void Npc::init(const glm::ivec3* pos) {
const glm::ivec3& randomPos = pos ? *pos : _world->randomPos();
const int material = _world->getMaterial(randomPos.x, randomPos.y, randomPos.z);
Log::info("spawn character %i with behaviour tree %s at position %i:%i:%i (material: %i)",
ai()->getId(), ai()->getBehaviour()->getName().c_str(), randomPos.x, randomPos.y, randomPos.z, material);
setHomePosition(randomPos);
_ai->getCharacter()->setPosition(ai::Vector3f(randomPos.x, randomPos.y, randomPos.z));
const char *typeName = network::messages::EnumNameNpcType(_type);
addContainer(typeName);
initAttribs();
}
/**
*@brief 関節角度のホームポジションを設定
* @param o1 関節角速度(関節1)
* @param o2 関節角速度(関節2)
* @param o3 関節角速度(関節3)
* @param o4 関節角速度(関節4)
*/
void RobotArm::setOffset(double o1, double o2, double o3, double o4)
{
offset[0] = o1;
offset[1] = o2;
offset[2] = o3;
offset[2] = o4;
setAngle(o1,o2,o3,o4);
double hp[4] = {o1, o2, o3, o4};
setHomePosition(hp);
//goHomePosition();
}
/**
*@brief 初期の手先位置設定
* @param j1 関節角度(関節1)
* @param j1 関節角度(関節2)
* @param j1 関節角度(関節3)
* @param j1 関節角度(関節4)
*/
void RobotArm::setStartPos(double j1, double j2, double j3, double j4)
{
double hp[4] = {j1, j2,j3, j4};
setAngle(j1, j2,j3, j4);
setHomePosition(hp);
homePosition = calcKinematics(theta);
targetPoint.setJointPos(1, hp);
targetPoint.setStartJointPos(hp, MaxSpeedJoint,MinTime);
targetPoint.time = 1000;
//targetPoint = homePosition;
//startPoint = homePosition;
targetPoints.clear();
//if(targetPoints.size() > 0)
// targetPoints.erase(targetPoints.begin());
//endTime = -1;
start();
}
int main(int argc, char** argv)
{
osg::ArgumentParser arguments( &argc, argv );
std::string dbPath;
arguments.read("--db_path", dbPath);
std::srand ( unsigned ( std::time(0) ) );
auto board = Board(boardDefinition, boardSizeX, boardSizeY, dbPath);
auto ghostFactory = GhostFactory();
auto main_obj = make_ref<osg::Group>();
main_obj->addChild(board.draw().get());
auto ghostModel = osgDB::readNodeFile(dbPath + "/cow.osg");
auto ghostCount = 16;
while(ghostCount--)
{
main_obj->addChild(ghostFactory.drawGhost(board, ghostModel).get());
}
// init rotate
auto init_rotate = make_ref<osg::MatrixTransform>();
init_rotate->setMatrix( osg::Matrix::rotate(osg::PI * 2, osg::Vec3(1.0f, 0.0f, 0.0f)) );
// chain rotates
init_rotate->addChild(main_obj);
// Root group
auto root = make_ref<osg::Group>();
root->addChild(init_rotate);
// Setup fog
if(FogEnabled) {
osg::ref_ptr<osg::Fog> fog = new osg::Fog;
fog->setMode( osg::Fog::EXP2 );
fog->setStart( 0.0f );
fog->setEnd(board.getFieldSizeX() * 20);
fog->setDensity(0.0135);
fog->setColor( osg::Vec4(0., 0., 0., 1.0) );
root->getOrCreateStateSet()->setAttributeAndModes(fog.get());
}
// Start viewer
osgViewer::Viewer viewer;
// Set up flashlight
auto lightSource = make_ref<osg::LightSource>();
lightSource->setReferenceFrame(osg::LightSource::ABSOLUTE_RF);
auto light = lightSource->getLight();
const osg::Vec3 lightPosition{1.5, -1, -1}; // right, down, front
