/*
** main
*/
int
main (int argc, char **argv)
{
STRING Name;
double start;
double stop;
init_lumineur (argc, argv);
strcpy (Name, NameScn);
strcat (Name, ".scn");
start = getTime();
read_scn (Name);
stop = getTime();
printf ("Temps de lecture : %e seconde(s)\n", stop - start);
start = getTime();
bnd ();
stop = getTime();
printf ("Temps du binder : %e seconde(s)\n", stop - start);
start = getTime();
scn ();
stop = getTime();
printf ("Temps de la scene : %e seconde(s)\n", stop - start);
start = getTime();
img (NameScn);
stop = getTime();
printf ("Temps de l'image : %e seconde(s)\n", stop - start);
exit (0);
}
void HttpReqImpl::openPostChunk() const {
ScanTextA scn(*inout);
scn.setNL("\r\n");
scn("\n%");
if (scn(" %(+)[0-9A-Za-z]1 \n%")) {
remainPostData = scn[1].hex();
if (remainPostData == 0) {
chunkedPost = false;
if (scn("\n%") == false)
throw HttpStatusException(THISLOCATION,path,400,"Bad request");
} if (postBodyLimit < remainPostData) {
throw HttpStatusException(THISLOCATION, path, 413, "Request is too large");
} else {
postBodyLimit-= remainPostData;
}
} else {
throw HttpStatusException(THISLOCATION,path,400,"Bad request");
}
}
/*
** main
*/
int
main (int argc, char **argv)
{
STRING Name;
struct timeval start;
struct timeval stop;
int my_rank;
MPI_Init(&argc,&argv);
MPI_Comm_rank(MPI_COMM_WORLD,&my_rank);
init_lumineur (argc, argv);
strcpy (Name, NameScn);
strcat (Name, ".scn");
portable_gettimeofday(&start);
read_scn (Name);
portable_gettimeofday(&stop);
if(my_rank==0){
printf ("Temps de lecture : %ld seconde(s)\n", stop.tv_sec - start.tv_sec);
}
portable_gettimeofday(&start);
bnd ();
portable_gettimeofday(&stop);
if(my_rank==0){
printf ("Temps du binder : %ld seconde(s)\n", stop.tv_sec - start.tv_sec);
}
portable_gettimeofday(&start);
scn ();
portable_gettimeofday(&stop);
if(my_rank==0){
printf ("Temps de la scene : %ld seconde(s)\n", stop.tv_sec - start.tv_sec);
}
portable_gettimeofday(&start);
img (NameScn);
portable_gettimeofday(&stop);
printf ("Temps de l'image : %ld seconde(s)\n", stop.tv_sec - start.tv_sec);
MPI_Finalize();
exit (0);
}
Bras::Bras(int cote_,
int pin_pap_step,
int pin_pap_dir,
int pin_bump_asc,
int pin_ir,
int seuil_ir,
long* pulse_color,
int pin_pression_):
period_run(50),
cote(cote_),
time_out_on(false), state(INT_RANGE), coul_to_be_on(false), next_coul_on(false),
asc(pin_pap_step, pin_pap_dir, pin_bump_asc, cote_),
ir(pin_ir, seuil_ir), mon_ir_actif(false), trigger_to_be(T_RANGE),
col(pulse_color), trigger_autre_on(false), couleur(ROUGE), trigger_attente_on(false),
pression_on(false), pin_pression(pin_pression_)
{
if (cote == GAUCHE)
{
servo_rot.attach(PIN_SERVO_ROT_G);
servo_retourne.attach(PIN_SERVO_RETOURNE_G);
pin_pompe = PIN_POMPE_G;
pinMode(pin_pompe, OUTPUT);
}
else
{
