bool Buffer::find(const QString& findText, int flags, bool forward,
bool wrap, bool *searchWrapped) {
if (findText.isEmpty()) {
return false;
}
if (searchWrapped) {
*searchWrapped = false;
}
// Perform the search
setSearchFlags(flags);
setTargetStart(forward ? currentPos() : currentPos() - 1);
setTargetEnd(forward ? length() : 0);
QByteArray findArray = findText.toUtf8();
int findPos = searchInTarget(findArray.length(), findArray);
// If the search should wrap, perform the search again.
if (findPos == -1 && wrap) {
setTargetStart(forward ? 0 : length());
setTargetEnd(forward ? currentPos() : currentPos() - 1);
findPos = searchInTarget(findArray.length(), findArray);
if (searchWrapped) {
*searchWrapped = true;
}
}
if (findPos != -1) {
setSel(targetStart(), targetEnd());
scrollRange(targetStart(), targetEnd());
}
return findPos != -1;
}
// tests if two edges cross
bool Planarity::intersect(const edge e1, const edge e2) const
{
node v1s = e1->source();
node v1t = e1->target();
node v2s = e2->source();
node v2t = e2->target();
bool cross = false;
if(v1s != v2s && v1s != v2t && v1t != v2s && v1t != v2t)
cross = lowLevelIntersect(currentPos(v1s),currentPos(v1t),
currentPos(v2s),currentPos(v2t));
return cross;
}
void KWFrameGeometry::updateShape()
{
if (m_blockSignals) return;
KWFrame *frame = m_frame;
if (frame == 0) {
frame = m_state->frame();
m_state->markFrameUsed();
}
Q_ASSERT(frame);
frame->shape()->update();
KShape *shape = frame->shape();
QPointF currentPos(shape->absolutePosition(widget.positionSelector->position()));
QPointF pos(widget.xPos->value(), widget.yPos->value() + m_topOfPage);
QPointF moved = pos - currentPos;
QPointF prev(moved);
m_state->document()->clipToDocument(frame->shape(), moved);
pos = currentPos + moved;
frame->shape()->setAbsolutePosition(pos, widget.positionSelector->position());
QSizeF size(widget.width->value(), widget.height->value());
frame->shape()->setSize(size);
KWTextFrame *tfs = dynamic_cast <KWTextFrame*>(frame);
if (tfs) {
KInsets insets(widget.topMargin->value(), widget.leftMargin->value(),
widget.bottomMargin->value(), widget.rightMargin->value());
tfs->setInsets(insets);
}
frame->shape()->update();
}
bool LocalPlanner::local_planner_one_robot(const Point_2& start, const Point_2& target, const Polygon_set_2& obstacles, double eps)
{
double x1 = CGAL::to_double(start.x());
double y1 = CGAL::to_double(start.y());
double x2 = CGAL::to_double(target.x());
double y2 = CGAL::to_double(target.y()) ;
double distance = sqrt(pow(x1 - x2, 2) + pow(y1 - y2,2));
double step_size = eps;
// calculate how many steps are required
int step_num = floor((distance - step_size) / step_size);
double vx = x2 - x1;
double vy = y2 - y1;
for (int i = 1; i <= step_num; ++i)
{
// generate a configuration for every step
double offset = (i * step_size) / (distance - step_size);
double currx = x1 + vx * offset;
double curry = y1 + vy * offset;
Point_2 currentPos(currx, curry);
// If an intermidiate configuration is invalid, return false
//if (!m_cd.one_robot_valid_conf(currentPos,obstacles)) return false;
}
// GREAT SUCCESS!
return true;
}
void RippleSimulation::update(float dt)
{
for (std::vector<Emitter>::iterator it=mEmitters.begin(); it !=mEmitters.end(); ++it)
{
if (it->mPtr == MWBase::Environment::get().getWorld ()->getPlayerPtr())
{
// fetch a new ptr (to handle cell change etc)
// for non-player actors this is done in updateObjectCell
it->mPtr = MWBase::Environment::get().getWorld ()->getPlayerPtr();
}
osg::Vec3f currentPos (it->mPtr.getRefData().getPosition().asVec3());
if ( (currentPos - it->mLastEmitPosition).length() > 10
// Only emit when close to the water surface, not above it and not too deep in the water
&& MWBase::Environment::get().getWorld ()->isUnderwater (it->mPtr.getCell(), it->mPtr.getRefData().getPosition().asVec3())
&& !MWBase::Environment::get().getWorld()->isSubmerged(it->mPtr))
{
it->mLastEmitPosition = currentPos;
currentPos.z() = mParticleNode->getPosition().z();
if (mParticleSystem->numParticles()-mParticleSystem->numDeadParticles() > 500)
continue; // TODO: remove the oldest particle to make room?
