int main(int argc, char* argv[]) {
parse_parameter(argc, argv);
// prepare some info outside the loop
int fd;
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 0.7, 0.7, 0, 2); // 0 shear, 3 px wide
int set_quality[3] = {CV_IMWRITE_JPEG_QUALITY, quality, 0};
char capture_title[55];
IplImage* frame;
CvMat cvmat;
// startup
char dev[20];
sprintf(dev,"/dev/video%i",device);
fd = open(dev, O_RDWR);
if (fd == -1) {
perror("Opening video device");
return 1;
}
if(setup_cam(fd)) {
return 1;
}
if(init_mmap(fd)) {
return 1;
}
// define buffer and activate streaming on the cam
struct v4l2_buffer buf = {0};
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = 0;
if(-1 == xioctl(fd, VIDIOC_STREAMON, &buf.type)) {
perror("Start Capture");
return 1;
}
// loop fps measurement
uint32_t start_time = time(0);
uint32_t image_count = 0;
//for(int i=0; i<100; i++){
/// run forever
while(1) {
if(capture_image(fd,&font,set_quality,frame,&cvmat,capture_title,&buf,&start_time,&image_count)) {
return 1;
}
}
// todo, close gracefully
printf("closing fd\n");
close(fd);
return 0;
}
void player_update(struct player *player, struct world *world) {
player->yvel -= 0.005;
float old_x = player->x, old_y = player->y, old_z = player->z;
player->x += player->xvel;
player->y += player->yvel;
player->z += player->zvel;
struct world_object *object = world->objects->next;
struct collide_event *events = NULL;
while (object != world->objects) {
if (object->type == WORLD_FLOOR) {
struct world_floor *floor = (struct world_floor*)object;
if (old_y > floor->y && player->y < floor->y &&
old_x > floor->x1 &&
old_x < floor->x2 &&
old_z > floor->z1 &&
old_z < floor->z2) {
events = add_collide_event(events, object);
}
} else if (object->type == WORLD_WALL) {
struct world_wall *wall = (struct world_wall*)object;
if (wall->same_x) {
if (player->y + 0.3 > wall->y1 &&
player->y < wall->y2 &&
old_z > wall->z1 &&
old_z < wall->z2) {
if ((player->x > wall->x1 &&
old_x < wall->x1) ||
(player->x < wall->x1 &&
old_x > wall->x1)) {
events = add_collide_event(events, object);
}
}
} else {
if (player->y + 0.30 > wall->y1 &&
player->y + 0.01 < wall->y2 &&
old_x > wall->x1 &&
old_x < wall->x2) {
if ((player->z > wall->z1 &&
old_z < wall->z1) ||
(player->z < wall->z1 &&
old_z > wall->z1)) {
events = add_collide_event(events, object);
}
}
}
}
object = object->next;
}
player->on_ground = 0;
struct collide_event *next_event;
while (events) {
next_event = events->next;
struct world_object *collide = events->object;
if (collide->type == WORLD_FLOOR) {
struct world_floor *floor = (struct world_floor*)collide;
player->yvel = 0;
player->on_ground = 1;
player->y = 0.001 + floor->y;
} else if (collide->type == WORLD_WALL) {
struct world_wall *wall = (struct world_wall*)collide;
if (wall->same_x) {
player->x = old_x;
} else {
player->z = old_z;
}
}
free(events);
events = next_event;
}
player->cam.x = player->x;
player->cam.y = player->y + 0.4;
player->cam.z = player->z;
player->cam.xang = player->xang;
player->cam.yang = player->yang;
setup_cam(&player->cam);
}
