void LFO::Process(UnsignedType SampleCount)
{
UnsignedType type = m_Type->Value();
FloatType freq =m_Freq->Value();
FloatType Incr, CyclePos, Pos;
CyclePos = StateValue(m_CyclePosInd)->AsFloat;
for (UnsignedType n=0; n<SampleCount; n++)
{
Incr = freq * (DEFAULT_TABLE_LEN / (FloatType)SampleRate());
// Raw Output
CyclePos = AdjustPos (CyclePos + Incr);
SetOutput (output[0], n, (*ClassObject()->Table(type))[CyclePos]);
// 'Cosine' Output
Pos = AdjustPos (CyclePos + (DEFAULT_TABLE_LEN * 0.25f));
SetOutput (output[1], n, (*ClassObject()->Table(type))[Pos]);
// Inverted Output
Pos = AdjustPos (DEFAULT_TABLE_LEN - CyclePos);
SetOutput (output[2], n, (*ClassObject()->Table(type))[Pos]);
}
}
bool TextFormatter::FormatFwd(CFDC& dc, FilePos start)
{
AdjustPos(start); // just to be safe
if (start.para >= m_tf->Length(start.docid))
return false; // at eof
m_lines.RemoveAll();
m_top = start;
bool header = true;
for (int page = 0; page < m_pages; ++page)
{
int h = 0;
int beg = m_lines.GetSize();
while (h < m_height && start.para < m_tf->Length(start.docid))
{
Paragraph para(m_tf->GetParagraph(start.docid, start.para));
bool empty = para.len == 0 || para.len == 1 && para.str[0] == _T(' ');
if (h == 0 && empty)
{
start.off = para.len;
AdjustPos(start);
continue;
}
if (para.flags & Paragraph::header)
{
if (!header)
break;
}
else
if (!empty && !(para.flags & Paragraph::image))
header = false;
int lh = WrapLine(dc, para, start, m_lines, h, m_height - h);
if (lh < 0)
break;
AdjustPos(start);
h += lh;
}
m_pagelen.SetAtGrow(page, m_lines.GetSize() - beg);
}
m_bot = start;
Highlight();
// add one dummy line always
Line l;
l.pos = m_bot;
m_lines.Add(l);
return true;
}
bool TextFormatter::FormatFwdAdj(CFDC& dc)
{
// if an image crosses the bottom of the window, and does not start
// at the top of window, then move down only until the image is
// fully visible
AdjustPos(m_bot);
Paragraph p(m_tf->GetParagraph(m_bot.docid, m_bot.para));
if (p.flags&Paragraph::image && // image
m_bot.off > 0 && // crosses window border
(m_top.docid != m_bot.docid || m_top.para != m_bot.para)) // is not visible at top
// then do a partial move forward to show a whole image
m_bot.off = 0;
return FormatFwd(dc, m_bot);
}
void Stable(void)
{
static double gval[3];
static double pre_pitch, pitch, pre_roll, roll;
int i;
if(timer_nowtime() - STABLETIMER > FRESHTIME)
{
ReadGSensor();
gval[0] = (double)(G_AXIS_VALUE[0]);
gval[1] = (double)(G_AXIS_VALUE[1]);
gval[2] = (double)(G_AXIS_VALUE[2]);
pitch = (GetPitch(gval)- 5.0*DEG_TO_RAD)*0.5 + pre_pitch*0.5;
roll = (GetRoll(gval) - 4.5*DEG_TO_RAD)*0.5 + pre_roll*0.5;