emitRipple(currentPos);
}
}
}
//----------------------------------------------------
//----------------------------------------------------
void TouchControllerComponent::OnFixedUpdate(f32 in_timeSinceLastUpdate)
{
CSCore::Vector3 currentPos(GetEntity()->GetTransform().GetWorldPosition());
CSCore::Vector3 direction(m_targetPos - currentPos);
m_body->ApplyImpulse(CSCore::Vector2(0.0f, direction.y) * k_maxForce * in_timeSinceLastUpdate);
}
void osaOpenAL::Run(void)
{
ALint iState = 0;
if (SoundFile) {
//Time = TimeServer->GetAbsoluteTimeInSeconds() - StartTime;
//alGetSourcef( soundSource[0], AL_SEC_OFFSET, &altime); //nearest second is not good enough.
ALint currentPos(0);
alGetSourcei (SoundSource[0], AL_SAMPLE_OFFSET, ¤tPos);
Time = SoundSettings->StartTime + CalcStreamTime(currentPos);
StreamVolume = CalcStreamVolume(currentPos);
StreamVolume.Timestamp() = Time;
alGetSourcei(SoundSource[0], AL_SOURCE_STATE, &iState);
if (iState != AL_PLAYING ){
if (IsPlaying == true) {
CMN_LOG_CLASS_RUN_VERBOSE << "Run: play stopped at: " << Time.Data << std::endl;
IsPlaying = false;
}
} else {
}
} else {
IsPlaying = false;
}
}
void Buffer::gotoBookmark(bool next) {
// Try to find the bookmark, from the next/previous line
int line = lineFromPosition(currentPos());
int markerLine = -1;
if (next) {
line = (line == lineCount()) ? 0 : line + 1;
markerLine = markerNext(line, 1 << Bookmark);
} else {
line = (line == 0 ? lineCount() : line - 1);
markerLine = markerPrevious(line, 1 << Bookmark);
}
// Wrap search if a bookmark was not found.
if (markerLine == -1) {
if (next) {
markerLine = markerNext(0, 1 << Buffer::Bookmark);
} else {
markerLine = markerPrevious(lineCount(), 1 << Buffer::Bookmark);
}
}
// If the marker was found, go to the line.
if (markerLine != -1) {
gotoLine(markerLine);
}
}
void Buffer::onUpdateUi() {
if (m_braceHighlight && selectionEmpty()) {
sptr_t position = currentPos();
sptr_t braceStart = -1;
// Check previous character first.
if (position != 0 && isBrace(charAt(position - 1))) {
braceStart = position - 1;
} else if (isBrace(charAt(position))) { // Check next character.
braceStart = position;
}
if (braceStart != -1) {
// Brace found
sptr_t braceEnd = braceMatch(braceStart);
if (braceEnd > 0) {
braceHighlight(braceStart, braceEnd);
} else {
// Missing matching brace.
braceBadLight(braceStart);
}
} else {
// Not a brace, clear indicators.
braceBadLight(-1);
}
}
}
int Scrollbar::thumbPosition()
{
if (!totalSize())
return 0;
int trackLen = trackLength();
float proportion = static_cast<float>(currentPos()) / totalSize();
return round(proportion * trackLen);
}
void MoveTo::innerStart() {
// get current node position
glm::vec2 currentPos(m_target->getPosition());
auto translation = m_targetPos - currentPos;
m_distanceToCover = glm::length(translation);
if (m_distanceToCover > 0)
m_velocity = m_speed * glm::normalize (translation);
m_distanceCovered = 0.0;
}
//-----------------------------------------------------------------------------------------------
float Compute2dFractalNoise( float posX, float posY, float scale, unsigned int numOctaves, float octavePersistence, float octaveScale, bool renormalize, unsigned int seed )
{
const float OCTAVE_OFFSET = 0.636764989593174f; // Translation/bias to add to each octave
float totalNoise = 0.f;
float totalAmplitude = 0.f;
float currentAmplitude = 1.f;
float invScale = (1.f / scale);
Vector2 currentPos( posX * invScale, posY * invScale );
for( unsigned int octaveNum = 0; octaveNum < numOctaves; ++ octaveNum )
{
// Determine noise values at nearby integer "grid point" positions
Vector2 cellMins( FastFloor( currentPos.x ), FastFloor( currentPos.y ) );
int indexWestX = (int) cellMins.x;
int indexSouthY = (int) cellMins.y;
int indexEastX = indexWestX + 1;
int indexNorthY = indexSouthY + 1;
float valueSouthWest = Get2dNoiseZeroToOne( indexWestX, indexSouthY, seed );
float valueSouthEast = Get2dNoiseZeroToOne( indexEastX, indexSouthY, seed );
