void ompl::control::Syclop::buildGraph(void)
{
VertexIndexMap index = get(boost::vertex_index, graph_);
std::vector<int> neighbors;
for (int i = 0; i < decomp_->getNumRegions(); ++i)
{
const RegionGraph::vertex_descriptor v = boost::add_vertex(graph_);
Region& r = graph_[boost::vertex(v,graph_)];
initRegion(r);
r.index = index[v];
}
VertexIter vi, vend;
for (boost::tie(vi,vend) = boost::vertices(graph_); vi != vend; ++vi)
{
/* Create an edge between this vertex and each of its neighboring regions in the decomposition,
and initialize the edge's Adjacency object. */
decomp_->getNeighbors(index[*vi], neighbors);
for (std::vector<int>::const_iterator j = neighbors.begin(); j != neighbors.end(); ++j)
{
RegionGraph::edge_descriptor edge;
bool ignore;
boost::tie(edge, ignore) = boost::add_edge(*vi, boost::vertex(*j,graph_), graph_);
initEdge(graph_[edge], &graph_[*vi], &graph_[boost::vertex(*j,graph_)]);
}
neighbors.clear();
}
}
void WorldMap::generate()
{
int i, j;
Vector2D pos;
/* generate terrain */
terrain = new char*[size.x];
for ( i = 0; i < size.x; i++ )
{
terrain[i] = new char[size.y];
for ( j = 0; j < size.y; j++ ) terrain[i][j] = ( rand() % 1000 < blocks ) ? 1 : 0;
}
players = new PlayerBucket[ sd->num_threads ];
n_players = 0;
list<Player*> pls;
list<GameObject*> objs;
n_regs.x = size.x / regmin.x;
n_regs.y = size.y / regmin.y;
int regions_per_thread = (n_regs.x * n_regs.y - 1) / sd->num_threads + 1;
regions = new Region*[ n_regs.x ];
for( i = 0, pos.x = 0; i < n_regs.x; i++, pos.x += regmin.x )
{
regions[i] = new Region[ n_regs.y ];
for( j = 0, pos.y = 0; j < n_regs.y; j++, pos.y += regmin.y )
initRegion( ®ions[i][j], pos, regmin, (i*n_regs.y + j)/regions_per_thread, objs, pls);
}
/* generate objects */
#ifndef NO_QUESTS
GameObject *o;
Region* r;
for ( i = 0; i < resources * size.x * size.y / 1000; i++ )
{
o = new GameObject();
while(1){
o->pos.x = rand() % size.x;
o->pos.y = rand() % size.y;
if( terrain[o->pos.x][o->pos.y] != 0 ) continue;
r = getRegionByLocation( o->pos ); assert(r);
if( Region_addObject( r, o, min_res, max_res ) ) break;
}
}
#endif
}
