Vec2d ParametricCubic::CalcGradient( double t ) const
{
double dx = m_x.CalcGradient(t);
double dy = m_y.CalcGradient(t);
return Vec2d(dx, dy);
}
Explosion::Explosion(Vec3d &position, GLfloat scale, Vec2d damageRange) : Entity(game->getAnimationManager()->get("fireball"), position, Vec2d(scale, scale))
{
setSize(int(scale));
mLifeTimer.start();
game->getSoundEngine()->play3DSound(game->getResourceManager()->get("grenade_explode"),mPosition, 2.0f * scale, randomFloat(0.75, 1.25));
mDamageRange = damageRange;
mDamage = -1;
}
Vec2d ParametricCubic::Calc( double t ) const
{
double x = m_x.CalcY(t);
double y = m_y.CalcY(t);
return Vec2d(x, y);
}
Vec2d Delta () const { return Vec2d (p2.X()-p1.X(), p2.Y()-p1.Y()); }
inline Vec2d operator- (const Point2d & p1, const Point2d & p2)
{
return Vec2d (p1.X() - p2.X(), p1.Y() - p2.Y());
}
void
WorkerBee::onState(State state, sf::Time dt)
{
Vec2d empty(-1.0, -1.0);
// first state
if (state == IN_HIVE) {
// if bee has pollen transfer it to hive
if (getPollen() > 0) {
transferPollen(dt);
flower_location_ = empty;
setDebugStatus("in_hive_leaving_pollen");
} else {
// if bee has not enough energy to leave hive, eat its nectar
if (getEnergy() < energy_leave_hive_
&& getHive().getNectar() > 0) {
setDebugStatus("in_hive_eating");
eatFromHive(dt);
}
// if there is a flower in memory and enough energy, target move
// to this flower
else if (flower_location_ != empty
&& getEnergy() > energy_collect_pollen_) {
setDebugStatus("in_hive_leaving");
setMoveTarget(flower_location_);
// change state to to flower
nextState();
} else {
setDebugStatus("in_hive_no_flower");
}
}
}
// second state
else if (state == TO_FLOWER) {
setDebugStatus("to_flower");
if (getEnergy() < energy_collect_pollen_) {
nextState();
nextState();
}
Flower* flower = getAppEnv().getCollidingFlower(getVisionRange());
if (flower) {
setMoveTarget(flower->getPosition());
setMoveState(MoveState::TARGET);
if (isPointInside(flower->getPosition())) {
nextState();
}
} else if (isPointInside(flower_location_)) {
// go back to hive and clear location
nextState();
nextState();
setFlowerLocation(Vec2d(-1,-1));
}
}
// third state
else if (state == COLLECT_POLLEN) {
// if there is a flower at flower location and it has pollen and
// bee has not enough pollen, eat pollen from flower
Flower* flower(getAppEnv().getCollidingFlower(getCollider()));
if ((getPollen() < max_pollen_)
&& (flower != nullptr)
&& (flower->getPollen() > 0)) {
eatPollen(flower, dt);
} else {
// else skip collection
nextState();
}
} else if (state == RETURN_HIVE) {
// if bee is in hive change state to in hive
if (getHive().isColliderInside(getCollider())) {
nextState();
}
}
}
void PSSMLTRenderer::SampleAndEvaluatePath( const std::shared_ptr<Sampler>& sampler, PathSampleRecord& record )
{
Ray ray;
Intersection isect;
Vec3d throughput(1.0);
int depth = 0;
Vec3d L;
// Raster position
Vec2d rasterPos(sampler->Next(), sampler->Next());
record.pixelPos.x = (int)(rasterPos.x * config->width);
record.pixelPos.y = (int)(rasterPos.y * config->height);
// Generate ray
double _;
scene->Camera()->SampleAndEvaluate(rasterPos, ray, _);
// ----------------------------------------------------------------------
// Initial intersection
