map_renderer.cpp

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#include "map_renderer.h"
 
#include <Dxlib.h>
 
#include "dxlib_util.h"
#include "loop_util.h"
 
namespace designlab {
 
MapRenderer::MapRenderer()
    : color_gray_(GetColor(180, 80, 80)),
      color_light_gray_(GetColor(200, 160, 160)),
      color_dark_gray_(GetColor(40, 40, 40)),
      cube_size_(15.f) {}
 
void MapRenderer::SetNode(const RobotStateNode& pos) {
  hexapod_pos_ = pos.center_of_mass_global_coord;
 
  divided_map_.Init(map_, hexapod_pos_);
}
 
void MapRenderer::SetMapState(const MapState& map) {
  map_ = map;
 
  divided_map_.Init(map_, hexapod_pos_);
}
 
void MapRenderer::Draw() const {
  using dxlib_util::ConvertToDxlibVec;
  using dxlib_util::DrawCube3DWithTopPos;
 
  const size_t map_point_size = map_.GetMapPointSize();  // マップの点の数.
 
  for (size_t i = 0; i < map_point_size; i++) {
    DrawCube3DWithTopPos(ConvertToDxlibVec(map_.GetMapPoint(i)), cube_size_,
                         color_dark_gray_);
  }
 
  for (const auto& [i, j] : DoubleIntRange(30, 30)) {
    const auto num = divided_map_.GetPointNum(i, j);
    if (!num) {
      continue;  // このマスに脚設置可能点が存在しない場合はスキップ.
    }
 
    for (int k = 0; k < *num; k++) {
      // 脚設置可能点を描画する.
      const auto point_pos = divided_map_.GetPointPos(i, j, k);
      if (!point_pos) {
        continue;  // このマスに脚設置可能点が存在しない場合はスキップ.
      }
 
      DrawCube3DWithTopPos(ConvertToDxlibVec(*point_pos), cube_size_,
                           (i + j) % 2 == 0 ? color_light_gray_ : color_gray_);
    }
  }
}
 
}  // namespace designlab