// Remove the quads out of view and create new's in the finish tunnel
void Game::rebuildMap() const{
int lastInvalid = 0;
for (int i=0; i<sA; i++){
if((objCamera.mPos.z) < buffer[i].z){
lastInvalid = i;
}
else{
if (lastInvalid > 0)
break;
}
}
if (lastInvalid > 0){
int c = 0;
for (int i=lastInvalid; i<sA; i++){
buffer[c] = buffer[i];
color[c] = color[i];
c++;
}
for (int i=c; i<sA; i++){
generateRing(i);
}
}
}
SpiralIterator::SpiralIterator(const grid_map::GridMap& gridMap, const Eigen::Vector2d& center,
const double radius)
: center_(center),
radius_(radius),
distance_(0)
{
radiusSquare_ = radius_ * radius_;
mapLength_ = gridMap.getLength();
mapPosition_ = gridMap.getPosition();
resolution_ = gridMap.getResolution();
bufferSize_ = gridMap.getSize();
gridMap.getIndex(center_, indexCenter_);
nRings_ = std::ceil(radius_ / resolution_);
if (checkIfIndexWithinRange(indexCenter_, bufferSize_)) pointsRing_.push_back(indexCenter_);
else generateRing();
}
SpiralIterator& SpiralIterator::operator ++()
{
pointsRing_.pop_back();
if (pointsRing_.empty() && !isPastEnd()) generateRing();
return *this;
}
void Game::generateMap() const{
for (int i=0; i<sA; i++){
generateRing(i);
}
}