// 获取曲面数据
BOOL CSDMdlMachLongAxisCheck::SetSurfaceData(ProSurface pSurf, ProSurface pSameSurf, SDC_SurfaceData &surfData)
{
if (NULL == pSurf)
return FALSE;
surfData.pSurface = pSurf;
surfData.pSameSurf = pSameSurf;
ProGeomitemdata *pGeomData = NULL;
ProSurfaceDataGet(pSurf, &pGeomData);
BOOL bRet = FALSE;
if (pGeomData->data.p_surface_data->type == PRO_SRF_CYL)
{
VectorCopy(pGeomData->data.p_surface_data->srf_shape.cylinder.origin, surfData.origin);
VectorCopy(pGeomData->data.p_surface_data->srf_shape.cylinder.e3, surfData.axisVector);
VectorCopy(pGeomData->data.p_surface_data->xyz_min, surfData.minPt);
VectorCopy(pGeomData->data.p_surface_data->xyz_max, surfData.maxPt);
SVDOUBLE3 minProj, maxProj;
ProjectPtToLine(SVDOUBLE3(pGeomData->data.p_surface_data->srf_shape.cone.origin),
SVDOUBLE3(pGeomData->data.p_surface_data->srf_shape.cone.e3), SVDOUBLE3(surfData.minPt), minProj);
ProjectPtToLine(SVDOUBLE3(pGeomData->data.p_surface_data->srf_shape.cone.origin),
SVDOUBLE3(pGeomData->data.p_surface_data->srf_shape.cone.e3), SVDOUBLE3(surfData.maxPt), maxProj);
surfData.dDiameter = pGeomData->data.p_surface_data->srf_shape.cylinder.radius * 2.0;
SVDOUBLE3ToPoint3D(minProj, surfData.minPt);
SVDOUBLE3ToPoint3D(maxProj, surfData.maxPt);
bRet = TRUE;
}
else if (pGeomData->data.p_surface_data->type == PRO_SRF_CONE)
{
VectorCopy(pGeomData->data.p_surface_data->srf_shape.cone.origin, surfData.origin);
VectorCopy(pGeomData->data.p_surface_data->srf_shape.cone.e3, surfData.axisVector);
VectorCopy(pGeomData->data.p_surface_data->xyz_min, surfData.minPt);
VectorCopy(pGeomData->data.p_surface_data->xyz_max, surfData.maxPt);
SVDOUBLE3 minProj, maxProj;
ProjectPtToLine(SVDOUBLE3(pGeomData->data.p_surface_data->srf_shape.cone.origin),
SVDOUBLE3(pGeomData->data.p_surface_data->srf_shape.cone.e3), SVDOUBLE3(surfData.minPt), minProj);
ProjectPtToLine(SVDOUBLE3(pGeomData->data.p_surface_data->srf_shape.cone.origin),
SVDOUBLE3(pGeomData->data.p_surface_data->srf_shape.cone.e3), SVDOUBLE3(surfData.maxPt), maxProj);
double dR1 = CalculateDistance(SVDOUBLE3(surfData.minPt), SVDOUBLE3(minProj));
double dR2 = CalculateDistance(SVDOUBLE3(surfData.maxPt), SVDOUBLE3(maxProj));
surfData.dDiameter = dR1 < dR2 ? (dR1 * 2.0) : (dR2 * 2.0);
VectorCopy(minProj, surfData.minPt);
VectorCopy(maxProj, surfData.maxPt);
bRet = TRUE;
}
ProGeomitemdataFree(&pGeomData);
return TRUE;
}
State_t Striker::DoStateDribble()
{
m_vision->SetHeadTrackingStatus(BALL_TRACKING);
// Assumption: The robot is close to the ball face to the opponent goal.
bool isAlreadyDribbling = false;
cm prevBallDistanceFromMe;
BallLocation ballLocation = m_localization->GetBallLocation();
while (IsBallDataRelevant(&ballLocation) && (ballLocation.angleFromMe
< VALID_ANGLE_FOR_DRIBBLE && ballLocation.angleFromMe
> -VALID_ANGLE_FOR_DRIBBLE) && !IsIBlocked()
&& CalculateDistance(m_localization->GetMyLocation().x,
m_localization->GetMyLocation().y, OPPONENT_GOAL_X,
OPPONENT_GOAL_Y) > KICKABLE_DISTANCE_FROM_OPPONENT_GOAL)
{
if (!IsStatePlaying())
{
return STATE_HANDLE_GAME_CONTROLLER_STATES;
}
if (!isAlreadyDribbling)
{
AdjustYourselfTowardTheBallForDribble();
m_motion->StartWalkingAsync(DRIBBLE_X_SPEED, 0, 0);
isAlreadyDribbling = true;
}
prevBallDistanceFromMe = ballLocation.distanceFromMe;
usleep(500 * 1000);
ballLocation = m_localization->GetBallLocation();
if (ballLocation.distanceFromMe > prevBallDistanceFromMe + DISTANCE_FROM_BALL_THRESHOLD)
{
return STATE_SHOULD_I_GO_TO_THE_BALL;
}
}
return STATE_LOOK_FOR_THE_BALL;
}
BOOL CTeleportPath::MakeDistanceTable()
{
if (m_ppTable == NULL)
return FALSE;
// convert the graph into a distance table
for (int x = 0; x < m_nCX; x++)
{
for (int y = 0; y < m_nCY; y++)
{
if ((m_ppTable[x][y] % 2) == 0)
m_ppTable[x][y] = (short)CalculateDistance(x, y, m_ptEnd.x, m_ptEnd.y);
else
m_ppTable[x][y] = RANGE_INVALID;
}
}
if(m_ptEnd.y >= m_nCY)
m_ptEnd.y = m_nCY - 1;
if(!IsValidIndex(m_ptEnd.x, m_ptEnd.y))
return false;
m_ppTable[m_ptEnd.x][m_ptEnd.y] = 1;
return TRUE;
}
void StrandOfTheAncient::OnPlatformTeleport(Player *plr)
{
LocationVector dest;
uint32 closest_platform = 0;
for (uint32 i = 0; i < GATE_COUNT; i++)
{
float distance = CalculateDistance(plr->GetPositionX(),
plr->GetPositionY(), plr->GetPositionZ(),
sotaTransporterDestination[i][0],
