void Ias::update()
{
irr::core::vector3df p = mesh->getPosition();
Direction d;
if ((_dead == true)
|| (_map->getCell(mC(p.Z, sizeY), mC(p.X, sizeX)) == Tile::EXPLOSION)
|| (_map->getCell(mC(p.Z, sizeY), mC(p.X, sizeX)) == Tile::EXPLOSION_POWERUP))
{
if (_dead == false)
{
mesh->setVisible(false);
for (std::vector<Character *>::iterator it = (*perso).begin(); it != (*perso).end();)
{
if (this == *it) {
it = (*perso).erase(it);
} else
it++;
}
}
std::cout << "IA DEAD" << std::endl;
_dead = true;
return;
}
if (decision) {
decision = false;
if (!layingBomber()) {
if (rand() % 5 == 3)
dropBomber();
}
if (_pos.size() > 50) {
for (unsigned i = 0; i < 15; i++)
_pos.erase(_pos.begin());
}
if ((d = lookCharacter()) != Direction::NOP) {
_direction = d;
layingBomber1();
}
if ((d = seekBomber()) != Direction::NOP) {
_direction = d;
}
}
if (isDead()) {
if (isMoving == false) {
isMoving = true;
mesh->setMD2Animation(irr::scene::EMAT_RUN);
}
if (!takePowerUp()) {
myDirection();
moveIa();
} else
movePuwerUp();
} else {
isMoving = false;
mesh->setMD2Animation(irr::scene::EMAT_STAND);
}
}
int main()
{
EconomicEngine eE1;
EconomicEngine eE2;
EconomicEngine eE3;
XtremeEngine xE1;
EconomicCar eC(eE1);
MediumCar mC(eE2);
TopCar tC(eE3, xE1);
eC.drive();
eC.stop();
mC.changeEngine(eE3);
tC.drive();
tC.stop();
}
Real FitFrames(const std::vector<Vector3>& a,const std::vector<Vector3>& b,
RigidTransform& Ta,RigidTransform& Tb,Vector3& cov)
{
//center at centroid
Vector3 ca(Zero),cb(Zero);
for(size_t i=0;i<a.size();i++) ca += a[i];
ca /= a.size();
for(size_t i=0;i<b.size();i++) cb += b[i];
cb /= b.size();
Matrix3 C;
C.setZero();
for(size_t k=0;k<a.size();k++) {
for(int i=0;i<3;i++)
for(int j=0;j<3;j++)
C(i,j) += (a[k][i]-ca[i])*(b[k][j]-cb[j]); //note the difference from RotationFit
}
Matrix mC(3,3),mCtC(3,3);
Copy(C,mC);
SVDecomposition<Real> svd;
if(!svd.set(mC)) {
cerr<<"FitFrames: Couldn't set svd of covariance matrix"<<endl;
Ta.R.setIdentity();
Tb.R.setIdentity();
return Inf;
}
Copy(svd.U,Ta.R);
Copy(svd.V,Tb.R);
Copy(svd.W,cov);
Tb.R.inplaceTranspose();
Ta.R.inplaceTranspose();
if (Ta.R.determinant() < 0 || Tb.R.determinant() < 0) {
//need to sort singular values and negate the column according to the smallest SV
svd.sortSVs();
//negate the last column of V and last column of U
if(Tb.R.determinant() < 0) {
Vector vi;
svd.V.getColRef(2, vi);
vi.inplaceNegative();
}
if(Ta.R.determinant() < 0) {
Vector ui;
svd.U.getColRef(2, ui);
ui.inplaceNegative();
}
Copy(svd.U, Ta.R);
Copy(svd.V, Tb.R);
Copy(svd.W, cov);
Tb.R.inplaceTranspose();
Ta.R.inplaceTranspose();
//TODO: these may now both have a mirroring, but they may compose to rotations?