float valueNorthWest = Get2dNoiseZeroToOne( indexWestX, indexNorthY, seed );
float valueNorthEast = Get2dNoiseZeroToOne( indexEastX, indexNorthY, seed );
// Do a smoothed (nonlinear) weighted average of nearby grid point values
Vector2 displacementFromMins = currentPos - cellMins;
float weightEast = SmoothStep( displacementFromMins.x );
float weightNorth = SmoothStep( displacementFromMins.y );
float weightWest = 1.f - weightEast;
float weightSouth = 1.f - weightNorth;
float blendSouth = (weightEast * valueSouthEast) + (weightWest * valueSouthWest);
float blendNorth = (weightEast * valueNorthEast) + (weightWest * valueNorthWest);
float blendTotal = (weightSouth * blendSouth) + (weightNorth * blendNorth);
float noiseThisOctave = 2.f * (blendTotal - 0.5f); // Map from [0,1] to [-1,1]
// Accumulate results and prepare for next octave (if any)
totalNoise += noiseThisOctave * currentAmplitude;
totalAmplitude += currentAmplitude;
currentAmplitude *= octavePersistence;
currentPos *= octaveScale;
currentPos.x += OCTAVE_OFFSET; // Add "irrational" offsets to noise position components
currentPos.y += OCTAVE_OFFSET; // at each octave to break up their grid alignment
++ seed; // Eliminates octaves "echoing" each other (since each octave is uniquely seeded)
}
// Re-normalize total noise to within [-1,1] and fix octaves pulling us far away from limits
if( renormalize && totalAmplitude > 0.f )
{
totalNoise /= totalAmplitude; // Amplitude exceeds 1.0 if octaves are used
totalNoise = (totalNoise * 0.5f) + 0.5f; // Map to [0,1]
totalNoise = SmoothStep( totalNoise ); // Push towards extents (octaves pull us away)
totalNoise = (totalNoise * 2.0f) - 1.f; // Map back to [-1,1]
}
return totalNoise;
}
void Buffer::toggleBookmark(int line) {
if (line < 0) {
line = lineFromPosition(currentPos());
}
if (markerGet(line) & (1 << Bookmark)) {
markerDelete(line, Bookmark);
} else {
markerAdd(line, Bookmark);
}
}
void EnergyFunction::printStatus() const{
cout << "\nEnergy function name: " << m_name;
cout << "\nCurrent energy: " << m_energy;
node v;
cout << "\nPosition of nodes in current solution:";
NodeArray<int> num(m_G);
int count = 1;
forall_nodes(v,m_G) num[v] = count ++;
forall_nodes(v,m_G) {
cout << "\nNode: " << num[v] << " Position: " << currentPos(v);
}
void TSAAngularResolution::computeEnergy()
{
m_energy = 0;
node v;
forall_nodes(v, m_G) {
DPoint pos = currentPos(v);
double angRes = computeAngularResolution(v);
m_nodeEnergy[v] = angRes;
m_energy += angRes;
}
QDocumentCursor CursorHistory::forward(const QDocumentCursor ¤tCursor) {
Q_UNUSED(currentCursor);
CursorPosList::iterator next = nextValidEntry(currentEntry);
if (currentEntry == history.end() || next == history.end()) {
updateNavActions();
return QDocumentCursor();
}
currentEntry = next;
updateNavActions();
return currentPos();
}
QDocumentCursor CursorHistory::back(const QDocumentCursor ¤tCursor) {
if (currentEntry == history.begin()) {
updateNavActions();
return QDocumentCursor();
}
// insert currentCursor to be able to go back
if (currentCursor.isValid() && insertPos(currentCursor, false)) {
currentEntry--;
}
CursorPosition pos(currentCursor);
if (pos.isValid() && !pos.equals(*currentEntry)) {
updateNavActions();
return currentPos();
}
currentEntry = prevValidEntry(currentEntry);
updateNavActions();
return currentPos();
}
bool StreamReader::read(quint64 pos, int *length, char *buffer)
{
QMutexLocker lock(&m_mutex);
DEBUG_BLOCK;
bool ret = true;
if (m_unlocked) {
return ret;
}
if (currentPos() != pos) {
if (!streamSeekable()) {
return false;
}
setCurrentPos(pos);
}
if (m_buffer.capacity() < *length) {
m_buffer.reserve(*length);
}
while (currentBufferSize() < static_cast<unsigned int>(*length)) {
quint64 oldSize = currentBufferSize();
needData();
m_waitingForData.wait(&m_mutex);
if (oldSize == currentBufferSize()) {
if (m_eos && m_buffer.isEmpty()) {
return false;
}
// We didn't get any more data
*length = static_cast<int>(oldSize);
// If we have some data to return, why tell to reader that we failed?
