CollisionBoxComponent::CollisionBoxComponent(GameObject& aGameObject, eCollisionGroup aCollisionGroup, const Vector2<float>& someDimensions) : CollisionComponent(aGameObject, aCollisionGroup)
{
myDimensions = someDimensions;
Line<float> aLine;
Vector2<float> position1(-myDimensions.myX / 2, -myDimensions.myY / 2);
Vector2<float> position2(-myDimensions.myX / 2, myDimensions.myY / 2);
Vector2<float> position3(myDimensions.myX / 2, myDimensions.myY / 2);
Vector2<float> position4(myDimensions.myX / 2, -myDimensions.myY / 2);
aLine.InitWith2Points(position1, position2);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position2, position3);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position3, position4);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position4, position1);
myLineVolume.AddLine(aLine);
myParent->SetValue<CollisionBoxComponent*>("CollisionBoxComponent", this);
//mySprite = ResourceManager::GetInstance()->GetSprite("../Data/Gfx/debugBox.png", { someDimensions.x, someDimensions.y }, { someDimensions.x / 2.f, someDimensions.y / 2.f });
}
CollisionBoxComponent::CollisionBoxComponent(GameObject& aGameObject, eCollisionGroup aCollisionGroup, const Vector2<float>& someDimensions, const Vector2<float>& aCenterPosition) : CollisionComponent(aGameObject, aCollisionGroup, aCenterPosition)
{
myDimensions = someDimensions;
Line<float> aLine;
Vector2<float> position1(-myDimensions.myX / 2, -myDimensions.myY / 2);
Vector2<float> position2(-myDimensions.myX / 2, myDimensions.myY / 2);
Vector2<float> position3(myDimensions.myX / 2, myDimensions.myY / 2);
Vector2<float> position4(myDimensions.myX / 2, -myDimensions.myY / 2);
aLine.InitWith2Points(position1, position2);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position2, position3);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position3, position4);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position4, position1);
myLineVolume.AddLine(aLine);
myParent->SetValue<CollisionBoxComponent*>("CollisionBoxComponent", this);
}
int main(int argc, char* argv[])
{
ExplorationShared shared;
EBehavior behavior(&shared);
EBWaitIdle waitStart("Start");
EBWaitIdle waitMotion1("ArmPositioning");
EBWaitIdle waitMotion2("Turn1");
EBWaitIdle waitMotion3("Turn2");
EBWaitIdle waitMotion4("Turn3");
EBWaitIdle waitMotion5("Turn4");
EBWaitIdle waitMotion6("Turn5");
EBWaitIdle waitMotion7("Final pos");
EBWaitIdle waitMotion8("Going back to rest");
EBWaitIdle endState1("end1");
EBWaitIdle endState2("end2");
EBWaitIdle stateInhibitHandTracking("Inhibit hand tracking");
EBWaitIdle stateEnableHandTracking("Enable hand tracking");
EBWaitIdle position1Wait("Position1 done");
EBWaitIdle position2Wait("Position2 done");
EBWaitIdle position3Wait("Position3 done");
EBWaitDeltaT position2Train(6);
EBWaitDeltaT position3Train(6);
EBWaitDeltaT position4Train(6);
EBWaitIdle position2("Waiting arm done");
EBWaitIdle position3("Waiting arm done");
EBWaitIdle position4("Waiting arm done");
EBWaitIdle waitArmAck("Wait armAck");
EBWaitDeltaT dT1(6);
EBWaitDeltaT dT2(0.2);
EBWaitDeltaT dT3OneSecond(3);
EBWaitDeltaT dTHandClosing(0.1);
EBWaitDeltaT waitArmSeemsToRest(5);
EBBehaviorOutput startTrain(YBVKFTrainStart);
EBBehaviorOutput startSequence(YBVKFStart);
EBBehaviorOutput stopTrain(YBVKFTrainStop);
EBBehaviorOutput stop(YBVKFStop);
EBSimpleOutput forceOpen(YBVGraspRflxForceOpen);
EBSimpleOutput parkArm(YBVArmForceRestingTrue);
// output: enable and disable hand tracking system
EBEnableTracker enableHandTracking;
EBInhibitTracker inhibitHandTracking;
EBOutputCommand cmd1(YBVArmForceNewCmd, YVector(_nJoints, pos1));
EBOutputCommand cmd2(YBVArmForceNewCmd, YVector(_nJoints, pos2));
EBOutputCommand cmd3(YBVArmForceNewCmd, YVector(_nJoints, pos3));
// EBOutputCommand cmd4(YBVArmForceNewCmd, YVector(_nJoints, pos4));
// EBOutputCommand cmd5(YBVArmForceNewCmd, YVector(_nJoints, pos5));
// EBOutputCommand cmd6(YBVArmForceNewCmd, YVector(_nJoints, pos6));
EBOutputCommand cmd7(YBVArmForceNewCmd, YVector(_nJoints, pos7));
EBOutputCommand cmd8(YBVArmForceNewCmd, YVector(_nJoints, pos8));
