void GraphicalRobotElement::setCurrentWIM (WorldInfo nwim) {
currentWIM.Clear();
if (teamColor == 1) {
currentWIM = nwim;
} else {
WorldInfo MyWorld;
MyWorld.Clear();
MyWorld.CopyFrom (nwim);
float value = (-1) * MyWorld.myposition().x();
MyWorld.mutable_myposition()->set_x (value);
value = (-1) * MyWorld.myposition().y();
MyWorld.mutable_myposition()->set_y (value);
value = MyWorld.myposition().phi() + Pi;
MyWorld.mutable_myposition()->set_phi (value);
currentWIM = MyWorld;
}
if (LWSTraceVisible) {
setLWSTraceVisible (false);
updateTraceRect();
setLWSTraceVisible (true);
} else {
setLWSTraceVisible (false);
updateTraceRect();
setLWSTraceVisible (false);
}
}
PhysicWorld::PhysicWorld(const WorldInfo info)
{
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_overlappingPairCache = new btAxisSweep3(info.getMin()->toBtVector3(),info.getMax()->toBtVector3());
#if SLIDER_DEMO_USE_ODE_SOLVER
m_constraintSolver = new btOdeQuickstepConstraintSolver();
#else
m_constraintSolver = new btSequentialImpulseConstraintSolver();
#endif
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
// wp->getSolverInfo().m_numIterations = 20; // default is 10
this->m_gravite = info.getGravity()->toBtVector3();
m_dynamicsWorld->setGravity(this->m_gravite);
}
int Localization::LocalizationData_Load(parts & Particles, vector<KObservationModel> & Observation, KMotionModel & MotionModel) {
bool addnewptrs = false;
//Fill the world with data!
WorldInfo *WI = DebugData.mutable_world();
//Setting my position
WI->mutable_myposition()->set_x(AgentPosition.x);
WI->mutable_myposition()->set_y(AgentPosition.y);
WI->mutable_myposition()->set_phi(AgentPosition.theta);
WI->mutable_myposition()->set_confidence(AgentPosition.confidence);
//Setting robotPositionField X = DX, Y = DY, phi = DF
// DebugData.mutable_robotposition()->set_x(MotionModel.Distance.val);
// DebugData.mutable_robotposition()->set_y(MotionModel.Direction.val);
// DebugData.mutable_robotposition()->set_phi(MotionModel.Rotation.val);
DebugData.mutable_robotposition()->set_x(TrackPointRobotPosition.x);
DebugData.mutable_robotposition()->set_y(TrackPointRobotPosition.y);
DebugData.mutable_robotposition()->set_phi(TrackPointRobotPosition.phi);
// DebugData.mutable_myposition()->set_confidence(AgentPosition.confidence );
RobotPose prtcl;
if (DebugData.particles_size() < Particles.size)
addnewptrs = true;
for (unsigned int i = 0; i < Particles.size; i++) {
if (addnewptrs)
DebugData.add_particles();
DebugData.mutable_particles(i)->set_x(Particles.x[i]);
DebugData.mutable_particles(i)->set_y(Particles.y[i]);
DebugData.mutable_particles(i)->set_phi(Particles.phi[i]);
DebugData.mutable_particles(i)->set_confidence(Particles.Weight[i]);
}
// if(osbm!=null){
// DebugData.Observations = obsm;
// }
return 1;
}
void SaveHandler::saveWorldInfoAndPlayer(WorldInfo worldinfo, List list)
{
NBTTagCompound nbttagcompound = worldinfo.getNBTTagCompoundWithPlayer(list);
NBTTagCompound nbttagcompound1 = new NBTTagCompound();
nbttagcompound1.setTag("Data", nbttagcompound);
try
{
File file = new File(saveDirectory, "level.dat_new");
File file1 = new File(saveDirectory, "level.dat_old");
File file2 = new File(saveDirectory, "level.dat");
CompressedStreamTools.writeGzippedCompoundToOutputStream(nbttagcompound1, new FileOutputStream(file));
if(file1.exists())
{
file1.delete();
}
file2.renameTo(file1);
if(file2.exists())
{
file2.delete();
}
QRectF KFieldScene::visionBallRect (BallObject bob, WorldInfo wim) {
float xmiddle = (wim.myposition().x() + bob.dist() * cos ( (wim.myposition().phi() + bob.bearing() ) ) ) * 1000;
float ymiddle = (wim.myposition().y() + bob.dist() * sin ( (wim.myposition().phi() + bob.bearing() ) ) ) * 1000;
return rectFromFC ( xmiddle, ymiddle, 75, 75);
}
//////////////////////////////////////////////////////////////////////////////
// 클라이언트가 서버의 리스트를 달라고 요청해오면, 로그인 서버는 DB로부터
// 서버들의 정보를 로딩해서 LCWorldList 패킷에 담아서 전송한다.
//////////////////////////////////////////////////////////////////////////////
void CLGetWorldListHandler::execute (CLGetWorldList* pPacket , Player* pPlayer)
throw(ProtocolException , Error)
{
__BEGIN_TRY __BEGIN_DEBUG_EX
#ifdef __LOGIN_SERVER__
Assert(pPacket != NULL);
Assert(pPlayer != NULL);
//cout << "Start execute" << endl;
LoginPlayer* pLoginPlayer = dynamic_cast<LoginPlayer*>(pPlayer);
try
{
int Num = g_pGameWorldInfoManager->getSize();
//cout << "WorldNum : " << Num << endl;
WorldInfo* aWorldInfo[Num];
for(int i = 1 ; i < Num + 1; i++)
{
WorldInfo* pWorldInfo = new WorldInfo();
GameWorldInfo* pGameWorldInfo = g_pGameWorldInfoManager->getGameWorldInfo(i);
pWorldInfo->setID(pGameWorldInfo->getID());
pWorldInfo->setName(pGameWorldInfo->getName());
// by bezz. 2002.12.20
pWorldInfo->setStat(pGameWorldInfo->getStatus());
aWorldInfo[i] = pWorldInfo;
// 트랜실(2) 빼기
//if (i==2) pWorldInfo->setStat(WORLD_CLOSE);
//cout << "AddWorld : " << pWorldInfo->getName() << endl;
}
LCWorldList lcWorldList;
Statement * pStmt = NULL;
BEGIN_DB
{
pStmt = g_pDatabaseManager->getConnection("DARKEDEN")->createStatement();
Result * pResult = pStmt->executeQuery("SELECT CurrentWorldID FROM Player where PlayerID='%s'" , pLoginPlayer->getID().c_str());
if(pResult->next() ) {
lcWorldList.setCurrentWorldID(pResult->getInt(1));
}
SAFE_DELETE(pStmt); // by sigi
}
END_DB(pStmt) // by sigi
for(int k = 1; k < Num + 1; k++)
{
lcWorldList.addListElement(aWorldInfo[k]);
}
pLoginPlayer->sendPacket(&lcWorldList);
// pLoginPlayer->setPlayerStatus(LPS_PC_MANAGEMENT);
}
catch (Throwable & t)
{
//cout << t.toString() << endl;
}
//cout << "End execute" << endl;
#endif
__END_DEBUG_EX __END_CATCH
}