servo_rot.attach(PIN_SERVO_ROT_D);
servo_retourne.attach(PIN_SERVO_RETOURNE_D);
pin_pompe = PIN_POMPE_D;
pinMode(pin_pompe, OUTPUT);
}
ir.reverse();
scn();
spb();
pf();
asc.monte();
//while(!asc.run()){
// delay(1);
//}
}
void Pince::in_state_func()
{
switch (state)
{
case RANGE_DEPART :
a1();
scv();
slr();
break;
case TAPE_VERTICAL :
a1();
scv();
slt();
break;
case INTERMEDIAIRE_SORTIE :
set_time_out(400, trigger_to_be);
a1();
slo();
scv();
break;
case HORIZ_VERT :
a1();
slo();
scn();
break;
case NOMINAL_VIDE :
set_time_out(500, trigger_to_be);
a0();
slo();
scn();
break;
case ACTIF_TORCHE :
a0();
slo();
scn();
break;
case PRISE_TORCHE :
Serial.println('# PRISE');
a0();
slf();
scn();
break;
case ACTIF_FEU :
a0();
slo();
scn();
break;
case PRISE_FEU :
Serial.println('# PRISE');
set_time_out(500, TIME_OUT);
a0();
slf();
scn();
break;
case WAIT_COOL_OK :
break;
case MONTE_COOL :
set_time_out(800, TIME_OUT);
a1();
slf();
scn();
break;
case MONTE_COOL2 :
a1();
slf();
scn();
break;
case RETOURNE_COOL_N :
set_time_out(500, TIME_OUT);
a1();
slf();
scr();
break;
case DESCEND_COOL_N :
a0();
slf();
scr();
break;
case POSE_COOL_N :
set_time_out(500, TIME_OUT);
a0();
slo();
scr();
break;
case INT1_COOL_N :
set_time_out(500, TIME_OUT);
a1();
slo();
scr();
break;
case INT2_COOL_N :
set_time_out(500, TIME_OUT);
a1();
slf();
scr();
break;
case INT3_COOL_N :
set_time_out(500, TIME_OUT);
a1();
slf();
scn();
break;
case INT_RANGE :
a1();
slo();
break;
case INT2_RANGE :
set_time_out(10, trigger_to_be);
a1();
slo();
break;
}
}
void parser_dump(mrb_state *mrb, mrb_ast_node *tree, int offset)
{
#ifdef ENABLE_STDIO
if (!tree) return;
again:
dump_prefix(offset);
node_type n = tree->getType();
mrb_ast_node *orig = tree;
if(dynamic_cast<UpdatedNode *>(tree)==0)
tree = tree->right();
switch (n) {
case NODE_BEGIN: parser_dump(mrb,(BeginNode *)orig,offset); break;
case NODE_RESCUE: parser_dump(mrb,(RescueNode *)orig,offset); break;
case NODE_ENSURE: parser_dump(mrb,(EnsureNode *)orig,offset); break;
case NODE_LAMBDA:
printf("NODE_LAMBDA:\n");
goto block;
case NODE_BLOCK:
printf("NODE_BLOCK:\n");
block:
parser_dump(mrb,(LambdaCommonNode *)orig,offset);
break;
case NODE_IF:
{
IfNode *in = (IfNode *)orig;
printf("NODE_IF:\n");
dump_prefix(offset+1);
printf("cond:\n");
parser_dump(mrb, in->cond(), offset+2); //tree->left()
dump_prefix(offset+1);
printf("then:\n");
parser_dump(mrb, in->true_body(), offset+2); //tree->right()->left()
if (in->false_body()) {
dump_prefix(offset+1);
printf("else:\n");
parser_dump(mrb, in->false_body() , offset+2); //tree->right()->right()->left()
}
}
break;
case NODE_AND:
{
AndNode *an = (AndNode *)orig;
printf("NODE_AND:\n");
parser_dump(mrb, an->lhs(), offset+1);
parser_dump(mrb, an->rhs(), offset+1);
}
break;
case NODE_OR:
