/**
* 主要是为了调整power用，为了避免power过大而跑过可
* 目标点。原则视为了更高层协调，power只可能减小不可
* 能增大。为了不必要到dash，power也可可能为零。也就
* dash不执行
* power 的正负由外面给定
* This funcition is mainly used to adjust ( usually decrease ) the dash power
* to avoid run over the target position by using a big power. The final power
* could be 0 to avoid an unnecessary dash.
* The sign of power is given outside the function.
* @param player the player to caculate.
* @param target the target position to go to.
* @param buffer
* @param power orignal power given.
* @return power adjusted.
*/
double Dasher::AdjustPowerForDash(const PlayerState & player, Vector target, double buffer, double power)
{
const double & speedmax = player.GetEffectiveSpeedMax();
const double & effort = player.GetEffort();
const double & accrate = player.GetDashPowerRate();
const Vector & pos = player.GetPos();
const Vector & vel = player.GetVel();
const double & facing = player.GetBodyDir();
if (pos.Dist(target) > speedmax + buffer){ //怎么跑的都不会跑过
return power;
}
if((pos + vel).Dist(target) < buffer) { //不跑也能到到达，就不用跑了
return 0.0;
}
Line dash_line(Ray(pos, player.GetBodyDir()));
Vector projective_target = dash_line.GetProjectPoint(target);
Vector acc = projective_target - pos - vel;
double dash_power = acc.Mod() / (effort * accrate);
if (GetAngleDegDiffer(acc.Dir(), facing) > 90.0){
dash_power = -dash_power;
}
if (power > 0){
return MinMax(ServerParam::instance().minDashPower(), dash_power, power);
}
else {
return MinMax(power, dash_power, ServerParam::instance().maxDashPower());
}
}
int MinMax(struct tree *node){
int bestValue,value;
if(isTerminalNode(node)==1){
node->previous->score=node->score;
return (node->score);
}
if(node->type==0){
bestValue=-1000000;
value=MinMax(node->left);
bestValue=max(bestValue,value);
value=MinMax(node->right);
bestValue=max(bestValue,value);
node->score=bestValue;
}
else{
bestValue=100000;
value=MinMax(node->left);
bestValue=min(bestValue,value);
value=MinMax(node->right);
bestValue=min(bestValue,value);
node->score=bestValue;
}
return bestValue;
}
bool ClipRectangle(const Rectangle &source, const Rectangle &clip, Rectangle *intersection)
{
int minSourceX, maxSourceX, minSourceY, maxSourceY;
MinMax(source.x, source.x + source.width, &minSourceX, &maxSourceX);
MinMax(source.y, source.y + source.height, &minSourceY, &maxSourceY);
int minClipX, maxClipX, minClipY, maxClipY;
MinMax(clip.x, clip.x + clip.width, &minClipX, &maxClipX);
MinMax(clip.y, clip.y + clip.height, &minClipY, &maxClipY);
if (minSourceX >= maxClipX || maxSourceX <= minClipX || minSourceY >= maxClipY || maxSourceY <= minClipY)
{
if (intersection)
{
intersection->x = minSourceX;
intersection->y = maxSourceY;
intersection->width = maxSourceX - minSourceX;
intersection->height = maxSourceY - minSourceY;
}
return false;
}
else
{
if (intersection)
{
intersection->x = std::max(minSourceX, minClipX);
intersection->y = std::max(minSourceY, minClipY);
intersection->width = std::min(maxSourceX, maxClipX) - std::max(minSourceX, minClipX);
intersection->height = std::min(maxSourceY, maxClipY) - std::max(minSourceY, minClipY);
}
return true;
}
}
int main(int argc, char* argv[])
{
int minimum = MinMax([] (auto x, auto y) { return x < y ? x : y; }, 1.5, 2);
int maximum = MinMax([] (auto x, auto y) { return x > y ? x : y; }, 1, 2, 3, 4.5);
std::cout << "min:" << minimum << "\nmax:" << maximum << "\n";
// std::cout << vmin(1,2,3,4);
}
//--------------------------------------------------------------------------------
// CArrayIterator::InitBounds
//--------------------------------------------------------------------------------
void CArrayIterator::InitBounds(ArrayIndex itsLowBound, ArrayIndex itsHighBound,
Boolean itsForward)
{
fHighBound = (fDynamicArray->fSize > 0) ? MinMax(0, itsHighBound, fDynamicArray->fSize - 1) : kEmptyIndex;
fLowBound = (fHighBound > kEmptyIndex) ? MinMax(0, itsLowBound, fHighBound) : kEmptyIndex;
fIterateForward = itsForward;
Reset();
} // CArrayIterator::Init
IMAGE Difference (IMAGE a, IMAGE b)
{
IMAGE t=0;
int i=0, j=0, rmax=0, rmin=0, cmax=0, cmin=0;
MinMax (a, b, &rmax, &cmax, &rmin, &cmin);
t = newimage (rmax-rmin+1, cmax-cmin+1);
t->info->oi = -rmin; t->info->oj = -cmin;
if (t == 0)
{
printf ("Out of storage in Difference!\n");
exit (1);
}
for (i=rmin; i<rmax; i++)
{
for (j=cmin; j< cmax; j++)
{
if (pget(a,i,j)==1 && pget(b,i,j)!=1)
pset (t, i, j, 1);
else pset (t, i, j, 0);
}
}
return t;
}
int SPU_Init(int coreid, int buffersize)
{
int i, j;
//for(int i=0;i<256;i++)
// cos_lut[i] = cos(i/256.0*M_PI);
SPU_core = new SPU_struct(740);
SPU_Reset();
for(i = 0; i < 16; i++)
{
for(j = 0; j < 89; j++)
{
precalcdifftbl[j][i] = (((i & 0x7) * 2 + 1) * adpcmtbl[j] / 8);
if(i & 0x8) precalcdifftbl[j][i] = -precalcdifftbl[j][i];
}
}
for(i = 0; i < 8; i++)
{
for(j = 0; j < 89; j++)
{
precalcindextbl[j][i] = MinMax((j + indextbl[i]), 0, 88);
}
}
return SPU_ChangeSoundCore(coreid, buffersize);
}
//static double cos_lut[256];
int SPU_Init(int coreid, int buffersize)
{
int i, j;
//for some reason we dont use the cos lut anymore... did someone decide it was slow?
