void Velodyne::ConvertRangeToPoints(const hal::LidarMsg& LidarData, //input
std::shared_ptr<LidarMsg> CorrectedData) //output
{
if((int)LidarData.distance().rows() != mn_NumLasers)
{
std::cout<<"Dude!! You said there will be "<< mn_NumLasers << " lasers"
<<" but i am getting only "
<<(int)LidarData.distance().rows()<<std::endl;
return;
}
CorrectedData->set_system_time(LidarData.system_time());
CorrectedData->set_device_time(LidarData.device_time());
ComputePoints(LidarData, CorrectedData);
ComputeIntensity(LidarData, CorrectedData);
md_TimeStamp = LidarData.system_time();
}
NaDbSurface::NaDbSurface(const NaGeSurface* s)
{
pSurf = s->Copy();
glObjType = GLSURFACE;
glObjID = (int)glObjType + NaDbObject::GetCount();
SMOOTH = 100;
CSMOOTH = 100;
itsShadeRed = 150;
itsShadeGreen = 150;
itsShadeBlue = 150;
itsRed = 200;
itsGreen = 225;
itsBlue = 50;
isoRed = 205;
isoGreen = 205;
isoBlue = 255;
factor = 1;
pattern = 0x5555;
SetMaterial(BRONZE);
pointList = new CListOfPoint3D;
pointWFUList = new CListOfPoint3D;
pointWFVList = new CListOfPoint3D;
normalList = new CListOfPoint3D;
bpointList = new CListOfPoint3D;
myListWFUIter.SetList(pointWFUList);
myListWFVIter.SetList(pointWFVList);
ComputePoints();
ComputeWFPoints();
ComputeBoundLimits();
InitDisplayList();
}
bool CHARACTER::RemoveAffect(CAffect * pkAff)
{
if (!pkAff)
return false;
// AFFECT_BUF_FIX
m_list_pkAffect.remove(pkAff);
// END_OF_AFFECT_BUF_FIX
ComputeAffect(pkAff, false);
// 백기 버그 수정.
// 백기 버그는 버프 스킬 시전->둔갑->백기 사용(AFFECT_REVIVE_INVISIBLE) 후 바로 공격 할 경우에 발생한다.
// 원인은 둔갑을 시전하는 시점에, 버프 스킬 효과를 무시하고 둔갑 효과만 적용되게 되어있는데,
// 백기 사용 후 바로 공격하면 RemoveAffect가 불리게 되고, ComputePoints하면서 둔갑 효과 + 버프 스킬 효과가 된다.
// ComputePoints에서 둔갑 상태면 버프 스킬 효과 안 먹히도록 하면 되긴 하는데,
// ComputePoints는 광범위하게 사용되고 있어서 큰 변화를 주는 것이 꺼려진다.(어떤 side effect가 발생할지 알기 힘들다.)
// 따라서 AFFECT_REVIVE_INVISIBLE가 RemoveAffect로 삭제되는 경우만 수정한다.
// 시간이 다 되어 백기 효과가 풀리는 경우는 버그가 발생하지 않으므로 그와 똑같이 함.
// (ProcessAffect를 보면 시간이 다 되어서 Affect가 삭제되는 경우, ComputePoints를 부르지 않는다.)
if (AFFECT_REVIVE_INVISIBLE != pkAff->dwType)
{
ComputePoints();
}
CheckMaximumPoints();
if (test_server)
sys_log(0, "AFFECT_REMOVE: %s (flag %u apply: %u)", GetName(), pkAff->dwFlag, pkAff->bApplyOn);
if (IsPC())
{
SendAffectRemovePacket(GetDesc(), GetPlayerID(), pkAff->dwType, pkAff->bApplyOn);
}
CAffect::Release(pkAff);
return true;
}
BOOL TTabButtonGadget :: GetRegion ( TRegion & Region, TRegionType type )
{
TPoint TabPoints [6] ;
TPoint Points [8] ;
register BOOL Status = TRUE ;
register int i,
HiliteDelta = HiliteUnits / 2, // Servent à épaissir
ShadowDelta = ShadowUnits / 2 ; // les bordures diagonales
register int Width = Bounds. Width ( ) ;
if ( Overlap )
Width += dX ;
ComputePoints ( TabPoints ) ;
switch ( type )
{
// Partie visible : calculer ce qui n'est pas recouvert
// Il faut bien faire attention de calculer la coordonnée du gadget
// DANS la fenêtre pour que la région de clipping soit correcte.