{
OrNode *an = (OrNode *)orig;
printf("NODE_OR:\n");
parser_dump(mrb, an->lhs(), offset+1);
parser_dump(mrb, an->rhs(), offset+1);
}
break;
case NODE_CASE: {
CaseNode *cn = (CaseNode *)orig;
printf("NODE_CASE:\n");
if (cn->switched_on()) {
parser_dump(mrb, cn->switched_on(), offset+1);
}
tree = cn->cases();
while (tree) {
dump_prefix(offset+1);
printf("case:\n");
dump_recur(mrb, tree->left()->left(), offset+2);
dump_prefix(offset+1);
printf("body:\n");
parser_dump(mrb, tree->left()->right(), offset+2);
tree = tree->right();
}
}
break;
case NODE_WHILE:
{
WhileNode *n = (WhileNode *)orig;
printf("NODE_WHILE:\n");
dump_prefix(offset+1);
printf("cond:\n");
parser_dump(mrb, n->lhs(), offset+2);
dump_prefix(offset+1);
printf("body:\n");
parser_dump(mrb, n->rhs(), offset+2);
}
break;
case NODE_UNTIL:
{
UntilNode *n = (UntilNode *)orig;
printf("NODE_UNTIL:\n");
dump_prefix(offset+1);
printf("cond:\n");
parser_dump(mrb, n->lhs(), offset+2);
dump_prefix(offset+1);
printf("body:\n");
parser_dump(mrb, n->rhs(), offset+2);
}
break;
case NODE_FOR:
printf("NODE_FOR:\n");
dump_prefix(offset+1);
parser_dump(mrb,(ForNode *)orig,offset);
break;
case NODE_SCOPE:
printf("NODE_SCOPE:\n");
{
ScopeNode *ns = (ScopeNode *)orig;
const tLocals &n2(ns->locals());
if ( !n2.empty() ) {
dump_prefix(offset+1);
printf("local variables:\n");
dump_prefix(offset+2);
for(auto iter=n2.begin(); iter!=n2.end(); ++iter) {
if ( (iter+1) != n2.end() )
printf(", ");
printf("%s", mrb_sym2name(mrb, *iter));
}
printf("\n");
}
tree = ns->body();
}
offset++;
goto again;
case NODE_FCALL:
case NODE_CALL:
{
CallCommonNode *cn = (CallCommonNode *)orig;
printf("NODE_CALL:\n");
parser_dump(mrb, cn->m_receiver, offset+1);
dump_prefix(offset+1);
printf("method='%s' (%d)\n",
mrb_sym2name(mrb, cn->m_method),
cn->m_method);
CommandArgs *ca = cn->m_cmd_args;
if (ca) {
dump_prefix(offset+1);
printf("args:\n");
dump_recur(mrb, ca->m_args, offset+2);
if (ca->m_blk) {
dump_prefix(offset+1);
printf("block:\n");
parser_dump(mrb, ca->m_blk, offset+2);
}
}
}
break;
case NODE_DOT2:
{
printf("NODE_DOT2:\n");
Dot2Node *nd = (Dot2Node *)orig;
parser_dump(mrb, nd->lhs(), offset+1);
parser_dump(mrb, nd->rhs(), offset+1);
}
break;
case NODE_DOT3:
{
printf("NODE_DOT3:\n");
Dot3Node *nd = (Dot3Node *)orig;
parser_dump(mrb, nd->lhs(), offset+1);
parser_dump(mrb, nd->rhs(), offset+1);
}
break;
case NODE_COLON2:
{
Colon2Node *cn = (Colon2Node *)orig;
printf("NODE_COLON2:\n");
parser_dump(mrb, cn->m_val, offset+1);
dump_prefix(offset+1);
printf("::%s\n", mrb_sym2name(mrb, cn->m_sym));
}
break;
case NODE_COLON3:{
printf("NODE_COLON3:\n");
dump_prefix(offset+1);
Colon3Node *n = (Colon3Node *)orig;
printf("::%s\n", mrb_sym2name(mrb, n->sym()));
}
break;
case NODE_ARRAY:
printf("NODE_ARRAY:\n");
