void FASTCALL printPageNumber(LPWSTR maxGoldText, DWORD x, DWORD y, DWORD color, DWORD bfalse)
{
if (onRealm || !D2isLODGame() )
{
D2PrintString(maxGoldText,x,y,color,bfalse);
return;
}
Unit* ptChar = D2GetClientPlayer();
WCHAR popupText[100];
if (PCPY->currentStash)
{
bool isShared = PCPY->currentStash->isShared;
bool isIndex = PCPY->currentStash->isIndex;
DWORD currentId = PCPY->currentStash->id;
if (PCPY->currentStash->name && PCPY->currentStash->name[0])
mbstowcs(popupText,PCPY->currentStash->name,50);//strlen(PCPY->currentStash->name)+1
else _snwprintf(popupText, sizeof(popupText), getLocalString( isShared ? STR_SHARED_PAGE_NUMBER : STR_PERSONAL_PAGE_NUMBER), currentId+1);
D2PrintString(popupText, x, y, isShared ? (isIndex ? CRYSTAL_RED : RED) : (isIndex ? BRIGHT_WHITE : WHITE), bfalse);
} else {
_snwprintf(popupText, sizeof(popupText), getLocalString(STR_NO_SELECTED_PAGE));
D2PrintString(popupText, x, y, WHITE, bfalse);
}
//printGoldMaxPopup
DWORD mx = D2GetMouseX();
DWORD my = D2GetMouseY();
if ((RX(0x5E) < mx) && (mx < RX(0xF8)) && (RY(0x1C8) < my) && (my < RY(0x1B6)) )
{
if (active_sharedGold)
{
_snwprintf(popupText, sizeof(popupText), L"%s\n%s: %u", maxGoldText, getLocalString(STR_SHARED_GOLD_QUANTITY), PCPY->sharedGold);
DWORD x = D2GetPixelLen(maxGoldText);
DWORD x2 = D2GetPixelLen(popupText) - x;
D2PrintPopup(popupText, RX(0xA8-max(x,x2)/2), RY(0x1CA), WHITE, 0);
} else
D2PrintPopup(maxGoldText, RX(0xA8), RY(0x1CA), WHITE, 1);
}
}
void manageStatLine(Unit* ptChar, statsInterfaceBIN* statLine, int currentPage, LPWSTR lpText)
{
if (!statLine->enabled)
return;
if (statLine->page != currentPage)
return;
if (statLine->font)
D2SetFont(statLine->font);
printStat(ptChar, statLine->statsID, RX(statLine->x), RY(statLine->y), statLine->color, lpText);
}
CTransform CTransform::RotateY(const F& angle)
{
F sinx = sin(CMath::Deg2Rad(angle));
F cosx = cos(CMath::Deg2Rad(angle));
CMatrix4x4 RY(cosx, 0.0, sinx, 0.0,
0.0, 1.0, 0.0, 0.0,
-sinx, 0.0, cosx, 0.0,
0.0, 0.0, 0.0, 1.0);
CMatrix4x4 invRY(RY);
invRY.Transpose();
return CTransform(RY, invRY);
}
bool Enemy::IsCollision( Character *player )
{
Rect pl, en;
pl.x = player->RX();
pl.y = player->RY();
pl.w = player->RW();
pl.h = player->RH();
en.x = RX();
en.y = RY();
en.w = RW();
en.h= RH();
return ( pl.x < en.x+en.w &&
pl.x+pl.w > en.x &&
pl.y < en.y+en.h &&
pl.y+pl.h > en.y );
}
DWORD getYTakeGoldBtn() {return RY(posYTakeGoldBtn<0 ? 0x1A8 : posYTakeGoldBtn);}
DWORD getYPutGoldBtn() {return RY(posYPutGoldBtn<0 ? 0x1A8 : posYPutGoldBtn);}
DWORD getYNextIndexBtn() {return RY(posYNextIndexBtn<0 ? 0x40 : posYNextIndexBtn);}
DWORD getYPreviousIndexBtn() {return RY(posYPreviousIndexBtn<0 ? 0x40 : posYPreviousIndexBtn);}
DWORD getYSharedBtn() {return RY(posYSharedBtn<0 ? 0x40 : posYSharedBtn);}
void STDCALL printNewStatsPageTwo(int currentPage)
{
if (!D2isLODGame()) return D2PrintStatsPage();
WCHAR text[BUFSIZE];
LPWSTR lpText;
bDontPrintBorder = false;
Unit* ptChar = D2GetClientPlayer();
d2_assert(!ptChar, "Printing stats page : no character selected",__FILE__,__LINE__);
d2_assert(ptChar->nUnitType != UNIT_PLAYER, "Printing stats page : bad unit type",__FILE__,__LINE__);
//Init data for print image
sDrawImageInfo data;
ZeroMemory(&data,sizeof(data));
