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AlexMshc wants to merge 4 commits into from
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Works in Minimized window #190

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eec1f0b
done
AlexMshc Nov 18, 2025
9cda750
fix formating
AlexMshc Nov 18, 2025
e121145
fix[2]
AlexMshc Nov 18, 2025
e601433
fix[3]
AlexMshc Nov 18, 2025
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7 changes: 7 additions & 0 deletions include/sslworld.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,8 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
#include <QObject>
#include <QUdpSocket>
#include <QList>
#include <QTimer>
#include <QElapsedTimer>


#include "graphics.h"
Expand Down Expand Up @@ -76,13 +78,17 @@ class SSLWorld : public QObject
Robot *robot) ;
void processTeleportBall(SimulatorResponse &simulatorResponse, const TeleportBall &teleBall) const;
static void processTeleportRobot(const TeleportRobot &teleBot, Robot *robot);
QTimer* simulationTimer {nullptr};
QElapsedTimer elapsed;
public:
dReal customDT;
bool isGLEnabled;
SSLWorld(QGLWidget* parent, ConfigWidget* _cfg, RobotsFormation *form1, RobotsFormation *form2);
~SSLWorld() override;
void glinit();
void step(dReal dt=-1);
void simulate(dReal dt=-1);
void render();
SSL_WrapperPacket* generatePacket(int cam_id=0);
void addFieldLinesArcs(SSL_GeometryFieldSize *field);
static void addFieldLine(SSL_GeometryFieldSize *field, const std::string &name, float p1_x, float p1_y, float p2_x, float p2_y, float thickness);
Expand Down Expand Up @@ -124,6 +130,7 @@ public slots:
void simControlSocketReady();
void blueControlSocketReady();
void yellowControlSocketReady();
void stepSimulation();
signals:
void fpsChanged(int newFPS);
};
Expand Down
24 changes: 9 additions & 15 deletions src/glwidget.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -346,27 +346,21 @@ void GLWidget::step()
const dReal* ballV = dBodyGetLinearVel(ssl->ball->body);
double ballSpeed = ballV[0]*ballV[0] + ballV[1]*ballV[1] + ballV[2]*ballV[2];
ballSpeed = sqrt(ballSpeed);

rendertimer.restart();
m_fps = frames /(time.elapsed()/1000.0);
if (!(frames % ((int)(ceil(cfg->DesiredFPS()))))) {

m_fps = frames / (time.elapsed() / 1000.0);
if (!(frames % static_cast<int>(ceil(cfg->DesiredFPS())))) {
time.restart();
frames = 0;
}
if (first_time) {ssl->step();first_time = false;}
else {
if (cfg->SyncWithGL())
{
dReal ddt=rendertimer.elapsed()/1000.0;
if (ddt>0.05) ddt=0.05;
ssl->step(ddt);
}
else {
ssl->step(cfg->DeltaTime());
}
}
frames ++;

ssl->render();

frames++;
}


void GLWidget::paintGL()
{
if (!ssl->g->isGraphicsEnabled()) return;
Expand Down
81 changes: 62 additions & 19 deletions src/sslworld.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@

#include <QtGlobal>
#include <QtNetwork>
#include <QTimer>

#include <QDebug>

Expand Down Expand Up @@ -316,6 +317,14 @@

elapsedLastPackageBlue.start();
elapsedLastPackageYellow.start();

elapsed.start();

simulationTimer = new QTimer(this);
simulationTimer->setInterval(10);
connect(simulationTimer, &QTimer::timeout,
this, &SSLWorld::stepSimulation);
simulationTimer->start();
}

int SSLWorld::robotIndex(int robot,int team) {
Expand Down Expand Up @@ -410,92 +419,127 @@
p->glinit();
}

void SSLWorld::step(dReal dt) {
if (customDT > 0) dt = customDT;
const auto ratio = m_parent->devicePixelRatio();
g->initScene(m_parent->width()*ratio,m_parent->height()*ratio,0,0.7,1);
void SSLWorld::stepSimulation()
{
if (!elapsed.isValid()) {
elapsed.start();
return;
}

qint64 nsec = elapsed.nsecsElapsed();
elapsed.restart();

dReal dt = static_cast<dReal>(nsec) / 1e9;
if (dt <= 0) {
dt = (last_dt > 0) ? last_dt : 0.01;
}