//for(int i=0;i<256;i++)
// cos_lut[i] = cos(i/256.0*M_PI);
SPU_core = new SPU_struct((int)ceil(samples_per_hline));
SPU_Reset();
//create adpcm decode accelerator lookups
for(i = 0; i < 16; i++)
{
for(j = 0; j < 89; j++)
{
precalcdifftbl[j][i] = (((i & 0x7) * 2 + 1) * adpcmtbl[j] / 8);
if(i & 0x8) precalcdifftbl[j][i] = -precalcdifftbl[j][i];
}
}
for(i = 0; i < 8; i++)
{
for(j = 0; j < 89; j++)
{
precalcindextbl[j][i] = MinMax((j + indextbl[i]), 0, 88);
}
}
return SPU_ChangeSoundCore(coreid, buffersize);
}
void ToggleTrackEdit(GtkWidget *widget,gpointer data)
{
GripInfo *ginfo;
GripGUI *uinfo;
ginfo=(GripInfo *)data;
uinfo=&(ginfo->gui_info);
if(uinfo->track_edit_visible) {
gtk_window_resize(GTK_WINDOW(uinfo->app),
uinfo->win_width,
uinfo->win_height);
gtk_widget_hide(uinfo->track_edit_box);
UpdateGTK();
}
else {
if(uinfo->minimized) MinMax(NULL,(gpointer)ginfo);
gtk_widget_show(uinfo->track_edit_box);
gtk_window_resize(GTK_WINDOW(uinfo->app),
uinfo->win_width,
uinfo->win_height_edit);
}
uinfo->track_edit_visible=!uinfo->track_edit_visible;
}
main(int argc, char *argv[]){
//question1
double test[] = {6.5,2.0,4.4,8.1,3.3};
double *values;
values = MinMax(test, 5);
printf("The min is %lf the max is %lf",values[0],values[1]);
printf("\n");
int v = 14 % 5 / 3;
printf("%d",v);
//question3
//char s[] = {"xyabbAaaecccDEf"};
//int six = removeVowelArray(s);
//printf("removed %d vowels and the remaining string is %s",six,s);
//char testCh[] = {"test"};
//char *testingCh;
//char testingCh[] = {"testing"};
//testingCh = testCh;
//printf("new array is now %s ", testingCh);
//question 4
/*
while (--argc > 0 ){
printf("%s\n", *(argv+argc));
}
printf("%c\n", argv[0][5]);
printf("%c\n", *(argv[2]+3));
*/
}
//============================================================
void im_color::Whiten()
{
// Calculate current min max values
short MinR, MaxR, MinG, MaxG, MinB, MaxB;
MinMax(MinR, MaxR, MinG, MaxG, MinB, MaxB);
// Calculate current white value
float AveR = 0;
float AveG = 0;
float AveB = 0;
for (int i=0; i<R.NumPixels; i++)
{
AveR += R.Data1D[i];
AveG += G.Data1D[i];
AveB += B.Data1D[i];
}
AveR /= R.NumPixels;
AveG /= R.NumPixels;
AveB /= R.NumPixels;
// Whiten image
float Ave = (AveR + AveG + AveB) / 3;
float ScaleR = Ave / AveR;
float ScaleG = Ave / AveG;
float ScaleB = Ave / AveB;
for (int i=0; i<R.NumPixels; i++)
{
R.Data1D[i] = (short)(R.Data1D[i] * ScaleR);
G.Data1D[i] = (short)(G.Data1D[i] * ScaleG);
B.Data1D[i] = (short)(B.Data1D[i] * ScaleB);
if (R.Data1D[i] > MaxR) R.Data1D[i] = MaxR;
if (G.Data1D[i] > MaxG) G.Data1D[i] = MaxG;
if (B.Data1D[i] > MaxB) B.Data1D[i] = MaxB;
}
}
extern "C" int SPU_Init(NDS_state *state, int coreid, int buffersize)
{
int i, j;
//__asm int 3;
//for(int i=0;i<256;i++)
// cos_lut[i] = cos(i/256.0*M_PI);
state->SPU_core = new SPU_struct(state, 44100); //pick a really big number just to make sure the plugin doesnt request more