sotaTransporterDestination[i][1],
sotaTransporterDestination[i][2]);
if (distance < 75)
{
closest_platform = i;
break;
}
}
dest.ChangeCoords(sotaTransporterDestination[closest_platform][0],
sotaTransporterDestination[closest_platform][1],
sotaTransporterDestination[closest_platform][2],
sotaTransporterDestination[closest_platform][3]);
plr->SafeTeleport(plr->GetMapId(), plr->GetInstanceID(), dest);
}
pcl::CorrespondencesPtr CloudMapper::LandmarksToCorresponencies(Cloud::Ptr &cloud1, CloudMapper::Landmarks &landmarks1, Cloud::Ptr &cloud2, CloudMapper::Landmarks &landmarks2)
{
pcl::CorrespondencesPtr result(new pcl::Correspondences);
int resultSize = std::min(landmarks1.size(), landmarks2.size());
for (int i = 0; i < resultSize; i++)
{
auto sourcePoint1 = landmarks1.at(i).point;
auto sourcePoint2 = landmarks2.at(i).point;
auto p1IsNotNan = IsNotNAN(sourcePoint1);
auto p2IsNotNan = IsNotNAN(sourcePoint2);
if (p1IsNotNan && p2IsNotNan)
{
CloudMapper::Landmarks::value_type pt1 = FindClosestPoint(cloud1, sourcePoint1);
CloudMapper::Landmarks::value_type pt2 = FindClosestPoint(cloud2, sourcePoint2);
float distance = CalculateDistance(pt1.point, pt2.point);
pcl::Correspondence correspondence(pt1.index, pt2.index, distance);
result->push_back(correspondence);
}
}
return result;
}
double cRenderWorker::AuxShadow(const sShaderInputData &input, double distance,
CVector3 lightVector)
{
double step = input.delta;
double dist = step;
double light = 1.0;
double opacity = 0.0;
double shadowTemp = 1.0;
double DE_factor = params->DEFactor;
if (params->iterFogEnabled || params->volumetricLightAnyEnabled) DE_factor = 1.0;
for (double i = input.delta; i < distance; i += dist * DE_factor)
{
CVector3 point2 = input.point + lightVector * i;
sDistanceOut distanceOut;
sDistanceIn distanceIn(point2, input.distThresh, false);
dist = CalculateDistance(*params, *fractal, distanceIn, &distanceOut);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
if (params->iterFogEnabled)
{
opacity = IterOpacity(dist * DE_factor,
distanceOut.iters,
params->N,
params->iterFogOpacityTrim,
params->iterFogOpacity);
}
else
{
opacity = 0.0;
}
shadowTemp -= opacity * (distance - i) / distance;
float dist_thresh;
if (params->iterFogEnabled || params->volumetricLightAnyEnabled)
{
dist_thresh = CalcDistThresh(point2);
}
else dist_thresh = input.distThresh;
if (dist < dist_thresh || shadowTemp < 0.0)
{
if (params->penetratingLights)
{
shadowTemp -= (distance - i) / distance;
if (shadowTemp < 0.0) shadowTemp = 0.0;
}
else
{
shadowTemp = 0.0;
}
break;
}
}
light = shadowTemp;
return light;
}
sRGBAfloat cRenderWorker::FastAmbientOcclusion(const sShaderInputData &input)
{
// reference Iñigo Quilez –iq/rgba:
// http://www.iquilezles.org/www/material/nvscene2008/rwwtt.pdf
double delta = input.distThresh;
double aoTemp = 0;
double quality = params->ambientOcclusionQuality;
double lastDist = 1e20;
for (int i = 1; i < quality * quality; i++)
{
double scan = i * i * delta;
CVector3 pointTemp = input.point + input.normal * scan;
sDistanceOut distanceOut;
sDistanceIn distanceIn(pointTemp, input.distThresh, false);
double dist = CalculateDistance(*params, *fractal, distanceIn, &distanceOut, data);
if (dist > lastDist * 2) dist = lastDist * 2.0;
lastDist = dist;
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
aoTemp +=
1.0 / pow(2.0, i) * (scan - params->ambientOcclusionFastTune * dist) / input.distThresh;
}
double ao = 1.0 - 0.2 * aoTemp;
if (ao < 0) ao = 0;
sRGBAfloat output(ao, ao, ao, 1.0);
return output;
}
cm Striker::CalculateDistanceFromOtherStriker(cm xLocation, cm yLocation)
{
return CalculateDistance(
m_communication->GetFriendData(m_otherStrikerId)->ballLocation.x,
m_communication->GetFriendData(m_otherStrikerId)->ballLocation.y,
m_localization->GetMyLocation().y, yLocation);
}
float PrlxPhysics::CalculateDistance(PrlxPhysics::Motion::Position A, PrlxPhysics::Motion::Position B)
{
return CalculateDistance
(
PRLX_Point(Point(A.x, A.y)),
PRLX_Point(Point(B.x, B.y))
);
}
/////////////////////////////////////////////////////////////////////
// The "Get Best Move" Algorithm
//
// Originally developed by Niren7, Modified by Abin
/////////////////////////////////////////////////////////////////////
BOOL CTeleportPath::GetBestMove(POINT& pos, int nAdjust)
{