// Remember that length argument is more like maxSize not requiredSize
ret = true;
}
}
if (m_mediaObject->state() != Phonon::BufferingState &&
m_mediaObject->state() != Phonon::LoadingState) {
enoughData();
}
memcpy(buffer, m_buffer.data(), *length);
m_pos += *length;
// trim the buffer by the amount read
m_buffer = m_buffer.mid(*length);
return ret;
}
// computes the energy if the node returned by testNode() is moved
// to position testPos().
void Planarity::compCandEnergy()
{
node v = testNode();
m_candidateEnergy = energy();
edge e;
m_crossingChanges.clear();
forall_adj_edges(e,v) if(!e->isSelfLoop()) {
// first we compute the two endpoints of e if v is on its new position
node s = e->source();
node t = e->target();
DPoint p1 = testPos();
DPoint p2 = (s==v)? currentPos(t) : currentPos(s);
int e_num = (*m_edgeNums)[e];
edge f;
// now we compute the crossings of all other edges with e
ListIterator<edge> it;
for(it = m_nonSelfLoops.begin(); it.valid(); ++it) if(*it != e) {
f = *it;
node s2 = f->source();
node t2 = f->target();
if(s2 != s && s2 != t && t2 != s && t2 != t) {
bool cross = lowLevelIntersect(p1,p2,currentPos(s2),currentPos(t2));
int f_num = (*m_edgeNums)[f];
bool priorIntersect = (*m_crossingMatrix)(min(e_num,f_num),max(e_num,f_num));
if(priorIntersect != cross) {
if(priorIntersect) m_candidateEnergy --; // this intersection was saved
else m_candidateEnergy ++; // produced a new intersection
ChangedCrossing cc;
cc.edgeNum1 = min(e_num,f_num);
cc.edgeNum2 = max(e_num,f_num);
cc.cross = cross;
m_crossingChanges.pushBack(cc);
}
}
}
}
}
void Window::createCurveIcons()
{
static const char* names[]= {
"Linear",
"InQuad", "OutQuad", "InOutQuad", "OutInQuad",
"InCubic", "OutCubic", "InOutCubic", "OutInCubic",
"InQuart", "OutQuart", "InOutQuart", "OutInQuart",
"InQuint", "OutQuint", "InOutQuint", "OutInQuint",
"InSine", "OutSine", "InOutSine", "OutInSine",
"InExpo", "OutExpo", "InOutExpo", "OutInExpo",
"InCirc", "OutCirc", "InOutCirc", "OutInCirc",
"InElastic", "OutElastic", "InOutElastic", "OutInElastic",
"InBack", "OutBack", "InOutBack", "OutInBack",
"InBounce", "OutBounce", "InOutBounce", "OutInBounce",
"InCurve", "OutCurve", "SineCurve", "CosineCurve"
};
QPixmap pix(m_iconSize);
QPainter painter(&pix);
QLinearGradient gradient(0,0, 0, m_iconSize.height());
gradient.setColorAt(0.0, QColor(240, 240, 240));
gradient.setColorAt(1.0, QColor(224, 224, 224));
QBrush brush(gradient);
for (int i = QtEasingCurve::Linear; i <= QtEasingCurve::CosineCurve; ++i) {
painter.fillRect(QRect(QPoint(0, 0), m_iconSize), brush);
QtEasingCurve curve((QtEasingCurve::Type)i);
painter.setPen(QColor(0, 0, 255, 64));
qreal xAxis = m_iconSize.height()/1.5;
qreal yAxis = m_iconSize.width()/3;
painter.drawLine(0, xAxis, m_iconSize.width(), xAxis);
painter.drawLine(yAxis, 0, yAxis, m_iconSize.height());
painter.setPen(Qt::black);
qreal curveScale = m_iconSize.height()/2;
QPoint currentPos(yAxis, xAxis);
for (qreal t = 0; t < 1.0; t+=1.0/curveScale) {
QPoint to;
to.setX(yAxis + curveScale * t);
to.setY(xAxis - curveScale * curve.valueForStep(t));
painter.drawLine(currentPos, to);
currentPos = to;
}
QListWidgetItem *item = new QListWidgetItem();
item->setIcon(QIcon(pix));
item->setText(QLatin1String(names[i]));
m_listWidget->addItem(item);
}
}
/*main function to run the filter wheel from the command line */