}
//need these to act as though they subtract off the centroids FIRST then apply rotation
Ta.t = -(Ta.R*ca);
Tb.t = -(Tb.R*cb);
Real sum=0;
for(size_t k=0;k<a.size();k++)
sum += (Tb.R*(b[k]-cb)).distanceSquared(Ta.R*(a[k]-ca));
return sum;
}
Real RotationFit(const vector<Vector3>& a,const vector<Vector3>& b,Matrix3& R)
{
Assert(a.size() == b.size());
assert(a.size() >= 3);
Matrix3 C;
C.setZero();
for(size_t k=0;k<a.size();k++) {
for(int i=0;i<3;i++)
for(int j=0;j<3;j++)
C(i,j) += a[k][j]*b[k][i];
}
//let A=[a1 ... an]^t, B=[b1 ... bn]^t
//solve for min sum of squares of E=ARt-B
//let C=AtB
//solution is given by CCt = RtCtCR
//Solve C^tR = R^tC with SVD CC^t = R^tC^tCR
//CtRX = RtCX
//C = RCtR
//Ct = RtCRt
//=> CCt = RCtCRt
//solve SVD of C and Ct (giving eigenvectors of CCt and CtC
//C = UWVt => Ct=VWUt
//=> UWUt = RVWVtRt
//=> U=RV => R=UVt
Matrix mC(3,3),mCtC(3,3);
Copy(C,mC);
SVDecomposition<Real> svd;
if(!svd.set(mC)) {
cerr<<"RotationFit: Couldn't set svd of covariance matrix"<<endl;
R.setIdentity();
return Inf;
}
Matrix mR;
mR.mulTransposeB(svd.U,svd.V);
Copy(mR,R);
if(R.determinant() < 0) { //it's a mirror
svd.sortSVs();
if(!FuzzyZero(svd.W(2),(Real)1e-2)) {
cerr<<"RotationFit: Uhh... what do we do? SVD of rotation doesn't have a zero singular value"<<endl;
/*
cerr<<svd.W<<endl;
cerr<<"Press any key to continue"<<endl;
getchar();
*/
}
//negate the last column of V
Vector vi;
svd.V.getColRef(2,vi);
vi.inplaceNegative();
mR.mulTransposeB(svd.V,svd.U);
Copy(mR,R);
Assert(R.determinant() > 0);
}
Real sum=0;
for(size_t k=0;k<a.size();k++)
sum += b[k].distanceSquared(R*a[k]);
return sum;
}
void cGenSysSurResol::GSSR_AddContrainteIndexee
(
const std::vector<int> & aVI,
REAL * aC,
REAL aE
)
{
AssertPhaseContrainte();
// Gestion specifique des contraintes univariees
if ((! mNewCstrIsInit) && mUseSpeciCstrUniVar)
{
mIsCstr = Im1D_U_INT1(NbVar(),0);
mDIsCstr = mIsCstr.data();
mValCstr = Im1D_REAL8(NbVar(),0.0);
mDValCstr = mValCstr.data();
mNewCstrIsInit = true;
}
else
{
ELISE_ASSERT(mValCstr.tx()==NbVar(),"Sz - Incoherence in GSSR_AddContrainte");
}
int aNbVarNN = 0;
int aKNN = -1;
for (int y=0 ; y<int(aVI.size()) ; y++)
{
if (aC[y] !=0)
{
aNbVarNN++;
aKNN = y;
}
}
if ((aNbVarNN==1) && mUseSpeciCstrUniVar)
{
mDIsCstr[aVI[aKNN]] = 1;
mValCstr.data()[aVI[aKNN]] = aE/aC[aKNN];
// std::cout << "xrt-CSTR[" << aVI[aKNN] <<"] = " << aE/aC[aKNN] << " C=" << aC[aKNN] << "\n";
return;
}
// Gestion des contrainte l'ancienne si pas univariee
mNbContrainte++;
// Premiere contrainte
if (mNbContrainte == 1)
{
ELISE_ASSERT(AcceptContrainteNonUniV(),"Ce systeme n'accepte que les contraintes uni var");
mC.set_to_size(NbVar(),NbVar());
mE.set_to_size(1,NbVar());
// a priori inutile, mais pour initialiser toujours
for (int y=0 ; y<NbVar() ; y++)
mE(0,y) = 0;
mtL.set_to_size(NbVar(),1);
mtLC.set_to_size(NbVar(),1);