if(CalculateDistance(m_ptEnd, pos) <= TP_RANGE)
{
pos = m_ptEnd;
return PATH_REACHED; // we reached the destination
}
if (!IsValidIndex(pos.x, pos.y))
return PATH_FAIL; // fail
Block(pos, nAdjust);
POINT p, best;
int value = RANGE_INVALID;
DWORD LeftX = pos.x, LeftY = pos.y;
if( pos.x < TP_RANGE )
LeftX += ( TP_RANGE - pos.x);
if( pos.y < TP_RANGE)
LeftY += ( TP_RANGE - pos.y);
for (p.x = LeftX - TP_RANGE; p.x <= LeftX + TP_RANGE; p.x++)
{
for (p.y = LeftY - TP_RANGE; p.y <= LeftY + TP_RANGE; p.y++)
{
if (!IsValidIndex(p.x, p.y))
continue;
if (m_ppTable[p.x][p.y] < value && CalculateDistance(p, pos) <= TP_RANGE)
{
value = m_ppTable[p.x][p.y];
best = p;
}
}
}
if (value >= RANGE_INVALID)
return PATH_FAIL; // no path at all
pos = best;
Block(pos, nAdjust);
return PATH_CONTINUE; // ok but not reached yet
}
void FileList::addChild(ngl::Vec3 _childlocalposition)
{
std::cout<<std::endl<<"*********CHILD "<<_childlocalposition.m_x<<" "<<_childlocalposition.m_y<<std::endl;
m_node.m_localposition.m_x = _childlocalposition.m_x;
m_node.m_localposition.m_y = _childlocalposition.m_y;
m_node.m_localposition.m_z = 0;
if(m_numberofjoints > MAX_CHCOUNT)
exit(0);
else
{
if (m_numberofjoints == 0) //Creating a null root
{
m_node.m_worldposition = m_node.m_localposition;
m_node.m_zAngle =0;
m_node.m_jointnumber= 1;
// std::cout<<"INSIDE 0 ROOT"<<std::endl;
}
else
{
auto id = m_jointData.rbegin();
ngl::Vec3 localposition = (*id).m_localposition;
ngl::Vec3 worldposition = (*id).m_worldposition;
float length;
// float angle ;
length = CalculateDistance(worldposition, worldposition+_childlocalposition);
// angle = CalculateAngle(worldposition, worldposition+_childlocalposition);
(*id).m_length = length;
// (*id).m_zAngle = angle;
m_node.m_worldposition = worldposition + _childlocalposition ;
m_node.m_jointnumber = (*id).m_jointnumber +1;
//m_node.m_zAngle = (*id).m_zAngle ;
}
}
m_jointData.push_back( m_node);
m_numberofjoints++;
}
int CTeleportPath::GetRedundancy(const LPPOINT lpPath, DWORD dwMaxCount, const POINT &pos)
{
// step redundancy check
if (lpPath == NULL || dwMaxCount == 0)
return -1;
for (DWORD i = 1; i < dwMaxCount; i++)
{
if (CalculateDistance(lpPath[i].x, lpPath[i].y, pos.x, pos.y) <= TP_RANGE / 2)
return i;
}
return -1;
}
bool CollisionSystem::ReproduceEntities(std::shared_ptr<Entity> entity1,
std::shared_ptr<Entity> entity2)
{
auto reproductionComponent1 = std::static_pointer_cast<ReproductionComponent>(
Engine::GetInstance().GetSingleComponentOfClass(entity1,
"ReproductionComponent"));
auto reproductionComponent2 = std::static_pointer_cast<ReproductionComponent>(
Engine::GetInstance().GetSingleComponentOfClass(entity2,
"ReproductionComponent"));
auto particleComponent1 = std::static_pointer_cast<ParticleComponent>(
Engine::GetInstance().GetSingleComponentOfClass(entity1,
"ParticleComponent"));
auto particleComponent2 = std::static_pointer_cast<ParticleComponent>(
Engine::GetInstance().GetSingleComponentOfClass(entity2,
"ParticleComponent"));
auto position1 = particleComponent1->GetPosition();
auto position2 = particleComponent2->GetPosition();
if (position1.CalculateDistance(position2) >= CFG_GETF("REPRODUCTION_DISTANCE_MAX"))
return true;
auto enabled1 = reproductionComponent1->GetEnabled();
auto enabled2 = reproductionComponent2->GetEnabled();
auto reproduced1 = reproductionComponent1->GetReproduced();
auto reproduced2 = reproductionComponent2->GetReproduced();
auto type1 = reproductionComponent1->GetType();
auto type2 = reproductionComponent2->GetType();
if (enabled1 && enabled2 && !reproduced1 && !reproduced2 && type1 == type2)
{
LOG_D("[CollisionSystem] Reproducing entities " << entity1->GetId()
<< " and " << entity2->GetId());
EntityFactory::CreateCell(particleComponent1->GetPosition() + Vector(50, 50));
reproductionComponent1->SetReproduced(true);
reproductionComponent2->SetReproduced(true);
return true;
}
return false;
}
bool ChatHandler::HandleSimpleDistanceCommand(const char* args, WorldSession* m_session)
{
float toX, toY, toZ;
if (sscanf(args, "%f %f %f", &toX, &toY, &toZ) != 3)
return false;
if (toX >= _maxX || toX <= _minX || toY <= _minY || toY >= _maxY)
return false;
float posX = m_session->GetPlayer()->GetPositionX();
float posY = m_session->GetPlayer()->GetPositionY();
float posZ = m_session->GetPlayer()->GetPositionZ();