light->setPosition(osg::Vec4{lightPosition, 1});
light->setDirection(osg::Vec3{0, 0, -1} * 30 - lightPosition);
light->setSpotExponent(60);
light->setSpotCutoff(90);
light->setDiffuse(osg::Vec4(1, 1, 1, 1));
light->setAmbient(osg::Vec4(0.6, 0.6, 0.6, 1));
light->setSpecular(osg::Vec4(1, 1, 1, 1));
light->setLinearAttenuation(0.001);
light->setConstantAttenuation(0.5);
root->addChild(lightSource);
double height = std::min(board.getFieldSizeX(), board.getFieldSizeY()) / 1.5;
auto fpsManipulator = make_ref<FPSManipulator>(board, viewer, *light);
fpsManipulator->setHomePosition(
osg::Vec3d(board.getFieldCenterX(1), board.getFieldCenterY(10), height),
osg::Vec3d(0.0f, 0.0f, height),
osg::Vec3d(0.0f, 0.0f, 1.0f)
);
auto keySwitch = make_ref<osgGA::KeySwitchMatrixManipulator>();
keySwitch->addNumberedMatrixManipulator(make_ref<osgGA::OrbitManipulator>());
keySwitch->addNumberedMatrixManipulator(fpsManipulator);
viewer.setCameraManipulator(keySwitch);
viewer.home();
viewer.setSceneData( root );
osgViewer::Viewer::Windows windows;
viewer.getWindows(windows);
viewer.getCamera()->setClearColor(osg::Vec4{0, 0, 0, 0});
viewer.getCamera()->getView()->setLightingMode(osg::View::HEADLIGHT);
auto defaultLight = viewer.getCamera()->getView()->getLight();
defaultLight->setDiffuse(osg::Vec4(0, 0, 0, 1));
defaultLight->setAmbient(osg::Vec4(0, 0, 0, 1));
defaultLight->setSpecular(osg::Vec4(0, 0, 0, 1));
// Shaders
auto program = make_ref<osg::Program>();
auto fragmentObject = make_ref<osg::Shader>(osg::Shader::FRAGMENT);
loadShaderSource(fragmentObject, dbPath + "/shader.frag");
auto vertexObject = make_ref<osg::Shader>(osg::Shader::VERTEX);
loadShaderSource(vertexObject, dbPath + "/shader.vert");
program->addShader(vertexObject);
program->addShader(fragmentObject);
root->getOrCreateStateSet()->setAttributeAndModes(program, osg::StateAttribute::ON);
root->getOrCreateStateSet()->addUniform(new osg::Uniform("samplerName", TEXTURE_UNIT));
root->getOrCreateStateSet()->addUniform(new osg::Uniform("Shininess", BoardObjectsShininess));
root->getOrCreateStateSet()->addUniform(new osg::Uniform("FogEnabled", FogEnabled));
// Optimize
osgUtil::Optimizer optimzer;
optimzer.optimize(root);
viewer.setUpViewOnSingleScreen(0);
return viewer.run();
}
QMenu* RoutingInputWidgetPrivate::createBookmarkMenu( RoutingInputWidget *parent )
{
QMenu* result = new QMenu( parent );
result->addAction(QIcon(QStringLiteral(":/icons/go-home.png")), QObject::tr("&Home"), parent, SLOT(setHomePosition()));
QVector<GeoDataFolder*> folders = m_marbleModel->bookmarkManager()->folders();
if ( folders.size() == 1 ) {
createBookmarkActions( result, folders.first(), parent );
} else {
QVector<GeoDataFolder*>::const_iterator i = folders.constBegin();
QVector<GeoDataFolder*>::const_iterator end = folders.constEnd();
for (; i != end; ++i ) {
QMenu* menu = result->addMenu(QIcon(QStringLiteral(":/icons/folder-bookmark.png")), (*i)->name());
createBookmarkActions( menu, *i, parent );
}
}
return result;
}