case VisibleRegion :
case OuterRegion :
for ( i = 0 ; i < 6 ; i ++ )
{
TabPoints [i]. x += Bounds. left ;
TabPoints [i]. y += Bounds. top ;
}
Region = TRegion ( TabPoints, 6, ALTERNATE ) ;
if ( Overlap && type == VisibleRegion )
CheckOverlappedRegion ( Region ) ;
break ;
// Partie englobant la totalité du gadget, sans la bordure
case InnerRegion :
TabPoints [0]. x += cxBorder ;
TabPoints [0]. y += cyBorder ;
TabPoints [1]. x -= cxBorder ;
TabPoints [1]. y += cyBorder ;
TabPoints [2]. x -= cxBorder ;
TabPoints [2]. y -= 2 * cyBorder ;
TabPoints [3]. x -= cxBorder ;
TabPoints [3]. y -= 2 * cyBorder ;
TabPoints [4]. x += cxBorder ;
TabPoints [4]. y -= 2 * cyBorder ;
TabPoints [5]. x += cxBorder ;
TabPoints [5]. y -= 2 * cyBorder ;
// et avec la bordure
case BorderRegion :
Region = TRegion ( TabPoints, 6, ALTERNATE ) ;
break ;
// Partie dessinable
case DrawableRegion :
{
int delta = ( State == Up ||
( Overlap && State == Down ) ) ?
0 : HiliteUnits ;
register int W = Width -
HiliteUnits -
ShadowUnits -
( 2 * dX ) -
( 2 * cxBorder ),
H = Bounds. Height ( ) -
HiliteUnits -
ShadowUnits -
( 2 * cyBorder ),
X = cxBorder + HiliteUnits + delta + dX,
Y = cyBorder + HiliteUnits + delta ;
Region = TRegion ( TRect ( X, Y, X + W, Y + H ) ) ;
break ;
}
// Partie éclairée
case HiliteRegion :
Points [0]. x = cxBorder ;
Points [0]. y = cyBorder ;
Points [1]. x = Width - cxBorder ;
Points [1]. y = cyBorder ;
Points [2]. x = Width - cxBorder ;
Points [2]. y = cyBorder + HiliteUnits ;
Points [3]. x = cxBorder + HiliteUnits ;
Points [3]. y = cyBorder + HiliteUnits ;
Points [4]. x = cxBorder + HiliteUnits ;
Points [4]. y = cySoftCorner - cyBorder - HiliteDelta ;
Points [5]. x = dX + cxBorder + HiliteUnits + HiliteDelta ;
Points [5]. y = Bounds. Height ( ) - cyBorder ;
Points [6]. x = dX + cxBorder ;
Points [6]. y = Bounds. Height ( ) - cyBorder ;
Points [7]. x = cxBorder ;
Points [7]. y = cySoftCorner - cyBorder ;
Region = TRegion ( Points, 8, ALTERNATE ) ;
break ;
// Partie ombrée
case ShadowRegion :
Points [0]. x = Width - cxBorder ;
Points [0]. y = cyBorder ;
Points [1]. x = Width - cxBorder ;
Points [1]. y = cySoftCorner - cyBorder ;
Points [2]. x = Width - dX - cxBorder ;
Points [2]. y = Bounds. Height ( ) - cyBorder ;
Points [3]. x = dX - 1 ;
Points [3]. y = Bounds. Height ( ) - cyBorder ;
Points [4]. x = dX + HiliteUnits - 1 ;
Points [4]. y = Bounds. Height ( ) - cyBorder - ShadowUnits ;
Points [5]. x = Width - dX - cxBorder - ShadowDelta ;
Points [5]. y = Bounds. Height ( ) - cyBorder - ShadowUnits ;
Points [6]. x = Width - cxBorder - ShadowUnits ;
Points [6]. y = cySoftCorner - cyBorder - ShadowDelta ;
Points [7]. x = Width - cxBorder - ShadowUnits ;
Points [7]. y = cyBorder + HiliteUnits ;
Region = TRegion ( Points, 8, ALTERNATE ) ;
break ;
case OtherShadowRegion :
Status = FALSE ;
break ;
// Autre : ne devrait jamais arriver
default :
Status = false ;
}
return ( Status ) ;
}
void NaDbSurface::SetSurface(const NaGeSurface* s)
{
pSurf = s->Copy();
ComputePoints();
ComputeBoundLimits();
}
void App::Update(double dt) {
progress.Update(dt);
shaker.Update(dt);
static float time = 0.0f;
if (!progress.IsPaused()) {