dump_recur(mrb, ((ArrayNode *)orig)->child(), offset+1);
break;
case NODE_HASH:
{
HashNode *nd = (HashNode *)orig;
printf("NODE_HASH:\n");
tree = nd->child();
while (tree) {
dump_prefix(offset+1);
printf("key:\n");
parser_dump(mrb, tree->left()->left(), offset+2);
dump_prefix(offset+1);
printf("value:\n");
parser_dump(mrb, tree->left()->right(), offset+2);
tree = tree->right();
}
}
break;
case NODE_SPLAT:
printf("NODE_SPLAT:\n");
parser_dump(mrb, ((SplatNode *)orig)->child(), offset+1);
break;
case NODE_ASGN:
{
AsgnNode *an = (AsgnNode *)orig;
printf("NODE_ASGN:\n");
dump_prefix(offset+1);
printf("lhs:\n");
parser_dump(mrb, an->lhs(), offset+2);
dump_prefix(offset+1);
printf("rhs:\n");
parser_dump(mrb, an->rhs(), offset+2);
}
break;
case NODE_MASGN:
{
printf("NODE_MASGN:\n");
dump_prefix(offset+1);
printf("mlhs:\n");
MAsgnNode *mn = (MAsgnNode *)orig;
mrb_ast_node *n2 = mn->lhs();
if (n2->left()) {
dump_prefix(offset+2);
printf("pre:\n");
dump_recur(mrb, n2->left(), offset+3);
}
n2 = n2->right();
if (n2) {
if (n2->left()) {
dump_prefix(offset+2);
printf("rest:\n");
if (n2->left() == (mrb_ast_node*)-1) {
dump_prefix(offset+2);
printf("(empty)\n");
}
else {
parser_dump(mrb, n2->left(), offset+3);
}
}
n2 = n2->right();
if (n2) {
if (n2->left()) {
dump_prefix(offset+2);
printf("post:\n");
dump_recur(mrb, n2->left(), offset+3);
}
}
}
dump_prefix(offset+1);
printf("rhs:\n");
parser_dump(mrb, mn->rhs(), offset+2);
}
break;
case NODE_OP_ASGN: {
OpAsgnNode *opasgn = static_cast<OpAsgnNode *>(tree);
printf("NODE_OP_ASGN:\n");
dump_prefix(offset+1);
printf("lhs:\n");
parser_dump(mrb, opasgn->lhs(), offset+2);
dump_prefix(offset+1);
printf("op='%s' (%d)\n", mrb_sym2name(mrb, opasgn->op_sym), opasgn->op_sym);
parser_dump(mrb, opasgn->rhs(), offset+1);
break;
}
case NODE_SUPER:
{
printf("NODE_SUPER:\n");
SuperNode *x=(SuperNode *)orig;
if (x->hasParams()) {
dump_prefix(offset+1);
printf("args:\n");
dump_recur(mrb, x->args(), offset+2);
if (x->block()) {
dump_prefix(offset+1);
printf("block:\n");
parser_dump(mrb, x->block(), offset+2);
}
}
}
break;
case NODE_ZSUPER:
printf("NODE_ZSUPER\n");
break;
case NODE_RETURN:
printf("NODE_RETURN:\n");
parser_dump(mrb, ((ReturnNode *)orig)->child(), offset+1);
break;
case NODE_YIELD:
printf("NODE_YIELD:\n");
dump_recur(mrb, ((YieldNode *)orig)->child(), offset+1);
break;
case NODE_BREAK:
printf("NODE_BREAK:\n");
parser_dump(mrb, ((BreakNode *)orig)->child(), offset+1);
//parser_dump(mrb, tree, offset+1);
break;
case NODE_NEXT:
printf("NODE_NEXT:\n");
parser_dump(mrb, ((NextNode *)orig)->child(), offset+1);
break;
case NODE_REDO:
printf("NODE_REDO\n");
break;
case NODE_RETRY:
printf("NODE_RETRY\n");
break;
case NODE_LVAR:
{
LVarNode * lvar = (LVarNode *)orig;
