Point Board::getBomberman() const {
PointList rslt;
rslt.splice(rslt.end(), findAll(Element(LL("BOMBERMAN"))));
rslt.splice(rslt.end(), findAll(Element(LL("BOMB_BOMBERMAN"))));
rslt.splice(rslt.end(), findAll(Element(LL("DEAD_BOMBERMAN"))));
return rslt.front();
}
PointList Board::getOtherBombermans() const {
PointList rslt;
rslt.splice(rslt.end(), findAll(Element(LL("OTHER_BOMBERMAN"))));
rslt.splice(rslt.end(), findAll(Element(LL("OTHER_BOMB_BOMBERMAN"))));
rslt.splice(rslt.end(), findAll(Element(LL("OTHER_DEAD_BOMBERMAN"))));
return rslt;
}
PointList Board::getBarriers() const {
PointList rslt = getMeatChoppers();
rslt.splice(rslt.end(), getWalls());
rslt.splice(rslt.end(), getBombs());
rslt.splice(rslt.end(), getDestoyWalls());
rslt.splice(rslt.end(), getOtherBombermans());
return removeDuplicates(rslt);
}
void handleDual(Hyperbola_segment_2 hs, std::vector<PointList>& polylines)
{
PointList p;
hs.generate_points(p);
PointList points;
points.insert(points.end(), p.begin(), p.end());
polylines.push_back(points);
}
void handleDual(Hyperbola_ray_2 hr, Iso_rectangle_2 crect, std::vector<PointList>& polylines)
{
PointList p;
hr.generate_points(p);
PointList points;
points.insert(points.end(), p.begin(), p.end());
polylines.push_back(points);
}
/*!
\brief Add linestring to a ring (private)
\param[in,out] papoRing list of rings
\param poLine pointer to linestring to be added to a ring
\return TRUE on success
\return FALSE on failure
*/
bool IVFKDataBlock::AppendLineToRing(PointListArray *papoRing, const OGRLineString *poLine, bool bNewRing)
{
OGRPoint *poFirst, *poLast;
OGRPoint *poFirstNew, *poLastNew;
OGRPoint pt;
PointList poList;
/* OGRLineString -> PointList */
for (int i = 0; i < poLine->getNumPoints(); i++) {
poLine->getPoint(i, &pt);
poList.push_back(pt);
}
/* create new ring */
if (bNewRing) {
papoRing->push_back(new PointList(poList));
return TRUE;
}
poFirstNew = &(poList.front());
poLastNew = &(poList.back());
for (PointListArray::const_iterator i = papoRing->begin(), e = papoRing->end();
i != e; ++i) {
PointList *ring = (*i);
poFirst = &(ring->front());
poLast = &(ring->back());
if (!poFirst || !poLast || poLine->getNumPoints() < 2)
return FALSE;
if (poFirstNew->Equals(poLast)) {
/* forward, skip first point */
ring->insert(ring->end(), poList.begin()+1, poList.end());
return TRUE;
}
if (poFirstNew->Equals(poFirst)) {
/* backward, skip last point */
ring->insert(ring->begin(), poList.rbegin(), poList.rend()-1);
return TRUE;
}
if (poLastNew->Equals(poLast)) {
/* backward, skip first point */
ring->insert(ring->end(), poList.rbegin()+1, poList.rend());
return TRUE;
}
if (poLastNew->Equals(poFirst)) {
/* forward, skip last point */
ring->insert(ring->begin(), poList.begin(), poList.end()-1);
return TRUE;
}
}
return FALSE;
}
PointList Board::removeDuplicates(PointList lst) const {
PointList res;
for (auto pt : lst) {
if (std::find(res.begin(), res.end(), pt) == res.end()) {
res.push_back(pt);
}
}
return res;
}
PointList Board::getBombs() const {
PointList rslt;
rslt.splice(rslt.end(), findAll(Element(LL("BOMB_TIMER_1"))));
rslt.splice(rslt.end(), findAll(Element(LL("BOMB_TIMER_2"))));
rslt.splice(rslt.end(), findAll(Element(LL("BOMB_TIMER_3"))));
rslt.splice(rslt.end(), findAll(Element(LL("BOMB_TIMER_4"))));
rslt.splice(rslt.end(), findAll(Element(LL("BOMB_TIMER_5"))));
rslt.splice(rslt.end(), findAll(Element(LL("BOMB_BOMBERMAN"))));
return rslt;
}
void handleDual(Hyperbola_ray_2 hr, Iso_rectangle_2 crect, std::vector<PointList>& polylines)
{
std::cerr << "hyperbola ray" << std::endl; // hr.draw(str);
PointList p;