time += dt;
world.Step(dt, 1, 2);
world.SetGravity({ 0, playerGravityState });
// move back
const auto camPosDelta = camPos - prevCamPos;
prevCamPos = camPos;
backPos -= camPosDelta * 0.75;
if (backPos < - 100) {
backPos = 0.0f;
}
// convex points
ComputePoints();
// cam pos
ComputeCampPos(dt);
// body <-> body
BodyCrossBody(dt);
// eyes antigrav
EyesAntigrav();
// body <-> eye
BodyCrossEye();
// borders respawn
RespawnBorders(false);
// respawn obstacles
RespawnObstacles(false);
// fall out in holes
FalloutHoles(dt);
// particles respawn
RespawnParticles();
//respawn eyes
RespawnEyes();
// handle balancer
UpdateBalancer(dt);
// mark stuck bodies
if (time > 2.0) {
auto fallenCount = 0;
for (auto& b : playerBodies) {
if (std::abs(b->GetLinearVelocity().x) < 6.0f
&& std::abs(b->GetLinearVelocity().y) < 10.0f
) {
playerBodiesStucks[b] += dt;
if (playerBodiesStucks[b] > 0.75f) {
playerBodiesFallen[b] = true;
fallenCount++;
}
}
else {
playerBodiesStucks[b] = 0;
if (b->GetPosition().y < 0.0
|| b->GetPosition().y > 52.0f) {
playerBodiesFallen[b] = true;
fallenCount++;
}
else {
playerBodiesFallen[b] = false;
}
}
}
if (fallenCount > playerBodiesCount / 3 ) {
progress.RestartGame();
for (auto& b : playerBodies) {
const float x = 0 + rand() % 50;
const float y = 15 + rand() % 30;
b->SetTransform({ x, y }, 0);
playerBodiesFallen[b] = false;
playerBodiesStucks[b] = 0.0f;
}
for (auto& e : playerEyesBodies) {
const float x = 0 + rand() % 50;
const float y = 15 + rand() % 30;
e->SetTransform({ x, y }, 0);
}
camPos = 0;
prevCamPos = camPos;
backPos = 0.0f;
time = 0.0f;
ComputePoints();
RespawnBorders(true);
RespawnObstacles(true);
GoSolid();
playerGameVelocity = playerGameVelocityDefault;
}
}
}
}
App::App() :
world(b2Vec2(0, -9.8)),
playerBodiesPoints(playerBodiesCount),
playerBodies(playerBodiesCount),
playerBodiesShapes(playerBodiesCount),
playerEyesBodiesPoints(playerEyesCount),
playerEyesBodies(playerEyesCount),
playerEyesBodiesShapes(playerEyesCount),
borderShapes(4),
borderBodies(4) {
world.SetDebugDraw(new graphics::DebugDraw);
for (auto i = 0; i < 4; ++i) {
const auto shape = new b2PolygonShape;
shape->SetAsBox(100, 3);
b2BodyDef bdef;
bdef.awake = false;
bdef.allowSleep = true;
bdef.active = true;
bdef.type = b2_staticBody;
const auto body = world.CreateBody(&bdef);
b2FixtureDef fdef;
fdef.shape = shape;
fdef.friction = borderFriction;
fdef.restitution = borderRestitution;
fdef.filter.categoryBits = borderCategory;
const auto fixt = body->CreateFixture(&fdef);
borderShapes[i].reset(shape);
borderBodies[i] = body;
}
for (auto i = 0; i < playerBodiesCount; ++i) {
const auto shape = new b2PolygonShape;
shape->SetAsBox(playerBodySize, playerBodySize);
b2BodyDef bdef;
bdef.position.x = 0 + rand() % 50;
bdef.position.y = 15 + rand() % 30;
bdef.type = b2_dynamicBody;
const auto body = world.CreateBody(&bdef);
b2FixtureDef fdef;
fdef.shape = shape;
fdef.density = playerBodyDencity;
fdef.friction = playerBodyFriction;
fdef.restitution = playerBodyRestitution;
fdef.filter.categoryBits = playerBodyCategory;
const auto fixt = body->CreateFixture(&fdef);
playerBodiesShapes[i].reset(shape);
playerBodies[i] = body;