int main(int argc, char *argv[])
{
memset(out,0,64);
memset(in,0,64);
int c;
setup(); //start the communications
while ((c = getopt (argc, argv, "pmftoiczh")) != -1)
switch (c)
{
if(argc==1){
case 'p':
currentPos();
break;
case 't':
printf("test\n");
break;
case 'o':
motorOff();
break;
case 'z':
zero();
break;
case '?':
if (isprint (optopt))
fprintf (stderr, "Unknown option `-%c'.\n", optopt);
else
fprintf (stderr,
"Unknown option character `\\x%x'.\n",
optopt);
return 1;
default:
abort ();
}
if(argc==2){
case 'm':
printf("%s\n", argv[2]);
moveMotor(argv[2]);
break;
case 'f':
printf("%s\n", argv[2]);
moveToFilter(atoi(argv[2]), atoi(argv[3]));
break;
}
}
return 1;
}
HRESULT read(LONGLONG pos, LONG length, BYTE *buffer, LONG *actual)
{
QMutexLocker locker(&m_mutexRead);
if (m_mediaGraph->isStopping()) {
return VFW_E_WRONG_STATE;
}
if(streamSize() != 1 && pos + length > streamSize()) {
//it tries to read outside of the boundaries
return E_FAIL;
}
if (currentPos() - currentBufferSize() != pos) {
if (!streamSeekable()) {
return S_FALSE;
}
setCurrentPos(pos);
}
int oldSize = currentBufferSize();
while (currentBufferSize() < int(length)) {
needData();
if (m_mediaGraph->isStopping()) {
return VFW_E_WRONG_STATE;
}
if (oldSize == currentBufferSize()) {
break; //we didn't get any data
}
oldSize = currentBufferSize();
}
DWORD bytesRead = qMin(currentBufferSize(), int(length));
{
QWriteLocker locker(&m_lock);
qMemCopy(buffer, m_buffer.data(), bytesRead);
//truncate the buffer
m_buffer = m_buffer.mid(bytesRead);
}
if (actual) {
*actual = bytesRead; //initialization
}
return bytesRead == length ? S_OK : S_FALSE;
}
void MouseMove(int x, int y)
{
Math::Point currentPos(static_cast<float>(x), static_cast<float>(y));
static bool first = true;
if (first || (x < 10) || (y < 10) || (x > 790) || (y > 590))
{
SDL_WarpMouse(400, 300);
MOUSE_POS_BASE.x = 400;
MOUSE_POS_BASE.y = 300;
ROTATION_BASE = ROTATION;
first = false;
return;
}
ROTATION.y = ROTATION_BASE.y + (static_cast<float> (x - MOUSE_POS_BASE.x) / 800.0f) * Math::PI;
ROTATION.x = ROTATION_BASE.x + (static_cast<float> (y - MOUSE_POS_BASE.y) / 600.0f) * Math::PI;
}
void MainWindow::timeout()
{
unsigned char r, g, b;
psmove_tracker_get_color(m_tracker, m_move, &r, &g, &b);
psmove_set_leds(m_move, r, g, b);
psmove_update_leds(m_move);
psmove_tracker_update_image(m_tracker);
psmove_tracker_update(m_tracker, m_move);
float x, y;
if (psmove_tracker_get_position(m_tracker, m_move, &x, &y, NULL)) {
QPointF currentPos(x, y);
unsigned int buttons = 0;
while (psmove_poll(m_move)) {
unsigned int pressed;
psmove_get_button_events(m_move, &pressed, NULL);
if (pressed & Btn_MOVE) {
m_points[m_pointsOffset] = currentPos;
m_pointsOffset = (m_pointsOffset + 1) % 4;
m_mapping.set(m_points);
}
if (pressed & Btn_T) {
m_path.moveTo(m_mapping.map(currentPos));
}
if (pressed & Btn_CIRCLE) {
m_path = QPainterPath();
}
if (pressed & Btn_PS) {
QApplication::quit();
}
buttons = psmove_get_buttons(m_move);
}
if (buttons & Btn_T) {
m_path.lineTo(m_mapping.map(currentPos));
}
m_mousePos = QPointF(x, y);
update();
}
}
int Map::getFirstVisibleFloor()
{
int firstFloor = 0;
for(int ix = -1; ix <= 1 && firstFloor < m_centralPosition.z; ++ix) {
for(int iy = -1; iy <= 1 && firstFloor < m_centralPosition.z; ++iy) {