hr.generate_points(p);
PointList points;
points.insert(points.end(), p.begin(), p.end());
polylines.push_back(points);
for (unsigned int i = 0; i < p.size() - 1; i++) {
Segment_2 seg(p[i], p[i+1]);
// doing nothing here
}
}
GLuint CreateSplat(GLuint quadVao, PointList positions)
{
const int Size = 64;
Surface surface = CreateVolume(Size, Size, Size);
GLuint program = CreateProgram("Splat.VS", "Splat.GS", "Splat.FS");
glUseProgram(program);
GLint inverseSize = glGetUniformLocation(program, "InverseSize");
glUniform1f(inverseSize, 1.0f / (float) Size);
const float innerScale = 0.4f;
GLint inverseVariance = glGetUniformLocation(program, "InverseVariance");
glUniform1f(inverseVariance, -1.0f / (2.0f * innerScale * innerScale));
GLint normalizationConstant = glGetUniformLocation(program, "NormalizationConstant");
glUniform1f(normalizationConstant, 1.0f / std::pow(std::sqrt(TwoPi) * innerScale, 3.0f));
glBindFramebuffer(GL_FRAMEBUFFER, surface.FboHandle);
glBindTexture(GL_TEXTURE_3D, 0);
glViewport(0, 0, Size, Size);
glBindVertexArray(quadVao);
glEnable(GL_BLEND);
glBlendFunc(GL_ONE, GL_ONE);
PointList::const_iterator i = positions.begin();
for (; i != positions.end(); ++i) {
PointList::const_iterator next = i;
if (++next == positions.end())
next = positions.begin();
VectorMath::Vector3 velocity = (*next - *i);
GLint center = glGetUniformLocation(program, "Center");
glUniform4f(center, i->getX(), i->getY(), i->getZ(), 0);
GLint color = glGetUniformLocation(program, "Color");
glUniform3fv(color, 1, (float*) &velocity);
glDrawArraysInstanced(GL_TRIANGLE_STRIP, 0, 4, Size);
}
PezCheckCondition(GL_NO_ERROR == glGetError(), "Unable to create splat.");
glViewport(0, 0, PEZ_VIEWPORT_WIDTH, PEZ_VIEWPORT_HEIGHT);
glDisable(GL_BLEND);
return surface.TextureHandle[0];
}
void handleDual(Hyperbola_segment_2 hs, std::vector<PointList>& polylines)
{
std::cerr << "hyperbola segment" << std::endl; //hs.draw(str);
PointList p;
hs.generate_points(p);
std::cerr << "# hyperbola points: " << p.size() << std::endl;
PointList points;
points.insert(points.end(), p.begin(), p.end());
polylines.push_back(points);
for (unsigned int i = 0; i < p.size() - 1; i++) {
Segment_2 seg(p[i], p[i+1]);
// doing nothing here
}
}
void RenderCallback()
{
// Clear buffers
glClearColor(1.0f,1.0f,1.0f,1.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPointSize(1.0);
glColor3f(0,0,0);
glLineWidth(2.0f);
int i, j;
glBegin(GL_LINES);
//渲染凸多边形P
for( i = gN - 1, j = 0 ; j < gN ; i = j, j += 1 )
{
glVertex2f(gP[i].x,gP[i].y);
glVertex2f(gP[j].x,gP[j].y);
}
//渲染凸多边形Q
for( i = gM - 1, j = 0 ; j < gM ; i = j, j += 1 )
{
glVertex2f(gQ[i].x,gQ[i].y);
glVertex2f(gQ[j].x,gQ[j].y);
}
PointList::iterator it;
for( it = gInterList.begin() ; it != gInterList.end() ; it ++ )
{
glVertex2f((*it).x,(*it).y - 20);
glVertex2f((*it).x,(*it).y + 20);
}
glEnd();
glutSwapBuffers();
}
void draw_hand_trace(sf::RenderWindow& window,
const PointList& pointList,
const sf::Color& color,
const float depthScale)
{
if (pointList.size() < 2) { return; }
const float thickness = 4;
auto it = pointList.begin();
astra::Vector2i previousPoint = *it;
while (it != pointList.end())
{
const astra::Vector2i currentPoint = *it;
++it;
const sf::Vector2f p1((previousPoint.x + .5f) * depthScale,
(previousPoint.y + .5f) * depthScale);
const sf::Vector2f p2((currentPoint.x + .5f) * depthScale,
(currentPoint.y + .5f) * depthScale);
previousPoint = currentPoint;
window.draw(sfLine(p1, p2, color, thickness));
}
}
FrontierList Planner::getFrontiers(GridMap* map, GridPoint start)
{
// Initialization
mFrontierCellCount = 0;