float distance = CalculateDistance(posX, posY, posZ, toX, toY, toZ);
m_session->SystemMessage("Your distance to location (%f, %f, %f) is %f.", toX, toY, toZ, distance);
return true;
}
int main()
{
int x1, x2, y1, y2;
double totalInches = 0;
int distanceInFeet = 0;
double distanceInInches = 0;
/*************************************
* Step 2 *
* Add two calls to ScanCoordinates, *
* one for each pair of coordinates. *
* Also, uncomment the two lines of *
* code below before compiling again *
*************************************/
ScanCoordinates( &x1, &y1);
ScanCoordinates( &x2, &y2);
totalInches = CalculateDistance(x1, y1, x2, y2);
printf("The distance is: %lf\n", totalInches);
/************************************
* Step 4 *
* Call the ConvertInchesToFeet *
* function, making sure to pay *
* attention to what is passed in *
* by reference, and what is passed *
* in by value. Also uncomment the *
* call to printf below. *
************************************/
ConvertInchesToFeet(&distanceInFeet, &distanceInInches, totalInches);
printf("Feet: %d, Inches: %lf\n", distanceInFeet,
distanceInInches);
return 0;
}
DWORD GetUnitDist(UnitAny* pUnit1, UnitAny* pUnit2)
{
DWORD dwDist[4] = {0};
switch(pUnit1->dwType)
{
case UNIT_TYPE_PLAYER:
case UNIT_TYPE_MISSILE:
case UNIT_TYPE_ITEM:
dwDist[0] = pUnit1->pPath->xPos;
dwDist[1] = pUnit1->pPath->yPos;
break;
case UNIT_TYPE_OBJECT:
dwDist[0] = pUnit1->pObjectPath->dwPosX;
dwDist[1] = pUnit1->pObjectPath->dwPosY;
break;
}
switch(pUnit2->dwType)
{
case UNIT_TYPE_PLAYER:
case UNIT_TYPE_MISSILE:
case UNIT_TYPE_ITEM:
dwDist[2] = pUnit2->pPath->xPos;
dwDist[3] = pUnit2->pPath->yPos;
break;
case UNIT_TYPE_OBJECT:
dwDist[2] = pUnit2->pObjectPath->dwPosX;
dwDist[3] = pUnit2->pObjectPath->dwPosY;
break;
}
for(int x = 0; x < 4; x++)
if(!dwDist[x])
return INFINITE;
return (DWORD)CalculateDistance(dwDist[0], dwDist[1], dwDist[2], dwDist[3]);
}
CVector3 cRenderWorker::CalculateNormals(const sShaderInputData &input)
{
CVector3 normal(0.0, 0.0, 0.0);
// calculating normal vector based on distance estimation (gradient of distance function)
if (!params->slowShading)
{
double delta = input.delta * params->smoothness;
if (params->interiorMode) delta = input.distThresh * 0.2 * params->smoothness;
double sx1, sx2, sy1, sy2, sz1, sz2;
sDistanceOut distanceOut;
CVector3 deltax(delta, 0.0, 0.0);
sDistanceIn distanceIn1(input.point + deltax, input.distThresh, true);
sx1 = CalculateDistance(*params, *fractal, distanceIn1, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
sDistanceIn distanceIn2(input.point - deltax, input.distThresh, true);
sx2 = CalculateDistance(*params, *fractal, distanceIn2, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
CVector3 deltay(0.0, delta, 0.0);
sDistanceIn distanceIn3(input.point + deltay, input.distThresh, true);
sy1 = CalculateDistance(*params, *fractal, distanceIn3, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
sDistanceIn distanceIn4(input.point - deltay, input.distThresh, true);
sy2 = CalculateDistance(*params, *fractal, distanceIn4, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
CVector3 deltaz(0.0, 0.0, delta);
sDistanceIn distanceIn5(input.point + deltaz, input.distThresh, true);
sz1 = CalculateDistance(*params, *fractal, distanceIn5, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
sDistanceIn distanceIn6(input.point - deltaz, input.distThresh, true);
sz2 = CalculateDistance(*params, *fractal, distanceIn6, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
normal.x = sx1 - sx2;
normal.y = sy1 - sy2;
normal.z = sz1 - sz2;
}
// calculating normal vector based on average value of binary central difference
else
{
CVector3 point2;
CVector3 point3;
double delta = input.delta * params->smoothness * 0.5;
if (params->interiorMode) delta = input.distThresh * 0.2 * params->smoothness;
sDistanceOut distanceOut;
for (point2.x = -1.0; point2.x <= 1.0; point2.x += 0.2) //+0.2
{
for (point2.y = -1.0; point2.y <= 1.0; point2.y += 0.2)
{
for (point2.z = -1.0; point2.z <= 1.0; point2.z += 0.2)
{
point3 = input.point + point2 * delta;
sDistanceIn distanceIn(point3, input.distThresh, true);
double dist = CalculateDistance(*params, *fractal, distanceIn, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
normal += (point2 * dist);
