; i < sizeof(ip_list) / sizeof(ip_list[0]); ++i)
{
std::string details;
if (Ping(ip_list[i], 1, details))
{
URHO3D_LOGINFOF("ping %s success!!!", ip_list[i]);
op_ip_address_ = ip_list[i];
ping_successed = true;
break;
}
else
{
URHO3D_LOGINFOF("ping %s failed !!! %s ", ip_list[i], details.c_str());
}
}
}
else
{
URHO3D_LOGINFO("input ip=" + op_ip_address_);
std::string details;
ping_successed = Ping(op_ip_address_.CString(), 3, details);
}
op_status_ = ping_successed ? 0 : -1;
URHO3D_LOGINFOF("op_status_=%d", op_status_);
op_ctx_ = OP::Context::create();
const char* sock_names[] = {
"modelV2",
// "liveCalibration",
// "gpsLocationExternal",
"controlsState",
// "thumbnail",
// "dMonitoringState",
"carState",
"liveTracks",
// "pathPlan",
"radarState",
// "pathPlan",
// "laneSpeed",
"testJoystick",
};
auto size = (sizeof(sock_names) / sizeof(sock_names[0]));
for (int i = 0; i < size; ++i)
{
auto* sock = OP::SubSocket::create(op_ctx_, sock_names[i], op_ip_address_.CString(), true);
if (sock == NULL)
URHO3D_LOGERRORF("%s error !!! \n", sock_names[i]);
else
socks_.push_back(sock);
}
sync_pub_ = OP::PubSocket::create(op_ctx_, "testLiveLocation");
op_poller_ = OP::Poller::create(socks_);
last_sync_time_ = time_->GetElapsedTime();
}
void Game::Start()
{
input_ = GetSubsystem< Input >();
graphics_ = GetSubsystem< Graphics >();
time_ = GetSubsystem< Time >();
ui_ = GetSubsystem< UI >();
render_ = GetSubsystem< Renderer >();
cache_ = GetSubsystem< ResourceCache >();
Sample::Start();
CreateScene();
if (touchEnabled_)
input_->SetScreenJoystickVisible(screenJoystickIndex_, false);
SetHDR(config_.hdr);
CreateUI();
InitOP();
// SubscribeToEvent(E_UPDATE, URHO3D_HANDLER(Game, HandleUpdate));
SubscribeToEvent(E_SCENEUPDATE, URHO3D_HANDLER(Game, HandleSceneUpdate));
SubscribeToEvent(E_TOUCHEND, URHO3D_HANDLER(Game, HandleTouchEnd));
SubscribeToEvent(E_UIMOUSECLICK, URHO3D_HANDLER(Game, HandleControlClicked));
SubscribeToEvent(E_MOUSEBUTTONUP, URHO3D_HANDLER(Game, HandleMouseButtonUp));
message_time_ = time_->GetElapsedTime();
android_ = (GetPlatform() == "Android");
num_cpu_cores_ = GetNumPhysicalCPUs();
#ifdef __ANDROID__
Android_JNI_SendMessage2(1, 0, 0, 0, 0, 0);
#endif
URHO3D_LOGINFOF("Game---start finished");
}
void Game::SetHDR(bool hdr)
{
SharedPtr< Viewport > viewport(new Viewport(context_, scene_, cameraNode_->GetComponent< Camera >()));
render_->SetViewport(0, viewport);
UpdateViewport();
bool is_low_end = android_ && (num_cpu_cores_ < 6);
if (is_low_end)
return;
render_path_ = viewport->GetRenderPath()->Clone();
if (hdr)
{
#ifdef __ANDROID__
render_path_->Load(cache_->GetResource< XMLFile >("RenderPaths/ForwardDepth.xml"));
#else
render_path_->Load(cache_->GetResource< XMLFile >("RenderPaths/Forward.xml"));
#endif
render_path_->Append(cache_->GetResource< XMLFile >("PostProcess/AutoExposure.xml"));
render_path_->Append(cache_->GetResource< XMLFile >("PostProcess/BloomHDR.xml"));
render_path_->Append(cache_->GetResource< XMLFile >("PostProcess/Tonemap.xml"));
render_path_->SetEnabled("TonemapReinhardEq3", false);
render_path_->SetEnabled("TonemapUncharted2", true);