mSol.set_to_size(1,NbVar());
mCSol.set_to_size(1,NbVar());
}
mLineCC = NbVar() -mNbContrainte;
ELISE_ASSERT(mLineCC>=0,"Too much contrainte in cGenSysSurResol");
for (INT aV=0; aV<NbVar(); aV++)
{
mC(aV,mLineCC) = 0;
}
for (int y=0 ; y<int(aVI.size()) ; y++)
{
mC(aVI[y],mLineCC) = aC[y];
}
mE(0,mLineCC) = aE;
}
Im1D_REAL8 L2SysSurResol::Solve(bool * aResOk)
{
if (mOptSym)
{
ELISE_ASSERT(mNbContrainte==0,"L2SysSurResol::Solve");
for (int aK1=0 ; aK1 <mNbVar ; aK1++)
{
for (int aK2=0 ; aK2 <aK1 ; aK2++)
mDatatLi_Li[aK1][aK2] = mDatatLi_Li[aK2][aK1];
}
}
// std::cout << "L2SysSurResol " << mDatatLi_Li[0][1] << " " << mDatatLi_Li[1][0] << "\n";
// getchar();
if (mNbContrainte)
{
INT NbVarTot = mNbVar + mNbContrainte;
GaussjPrec aGP(NbVarTot,1);
ElMatrix<REAL> & M = aGP.M();
ElMatrix<REAL> & b = aGP.b();
ElMatrix<REAL> & x = aGP.x();
for (INT ky=0;ky <NbVarTot ; ky++)
{
if (ky < mNbVar)
b(0,ky) = mbi_Li.data()[ky];
else
b(0,ky) = mE(0,mLineCC+ky-mNbVar);
for (INT kx=0;kx <NbVarTot ; kx++)
{
if ((kx<mNbVar) && (ky<mNbVar))
{
M(kx,ky) = mtLi_Li.data()[kx][ky];
}
else if ((kx>=mNbVar) && (ky>=mNbVar))
{
M(kx,ky) = 0;
}
else
{
INT X = std::min(kx,ky);
INT Y = std::max(kx,ky);
M(kx,ky) = mC(X,mLineCC+Y-mNbVar);
}
}
}
bool Ok = aGP.init_rec();
if ( aResOk)
*aResOk = Ok;
if (Ok)
{
for (INT k=0; k<6; k++)
aGP.amelior_sol();
for (INT kx=0;kx <mNbVar ; kx++)
mSolL2.data()[kx] = x(0,kx);
}
else
{
ELISE_ASSERT(aResOk,"Singular Matrix in L2SysSurResol::Solve");
}
return mSolL2;
}
GaussjPrec aGP(mNbVar,1);
ElMatrix<REAL> & M = aGP.M();
ElMatrix<REAL> & b = aGP.b();
ElMatrix<REAL> & x = aGP.x();
for (INT ky=0;ky <mNbVar ; ky++)
{
b(0,ky) = mbi_Li.data()[ky];
for (INT kx=0;kx <mNbVar ; kx++)
{
M(kx,ky) = mtLi_Li.data()[kx][ky];
}
}
bool Ok = aGP.init_rec();
if (aResOk)
*aResOk = Ok;
/*
cout << "L2SysSurResol::Solve GP " << Ok << "\n";
if (! Ok)
{
for (INT ky=0;ky <mNbVar ; ky++)
{
for (INT kx=0;kx <mNbVar ; kx++)
{
cout << mtLi_Li.data()[kx][ky] << " ";
}
cout << "\n";
}
cout << "----------------\n";
}
*/
if (Ok)
{
for (INT k=0; k<6; k++)
aGP.amelior_sol();
for (INT kx=0;kx <mNbVar ; kx++)
mSolL2.data()[kx] = x(0,kx);
}
return mSolL2;
}
double
hyperd(N, K, n, k)
{
static mpq_t num, num2, den, q;
static mpq_t p2, t;
static mpf_t f;
static int first = 1;
double d;
double p;
if (first) {
mpq_init(num);
mpq_init(num2);
mpq_init(den);
mpq_init(q);
mpf_init(f);
mpq_init(p2);
mpq_init(t);
first = 0;
}
switch (hyperd_mode) {
case 0:
mP(&num, K, k);
mP(&p2, N - K, n - k);
mpq_mul(num2, num, p2);
mH(&p2, k + 1, n - k);
mpq_mul(num, num2, p2);
mP(&den, N, n);
mpq_div(q, num, den);
mpf_set_q(f, q);
d = mpf_get_d(f);
break;
case 1:
xx:
mC(&num2, K, k);
mC(&p2, N - K, n - k);
mpq_mul(num, num2, p2);
mC(&den, N, n);
mpq_div(q, num, den);
mpf_set_q(f, q);
d = mpf_get_d(f);
break;
case 2:
if (k == K || n - k == N - K || n == N) {