if (!scene->Intersect(ray, isect))
{
record.L = L;
record.I = RenderUtils::Luminance(L);
return;
}
if (isect.primitive->Light() != nullptr)
{
auto& light = isect.primitive->Light();
L += light->Evaluate(-ray.d, isect.gn);
}
// ----------------------------------------------------------------------
while (true)
{
auto& bsdf = isect.primitive->Bsdf();
// Explicit (direct) light sampling
// We do not handle the light path with length 1 (EL path)
if (isect.primitive != nullptr)
{
auto positionSample = Vec2d(sampler->Next(), sampler->Next());
// Sample a light
std::shared_ptr<AreaLight> light;
double lightSelectionPdf;
scene->SampleLight(positionSample.x, light, lightSelectionPdf);
// Sample a position on the light
AreaLight::SampleRecord lightSampleRec;
lightSampleRec.positionSample = positionSample;
light->SamplePosition(lightSampleRec);
// Check visibility
Ray shadowRay;
auto d = lightSampleRec.p - isect.p;
shadowRay.d = Math::Normalize(d);
shadowRay.o = isect.p;
shadowRay.minT = isect.rayEpsilon;
shadowRay.maxT = Math::Length(d) * (1.0 - Eps);
Intersection shadowIsect;
if (!scene->Intersect(shadowRay, shadowIsect))
{
// Evaluate Le (with cosine term)
auto Le = light->EvaluateCos(-shadowRay.d, lightSampleRec.n) / lightSelectionPdf;
// Convert to Le / p_\sigma
auto dist2 = Math::Length2(d);
Le /= Vec3d(dist2);
// Prepare for BSDF evaluation
BSDFRecord bsdfRec;
bsdfRec.type = BSDFType::All;
bsdfRec.adjoint = false;
bsdfRec.wi = isect.worldToShading * -ray.d;
bsdfRec.wo = isect.worldToShading * shadowRay.d;
// Evaluate BSDF (with cosine term)
auto f = bsdf->Evaluate(bsdfRec, isect);
if (f != Vec3d())
{
// Calculate PDF for light and BSDF (in solid angle measure)
double dDotN = Math::Dot(-shadowRay.d, lightSampleRec.n);
double lightPdf =
dDotN <= 0
? 0.0
: lightSelectionPdf * // Selection
lightSampleRec.pdf * // p_A(x_n)
dist2 / dDotN; // Convert to p_\sigma(x_{n-1}\to x_n)
if (lightPdf > 0)
{
// It should be positive
double bsdfPdf = bsdf->Pdf(bsdfRec);
// MIS weight (for direct light sampling)
double w = lightPdf / (lightPdf + bsdfPdf);
// Record color
L += throughput * f * Le * w;
}
}
}
}
// ----------------------------------------------------------------------
// BSDF sampling
BSDFSample bsdfSample;
bsdfSample.u = Vec2d(sampler->Next(), sampler->Next());
bsdfSample.uComponent = sampler->Next();
BSDFRecord bsdfRec;
bsdfRec.type = BSDFType::All;
bsdfRec.adjoint = false;
bsdfRec.wi = isect.worldToShading * -ray.d;
double bsdfPdf;
auto f = bsdf->SampleAndEvaluate(bsdfRec, bsdfSample, bsdfPdf, isect);
if (bsdfPdf == 0.0 || f == Vec3d())
{
record.L = L;
record.I = RenderUtils::Luminance(L);
return;
}
// Convert to world coordinates
bsdfRec.wo = isect.shadingToWorld * bsdfRec.wo;
// Update throughput
throughput *= f;
// Setup next ray
ray.d = bsdfRec.wo;
ray.o = isect.p;
ray.minT = isect.rayEpsilon;
ray.maxT = Inf;
// ----------------------------------------------------------------------
// Check intersection
if (!scene->Intersect(ray, isect))
{
record.L = L;
record.I = RenderUtils::Luminance(L);
return;
}
auto light = isect.primitive->Light();
if (light != nullptr)
{
// Intersected with L
// Evaluate Le
auto Le = light->Evaluate(-ray.d, isect.gn);