SPU_Reset(state);
for(i = 0; i < 16; i++)
{
for(j = 0; j < 89; j++)
{
precalcdifftbl[j][i] = (((i & 0x7) * 2 + 1) * adpcmtbl[j] / 8);
if(i & 0x8) precalcdifftbl[j][i] = -precalcdifftbl[j][i];
}
}
for(i = 0; i < 8; i++)
{
for(j = 0; j < 89; j++)
{
precalcindextbl[j][i] = MinMax((j + indextbl[i]), 0, 88);
}
}
//return SPU_ChangeSoundCore(coreid, buffersize);
return 0;
}
void MeshBuilder::centerAndNormalizeMesh() {
const MinMax minMax = for_each(m_Vertices.begin(), m_Vertices.end(), MinMax());
const Vector3f size(minMax.max - minMax.min);
const Vector3f center = (minMax.max + minMax.min) / 2;
const float maxDimension = max(size.x, max(size.y, size.z));
const float scale = maxDimension == 0 ? 1 : 1 / maxDimension;
for_each(m_Vertices.begin(), m_Vertices.end(), MoveAndScale(-center, scale));
}
Color OrenNayarIllum( Point3& N, Point3& L, Point3& V, float rough, Color& rho, float* pDiffIntensOut, float NL )
{
// float a = NL >= -1.0f ? float( acos( NL / Len(L) )) : AngleBetween( N, L );
// use the non-uniform scale corrected NL
if ( NL < -1.0f )
NL = Dot( N, L );
// float a = float( acos( NL / Len(L) )) ;
float a = 0.0f;
if( NL < 0.9999f )
a = acosf( NL );
a = Bound( a, -Pi*0.49f, Pi*0.49f );
float NV = Dot( N, V );
// need this to accomodate double sided materials
if( NV < 0.0f ){
NV = -NV;
V = -V;
}
float b = 0.0f;
if( NV < 0.9999f )
b = acosf( NV );
MinMax( b, a ); // b gets min, a gets max
//N.V is the length of the projection of v onto n; times N is a vector along N of that length
// V - that pt gives a tangent vector in the plane of N, for measuring phi
Point3 tanV = V - N * NV;
Point3 tanL = L - N * NL;
float w = Len( tanV ) * Len( tanL );
float cosDPhi = (Abs(w) < 1e-4) ? 1.0f : Dot( tanV, tanL ) / w;
cosDPhi = Bound( cosDPhi, -1.0f, 1.0f );
// float bCube = (cosDPhi >= 0.0f) ? 0.0f : Cube( 2.0f * b * PiIvr );
float bCube = (cosDPhi >= 0.0f) ? Cube( 2.0f * -b * PiIvr ) : Cube( 2.0f * b * PiIvr );
// these three can be pre-calc'd for speed
float sigma2 = Sqr( rough );
float sigma3 = sigma2 / (sigma2 + 0.09f);
float c1 = 1.0f - 0.5f * (sigma2 / (sigma2 + 0.33f));
float c2 = 0.45f * sigma3 * (float(sin(a)) - bCube);
float c3 = 0.125f * sigma3 * Sqr( 4.0f * a * b * Pi2Ivr );
float tanB = float( tan(b) );
float tanAB = float( tan( (a+b) * 0.5f ));
tanB = Bound( tanB, -100.0f, 100.0f );
tanAB = Bound( tanAB, -100.0f, 100.0f );
Color o;
float l1 = ( c1 + c2 * cosDPhi * tanB + c3 * (1.0f - Abs( cosDPhi )) * tanAB );
float l2 = 0.17f * (sigma2 / (sigma2 + 0.13f)) * ( 1.0f - cosDPhi * Sqr( 2.0f * b * PiIvr ));
if( pDiffIntensOut )
*pDiffIntensOut = l1+l2;
o.r = l1 * rho.r + l2 * Sqr( rho.r );
o.g = l1 * rho.g + l2 * Sqr( rho.g );
o.b = l1 * rho.b + l2 * Sqr( rho.b );
return UBound( o );
}
int main(){
insert(&root,M);
int x;
MinMax(root);
//printf("%d\n",x);
//print_tree(root);
play(root);
}
/**
* Get min max pairs as a tuple.