goto xx;
}
if (k == 0 || n - k == 0 || n == 0) {
goto xx;
}
p = (double)n / N;
d = dB(K, p, k) * dB(N - K, p, n - k) / dB(N, p, n);
if (d < 3e-14) {
goto xx;
}
break;
default:
fprintf(stderr, "internal error\n");
exit(1);
/* NOTREACHED */
}
return d;
}
antlr::RefToken FMTLexer::nextToken()
{
antlr::RefToken theRetToken;
for (;;) {
antlr::RefToken theRetToken;
int _ttype = antlr::Token::INVALID_TYPE;
resetText();
try { // for lexical and char stream error handling
switch ( LA(1)) {
case 0x22 /* '\"' */ :
case 0x27 /* '\'' */ :
{
mSTRING(true);
theRetToken=_returnToken;
break;
}
case 0x28 /* '(' */ :
{
mLBRACE(true);
theRetToken=_returnToken;
break;
}
case 0x29 /* ')' */ :
{
mRBRACE(true);
theRetToken=_returnToken;
break;
}
case 0x2f /* '/' */ :
{
mSLASH(true);
theRetToken=_returnToken;
break;
}
case 0x2c /* ',' */ :
{
mCOMMA(true);
theRetToken=_returnToken;
break;
}
case 0x41 /* 'A' */ :
case 0x61 /* 'a' */ :
{
mA(true);
theRetToken=_returnToken;
break;
}
case 0x3a /* ':' */ :
{
mTERM(true);
theRetToken=_returnToken;
break;
}
case 0x24 /* '$' */ :
{
mNONL(true);
theRetToken=_returnToken;
break;
}
case 0x46 /* 'F' */ :
case 0x66 /* 'f' */ :
{
mF(true);
theRetToken=_returnToken;
break;
}
case 0x44 /* 'D' */ :
case 0x64 /* 'd' */ :
{
mD(true);
theRetToken=_returnToken;
break;
}
case 0x45 /* 'E' */ :
case 0x65 /* 'e' */ :
{
mE(true);
theRetToken=_returnToken;
break;
}
case 0x47 /* 'G' */ :
case 0x67 /* 'g' */ :
{
mG(true);
theRetToken=_returnToken;
break;
}
case 0x49 /* 'I' */ :
case 0x69 /* 'i' */ :
{
mI(true);
theRetToken=_returnToken;
break;
}
case 0x4f /* 'O' */ :
case 0x6f /* 'o' */ :
{
mO(true);
theRetToken=_returnToken;
break;
}
case 0x42 /* 'B' */ :
case 0x62 /* 'b' */ :
{
mB(true);
theRetToken=_returnToken;
break;
}
case 0x5a /* 'Z' */ :
{
mZ(true);
theRetToken=_returnToken;
break;
}
case 0x7a /* 'z' */ :
{
mZZ(true);
theRetToken=_returnToken;
break;
}
case 0x51 /* 'Q' */ :
case 0x71 /* 'q' */ :
{
mQ(true);
theRetToken=_returnToken;
break;
}
case 0x48 /* 'H' */ :
case 0x68 /* 'h' */ :
{
mH(true);
theRetToken=_returnToken;
break;
}
case 0x54 /* 'T' */ :
case 0x74 /* 't' */ :
{
mT(true);
theRetToken=_returnToken;
break;
}
case 0x4c /* 'L' */ :
case 0x6c /* 'l' */ :
{
mL(true);
theRetToken=_returnToken;
break;
}
case 0x52 /* 'R' */ :
case 0x72 /* 'r' */ :
{
mR(true);
theRetToken=_returnToken;
break;
}
case 0x58 /* 'X' */ :
case 0x78 /* 'x' */ :
{
mX(true);
theRetToken=_returnToken;
break;
}
case 0x2e /* '.' */ :
{
mDOT(true);
theRetToken=_returnToken;
break;
}
case 0x9 /* '\t' */ :
case 0x20 /* ' ' */ :
{
mWHITESPACE(true);
theRetToken=_returnToken;
break;
}
case 0x2b /* '+' */ :
case 0x2d /* '-' */ :
case 0x30 /* '0' */ :
case 0x31 /* '1' */ :
case 0x32 /* '2' */ :
case 0x33 /* '3' */ :
case 0x34 /* '4' */ :
case 0x35 /* '5' */ :
case 0x36 /* '6' */ :
case 0x37 /* '7' */ :