printf("NODE_LVAR %s\n", mrb_sym2name(mrb, lvar->sym()));
}
break;
case NODE_GVAR:
{
GVarNode * gvar = (GVarNode *)orig;
printf("NODE_GVAR %s\n", mrb_sym2name(mrb, gvar->sym()));
}
break;
case NODE_IVAR:
{
IVarNode * ivar = (IVarNode *)orig;
printf("NODE_IVAR %s\n", mrb_sym2name(mrb, ivar->sym()));
}
break;
case NODE_CVAR:
{
CVarNode * cvar = (CVarNode *)orig;
printf("NODE_CVAR %s\n", mrb_sym2name(mrb, cvar->sym()));
}
break;
case NODE_CONST:
{
ConstNode * cvar = (ConstNode *)orig;
printf("NODE_CONST %s\n", mrb_sym2name(mrb, cvar->sym()));
}
break;
case NODE_MATCH:
printf("NODE_MATCH:\n");
dump_prefix(offset + 1);
printf("lhs:\n");
parser_dump(mrb, tree->left(), offset + 2);
dump_prefix(offset + 1);
printf("rhs:\n");
parser_dump(mrb, tree->right(), offset + 2);
break;
case NODE_BACK_REF:
printf("NODE_BACK_REF: $%c\n", ((BackRefNode *)orig)->m_ref);
break;
case NODE_NTH_REF:
printf("NODE_NTH_REF: $%d\n", ((NthRefNode *)orig)->m_ref);
break;
case NODE_ARG:
{
ArgNode * var = (ArgNode *)orig;
printf("NODE_ARG %s\n", mrb_sym2name(mrb, var->sym()));
}
break;
case NODE_BLOCK_ARG:
{
printf("NODE_BLOCK_ARG:\n");
parser_dump(mrb, ((BlockArgNode *)orig)->child(), offset+1);
}
break;
case NODE_INT:
{
IntLiteralNode *int_lit = (IntLiteralNode *)orig;
printf("NODE_INT %s base %d\n", int_lit->m_val, int_lit->m_base);
}
break;
case NODE_FLOAT:
printf("NODE_FLOAT %s\n", ((FloatLiteralNode *)orig)->m_val);
break;
case NODE_NEGATE:
printf("NODE_NEGATE\n");
parser_dump(mrb, ((NegateNode *)tree)->child(), offset+1);
break;
case NODE_STR:
{
StrNode *sn=(StrNode *)orig;
printf("NODE_STR \"%s\" len %zu\n", sn->m_str, sn->m_length);
}
break;
case NODE_DSTR:
{
DstrNode *dn = (DstrNode *)orig;
printf("NODE_DSTR\n");
dump_recur(mrb, dn->child(), offset+1);
}
break;
case NODE_XSTR:
printf("NODE_XSTR \"%s\" len %d\n", (char*)tree->left(), (int)(intptr_t)tree->right());
break;
case NODE_DXSTR: {
DxstrNode *dn = (DxstrNode *)orig;
printf("NODE_DXSTR\n");
dump_recur(mrb, dn->child(), offset+1);
}
break;
case NODE_REGX:
printf("NODE_REGX /%s/%s\n", (char*)tree->left(), (char*)tree->right());
break;
case NODE_DREGX:
printf("NODE_DREGX\n");
dump_recur(mrb, tree->left(), offset+1);
dump_prefix(offset);
printf("tail: %s\n", (char*)tree->right()->right()->left());
dump_prefix(offset);
printf("opt: %s\n", (char*)tree->right()->right()->right());
break;
case NODE_SYM:
{
SymNode * cvar = (SymNode *)orig;
printf("NODE_SYM :%s\n", mrb_sym2name(mrb, cvar->sym()));
}
break;
case NODE_SELF:
printf("NODE_SELF\n");
break;
case NODE_NIL:
printf("NODE_NIL\n");
break;
case NODE_TRUE:
printf("NODE_TRUE\n");
break;
case NODE_FALSE:
printf("NODE_FALSE\n");
break;
case NODE_ALIAS:
{
AliasNode *an = (AliasNode *)orig;
printf("NODE_ALIAS %s %s:\n",
mrb_sym2name(mrb, an->m_from),
