int main(int argc, char **argv) {
FILE * fp;
Cone * k;
Data * d;
Work * w;
Sol * sol;
Info info = { 0 };
scs_int i;
if (openFile(argc, argv, 1, DEMO_PATH, &fp) < 0)
return -1;
k = scs_calloc(1, sizeof(Cone));
d = scs_calloc(1, sizeof(Data));
sol = scs_calloc(1, sizeof(Sol));
if (readInData(fp, d, k) == -1) {
printf("Error reading in data, aborting.\n");
return -1;
}
fclose(fp);
scs_printf("solve once using scs\n");
scs(d, k, sol, &info);
if (TEST_WARM_START) {
scs_printf("solve %i times with warm-start and (if applicable) factorization caching.\n", NUM_TRIALS);
/* warm starts stored in Sol */
w = scs_init(d, k, &info);
if (w) {
for (i = 0; i < NUM_TRIALS; i++) {
/* perturb b and c */
perturbVector(d->b, d->m);
perturbVector(d->c, d->n);
d->stgs->warm_start = 1;
d->stgs->cg_rate = 4;
scs_solve(w, d, k, sol, &info);
d->stgs->warm_start = 0;
d->stgs->cg_rate = 2;
scs_solve(w, d, k, sol, &info);
}
}
scs_printf("finished\n");
scs_finish(w);
}
freeData(d, k);
freeSol(sol);
return 0;
}
void Turret::fireProjectile(const FBox &target_box, const Weapon &weapon, float randomness) {
if(isClient())
return;
Segment best_ray = computeBestShootingRay(target_box, weapon);
if(randomness > 0.0f) {
float3 dir = perturbVector(best_ray.dir(), random(), random(), randomness);
best_ray = Ray(best_ray.origin(), dir);
}
#ifdef DEBUG_SHOOTING
{
m_aiming_lines.clear();
m_aiming_lines.push_back(best_ray.origin());
Intersection isect = trace(best_ray, {Flags::all | Flags::colliding, ref()});
m_aiming_lines.push_back(best_ray.origin() + best_ray.dir() * isect.distance());
}
#endif
//TODO: spawned projectiles should be centered
if( const ProjectileProto *proj_proto = weapon.projectileProto() )
addNewEntity<Projectile>(best_ray.origin(), *proj_proto, actualDirAngle(), best_ray.dir(), ref(), weapon.proto().damage_mod);
}
