bool playGame(Affichage A, Damier *map, Snake *snake, Sound sound)
{
int end = 0;
bool win = FALSE;
Position newPos = initPosition();
Input input = initInput();
Chrono chrono = initChrono();
Timer timer = initTimer();
setProiesToMap(map);
drawTile(A, TILE_TITLE);
drawTextChrono(chrono, A);
drawMap(A, *map, newPosition(MAXCASES/2 + 3,MAXCASES/2), *snake);
startChrono(&chrono);
while (1)
{
setTimer(&timer);
newPos = updatePositions(map, snake, &input);
if (input.end)
break;
if (testPosMap(newPos))
{
end = addPositionSnake(map, snake, newPos, sound);
if (end)
{
win = FALSE;
break;
}
}
setPositionsToMap(map, snake);
drawChrono(chrono, A);
drawMap(A, *map, newPos, *snake);
if(endChrono(chrono))
{
win = FALSE;
break;
}
if (endGame(map))
{
win = TRUE;
break;
}
reguleFPS(&timer);
}
deleteChrono(&chrono);
return win;
}
const uint8_t* TilesAttackGameModeManager::restoreInternalState(const uint8_t* in, int size) {
in = GameModeManager::restoreInternalState(in, size);
memcpy(&leavesDone, in, sizeof(leavesDone)); in += sizeof(leavesDone);
initPosition();
TRANSFORM(herisson)->position.x = GameModeManager::position(leavesDone);
return in;
}
visualOdometry::visualOdometry()
{
start_index_ = boost::lexical_cast<int>(pd_.getData("start_index"));
end_index_ = boost::lexical_cast<int>(pd_.getData("end_index"));
publish_trajectory_ = node_handle_.advertise<visualization_msgs::Marker>("trajectory",10);
publish_ground_truth = node_handle_.advertise<visualization_msgs::Marker>("ground_truth",10);
initPosition();
mainloop();
}
int KITECH_SDM8::StartHoming(void)
{
vector<double> initPosition(joints.size());
vector<unsigned long> time;
for(size_t i = 0; i < initPosition.size(); i++) {
initPosition[i] = 0.0;
}
return SetPosition(initPosition, time);
}
int main(int argc, char** argv) {
Chemin *spirale = initPosition(5,4);
Chemin *tmp = spirale;
while(tmp) {
printf("(%d,%d)\n",tmp->x,tmp->y);
tmp = tmp->Suivant;
}
//initPosition(5,4);
// initPosition(7,3);
// initPosition(3,3);
}
void BirdEye::initiation()
{
initPosition();
initParameters();
flightOrigin();
initPointcloud();
//defining pre points for later velocity calculation
prePoint = originPoint;
ROS_INFO("origin at %.3f %.3f %.3f",originPoint.x,originPoint.y,originPoint.z);
}
void HW3b::setsize(int value)
{
timer->stop();
m_sliderGrid->setValue(value);
m_spinboxGrid->setValue(value);
grid = value+1;
// sdepth = 5.0/4.0 * (grid+3);
// sdepth = sdepth+0.6;
initPoints();
initPosition();
initVertexBuffer();
updateGL();
}
UBStylusPalette::UBStylusPalette(QWidget *parent, Qt::Orientation orient)
: UBActionPalette(Qt::TopLeftCorner, parent, orient)
, mLastSelectedId(-1)
{
QList<QAction*> actions;
actions << UBApplication::mainWindow->actionPen;
actions << UBApplication::mainWindow->actionEraser;
actions << UBApplication::mainWindow->actionMarker;
actions << UBApplication::mainWindow->actionSelector;
actions << UBApplication::mainWindow->actionPlay;
actions << UBApplication::mainWindow->actionHand;
actions << UBApplication::mainWindow->actionZoomIn;
actions << UBApplication::mainWindow->actionZoomOut;
actions << UBApplication::mainWindow->actionPointer;
actions << UBApplication::mainWindow->actionLine;
actions << UBApplication::mainWindow->actionText;
actions << UBApplication::mainWindow->actionCapture;
if(UBPlatformUtils::hasVirtualKeyboard())
actions << UBApplication::mainWindow->actionVirtualKeyboard;
setActions(actions);
setButtonIconSize(QSize(42, 42));
if(!UBPlatformUtils::hasVirtualKeyboard())
{
groupActions();
}
else
{
// VirtualKeyboard action is not in group
// So, groupping all buttons, except last
mButtonGroup = new QButtonGroup(this);
for(int i=0; i < mButtons.size()-1; i++)
{
mButtonGroup->addButton(mButtons[i], i);
}