if ((bsdfRec.sampledType & BSDFType::Delta) != 0)
{
// Disable MIS if last intersection is specular interaction
L += throughput * Le;
}
else
{
// Calculate PDF for light (in solid angle measure)
double dist2 = Math::Length2(ray.o - isect.p);
double dDotN = Math::Dot(-ray.d, isect.gn);
double lightPdf =
dDotN <= 0
? 0.0
: scene->LightSelectionPdf() * // Selection
light->PdfPosition() * // p_A(x_n)
dist2 / dDotN; // Convert to p_\sigma(x_{n-1}\to x_n)
// MIS weight (for BSDF sampling)
double w = bsdfPdf / (lightPdf + bsdfPdf);
// Record color
L += throughput * Le * w;
}
}
// ----------------------------------------------------------------------
if (++depth >= config->rrDepth)
{
// Russian roulette for path termination
double p = Math::Min(0.5, RenderUtils::Luminance(throughput));
if (sampler->Next() > p)
{
break;
}
throughput /= Vec3d(p);
}
}
record.L = L;
record.I = RenderUtils::Luminance(L);
}
std::vector<Vec2d> Tangents(const Arc &arc) {
auto radius_inv = (1.f/arc.circle.radius);
auto d0 = (arc.endpoints.pts[0] - arc.circle.center) * radius_inv;
auto d1 = (arc.endpoints.pts[1] - arc.circle.center) * radius_inv;
return {Vec2d(-d0[1], d0[0]), Vec2d(-d1[1], d1[0])};
}
void SwampMonster::attack()
{
Vec3d playerPos = game->getPlayer()->getPosition() - mPosition;
//Vec2d angle(atan2(playerPos.X-mPosition.X, playerPos.Z-mPosition.Z));
playerPos.normalize();
playerPos /= 8;
//range.setLength(1.0);
game->getEntityManager()->add(New Projectile(mPosition,playerPos,game->getAnimationManager()->get("fireball"),Vec2d(5,10),ENTITY_ATTACK_ENEMY));
speak(getAttackSound());
game->getSoundEngine()->play3DSound(game->getResourceManager()->get("flame_attack"),mPosition);
}
void Enemy::onUpdate()
{
if(invisibility) invisibility--;
Vec2i facing = intToDir(dir);
if(level.getAIFlags(position) & 2)
{
// Vergiftung
contamination--;
}
if(contamination <= 0) burst();
if(!thinkCounter--)
{
// den nächsten Spieler suchen, der für den Gegner sichtbar ist
Player* p_closestPlayer = 0;
int closestDist = 0;
const std::list<Player*>& players = Player::getInstances();
for(std::list<Player*>::const_iterator i = players.begin(); i != players.end(); ++i)
{
if(!(*i)->isTeleporting())
{
int dist = (position - (*i)->getPosition()).lengthSq();
if(dist < closestDist || !p_closestPlayer)
{
if(canSee((*i)->getPosition()))
{
p_closestPlayer = *i;
closestDist = dist;
}
}
}
}
if(p_closestPlayer)
{
targetPosition = p_closestPlayer->getPosition();
interest += 2225 - closestDist;
}
thinkCounter = random(2, 5);
}
if(subType == 0)
{
int oldDir = dir;
if(moveCounter-- <= 0 && fabs(shownDir - dir) < 0.4)
{
int r = random(0, 8);
if(interest >= 10000) r = random(0, 40);
if(contamination < 50)
{
if(random() % 2) r = 0;
}
interest /= 2;
switch(r)
{
case 0:
{
int d = random(-22, 22) / 10;
if(d) dir += d, anim += 16;
}
break;
case 1:
case 2:
case 3:
if(!tryToMove(facing)) dir += random(-22, 22) / 10;
anim += 16;
break;
default:
if(r >= 6 && targetPosition.x != -1)
{
// zum Ziel laufen
Vec2i toTarget = targetPosition - position;
if(toTarget.x && toTarget.y) toTarget.value[random(0, 1)] = 0;
int d = dirToInt(toTarget);
toTarget = intToDir(d);
if(tryToMove(toTarget))
{
dir = d;
anim += 16;
interest *= 2;
}
}
break;
}