playerBodiesPoints[i] = bdef.position;
playerBodiesFallen[body] = false;
}
for (auto i = 0; i < playerEyesCount; ++i) {
const auto shape = new b2CircleShape;
shape->m_radius = playerEyeSize;
b2BodyDef bdef;
bdef.position.x = 0 + rand() % 50;
bdef.position.y = 15 + rand() % 30;
bdef.type = b2_dynamicBody;
const auto body = world.CreateBody(&bdef);
b2FixtureDef fdef;
fdef.shape = shape;
fdef.density = playerEyeDencity;
fdef.friction = playerEyeFriction;
fdef.restitution = playerEyeRestitution;
fdef.filter.categoryBits = playerEyeCategory;
const auto fixt = body->CreateFixture(&fdef);
playerEyesBodiesShapes[i].reset(shape);
playerEyesBodies[i] = body;
playerEyesBodiesPoints[i] = bdef.position;
}
{
const auto shape = new b2PolygonShape;
shape->SetAsBox(2, 13);
b2BodyDef bdef;
bdef.awake = false;
bdef.allowSleep = true;
bdef.active = true;
bdef.type = b2_staticBody;
const auto body = world.CreateBody(&bdef);
b2FixtureDef fdef;
fdef.shape = shape;
fdef.friction = borderFriction;
fdef.restitution = borderRestitution;
fdef.filter.categoryBits = borderCategory;
const auto fixt = body->CreateFixture(&fdef);
topObstacleShape.reset(shape);
topObstacle = body;
}
{
const auto shape = new b2PolygonShape;
shape->SetAsBox(2, 5);
b2BodyDef bdef;
bdef.awake = false;
bdef.allowSleep = true;
bdef.active = true;
bdef.type = b2_staticBody;
const auto body = world.CreateBody(&bdef);
b2FixtureDef fdef;
fdef.shape = shape;
fdef.friction = borderFriction;
fdef.restitution = borderRestitution;
fdef.filter.categoryBits = borderCategory;
const auto fixt = body->CreateFixture(&fdef);
bottomObstacleShape.reset(shape);
bottomObstacle = body;
}
{
const auto shape = new b2PolygonShape;
shape->SetAsBox(2, 7);
b2BodyDef bdef;
bdef.awake = false;
bdef.allowSleep = true;
bdef.active = true;
bdef.type = b2_staticBody;
const auto body = world.CreateBody(&bdef);
b2FixtureDef fdef;
fdef.shape = shape;
fdef.friction = borderFriction;
fdef.restitution = borderRestitution;
fdef.filter.categoryBits = borderCategory;
const auto fixt = body->CreateFixture(&fdef);
bottomHighObstacleShape.reset(shape);
bottomHighObstacle = body;
}
{
const auto shape = new b2PolygonShape;
shape->SetAsBox(12.5, 2);
b2BodyDef bdef;
bdef.awake = false;
bdef.allowSleep = true;
bdef.active = true;
bdef.type = b2_staticBody;
bdef.position.x = -100.0f;
const auto body = world.CreateBody(&bdef);
b2FixtureDef fdef;
fdef.shape = shape;
fdef.friction = borderFriction;
fdef.restitution = borderRestitution;
fdef.filter.categoryBits = holeCategory;
const auto fixt = body->CreateFixture(&fdef);
holeTopShape.reset(shape);
holeTopBody = body;
}
{
const auto shape = new b2PolygonShape;
shape->SetAsBox(12.5, 2);
b2BodyDef bdef;
bdef.awake = false;
bdef.allowSleep = true;
bdef.active = true;
bdef.type = b2_staticBody;
bdef.position.x = -100.0f;
const auto body = world.CreateBody(&bdef);
b2FixtureDef fdef;
fdef.shape = shape;
fdef.friction = borderFriction;
fdef.restitution = borderRestitution;
fdef.filter.categoryBits = holeCategory;
const auto fixt = body->CreateFixture(&fdef);
holeBottomShape.reset(shape);
holeBottomBody = body;
}
ComputePoints();
RespawnBorders(true);
}
