void particle_controller::DestroyFirstParticleAtMouse()
{
for (int i = maxParticles - 1; i >= 0; i--) {
if (!spaces[i]) {
if (particles[i]->OnClick(mouseX, mouseY)){
DeleteParticle(i);
break;
}
}
}
}
void LocalizationManager::update(double deltaX, double deltaY, double deltaYaw)
{
double maxBelief = 0;
Particle* bestParticle = NULL;
vector<int> parIndexToDelete;
for (int currParticle = 0; currParticle < _particles_count; currParticle++)
{
_particles[currParticle]->update(deltaX, deltaY, deltaYaw, _rob, _map);
double particleBelief = _particles[currParticle]->getBelief();
if (particleBelief < MIN_BELIEF)
{
parIndexToDelete.push_back(particleBelief);
//DeleteParticle(currParticle);
}
else
{
if (maxBelief < particleBelief)
{
maxBelief = particleBelief;
bestParticle = _particles[currParticle];
}
}
}
for (int i=0; i< parIndexToDelete.size(); i++)
{
DeleteParticle(parIndexToDelete[i]);
}
if (_particles_count == 0)
{
bestParticle = new Particle(_rob->GetXPos(), _rob->GetYPos(), _rob->GetYaw(), 1);
}
this->CreateParticle(bestParticle);
while(_particles_count < PARTICLES_MIN)
{
this->CreateParticle(bestParticle);
}
}
//++++++++++++++++++++++++++++++++++++++++++++++++
//更新
//--in--------------------------------------------
//
//--out-------------------------------------------
//
//++++++++++++++++++++++++++++++++++++++++++++++++
void EMITTER::UpDate()
{
if(m_LifeTime > 0)
CreatePrticle();
for(int i = 0; i < MAX_PARTICLE; i++)
{
if(!m_Particle[i].m_Live)
continue;
m_Particle[i].UpDate();
if(!m_Particle[i].m_Live)
DeleteParticle(&m_Particle[i]);
}
if(m_ParticleCount <= 0)
{
m_Enable = false;
Init();
}
m_LifeTime--;
}
void particle_controller::DeleteParticles()
{
for (int i = 0; i < maxParticles; i++) {
DeleteParticle(i);
}
}