//print background
fillRect(RX(0),RY(480),320,432,0,5);//552
setImage(&data, newStatsInterfaceImages);
setFrame(&data, 0);
D2PrintImage(&data, RX(0), RY(224), -1, 5, 0);
setFrame(&data, 1);
D2PrintImage(&data, RX(256),RY(224), -1, 5, 0);//256
setFrame(&data, 2);
D2PrintImage(&data, RX(0), RY(48), -1, 5, 0);//432
setFrame(&data, 3);
D2PrintImage(&data, RX(256),RY(48), -1, 5, 0);
D2SetFont(1);
for (int i=0; i<nbStatsInterface; i++)
manageStatLine(ptChar, &statsInterface[i], currentPage, text);
/*
// DWORD x,y;
// DWORD curValue;
// CharStatsBIN* charStats = D2GetCharStatsBIN(ptChar->nPlayerClass);
// DifficultyLevelsBIN* difficultyLevels = D2GetDifficultyLevelsBIN (D2GetDifficultyLevel());
//print deadly Strike / Critical Strike
x=RX(25);
y=RY(445);
Unit* ptItem = D2GetSkillItem(ptChar);
DWORD cs = ptItem ? D2GetCriticalStrikeFromMasteries(ptChar,ptItem,0,2) : 0;
cs = cs>100?100:cs;
cs += D2GetPlayerStat(ptChar, STATS_PASSIVE_CRITICAL_STRIKE, 0)*(100-cs)/100;
cs = cs>100?100:cs;
//SkillDescBIN* skilldesc = SgptDataTables->skilldesc + 9;
LPWSTR lpCS = D2GetStringFromIndex(skilldesc->strNameID);
lpText = D2GetStringFromIndex(getDescStrPos(STATS_ITEM_DEADLYSTRIKE));
curValue = D2GetPlayerStat(ptChar, STATS_ITEM_DEADLYSTRIKE, 0);
cs += curValue*(100-cs)/100;
curValue = cs>100?100:cs;
swprintf(text,L"%i%% %s/%s",curValue,lpCS,lpText);
D2SetFont(1);
D2SetFont( D2GetPixelLen(text)>0x110 ? 6 : 1);
D2PrintString(text, x, y, WHITE, 0);
*/
//print background previous/next page buttons
setImage(&data, statsBackgroundImages);
setFrame(&data, D2GetResolution()?1:0);
D2PrintImage(&data, getXPreviousPageBtn()-7, getYPreviousPageBtn()+8, -1, 5, 0);
//print button close
setImage(&data, D2LoadBuySelBtn());
setFrame(&data, 10 + isDownBtn.close);
D2PrintImage(&data, getXCloseBtn(), getYCloseBtn(), -1, 5, 0);
//print previous page button
setFrame(&data, 12 + isDownBtn.previousPage);
D2PrintImage(&data, getXPreviousPageBtn(), getYPreviousPageBtn(), -1, 5, 0);
//print next page button
setFrame(&data, 14 + isDownBtn.nextPage);
D2PrintImage(&data, getXNextPageBtn(), getYNextPageBtn(), -1, 5, 0);
//////////////////// POPUP PRINTING ////////////////////
//set MouseX & MouseY
DWORD mx = D2GetMouseX();
DWORD my = D2GetMouseY();
D2SetFont(1);
if (isOnCloseBtn(mx,my)) // print popup "close"
{
D2PrintPopup(D2GetStringFromIndex(0x1030), getXCloseBtn()+getLCloseBtn()/2, getYCloseBtn()-getHCloseBtn(), WHITE, 1);
}
else if (isOnPreviousPageBtn(mx,my)) //print popup "previous page"
{
lpText = getLocalString(STR_PREVIOUS_PAGE);
D2PrintPopup(lpText, getXPreviousPageBtn()+getLPreviousPageBtn()/2, getYPreviousPageBtn()-getHPreviousPageBtn(), WHITE, 1);
}
else if (isOnNextPageBtn(mx,my)) //print popup "next page"
{
lpText = getLocalString(STR_NEXT_PAGE);
D2PrintPopup(lpText, getXNextPageBtn()+getLNextPageBtn()/2, getYNextPageBtn()-getHNextPageBtn(), WHITE, 1);
}
}
void MyWidget::MarchingCubes() {
Vector **triangles = new Vector*[5];
for (int i = 0; i < 5; i++) {
triangles[i] = new Vector[3];
}
Matrix T(4, 4);
T.Diag(1);
T(0, 3) = Tx + 200;
T(1, 3) = Ty + 150;
T(2, 3) = Tz;
Matrix Sc(4, 4);
Sc(0, 0) = ScX;
Sc(1, 1) = ScY;
Sc(2, 2) = ScZ;
Sc(3, 3) = 1;
Matrix RX(4, 4);
RX.Diag(1);
RX(1, 1) = cos(AlfaX);