connect(mButtonGroup, SIGNAL(buttonClicked(int)), this, SIGNAL(buttonGroupClicked(int)));
}
adjustSizeAndPosition();
initPosition();
foreach(const UBActionPaletteButton* button, mButtons)
{
connect(button, SIGNAL(doubleClicked()), this, SLOT(stylusToolDoubleClicked()));
}
void TilesAttackGameModeManager::Enter() {
time = 0;
leavesDone = 0;
points = 0;
bonus = Random::Int(0, theHeriswapGridSystem.Types-1);
succNoGridReset=false;
initPosition();
generateLeaves(0, 8);
TEXT(uiHelper.scoreProgress)->flags &= ~TextComponent::IsANumberBit;
GameModeManager::Enter();
}
// Constructor
ConvexMesh::ConvexMesh(const openglframework::Vector3 &position,
reactphysics3d::CollisionWorld* world,
const std::string& meshPath)
: openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER),
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
// Load the mesh from a file
openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this);
// Calculate the normals of the mesh
calculateNormals();
// Initialize the position where the sphere will be rendered
translateWorld(position);
// Compute the scaling matrix
mScalingMatrix = openglframework::Matrix4::identity();
// Vertex and Indices array for the triangle mesh (data in shared and not copied)
mPhysicsTriangleVertexArray =
new rp3d::TriangleVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
getNbFaces(0), &(mIndices[0][0]), sizeof(int),
rp3d::TriangleVertexArray::VERTEX_FLOAT_TYPE,
rp3d::TriangleVertexArray::INDEX_INTEGER_TYPE);
// Create the collision shape for the rigid body (convex mesh shape) and
// do not forget to delete it at the end
mConvexShape = new rp3d::ConvexMeshShape(mPhysicsTriangleVertexArray);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
mPreviousTransform = transform;
// Create a rigid body corresponding to the sphere in the dynamics world
mBody = world->createCollisionBody(transform);
// Add a collision shape to the body and specify the mass of the collision shape
mProxyShape = mBody->addCollisionShape(mConvexShape, rp3d::Transform::identity());
// Create the VBOs and VAO
createVBOAndVAO();
mTransformMatrix = mTransformMatrix * mScalingMatrix;
}
void HW3b::mouseMoveEvent(QMouseEvent *event)
{
if (leftButton==true) {
sphi += (float)(event->x() - downX) / 4.0;
stheta += (float)(downY - event->y()) / 4.0;
downX = event->x();
downY = event->y();
initPosition();
updateGL();
}
}
// Constructor
Sphere::Sphere(float radius, const openglframework::Vector3 &position,
float mass, reactphysics3d::DynamicsWorld* world,
const std::string& meshFolderPath)
: openglframework::Mesh(), mRadius(radius) {
// Load the mesh from a file
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "sphere.obj", *this);
// Calculate the normals of the mesh
calculateNormals();
// Compute the scaling matrix
mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
0, mRadius, 0, 0,
0, 0, mRadius, 0,
0, 0, 0, 1);
// Initialize the position where the sphere will be rendered
translateWorld(position);
// Create the collision shape for the rigid body (sphere shape)
// ReactPhysics3D will clone this object to create an internal one. Therefore,
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
mCollisionShape = new rp3d::SphereShape(mRadius);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Create a rigid body corresponding to the sphere in the dynamics world
rp3d::RigidBody* body = world->createRigidBody(transform);
// Add a collision shape to the body and specify the mass of the shape
mProxyShape = body->addCollisionShape(mCollisionShape, rp3d::Transform::identity(), mass);
mBody = body;
mTransformMatrix = mTransformMatrix * mScalingMatrix;
// Create the VBOs and VAO
if (totalNbSpheres == 0) {
createVBOAndVAO();
}
totalNbSpheres++;
}
// Constructor
