void CPuzzle::OnLButtonUp(HWND hWindow, int x, int y, UINT keyFlags)
/***********************************************************************/
{
if ( !m_bTrack )
return;
ReleaseCapture(); m_bTrack = FALSE;
if (!m_pDib)
return;
if (m_bInRect && m_iSelect >= 0)
{
int iColWidth = m_pDib->GetWidth() / m_iCols;
int iRowHeight = m_pDib->GetHeight() / m_iRows;
int iCol = x / iColWidth;
int iRow = y / iRowHeight;
int iNewSpot = (iRow * m_iCols) + iCol;
int temp = m_iMap[m_iSelect];
m_iMap[m_iSelect] = m_iMap[iNewSpot];
m_iMap[iNewSpot] = temp;
}
m_iSelect = -1;
if (IsSolved())
PlaySound(IDW_PUZZLESOLVED);
else
PlaySound(IDW_PUZZLEUP);
InvalidateRect(hWindow, NULL, FALSE);
}
std::string MotionPlannerInterface::Plan(MilestonePath& path,const HaltingCondition& cond)
{
path.edges.clear();
bool foundPath = false;
Real lastCheckTime = 0, lastCheckValue = 0;
Timer timer;
for(int iters=0;iters<cond.maxIters;iters++) {
Real t=timer.ElapsedTime();
if(t > cond.timeLimit) {
if(foundPath) {
//get the final path
GetSolution(path);
}
return "timeLimit";
}
//check for cost improvements
if(foundPath && t > lastCheckTime + cond.costImprovementPeriod) {
GetSolution(path);
Real len = path.Length();
if(len < cond.costThreshold)
return "costThreshold";
if(lastCheckValue - len < cond.costImprovementThreshold)
return "costImprovementThreshold";
lastCheckTime = t;
lastCheckValue = len;
}
//do planning, check if a path is found
PlanMore();
if(!foundPath) {
if(IsSolved()) {
foundPath = true;
GetSolution(path);
if(cond.foundSolution) {
return "foundSolution";
}
lastCheckTime = t;
lastCheckValue = path.Length();
}
}
}
if(foundPath) {
//get the final path
GetSolution(path);
}
return "maxIters";
}
void CPuzzle::OnLButtonDown(HWND hWindow, BOOL fDoubleClick, int x, int y, UINT keyFlags)
/***********************************************************************/
{
if ( SHIFT )
return;
if ( m_bTrack )
return;
if (IsSolved())
return;
SetCapture( hWindow ); m_bTrack = TRUE;
if ( GetFocus() != hWindow )
SetFocus( hWindow );
m_bInRect = YES;
if (!m_pDib)
return;
int iColWidth = m_pDib->GetWidth() / m_iCols;
int iRowHeight = m_pDib->GetHeight() / m_iRows;
int iCol = x / iColWidth;
int iRow = y / iRowHeight;
m_iSelect = (iRow * m_iCols) + iCol;
m_ptSelect.x = iCol * iColWidth;
m_ptSelect.y = iRow * iRowHeight;
m_ptLast.x = x;
m_ptLast.y = y;
PlaySound(IDW_PUZZLEDOWN);
if (m_bHintMode)
{
HDC hDC = GetDC(hWindow);
DrawHint(m_iSelect, hDC, NULL, NULL);
ReleaseDC(hWindow, hDC);
}
}