}
}
}
}
if ((normal.x == 0 && normal.y == 0 && normal.z == 0))
{
normal = CVector3(1.0, 0.0, 0.0);
}
else
{
normal.Normalize();
}
if (normal.IsNotANumber())
{
normal = CVector3(1.0, 0.0, 0.0);
}
if (input.invertMode) normal *= (-1.0);
// qDebug() << input.point.Debug() << normal.Debug();
return normal;
}
sRGBAfloat cRenderWorker::AmbientOcclusion(const sShaderInputData &input)
{
sRGBAfloat AO(0, 0, 0, 1.0);
double start_dist = input.delta;
double end_dist = input.delta / params->resolution;
double intense = 0;
for (int i = 0; i < AOvectorsCount; i++)
{
sVectorsAround v = AOvectorsAround[i];
double dist = input.lastDist;
double opacity = 0.0;
double shadowTemp = 1.0;
for (double r = start_dist; r < end_dist; r += dist * 2.0)
{
CVector3 point2 = input.point + v.v * r;
sDistanceOut distanceOut;
sDistanceIn distanceIn(point2, input.distThresh, false);
dist = CalculateDistance(*params, *fractal, distanceIn, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
if (params->iterFogEnabled)
{
opacity = IterOpacity(dist * 2.0, distanceOut.iters, params->N, params->iterFogOpacityTrim,
params->iterFogOpacity);
}
else
{
opacity = 0.0;
}
shadowTemp -= opacity * (end_dist - r) / end_dist;
float dist_thresh;
if (params->iterFogEnabled || params->volumetricLightEnabled[0])
{
dist_thresh = CalcDistThresh(point2);
}
else
dist_thresh = input.distThresh;
if (dist < dist_thresh || distanceOut.maxiter || shadowTemp < 0.0)
{
shadowTemp -= (end_dist - r) / end_dist;
if (shadowTemp < 0.0) shadowTemp = 0.0;
break;
}
}
intense = shadowTemp;
AO.R += intense * v.R;
AO.G += intense * v.G;
AO.B += intense * v.B;
}
AO.R /= (AOvectorsCount * 256.0);
AO.G /= (AOvectorsCount * 256.0);
AO.B /= (AOvectorsCount * 256.0);
return AO;
}
static uint8 gps_data_change(void *arg)
{
GPSDATA_TYPE *data = (GPSDATA_TYPE *)arg;
uint32 average = 0;
if(data->glatitude == regionDat.last_lat && data->glongitude == regionDat.last_lon)
{
return 0;
}
regionDat.trip_distance += CalculateDistance(data->glatitude, data->glongitude, regionDat.last_lat, regionDat.last_lon, NULL);
regionDat.speed_sum += data->gspeed;
regionDat.point_cnt += 1;
regionDat.last_lat = data->glatitude;
regionDat.last_lon = data->glongitude;
if(regionDat.trip_distance >= regionDat.distance)
{
//should unregister this listener
LOGD("region end by distance");
regionDat.listener.listener = NULL;
RemoveDisplayByNode(®ionDat.display);
return 1;
}
average = regionDat.speed_sum / regionDat.point_cnt;
if(average > (regionDat.speed - 2))
{
uint32 diff = average - regionDat.speed + 2;
uint8 cnt = 0;
if(diff > 30)
{
cnt = 2;
}
else if(diff > 20)
{
cnt = 3;
}
else if(diff > 10)
{
cnt = 4;
}
else
{
cnt = 5;
}
if(regionDat.point_cnt % (15 * cnt) == 0)
{
VoicePlayCommon(speed_over_alarm_voice, TTS_PLAY_LEVEL_HIGH, VOICE_DATA_FLAG_NULL);
}
else
{
if(regionDat.point_cnt % cnt == 0)
{
VoicePlayCommon(ding_voice, TTS_PLAY_LEVEL_IGNORE, VOICE_DATA_FLAG_NULL);
}
}
}
return 0;
}
sRGBAfloat cRenderWorker::MainShadow(const sShaderInputData &input)
{
sRGBAfloat shadow(1.0, 1.0, 1.0, 1.0);
// starting point
CVector3 point2;
double factor = input.delta / params->resolution;
if (!params->penetratingLights) factor = params->viewDistanceMax;
double dist = input.distThresh;
double DEFactor = params->DEFactor;
if (params->iterFogEnabled || params->volumetricLightEnabled[0]) DEFactor = 1.0;
// double start = input.delta;
double start = input.distThresh;
if (params->interiorMode) start = input.distThresh * DEFactor;
double opacity = 0.0;
double shadowTemp = 1.0;
double softRange = tan(params->shadowConeAngle / 180.0 * M_PI);
double maxSoft = 0.0;
const bool bSoft = (!params->iterFogEnabled && !params->limitsEnabled && !params->iterThreshMode)
&& softRange > 0.0;
for (double i = start; i < factor; i += dist * DEFactor)
{
point2 = input.point + input.lightVect * i;
float dist_thresh;
if (params->iterFogEnabled || params->volumetricLightEnabled[0])
{
dist_thresh = CalcDistThresh(point2);
}
else
dist_thresh = input.distThresh;
sDistanceOut distanceOut;
sDistanceIn distanceIn(point2, dist_thresh, false);
dist = CalculateDistance(*params, *fractal, distanceIn, &distanceOut, data);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
if (bSoft)
{
double angle = (dist - dist_thresh) / i;
if (angle < 0) angle = 0;