EBOutputCommand cmd9(YBVArmForceNewCmd, YVector(_nJoints, pos9));
EBOutputCommand cmd10(YBVArmForceNewCmd, YVector(_nJoints, pos10));
EBSimpleInput armDone(YBVArmDone);
EBSimpleInput handDone(YBVHandDone);
EBSimpleInput start(YBVKFExplorationStart);
EBSimpleInput start2(YBVGraspRflxClutch);
EBSimpleInput armAck(YBVArmIssuedCmd);
EBSimpleInput armNAck(YBVArmIsBusy);
behavior.setInitialState(&waitStart);
behavior.add(&start, &waitStart, &waitMotion1, &cmd1);
behavior.add(&start2, &waitStart, &dTHandClosing, &enableHandTracking);
behavior.add(NULL, &dTHandClosing, &waitArmAck, &cmd1);
behavior.add(&armAck, &waitArmAck, &stateEnableHandTracking, &startSequence);
behavior.add(&armNAck, &waitArmAck, &waitArmSeemsToRest, &inhibitHandTracking);
behavior.add(NULL, &waitArmSeemsToRest, &waitStart, &forceOpen);
behavior.add(NULL, &stateEnableHandTracking, &waitMotion1, &enableHandTracking);
behavior.add(&armDone, &waitMotion1, &dT3OneSecond);
// wait some extra time before issueing the startKF signal
behavior.add(NULL, &dT3OneSecond, &dT1, &startTrain);
// july 21/04
behavior.add(NULL, &dT1, &waitMotion6);
behavior.add(NULL, &waitMotion6, &position1Wait, &stopTrain);
// position2
behavior.add(NULL, &position1Wait, &position2, &cmd7);
behavior.add(&armDone, &position2, &position2Train, &startTrain);
behavior.add(NULL, &position2Train, &position2Wait, &stopTrain);
//position3
behavior.add(NULL, &position2Wait, &position3, &cmd8);
behavior.add(&armDone, &position3, &position3Train, &startTrain);
behavior.add(NULL, &position3Train, &position3Wait, &stopTrain);
//position 4
behavior.add(NULL, &position3Wait, &position4, &cmd9);
behavior.add(&armDone, &position4, &position4Train, &startTrain);
behavior.add(NULL, &position4Train, &stateInhibitHandTracking, &stopTrain);
behavior.add(NULL, &stateInhibitHandTracking, &dT2);
/*
behavior.add(NULL, &dT1, &waitMotion2, &cmd2);
// behavior.add(&armDone, &waitMotion1, &waitMotion2, &cmd2);
behavior.add(&armDone, &waitMotion2, &waitMotion3, &cmd3);
behavior.add(&armDone, &waitMotion3, &waitMotion4, &cmd4);
behavior.add(&armDone, &waitMotion4, &waitMotion5, &cmd5);
behavior.add(&armDone, &waitMotion5, &waitMotion6, &cmd6);
behavior.add(&armDone, &waitMotion6, &dT2, &stopKF);
*/
behavior.add(NULL, &dT2, &waitMotion7, &cmd10);
behavior.add(&armDone, &waitMotion7, &waitMotion8, &forceOpen);
behavior.add(&handDone, &waitMotion8, &endState1, &parkArm);
behavior.add(NULL, &endState1, &endState2, &inhibitHandTracking);
behavior.add(NULL, &endState2, &waitStart, &stop);
behavior.Begin();
behavior.loop();
return 0;
}
/// Tests the Operators
/// @return True if all tests were executed, false if not
bool PositionTestSuite::TestCaseOperator()
{
//------Last Checked------//
// - Jan 18, 2005
// TEST CASE: Assignment Operator
{
Position position(12,4,2);
Position position2 = position;
TEST(wxT("Operator="),
(position == position2)
);
// TEST CASE: Operator= (self-assignment)
position = position;
TEST(wxT("Operator= (self-assignment)"),
(position == position)
);
}
// TEST CASE: Equality Operator
{
Position position(12,4,2);
Position position2(12,4,2);
Position position3(13,4,2);
Position position4(12,8,2);
Position position5(12,4,1);
Position position6(12,4,2);
position6.SetIrregularGroupingTiming(3,2);
Position position7(12,4,2);
position7.SetPreviousBeamDurationType(16);
Position position8(12,4,2);
position8.SetBeamStart();
Position position9(12,4,2);
position9.SetFractionalLeftBeam();
Position position10(12,4,2);
position10.SetFractionalRightBeam();
Position position11(12,4,2);
position11.SetBeamEnd();
Position position12(12,4,2);
position12.SetDotted();
Position position13(12,4,2);
position13.SetRest();
Position position14(12,4,2);
position14.SetVibrato();
Position position15(12,4,2);
position15.SetWideVibrato();
Position position16(12,4,2);
position16.SetArpeggioUp();
Position position17(12,4,2);
position17.SetArpeggioDown();
Position position18(12,4,2);
position18.SetPickStrokeUp();
Position position19(12,4,2);
position19.SetPickStrokeDown();
Position position20(12,4,2);
position20.SetStaccato();