if(position == targetPosition || interest < 10)
{
targetPosition = Vec2i(-1, -1);
interest = 0;
}
while(dir < 0) dir += 4, shownDir += 4.0;
dir %= 4;
moveCounter = random(4, 7);
}
if(anim) anim--;
double dd = static_cast<double>(dir) - shownDir;
if(dd > 2.0) shownDir += 4.0;
else if(dd < -2.0) shownDir -= 4.0;
shownDir = 0.125 * dir + 0.875 * shownDir;
if(!soundCounter)
{
if(oldDir != dir)
{
// Kratz-Sound abspielen
Engine::inst().playSound("enemy1_turn.ogg", false, 0.1, -100);
soundCounter = random(15, 55);
}
}
else soundCounter--;
if(burpCounter)
{
burpCounter--;
if(!burpCounter)
{
int s = random(0, 1);
std::string sound;
if(s == 0) sound = "enemy1_burp1.ogg";
else if(s == 1) sound = "enemy1_burp2.ogg";
Engine::inst().playSound(sound, false, 0.1);
// Rülpspartikel erzeugen
ParticleSystem* p_particleSystem = level.getParticleSystem();
ParticleSystem::Particle p;
for(int i = 0; i < 10; i++)
{
p.lifetime = random(50, 75);
p.damping = 0.99f;
p.gravity = random(-0.005f, -0.02f);
p.positionOnTexture = Vec2b(96, 32);
p.sizeOnTexture = Vec2b(16, 16);
p.position = position * 16 + Vec2i(8 + random(-4, 4), 6);
p.velocity = Vec2d(random(-0.5, 0.5), random(-1.0, -0.5));
p.color = Vec4d(random(0.8, 1.0), random(0.8, 1.0), random(0.8, 1.0), 0.25);
p.deltaColor = Vec4d(0.0, 0.0, 0.0, -p.color.a / p.lifetime);
p.rotation = random(-0.5f, 0.5f);
p.deltaRotation = random(-0.05f, 0.05f);
p.size = random(0.2f, 1.0f);
p.deltaSize = random(0.0f, 0.01f);
p_particleSystem->addParticle(p);
}
}
}
}
else if(subType == 1)
{
if(random() % 2) anim++;
if(moveCounter-- <= 0)
{
int r = random(0, 1);
if(interest > 6000) r = random(0, 50);
if(contamination < 50)
{
if(random() % 2) r = 0;
}
interest /= 2;
switch(r)
{
case 0:
tryToMove(intToDir(random(0, 4)));
break;
default:
if(targetPosition.x != -1)
{
// zum Ziel laufen
Vec2i toTarget = targetPosition - position;
if(toTarget.x && toTarget.y) toTarget.value[random(0, 1)] = 0;
int d = dirToInt(toTarget);
toTarget = intToDir(d);
if(tryToMove(toTarget)) interest *= 2;
}
else
{
// Wo ist die Spur am heißesten?
int bestDir = 0;
uint bestTrace = 0;
for(int dir = 0; dir < 4; dir++)
{
uint trace = level.getAITrace(position + intToDir(dir));
if(trace > bestTrace)
{
bestTrace = trace;
bestDir = dir;
}
}
if(bestTrace)
{
Vec2i bestDirV = intToDir(bestDir);
if(!tryToMove(bestDirV))
{
// Das ging nicht. Ist da ein anderer Gegner?
bool reduceTrace = true;
Object* p_obj = level.getFrontObjectAt(position + bestDirV);
if(p_obj)
{
// Wenn da ein anderer Gegner ist, ist es egal.
if(p_obj->getType() == "Enemy") reduceTrace = false;
}
if(reduceTrace)
{
// Die Spur dort etwas uninteressanter machen!
level.setAITrace(position + bestDirV, bestTrace / 2);
}
}
else
{
if(bestTrace > 850) interest = 160000;
else if(bestTrace > 100) interest = 20000;
}
}
}
break;
}
if(position == targetPosition || interest < 10)
{
targetPosition = Vec2i(-1, -1);
interest = 0;
}
moveCounter = random(4, 7);
}
if(height == 0.0)
{
if(!(random() % 25))
{
vy = random(40.0, 80.0);
height = 0.5;
}
}
else
{
height += 0.02 * vy;
vy -= 0.02 * 400.0;
if(height < 0.5)
{
height = 0.0;
vy = 0.0;
}
}
int pr = 700;
if(interest >= 10000) pr = 350;
if(!(random() % pr))
{
// Lachen abspielen