Position currentPos(m_centralPosition.x + ix, m_centralPosition.y + iy, m_centralPosition.z);
if((ix == 0 && iy == 0) || isLookPossible(currentPos)) {
Position upperPos = currentPos;
Position perspectivePos = currentPos;
perspectivePos.perspectiveUp();
upperPos.up();
while(upperPos.z >= firstFloor) {
if(TilePtr tile = m_tiles[upperPos]) {
if(ThingPtr firstThing = tile->getThing(0)) {
ThingType *type = firstThing->getType();
if((type->properties[ThingType::IsGround] || type->properties[ThingType::IsOnBottom]) && !type->properties[ThingType::DontHide]) {
firstFloor = upperPos.z + 1;
break;
}
}
}
if(TilePtr tile = m_tiles[perspectivePos]) {
if(ThingPtr firstThing = tile->getThing(0)) {
ThingType *type = firstThing->getType();
if((type->properties[ThingType::IsGround] || type->properties[ThingType::IsOnBottom]) && !type->properties[ThingType::DontHide]) {
firstFloor = perspectivePos.z + 1;
break;
}
}
}
perspectivePos.perspectiveUp();
upperPos.up();
}
}
}
}
return firstFloor;
}
void BurstShot::setTrail(){
hitBox.setCoords(getX()-5, getY()-5,getX()+5,getY()+5);
Point currentPos(getX(),getY());
if(currentPos.distanceTo( trail.first()) > 3){
trail.prepend(currentPos);
}
while (trail.size() > 15) {
trail.pop_back();
}
if(hit){
trail.pop_back();
}
if(getX() < -100 || getX() > game->width()+100 || getY() < -100 || getY() > game->height()+100){
hit = true;
}
if(trail.isEmpty()){
removeThis = true;
}
}
int zero(){
/* return current position as determined by the motor encoder */
strcpy(out, "PX=0");
if(!fnPerformaxComSendRecv(Handle, out, 64,64, in))
{
printf("Could not send\n");
return 1;
}
printf("Step Value Set to 0\n");
strcpy(out, "EX=0");
if(!fnPerformaxComSendRecv(Handle, out, 64,64, in))
{
printf("Could not send\n");
return 1;
}
printf("Encoder Value Set to 0\n");
currentPos();
return 1;
}
void ScreenshotEditWidget::mouseMoveEvent(QMouseEvent* event) {
if (_toolActive) {
QPoint currentPos(event->x() - ui->screenshotDisplayWidget->x(),
event->y() - ui->screenshotDisplayWidget->y());
switch (_selectedTool) {
case ST_CustomDraw: {
QPainter painter(&_newPixmap);
QPen pen;
pen.setColor(_color);
pen.setWidth(3);
painter.setPen(pen);
painter.drawLine(_lastToolPosition, currentPos);
break;
}
default:
// to suppress warnings
break;
}
_lastToolPosition = currentPos;
update();
}
}
bool GalTextItem::processText()
{
if(m_textIt != m_text.end())
// if (m_iIndex < m_text.count())
{
// 发送当前位置信号
emit currentPos(m_iIndex);
// 处理效果
processEffect();
// 添加下一个字
// m_pTextCursor->insertText(m_text.at(m_iIndex++));
m_pTextCursor->insertText(*m_textIt);
// 判断当前是否超过最大高度
if(document()->size().height() >= m_dMaxHeight)
{
m_pTextCursor->movePosition(QTextCursor::Start);
m_pTextCursor->movePosition(QTextCursor::Down, QTextCursor::KeepAnchor);
m_pTextCursor->removeSelectedText();
m_pTextCursor->movePosition(QTextCursor::End);
m_pTextCursor->setCharFormat(m_textCharFormat);
m_pTextCursor->setBlockFormat(m_textBlockFormat);
}
// 下一个字符
m_textIt++;
// 当前位置+1
m_iIndex++;
return false;
}
else
{
m_iState = -1;
emit finished();
return true;
}
}
//===============================================================================
//Execute the skill. This is the main part of the skill, where you tell the
//robot how to perform the skill.
void JamAndShootSkill::execute()
{
///If not active, dont do anything!
