int _tmain(int argc, _TCHAR* argv[])
{ int i = 0;
FILE *out;
out = fopen("poly5test.m", "w+");
fprintf(out, "TestData = [...\n");
fclose(out);
int row = sizeof(DATA)/sizeof(DATA[0][0])/4;
printf("rowDATA = %d\n", row);
poly_coeff *COEFFS = data_to_coeff(DATA, row);
/*printf("COEFFS table\n");
for(int i=0; i<row-1; i++){
printf("%f %f %f %f\n", COEFFS[i].t0, COEFFS[i].t1, COEFFS[i].a0, COEFFS[i].a1);
}*/
out = fopen("poly5test.m", "a");
float T[] = {0.0, 5.0};
float dt = 1.0/100;
float t = 0.0;
float y, yd, ydd;
float phi;
poly_coeff c;
while(t<=T[1]){
int index = getIndex(t, COEFFS, row-1); //length of the the COEFFS array is row-1
if(index == -1){
//input time less than the time interval
index = 0;
c = COEFFS[index];
phi = 0;
}else if(index == -2){
//input time greater than the time interval
index = row-2;
c = COEFFS[index];
phi = 1;
}else{
//found the time interval, evaluate the polynomial at time t
c = COEFFS[index];
phi = (t-c.t0)/(c.t1-c.t0);
}
y = getY(c, phi);
yd = getYd(c, phi);
ydd = getYdd(c, phi);
fprintf(out, "%f %f %f %f;\n", t, y, yd, ydd);
t = t + dt;
}
fprintf(out, "];\n");
fprintf(out,"subplot(3,1,1);\n");
fprintf(out, "plot(TestData(:,1),TestData(:,2));\n");
fprintf(out,"subplot(3,1,2);\n");
fprintf(out, "plot(TestData(:,1),TestData(:,3));\n");
fprintf(out,"subplot(3,1,3);\n");
fprintf(out, "plot(TestData(:,1),TestData(:,4));\n");
fclose(out);
while(1);
return 0;
}
bool creep::move()
{
//moves creep towards its goal along its generated path by one unit of its speed
//returns true when creep reaches goal, false otherwise
if(p.isEmpty())
{
cout << "creep has reached its goal, please kill it off\n";
return true;
}
coord next = p.getNext();
Xdir = next.x - prevPos.x;
Ydir = next.y - prevPos.y;
if(Xdir == 0 && Ydir == 0)
{
p.pop();
if(p.isEmpty())
{
cout << "creep has reached its goal, please kill it off\n";
return true;
}
coord next = p.getNext();
Xdir = next.x - prevPos.x;
Ydir = next.y - prevPos.y;
}
setX(getXd() + (speed * Xdir * CLOCK_CAP));
setY(getYd() + (speed * Ydir * CLOCK_CAP));
if(Xdir != 0 && getXd() * Xdir >= (next.x * GRID_SIZE * Xdir) + (BOARD_X_OFFSET * Xdir))
{
double extra = (getXd() * Xdir) - ((next.x * GRID_SIZE * Xdir) + (BOARD_X_OFFSET * Xdir));
prevPos = next;
p.pop();
if(p.isEmpty())
{
//creep got to enemy base, success.
cout << "creep got to base\n";
return true;
}
next = p.getNext();
Xdir = next.x - prevPos.x;
Ydir = next.y - prevPos.y;
setX(prevPos.x * GRID_SIZE + BOARD_X_OFFSET);
setX(getXd() + (Xdir * extra));
setY(getYd() + (Ydir * extra));
}
if(Ydir != 0 && getYd() * Ydir >= (next.y * GRID_SIZE * Ydir) + (BOARD_Y_OFFSET * Ydir))
{
double extra = (getYd() * Ydir) - ((next.y * GRID_SIZE * Ydir) + (BOARD_Y_OFFSET * Ydir));
prevPos = next;
p.pop();
if(p.isEmpty())
{
//creep got to enemy base, success.
cout << "creep got to base\n";
return true;
}
next = p.getNext();
Xdir = next.x - prevPos.x;
Ydir = next.y - prevPos.y;
setY(prevPos.y * GRID_SIZE + BOARD_Y_OFFSET);
setX(getXd() + (Xdir * extra));
setY(getYd() + (Ydir * extra));
}
return false;
}