Engine::inst().playSound("enemy2_laugh.ogg", false, 0.15, -100);
}
if(interest >= 40000)
{
if(!(random() % 200))
{
// Knurren abspielen
Engine::inst().playSound("enemy2_growl.ogg", false, 0.15, -100);
}
}
if(interest >= 10000)
{
// Feuer
ParticleSystem* p_particleSystem = level.getParticleSystem();
ParticleSystem* p_fireParticleSystem = level.getFireParticleSystem();
ParticleSystem::Particle p;
p.lifetime = random(40, 50);
p.damping = 0.9f;
p.gravity = -0.04f;
p.positionOnTexture = Vec2b(32, 0);
p.sizeOnTexture = Vec2b(16, 16);
const double r = random(0.0, 6.283);
const Vec2d vr(sin(r), cos(r));
p.position = position * 16 + Vec2d(7.5, 7.5 - height) + 7.5 * vr;
p.velocity = vr;
p.color = Vec4d(random(0.5, 1.0), random(0.8, 1.0), random(0.0, 0.25), random(0.2, 0.4));
const double dc = -1.5 / (p.lifetime + random(-25, 25));
p.deltaColor = Vec4d(dc, dc, dc, -p.color.a / p.lifetime);
p.rotation = random(0.0f, 10.0f);
p.deltaRotation = random(-0.1f, 0.1f);
p.size = random(0.5f, 0.9f);
p.deltaSize = random(0.0075f, 0.015f);
if(random() % 2) p_particleSystem->addParticle(p);
else p_fireParticleSystem->addParticle(p);
}
}
if(eatCounter) eatCounter--;
}
void SimUIForm::FingerHandler::EnterSelect(Event *pevt) {
// Leave current modes
EnterNone();
// Form a box around the two down points
Rect rc;
if (m_x1 < m_x2) {
rc.left = m_x1;
rc.right = m_x2;
} else {
rc.left = m_x2;
rc.right = m_x1;
}
if (m_y1 < m_y2) {
rc.top = m_y1;
rc.bottom = m_y2;
} else {
rc.top = m_y2;
rc.bottom = m_y1;
}
// Initialize the drag rect. It expects a bottom left coordinate
// system. If the rect is rotated 90 cw, then it fits SimUI's
// coordinate system if x/y are swapped.
DPoint pt0, pt1, pt2;
pt0.x = rc.top;
pt0.y = rc.left;
pt1.x = rc.bottom;
pt1.y = rc.left;
pt2.x = rc.bottom;
pt2.y = rc.right;
DragRect drc;
drc.Init(pt0, pt1, pt2);
// Figure out the tracking masks
#define kcpCloseEnough 32.0
DPoint ptA;
ptA.x = m_y1;
ptA.y = m_x1;
m_maskA = drc.HitTest(ptA, &m_vOffsetA);
if (m_vOffsetA.mag() > kcpCloseEnough) {
m_vOffsetA = Vec2d(0, 0);
}
DPoint ptB;
ptB.x = m_y2;
ptB.y = m_x2;
m_maskB = drc.HitTest(ptB, &m_vOffsetB);
if (m_vOffsetB.mag() > kcpCloseEnough) {
m_vOffsetB = Vec2d(0, 0);
}
// Show the drag rect
m_pselspr->SetDragRect(drc);
m_pselspr->Show(true);
// Redraw the screen so the selection updates
gevm.SetRedrawFlags(kfRedrawDirty | kfRedrawBeforeTimer);
// Set selection based on this rect
SetSelection();
// Enter FHS_SELECT mode
m_state = FHS_SELECT;
}
void Enemy::onCollect(Player* p_player)
{
if(p_player->isTeleporting()) return;
if(subType == 0)
{
if(!eatCounter)
{
ParticleSystem* p_particleSystem = level.getParticleSystem();
ParticleSystem::Particle p;
// die Metzelei hinter einer Staubwolke verstecken
for(int i = 0; i < 150; i++)
{
p.lifetime = 100;
p.damping = 0.99f;
p.gravity = 0.005f;
p.positionOnTexture = Vec2b(0, 0);
p.sizeOnTexture = Vec2b(16, 16);
p.position = position * 16 + Vec2i(random(4, 12), random(4, 12));
double a = random(0.0, 1000.0);
p.velocity = Vec2d(sin(a), cos(a)) * random(0.05, 1.0);
double c = random(0.6, 1.0);
p.color = p_player->getDebrisColor();
p.color.a *= random(0.5f, 1.2f);
p.deltaColor = Vec4d(0.0, 0.0, 0.0, -p.color.a / p.lifetime);
p.rotation = random(0.0f, 10.0f);