BODY_PITCH = BODY_PITCH + STABLE_P*pitch + (pitch - pre_pitch)*STABLE_D/FRESHTIME;
BODY_ROLL = BODY_ROLL + STABLE_P*roll + (roll - pre_roll)*STABLE_D/FRESHTIME;
if(BODY_PITCH > 60.0*DEG_TO_RAD)
BODY_PITCH = 60.0*DEG_TO_RAD;
else if(BODY_PITCH < -60.0*DEG_TO_RAD)
BODY_PITCH = -60.0*DEG_TO_RAD;
if(BODY_ROLL > 60.0*DEG_TO_RAD)
BODY_ROLL = 60.0*DEG_TO_RAD;
else if(BODY_ROLL < -60.0*DEG_TO_RAD)
BODY_ROLL = -60.0*DEG_TO_RAD;
for(i =0 ; i < 6; i++ )
{
LEGPOS[0] = LEGGOAL[3*i] - cos(J3MAP[i])*20.0;
LEGPOS[1] = LEGGOAL[3*i+1] - sin(J3MAP[i])*20.0;
LEGPOS[2] = LEGGOAL[3*i+2];
Transform(BODY_YAW, BODY_PITCH, BODY_ROLL, LEGPOS);
AdjustPos(POS_GAIN, LEGPOS);
CenterToJoint3(LEGPOS,i,J3GOAL);
Joint3ToJoint2(J3GOAL, J2GOAL);
JointAngle(LEGPOS, J2GOAL,i,JANGLE);
SetJoint(JANGLE,i);
rcservo_SetAction(POSITION, STABLETIME);
STABLETIMER = timer_nowtime();
}
pre_pitch = pitch;
pre_roll = roll;
}
rcservo_PlayAction();
}
bool SetSelected(ODynamicObj* p_poObj, f32 p_fRadius, const Vec3& p_vMousePos)
{
Vec3 vPlayerPos = p_poObj->GetPosition();
vPlayerPos = AdjustPos(vPlayerPos);
vPlayerPos *= kPIXEL_PER_METER;
vPlayerPos.x += kCANVAS_START_X;
vPlayerPos.y += kCANVAS_START_Y;
vPlayerPos.z = 0;
Vec3 vMousePos = p_vMousePos;
Vec3 vDiff = vMousePos - vPlayerPos;
if(vDiff.LengthSq() < p_fRadius * kPIXEL_PER_METER * p_fRadius * kPIXEL_PER_METER)
{
if(g_WatchPlayer)
g_WatchPlayer->SetShowDetailed(false);
p_poObj->SetShowDetailed(true);
g_WatchPlayer = p_poObj;
return true;
}
return false;
}
void Idle(void)
{
int i;
double temp_p, temp_r;
if(rcservo_PlayAction() == RCSERVO_PLAYEND)
{
for(i =0 ; i < 6; i++ )
{
LEGPOS[0] = LEGGOAL[3*i];
LEGPOS[1] = LEGGOAL[3*i+1];
LEGPOS[2] = LEGGOAL[3*i+2];
if(SWING == 1)
{
ALPHA = ALPHA + PI/36.0;
if(ALPHA >= 2*PI - PI/36.0)
ALPHA = 0.0;
temp_p = BODY_PITCH + gain_p*sin(ALPHA)*DEG_TO_RAD;
temp_r = BODY_ROLL+ gain_r*sin(ALPHA+PI/2)*DEG_TO_RAD;
}
else
{
temp_p = BODY_PITCH;
temp_r = BODY_ROLL;
}
Transform(BODY_YAW, temp_p, temp_r, LEGPOS);
AdjustPos(POS_GAIN, LEGPOS);
CenterToJoint3(LEGPOS,i,J3GOAL);
Joint3ToJoint2(J3GOAL, J2GOAL);
JointAngle(LEGPOS, J2GOAL,i,JANGLE);
SetJoint(JANGLE,i);
rcservo_SetAction(POSITION, IDLEPLAYTIME);
}
IDLEFRAME = 0;
}
rcservo_PlayAction();
}
void SetMotion(int num)
{
double temp_p, temp_r;
GetLegMotion(LEGOPPOSITE, LEGGOAL, num, LEGFRAME[num],LEGPOS);
if(SWING == 1)
{
ALPHA = ALPHA + PI/36.0;
if(ALPHA >= 2*PI - PI/36.0)
ALPHA = 0.0;
temp_p = BODY_PITCH + gain_p*sin(ALPHA)*DEG_TO_RAD;
temp_r = BODY_ROLL+ gain_r*sin(ALPHA+PI/2)*DEG_TO_RAD;
}
else
{
temp_p = BODY_PITCH;
temp_r = BODY_ROLL;
}