render_path_->SetShaderParameter("TonemapMaxWhite", 1.8F);
render_path_->SetShaderParameter("TonemapExposureBias", 2.5F);
render_path_->SetShaderParameter("AutoExposureAdaptRate", 2.0F);
render_path_->SetShaderParameter("BloomHDRMix", Variant(Vector2(0.9f, 0.6f)));
render_path_->Append(cache_->GetResource< XMLFile >("PostProcess/FXAA2.xml"));
// render_path_->Append(cache_->GetResource<XMLFile>("PostProcess/ColorCorrection.xml"));
viewport->SetRenderPath(render_path_);
render_->SetHDRRendering(true);
}
else
{
render_path_->Load(cache_->GetResource< XMLFile >("RenderPaths/Forward.xml"));
render_path_->Append(cache_->GetResource< XMLFile >("PostProcess/FXAA2.xml"));
// render_path_->Append(cache_->GetResource<XMLFile>("PostProcess/ColorCorrection.xml"));
viewport->SetRenderPath(render_path_);
}
}
void Game::Stop()
{
URHO3D_LOGINFO("**************** Stop **************** ");
delete op_poller_;
op_poller_ = NULL;
delete sync_pub_;
sync_pub_ = NULL;
for (auto* p : socks_)
{
delete p;
}
socks_.clear();
g_game = NULL;
SetFuncCallback(NULL);
}
void Game::HandleSceneUpdate(StringHash eventType, VariantMap& eventData)
{
using namespace Update;
float timeStep = eventData[P_TIMESTEP].GetFloat();
Update(timeStep);
}
void Game::Update(float timeStep)
{
{
MutexLock _l(lock_);
nav_data_main_thread_ = nav_data_java_thread_;
}
ReceiveDataFromOP();
UpdateInput(timeStep);
UpdateNavigation(timeStep);
SyncUI(timeStep);
SyncToOP();
}
void Game::ReceiveDataFromOP()
{
auto cur_time = time_->GetElapsedTime();
if (cur_time - message_time_ > 5.0 && op_status_ == 1)
{
op_status_ = 2;
}
// peek and consume all events in the zmq queue, then return.
auto polls = op_poller_->poll(10);
if (polls.size() == 0)
return;
for (auto sock : polls)
{
// URHO3D_LOGINFO("start sock receive");
OP::Message* msg = sock->receive();
if (msg == NULL)
{
URHO3D_LOGINFO("receive NULL msg");
continue;
}
if (sock == socks_.back())
{
auto size = msg->getSize();
json_buffer_.Resize(size + 1);
char* p = &json_buffer_[0];
memset(p, 0, size + 1);
memcpy(p, msg->getData(), size);
String s(p);
URHO3D_LOGINFO(s);
SharedPtr< JSONFile > json(new JSONFile(context_));
if (json->FromString(s))
HandleCustomMessage(json);
}
else
{
HandleOPMessage(msg);
}
delete msg;
}
}
void Game::SyncToOP()
{
auto elapsed = time_->GetElapsedTime();
if (elapsed - last_sync_time_ > 0.025F)
{
sync_str_ = "{";
sync_str_ += "\"speed_limit\":" + String(nav_data_main_thread_.speed_limit) + ",";
sync_str_ += "\"navi_icon\":" + String(nav_data_main_thread_.navi_icon) + ",";
sync_str_ += "\"dist_to_next_step\":" + String(nav_data_main_thread_.dist_to_next_step) + ",";
sync_str_ += "\"has_exit\":" + String(!nav_data_main_thread_.exit_name.Empty()) + ",";
sync_str_ += "\"navi_type\":" + String(nav_data_main_thread_.navi_type) + ",";
sync_str_ += "\"remain_dist\":" + String(nav_data_main_thread_.remain_dist) + ",";
sync_str_ += "\"is_high_way\":" + String(nav_data_main_thread_.high_way) + ",";
sync_str_ += "\"op_debug_mode\":" + String(op_debug_mode_) + ",";
sync_str_ += "\"date\":\"" + Time::GetTimeStamp() + "\"" + ",";
sync_str_ += "\"cmd_line\":\"" + op_cmd_line_ + "\"" + ",";
