void Physics::registBodies(){
addFloor();
addBall(2.5,btVector3(SIZE_WIDTH/1.5,0,SIZE_DEPTH/1.5),0.08);
btVector3 posTeam1[] = {btVector3(15,4,SIZE_DEPTH- 55),btVector3(35,4,30),btVector3(55,4,45)};
btVector3 posTeam2[] = {btVector3(SIZE_WIDTH-15,4,55),btVector3(SIZE_WIDTH-25,4,SIZE_DEPTH - SIZE_DEPTH/2.5 + 20),btVector3(SIZE_WIDTH-55,4,85)};
//Create robots here
//Team 1
for(int i = 0;i < numRobotsTeam;i++){
if(numTeams >= 1){
addRobot(Color(0.3,0.3,0.3),posTeam1[i],btVector3(0,90,0),8,0.25,clrPlayers[i],clrTeams[0]);
}
}
for(int i = 0;i < numRobotsTeam;i++){
if(numTeams == 2){
addRobot(Color(0.3,0.3,0.3),posTeam2[i],btVector3(0,-100,0),8,0.25,clrPlayers[i],clrTeams[1]);
}
}
addWall(Color(0,0,0),btVector3(SIZE_WIDTH/2+1,7.5,-2.5),SIZE_WIDTH,15,5,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH/2+1,7.5,SIZE_DEPTH+2.5),SIZE_WIDTH,15,5,0);
addWall(Color(0,0,0),btVector3(-1.6,7.5,SIZE_DEPTH/6),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(-1.6,7.5,SIZE_DEPTH-SIZE_DEPTH/6),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(-12.5,7.5, SIZE_DEPTH/2),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(-7,7.5,SIZE_DEPTH/3),15,15,5,0);
addWall(Color(0,0,0),btVector3(-7,7.5,2*SIZE_DEPTH/3+2.5),15,15,5,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+3.5,7.5,SIZE_DEPTH/6),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+3.5,7.5,SIZE_DEPTH-SIZE_DEPTH/6),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+13.5,7.5, SIZE_DEPTH/2),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+8.5,7.5,SIZE_DEPTH/3),15,15,5,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+8.5,7.5,2*SIZE_DEPTH/3+2.5),15,15,5,0);
addCorner(Color(0,0,0),btVector3(10,7.5,10),30,15,btVector3(0,45,0));
addCorner(Color(0,0,0),btVector3(SIZE_WIDTH-9,7.5,10),30,15,btVector3(0,-45,0));
addCorner(Color(0,0,0),btVector3(SIZE_WIDTH-9,7.5,SIZE_DEPTH-10),30,15,btVector3(0,45,0));
addCorner(Color(0,0,0),btVector3(10,7.5,SIZE_DEPTH-10),30,15,btVector3(0,-45,0));
}
void Rubik::initCornersAndEdges(int pieces[]) {
int index;
int i = 0;
for (int y = 0; y < 9; y++) {
for (int x = 0; x < 12; x++) {
index = Rubik::lines[y][x]; //Compute index of the given face
//Determines if it's a corner, edge or middle and adds to the corresponding array
if (index != -1)
{
if (y % 3 == 0 || y % 3 == 2)
{
if (x % 3 == 0 || x % 3 == 2) //Corner
{
addCorner(index, pieces[i]);
i++;
}
else //Edge
{
addEdge(index, pieces[i]);
i++;
}
}
else
{
if (x % 3 == 0 || x % 3 == 2) //Edge
{
addEdge(index, pieces[i]);
i++;
}
else //Middle
{
addMiddle(index, pieces[i]);
i++;
}
}
}
}
}
}
int POINT_EDITOR::OnSelectionChange( const TOOL_EVENT& aEvent )
{
const SELECTION& selection = m_selectionTool->GetSelection();
if( selection.Size() == 1 )