Position position21(12,4,2);
position21.SetMarcato();
Position position22(12,4,2);
position22.SetSforzando();
Position position23(12,4,2);
position23.SetTremoloPicking();
Position position24(12,4,2);
position24.SetPalmMuting();
Position position25(12,4,2);
position25.SetTap();
Position position26(12,4,2);
position26.SetAcciaccatura();
Position position27(12,4,2);
position27.SetTripletFeel1st();
Position position28(12,4,2);
position28.SetTripletFeel2nd();
Position position29(12,4,2);
position29.SetLetRing();
Position position30(12,4,2);
position30.SetFermata();
Position position31(12,4,2);
position31.SetIrregularGroupingStart();
Position position32(12,4,2);
position32.SetIrregularGroupingMiddle();
Position position33(12,4,2);
position33.SetIrregularGroupingEnd();
Position position34(12,4,2);
position34.SetVolumeSwell(Dynamic::off, Dynamic::mp, 1);
Position position35(12,4,2);
position35.SetTremoloBar(Position::invertedDip, 1, 12);
TEST(wxT("Operator== - position == position"), (position == position2));
TEST(wxT("Operator== - position != position"),
!(position == position3));
TEST(wxT("Operator== - position != position 2"),
!(position == position4));
TEST(wxT("Operator== - position != position 3"),
!(position == position5));
TEST(wxT("Operator== - position != position 4"),
!(position == position6));
TEST(wxT("Operator== - position != position 5"),
!(position == position7));
TEST(wxT("Operator== - position != position 6"),
!(position == position8));
TEST(wxT("Operator== - position != position 7"),
!(position == position9));
TEST(wxT("Operator== - position != position 8"),
!(position == position10));
TEST(wxT("Operator== - position != position 9"),
!(position == position11));
TEST(wxT("Operator== - position != position 10"),
!(position == position12));
TEST(wxT("Operator== - position != position 11"),
!(position == position13));
TEST(wxT("Operator== - position != position 12"),
!(position == position14));
TEST(wxT("Operator== - position != position 13"),
!(position == position15));
TEST(wxT("Operator== - position != position 14"),
!(position == position16));
TEST(wxT("Operator== - position != position 15"),
!(position == position17));
TEST(wxT("Operator== - position != position 16"),
!(position == position18));
TEST(wxT("Operator== - position != position 17"),
!(position == position19));
TEST(wxT("Operator== - position != position 18"),
!(position == position20));
TEST(wxT("Operator== - position != position 19"),
!(position == position21));
TEST(wxT("Operator== - position != position 20"),
!(position == position22));
TEST(wxT("Operator== - position != position 21"),
!(position == position23));
TEST(wxT("Operator== - position != position 22"),
!(position == position24));
TEST(wxT("Operator== - position != position 23"),
!(position == position25));
TEST(wxT("Operator== - position != position 24"),
!(position == position26));
TEST(wxT("Operator== - position != position 25"),
!(position == position27));
TEST(wxT("Operator== - position != position 26"),
!(position == position28));
TEST(wxT("Operator== - position != position 27"),
!(position == position29));
TEST(wxT("Operator== - position != position 28"),
!(position == position30));
TEST(wxT("Operator== - position != position 29"),
!(position == position31));
TEST(wxT("Operator== - position != position 30"),
!(position == position32));
TEST(wxT("Operator== - position != position 31"),
!(position == position33));
TEST(wxT("Operator== - position != position 32"),
!(position == position34));
TEST(wxT("Operator== - position != position 33"),
!(position == position35));
}
// Inequality Operator
{
Position position(12,4,2);
Position position2(12,4,2);
Position position3(13,4,2);
Position position4(12,8,2);
Position position5(12,4,1);
Position position6(12,4,2);
position6.SetIrregularGroupingTiming(3,2);
Position position7(12,4,2);
position7.SetPreviousBeamDurationType(16);
Position position8(12,4,2);
position8.SetBeamStart();
Position position9(12,4,2);
position9.SetFractionalLeftBeam();
Position position10(12,4,2);
position10.SetFractionalRightBeam();
Position position11(12,4,2);