if(!initialized)
{
return;
}
//aggresive mode
if(sp->strategy2002.JAM_AND_SHOOT_MODE == 1)
{
skillSet->getSkill(AggressiveJamAndShootSkill::skillNum)->run();
return;
}
//stupid mode
else if(sp->strategy2002.JAM_AND_SHOOT_MODE == 2)
{
skillSet->getSkill(StupidJamAndShootSkill::skillNum)->run();
return;
}
//else normal mode
//decrease the shoot threshold linearly as the skill runs.
shoot_threshold = sp->strategy2002.SHOOT_LANE_THRESH;// *
//(WAIT_TIME - (float)timer->currentTime()) / WAIT_TIME;
Pair currentPos(getLocation(robotID,*currentVisionData,*sp));
float currentRot = getRotation(robotID,*currentVisionData,*sp);
float good_shoot_thresh=shoot_threshold;
if(kicked) good_shoot_thresh*=1.5f;
else if(aimed) good_shoot_thresh=.05f;
//finished waiting. Shoot!
//note, we only shoot if we're facing in the direction of the goal.
kickFrames--;
if(
!gaveup &&
towardGoal(currentPos,
currentRot,sp->field.THEIR_GOAL_LINE,
sp->field.LEFT_GOAL_POST,
sp->field.RIGHT_GOAL_POST) &&
(timer->currentTime() > WAIT_TIME ||
goodImmediateShot(sp->general.TEAM,robotID,sp->strategy2002.KICK_VELOCITY,
*currentVisionData,*sp,good_shoot_thresh)
//goodCurrentShot(currentPos,currentRot,*currentVisionData,*sp,good_shoot_thresh)
)
)
{
gaveup=true;
if(driftdir != 0){
kickFrames = PAUSE_FRAMES + 2*rand()*PAUSE_RANDOM/RAND_MAX - PAUSE_RANDOM;
char msg[80];
sprintf(msg,"Jam and Shoot pausing for %d frames",kickFrames);
GUI_Record.debuggingInfo.addDebugMessage(msg);
}
kicked=false;
timer->resetTimer();
}
if (gaveup && kickFrames <= 0){
//we're out of time or have a good current shot, so just kick.
SimpleKickSkill * kickSkill=(SimpleKickSkill *) skillSet->getSkill(SimpleKickSkill::skillNum);
if(!kickSkill->isInitialized()){
kickSkill->initialize(KICK_SHOT);
}
kickSkill->run();
strategy->getCurrentFrame()->setMessage(robotID,"No Turn and Kick. Just Shooting.");
}else if(skillSet->getSkill(PullBallOffWallSkill::skillNum)->isValid()){
//deal with the ball in the corner or on the wall
if(!skillSet->getSkill(PullBallOffWallSkill::skillNum)->isInitialized()){
skillSet->getSkill(PullBallOffWallSkill::skillNum)->initialize();
}
skillSet->getSkill(PullBallOffWallSkill::skillNum)->run();
}else if(kicked) {
//We have a shot, let's aim and kick.
TurnAndKickSkill *kicker=(TurnAndKickSkill *)skillSet->getSkill(TurnAndKickSkill::skillNum);
kicker->run();
//strategy->getCurrentFrame()->setMessage(robotID,"Have Shot - taking it");
}else{
bool isShot;
//find best shot (if we're already drifting, use a larger threshold)
if(aimed)isShot=calcShot(robotID,sp->field.THEIR_GOAL_LINE,sp->strategy2002.SHOOT_LANE_THRESH+2*sp->general.PLAYER_RADIUS,
sp->field.RIGHT_GOAL_POST,sp->field.LEFT_GOAL_POST,NO_ROBOT,*currentVisionData,*sp,&target);
else isShot=calcShot(robotID,sp->field.THEIR_GOAL_LINE,sp->strategy2002.SHOOT_LANE_THRESH,
sp->field.RIGHT_GOAL_POST,sp->field.LEFT_GOAL_POST,NO_ROBOT,*currentVisionData,*sp,&target);
if(isShot && driftdir==0)
{
//take the shot
TurnAndKickSkill *kicker=(TurnAndKickSkill *)skillSet->getSkill(TurnAndKickSkill::skillNum);
kicker->initialize(target,KICK_SHOT,true);
kicker->run();
kicked=true;
strategy->getCurrentFrame()->setMessage(robotID,"Have a shot!");
kickFrames=0;
}else{
target.set(sp->field.THEIR_GOAL_LINE,sp->field.SPLIT_LINE);
//if no shot, start to wait, dodge if possible
GUI_Record.debuggingInfo.setDebugPoint(robotID,4,upperbound,testline);
GUI_Record.debuggingInfo.setDebugPoint(robotID,5,lowerbound,testline);
if (driftdir==0){
//Calculate which direction to drift
//first, see if we can shoot by shifting to the near post.
