void Robot :: move(float v1, float v2, SPTR<Map> m)
{
SPTR<Posture> prev = _pos;
_pos->move(v1, v2, _radius * 2);
_update_bb();
// update bumpers & go back if there is a collision
if(_check_collision(m))
{
float theta = _pos->theta();
_pos = prev;
_pos->set_theta(theta);
_collision = true;
}
// update Lasers
for (size_t i = 0; i < _Lasers.size(); ++i)
_Lasers[i]->update(_pos, m);
// update Radars
for (size_t i = 0; i < _Radars.size(); ++i)
_Radars[i].update(_pos, m);
// update light sensors
for (size_t i = 0; i < _LightSensors.size(); ++i)
_LightSensors[i].update(_pos, m);
// update camera
if (_use_camera)
_camera.update(_pos, m);
}
/**
* gst_gl_display_add_context:
* @display: a #GstGLDisplay
* @context: (transfer none): a #GstGLContext
*
* Returns: whether @context was successfully added. %FALSE may be returned
* if there already exists another context for @context's active thread.
*
* Must be called with the object lock held.
*
* Since: 1.6
*/
gboolean
gst_gl_display_add_context (GstGLDisplay * display, GstGLContext * context)
{
GstGLContext *collision = NULL;
GstGLDisplay *context_display;
gboolean ret = TRUE;
GThread *thread;
GWeakRef *ref;
g_return_val_if_fail (GST_IS_GL_DISPLAY (display), FALSE);
g_return_val_if_fail (GST_IS_GL_CONTEXT (context), FALSE);
context_display = gst_gl_context_get_display (context);
g_assert (context_display == display);
gst_object_unref (context_display);
thread = gst_gl_context_get_thread (context);
if (thread) {
collision = _get_gl_context_for_thread_unlocked (display, thread);
g_thread_unref (thread);
/* adding the same context is a no-op */
if (context == collision) {
ret = TRUE;
goto out;
}
if (_check_collision (context, collision)) {
ret = FALSE;
goto out;
}
}
ref = g_new0 (GWeakRef, 1);
g_weak_ref_init (ref, context);
display->priv->contexts = g_list_prepend (display->priv->contexts, ref);
out:
if (collision)
gst_object_unref (collision);
GST_DEBUG_OBJECT (display, "%ssuccessfully inserted context %" GST_PTR_FORMAT,
ret ? "" : "un", context);
return ret;
}