{
Activate();
KIGFX::VIEW_CONTROLS* controls = getViewControls();
KIGFX::VIEW* view = getView();
PCB_BASE_EDIT_FRAME* editFrame = getEditFrame<PCB_BASE_EDIT_FRAME>();
EDA_ITEM* item = selection.items.GetPickedItem( 0 );
m_editPoints = EDIT_POINTS_FACTORY::Make( item, getView()->GetGAL() );
if( !m_editPoints )
return 0;
view->Add( m_editPoints.get() );
m_editedPoint = NULL;
bool modified = false;
// Main loop: keep receiving events
while( OPT_TOOL_EVENT evt = Wait() )
{
if( !m_editPoints ||
evt->Matches( m_selectionTool->ClearedEvent ) ||
evt->Matches( m_selectionTool->UnselectedEvent ) ||
evt->Matches( m_selectionTool->SelectedEvent ) )
{
break;
}
if( evt->IsMotion() )
{
EDIT_POINT* point = m_editPoints->FindPoint( evt->Position() );
if( m_editedPoint != point )
setEditedPoint( point );
}
else if( evt->IsAction( &COMMON_ACTIONS::pointEditorAddCorner ) )
{
addCorner( controls->GetCursorPosition() );
updatePoints();
}
else if( evt->IsAction( &COMMON_ACTIONS::pointEditorRemoveCorner ) )
{
if( m_editedPoint )
{
removeCorner( m_editedPoint );
updatePoints();
}
}
else if( evt->IsDrag( BUT_LEFT ) && m_editedPoint )
{
if( !modified )
{
// Save items, so changes can be undone
editFrame->OnModify();
editFrame->SaveCopyInUndoList( selection.items, UR_CHANGED );
controls->ForceCursorPosition( false );
m_original = *m_editedPoint; // Save the original position
controls->SetAutoPan( true );
modified = true;
}
bool enableAltConstraint = !!evt->Modifier( MD_CTRL );
if( enableAltConstraint != (bool) m_altConstraint ) // alternative constraint
setAltConstraint( enableAltConstraint );
m_editedPoint->SetPosition( controls->GetCursorPosition() );
if( m_altConstraint )
m_altConstraint->Apply();
else
m_editedPoint->ApplyConstraint();
updateItem();
updatePoints();
m_editPoints->ViewUpdate( KIGFX::VIEW_ITEM::GEOMETRY );
}
else if( evt->IsAction( &COMMON_ACTIONS::pointEditorUpdate ) )
{
updatePoints();
}
else if( evt->IsMouseUp( BUT_LEFT ) )
{
controls->SetAutoPan( false );
setAltConstraint( false );
modified = false;
m_toolMgr->PassEvent();
}
else if( evt->IsCancel() )
{
if( modified ) // Restore the last change
{
wxCommandEvent dummy;
editFrame->RestoreCopyFromUndoList( dummy );
updatePoints();
modified = false;
}
// Let the selection tool receive the event too
m_toolMgr->PassEvent();
break;
}
else
{
m_toolMgr->PassEvent();
}
}
if( m_editPoints )
{
finishItem();
item->ViewUpdate( KIGFX::VIEW_ITEM::GEOMETRY );
view->Remove( m_editPoints.get() );
m_editPoints.reset();
}
controls->ShowCursor( false );
controls->SetAutoPan( false );
controls->SetSnapping( false );
controls->ForceCursorPosition( false );
}
return 0;
}
LandmarkSystem::LandmarkSystem()
: corners(), ballInSet(), debug(false)
{