* @param minProperty : Property name for the min property
* @param maxProperty : Property name for the max property
* @return A tuple consisting of min, max
*/
ReflectometryWorkflowBase::MinMax ReflectometryWorkflowBase::getMinMax(
const std::string& minProperty, const std::string& maxProperty) const
{
const double min = getProperty(minProperty);
const double max = getProperty(maxProperty);
if (min > max)
{
throw std::invalid_argument("Cannot have any WavelengthMin > WavelengthMax");
}
return MinMax(min, max);
}
/**
* Get ball velocity after tackle.
* \param agent.
* \param angle tackle angle.
* \return ball velocity.
*/
Vector Tackler::GetBallVelAfterTackle(const Agent & agent, AngleDeg tackle_angle)
{
UpdateTackleData(agent);
tackle_angle = GetNormalizeAngleDeg(tackle_angle, 0.0);
int idx1 = ang2idx(tackle_angle); //下界
int idx2 = ang2idx(tackle_angle + 1.0); //上界
double rate = MinMax(0.0, idx2 - tackle_angle, 1.0);
return mBallVelAfterTackle[idx1] * rate + mBallVelAfterTackle[idx2] * (1.0 - rate);
}
int SubSet (IMAGE a, IMAGE b)
{
int i=0, j=0;
int rmax=0, rmin=0, cmax=0, cmin=0;
MinMax (a, b, &rmax, &cmax, &rmin, &cmin);
for (i=rmin; i<rmax; i++)
for (j=cmin; j< cmax; j++)
if (pget(a,i,j)==1 && pget(b,i,j)==0)
return 0;
return 1;
}
/******************************************************************************\
* main *
\******************************************************************************/
int main(void)
{
char p;
readboard();
if(piece_counter < 4)
{
if(board[columns/2 * total_rows + 0] == SPACE){
column = columns/2;
piece = BLUE;
}
else {
column = columns/2 +1;
piece = BLUE;
}
}
else
{
int * result;
result = MinMax(7);
column = result[0];
piece = result[1];
}
freeboard();
switch(piece)
{
case SPACE:
p = 's';
break;
case RED:
p = 'r';
break;
case BLUE:
p = 'b';
break;
case GREEN:
p = 'g';
break;
}
printf("(%d, %c)", column, p);
return 0;
} /* main */
void ScanlineFill()
{
Matrix polygon;
int boxLeft, boxRight, boxHigh, boxLow;
int i,j,k;
int edgeXat_i,lim_y_up,lim_y_down;
Matrix xlist;
AcceptPolygon(&polygon);
InitGraph();
DrawPolygon(&polygon);
InitEdges(&polygon);
MinMax(&polygon,0,0,polygon.rows-1,&boxLeft,&boxRight);
MinMax(&polygon,1,0,polygon.rows-1,&boxLow,&boxHigh);
InitMatrix(&xlist,polygon.rows-1,1);
for(i=boxLow+1,k=0;i<boxHigh;i++,k=0)
{
for(j=0;j<polygon.rows-1;j++)
{
if((int)polygon.matrix[j][0] == (int)polygon.matrix[j+1][0])
edgeXat_i = polygon.matrix[j][0];
else if((int)polygon.matrix[j][1] == (int)polygon.matrix[j+1][1])
edgeXat_i = polygon.matrix[j][0]<polygon.matrix[j+1][0]?polygon.matrix[j][0]:polygon.matrix[j+1][0];
else
edgeXat_i = (i - polygon.matrix[j][3])/polygon.matrix[j][2];
if(edgeXat_i>=boxLeft && edgeXat_i<=boxRight )
{
lim_y_up = polygon.matrix[j][1]<polygon.matrix[j+1][1]?polygon.matrix[j][1]:polygon.matrix[j+1][1];
lim_y_down = polygon.matrix[j][1]>polygon.matrix[j+1][1]?polygon.matrix[j][1]:polygon.matrix[j+1][1];
if(lim_y_up<=i && i<=lim_y_down)
xlist.matrix[k++][0] = edgeXat_i;
}
DPQS(&xlist,0,0,k-1);
}
for(j=0;j<k;j+=2)
line(xlist.matrix[j][0]+1,i,xlist.matrix[j+1][0],i);
}
}
IMAGE Intersection (IMAGE a, IMAGE b)
{
IMAGE t=0;
int i=0, j=0, rmin=0, rmax=0, cmin=0, cmax=0;
MinMax (a, b, &rmax, &cmax, &rmin, &cmin);
t = newimage (rmax-rmin, cmax-cmin);
t->info->oi = -rmin; t->info->oj = -cmin;
for (i=rmin; i<rmax; i++)
for (j=cmin; j< cmax; j++)
if (pget(a,i,j)==1 && pget(b,i,j)==1)
pset(t, i,j,1);
else pset (t, i, j, 0);
return t;
}
void DblMatrix::SaveAsBMP(std::string Name)
{
double Min=DBL_MAX, Max=-DBL_MAX;
MinMax(Min, Max);