Transform(BODY_YAW, temp_p, temp_r, LEGPOS);
AdjustPos(POS_GAIN, LEGPOS);
CenterToJoint3(LEGPOS,num,J3GOAL);
Joint3ToJoint2(J3GOAL, J2GOAL);
JointAngle(LEGPOS, J2GOAL,num,JANGLE);
SetJoint(JANGLE,num);
}
INT_PTR CAboutDialog::DlgProc(HWND hDlg,UINT uMsg,WPARAM wParam,LPARAM lParam)
{
switch (uMsg) {
case WM_INITDIALOG:
{
SetItemText(IDC_ABOUT_VERSION,
APP_NAME_W L" ver." APP_VERSION_TEXT_W L" (" APP_PLATFORM_W L")");
m_pLogoImage=m_Core.GetGraphicSystem().CreateImage();
m_pLogoImage->LoadFromResource(m_hinst,MAKEINTRESOURCE(ID_PNG_LOGO),L"PNG");
m_fTransparentLogo=false;
BOOL fCompositionEnabled;
if (::DwmIsCompositionEnabled(&fCompositionEnabled)==S_OK && fCompositionEnabled) {
HWND hwndLogo=GetItemHandle(IDC_ABOUT_LOGO);
RECT rc;
::GetWindowRect(hwndLogo,&rc);
MARGINS Margins={rc.right-rc.left,0,0,0};
if (::DwmExtendFrameIntoClientArea(hDlg,&Margins)==S_OK)
m_fTransparentLogo=true;
}
AdjustPos();
}
return TRUE;
case WM_PAINT:
{
PAINTSTRUCT ps;
RECT rcLogo,rcClient;
::BeginPaint(hDlg,&ps);
Graphics::CCanvas *pCanvas=m_Core.GetGraphicSystem().CreateCanvas(ps.hdc);
if (m_fTransparentLogo)
pCanvas->Clear(Graphics::Color(0,0,0,0));
::GetWindowRect(::GetDlgItem(hDlg,IDC_ABOUT_LOGO),&rcLogo);
::OffsetRect(&rcLogo,-rcLogo.left,-rcLogo.top);
::GetClientRect(hDlg,&rcClient);
rcClient.left=rcLogo.right;
pCanvas->FillRect(rcClient,Graphics::Color(::GetSysColor(COLOR_3DFACE)));
if (!m_fTransparentLogo)
pCanvas->FillRect(rcLogo,Graphics::Color(255,255,255));
if (m_pLogoImage!=nullptr) {
pCanvas->DrawImage((rcLogo.right-m_pLogoImage->GetWidth())/2,
(rcLogo.bottom-m_pLogoImage->GetHeight())/2,
m_pLogoImage);
}
delete pCanvas;
::EndPaint(hDlg,&ps);
}
return TRUE;
case WM_DWMCOMPOSITIONCHANGED:
m_fTransparentLogo=false;
return TRUE;
case WM_COMMAND:
switch (LOWORD(wParam)) {
case IDOK:
case IDCANCEL:
//::EndDialog(hDlg,LOWORD(wParam));
Destroy();
return TRUE;
}
return TRUE;
case WM_DESTROY:
TSTask::SafeDelete(m_pLogoImage);
m_Core.RemoveModelessDialog(this);
return TRUE;
}
return FALSE;
}
bool TextFormatter::AtEof()
{
FilePos p(m_bot);
AdjustPos(p);
return p.para >= m_tf->Length(p.docid);
}
bool TextFormatter::AtTop()
{
FilePos p(m_top);
AdjustPos(p, true);
return p.off == 0 && p.para == 0;
}
bool TextFormatter::FormatBack(CFDC& dc, FilePos start, FilePos prev_top)
{
AdjustPos(start, true);
if (start.para == 0 && start.off == 0)
return false; // at the top
m_lines.RemoveAll();
m_bot = start;
for (int page = m_pages - 1; page >= 0; --page)
{
LineArray tmp;
FilePos pos = start;
int h = 0;
// while there are still paragrahs before
while (h < m_height && (pos.para>0 || pos.off > 0))