sync_str_ += "\"lc_dir\":\"" + String(lc_dir_) + "\"";
if (lc_send_frames_ > 0)
{
lc_send_frames_--;
}
if (lc_send_frames_ <= 0)
{
lc_dir_ = 0;
lc_send_frames_ = 0;
}
sync_str_ += "}";
auto ret = sync_pub_->send((char*)sync_str_.CString(), sync_str_.Length());
// URHO3D_LOGINFOF("sync to op %s ", buf_to_send);
last_sync_time_ = elapsed;
}
}
void Game::CreateScene()
{
scene_ = new Scene(context_);
scene_->CreateComponent< Octree >();
scene_->CreateComponent< DebugRenderer >();
auto* zoneNode = scene_->CreateChild("Zone");
auto* zone = zoneNode->CreateComponent< Zone >();
const float WORLD_SIZE = 500.0F;
// Set same volume as the Octree, set a close bluish fog and some ambient light
zone->SetBoundingBox(BoundingBox(-WORLD_SIZE, WORLD_SIZE));
zone->SetFogStart(50.0f);
zone->SetFogEnd(150.0f);
zone_ = zone;
Node* planeNode = scene_->CreateChild("Plane");
planeNode->SetScale(Vector3(200.0f, 1.0f, 200.0f));
planeNode->SetPosition(Vector3(0, -0.1, 0));
auto* planeObject = planeNode->CreateComponent< StaticModel >();
planeObject->SetModel(cache_->GetResource< Model >("Models/Plane.mdl"));
if (config_.water_plane)
planeObject->SetMaterial(cache_->GetResource< Material >("Materials/RefPlane.xml"));
cameraNode_ = scene_->CreateChild("Camera");
auto* camera = cameraNode_->CreateComponent< Camera >();
cameraNode_->SetPosition(Vector3(0, 11.5, -15.5));
// cameraNode_->LookAt(Vector3(0, 0, 0));
camera->SetFarClip(500.0f);
auto* lightNode = scene_->CreateChild("Light");
auto* light = lightNode->CreateComponent< Light >();
light->SetLightType(LIGHT_SPOT);
light->SetRange(30.0);
lightNode->SetPosition(Vector3(0, 0.5, 0.5));
lightNode->SetDirection(Vector3(0, 0, 1.0F));
light->SetSpecularIntensity(10.0f);
light->SetFov(45.0);
if (config_.shadow)
{
light->SetCastShadows(true);
light->SetShadowBias(BiasParameters(0.00025f, 0.5f));
// Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
light->SetShadowCascade(CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f));
}
front_light_ = light;
/// reference
// auto* boxNode = scene_->CreateChild("Box_Ref");
// boxNode->SetPosition(Vector3(5,CAR_HEIGHT/2.0,0));
// auto* boxObject = boxNode->CreateComponent<StaticModel>();
// boxObject->SetModel(cache_->GetResource<Model>("Models/Box.mdl"));
// set_scale_by_car_size(boxObject);
ego_node_ = CreateCarModel("EgoCar", "MY/lexus.xml");
ego_node_->SetEnabled(true);
ego_node_->SetPosition(Vector3::ZERO);
ego_mat_ = cache_->GetResource< Material >("MY/lexus.xml");
lead_car_ = CreateCarModel("LeadCar", "MY/LeadCar.xml");
lead_car2_ = CreateCarModel("LeadCar2", "MY/LeadCar2.xml");
for (int i = 0; i < MAX_LIVE_TRACKS; ++i)
{
track_nodes_[i] = CreateCarModel("LeadCar", "MY/Track.xml");
}
{
auto* node = scene_->CreateChild("TailLight");
node->SetPosition(Vector3(TAIL_LIGHT_X, TAIL_LIGHT_Y, TAIL_LIGHT_Z));
auto* light = node->CreateComponent< Light >();
light->SetLightType(LIGHT_POINT);
light->SetRange(TAIL_LIGHT_RANGE);
light->SetColor(Color::RED);
light->SetEnabled(false);
tail_light_ = light;
}
auto* base_mat = cache_->GetResource< Material >("MY/Lane.xml");
Vector3 vis_position(0, 0, CAR_LENGTH - RADAR_TO_CAMERA);