Cylinder::Cylinder(float radius, float height, const openglframework::Vector3& position,
float mass, reactphysics3d::DynamicsWorld* dynamicsWorld,
const std::string& meshFolderPath)
: openglframework::Mesh(), mRadius(radius), mHeight(height) {
// Load the mesh from a file
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "cylinder.obj", *this);
// Calculate the normals of the mesh
calculateNormals();
// Compute the scaling matrix
mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
0, mHeight, 0, 0,
0, 0, mRadius, 0,
0, 0, 0, 1);
// Initialize the position where the cylinder will be rendered
translateWorld(position);
// Create the collision shape for the rigid body (cylinder shape) and do
// not forget to delete it at the end
mCylinderShape = new rp3d::CylinderShape(mRadius, mHeight);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Create a rigid body corresponding to the cylinder in the dynamics world
rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
// Add a collision shape to the body and specify the mass of the shape
mProxyShape = body->addCollisionShape(mCylinderShape, rp3d::Transform::identity(), mass);
mTransformMatrix = mTransformMatrix * mScalingMatrix;
mBody = body;
// Create the VBOs and VAO
if (totalNbCylinders == 0) {
createVBOAndVAO();
}
totalNbCylinders++;
}
bool GameLayer::init() {
if (CCLayer::init()) {
LOCAL_CONTEXT->clearScore();
this->setTouchMode(kCCTouchesOneByOne);
this->setTouchEnabled(true);
this->scheduleUpdate();
CCSize s = CCDirector::sharedDirector()->getWinSize();
this->ignoreAnchorPointForPosition(true);
setAnchorPoint(ccp(0.5f, 0.5f));
this->setContentSize(s);
setPosition(ccp(s.width / 2, s.height / 2));
LOCAL_CONTEXT->playBgMusic();
/*-- 计分 --*/
CCLabelBMFont *score=CCLabelBMFont::create(CCString::createWithFormat("%d", LOCAL_CONTEXT->getScore())->getCString(),"score_font.fnt");
//CCLabelTTF *score = CCLabelTTF::create(CCString::createWithFormat("%d", LOCAL_CONTEXT->getScore())->getCString(),LOCAL_RESOURCES->valueByKey("font")->getCString(),LOCAL_RESOURCES->valueByKey("font_size")->floatValue());
//score->setColor(LOCAL_CONTEXT->getFontColor());
score->setAnchorPoint(ccp(1, 0.5));
score->setPosition(ccpp(0.45,0.42));
this->addChild(score,0,TAG_SCORE);
/*-- 倒计时 --*/
CCSprite *timeBack = CCSprite::create("time_back.png");
timeBack->setAnchorPoint(ccp(0.5,0.5));
timeBack->setPosition(ccpp(0,0.32));
this->addChild(timeBack);
timer->setAnchorPoint(ccp(0.5,0.5));
timer->setPosition(ccp(timeBack->getContentSize().width/2,timeBack->getContentSize().height/2));
timer->setTarget(this,callfunc_selector(GameLayer::gameover));
timeBack->addChild(timer);
/*-- 放瓶子 --*/
initPosition();
if (LOCAL_CONTEXT->isFirstRun()) {
this->createHelpLayer();
} else {
timer->start();
}
return true;
} else {
return false;
}
}
void MissionMenu::makeMenu()
{
option.clear();
option.reserve(missions.size());
for(unsigned int i=0;i<missions.size();i++){
std::string s = "Mission "+missions.getMissionName(i)+(missions.getMissionState(i)?"":" (locked) ");
Button button;
button.txt = sf::Text(s,*FontManager::getFont("ressources/Symtext.ttf"),32);
button.f = static_cast<void (Menu::*)()>(&MissionMenu::startMission);
option.push_back(button);
}
option.resize(option.size()+1);
option.back().txt = sf::Text("Return to main menu",*FontManager::getFont("ressources/Symtext.ttf"),32);
option.back().f = &Menu::exit;
initPosition();
}
void HW3b::reset (){
timer->stop();
waving = false;
grid = 17;
dt=0.006;
// displayMode = TEX_WIRE;
// resetMode = HILLFOUR;
sphi=45.0;stheta=45.0;
sdepth = 1.5;
m_comboBox->setCurrentIndex(displayMode);
m_comboBox_mode->setCurrentIndex(resetMode);
m_spinboxSpeed->setValue(6);
m_sliderSpeed->setValue(6);
m_spinboxGrid->setValue(16);
m_sliderGrid->setValue(16);
initPosition();
initPoints();