if (dist < dist_thresh) angle = 0;
double softShadow = (1.0 - angle / softRange);
if (params->penetratingLights) softShadow *= (factor - i) / factor;
if (softShadow < 0) softShadow = 0;
if (softShadow > maxSoft) maxSoft = softShadow;
}
if (params->iterFogEnabled)
{
opacity = IterOpacity(dist * DEFactor, distanceOut.iters, params->N,
params->iterFogOpacityTrim, params->iterFogOpacity);
}
else
{
opacity = 0.0;
}
shadowTemp -= opacity * (factor - i) / factor;
if (dist < dist_thresh || shadowTemp < 0.0)
{
shadowTemp -= (factor - i) / factor;
if (!params->penetratingLights) shadowTemp = 0.0;
if (shadowTemp < 0.0) shadowTemp = 0.0;
break;
}
}
if (!bSoft)
{
shadow.R = shadowTemp;
shadow.G = shadowTemp;
shadow.B = shadowTemp;
}
else
{
shadow.R = (1.0 - maxSoft);
shadow.G = (1.0 - maxSoft);
shadow.B = (1.0 - maxSoft);
}
return shadow;
}
bool CircleCircleIntersect(const Circle * circle1, const Circle * circle2)
{
return (CalculateDistance(circle1->GetCenter(), circle2->GetCenter()) < (circle1->GetRadius() + circle2->GetRadius()));
}
void CollisionSystem::CheckCollisions()
{
float maxDistance = CFG_GETF("COLLISION_MAX_DISTANCE");
Quadtree<std::shared_ptr<Entity>> quadtree(Rectangle(CFG_GETF("LEVEL_MIN_X"), CFG_GETF("LEVEL_MIN_Y"), CFG_GETF("LEVEL_MAX_X") - CFG_GETF("LEVEL_MIN_X"), CFG_GETF("LEVEL_MAX_Y") - CFG_GETF("LEVEL_MIN_Y")));
auto cameraEntities = Engine::GetInstance().GetAllEntitiesWithComponentOfClass("CameraComponent");
collidableEntities = Engine::GetInstance().GetAllEntitiesWithComponentOfClass("ColliderComponent");
// Clear deleted entities from last iteration.
deletedEntities.clear();
std::shared_ptr<Entity> cameraEntity;
if (cameraEntities.size() > 0)
cameraEntity = cameraEntities[0];
// Build quadtree for close enough entities.
for (auto entity : collidableEntities)
{
auto particleComponent = std::static_pointer_cast<ParticleComponent>(Engine::GetInstance().GetSingleComponentOfClass(entity, "ParticleComponent"));
auto position = particleComponent->GetPosition();
// Ignore collision from things that aren't visible.
if (cameraEntity)
{
auto cameraComponent = std::static_pointer_cast<CameraComponent>(Engine::GetInstance().GetSingleComponentOfClass(cameraEntity, "CameraComponent"));
auto cameraPosition = cameraComponent->GetPosition();
if (cameraPosition.CalculateDistance(position) > maxDistance)
continue;
else
quadtree.Add(entity, position);
}
else
{
quadtree.Add(entity, position);
}
}
// Detect and solve collisions.
for (unsigned int i = 0; i < collidableEntities.size(); ++i)
{
auto entity = collidableEntities[i];
auto particleComponent = std::static_pointer_cast<ParticleComponent>(Engine::GetInstance().GetSingleComponentOfClass(entity, "ParticleComponent"));
auto position = particleComponent->GetPosition();
auto quadtreeEntities = quadtree.Get(position);
for (unsigned int j = 0; j < quadtreeEntities.size(); ++j)
{
auto otherEntity = quadtreeEntities[j];
if (std::find(deletedEntities.begin(), deletedEntities.end(), entity->GetId()) != deletedEntities.end())
continue;
if (std::find(deletedEntities.begin(), deletedEntities.end(), otherEntity->GetId()) != deletedEntities.end())
continue;
if (entity->GetId() != otherEntity->GetId()
&& IsColliding(entity, otherEntity))
SolveCollision(entity, otherEntity);
}
}
}
Float RotateGameObject(Script * script)
{
if (script->VerifyArguments(3) == true)
{
Word * rotatePosWord = script->GetNextWord();
Point2D rotatePosition(0, 0);
Point2D * rotatePos = (Point2D *)(uint32)rotatePosWord->value;
if (rotatePos != NULL)
{
rotatePosition.SetValues(rotatePos->GetX(), rotatePos->GetY());
}
Word * angleWord = script->GetNextWord();
Word * directionWord = script->GetNextWord();
Vector3D direction(0, 0, 0);
Point2D * dirVector = (Point2D *)(uint32)directionWord->value;
if (dirVector != NULL)
{
direction.SetValues(dirVector->GetX(), dirVector->GetY(), 0);
}
GameObject * source = (GameObject *)script->GetSource();
Shape * shape = source->GetShape();
if ((rotatePos != NULL) && (source != NULL) && (source->CheckType(OBJ_TYPE_GAME_OBJECT) == true) && (shape != NULL))
{
Float distance = CalculateDistance(rotatePosition, source->GetPosition());
if (angleWord->value != NULL)
{
Vector3D sourceDirection(rotatePosition, source->GetPosition());
Float angle = sourceDirection.GetZeroAngleD() + angleWord->value;
