void
Spacetime::reversePhysics_analytic(matrix<double> u)
{
matrix<double> state_1 = getState();
matrix<double> C_1 = computeC_analytic();
matrix<double> G_1 = computeG_analytic();
matrix<double> MInv_1 = !computeM_analytic();
matrix<double> thetaDotDot_1 = -1.0 * (MInv_1 * (u - C_1 - G_1));
matrix<double> stateDot_1(4,1);
stateDot_1(0,0) = state_1(2,0);
stateDot_1(1,0) = state_1(3,0);
stateDot_1(2,0) = thetaDotDot_1(0,0);
stateDot_1(3,0) = thetaDotDot_1(1,0);
setState(state_1 + stateDot_1*deltaT/2.0);
matrix<double> state_2 = getState();
matrix<double> C_2 = computeC_analytic();
matrix<double> G_2 = computeG_analytic();
matrix<double> MInv_2 = !computeM_analytic();
matrix<double> thetaDotDot_2 = -1.0 * (MInv_2 * (u - C_2 - G_2));
matrix<double> stateDot_2(4,1);
stateDot_2(0,0) = state_2(2,0);
stateDot_2(1,0) = state_2(3,0);
stateDot_2(2,0) = thetaDotDot_2(0,0);
stateDot_2(3,0) = thetaDotDot_2(1,0);
setState(state_1 + stateDot_2*deltaT);
}
void
Spacetime::stepPhysics_analytic(matrix<double> u)
{
matrix<double> state_1 = getState();
matrix<double> C_1 = computeC_analytic();
matrix<double> G_1 = computeG_analytic();
matrix<double> MInv_1 = !computeM_analytic();
matrix<double> damping = G_1;//(MInv_1 * (u - C_1 - G_1));
damping(0,0) *= abs(state_1(2,0));
damping(1,0) *= abs(state_1(3,0));
matrix<double> thetaDotDot_1 = (MInv_1 * (u/*+damping*/ - C_1 - G_1));
matrix<double> stateDot_1(4,1);
stateDot_1(0,0) = state_1(2,0);
stateDot_1(1,0) = state_1(3,0);
stateDot_1(2,0) = thetaDotDot_1(0,0);
stateDot_1(3,0) = thetaDotDot_1(1,0);
setState(state_1 + stateDot_1*deltaT/2.0);
matrix<double> state_2 = getState();
matrix<double> C_2 = computeC_analytic();
matrix<double> G_2 = computeG_analytic();
matrix<double> MInv_2 = !computeM_analytic();
damping = G_2;
damping(0,0) *= abs(state_2(2,0));
damping(1,0) *= abs(state_2(3,0));
matrix<double> thetaDotDot_2 = (MInv_2 * (u/*+damping*/ - C_2 - G_2));
matrix<double> stateDot_2(4,1);
stateDot_2(0,0) = state_2(2,0);
stateDot_2(1,0) = state_2(3,0);
stateDot_2(2,0) = thetaDotDot_2(0,0);
stateDot_2(3,0) = thetaDotDot_2(1,0);
setState(state_1 + stateDot_2*deltaT);
}
int main(void) {
while (1) {
state = 0;
int setTime = 15;
numPlayers = 2;
initScreen();
clearScreen();
initCharBuffer();
clean_up();
initKeyboard();
initState0();
initAI();
//Bypass the menu system for testing
if (IORD(keys,0) == 8) {
initPlayer(pOne, MARIO, "pOne", 50, 100, HUMAN);
initPlayer(pTwo, LUIGI, "pTwo", 50, 100, COMPUTER);
state = 2;
} else {
while (state == 0) {
decode_scancode(ps2, &decode_mode, buf, &ascii);
state_0(decode_mode, buf[0]);
};
initState1(pOne);
if(aOn)file_handle = initAudio(fname);
if(aOn)alt_irq_register(AUDIO_0_IRQ, &ab, (alt_isr_func) write_fifo);
if(aOn) alt_up_audio_enable_write_interrupt(ab->audio);
while (state == 1) {
decode_scancode(ps2, &decode_mode, buf, &ascii);
state_1(decode_mode, buf[0], ascii);
if(aOn)loop_audio(file_handle, fname, ab);
};
}
//clean_up();
clearCharBuffer();
clearScreen();
//enable keyboard IRQ
void* keyboard_control_register_ptr = (void*) (KEYBOARD_BASE + 4);
alt_irq_register(KEYBOARD_IRQ, keyboard_control_register_ptr,
keyboard_ISR);
alt_up_ps2_enable_read_interrupt(ps2);
//Draw field and UI to both buffers
initField();
updateField();
drawName(p[pOne].name, p[pTwo].name, p[pThree].name, p[pFour].name);
drawGas(p[pOne].gas);
drawHealth(p[pOne].hp, p[pTwo].hp, p[pThree].hp, p[pFour].hp);
drawBullet(p[pOne].bulletType);
//drawWindIndicator(1);
updateScreen();
updateField();
drawName(p[pOne].name, p[pTwo].name, p[pThree].name, p[pFour].name);
drawGas(p[pOne].gas);
drawHealth(p[pOne].hp, p[pTwo].hp, p[pThree].hp, p[pFour].hp);
drawBullet(p[pOne].bulletType);
//drawWindIndicator(1);
float time;
alt_timestamp_start();
int start_timer_flag = 1;
//printf("NUM PLAYERA %i\n", numPlayers);
int i;
while (state == 2) {
int fallFlag = 1;
//Checks to see if any players are falling
while (fallFlag == 1) {
fallFlag = 0;
for (i = 0; i < numPlayers; i++) {
if (p[i].alive) {
if (p[i].y + TANK_HEIGHT >= SCREEN_HEIGHT-1) {
p[i].hp = 0;
p[i].alive = DEAD;
}
checkPlayerFalling(i);
if (p[i].isFalling) {
undrawPlayer(i);
updatePlayer(i);
fallFlag = 1;
}
}
}
if (fallFlag == 1) {
updateScreen();
}
}
if(start_timer_flag){
start_time = (float) alt_timestamp() / (float) alt_timestamp_freq();
start_timer_flag = 0;
}
time = (float) alt_timestamp() / (float) alt_timestamp_freq()-start_time;
if (time >= setTime) {
setPlayerTurn();
}
if (p[turn].type == HUMAN) {
runGame();
} else {
p[turn].deg = 0;
aiMain(turn);
setPlayerTurn();
}
printTimer(setTime - time);
int deadCount = 0;
for (i = 0; i < numPlayers; i++) {
if (p[i].alive == DEAD)
deadCount++;
}
if (deadCount == numPlayers - 1) {
usleep(500000);
state = 3;
}
}
alt_up_ps2_disable_read_interrupt(ps2);
if(aOn)alt_up_audio_disable_write_interrupt(ab->audio);
GameOverScreen();
}
}