/*------------------------------------------------------------------------------*
| <<< 直線と線分との交差判定 >>>
| 入力 pvecLine0 - pvecLine1 = 調べたい直線
| pvecRay0 - pvecRay1 = 交差判定をする線分
| 戻り値 TRUE : 交差している
| FALSE : 交差していない
*------------------------------------------------------------------------------*/
BOOL collision_line_ray(VEC2 *pvecLine0, VEC2 *pvecLine1, VEC2 *pvecRay0, VEC2 *pvecRay1)
{
// (x0,y0)-(x1,y1)において、x0,y0が小さい値になるように並べ替え
// 以下の矩形チェックに使うため、線の向きが変わっても気にしない
float fLineX0 = pvecLine0->x;
float fLineX1 = pvecLine1->x;
if(fLineX0 > fLineX1){ SWAPF(fLineX0, fLineX1);}
float fLineY0 = pvecLine0->y;
float fLineY1 = pvecLine1->y;
if(fLineY0 > fLineY1){ SWAPF(fLineY0, fLineY1);}
float fRayX0 = pvecRay0->x;
float fRayX1 = pvecRay1->x;
if(fRayX0 > fRayX1){ SWAPF(fRayX0, fRayX1);}
float fRayY0 = pvecRay0->y;
float fRayY1 = pvecRay1->y;
if(fRayY0 > fRayY1){ SWAPF(fRayY0, fRayY1);}
//--- 調べる必要のないものはここではじく -----------------
// 矩形を作り枠の外にあるかをチェック
if(fLineX0 < fRayX0 && fLineX1 < fRayX0){ return FALSE;}
if(fLineX0 > fRayX1 && fLineX1 > fRayX1){ return FALSE;}
if(fLineY0 < fRayY0 && fLineY1 < fRayY0){ return FALSE;}
if(fLineY0 > fRayY1 && fLineY1 > fRayY1){ return FALSE;}
//if(pvecLine0->x < pvecRay0->x && pvecLine1->x < pvecRay0->x){ return FALSE;}
//if(pvecLine0->x > pvecRay1->x && pvecLine1->x > pvecRay1->x){ return FALSE;}
//if(pvecLine0->y < pvecRay0->y && pvecLine1->y < pvecRay0->y){ return FALSE;}
//if(pvecLine0->y > pvecRay1->y && pvecLine1->y > pvecRay1->y){ return FALSE;}
//--- 外積を調べる ---------------------------------------
VEC2 v0 = *pvecRay1 - *pvecRay0;
VEC2 v1 = *pvecLine0 - *pvecRay0;
VEC2 v2 = *pvecLine1 - *pvecRay0;
//float a = D3DXVec2CCW(&v0, &v1); // 戻り値が正なら左
//float b = D3DXVec2CCW(&v0, &v2); // 戻り値が負なら右
float a = calc_vec2_cross(&v0, &v1); // 戻り値が正なら左
float b = calc_vec2_cross(&v0, &v2); // 戻り値が負なら右
if(a == 0.f || b == 0.f){ return TRUE;} // 直線の上
if(a > 0.f && b < 0.f){ return TRUE;} // 交差
if(a < 0.f && b > 0.f){ return TRUE;} // 交差
return FALSE;
}
int
awritefloat (char *file,
float *data,
int length)
{
int fd;
int size;
int offset;
if ((fd = open (file, O_CREAT | O_WRONLY | O_TRUNC | O_BINARY, 0644)) < 0)
{
fprintf (stderr, "awritefloat: %s: can't create\n", file);
perror("");
return -1;
}
SWAPL(&length);
if (write (fd, (char *) &length, 4) != 4)
{
fprintf (stderr, "awritefloat: %s: can't write length\n", file);
perror("");
close (fd);
return -1;
}
SWAPL(&length);
for(offset = 0; offset < length; offset++)
SWAPF(data + offset);
size = length * sizeof (float);
if (write (fd, (char *) data, size) != size)
{
fprintf (stderr, "awritefloat: %s: can't write data\n", file);
perror("");
close (fd);
return (-1);
}
for(offset = 0; offset < length; offset++)
SWAPF(data + offset);
printf ("Wrote %d floats in %s.\n", length, file);
close (fd);
return length;
}
void PIC::decodeCmd(int pc)
{
// {
qDebug() << "CMDLIST" <<m_CmdList[pc];
//qDebug() << pc << "PC";