//if not, drift across the field.
//Default to drift across.
float goalPost;
if(currentPos.getY()>sp->field.SPLIT_LINE){
driftdir = 1;
goalPost=sp->field.LEFT_GOAL_POST;
}else{
driftdir = -1;
goalPost=sp->field.RIGHT_GOAL_POST;
}
upperbound=sp->field.THEIR_GOAL_LINE;
lowerbound=sp->field.KILL_ZONE_LINE;
testline=sp->field.SPLIT_LINE + driftdir*(SIDE_DIST);
Pair loc;
//check near-side shot.
if(currentPos.getY() * driftdir >= goalPost*driftdir &&
calcYShot(Pair(sp->field.THEIR_GOAL_LINE,sp->field.SPLIT_LINE),
testline,
sp->strategy2002.SHOOT_LANE_THRESH*SIDE_LANE_FACTOR,
upperbound,
lowerbound,NO_ROBOT,
*currentVisionData,
*sp,
&loc)){
driftdir=-driftdir;
}
}
// printf("%f\n",ABS(angleDifference(angleBetween(currentPos,target),currentRot)));
if(ABS(angleDifference(angleBetween(currentPos,target),currentRot)) < AIM_ANGLE || aimed){
aimed=true;
//if(target.getX() != sp->field.THEIR_GOAL_LINE) target.setX(sp->field.THEIR_GOAL_LINE);
//drift to the side to see if we have a shot.
//calculate the direction to drift
Pair dest;
float changeAngle;
//switch directions if we've gone too far.
if(angleBetween(currentPos,target)*driftdir > BOUNCE_ANGLE ){
driftdir=-driftdir;
}
target.setY(target.getY() - AIM_DISTANCE*driftdir);
changeAngle= DRIFT_ANGLE*driftdir;
char msg[80];
sprintf(msg, "No Shot - drifting %s",( driftdir > 0 ? "right" : "left"));
strategy->getCurrentFrame()->setMessage(robotID,msg);
//drift around goal
//See if we can push forward:
rotateAboutPoint(frontOfRobot(robotID,*currentVisionData,*sp), target,changeAngle, dest);
//DUE TO J&S BACKING UP TOO MUCH, I'M GETTING RID OF THIS NEXT PART
if(!isLane(currentPos,dest,sp->general.PLAYER_RADIUS,*currentVisionData,*sp,true)){
//we can't. :( drift sideways.
rotateAboutPoint(currentPos, target,changeAngle, dest);
}
//see if one of their robots is in the way, and back up if they are.
if(!isLane(currentPos,dest,sp->general.PLAYER_RADIUS,*currentVisionData,*sp,true)){
//move destination back
extendPoint(target,dest,sp->general.PLAYER_RADIUS,dest);
}
command->setPos(dest);
//Adjust angle to fast the direction we're drifting a bit.
command->setRotation(angleBetween(currentPos,target) - driftdir*DRIFT_ADJUST_ANGLE);
command->setDribble(DRIBBLE_DEFAULT);
command->setVerticalDribble(V_DRIBBLE_DEFAULT);
command->setSpeed(BALL_POSSESSION_SPEED);
}else{
strategy->getCurrentFrame()->setMessage(robotID,"No Shot - turning to goal");
//turn to face goal
SpinAroundBallSkill *spin=(SpinAroundBallSkill *)strategy->getSkillSet(robotID)->getSkill(SpinAroundBallSkill::skillNum);
spin->initialize(target);
spin->run();
}
}
}
RobotIndex goalie;
if(getLocation(robotID,*currentVisionData,*sp).getX() > sp->field.HALF_LINE){
if(getTheirGoalie(*currentVisionData,*sp,&goalie)){
if(getLocation(sp->general.OTHER_TEAM,goalie,*currentVisionData).distanceTo(getLocation(robotID,*currentVisionData,*sp)) >=
ENTERBOX_CAUTION_DIST+sp->general.PLAYER_RADIUS + sp->general.OPPONENT_RADIUS){
command->setControl(OMNI_FAST_ENTERBOX);
}
}else{
//if no goalie, enter the box
command->setControl(OMNI_FAST_ENTERBOX);
}
}
GUI_Record.debuggingInfo.setDebugPoint(robotID,0,target);
//command->setControl(OMNI_NORMAL_ENTERBOX);
command->setRotation(angleBetween(currentPos,target));
}