path_vis_.node = scene_->CreateChild("Path");
path_vis_.node->SetPosition(vis_position);
path_vis_.geometry = path_vis_.node->CreateComponent< CustomGeometry >();
path_vis_.material = base_mat->Clone();
path_vis_.width = config_.path_line_width;
for (int i = 0; i < 2; ++i)
{
auto& road_edge = road_edge_vis_[i];
road_edge.node = scene_->CreateChild("RoadEdge_" + Urho3D::String(i));
road_edge.node->SetPosition(vis_position);
road_edge.geometry = road_edge.node->CreateComponent< CustomGeometry >();
road_edge.material = base_mat->Clone();
road_edge.width = config_.road_edge_width;
}
for (int i = 0; i < 4; ++i)
{
auto& lane = lane_vis_[i];
lane.node = scene_->CreateChild("Lane_" + Urho3D::String(i));
lane.node->SetPosition(vis_position);
lane.geometry = lane.node->CreateComponent< CustomGeometry >();
lane.material = base_mat->Clone();
lane.width = config_.lane_line_width;
}
UpdateLaneColor();
UpdateDayLight();
}
void Game::UpdateInput(float timeStep)
{
// Do not move if the UI has a focused element (the console)
if (ui_->GetFocusElement())
return;
// Use this frame's mouse motion to adjust camera node yaw and pitch. Clamp the pitch between -90 and 90 degrees
IntVector2 mouseMove = input_->GetMouseMove();
yaw_ += MOUSE_SENSITIVITY * mouseMove.x_;
pitch_ += MOUSE_SENSITIVITY * mouseMove.y_;
pitch_ = Clamp(pitch_, -90.0f, 90.0f);
if (input_->GetNumTouches() == 1)
{
auto* state = input_->GetTouch(0);
if (!state->touchedElement_) // Touch on empty space
{
if (state->delta_.x_ || state->delta_.y_)
{
Camera* camera = cameraNode_->GetComponent< Camera >();
if (camera)
{
yaw_ += TOUCH_SENSITIVITY * camera->GetFov() / graphics_->GetHeight() * state->delta_.x_;
pitch_ += TOUCH_SENSITIVITY * camera->GetFov() / graphics_->GetHeight() * state->delta_.y_;
}
}
}
}
UpdateDebugTouch(timeStep);
if (car_gear_ == 1 || car_gear_ == 4 || car_gear_ == 3)
camera_state_ = kCameraFixed;
else if (car_gear_ == 2)
camera_state_ = kCameraTP;
if (camera_state_ == kCameraFPS)
UpdateFPSCamera(timeStep);
else if (camera_state_ == kCameraTP)
UpdateTPCamera(timeStep);
else
UpdateFixedCamera(timeStep);
UpdateKeyInput(timeStep);
bool lane_line_visible = camera_state_ != kCameraFixed;
for (auto& l : lane_vis_)
l.node->SetEnabled(lane_line_visible);
path_vis_.node->SetEnabled(lane_line_visible);
for (auto& l : road_edge_vis_)
l.node->SetEnabled(lane_line_visible);
}
void Game::UpdateDayLight()
{
bool is_day = !config_.is_night;
Color day_color(config_.day_color[0] / 255.0, config_.day_color[1] / 255.0, config_.day_color[2] / 255.0);
Color night_color(config_.night_color[0] / 255.0, config_.night_color[1] / 255.0, config_.night_color[2] / 255.0);
Color ambient_color = is_day ? day_color : night_color;
zone_->SetAmbientColor(ambient_color);
zone_->SetFogColor(ambient_color);
front_light_->SetColor(Color::WHITE);
// tail_light_->SetEnabled(!is_day);
Vector4 ego_color(0.1, 0.1, 0.1, 1);
if (!is_day)
ego_color = Vector4(0.25, 0.25, 0.25, 1);
ego_mat_->SetShaderParameter("MatEmissiveColor", ego_color);
}
void Game::CreateUI()
{
SetLogoVisible(false);
// Load XML file containing default UI style sheet