position11.SetBeamEnd();
Position position12(12,4,2);
position12.SetDotted();
Position position13(12,4,2);
position13.SetRest();
Position position14(12,4,2);
position14.SetVibrato();
Position position15(12,4,2);
position15.SetWideVibrato();
Position position16(12,4,2);
position16.SetArpeggioUp();
Position position17(12,4,2);
position17.SetArpeggioDown();
Position position18(12,4,2);
position18.SetPickStrokeUp();
Position position19(12,4,2);
position19.SetPickStrokeDown();
Position position20(12,4,2);
position20.SetStaccato();
Position position21(12,4,2);
position21.SetMarcato();
Position position22(12,4,2);
position22.SetSforzando();
Position position23(12,4,2);
position23.SetTremoloPicking();
Position position24(12,4,2);
position24.SetPalmMuting();
Position position25(12,4,2);
position25.SetTap();
Position position26(12,4,2);
position26.SetAcciaccatura();
Position position27(12,4,2);
position27.SetTripletFeel1st();
Position position28(12,4,2);
position28.SetTripletFeel2nd();
Position position29(12,4,2);
position29.SetLetRing();
Position position30(12,4,2);
position30.SetFermata();
Position position31(12,4,2);
position31.SetIrregularGroupingStart();
Position position32(12,4,2);
position32.SetIrregularGroupingMiddle();
Position position33(12,4,2);
position33.SetIrregularGroupingEnd();
Position position34(12,4,2);
position34.SetVolumeSwell(Dynamic::off, Dynamic::mp, 1);
Position position35(12,4,2);
position35.SetTremoloBar(Position::invertedDip, 1, 12);
TEST(wxT("Operator!= - position == position"),
!(position != position2));
TEST(wxT("Operator!= - position != position"),
(position != position3));
TEST(wxT("Operator!= - position != position 2"),
(position != position4));
TEST(wxT("Operator!= - position != position 3"),
(position != position5));
TEST(wxT("Operator!= - position != position 4"),
(position != position6));
TEST(wxT("Operator!= - position != position 5"),
(position != position7));
TEST(wxT("Operator!= - position != position 6"),
(position != position8));
TEST(wxT("Operator!= - position != position 7"),
(position != position9));
TEST(wxT("Operator!= - position != position 8"),
(position != position10));
TEST(wxT("Operator!= - position != position 9"),
(position != position11));
TEST(wxT("Operator!= - position != position 10"),
(position != position12));
TEST(wxT("Operator!= - position != position 11"),
(position != position13));
TEST(wxT("Operator!= - position != position 12"),
(position != position14));
TEST(wxT("Operator!= - position != position 13"),
(position != position15));
TEST(wxT("Operator!= - position != position 14"),
(position != position16));
TEST(wxT("Operator!= - position != position 15"),
(position != position17));
TEST(wxT("Operator!= - position != position 16"),
(position != position18));
TEST(wxT("Operator!= - position != position 17"),
(position != position19));
TEST(wxT("Operator!= - position != position 18"),
(position != position20));
TEST(wxT("Operator!= - position != position 19"),
(position != position21));
TEST(wxT("Operator!= - position != position 20"),
(position != position22));
TEST(wxT("Operator!= - position != position 21"),
(position != position23));
TEST(wxT("Operator!= - position != position 22"),
(position != position24));
TEST(wxT("Operator!= - position != position 23"),
(position != position25));
TEST(wxT("Operator!= - position != position 24"),
(position != position26));
TEST(wxT("Operator!= - position != position 25"),
(position != position27));
TEST(wxT("Operator!= - position != position 26"),
(position != position28));
TEST(wxT("Operator!= - position != position 27"),
(position != position29));
TEST(wxT("Operator!= - position != position 28"),
(position != position30));
TEST(wxT("Operator!= - position != position 29"),
(position != position31));
TEST(wxT("Operator!= - position != position 30"),
(position != position32));
TEST(wxT("Operator!= - position != position 31"),
(position != position33));
TEST(wxT("Operator!= - position != position 32"),
(position != position34));
TEST(wxT("Operator!= - position != position 33"),
(position != position35));
}
return (true);
}