k_long=m_CmdList[pc] & 0x7FF;
//qDebug() << k_long << "klong";
k=m_CmdList[pc] & 0xFF;
qDebug() << k << "k";
f=m_CmdList[pc] & 0x7F;
//qDebug() << f <<"f";
d=m_CmdList[pc] & 0x80;
d=(d>>7); //Test
l=d;
b=m_CmdList[pc] & 0x380;
b = b / 128;
//qDebug() << b << "b";
qDebug() << PreScalerWert << "PreScalerWert";
PIC::getPreScaler();
PIC::SetBank();
PIC::ChkIndirect();
CheckIndirect();
int ByteCmd=m_CmdList[pc] & 0x3F00;
//qDebug() << ByteCmd << "byteCMD";
int BitCmd=m_CmdList[pc] & 0x3C00;
//qDebug() << BitCmd << "BitCMD";
int ShrtCmd=m_CmdList[pc] & 0x3800;
//qDebug() << ShrtCmd << "ShrtCMD";
if(ByteCmd == 0x0700 )
ADDWF();
else if(ByteCmd == 0x0500)
ANDWF();
else if((m_CmdList[pc] & 0x03F80) == 0x0180)
CLRF();
else if(ByteCmd == 0x0100)
CLRW();
else if(ByteCmd == 0x0900)
COMF();
else if(ByteCmd == 0x0300)
DECF();
else if(ByteCmd == 0x0B00)
DECFSZ();
else if(ByteCmd == 0x0A00)
INCF();
else if(ByteCmd == 0x0F00)
INCFSZ();
else if(ByteCmd == 0x0400)
IORWF();
else if(ByteCmd == 0x0800)
MOVF();
else if((m_CmdList[pc] & 0x3F80) == 0x0080)
MOVWF();
else if((m_CmdList[pc] & 0x3F9F) == 0x0000)
NOP();
else if(ByteCmd == 0x0D00)
RLF();
else if(ByteCmd == 0x0C00)
RRF();
else if(ByteCmd == 0x0200)
SUBWF();
else if(ByteCmd == 0x0E00)
SWAPF();
else if(ByteCmd == 0x0600)
XORWF();
else if(BitCmd == 0x1000)
BCF();
else if(BitCmd == 0x1400)
BSF();
else if(BitCmd == 0x1800)
BTFSC();
else if(BitCmd == 0x1C00)
BTFSS();
//ADDLW kann durch don't care Bit 3E bzw. 3F sein
else if((m_CmdList[pc] & 0x3E00 ) == 0x3E00)
ADDLW();
else if((m_CmdList[pc] & 0x3F00 ) == 0x3F00)
ADDLW();
else if(ByteCmd == 0x3900)
ANDLW();
else if(ShrtCmd == 0x2000)
CALL();
else if((m_CmdList[pc]& 0XFFFF) == 0x0064)
CLRWDT();
else if(ShrtCmd == 0x2800)
GOTO();
else if((ByteCmd) == 0x3A00)
XORLW();
else if((m_CmdList[pc] & 0x3E00 ) == 0x3C00)
SUBLW();
else if((m_CmdList[pc] & 0xFFFF ) == 0x0063)
SLEEP();
else if((m_CmdList[pc] & 0xFFFF ) == 0x0008)
RETURN();
else if((BitCmd) == 0x3400)
RETURNLW();
else if((m_CmdList[pc] & 0xFFFF ) == 0x0009)
RETURNFIE();
else if((ByteCmd) == 0x3000)
MOVLW();
else if((ByteCmd) == 0x3100)
MOVLW();
else if((ByteCmd) == 0x3200)
MOVLW();
else if((ByteCmd) == 0x3300)
MOVLW();
else if((ShrtCmd) == 0x3800)
IORLW();
//zählt nach jeder Befehlsabarbeitung einen Programmzyklus hoch, bizyklische Befehle zählen zusätzlich während des Befehls rauf
PIC::ExtClock();
PIC::IncrementCycles();
PIC::setTmr0();
PIC::LaufZeit();
//PreScalerCounter++;
PIC::SyncSpecialReg();
PIC::RBPeakAnalyzer();
PIC::InterruptAnalyzer();
//Diagnoseausgaben
qDebug() << "---------------------------------";
//qDebug() << regModel->reg[bank][PORTB] << "PortB";
qDebug() << regModel->reg[bank][INDIRECT] << "INDIRECT";
qDebug() << regModel->reg[bank][FSR] << "FSR";
//qDebug() << regModel->reg[bank][0x15] << "15h";
qDebug() << cycles << "Programmzyklen";
qDebug() << "---------------------------------";
}