mFrontierCount = 0;
GridMap plan = GridMap(map->getWidth(), map->getHeight());
FrontierList result;
// Initialize the queue with the robot position
Queue queue;
queue.insert(Entry(0, start));
plan.setData(start, VISIBLE);
// Do full search with weightless Dijkstra-Algorithm
while(!queue.empty())
{
// Get the nearest cell from the queue
Queue::iterator next = queue.begin();
int distance = next->first;
GridPoint point = next->second;
queue.erase(next);
// Add neighbors
bool isFrontier = false;
PointList neighbors = getNeighbors(point, false);
char c = 0;
for(PointList::const_iterator cell = neighbors.begin(); cell < neighbors.end(); cell++)
{
if(map->getData(*cell,c) && c == UNKNOWN)
{
plan.setData(*cell, OBSTACLE);
isFrontier = true;
break;
}
if(map->getData(*cell, c) && c == VISIBLE &&
plan.getData(*cell, c) && c == UNKNOWN)
{
queue.insert(Entry(distance+1, *cell));
plan.setData(*cell, VISIBLE);
}
}
if(isFrontier)
{
result.push_back(getFrontier(map, &plan, point));
}
}
// Set result message and return the point list
if(result.size() > 0)
{
mStatus = SUCCESS;
sprintf(mStatusMessage, "Found %d frontiers with %d frontier cells.", mFrontierCount, mFrontierCellCount);
}else
{
mStatus = NO_GOAL;
sprintf(mStatusMessage, "No reachable frontiers found.");
}
return result;
}
PointList ClusteredDatasetGenerator::generate(unsigned int numDimensions,
const std::vector<ClusterSpecification>& clusters) const
{
PointList points;
RandomPointGenerator rpGenerator;
for (std::vector<ClusterSpecification>::const_iterator it = clusters.begin();
(it != clusters.end()); it++)
{
PointList clusterPoints = rpGenerator.generatePointsInRegion(
numDimensions, it->region(), it->numPoints());
points.insert(points.end(), clusterPoints.begin(), clusterPoints.end());
}
return points;
}
void Dataset<D, ELEM_TYPE>::load(const PointList& newPoints)
{
// Pre-allocate memory in one sys call
m_points.reserve(m_points.size() + newPoints.size());
// Append given points to end of current point list
m_points.insert(m_points.end(), newPoints.begin(), newPoints.end());
}
void Planner::setCoverageMap(PointList points, char value)
{
PointList::iterator i;
for(i = points.begin(); i < points.end(); i++)
{
mCoverageMap->setData(*i, value);
}
}
void Planner::addReading(Pose p)
{
PointList points = willBeExplored(p);
for(PointList::iterator i = points.begin(); i < points.end(); ++i)
{
mCoverageMap->setData(*i, VISIBLE);
}
}
void transform(const PointList& in,PointList& out,const osg::Matrix& matrix)
{
for(PointList::const_iterator itr=in.begin();
itr!=in.end();
++itr)
{
out.push_back(Point(itr->first,itr->second * matrix));
}
}
void transform(PointList& points,const osg::Matrix& matrix)
{
for(PointList::iterator itr=points.begin();
itr!=points.end();
++itr)
{
itr->second = itr->second*matrix;
}
}
PointList::PointList (const PointList& pointList):
KKQueue<Point> (true)
{
PointList::const_iterator idx;
for (idx = pointList.begin (); idx != pointList.end (); idx++)
{
PushOnBack (new Point (*(*idx)));
}
}
void pushToFarPlane(PointList& points)
{
for(PointList::iterator itr=points.begin();
itr!=points.end();
++itr)
{
itr->second.z() = 1.0f;
}
}
void copyPointListToVertexList(const PointList& in,VertexList& out)
{
out.reserve(in.size());
for(PointList::const_iterator itr=in.begin();
itr!=in.end();
++itr)
{
out.push_back(itr->second);
}
}
PointList Board::getFutureBlasts() const {
PointList bombs = getBombs();
bombs.splice(bombs.end(), findAll(Element(LL("OTHER_BOMB_BOMBERMAN"))));
bombs.splice(bombs.end(), findAll(Element(LL("BOMB_BOMBERMAN"))));
PointList rslt;