auto* style = cache_->GetResource< XMLFile >("UI/DefaultStyle.xml");
auto uiRoot = ui_->GetRoot();
auto vw = graphics_->GetWidth();
auto vh = graphics_->GetHeight();
auto half_w = vw / 2.0F;
auto half_h = vh / 2.0F;
URHO3D_LOGINFOF("vw=%d vh=%d \n", vw, vh);
// Set the loaded style as default style
uiRoot->SetDefaultStyle(style);
// const String FONT_NAME("MY/GAEN.ttf");
// const String FONT_NAME("MY/Google.ttf");
const String FONT_NAME("MY/SimHei.ttf");
auto* font = cache_->GetResource< Font >(FONT_NAME);
debug_text_ = uiRoot->CreateChild< Text >("debug");
debug_text_->SetText("");
debug_text_->SetFont(font, android_ ? config_.debug_text_size : 10);
debug_text_->SetColor(Color::RED);
debug_text_->SetHorizontalAlignment(HA_LEFT);
debug_text_->SetVerticalAlignment(VA_TOP);
debug_text_->SetPriority(100000);
speed_text_ = uiRoot->CreateChild< Text >("speed");
speed_text_->SetTextEffect(TE_STROKE);
speed_text_->SetFont(font, config_.speed_text_size);
speed_text_->SetColor(DARK_TURQ);
ui_elements_.Push(speed_text_);
speed_hint_text_ = uiRoot->CreateChild< Text >("speed_hint");
speed_hint_text_->SetFont(font, config_.speed_text_size / 6.0);
speed_hint_text_->SetColor(Color(0.5, 0.5, 0.5));
speed_hint_text_->SetPriority(-10);
ui_elements_.Push(speed_hint_text_);
set_speed_text_ = uiRoot->CreateChild< Text >("set_speed");
set_speed_text_->SetFont(font, config_.speed_text_size / 4.0);
set_speed_text_->SetColor(SOFT_PURPLE);
set_speed_text_->SetPriority(-10);
ui_elements_.Push(set_speed_text_);
status_text_ = uiRoot->CreateChild< Text >("status");
status_text_->SetTextEffect(TE_SHADOW);
status_text_->SetFont(font, config_.status_text_size);
status_text_->SetColor(Color(26 / 255.0, 80 / 255.0, 139 / 255.0));
status_text_->SetText("OP CONNECTING");
ui_elements_.Push(status_text_);
int icon_top = config_.top_gap + config_.icon_size / 2.0;
{
left_turn_signal_sprite_ = uiRoot->CreateChild< Sprite >("left_turn_signal");
left_turn_signal_sprite_->SetTexture(cache_->GetResource< Texture2D >("MY/arrow_l.png"));
left_turn_signal_sprite_->SetSize(config_.indicator_size, config_.indicator_size);
left_turn_signal_sprite_->SetHotSpot(config_.indicator_size / 2.0, config_.indicator_size / 2.0);
left_turn_signal_sprite_->SetOpacity(0.9f);
left_turn_signal_sprite_->SetVisible(false);
left_turn_signal_sprite_->SetPosition(
config_.left_gap + config_.icon_size + config_.normal_gap + config_.indicator_size / 2.0, icon_top);
ui_elements_.Push(left_turn_signal_sprite_);
}
{
right_turn_signal_sprite_ = uiRoot->CreateChild< Sprite >("right_turn_signal");
right_turn_signal_sprite_->SetTexture(cache_->GetResource< Texture2D >("MY/arrow_r.png"));
right_turn_signal_sprite_->SetSize(config_.indicator_size, config_.indicator_size);
right_turn_signal_sprite_->SetHotSpot(config_.indicator_size / 2.0, config_.indicator_size / 2.0);
right_turn_signal_sprite_->SetOpacity(0.9f);
right_turn_signal_sprite_->SetVisible(false);
right_turn_signal_sprite_->SetPosition(
vw - config_.right_gap - config_.icon_size - config_.normal_gap - config_.indicator_size / 2.0, icon_top);
ui_elements_.Push(right_turn_signal_sprite_);