mrb_sym2name(mrb, an->m_to));
}
break;
case NODE_UNDEF:
printf("NODE_UNDEF");
{
UndefNode *und((UndefNode *)tree);
for(mrb_sym v : und->m_syms) {
printf(" %s", mrb_sym2name(mrb, v));
}
}
printf(":\n");
break;
case NODE_CLASS: {
ClassNode *cn = static_cast<ClassNode *>(tree);
printf("NODE_CLASS:\n");
if (cn->receiver()->left() == (mrb_ast_node*)0) {
dump_prefix(offset+1);
printf(":%s\n", mrb_sym2name(mrb, sym(cn->receiver()->right())));
}
else if (cn->receiver()->left() == (mrb_ast_node*)1) {
dump_prefix(offset+1);
printf("::%s\n", mrb_sym2name(mrb, sym(cn->receiver()->right())));
}
else {
parser_dump(mrb, cn->receiver()->left(), offset+1);
dump_prefix(offset+1);
printf("::%s\n", mrb_sym2name(mrb, sym(cn->receiver()->right())));
}
if (cn->super()) {
dump_prefix(offset+1);
printf("super:\n");
parser_dump(mrb, cn->super(), offset+2);
}
dump_prefix(offset+1);
printf("body:\n");
parser_dump(mrb, cn->scope()->body(), offset+2);
break;
}
case NODE_MODULE: {
ModuleNode *cn = static_cast<ModuleNode *>(tree);
printf("NODE_MODULE:\n");
if (cn->receiver()->left() == (mrb_ast_node*)0) {
dump_prefix(offset+1);
printf(":%s\n", mrb_sym2name(mrb, sym(cn->receiver()->right())));
}
else if (cn->receiver()->left() == (mrb_ast_node*)1) {
dump_prefix(offset+1);
printf("::%s\n", mrb_sym2name(mrb, sym(cn->receiver()->right())));
}
else {
parser_dump(mrb, cn->receiver(), offset+1);
dump_prefix(offset+1);
printf("::%s\n", mrb_sym2name(mrb, sym(cn->receiver()->right())));
}
dump_prefix(offset+1);
printf("body:\n");
parser_dump(mrb, cn->scope()->body(), offset+2);
break;
}
case NODE_SCLASS: {
printf("NODE_SCLASS:\n");
SclassNode *scn((SclassNode *)tree);
parser_dump(mrb, scn->scope(), offset+1);
// dump_prefix(offset+1);
// printf("body:\n");
// parser_dump(mrb, scntree->right()->left()->right(), offset+2);
}
break;
case NODE_DEF:
{
DefNode *dn = (DefNode *)orig;
printf("NODE_DEF:\n");
dump_prefix(offset+1);
parser_dump(mrb,dn,offset);
}
break;
case NODE_SDEF:
{
SdefNode *sn = (SdefNode *)orig;
printf("NODE_SDEF:\n");
parser_dump(mrb, sn->receiver(), offset+1);
dump_prefix(offset+1);
printf(":"); // prepend name with ':'
parser_dump(mrb,sn,offset);
}
break;
case NODE_POSTEXE:
printf("NODE_POSTEXE:\n");
parser_dump(mrb, ((PostExeNode *)orig)->child(), offset+1);
break;
case NODE_HEREDOC:{
printf("NODE_HEREDOC:\n");
HeredocNode *hdn((HeredocNode *)tree);
parser_dump(mrb, hdn->contents()->doc->left(), offset+1);
}
break;
default:
printf("node type: %d (0x%x)\n", (int)n, (int)n);
break;
}
#endif
}
int main(int argc, char *argv[]) {
if (argc<2) {
std::cerr << "Syntax is:\n\t" << argv[0] << " filename\n";
std::exit(1);
}
Image img(360,360);
Scene scn(Camera(Point(15,15,15),
Point(0.0,0.0,0.0),
1.0,
Vector(0.0,1.0,0.0)),
Color(0.0,0.0,0.0),
-16.0,16.0,