// Construct map
// Init corner map
corners[vision::CornerID::Concave] = std::vector<Landmark>();
corners[vision::CornerID::Convex] = std::vector<Landmark>();
corners[vision::CornerID::T] = std::vector<Landmark>();
// Add corners to map
addCorner(vision::CornerID::Concave, LandmarkID::OurRightConcave, GREEN_PAD_X, GREEN_PAD_Y);
addCorner(vision::CornerID::Concave, LandmarkID::OurLeftConcave, GREEN_PAD_X, GREEN_PAD_Y + FIELD_WHITE_HEIGHT);
addCorner(vision::CornerID::Concave, LandmarkID::OurRightBox, GREEN_PAD_X + GOALBOX_DEPTH, BLUE_GOALBOX_BOTTOM_Y);
addCorner(vision::CornerID::Concave, LandmarkID::OurLeftBox, GREEN_PAD_X + GOALBOX_DEPTH, BLUE_GOALBOX_TOP_Y);
addCorner(vision::CornerID::Convex, LandmarkID::OurRightBox, GREEN_PAD_X + GOALBOX_DEPTH, BLUE_GOALBOX_BOTTOM_Y);
addCorner(vision::CornerID::Convex, LandmarkID::OurLeftBox, GREEN_PAD_X + GOALBOX_DEPTH, BLUE_GOALBOX_TOP_Y);
addCorner(vision::CornerID::T, LandmarkID::OurRightT, GREEN_PAD_X, BLUE_GOALBOX_BOTTOM_Y);
addCorner(vision::CornerID::T, LandmarkID::OurLeftT, GREEN_PAD_X, BLUE_GOALBOX_TOP_Y);
addCorner(vision::CornerID::T, LandmarkID::MidRightT, CENTER_FIELD_X, GREEN_PAD_Y);
addCorner(vision::CornerID::T, LandmarkID::MidLeftT, CENTER_FIELD_X, GREEN_PAD_Y + FIELD_WHITE_HEIGHT);
addCorner(vision::CornerID::Concave, LandmarkID::TheirRightConcave, GREEN_PAD_X + FIELD_WHITE_WIDTH, GREEN_PAD_Y);
addCorner(vision::CornerID::Concave, LandmarkID::TheirLeftConcave, GREEN_PAD_X + FIELD_WHITE_WIDTH, GREEN_PAD_Y + FIELD_WHITE_HEIGHT);
addCorner(vision::CornerID::Concave, LandmarkID::TheirRightBox, GREEN_PAD_X + FIELD_WHITE_WIDTH - GOALBOX_DEPTH, BLUE_GOALBOX_BOTTOM_Y);
addCorner(vision::CornerID::Concave, LandmarkID::TheirLeftBox, GREEN_PAD_X + FIELD_WHITE_WIDTH - GOALBOX_DEPTH, BLUE_GOALBOX_TOP_Y);
addCorner(vision::CornerID::Convex, LandmarkID::TheirRightBox, GREEN_PAD_X + FIELD_WHITE_WIDTH - GOALBOX_DEPTH, BLUE_GOALBOX_BOTTOM_Y);
addCorner(vision::CornerID::Convex, LandmarkID::TheirLeftBox, GREEN_PAD_X + FIELD_WHITE_WIDTH - GOALBOX_DEPTH, BLUE_GOALBOX_TOP_Y);
addCorner(vision::CornerID::T, LandmarkID::TheirRightT, GREEN_PAD_X + FIELD_WHITE_WIDTH, BLUE_GOALBOX_BOTTOM_Y);
addCorner(vision::CornerID::T, LandmarkID::TheirLeftT, GREEN_PAD_X + FIELD_WHITE_WIDTH, BLUE_GOALBOX_TOP_Y);
addCorner(vision::CornerID::T, LandmarkID::CenterCircleLeftT, CENTER_FIELD_X, CENTER_FIELD_Y + CENTER_CIRCLE_RADIUS);
addCorner(vision::CornerID::T, LandmarkID::CenterCircleRightT, CENTER_FIELD_X, CENTER_FIELD_Y - CENTER_CIRCLE_RADIUS);
// Add center circle to map
circle = std::make_tuple(LandmarkID::CenterCircle, CENTER_FIELD_X, CENTER_FIELD_Y);
// Add ball in set to map
ballInSet = std::make_tuple(LandmarkID::BallInSet, CENTER_FIELD_X, CENTER_FIELD_Y);
}
