void genePredWriteToGtf(struct genePred *gp, char *source,
struct hash *dupeHash, FILE *f)
/* Write out genePredName to GTF file. */
{
int i;
char *name = findUniqueName(dupeHash, gp->name);
char *geneName = gp->name2;
char *chrom = gp->chrom;
char strand = gp->strand[0];
int *frames = (gp->optFields & genePredExonFramesFld) ? gp->exonFrames : calcFrames(gp);
struct codonCoords firstCodon = findFirstCodon(gp, frames);
struct codonCoords lastCodon = findLastCodon(gp, frames);
// figure out bounds of CDS and UTR regions, moving stop codon to outside of
// CDS.
int firstUtrEnd = gp->cdsStart, lastUtrStart = gp->cdsEnd;
int cdsStart = gp->cdsStart, cdsEnd = gp->cdsEnd;
if ((strand == '+') && codonComplete(&lastCodon))
cdsEnd = movePos(gp, lastUtrStart, -3);
if ((strand == '-') && codonComplete(&firstCodon))
cdsStart = movePos(gp, cdsStart, 3);
if (addComments)
fprintf(f, "###\n# %s %s:%d-%d (%s) CDS: %d-%d\n#\n",
gp->name, gp->chrom, gp->txStart, gp->txEnd,
gp->strand, gp->cdsStart, gp->cdsEnd);
for (i=0; i<gp->exonCount; ++i)
{
writeGtfLine(f, source, name, geneName, chrom, strand, "exon",
gp->exonStarts[i], gp->exonEnds[i], i, -1);
if (cdsStart < cdsEnd)
writeFeatures(gp, i, source, name, chrom, strand, geneName,
firstUtrEnd, cdsStart, cdsEnd, lastUtrStart,
frames[i], f);
}
if (gp->strand[0] == '+')
{
if (codonComplete(&firstCodon))
writeCodon(f, source, name, geneName, chrom, strand, "start_codon",
&firstCodon);
if (codonComplete(&lastCodon))
writeCodon(f, source, name, geneName, chrom, strand, "stop_codon",
&lastCodon);
}
else
{
if (codonComplete(&lastCodon))
writeCodon(f, source, name, geneName, chrom, strand, "start_codon",
&lastCodon);
if (codonComplete(&firstCodon))
writeCodon(f, source, name, geneName, chrom, strand, "stop_codon",
&firstCodon);
}
if (!(gp->optFields & genePredExonFramesFld))
freeMem(frames);
}
static void one_step(guint richting)
{
update_tux(richting);
switch (richting)
{
case WEST: movePos(position[ind][0],position[ind][1],position[ind][0]-1,position[ind][1],richting);
return;
case EAST: movePos(position[ind][0],position[ind][1],position[ind][0]+1,position[ind][1],richting);
return;
case NORTH: movePos(position[ind][0],position[ind][1],position[ind][0],position[ind][1]-1,richting);
return;
case SOUTH: movePos(position[ind][0],position[ind][1],position[ind][0],position[ind][1]+1,richting);
return;
}
}
//-------------------------- ctor ---------------------------------------------
//-----------------------------------------------------------------------------
TargetSplashSkill::TargetSplashSkill(
AbstCharacter* const shooter,
AbstCharacter* const target,
float splash_radius,
int damage,
int radius,
int max_speed,
double survive_time,
const std::string& name,
int team)
:
AbstTargetSkill(
shooter->getWorld(),
target,
shooter->getId(),
shooter->getPos(),
shooter->getHeading(),
damage,
radius,
max_speed,
1,
10,
name,
SKILL,
survive_time),
_activated(false)
{
CCASSERT(target, "target == nullptr");
setTeam(team);
movePos(_heading * _bounding_radius);
_activate_strategy.reset(new ActivateCollisionToTarget(this));
_impact_strategy.reset(new ImpactSplash(this, shooter, splash_radius));
}
void setCenter()
{
#ifdef __CLASSFICATION_MOTOR__
torqueControl( CLASSFICATION_MOTOR_ID, TORQUE_ON );
movePos( CLASSFICATION_MOTOR_ID, 512, 60 );
#endif
}
void classify( int grade )
{
#ifdef __CLASSFICATION_MOTOR__
if( grade >= 0 && grade < GRADE_NUM )
movePos( CLASSFICATION_MOTOR_ID, POSITION_TABLE[ grade ], 30 );
#endif
}
/**
* Move HerkuleX Servo by angle(degree value - NOT Radian) (-159.8~159.8)
* (Degree = Position Value * 0.325)
*
* void moveAngle(uint8_t id, float angle, uint8_t playtime, uint8_t led)
*
* id - HerkuleX Servo ID
* angle - (-159.8 ~ 159.8) See. Manual p31~32
* playtime : Time to target position. (playtime * 11.2)ms. 1 - 11.2ms 2 - 22.4ms ...