{
// format entire paragraph
LineArray cp;
Paragraph para(m_tf->GetParagraph(pos.docid, pos.para));
if (pos.off < para.len) // double check args
para.len = pos.off;
else
pos.off = para.len;
FilePos fp = FilePos(pos.para, 0, pos.docid);
WrapLine(dc, para, fp, cp, 0, 32768);
// insert the formatted paragraph at start of list
tmp.InsertAt(0, &cp);
for (int i = 0; i < cp.GetSize(); ++i)
h += cp[i].height;
pos.off = 0;
AdjustPos(pos, true);
}
// delete extra lines
int j;
// remove top lines
for (h = 0, j = tmp.GetUpperBound(); j >= 0 && h + tmp[j].height <= m_height; --j)
h += tmp[j].height;
if (j < tmp.GetUpperBound())
{
if (j >= 0 && prev_top != 0 && tmp[j + 1].pos >= prev_top)
{
--j;
tmp.RemoveAt(0, j + 1);
// now remove bottom lines
for (h = j = 0; j < tmp.GetSize() && h + tmp[j].height <= m_height; ++j)
h += tmp[j].height;
if (j < tmp.GetSize())
tmp.RemoveAt(j, tmp.GetSize() - j);
}
else
{
tmp.RemoveAt(0, j + 1);
}
}
// save lines
m_lines.InsertAt(0, &tmp);
m_pagelen.SetAtGrow(page, tmp.GetSize());
start = m_lines[0].pos;
if (start.para == 0 && start.off == 0) // we reached the top of file
return FormatFwd(dc, FilePos(0, 0, start.docid));
}
// save positions
m_top = m_lines[0].pos;
Highlight();
// add one dummy line always
Line l;
l.pos = m_bot;
m_lines.Add(l);
return true;
}
INT_PTR CSettingsDialog::DlgProc(HWND hDlg,UINT uMsg,WPARAM wParam,LPARAM lParam)
{
switch (uMsg) {
case WM_INITDIALOG:
{
::SetWindowText(hDlg,GetTitle());
DeleteAllPages();
for (int i=0;;i++) {
CPage *pPage=CreatePage(i);
if (pPage==nullptr)
break;
m_PageList.push_back(pPage);
::SendDlgItemMessage(hDlg,IDC_SETTINGS_LIST,LB_ADDSTRING,0,i);
}
int Page=0;
if (m_StartPage>=0 && m_StartPage<(int)m_PageList.size())
Page=m_StartPage;
else if (m_CurrentPage>=0 && m_CurrentPage<(int)m_PageList.size())
Page=m_CurrentPage;
m_CurrentPage=-1;
if (SetPage(Page)) {
::SendDlgItemMessage(hDlg,IDC_SETTINGS_LIST,LB_SETCURSEL,Page,0);
}
m_himlIcons=::ImageList_LoadImage(m_hinst,MAKEINTRESOURCE(IDB_SETTINGS),16,1,
CLR_NONE,IMAGE_BITMAP,LR_CREATEDIBSECTION);
LRESULT ItemHeight=::SendDlgItemMessage(hDlg,IDC_SETTINGS_LIST,LB_GETITEMHEIGHT,0,0);
if (ItemHeight<16+8)
::SendDlgItemMessage(hDlg,IDC_SETTINGS_LIST,LB_SETITEMHEIGHT,0,16+8);
AdjustPos();
}
return TRUE;
case WM_DRAWITEM:
{
LPDRAWITEMSTRUCT pdis=reinterpret_cast<LPDRAWITEMSTRUCT>(lParam);
if (wParam==IDC_SETTINGS_LIST) {
if (pdis->itemData>=m_PageList.size())
break;
const CPage *pPage=m_PageList[pdis->itemData];
const bool fSelected=(pdis->itemState&ODS_SELECTED)!=0;
COLORREF crText,crOldText;
int OldBkMode;
RECT rcBack,rcText;