}
{
speed_limit_sprite_ = uiRoot->CreateChild< Sprite >("speed_limit_sprite");
speed_limit_sprite_->SetVisible(false);
speed_limit_sprite_->SetOpacity(0.9f);
speed_limit_sprite_->SetTexture(cache_->GetResource< Texture2D >("MY/traffic_sign_speed_lim_10.png"));
speed_limit_sprite_->SetSize(config_.speed_limit_size, config_.speed_limit_size);
speed_limit_sprite_->SetHotSpot(config_.speed_limit_size / 2.0, config_.speed_limit_size / 2.0);
speed_limit_sprite_->SetPosition(
vw - config_.speed_limit_size - config_.right_gap + config_.speed_limit_size / 2.0, icon_top);
ui_elements_.Push(speed_limit_sprite_);
}
{
ad_on_sprite_ = uiRoot->CreateChild< Sprite >("ad_on");
ad_on_sprite_->SetTexture(cache_->GetResource< Texture2D >("MY/ad_on.png"));
ad_on_sprite_->SetSize(config_.icon_size, config_.icon_size);
ad_on_sprite_->SetHotSpot(config_.icon_size / 2.0, config_.icon_size / 2.0);
ad_on_sprite_->SetOpacity(0.9f);
ad_on_sprite_->SetVisible(false);
ad_on_sprite_->SetPosition(config_.left_gap + config_.icon_size / 2.0, icon_top);
ui_elements_.Push(ad_on_sprite_);
}
{
ad_off_sprite_ = uiRoot->CreateChild< Sprite >("ad_off");
ad_off_sprite_->SetTexture(cache_->GetResource< Texture2D >("MY/ad_off.png"));
ad_off_sprite_->SetSize(config_.icon_size, config_.icon_size);
ad_off_sprite_->SetHotSpot(config_.icon_size / 2.0, config_.icon_size / 2.0);
ad_off_sprite_->SetOpacity(0.9f);
ad_off_sprite_->SetVisible(false);
ad_off_sprite_->SetPosition(config_.left_gap + config_.icon_size / 2.0, icon_top);
}
debug_setting_btn_ = uiRoot->CreateChild< Text >("debug_setting");
debug_setting_btn_->SetFont(font, config_.debug_ui_size);
debug_setting_btn_->SetText("setting");
debug_setting_btn_->SetColor(Color::RED);
debug_setting_btn_->SetVisible(false);
debug_ui_elements_.Push(debug_setting_btn_);
debug_log_btn_ = uiRoot->CreateChild< Text >("debug_log_btn");
debug_log_btn_->SetFont(font, config_.debug_ui_size);
debug_log_btn_->SetText("log");
debug_log_btn_->SetVisible(false);
debug_log_btn_->SetColor(Color::RED);
debug_ui_elements_.Push(debug_log_btn_);
debug_clean_data_btn_ = uiRoot->CreateChild< Text >("debug_clean_data_btn");
debug_clean_data_btn_->SetFont(font, config_.debug_ui_size);
debug_clean_data_btn_->SetText("clean");
debug_clean_data_btn_->SetVisible(false);
debug_clean_data_btn_->SetColor(Color::RED);
debug_ui_elements_.Push(debug_clean_data_btn_);
debug_no_log_btn_ = uiRoot->CreateChild< Text >("debug_no_log_btn");
debug_no_log_btn_->SetFont(font, config_.debug_ui_size);
debug_no_log_btn_->SetText("no log");
debug_no_log_btn_->SetVisible(false);
debug_no_log_btn_->SetColor(Color::RED);
debug_ui_elements_.Push(debug_no_log_btn_);
auto left = 30;
auto top = vh / 2.0F;
auto gap = 30;
debug_setting_btn_->SetPosition(left, top);
debug_log_btn_->SetPosition(left + debug_setting_btn_->GetRowWidth(0) + gap, top);
debug_clean_data_btn_->SetPosition(left, top + debug_setting_btn_->GetRowHeight() + gap);
debug_no_log_btn_->SetPosition(left + debug_clean_data_btn_->GetRowWidth(0) + gap,
top + debug_setting_btn_->GetRowHeight() + gap);
auto lc_btn_size = config_.icon_size * 0.75F;