RX(1, 2) = sin(AlfaX);
RX(2, 1) = -sin(AlfaX);
RX(2, 2) = cos(AlfaX);
Matrix RY(4, 4);
RY.Diag(1);
RY(0, 0) = cos(AlfaY);
RY(0, 2) = -sin(AlfaY);
RY(2, 0) = sin(AlfaY);
RY(2, 2) = cos(AlfaY);
Matrix RZ(4, 4);
RZ.Diag(1);
RZ(0, 0) = cos(AlfaZ);
RZ(0, 1) = sin(AlfaZ);
RZ(1, 0) = -sin(AlfaZ);
RZ(1, 1) = cos(AlfaZ);
Matrix m = T.multi(Sc.multi(RX.multi(RY.multi(RZ))));
T.free();
Sc.free();
RX.free();
RY.free();
RZ.free();
Matrix p;
for (int x = _S; x < fR2; x += _S) {
for (int y = _S; y < fR2; y += _S) {
for (int z = _S; z < fR2; z += _S) {
int n = Polygonise(x, y, z, 1, triangles);
for (int i = 0; i < n; i++) {
Vector tab[3];
for (int j = 0; j < 3; j++) {
p = m.multi(triangles[i][j]);
tab[j] = Vector(p(X, 0), p(Y, 0), p(Z, 0));
}
Triangle(_bitsDest, tab[0], tab[1], tab[2]);
tab[0].free();
tab[1].free();
tab[2].free();
}
}
}
}
m.free();
p.free();
for (int i = 0; i < 5; i++) {
for (int j = 0; j < 3; j++) {
triangles[i][j].free();
}
}
}
DWORD getYSkillBtn() {return RY(posYUnassignSkillBtn<0 ? 0x1B1 : posYUnassignSkillBtn);}
int main(int argc, char **argv)
{
/**
* Inisialisasi node baru yang bernama "distance_tracker" dan terhubung
* dengan argumen command-line.
*/
ros::init(argc, argv, "distance_tracker");
ros::NodeHandle n;
/** Subscribe terhadap navdata. */
ros::Subscriber navdataSub = n.subscribe("/ardrone/navdata", 10, navdataCallback);
/** Publish hasil perhitungan pelacakan ARDrone. */
//ros::Publisher distancePub = n.advertise<geometry_msgs::Pose>("/drone_pos", 1000);
// Map
IplImage *map = cvCreateImage(cvSize(500, 500), IPL_DEPTH_8U, 3);
cvZero(map);
// Position matrix
cv::Mat P = cv::Mat::zeros(3, 1, CV_64FC1);
cv::Mat temp = cv::Mat::zeros(3, 1, CV_64FC1);
float x = 0;
float y = 0;
/** Loop utama untuk menghitung jejak ARDrone per 1 detik. */
while (ros::ok()) {
//geometry_msgs::Pose targetPose;
//geometry_msgs::Point point2D;
// Rotation matrices
double _RX[] = { 1.0, 0.0, 0.0,
0.0, cos(::rotX), -sin(::rotX),
0.0, sin(::rotX), cos(::rotX)};
double _RY[] = { cos(::rotY), 0.0, sin(::rotY),
0.0, 1.0, 0.0,
-sin(::rotY), 0.0, cos(::rotY)};
double _RZ[] = { cos(::rotZ), -sin(::rotZ), 0.0,
sin(::rotZ), cos(::rotZ), 0.0,
0.0, 0.0, 1.0};
cv::Mat RX(3, 3, CV_64FC1, _RX);
cv::Mat RY(3, 3, CV_64FC1, _RY);
cv::Mat RZ(3, 3, CV_64FC1, _RZ);
// Time
static double last = ros::Time::now().toSec();
double dt = (ros::Time::now().toSec() - last);
last = ros::Time::now().toSec();
//static int last = cv::getTickCount();
//double dt = (cv::getTickCount() - last) / cv::getTickFrequency();
//last = cv::getTickCount();
// Local movement
double _M[] = {::vx, ::vy, ::vz};
cv::Mat M(3, 1, CV_64FC1, _M);
// Dead reckoning
temp = RZ * RY * RX * M;
P = P + temp;
x = x + dt * ::rotZ * P.at<double>(0,0);
y = y + dt * ::rotZ * P.at<double>(1,0);
ros::Duration time(1);
time.sleep();
// Position (x, y, z)
double pos[3] = {P.at<double>(0,0), P.at<double>(1,0), P.at<double>(2,0)};
ROS_INFO("X = %f , Y = %f, Z = %f, Waktu = %f ", pos[0], pos[1], pos[2], dt);
//ROS_INFO("X = %f , Y = %f, Z = %f, Waktu = %f ", x, y);
// Display the image
cvDrawCircle(map, cvPoint(-pos[1]*30.0 + map->width/2, -pos[0]*30.0 + map->height/2), 2, CV_RGB(255,0,0));
cvShowImage("map", map);
ros::spinOnce();
}
cvReleaseImage(&map);
return 0;
}