simulate(dt);
}

void SSLWorld::simulate(dReal dt)
{
if (customDT > 0) {
dt = customDT;
}

int ballCollisionTry = 5;
for (int kk=0;kk < ballCollisionTry;kk++) {
const dReal* ballvel = dBodyGetLinearVel(ball->body);
dReal ballspeed = ballvel[0]*ballvel[0] + ballvel[1]*ballvel[1] + ballvel[2]*ballvel[2];
ballspeed = sqrt(ballspeed);
if (ballspeed > 0.01) {
dReal fk = cfg->BallFriction()*cfg->BallMass()*cfg->Gravity();
dReal ballfx = -fk*ballvel[0] / ballspeed;
dReal ballfy = -fk*ballvel[1] / ballspeed;
dReal ballfz = -fk*ballvel[2] / ballspeed;
dReal balltx = -ballfy*cfg->BallRadius();
dReal ballty = ballfx*cfg->BallRadius();
dReal balltz = 0;
dBodyAddTorque(ball->body,balltx,ballty,balltz);
dBodyAddForce(ball->body,ballfx,ballfy,ballfz);
} else {
dBodySetAngularVel(ball->body, 0, 0, 0);
dBodySetLinearVel(ball->body, 0, 0, 0);
}
if (dt == 0) dt = last_dt;
else last_dt = dt;

selected = -1;
p->step(dt/ballCollisionTry);
}

sim_time += last_dt;

int best_k=-1;
dReal best_dist = 1e8;
dReal xyz[3],hpr[3];
if (selected==-2) {
best_k=-2;
dReal bx,by,bz;
ball->getBodyPosition(bx,by,bz);
g->getViewpoint(xyz,hpr);
best_dist =(bx-xyz[0])*(bx-xyz[0])
+(by-xyz[1])*(by-xyz[1])
+(bz-xyz[2])*(bz-xyz[2]);
}
for (int k=0;k<cfg->Robots_Count() * 2;k++)
{
if (robots[k]->selected)
{
g->getViewpoint(xyz,hpr);
dReal dist= (robots[k]->select_x-xyz[0])*(robots[k]->select_x-xyz[0])
+(robots[k]->select_y-xyz[1])*(robots[k]->select_y-xyz[1])
+(robots[k]->select_z-xyz[2])*(robots[k]->select_z-xyz[2]);
if (dist < best_dist) {
best_dist = dist;
best_k = k;
}
}

// Yellow robots are on the last half of count
if(k >= cfg->Robots_Count())
robots[k]->chassis->setColor(ROBOT_YELLOW_CHASSIS_COLOR);
else
robots[k]->chassis->setColor(ROBOT_BLUE_CHASSIS_COLOR);
}
if(best_k>=0)
{
if(best_k >= cfg->Robots_Count())
robots[best_k]->chassis->setColor(
QColor::fromRgbF(ROBOT_YELLOW_CHASSIS_COLOR.redF()*2,
ROBOT_YELLOW_CHASSIS_COLOR.greenF()*1.5,
ROBOT_YELLOW_CHASSIS_COLOR.blueF()*1.5)
);
else
robots[best_k]->chassis->setColor(
QColor::fromRgbF(ROBOT_BLUE_CHASSIS_COLOR.redF()*2,
ROBOT_BLUE_CHASSIS_COLOR.greenF()*1.5,
ROBOT_BLUE_CHASSIS_COLOR.blueF()*1.5)
);
}
selected = best_k;
ball->tag = -1;
for (int k=0;k<cfg->Robots_Count() * 2;k++)
{
robots[k]->step();
robots[k]->selected = false;
}

sendVisionBuffer();
frame_num++;
}

Check notice on line 532 in src/sslworld.cpp

View check run for this annotation

codefactor.io / CodeFactor

src/sslworld.cpp#L440-L532 

Complex Method
void SSLWorld::render()
{
if (!g->isGraphicsEnabled())
return;

const auto ratio = m_parent->devicePixelRatio();
g->initScene(m_parent->width() * ratio,
m_parent->height() * ratio,
0, 0.7, 1);

p->draw();
g->drawSkybox(4 * cfg->Robots_Count() + 6 + 1, //31 for 6 robot
4 * cfg->Robots_Count() + 6 + 2, //32 for 6 robot
Expand All @@ -504,24 +548,23 @@
4 * cfg->Robots_Count() + 6 + 5, //31 for 6 robot
4 * cfg->Robots_Count() + 6 + 6);//36 for 6 robot

dMatrix3 R;

if (g->isGraphicsEnabled())
if (show3DCursor)
{
dRFromAxisAndAngle(R,0,0,1,0);
g->setColor(1,0.9,0.2,0.5);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
g->drawCircle(cursor_x,cursor_y,0.001,cursor_radius);
glDisable(GL_BLEND);
}
if (show3DCursor) {
dMatrix3 R;
dRFromAxisAndAngle(R,0,0,1,0);
g->setColor(1,0.9,0.2,0.5);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
g->drawCircle(cursor_x,cursor_y,0.001,cursor_radius);
glDisable(GL_BLEND);
}

g->finalizeScene();
}


sendVisionBuffer();
frame_num ++;
void SSLWorld::step(dReal dt)
{
simulate(dt);
render();
}

void SSLWorld::addRobotStatus(Robots_Status& robotsPacket, int robotID, bool infrared, KickStatus kickStatus) {
Expand Down
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