-16.0,16.0,
-16.0,16.0,
30,30,30);
Texture *textArray[] = {
new Texture (Color(0.75,0.75,0.75),
Color(0.0,0.0,0.0),
Color(0.0,0.0,0.0),
20,
Color(0.0,0.0,0.0)),
new Texture (Color(0.0,0.0,1.0),
Color(0.0,0.1,0.0),
Color(1.0,1.0,1.0),
90,
Color(0,0,0)),
new Texture (Color(0.25,0.25,0.0),
Color(0.0,0.0,0.0),
Color(1.0,1.0,1.0),
100,
Color(0.25,0.25,0.25),
Color(0.5,0.5,0.5),
0.85),
new Texture (Color(0.0,1.0,0.0),
Color(0.0,0.0,0.0),
Color(1.0,1.0,1.0),
200,
Color(0.0,0.0,0.0))};
const real PI = 3.141592654;
real umin = -15;
real umax = 15;
real vmin = -15;
real vmax = 15;
/*
int usteps = 1;
int vsteps = 1;
real umult = (umax-umin)/(usteps-1);
real vmult = (vmax-vmin)/(vsteps-1);
real uval, vval;
for (int i=0;i<usteps;++i) {
uval = i*umult + umin;
for (int j=0;j<vsteps; ++j) {
vval = j*vmult + vmin;
scn.addObject(new Triangle(Point(
x(uval,vval),
y(uval,vval),
z(uval,vval)),
Point(
x(uval+umult,vval),
y(uval+umult,vval),
z(uval+umult,vval)),
Point(
x(uval,vval+vmult),
y(uval,vval+vmult),
z(uval,vval+vmult)),
textArray[3]));
scn.addObject(new Triangle(Point(
x(uval+umult,vval+vmult),
y(uval+umult,vval+vmult),
z(uval+umult,vval+vmult)),
Point(
x(uval+umult,vval),
y(uval+umult,vval),
z(uval+umult,vval)),
Point(
x(uval,vval+vmult),
y(uval,vval+vmult),
z(uval,vval+vmult)),
textArray[3],
true));
}
}
*/
/*
const real PI = 3.141592654;
real umin = -15;
real umax = 15;
real vmin = -15;
real vmax = 15;
int usteps = 64;
int vsteps = 64;
real umult = (umax-umin)/(usteps-1);
real vmult = (vmax-vmin)/(vsteps-1);
real uval, vval;
for (int i=0;i<usteps;++i) {
uval = i*umult + umin;
for (int j=0;j<vsteps; ++j) {
vval = j*vmult + vmin;
scn.addObject(new Sphere(Point(
x(uval,vval),
y(uval,vval),
z(uval,vval)),
umult,
textArray[3]));
}
}
*/
scn.addObject(new Sphere(Point(7.5,7.5,7.5), 2.5, textArray[2]));
for (int i=1;i<= 14; ++i) {
for (int j = 1; j<= 14; ++j) {
scn.addObject(new Sphere(Point(i, j, 0),
0.5,
textArray[3]));
scn.addObject(new Sphere(Point(0, i, j),
0.5,
textArray[3]));
scn.addObject(new Sphere(Point(j, 0, i),
0.5,
textArray[3]));
}
}
/*
scn.addObject(new Sphere(Point(0,1.5,2.5), 2.5, textArray[2]));
scn.addObject(new Sphere(Point(0,0,-2.5), 2.5, textArray[3]));
scn.addObject(new Sphere(Point(-3.75,2.5,1.25), 1.25, textArray[1]));
*/
/*
scn.addObject(new Triangle(Point(8, 8, 0),
Point(8, -8, 0),
Point(-8, 8, 0),
textArray[0],
true));
scn.addObject(new Triangle(Point(-8, -8, 0),
Point(8, -8, 0),
Point(-8, 8, 0),
textArray[0],
false));
scn.addObject(new Triangle(Point(0, 8, 8),
Point(0, -8, 8),
Point(0, 8, -8),
textArray[0],
false));
scn.addObject(new Triangle(Point(0, -8, -8),
Point(0, -8, 8),
Point(0, 8, -8),
textArray[0],
true));
*/
// scn.addLight(new Light(Point(10,10,10), Color(1.0,1.0,1.0)));