rcBack=pdis->rcItem;
rcBack.left+=4+16+4;
if (fSelected) {
RECT rc=pdis->rcItem;
rc.right=rcBack.left;
::FillRect(pdis->hDC,&rc,
reinterpret_cast<HBRUSH>(COLOR_WINDOW+1));
FillGradient(pdis->hDC,rcBack,
RGB(0,0,0),pPage->GetTitleColor());
crText=RGB(255,255,255);
} else {
::FillRect(pdis->hDC,&pdis->rcItem,
reinterpret_cast<HBRUSH>(COLOR_WINDOW+1));
crText=::GetSysColor(COLOR_WINDOWTEXT);
}
::ImageList_Draw(m_himlIcons,pPage->GetIcon(),pdis->hDC,
pdis->rcItem.left+4,
rcBack.top+((rcBack.bottom-rcBack.top)-16)/2,
ILD_TRANSPARENT);
rcText=rcBack;
rcText.left+=4;
rcText.right-=4;
crOldText=::SetTextColor(pdis->hDC,crText);
OldBkMode=::SetBkMode(pdis->hDC,TRANSPARENT);
::DrawText(pdis->hDC,pPage->GetTitle(),-1,
&rcText,DT_LEFT | DT_SINGLELINE | DT_VCENTER | DT_NOPREFIX);
::SetTextColor(pdis->hDC,crOldText);
::SetBkMode(pdis->hDC,OldBkMode);
if ((pdis->itemState & (ODS_FOCUS | ODS_NOFOCUSRECT))==ODS_FOCUS) {
::DrawFocusRect(pdis->hDC,&rcBack);
}
} else if (wParam==IDC_SETTINGS_TITLE) {
if (m_CurrentPage<0 || (size_t)m_CurrentPage>=m_PageList.size())
break;
CPage *pPage=m_PageList[m_CurrentPage];
RECT rc;
FillGradient(pdis->hDC,pdis->rcItem,
RGB(0,0,0),pPage->GetTitleColor());
LOGFONT lf;
::GetObject(reinterpret_cast<HFONT>(::SendMessage(hDlg,WM_GETFONT,0,0)),sizeof(lf),&lf);
lf.lfWeight=FW_BOLD;
HFONT hfont=::CreateFontIndirect(&lf);
HFONT hfontOld=SelectFont(pdis->hDC,hfont);
COLORREF crOldText=::SetTextColor(pdis->hDC,RGB(255,255,255));
int OldBkMode=::SetBkMode(pdis->hDC,TRANSPARENT);
rc.left=pdis->rcItem.left+2;
rc.top=pdis->rcItem.top;
rc.right=pdis->rcItem.right-2;
rc.bottom=pdis->rcItem.bottom;
::DrawText(pdis->hDC,pPage->GetTitle(),-1,
&rc,DT_LEFT | DT_VCENTER | DT_SINGLELINE | DT_NOPREFIX);
SelectFont(pdis->hDC,hfontOld);
::DeleteObject(hfont);
::SetTextColor(pdis->hDC,crOldText);
::SetBkMode(pdis->hDC,OldBkMode);
}
}
return TRUE;
case WM_COMMAND:
switch (LOWORD(wParam)) {
case IDC_SETTINGS_LIST:
if (HIWORD(wParam)==LBN_SELCHANGE) {
int Page=(int)::SendDlgItemMessage(hDlg,IDC_SETTINGS_LIST,LB_GETCURSEL,0,0);
if (Page>=0)
SetPage(Page);
}
return TRUE;
case IDOK:
if (QueryOK() && OnOK()) {
End(IDOK);
}
return TRUE;
case IDCANCEL:
OnCancel();
End(IDCANCEL);
return TRUE;
}
return TRUE;
case WM_APP_SET_PAGE:
SetPage((int)wParam);
return TRUE;
case WM_DESTROY:
{
m_StartPage=m_CurrentPage;
DeleteAllPages();
if (m_himlIcons!=nullptr) {
::ImageList_Destroy(m_himlIcons);
m_himlIcons=nullptr;
}
m_Core.RemoveModelessDialog(this);
}
return TRUE;
}
return FALSE;
}
int OnWndOther(WPARAM wParam,LPARAM lParam,BOOL *pbHandled)
{
AdjustPos();
return 0;
}