IplImage* Output = cvCreateImage(cvSize(GetWidth(), GetHeight()), IPL_DEPTH_8U, 1);
for(int j=0; j<GetHeight(); j++)
for(int i=0; i<GetWidth(); i++)
{
double u = (*this)[j][i];
double v = 255.0 * (u-Min)/(Max-Min);
cvSetReal2D(Output, j, i, v);
}
cvSaveImage(Name.c_str(), Output);
cvReleaseImage(&Output);
}
int ImCompare (IMAGE a, IMAGE b)
{
int i=0, j=0, rmin=0, rmax=0, cmin=0, cmax=0, x=0, y=0;
MinMax (a, b, &rmax, &cmax, &rmin, &cmin);
for (i=rmin; i<rmax; i++)
for (j=cmin; j< cmax; j++)
{
x = pget (a, i, j);
y = pget (b, i, j);
if (x==1 && y == 0) return 0;
if (x==0 && y == 1) return 0;
}
return 1;
}
int main(int argc, const char *argv[])
{
std::vector<std::vector<int>> mat{
{15,10,0,-6,17},
{3,14,8,9,2},
{1,5,14,20,-3},
{7,19,10,2,0}
};
double param = 0.21;
std::cout << "Init matrix" << std::endl;
print(mat);
MinMax(mat);
Sav(mat);
HW(mat, param);
return 0;
}
MinMax MoneyBox::FindMinMaxSum(int weight, TList<Coin>* coins)
{
int count = coins->GetCount();
MinMax* sumArray = new MinMax[weight+1];
sumArray[0] = MinMax(0, 0);
//for each weight from 1 till weight find min and max sums
for(int i = 1; i <= weight; i++)
{
MinMax currentMinMax;
for(int j = 0; j < count; j++)
{
//Find index of sum without this coin
Coin coin = coins->GetElement(j);
int prevSumIndex = i - coin.weight;
//If can add coin to money box
if (prevSumIndex >= 0 && sumArray[prevSumIndex].min != -1 && sumArray[prevSumIndex].max != -1)
{
//Update current min
int minPrice = sumArray[prevSumIndex].min + coin.price;
if (currentMinMax.min == -1 || minPrice < currentMinMax.min)
{
currentMinMax.min = minPrice;
}
//Update current max
int maxPrice = sumArray[prevSumIndex].max + coin.price;
if (maxPrice > currentMinMax.max)
{
currentMinMax.max = maxPrice;
}
}
}
sumArray[i] = currentMinMax;
}
MinMax resultSum = sumArray[weight];
delete sumArray;
return resultSum;
}
static long
read_Cell_Data(void)
{
static char linebuf[MAX_LINE];
static char *lbp = NULL;
static char format[MAX_LINE];
int state = STATE_VIEW_TOP;
int i;
Cell *gp = grid;
int view_ct = 1;
/*
* First time through...
* 1) initialize line-buffer pointer and try to fill the line buffer
* 2) build the format for sscanf()
*/
if (lbp == NULL) {
lbp = linebuf;
bu_fgets(lbp, MAX_LINE, filep);
bu_strlcpy(format, "%lf %lf", sizeof(format));
if (color_flag)
bu_strlcat(format, " %d %d %d", sizeof(format));
else {
/* Skip to field of interest */
for (i = 1; i < field; i++)
bu_strlcat(format, " %*lf", sizeof(format));
bu_strlcat(format, " %lf", sizeof(format));
}
}
/* EOF encountered before we found the desired view? */
if (feof(filep))
return 0;
/* Read the data */
do {
double x, y;
int r, g, b;
cell_val value;
if (lbp[strlen(lbp) - 1] != '\n')
bu_exit (1, "Overlong line\n");
/* Have we run out of room for the cells? If so reallocate memory */
if (gp - grid >= maxcells) {
long ncells = gp - grid;
maxcells *= 2;
grid = (Cell *) bu_realloc((char *) grid,
sizeof(Cell) * maxcells, "grid");
if (debug_flag & CFB_DBG_MEM)
bu_log("cell-fb: maxcells increased to %ld\n", maxcells);
gp = grid + ncells;
}
/* Process any non-data (i.e. view-header) lines */
while ((state != STATE_BEYOND_DATA) &&
((color_flag &&
(sscanf(lbp, format, &x, &y, &r, &g, &b) != 5))
|| (! color_flag &&
(sscanf(lbp, format, &x, &y, &value.v_scalar) != 3))))
{
if (state == STATE_VIEW_TOP)
state = STATE_IN_HEADER;
else if (state == STATE_IN_DATA)
state = STATE_BEYOND_DATA;
if (feof(filep) || bu_fgets(lbp, MAX_LINE, filep) == NULL)
return gp - grid;
}
/*
* At this point we know we have a line of cell data,
* though it might be the first line of the next view.