initVertexBuffer();
updateGL();
}
Client::Client( WindowSystem* windowsystem, Window w, bool viewable,
int wx, int wy, int wwidth, int wheight,
long wcolormap )
: ws(windowsystem)
{
assert(ws);
ws->transientForHint( w, &trans );
nm = ws->windowName( w );
window = w;
ignore_unmap = 0;
x = wx;
y = wy;
width = wwidth;
height = wheight;
cmap = wcolormap;
size = ws->allocSizeHints();
active = false;
awaiting_close = false;
awaiting_iconize = false;
long dummy;
ws->windowNormalHints( window, size, &dummy );
if ( viewable ) {
ignore_unmap++;
} else {
initPosition();
ws->setState(window, NormalState);
// consolidate
XWMHints *hints;
if ((hints = ws->windowHints(w))) {
if (hints->flags & StateHint)
ws->setState(window, hints->initial_state);
ws->xFree(hints);
}
}
gravitate( APPLY_GRAVITY );
frame = ws->createFrame( x-1, y - titleHeight(),
width + 2, // 1 pixel border, each side
height + titleHeight() + 1 ); // 1 pixel border, top
button_size = titleHeight() - 2;
titlebar_width = width - 2*button_size;
close_button = ws->createWindow( 0,0, button_size, button_size );
iconize_button = ws->createWindow( 0,0, button_size, button_size );
titlebar = ws->createWindow( 0,0, titlebar_width, button_size );
ws->addToSaveSet( window );
ws->selectInput( window, ColormapChangeMask|PropertyChangeMask);
ws->grabButtons( window );
ws->setBorderWidth( window, 0);
ws->resize( window, width, height); //db more needed?
ws->reparent( close_button, frame, width + 1 - button_size, 1 );
ws->reparent( iconize_button, frame, 1, 1 );
ws->reparent( titlebar, frame, button_size + 1, 1 );
ws->reparent( window, frame, 1, titleHeight()); // for 1 pixel border
configure();
// db more fix: initial iconized windows
if ( viewable ) {
if ( ws->getState(window) == IconicState ) {
ignore_unmap++;
ws->unmap( window );
} else {
mapRaised();
}
} else {
if ( ws->getState(window) == NormalState ) {
ws->map( window );
ws->map( close_button );
ws->map( iconize_button );
ws->map( titlebar );
ws->mapRaised( frame );
}
}
redraw( false, true );
}
void xboardLoop(Position *pos) {
int version = 1;
int player = 2; //don't make moves
setbuf(stdout, NULL);
while (1) {
char *line;
char *word;
line = readLine();
word = strtok(line, " ");
if (strcmp(word, "xboard") == 0) {
; //no action required
} else if (strcmp(word, "protover") == 0) {
int i;
word = strtok(NULL, " ");
version = atol(word);
for (i = 0; i < n_features; ++i) {
if (features[i].s_value) {
printf("feature %s=\"%s\"\n", features[i].name, features[i].s_value);
} else {
printf("feature %s=%d\n", features[i].name, features[i].i_value);
}
}
printf("feature done=1\n");
} else if (strcmp(word, "accepted") == 0) {
int i;
word = strtok(NULL, " ");
for (i = 0; i < n_features; ++i) {
if (strcmp(word, features[i].name) == 0) {
features[i].accepted = 1;
}
}
} else if (strcmp(word, "rejected") == 0) {
int i;
word = strtok(NULL, " ");
for (i = 0; i < n_features; ++i) {
if (strcmp(word, features[i].name) == 0) {
features[i].accepted = 0;
}
}
} else if (strcmp(word, "new") == 0) {
initPosition(pos);
player = 1;
} else if (strcmp(word, "variant") == 0) {
//uh oh, variants not supported yet
exit(1);
} else if (strcmp(word, "quit") == 0) {
exit(0);
} else if (strcmp(word, "random") == 0) {
;//not supported, nop for the time being
} else if (strcmp(word, "force") == 0) {
player = 2; //no player
} else if (strcmp(word, "go") == 0) {
player = pos->ply % 2;
} else if (strcmp(word, "playother") == 0) {
player = 1 - (pos->ply % 2);
} else if (strcmp(word, "level") == 0) {
//TODO: add time controls
;
} else if (strcmp(word, "st") == 0) {
;
} else if (strcmp(word, "sd") == 0) {
//TODO: set depth
;
} else {
int move;
move = fromAlg(pos, word);
if (move < -1) {
printf("Illegal move: %s\n", word);