// scn.addLight(new Light(Point(10,10,-10), Color(1.0,1.0,1.0)));
scn.addLight(new Light(Point(15,15,15), Color(1.0,1.0,1.0)));
real mean, var, stdDev;
int min, max;
real meanCells, varCells, stdDevCells;
int minCells;
int maxCells;
scn.getGridStats(mean, stdDev, var, min, max,
meanCells, stdDevCells,
varCells, minCells, maxCells);
std::cout << "Scene stats:\n"
<< "Number of objects : " << scn.getNumObjects() << "\n"
<< "Number of lights : " << scn.getNumLights() << "\n"
<< "Number of cells : " << scn.getNumCells() << "\n"
<< "Grid stats:\n"
<< "Mean objects per cell : " << mean << "\n"
<< "Std. deviation : " << stdDev << "\n"
<< "Variance : " << var << "\n"
<< "Minimum : " << min << "\n"
<< "Maximum : " << max << "\n"
<< "Object stats:\n"
<< "Mean cells per object : " << meanCells << "\n"
<< "Std. Deviation : " << stdDevCells << "\n"
<< "Variance : " << varCells <<"\n"
<< "Min cells per object : " << minCells << "\n"
<< "Max cells per object : " << maxCells << "\n";
scn.trace(img, -1.0, -1.0, 1.0, 1.0, 9);
std::ofstream outf(argv[1]);
img.toPPM(outf);
outf.close();
std::cout << "Rays cast: " << scn.getNumRaysCast() << "\n"
<< "Intersection tests: "
<< scn.getNumIntersectionTests() << "\n"
<< "Intersections: "
<< scn.getNumIntersections() << "\n"
<< "Shadow rays cast: "
<< scn.getNumShadowRaysCast() << "\n"
<< "Reflective rays cast: "
<< scn.getNumReflectiveRaysCast() << "\n"
<< "Refractive rays cast: "
<< scn.getNumRefractiveRaysCast() << "\n";
return 0;
}
void Bras::in_state_func()
{
switch (state)
{
case RANGE_DEPART :
scr();
a0();
spb();
pf();
break;
case INT_RANGE :
//va bumper
scn();
a0();
spb();
pf();
break;
case INT2_RANGE :
set_time_out(400, trigger_to_be);
scn();
a0();
spb();
pf();
break;
case GO_ATTENTE :
scn();
a1();
spb();
pf();
break;
case ATTENTE_ACTIF :
scn();
a1();
spb();
pf();
break;
case DESCENTE_LAT :
scn();
a4();
spb();
pf();
break;
case DESCENTE_POMPE_LAT :
scn();
a4();
spb();
po();
break;
case PRISE_LAT :
scn();
a4();
spb();
po();
break;
case MONTE_VERT :
set_time_out(500, TIME_OUT);
scn();
a0();
spv();
po();
break;
case MONTE :
scn();
a0();
spb();
po();
break;
case RANGE_PRISE :
set_time_out(2000, TIME_OUT);
scl();
a0();
spb();
po();
break;
case LACHE :
set_time_out(300, TIME_OUT);
scl();
a0();
spb();
pf();
break;
case MONTE_ECH :
scn();
a3();
spb();
po();
break;
case MONTE_ECH_VERT :
sce();
a3();
spr();
po();
break;
case RETOURNE_ECH :
call_for_help();
sce();
a3();
spr();
po();
break;
case REPLACE_APRES_ECH :
set_time_out(300, TIME_OUT);
scn();
a3();
spb();
pf();
break;
case SEND_MINE :
scv();
a4();
spv();
pf();
break;
case SENDMASTER_PRET :
scv();
a4();
spv();
po();
break;
case PRISE_VERT :
scv();
a4();
spv();
po();
break;
case PRISE_COPAIN :
a2();
sce();
spb();
po();
break;
}
}
void Bras::sct()
{
scn();
}