source->SetPosition(rotatePosition.GetX() + (distance * CosD(angle)),
rotatePosition.GetY() + (distance * SinD(angle)));
direction.SetValues(rotatePosition, source->GetPosition());
direction.SetUnitVector();
}
else if (dirVector != NULL)
{
direction -= rotatePosition;
direction.SetUnitVector();
source->SetPosition(rotatePosition.GetX() + (direction.GetX() * distance),
rotatePosition.GetY() + (direction.GetY() * distance));
}
else
{
return false;
}
if ((shape->GetType() == SHAPE_TYPE_LINE) || (shape->GetType() == SHAPE_TYPE_LINE_SEGMENT))
{
Line * line = (Line *)shape;
Line * newLine = (Line *)line->CreateInstance();
newLine->Translate(source->GetPosition());
Vector3D v1(rotatePosition, newLine->GetPoint1());
Vector3D v2(rotatePosition, newLine->GetPoint2());
Float baseAngle = direction.GetZeroAngleD();
Float v1Length = v1.GetLength();
Float v2Length = v2.GetLength();
Float angle1 = v1.GetZeroAngleD() - baseAngle;
Float angle2 = v2.GetZeroAngleD() - baseAngle;
Point2D p1((v1Length * CosD(angle1)),
(v1Length * SinD(angle1)));
Point2D p2((v2Length * CosD(angle2)),
(v2Length * SinD(angle2)));
line->SetValues(p1 + rotatePosition, p2 + rotatePosition);
line->Translate(!source->GetPosition());
delete newLine;
}
else if (shape->GetType() == SHAPE_TYPE_CONE)
{
Cone * cone = (Cone *)shape;
cone->SetValues(cone->GetVertex(), Vector3D(dirVector->GetX(), dirVector->GetY(), 0), cone->GetHeight(), cone->GetAngle());
}
return true;
}
}
return false;
}
bool PrlxPhysics::HitTest(PRLX_Circle A, PRLX_Circle B)
{
return (CalculateDistance(Point(A.pos.x, A.pos.y), Point(B.pos.x, B.pos.y)) <= A.radius + B.radius);
}
bool PrlxPhysics::HitTest(PRLX_Circle circle, PRLX_Point point)
{
return (CalculateDistance(Point(circle.pos.x, circle.pos.y), point) <= circle.radius);
}
void Point2PhantomNode::CalculateWeight(OsrmMappingTypes::FtSeg const & seg,
m2::PointD const & segPt, NodeID const & nodeId,
bool calcFromRight, int & weight, int & offset) const
{
// nodeId can be INVALID_NODE_ID when reverse node is absent. This node has no weight.
if (nodeId == INVALID_NODE_ID)
{
offset = 0;
weight = 0;
return;
}
Index::FeaturesLoaderGuard loader(m_index, m_routingMapping.GetMwmId());
// Offset is measured in milliseconds. We don't know about speed restrictions on the road.
// So we find it by a whole edge weight.
// Distance from the node border to the projection point is in meters.
double distanceM = 0.;
// Whole node distance in meters.
double fullDistanceM = 0.;
// Minimal OSRM edge weight in milliseconds.
EdgeWeight minWeight = 0;
auto const range = m_routingMapping.m_segMapping.GetSegmentsRange(nodeId);
OsrmMappingTypes::FtSeg segment;
size_t const startIndex = calcFromRight ? range.second - 1 : range.first;
size_t const endIndex = calcFromRight ? range.first - 1 : range.second;
int const indexIncrement = calcFromRight ? -1 : 1;
bool foundSeg = false;
m2::PointD lastPoint;
for (size_t segmentIndex = startIndex; segmentIndex != endIndex; segmentIndex += indexIncrement)
{
m_routingMapping.m_segMapping.GetSegmentByIndex(segmentIndex, segment);
if (!segment.IsValid())
continue;
FeatureType ft;
loader.GetFeatureByIndex(segment.m_fid, ft);
ft.ParseGeometry(FeatureType::BEST_GEOMETRY);
// Find whole edge weight by node outgoing point.
if (segmentIndex == range.second - 1)
minWeight = GetMinNodeWeight(nodeId, ft.GetPoint(segment.m_pointEnd));
// Calculate distances.
double distance = CalculateDistance(ft, segment.m_pointStart, segment.m_pointEnd);
fullDistanceM += distance;
if (foundSeg)
continue;
if (segment.m_fid == seg.m_fid && OsrmMappingTypes::IsInside(segment, seg))
{
auto const splittedSegment = OsrmMappingTypes::SplitSegment(segment, seg, !calcFromRight);
distanceM += CalculateDistance(ft, splittedSegment.m_pointStart, splittedSegment.m_pointEnd);
// node.m_seg always forward ordered (m_pointStart < m_pointEnd)
distanceM -= MercatorBounds::DistanceOnEarth(
ft.GetPoint(calcFromRight ? seg.m_pointStart : seg.m_pointEnd), segPt);
foundSeg = true;
}
else
{
distanceM += distance;
}
}
ASSERT_GREATER(fullDistanceM, 0, ("No valid segments on the edge."));
double const ratio = (fullDistanceM == 0) ? 0 : distanceM / fullDistanceM;
ASSERT_LESS_OR_EQUAL(ratio, 1., ());
// OSRM calculates edge weight form start to user point how offset + weight.