PointList walls = getWalls();
for (auto bmb : bombs) {
rslt.push_back(bmb);
PointList bombSurrs = bmb.getSurrounds(size);
for (auto surr : bombSurrs) {
if (std::find(walls.begin(), walls.end(), surr) == walls.end()) {
rslt.push_back(surr);
}
}
}
return removeDuplicates(rslt);
}
ScreenCalibrator::PickResult ScreenCalibrator::pickPoint(const Ray& queryRay) const
{
/* Create a ray picker: */
Geometry::RayPicker<Scalar,3> picker(queryRay,Scalar(Vrui::getRayPickCosine()));
/* Process all points: */
for(PointList::const_iterator pIt=trackingPoints.begin();pIt!=trackingPoints.end();++pIt)
picker(*pIt);
for(PointList::const_iterator pIt=floorPoints.begin();pIt!=floorPoints.end();++pIt)
picker(*pIt);
for(PointList::const_iterator pIt=screenPoints.begin();pIt!=screenPoints.end();++pIt)
picker(*pIt);
for(PointList::const_iterator pIt=ballPoints.begin();pIt!=ballPoints.end();++pIt)
picker(*pIt);
/* Return the index of the picked point: */
if(picker.havePickedPoint())
return picker.getPickIndex();
else
return ~PickResult(0);
}
boost::optional<Point> fastFilterPointList(
const PointList& pointList,
std::vector<Point>& newPointList) const
{
assert(!pointList.empty());
newPointList.reserve(pointList.size() - 1);
std::copy(
++pointList.begin(),
pointList.end(),
std::back_inserter(newPointList)
);
return boost::optional<Point>(pointList.front());
} // fastFilterFunctorList
// True if a track segment could be placed in its present location
bool Editor::can_place_track(ITrackSegmentPtr track)
{
PointList covered;
track->get_endpoints(covered);
track->get_covers(covered);
for (auto it = covered.begin(); it != covered.end(); ++it) {
if (map->is_valid_track(*it)) {
warn() << "Cannot place track here";
return false;
}
}
return true;
}
bool Planner::isFrontierCell(GridMap* map, GridPoint point) const
{
char c = 0;
if(map->getData(point, c) && c != VISIBLE)
return false;
PointList neighbors = getNeighbors(point, true);
for(PointList::const_iterator cell = neighbors.begin(); cell < neighbors.end(); cell++) {
char c = 0;
if(map->getData(*cell, c) && c == UNKNOWN) {
return true;
}
}
return false;
}
Pose Planner::getCoverageTarget(Pose start)
{
GridPoint startPoint;
startPoint.x = start.x;
startPoint.y = start.y;
PointList fCells = getFrontierCells(mCoverageMap, startPoint);
PointList::const_iterator p;
Pose target;
for(p = fCells.begin(); p < fCells.end(); p++)
{
target.x = p->x;
target.y = p->y;
LOG_DEBUG_S << "possible goals: " << target.x << "/" << target.y;
if(p->distance > 20 && p->distance < 30) break;
}
return target;
}
// clip the convex hull 'in' to plane to generate a clipped convex hull 'out'
// return true if points remain after clipping.
unsigned int clip(const Plane& plane,const PointList& in, PointList& out,unsigned int planeMask)
{
std::vector<float> distance;
distance.reserve(in.size());
for(PointList::const_iterator itr=in.begin();
itr!=in.end();
++itr)
{
distance.push_back(plane.distance(itr->second));
}
out.clear();
for(unsigned int i=0;i<in.size();++i)
{
unsigned int i_1 = (i+1)%in.size(); // do the mod to wrap the index round back to the start.
if (distance[i]>=0.0f)
{
out.push_back(in[i]);
if (distance[i_1]<0.0f)
{
unsigned int mask = (in[i].first & in[i_1].first) | planeMask;
float r = distance[i_1]/(distance[i_1]-distance[i]);
out.push_back(Point(mask,in[i].second*r+in[i_1].second*(1.0f-r)));
}
}
else if (distance[i_1]>0.0f)
{
unsigned int mask = (in[i].first & in[i_1].first) | planeMask;
float r = distance[i_1]/(distance[i_1]-distance[i]);
out.push_back(Point(mask,in[i].second*r+in[i_1].second*(1.0f-r)));
}
}
return out.size();
}
