void updateRobot()
{
glBindBuffer(GL_ARRAY_BUFFER, vboIDs[7]);
vec4 p1,p2,p3,p4,p5,p6,p7,p8;
p1 = vec4(-robot.base / 2 , 0 , robot.thick , 1) + robot.position;
p2 = vec4(robot.base / 2 , 0 , robot.thick , 1) + robot.position;
p3 = vec4(robot.base / 2 , robot.thick , robot.thick , 1) + robot.position;
p4 = vec4(-robot.base / 2 , robot.thick , robot.thick , 1) + robot.position;
p5 = vec4(-robot.base / 2 , 0 , -robot.thick , 1) + robot.position;
p6 = vec4(robot.base / 2 , 0 , -robot.thick , 1) + robot.position;
p7 = vec4(robot.base / 2 , robot.thick , -robot.thick , 1) + robot.position;
p8 = vec4(-robot.base / 2 , robot.thick , -robot.thick , 1) + robot.position;
vec4 addPoints1[36] = {p1,p2,p3,p1,p3,p4, p5,p6,p7,p5,p7,p8, p5,p1,p4,p5,p4,p8, p2,p6,p7,p2,p7,p3, p4,p3,p7,p4,p7,p8, p1,p2,p6,p1,p6,p5};
glBufferSubData(GL_ARRAY_BUFFER, 0*36*sizeof(vec4), 36*sizeof(vec4), addPoints1);
p1 = vec4(-robot.thick / 2 , 0 , robot.thick / 2 , 1) + robot.position; p1.w = 1;
p2 = vec4(robot.thick / 2 , 0 , robot.thick / 2 , 1) + robot.position; p2.w = 1;
p3 = vec4(robot.arm1 * sin(robot.theta) , robot.arm1 * cos(robot.theta) , 0 , 1) + p2; p3.w = 1;
p4 = vec4(-robot.thick , 0, 0 , 1) + p3; p4.w = 1;
p5 = vec4(0 , 0 , -robot.thick , 1) + p1; p5.w = 1;
p6 = vec4(0 , 0 , -robot.thick , 1) + p2; p6.w = 1;
p7 = vec4(0 , 0 , -robot.thick , 1) + p3; p7.w = 1;
p8 = vec4(0 , 0 , -robot.thick , 1) + p4; p8.w = 1;
vec4 addPoints2[36] = {p1,p2,p3,p1,p3,p4, p5,p6,p7,p5,p7,p8, p5,p1,p4,p5,p4,p8, p2,p6,p7,p2,p7,p3, p4,p3,p7,p4,p7,p8, p1,p2,p6,p1,p6,p5};
glBufferSubData(GL_ARRAY_BUFFER, 1*36*sizeof(vec4), 36*sizeof(vec4), addPoints2);
p1 = p3;
p2 = vec4(robot.arm2 * cos(robot.phi - robot.theta) , robot.arm2 * sin(robot.phi - robot.theta) , 0 , 1) + p1; p2.w = 1;
p3 = vec4(-robot.thick * sin(robot.phi - robot.theta) , robot.thick * cos(robot.phi - robot.theta) , 0 , 1) + p2; p3.w = 1;
p4 = vec4(-robot.thick * sin(robot.phi - robot.theta) , robot.thick * cos(robot.phi - robot.theta) , 0 , 1) + p1; p4.w = 1;
p5 = vec4(0, 0 , -robot.thick , 1) + p1; p5.w = 1;
p6 = vec4(0, 0 , -robot.thick , 1) + p2; p6.w = 1;
p7 = vec4(0, 0 , -robot.thick , 1) + p3; p7.w = 1;
p8 = vec4(0, 0 , -robot.thick , 1) + p4; p8.w = 1;
vec4 addPoints3[36] = {p1,p2,p3,p1,p3,p4, p5,p6,p7,p5,p7,p8, p5,p1,p4,p5,p4,p8, p2,p6,p7,p2,p7,p3, p4,p3,p7,p4,p7,p8, p1,p2,p6,p1,p6,p5};
glBufferSubData(GL_ARRAY_BUFFER, 2*36*sizeof(vec4), 36*sizeof(vec4), addPoints3);
int sx= (int)((p2.x + gridX * gridLength / 2) / gridLength);
int sy= (int)(p2.y / gridLength);
//check if there is room
bool flag = true;
for (int i = 0; i < 4; i ++)
{
int piecex = sx + allshape[tiletype][shapenum][i][0];
int piecey = sy + allshape[tiletype][shapenum][i][1];
if (piecex < 0 || piecex > gridX - 1 || piecey < 0 || piecey > gridY - 1 ) {
if (piecex < 0) robot.touch = 1;
if (piecex > gridX - 1) robot.touch = 2;
if (piecey < 0) robot.touch = 3;
if (piecey > gridY - 1) robot.touch = 4;
flag = false;
break;
}
}
if ( flag ){
robot.tipx = sx;
robot.tipy = sy;
robot.touch = 0;
}
glBindBuffer(GL_ARRAY_BUFFER, vboIDs[8]);
for (int i = 0; i < 36; i ++) {
glBufferSubData(GL_ARRAY_BUFFER, i*sizeof(vec4), sizeof(vec4), blue1);
}
for (int i = 36; i < 2 * 36; i ++) {
glBufferSubData(GL_ARRAY_BUFFER, i*sizeof(vec4), sizeof(vec4), blue2);
}
for (int i = 36 * 2; i < 3 * 36; i ++) {
glBufferSubData(GL_ARRAY_BUFFER, i*sizeof(vec4), sizeof(vec4), blue3);
}
}