//----------------------------- CheckForMine -----------------------------
//
// this function checks for collision with its closest mine (calculated
// earlier and stored in m_iClosestMine)
//-----------------------------------------------------------------------
int CMinesweeper::CheckForMine(vector<SVector2D> &mines, double size)
{
SVector2D DistToObject = m_vPosition - mines[m_iClosestMine];
if (Vec2DLength(DistToObject) < (size + 5))
{
return m_iClosestMine;
}
return -1;
}
bool CBobsMap::GetOneValidPath(vector<int> &vecBits,int chromolen)
{
int testCount=0;
int iChromoLength=chromolen;
int iCutCount=iChromoLength+1;
Coordinate cord(m_spA,m_spB);
SPoint spPre=m_spA;
int randomY = 0;
//divied space
SVector2D line(m_spA.x-m_spB.x,m_spA.y-m_spB.y);
int diffX = (int) Vec2DLength(line)/iCutCount;
for(int i=1;i<=iChromoLength;i++)
{
randomY = RandInt(-150,150);
SPoint spRelative(i*diffX,randomY);
SPoint spPathAbsolute=cord.GetCoordinate(spRelative.x,spRelative.y);
while(true)
{
if(!BarrierIntersection(spPre,spPathAbsolute)&&IsValidPoint(spPathAbsolute))
{
break;
}else
{
testCount++;
if(testCount>100)
{
return false;
}
}
randomY = RandInt(-150,150);
spRelative=SPoint(i*diffX,randomY);
spPathAbsolute=cord.GetCoordinate(spRelative.x,spRelative.y);
}
//save waypoint
vecBits.push_back(randomY);
spPre=spPathAbsolute;
}
return true;
}
/*!
線分のマスクを作る。
@param[out] mask マスクの出力先
@param[in] setnum 埋める値
@param[in] start 開始位置
@param[in] end 終了位置
*/
void LineMask(IplImage *mask, uint8_t setnum, const CvPoint2D64f *start, const CvPoint2D64f *end)
{
float t=0.0;
CvPoint2D64f d; //傾き
CvPoint2D64f p;
//end-startの傾きを計算
SubVec2D(&d, end, start);
float d_length = Vec2DLength(&d);
float rev_d_length = 1.0 / d_length;
do{
//p = start + t*d
ScaleVec2D(&p, t, &d);
AddVec2D(&p, &p , start);
//位置pにsetnum書き込み
SetMaskDataPos(mask, p.x, p.y, setnum);
t += rev_d_length/2.0;
}while(t <= 1.0);
}
vector<WayPoint> CBobsMap::Decode(const vector<int> &ycoodinate)
{
vector<WayPoint> wayPoint;
vector<int>::const_iterator iter = ycoodinate.begin();
SVector2D line(m_spA.x-m_spB.x,m_spA.y-m_spB.y);
int diffX = (int) Vec2DLength(line)/(ycoodinate.size()+1);
int index=1;
while(iter!=ycoodinate.end())
{
SPoint relativeXY(index*diffX,*iter);
SPoint absoluteXY =TransRelativePointToAbusolutePoint(relativeXY);
WayPoint point(absoluteXY,relativeXY);
wayPoint.push_back(point);
index++;
iter++;
}
return wayPoint;
}
//----------------------GetClosestObject()---------------------------------
//
// returns the vector from the sweeper to the closest mine
//
//-----------------------------------------------------------------------
SVector2D CMinesweeper::GetClosestMine(vector<SVector2D> &mines)
{
double closest_so_far = 99999;
SVector2D vClosestObject(0, 0);
//cycle through mines to find closest
for (int i=0; i<mines.size(); i++)
{
double len_to_object = Vec2DLength(mines[i] - m_vPosition);
if (len_to_object < closest_so_far)
{
closest_so_far = len_to_object;
vClosestObject = m_vPosition - mines[i];
m_iClosestMine = i;
}
}
return vClosestObject;
}