// But it doesn't place info about start and end edge result weight into result structure.
// So we store whole edge weight into offset and calculates this weights at a postprocessing step.
offset = minWeight;
weight = max(static_cast<int>(minWeight * ratio), 0) - minWeight;
}
cm Striker::CalculateDistanceFromMe(cm xLocation, cm yLocation)
{
return CalculateDistance(m_localization->GetMyLocation().x, xLocation,
m_localization->GetMyLocation().y, yLocation);
}
//Ray-Marching
CVector3 cRenderWorker::RayMarching(sRayMarchingIn &in, sRayMarchingInOut *inOut,
sRayMarchingOut *out)
{
CVector3 point;
bool found = false;
double scan = in.minScan;
double dist = 0;
double search_accuracy = 0.01 * params->detailLevel;
double search_limit = 1.0 - search_accuracy;
int counter = 0;
double step = 0.0;
(*inOut->buffCount) = 0;
double distThresh;
out->objectId = 0;
//qDebug() << "Start ************************";
CVector3 lastPoint, lastGoodPoint;
bool deadComputationFound = false;
for (int i = 0; i < 10000; i++)
{
lastGoodPoint = lastPoint;
lastPoint = point;
counter++;
point = in.start + in.direction * scan;
if (point == lastPoint || point == point/0.0) //detection of dead calculation
{
//qWarning() << "Dead computation\n"
// << "Point:" << point.Debug()
// << "\nPrevious point:" << lastPoint.Debug();
point = lastPoint;
found = true;
deadComputationFound = true;
break;
}
distThresh = CalcDistThresh(point);
sDistanceIn distanceIn(point, distThresh, false);
sDistanceOut distanceOut;
dist = CalculateDistance(*params, *fractal, distanceIn, &distanceOut, data);
//qDebug() <<"thresh" << distThresh << "dist" << dist << "scan" << scan;
if (in.invertMode)
{
dist = distThresh * 1.99 - dist;
if (dist < 0.0) dist = 0.0;
}
out->objectId = distanceOut.objectId;
//-------------------- 4.18us for Calculate distance --------------
//printf("Distance = %g\n", dist/distThresh);
inOut->stepBuff[i].distance = dist;
inOut->stepBuff[i].iters = distanceOut.iters;
inOut->stepBuff[i].distThresh = distThresh;
data->statistics.histogramIterations.Add(distanceOut.iters);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
if (dist > 3.0) dist = 3.0;
if (dist < distThresh)
{
if (dist < 0.1 * distThresh) data->statistics.missedDE++;
found = true;
break;
}
inOut->stepBuff[i].step = step;
if (params->interiorMode)
{
step = (dist - 0.8 * distThresh) * params->DEFactor * (1.0 - Random(1000) / 10000.0);
;
}
else
{
step = (dist - 0.5 * distThresh) * params->DEFactor * (1.0 - Random(1000) / 10000.0);
;
}
inOut->stepBuff[i].point = point;
//qDebug() << "i" << i << "dist" << inOut->stepBuff[i].distance << "iters" << inOut->stepBuff[i].iters << "distThresh" << inOut->stepBuff[i].distThresh << "step" << inOut->stepBuff[i].step << "point" << inOut->stepBuff[i].point.Debug();
(*inOut->buffCount) = i + 1;
scan += step / in.direction.Length(); //divided by length of view Vector to eliminate overstepping when fov is big
if (scan > in.maxScan)
{
break;
}
}
//------------- 83.2473 us for RayMarching loop -------------------------
//qDebug() << "------------ binary search";
if (found && in.binaryEnable && !deadComputationFound)
{
step *= 0.5;
for (int i = 0; i < 30; i++)
{
counter++;
if (dist < distThresh && dist > distThresh * search_limit)
{
break;
}
else
{
if (dist > distThresh)
{
scan += step;
point = in.start + in.direction * scan;
}
else if (dist < distThresh * search_limit)
{
scan -= step;
point = in.start + in.direction * scan;
}
}
distThresh = CalcDistThresh(point);
sDistanceIn distanceIn(point, distThresh, false);
sDistanceOut distanceOut;
dist = CalculateDistance(*params, *fractal, distanceIn, &distanceOut, data);
//qDebug() << "i" << i <<"thresh" << distThresh << "dist" << dist << "scan" << scan << "step" << step;
if (in.invertMode)
{
dist = distThresh * 1.99 - dist;
if (dist < 0.0) dist = 0.0;
}
out->objectId = distanceOut.objectId;
data->statistics.histogramIterations.Add(distanceOut.iters);
data->statistics.totalNumberOfIterations += distanceOut.totalIters;
step *= 0.5;
}
}
if (params->iterThreshMode)
{
//this fixes problem with noise when there is used "stop at maxIter" mode
scan -= distThresh;
point = in.start + in.direction * scan;
}
//---------- 7.19605us for binary searching ---------------
data->statistics.histogramStepCount.Add(counter);
out->found = found;
out->lastDist = dist;
out->depth = scan;
out->distThresh = distThresh;
data->statistics.numberOfRaymarchings++;
return point;
}
long CalculateDistance(const POINT& pt1, const POINT& pt2)
{
return CalculateDistance(pt1.x, pt1.y, pt2.x, pt2.y);
}
BOOL PtInCircle(const POINT& pt, const POINT& ptOrigin, int nRadius)
{
return CalculateDistance(pt, ptOrigin) < ::abs(nRadius);
}