left_lc_btn_ = uiRoot->CreateChild< Sprite >("left_lc");
left_lc_btn_->SetTexture(cache_->GetResource< Texture2D >("MY/left_lc.png"));
left_lc_btn_->SetSize(lc_btn_size, lc_btn_size);
left_lc_btn_->SetHotSpot(lc_btn_size / 2.0, lc_btn_size / 2.0);
// left_lc_btn_->SetOpacity(0.9f);
int lc_w_offset = 10;
int lc_h_offset = 10;
auto lc_w = lc_btn_size;
auto lc_h = lc_btn_size;
left_lc_btn_->SetPosition(vw - 2 * lc_w - gap - lc_w_offset, vh - lc_h - lc_h_offset);
ui_elements_.Push(left_lc_btn_);
right_lc_btn_ = uiRoot->CreateChild< Sprite >("right_lc");
right_lc_btn_->SetTexture(cache_->GetResource< Texture2D >("MY/right_lc.png"));
right_lc_btn_->SetSize(lc_btn_size, lc_btn_size);
right_lc_btn_->SetHotSpot(lc_btn_size / 2.0, lc_btn_size / 2.0);
right_lc_btn_->SetVisible(true);
right_lc_btn_->SetPosition(vw - lc_w - lc_w_offset, vh - lc_h - lc_h_offset);
ui_elements_.Push(right_lc_btn_);
gear_p_text_ = uiRoot->CreateChild< Text >("P");
gear_p_text_->SetFont(font, config_.debug_ui_size);
gear_p_text_->SetText("P");
gear_p_text_->SetColor(gear_color);
int gear_w_offset = 10;
int gear_h_offset = 10;
auto gear_h = gear_p_text_->GetRowHeight();
auto gear_w = gear_p_text_->GetRowWidth(0);
gap = 10;
auto gear_x = gear_w_offset;
auto gear_y = vh - gear_h - gear_h_offset;
gear_p_text_->SetPosition(gear_x, gear_y);
ui_elements_.Push(gear_p_text_);
gear_x += (gap + gear_w);
gear_r_text_ = uiRoot->CreateChild< Text >("R");
gear_r_text_->SetFont(font, config_.debug_ui_size);
gear_r_text_->SetText("R");
gear_r_text_->SetColor(gear_color);
gear_r_text_->SetPosition(gear_x, gear_y);
ui_elements_.Push(gear_r_text_);
gear_x += (gap + gear_w);
gear_n_text_ = uiRoot->CreateChild< Text >("N");
gear_n_text_->SetFont(font, config_.debug_ui_size);
gear_n_text_->SetText("N");
gear_n_text_->SetPosition(gear_x, gear_y);
gear_n_text_->SetColor(gear_color);
ui_elements_.Push(gear_n_text_);
gear_x += (gap + gear_w);
gear_d_text_ = uiRoot->CreateChild< Text >("D");
gear_d_text_->SetFont(font, config_.debug_ui_size);
gear_d_text_->SetText("D");
gear_d_text_->SetPosition(gear_x, gear_y);
gear_d_text_->SetColor(gear_color);
ui_elements_.Push(gear_d_text_);
for (auto ui : debug_ui_elements_)
ui_elements_.Push(ui);
// for (auto ui : ui_elements_)
// {
// URHO3D_LOGINFOF("%s pos=%s", ui->GetName().CString(), ui->GetPosition().ToString().CString());
// }
}
void Game::UpdateLaneColor()
{
// float alpha1 = std::min(model_.left_lane.prob * 3.0F, 1.0F);
// alpha1 = std::max(alpha1, 0.5F);
if (control_enabled_)
{
for (int i = 0; i < 4; ++i)
{
auto mat = lane_vis_[i].material;
auto alpha = model_.lanes[i].prob;
mat->SetShaderParameter("MatDiffColor", Vector4(AD_ON_COLOR.r_, AD_ON_COLOR.g_, AD_ON_COLOR.b_, alpha));
}
}
else
{
for (int i = 0; i < 4; ++i)
{
auto mat = lane_vis_[i].material;
auto alpha = model_.lanes[i].prob;
// alpha = 1.0F;
mat->SetShaderParameter(
"MatDiffColor", Vector4(config_.lane_color[0], config_.lane_color[1], config_.lane_color[2], alpha));
}
}
path_vis_.material->SetShaderParameter(
"MatDiffColor",
Vector4(config_.path_color[0], config_.path_color[1], config_.path_color[2], config_.path_color[3]));