case 0x38 /* '8' */ :
case 0x39 /* '9' */ :
{
mNUMBER(true);
theRetToken=_returnToken;
break;
}
default:
if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x4d /* 'M' */ ) && (LA(3) == 0x4f /* 'O' */ ) && (LA(4) == 0x41 /* 'A' */ )) {
mCMOA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x4d /* 'M' */ ) && (LA(3) == 0x4f /* 'O' */ ) && (LA(4) == 0x49 /* 'I' */ )) {
mCMOI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x4d /* 'M' */ ) && (LA(3) == 0x6f /* 'o' */ )) {
mCMoA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x44 /* 'D' */ ) && (LA(3) == 0x49 /* 'I' */ )) {
mCDI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x4d /* 'M' */ ) && (LA(3) == 0x49 /* 'I' */ )) {
mCMI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x53 /* 'S' */ ) && (LA(3) == 0x49 /* 'I' */ )) {
mCSI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x53 /* 'S' */ ) && (LA(3) == 0x46 /* 'F' */ )) {
mCSF(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x44 /* 'D' */ ) && (LA(3) == 0x57 /* 'W' */ )) {
mCDWA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x44 /* 'D' */ ) && (LA(3) == 0x77 /* 'w' */ )) {
mCDwA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x41 /* 'A' */ ) && (LA(3) == 0x50 /* 'P' */ )) {
mCAPA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x41 /* 'A' */ ) && (LA(3) == 0x70 /* 'p' */ )) {
mCApA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x25 /* '%' */ ) && (LA(2) == 0x22 /* '\"' */ || LA(2) == 0x27 /* '\'' */ )) {
mCSTRING(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x6d /* 'm' */ )) {
mCmoA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x59 /* 'Y' */ )) {
mCYI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x48 /* 'H' */ )) {
mCHI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x68 /* 'h' */ )) {
mChI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x64 /* 'd' */ )) {
mCdwA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x61 /* 'a' */ )) {
mCapA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ || LA(1) == 0x63 /* 'c' */ ) && (true)) {
mC(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x25 /* '%' */ ) && (true)) {
mPERCENT(true);
theRetToken=_returnToken;
}
else {
if (LA(1)==EOF_CHAR)
{
uponEOF();
_returnToken = makeToken(antlr::Token::EOF_TYPE);
}
else {throw antlr::NoViableAltForCharException(LA(1), getFilename(), getLine(), getColumn());}
}
}
if ( !_returnToken )
goto tryAgain; // found SKIP token
_ttype = _returnToken->getType();
_ttype = testLiteralsTable(_ttype);
_returnToken->setType(_ttype);
return _returnToken;
}
catch (antlr::RecognitionException& e) {
throw antlr::TokenStreamRecognitionException(e);
}
catch (antlr::CharStreamIOException& csie) {
throw antlr::TokenStreamIOException(csie.io);
}
catch (antlr::CharStreamException& cse) {
throw antlr::TokenStreamException(cse.getMessage());
}
tryAgain:;
}
}