*/
if (state == STATE_BEYOND_DATA) {
state = STATE_VIEW_TOP;
if ((view_flag == 0) || (view_flag == view_ct++))
return gp - grid;
else /* Not the selected view, read the next one. */
continue;
} else
state = STATE_IN_DATA;
/* If user has selected a view, only store values for that view. */
if ((view_flag == 0) || (view_flag == view_ct)) {
MinMax(xmin, xmax, x);
MinMax(ymin, ymax, y);
if (debug_flag & CFB_DBG_MINMAX)
bu_log("x=%g, y=%g, xmin=%g, xmax=%g, ymin=%g, ymax=%g\n",
x, y, xmin, xmax, ymin, ymax);
gp->c_x = x;
gp->c_y = y;
if (color_flag) {
gp->c_val.v_color[RED] = r;
gp->c_val.v_color[GRN] = g;
gp->c_val.v_color[BLU] = b;
} else
gp->c_val.v_scalar = value.v_scalar;
gp++;
}
} while (bu_fgets(lbp, MAX_LINE, filep) != NULL);
return gp - grid;
}
/**
* 计算用同一dash_power到达某点需要的时间
* Caculate cycles needed to a target position with a certain dash power.
* @param player the player to caculate.
* @param target the target position to go to.
* @param dash_power the power for dash to predict.
* @return an integer to show the cycles caculated.
*/
int Dasher::CyclePredictedToPoint(const PlayerState& player , Vector target , double dash_power)
{
double corrected_dash_power = dash_power;
double effective_power;
double predicted_stamina = player.GetStamina();
double predicted_effort = player.GetEffort();
double predicted_recovery = player.GetRecovery();
double predicted_capacity = player.GetCapacity();
double myang = player.GetBodyDir();
Vector position = player.GetPos();
Vector velocity;
if (player.GetVelConf() < FLOAT_EPS)
{
velocity = Vector(0,0);
}
else
{
velocity = player.GetVel();
}
Vector last_position = position;
int max_cyc = (int)(position.Dist(target) / player.GetEffectiveSpeedMax() + 100);
int last_action = 0; /* 0 -- turn , 1 -- dash*/
for (int i = 0;i < max_cyc;i++)
{
if (position.Dist(target) < PlayerParam::instance().AtPointBuffer())
{
return i;
}
if (position.Dist(target) > last_position.Dist(target) + FLOAT_EPS && last_action == 1)
{
return i;
}
last_position = position;
/*decide if we should turn*/
double targ_ang;
if (dash_power > 0)
{
targ_ang = (target - position).Dir() - myang;
}
else
{
targ_ang = (target - position).Dir() - GetNormalizeAngleDeg(myang + 180);
}
double max_go_to_point_angle_err = 4; //见08CP_max_go_to_point_angle_err
if (fabs(GetNormalizeAngleDeg(targ_ang)) > max_go_to_point_angle_err)
{
/*turnint*/
double this_turn = MinMax(-player.GetMaxTurnAngle(), GetNormalizeAngleDeg(targ_ang) , player.GetMaxTurnAngle());
myang += this_turn;
corrected_dash_power = 0;
last_action = 0;
}
else
{
corrected_dash_power = player.CorrectDashPowerForStamina(dash_power);
if (fabs(corrected_dash_power) > predicted_stamina)
{
effective_power = Sign(corrected_dash_power) * predicted_stamina;
}
else
{
effective_power = corrected_dash_power;
}
effective_power *= predicted_effort;
effective_power *= player.GetDashPowerRate();
velocity += Polar2Vector(effective_power , myang);
last_action = 1;
}
if (velocity.Mod() > player.GetEffectiveSpeedMax())
{
velocity *= (player.GetEffectiveSpeedMax()/ velocity.Mod());
}
position += velocity;
velocity *= player.GetPlayerDecay();
//08 内UpdatePredictStaminaWithDash函数 直接写入此函数
if (dash_power > 0)
{
predicted_stamina -= dash_power;
}
else
{
predicted_stamina -= 2 * dash_power;
}
if (predicted_stamina < 0)
{
predicted_stamina = 0;
}
if (predicted_stamina < ServerParam::instance().recoverDecStamina() && predicted_recovery > ServerParam::instance().recoverMin())
{
predicted_recovery -= ServerParam::instance().recoverDec();
}
if (predicted_stamina < ServerParam::instance().effortDecStamina() && predicted_effort > player.GetEffortMin())
{
predicted_effort -= ServerParam::instance().effortDec();
}
if (predicted_stamina > ServerParam::instance().effortIncStamina() && predicted_effort < player.GetEffortMax())
{
predicted_effort += ServerParam::instance().effortDec();
}
//增加capacity改进
double stamina_inc = Min(predicted_recovery * player.GetStaminaIncMax() , predicted_capacity);
predicted_stamina += stamina_inc;
if (predicted_stamina > ServerParam::instance().staminaMax())
{
predicted_stamina = ServerParam::instance().staminaMax();
}
predicted_capacity -= stamina_inc;
if (predicted_capacity < 0)
{
predicted_capacity = 0;
}
}
return max_cyc;
}
/**
* 考虑转身或直接dash
* Planing to turn or to dash.