* led - Red - 0x01, Green - 0x04, Blue - 0x08
*
*/
void CHerkuleX::moveAngle(uint8_t id, float angle, uint8_t playtime, uint8_t led) {
if (angle > 166.7 || angle < -166.7) return; // Full range
//if (angle > 159.8 || angle < -159.8) return; // Recommended range
if (playtime > 255) return;
uint16_t pos = (uint16_t)(angle/0.325f) + 512;
movePos(id, pos, playtime, led);
}
void TargetSplashSkill::updateMovement(double time_elapsed)
{
_velocity = getMaxSpeed() * (_target->getPos() - _pos).getNormalized();
//make sure vehicle does not exceed maximum velocity
if (_velocity.getLength() > _max_speed)
{
_velocity.normalize();
_velocity *= _max_speed;
}
movePos(_velocity);
}
void Player::fixedUpdate(float deltaTime) {
transform = glm::translate(mat4f(1.0), pos);
this->propragateTransforms();
lastPos = pos;
//move and update camera position
if(!Debugger::isShown()) movePos(deltaTime); //this handles collisions
//Limit movement
disp.x = 0; // Player only accelerates vertically, so disp.x doesn't carry
disp.y = std::fmax(-70, disp.y);
disp.z = 0; // Player only accelerates vertically, so disp.z doesn't carry
//feedback to be used by the scene
onFloor = hitbox->collidesWithWorld(vec3f(0,-0.1,0));
isJumping = (disp.y > 0);
}
/*
* \brief Run Calibration
*
*
*/
bool MapDemonCtrl::runCalibration()
{
std::ostringstream errorMsg;
std::vector<std::string> JointNames = params_->getJointNames();
std::vector<double> MaxVel = params_->getMaxVel();
/// Shut robot output in case it was already enabled...
usleep(200000);
if( !sd_->FlushInBuffer() )
return false; /// ...and flush serial port input buffer
usleep(200000);
/// Run encoder calibration
sd_->PutString("L\n");
size_t found = std::string::npos;
char retry = 0; //
/// get messages till 'L' is received (this is necessary because if the message output of the robot was enabled, between the flush buffer and this we still could have received a few characters from that, before the 'L'.
while( found == std::string::npos )
{
std::string str;
sd_->GetString(str); // read another message
found = str.find_first_of("L", 0); // find L
retry++;
std::cout << "calib cb: " << str << std::endl;
if(retry == 4) // experimental value, normally one or two messages are received btw flushinbuffer and getstring.
return false; /// if tryout
}
//char *cstr = new char (str.size()+1);
//strcpy(cstr, str.c_str());
//if(strchr(cstr, 'L') == NULL)
// return false;
/// Reposition to Home in case of existant Offsets
std::vector<double> tmppos( 2, 0.0f );
movePos(tmppos);
return true;
}
void Skeleton::update(float deltaTime) {
movePos(deltaTime);
updateMatrix();
if(parentScene->getWorld()->getCube(pos.x,pos.y,pos.z).ID == 0)
ambientLight = float(parentScene->getWorld()->getCube(pos.x,pos.y,pos.z).light)/MAXLIGHT;
cooldown -= deltaTime;
if (cooldown <= 0) {
cooldown = 1;
Arrow* na = new Arrow(parentScene,(pos+shootPosOffset));
na->vel = targetPlayer->camPos-(pos+shootPosOffset);
na->vel = glm::normalize(na->vel);
na->vel *= 70.0f;
parentScene->addObject(na);
}
vel.x = 0; // Mobs only accelerate vertically, so speed.x doesn't carry
vel.y = std::fmax(-70,vel.y);
vel.z = 0; // Mobs only accelerate vertically, so speed.z doesn't carry
}
