void remove_node(struct Node** root, int data) {
struct Node* node = find_node(*root, data);
ASSERT(node != NULL, *root);
if (node->left == NULL && node->right == NULL) {
remove_leaf(root, node);
} else if (node->left != NULL && node->right == NULL) {
remove_node_with_left_child(root, node);
} else if (node->left == NULL && node->right != NULL) {
remove_node_with_right_child(root, node);
} else {
remove_node_with_both_children(root, node);
}
}
static void remove_node(SgBTreeNode **root, SgBTreeNode *n)
{
SgSize lml, rml;
lml = n->left->mlevel;
rml = n->right->mlevel;
if (!rml && !lml)
remove_leaf(root, n);
else if (rml > lml)
remove_node_right(root, n);
else if (rml < lml)
remove_node_left(root, n);
else {
if (n->parent->left == n)
remove_node_right(root, n);
else
remove_node_left(root, n);
}
}
void CPatchFile::ExecuteETRY(Framework::CStream& inputStream)
{
uint32 pathSize = inputStream.Read32_MSBF();
std::vector<char> pathData(pathSize);
inputStream.Read(pathData.data(), pathSize);
std::string path(std::begin(pathData), std::end(pathData));
auto fullFilePath = m_gameLocationPath / path;
auto fullFileDirectory = fullFilePath;
fullFileDirectory.remove_leaf();
fullFileDirectory.make_preferred();
fullFilePath.make_preferred();
if(!boost::filesystem::exists(fullFileDirectory))
{
m_result.messages.push_back(string_format("Warning: Directory '%s' doesn't exist. Creating.",
fullFileDirectory.string().c_str()
));
boost::filesystem::create_directories(fullFileDirectory);
}
if(!boost::filesystem::exists(fullFilePath))
{
m_result.messages.push_back(string_format("Warning: File '%s' doesn't exist. Creating.", fullFilePath.string().c_str()));
}
uint32 itemCount = inputStream.Read32_MSBF();
for(unsigned int i = 0; i < itemCount; i++)
{
//0x41 = last hash, 0x44 = first hash, 0x4D = both hashes?
uint32 hashMode = inputStream.Read32();
assert(hashMode == 0x41 || hashMode == 0x44 || hashMode == 0x4D);
uint8 srcFileHash[0x14];
uint8 dstFileHash[0x14];
inputStream.Read(srcFileHash, sizeof(srcFileHash));
inputStream.Read(dstFileHash, sizeof(dstFileHash));
//4E is no compression
//5A is zlib compression
uint32 compressionMode = inputStream.Read32();
assert((compressionMode == 0x4E) || (compressionMode == 0x5A));
uint32 compressedFileSize = inputStream.Read32_MSBF();
uint32 previousFileSize = inputStream.Read32_MSBF();
uint32 newFileSize = inputStream.Read32_MSBF();
if(i != (itemCount - 1))
{
assert(compressedFileSize == 0);
}
if(compressedFileSize == 0) continue;
//Data starts here
{
//Retrying here because explorer.exe can sometimes open the ffxiv*.exe files to load
//the icons making the open operation fail if we need to patch it again.
auto outputStream = CreateOutputStdStreamWithRetry(fullFilePath.native());
if(compressionMode == 0x4E)
{
ExtractUncompressed(outputStream, inputStream, compressedFileSize);
}
else if(compressionMode == 0x5A)
{
ExtractCompressed(outputStream, inputStream, compressedFileSize);
}
else
{
throw std::runtime_error("Unknown compression type.");
}
}
}
inputStream.Seek(0x08, Framework::STREAM_SEEK_CUR);
}
CPsfPathToken CPhysicalPsfStreamProvider::GetSiblingPath(const CPsfPathToken& pathToken, const std::string& siblingName)
{
auto path = GetFilePathFromPathToken(pathToken);
auto siblingPath = path.remove_leaf() / siblingName;
return GetPathTokenFromFilePath(siblingPath);
}
void adaptive_sparse_rrt_t::step()
{
//sample a state
sampler->sample(state_space,sample_point);
//get the nearest state
tree_vertex_index_t nearest = nearest_vertex(sample_point);
//propagate toward the sampled point
plan_t plan;
plan.link_control_space(control_space);
state_t* end_state = pre_alloced_points[point_number];
double prop_length=0;
int attempts=0;
trajectory.clear();
do
{
if(collision_checking)
{
plan.clear();
local_planner->steer(tree[nearest]->point,sample_point,plan,trajectory,false);
state_space->copy_point(end_state,trajectory[trajectory.size()-1]);
prop_length = plan.length();
}
else
{
plan.clear();
local_planner->steer(tree[nearest]->point,sample_point,plan,end_state,false);
prop_length = plan.length();
}
attempts++;
}
while(drain && attempts < max_attempts && ( metric->distance_function(tree[nearest]->point,end_state) < delta_drain || metric->distance_function(tree[nearest]->point,end_state) == PRX_INFINITY));
count_of_failure += attempts-1;
//check if the trajectory is valid
if(!collision_checking || (validity_checker->is_valid(trajectory) && trajectory.size()>1))
{
std::vector<tree_vertex_index_t> X_near;
double new_cost = get_vertex(nearest)->cost + prop_length;
bool better_node = false;
//Check if a node inside the radius_nearest region
if(drain)
{
X_near = neighbors(end_state);
foreach(tree_vertex_index_t x_near, X_near)
{
if(get_vertex(x_near)->cost <= new_cost )
{
better_node = true;
}
}
}
if(!better_node)
{
tree_vertex_index_t v = tree.add_vertex<adaptive_sparse_rrt_node_t,adaptive_sparse_rrt_edge_t>();
adaptive_sparse_rrt_node_t* node = get_vertex(v);
node->point = end_state;
// PRX_INFO_S("POINT: "<< state_space->print_point(end_state));
point_number++;
node->bridge = true;
node->cost = get_vertex(nearest)->cost + prop_length;
tree_edge_index_t e = tree.add_edge<adaptive_sparse_rrt_edge_t>(nearest,v);
get_edge(e)->plan = plan;
state_space->copy_point(states_to_check[0],end_state);
//check if better goal node
if(!real_solution && input_query->get_goal()->satisfied(end_state))
{
best_goal = v;
real_solution = true;
}
else if(real_solution && get_vertex(best_goal)->cost > get_vertex(v)->cost && input_query->get_goal()->satisfied(end_state) )
{
best_goal = v;
}
//check if we need to store trajectories for visualization
if(collision_checking && visualize_tree)
{
get_edge(e)->trajectory = trajectory;
}
else if(!collision_checking && visualize_tree)
{
if(trajectory.size()==0)
local_planner->propagate(get_vertex(nearest)->point,plan,trajectory);
get_edge(e)->trajectory = trajectory;
}
if(drain)
{
foreach(tree_vertex_index_t x_near, X_near)
{
if(!get_vertex(x_near)->bridge )
{
metric->remove_point(tree[x_near]);
get_vertex(x_near)->bridge = true;
}
tree_vertex_index_t iter = x_near;
while( is_leaf(iter) && get_vertex(iter)->bridge && !is_best_goal(iter))
{
tree_vertex_index_t next = get_vertex(iter)->get_parent();
remove_leaf(iter);
iter = next;
}
}
}
get_vertex(v)->bridge = false;
metric->add_point(tree[v]);
}