* @param agent the agent itself.
* @param act an atomic action to return the caculated decision.
* @param target the target position to go to.
* @param buffer
* @param power the intend power for dash.
* @param inverse true means running backwards.
* @param turn_first true means turn first manually.
*/
void Dasher::TurnDashPlaning(Agent & agent, AtomicAction & act, Vector target, double buffer, double power, bool inverse, bool turn_first)
{
act.Clear();
power = inverse? -fabs(power): fabs(power);
power = agent.GetSelf().CorrectDashPowerForStamina(power);
PlayerState & self = agent.Self();
const Vector & my_pre_pos = self.GetPredictedPos(1);
double target_dist = my_pre_pos.Dist(target);
AngleDeg target_ang = inverse? GetNormalizeAngleDeg((my_pre_pos - target).Dir() - agent.GetSelf().GetBodyDir()): GetNormalizeAngleDeg((target - my_pre_pos).Dir() - agent.GetSelf().GetBodyDir()); //需要转身的角度
//DT_none
//处理转身问题,可能1dash + 1turn更好
double bufang;
if(buffer > FLOAT_EPS){
bufang = ASin(buffer / target_dist / 2) * 2;
bufang = Max(10.0, bufang);
}
else{
bufang = 0.0;
}
const double & effort = self.GetEffort();
const double & accrate = self.GetDashPowerRate();
const double & inertia_moment = self.GetInertiaMoment();
const double & decay = self.GetPlayerDecay();
const double & speedmax = self.GetEffectiveSpeedMax();
const Vector & vel = self.GetVel();
const double & facing = self.GetBodyDir();
double speed = vel.Mod();
double diffang = fabs(target_ang);
double oneturnang = self.GetMaxTurnAngle();
if(buffer < FLOAT_EPS && target_dist > 2.6){
oneturnang += 2.6;
}
if(turn_first || diffang <= oneturnang || speed < 0.04){ //由于噪声的存在，在非身体方向也有速度，调也调不过来，太小时不如直接转,0.04是一般队员的误差极值
act.mType = CT_Turn;
act.mTurnAngle = target_ang;
act.mSucceed = true;
return;
}
else {
//计算1 dash + 1turn;
//下面都是算dash到什么速度最好
double mspd1 = (180.0/ ( diffang + 10 ) - 1.0 ) / inertia_moment; //10是buf，不然容易调整后正好还转不过来
double dash2spd = Min(mspd1 / decay, speedmax) / (1 + ServerParam::instance().playerRand());
if( fabs(GetNormalizeAngleDeg(vel.Dir() - facing)) > 90.0){
speed = -speed;
}
double spd_inf = Max(speed - accrate * ServerParam::instance().maxDashPower(), -dash2spd);
double spd_sup = Min(speed + accrate * ServerParam::instance().maxDashPower(), dash2spd);
Ray cur_r(self.GetPos(), facing);
Vector pt_inf = cur_r.GetPoint(spd_inf * (1.0 + decay));
Vector pt_sup = cur_r.GetPoint(spd_sup * (1.0 + decay));
Vector pt;//要取得点
bool bnegtive;//要跑的点是不是在身后
Line pdl = Line(cur_r).GetPerpendicular(target);//垂线
if(pdl.IsPointInSameSide(pt_inf, pt_sup)){
if(fabs(GetNormalizeAngleDeg(facing-target_ang)) < 90.0){
pt = pt_sup;
bnegtive = (spd_sup<0);
}
else{
pt = pt_inf;
bnegtive = (spd_inf<0);
}
}
else{
double dist;
bnegtive = !cur_r.Intersection(pdl, dist); //垂点
pt = cur_r.GetPoint(dist);
}
double dis = pt.Dist(target);//两个周期后离point的距离,用来compare with 2 turn
double twoturnang = oneturnang + 180.0 / (1.0 + inertia_moment * fabs(speed) * decay);
if(twoturnang > diffang){
const Vector & pt2 = self.GetPredictedPos(2);
double dis2 = pt2.Dist(target);
if(dis2 < dis || diffang > 102.6){ //一次转太大，误差也大不如直接2turn
act.mType = CT_Turn;
act.mTurnAngle = target_ang;
act.mSucceed = true;
return;
}
}
double spd_need;
if(bnegtive){
spd_need = -(pt - self.GetPos()).Mod() / (1.0 + decay);
}
else{
spd_need = (pt - self.GetPos()).Mod() / (1.0 + decay);
}
//会总是dash而dash后又转不过来...,看着就像不拿球
double turnang_after_dash = 180.0 / (1.0 + inertia_moment * fabs(spd_need) * decay) - 5.0;
if(GetAngleDegDiffer((target - pt).Dir(), facing) > turnang_after_dash ){
act.mType = CT_Turn;