float3 CSelectedUnitsAI::MoveToPos(int unit, float3 nextCornerPos, float3 dir, Command* command, std::vector<std::pair<int,Command> >* frontcmds, bool* newline)
{
//int lineNum=posNum/numColumns;
//int colNum=posNum-lineNum*numColumns;
//float side=(0.25f+colNum*0.5f)*columnDist*(colNum&1 ? -1:1);
*newline = false;
if ((nextCornerPos.x - addSpace) > frontLength) {
nextCornerPos.x = 0; nextCornerPos.z -= avgLength * 2 * 8;
*newline = true;
}
if (!frontcmds) {
return nextCornerPos;
}
int unitSize = 16;
const CUnit* u = uh->units[unit];
if (u) {
const UnitDef* ud = u->unitDef;
unitSize = (int)((ud->xsize + ud->zsize) / 2);
}
float3 retPos( nextCornerPos.x + unitSize * 8 * 2 + addSpace, 0, nextCornerPos.z);
float3 movePos(nextCornerPos.x + unitSize * 8 + addSpace, 0, nextCornerPos.z); // posit in coordinates of "front"
if (nextCornerPos.x == 0) {
movePos.x = unitSize * 8;
retPos.x -= addSpace;
}
float3 pos;
pos.x = rightPos.x + (movePos.x * (dir.x / dir.y)) - (movePos.z * (dir.z/dir.y));
pos.z = rightPos.z + (movePos.x * (dir.z / dir.y)) + (movePos.z * (dir.x/dir.y));
pos.y = ground->GetHeightAboveWater(pos.x, pos.z);
Command c(command->GetID(), command->options);
c.params.push_back(pos.x);
c.params.push_back(pos.y);
c.params.push_back(pos.z);
frontcmds->push_back(std::pair<int, Command>(unit, c));
return retPos;
}
float3 CSelectedUnitsAI::MoveToPos(int unit, float3 nextCornerPos, float3 dir, Command* command)
{
//int lineNum=posNum/numColumns;
//int colNum=posNum-lineNum*numColumns;
//float side=(0.25f+colNum*0.5f)*columnDist*(colNum&1 ? -1:1);
if(nextCornerPos.x-addSpace>frontLength) {
nextCornerPos.x=0;
nextCornerPos.z-=avgLength*2*8;
}
int unitSize=16;
CUnit* u = uh->units[unit];
if (u) {
const UnitDef* ud = u->unitDef;
unitSize = (int)((ud->xsize + ud->zsize)/2);
}
float3 retPos(nextCornerPos.x+unitSize*8*2+addSpace, 0, nextCornerPos.z);
float3 movePos(nextCornerPos.x+unitSize*8+addSpace, 0, nextCornerPos.z); //posit in coordinates of "front"
if (nextCornerPos.x==0) {
movePos.x=unitSize*8;
retPos.x -= addSpace ;
}
float3 pos;
pos.x = rightPos.x + (movePos.x * (dir.x / dir.y)) - (movePos.z * (dir.z/dir.y));
pos.z = rightPos.z + (movePos.x * (dir.z / dir.y)) + (movePos.z * (dir.x/dir.y));
pos.y = ground->GetHeight(pos.x, pos.z);
Command c;
c.id = command->id;
c.params.push_back(pos.x);
c.params.push_back(pos.y);
c.params.push_back(pos.z);
c.options = command->options;
uh->units[unit]->commandAI->GiveCommand(c, false);
return retPos;
}
void move(Index index)
{
const Index pos(this->positionVector[index]);
movePos(pos);
}
void Hole::motionPrint(Output* graphic){
static int cnt = 0;
static int num_cnt = 0;
switch (cnt) { //기본 모양 한칸씩 내리는거 없애기...그것때문에 제어못하는 경우가 좀 생기는거 같아..
case 0:
shape = 0;
y = 0;
break;
case 1:
y = 1;
break;
case 2:
shape = 1;//좌표 4는 하지말기
y = 2;
break;
case 3:
shape = 2;
y = 3;
break;
case 4:
shape = 2;
y = 4;
break;
case 5:
shape = 3;
y = 6;
break;
case 6:
shape = 3;
y = 8;
break;
case 7:
shape = 4;
y = 10;
break;
case 8:
shape = 4;
y = 13;
break;
case 9:
shape = 4;
y = 16;
break;
case 10:
shape = 4;
y = 18;
cnt = 0;
break;
//case 11:
// y = 19;
//y = 3; //안보이게
}
if (num_cnt % 2)
cnt++;
num_cnt++;
movePos();
memcpy(presentForm, form[shape%5], sizeof(int) * 9 * 11);//결정된 동작을 현재 형태에 복사
graphic->fixOnBoard(this); //출력 보드에 현재 객체 배치. 좌표와 형태 모두 필요.
}