} else if (move > 0) {
makeMove(pos, move);
}
}
if (player == pos->ply % 2) {
char moveStr[21];
int move, score;
move = moveSearch(pos, SEARCH_DEPTH, &score);
toAlg(pos, move, moveStr);
makeMove(pos, move);
printf("move %s\n", moveStr);
}
}
}
int main(){
srand(time(NULL));
int encore=0;
int choixmodif=2;
int choixaffich=0;
int affichH=0;
int action=0;
int nbCell=0;
int iteration=0, iMax=0;
int ageMature=0, ageMax=0;
float beta=0, delta=0;
CELLULE* P[taille][taille];
initMat(P);
bordure(P);
H* matH=Allouematrice();
printf("Ce programme permet de modéliser l'évolution d'une culture cellulaire.\nIl prend en compte l'âge de maturité des cellules, c'est à dire l'âge à partir duquel les cellules peuvent se diviser.\nLe programme gère également l'espérance de vie des cellules et le nombre initial de cellules en culture.\nLe nombre d'itérations est à relier au temps nécessaire à une cellule pour se diviser.\nLors d'une itération, la cellule peut également se transformer en cellule cancéreuse, mourir.\n\n");
do{
printf("Souhaitez vous utiliser les paramètres par défaut:\nAge de maturité=3\nAge maximum=1001\nNombre de cellules initiales=100\nNombre maximal d'itérations=1000\nbeta=0.5\ndelta=0.8\n\n[1]Oui [2]Non\n");
do{
scanf("%d", &choixmodif);
if(choixmodif==1){
ageMature=3;
ageMax= 1001;
nbCell= 100;
iMax= 1000;
beta= 0.5;
delta= 0.8;
}else if(choixmodif==2){
printf("Age de maturité (par défaut 3): "); scanf("%d", &ageMature);
printf("Age maximum (par défaut 1001): "); scanf("%d", &ageMax);
printf("Nombre de cellules initiales (par défaut 100): "); scanf("%d", &nbCell);
printf("Nombre maximal d'itérations (par défaut 1000): "); scanf("%d", &iMax);
printf("beta (par défaut 0.5): "); scanf("%f", &beta);
printf("delta (par défaut 0.8): "); scanf("%f", &delta);
}else printf("Erreur de saisie...\nLes choix sont:\n[1]paramètres par défault\n[2]Modifier les paramètres\n");
}while(choixmodif!=1 && choixmodif!=2);
do{
initPosition(nbCell, P, matH, iteration);
chgmtType(beta, ageMax, P, matH, iteration);
comptVoisines(P);
printf("\nVoici la disposition des cellules à l'état initial (avant la première itération)\n");
afficheMat(P, iteration);
printf("\n");
do{
printf("Souhaitez-vous afficher l'état de la matrice à chaque itération? [1]Oui [2]Non\n");
scanf("%d", &choixaffich);
if(choixaffich!=1 && choixaffich!=2) printf("Erreur de saisie...\n");
}while(choixaffich!=1 && choixaffich!=2);
while(iteration<iMax)
{
iteration++;
incrementeAge(ageMax, P, matH, iteration);
tuer_f_nbVoisines(P, matH, iteration);
tuer_f_Cancer(delta, P, matH, iteration);
chgmtType(beta, ageMax, P, matH, iteration);
divisions(ageMature, P, matH, iteration);
comptVoisines(P);
if(choixaffich==1){
afficheMat(P, iteration);
printf("\n");
}
}
sauvegarde(matH);
printf("Un fichier contenant l'historique de la matrice vient d'être créé.\nIl se trouve dans le répertertoire du programme principal.\n");
printf("\nVoici l'état de la culture cellulaire à la fin de toutes les itérations.\n");
afficheMat(P, iteration);
printf("\n");
do{
printf("Souhaitez-vous afficher l'histoire d'une cellule? [1]Oui [2]Non\n");
scanf("%d", &affichH);
if(affichH!=1 && affichH!=2) printf("Erreur de saisie...\n");
}while(affichH!=1 && affichH!=2);
if(affichH==1) affichelistHCase(matH);
do{
printf("Souhaitez-vous relancer la modélisation en concervant ces paramètres? [1]Oui [2]Non\n");
scanf("%d", &encore);
if(encore!=1 && encore!=2) printf("Erreur de saisie...\n");
}while(encore!=1 && encore!=2);
}while(encore==1);
do{
printf("Souhaitez-vous [1]relancer une modélisation [2]quitter le programme ?\n");
scanf("%d", &action);
if(action!=1 && action!=2) printf("Erreur de saisie...\n");
}while(action!=1 && action!=2);
}while(action==1);
printf("Au revoir.\n");
return 0;
}