act.mTurnAngle = target_ang;
act.mSucceed = true;
return;
}
double power = ( spd_need - speed ) / accrate / effort;
power = MinMax(-ServerParam::instance().maxDashPower(), power, ServerParam::instance().maxDashPower());
//I over
act.mType = CT_Dash;
act.mDashPower = AdjustPowerForDash(self, pt, FLOAT_EPS, power);
act.mDashPower = agent.GetSelf().CorrectDashPowerForStamina(act.mDashPower);
if(fabs(act.mDashPower) > FLOAT_EPS)
{
act.mSucceed = true;
}
else {
act.mType = CT_Turn; //power为零时就不要执行了，没意义
act.mTurnAngle = 0.0;
act.mSucceed = true;
}
}
}
/* returns whether we are in the right place or not */
Bool go_to_static_ball(float kick_ang, float dash_pow)
{
Line l;
LogAction6(50, "go_to_static_ball: ball at (%.1f, %.1f) for kick angle %.2f, dash_pow %.2f",
Mem->BallX(), Mem->BallY(), kick_ang, dash_pow);
if (!Mem->BallPositionValid())
my_error("go_to_static_ball: lost ball");
/* we can be pretty tolerant of angle errors, but distance errors start to matter
real quickly */
Vector targ_pt = get_static_ball_pos(Mem->BallAbsolutePosition(), kick_ang);
/* we want to try and face the ball at all times */
turn_neck(Mem->LimitTurnNeckAngle(Mem->BallAngleFromNeck()));
if (Mem->MySpeed() == 0 &&
Mem->DistanceTo(targ_pt) <= Mem->CP_static_kick_dist_err) {
LogAction3(60, "go_to_static_ball: I am done %.2f", Mem->DistanceTo(targ_pt));
return TRUE;
}
/* if we are real far from the ball, just use the regular go_to_point */
if (Mem->BallDistance() > 2 * Mem->My_kickable_area()) {
LogAction2(60, "go_to_static_ball: far away, using go_to_point");
if (go_to_point(targ_pt, 0 /* no buffer */, dash_pow)
!= AQ_ActionQueued)
my_error("go_to_static_ball: far away, why didn't go_to_point do anything?");
return FALSE;
}
/* make sure that we go around the ball */
l.LineFromTwoPoints(Mem->MyPos(), targ_pt);
Vector proj_ball_pt = l.ProjectPoint(Mem->BallAbsolutePosition());
if (proj_ball_pt.dist(Mem->BallAbsolutePosition()) <=
Mem->My_size() + Mem->SP_ball_size + Mem->CP_collision_buffer &&
l.InBetween(proj_ball_pt, Mem->MyPos(), targ_pt)) {
/* we'll do a 90 degree dodge -we always go right */
Vector dodge_pt = Mem->MyPos() +
Polar2Vector(Mem->My_size(), Mem->BallAngleFromBody() + Mem->MyBodyAng() + 90);
LogAction2(60, "go_to_static_ball: dodging the ball");
if (go_to_point(dodge_pt, 0 /* no buffer */, dash_pow)
!= AQ_ActionQueued)
my_error("go_to_static_ball: dodging, why didn't go_to_point do anything?");
return FALSE;
}
/* now we need to get to the target_point */
/* first see if we need to turn */
l.LineFromRay(Mem->MyPos(), Mem->MyBodyAng());
float ang = Mem->AngleToFromBody(targ_pt);
if (fabs(ang) > 90 ||
(l.dist(targ_pt) > Mem->CP_static_kick_dist_err &&
ang > Mem->CP_static_kick_ang_err)) {
LogAction2(60, "go_to_static_ball: turning to target_point");
turn(Mem->AngleToFromBody(targ_pt));
return FALSE;
}
/* now calculate the speed we should be going to land right on the point */
float targ_speed =
SolveForFirstTermInfGeomSeries(Mem->My_decay(), Mem->DistanceTo(targ_pt));
float dash_pow_to_use =
MinMax(-dash_pow / 2,
(targ_speed - Mem->MySpeed()) / Mem->My_dash_power_rate(),
dash_pow);
LogAction5(60, "go_to_static_ball: targ_speed: %.2f\tMySpeed: %.2f\tdash_pow: %.2f",
targ_speed, Mem->MySpeed(), dash_pow_to_use);
if (fabs(dash_pow_to_use) > 1) {
LogAction3(70, "go_to_static_ball: dash power is too small %.2f", dash_pow_to_use);
dash(Mem->CorrectDashPowerForStamina(dash_pow_to_use));
return FALSE;
}
return TRUE;
}
ConvertInt64::ConvertInt64(int64 minval, int64 maxval, bool notnull) {
MinMax(minval, maxval); NotNull(notnull);
}