p.deltaRotation = random(-0.1f, 0.1f);
p.size = random(0.3f, 0.5f);
p.deltaSize = random(0.01f, 0.05f);
p_particleSystem->addParticle(p);
}
Engine::inst().playSound("enemy1_eat.ogg", false, 0.1);
p_player->disappear(1.5);
p_player->censored = true;
moveCounter = 130;
eatCounter = 130;
burpCounter = 100;
slideDir = -1;
}
}
else if(subType == 1)
{
if(!eatCounter)
{
ParticleSystem* p_particleSystem = level.getParticleSystem();
ParticleSystem::Particle p;
// die Metzelei hinter einer Staubwolke verstecken
for(int i = 0; i < 150; i++)
{
p.lifetime = 100;
p.damping = 0.99f;
p.gravity = 0.005f;
p.positionOnTexture = Vec2b(0, 0);
p.sizeOnTexture = Vec2b(16, 16);
p.position = position * 16 + Vec2i(random(4, 12), random(4, 12));
double a = random(0.0, 1000.0);
p.velocity = Vec2d(sin(a), cos(a)) * random(0.05, 1.0);
double c = random(0.6, 1.0);
p.color = p_player->getDebrisColor();
p.color.a *= random(0.5f, 1.2f);
p.deltaColor = Vec4d(0.0, 0.0, 0.0, -p.color.a / p.lifetime);
p.rotation = random(0.0f, 10.0f);
p.deltaRotation = random(-0.1f, 0.1f);
p.size = random(0.3f, 0.5f);
p.deltaSize = random(0.01f, 0.05f);
p_particleSystem->addParticle(p);
}
Engine::inst().playSound("enemy2_eat.ogg", false, 0.1);
p_player->disappear(1.5);
p_player->censored = true;
moveCounter = 130;
eatCounter = 130;
burpCounter = 100;
slideDir = -1;
}
}
}
Range2<double> Range2<double>::Empty()
{
return Range2<double>(Vec2d(DBL_MAX, DBL_MAX), Vec2d(-DBL_MAX, -DBL_MAX));
}
Sprite::Sprite(Texture *texture)
{
mpTexture = texture;
mScale = Vec2d(1,1);
mSize = Vec2d(mpTexture->getWidth(), mpTexture->getHeight());
}
void Monster::think(const double elapsedTime)
{
Entity::think(elapsedTime);
if(!mIsDying && mHealth <= 0)
kill();
if(mIsStunned)
{
if(mPosition.Y > -0.5)
{
mVelocity.Y -= 0.005;
mPosition += mVelocity;
if(game->getCurrentMap()->getTile(int(mPosition.X + mVelocity.X), int(mPosition.Z)).type == TYPE_WALL)
{
mVelocity.X = -mVelocity.X;
mVelocity *= MONSTER_DAMPING;
}
if(game->getCurrentMap()->getTile(int(mPosition.X), int(mPosition.Z + mVelocity.Z)).type == TYPE_WALL)
{
mVelocity.Z = -mVelocity.Z;
mVelocity *= MONSTER_DAMPING;
}
}
else
{
mIsStunned = false;
mPosition.Y = -0.5;
}
}
if(mIsDying)
{
if(mDeathTimer.getElapsedTime() >= 500)
mShouldDelete = true;
return;
}
if(mIsFrozen)
{
if(mFreezeTimer.getElapsedTime() < 5000)
{
return;
}
else
setFrozen(false);
}
if(mIsFleeing)
{
Vec2d motion = Vec2d(playerPos.X-mPosition.X,playerPos.Z-mPosition.Z);
motion.normalize();
motion /= 35;
if((playerPos.X - mPosition.X) + (playerPos.Z - mPosition.Z) < 0.3)
{
int goalStr = game->getCurrentMap()->getTile(int(mPosition.X), int(mPosition.Z)).goodCreatureGoal;
playerPos = mPosition;
for(int i = -1; i < 2; ++i)
for(int j = -1; j < 2; ++j)
if(game->getCurrentMap()->getTile(i + int(mPosition.X), j + int(mPosition.Z)).type != TYPE_WALL && goalStr < game->getCurrentMap()->getTile(i + int(mPosition.X), j + int(mPosition.Z)).goodCreatureGoal && game->getCurrentMap()->getTile(i + int(mPosition.X), j + int(mPosition.Z)).goodCreatureGoal < 100)
{
goalStr = game->getCurrentMap()->getTile(i + int(mPosition.X), j + int(mPosition.Z)).goodCreatureGoal;
playerPos.X = mPosition.X + i;
playerPos.Z = mPosition.Z + j;
}
}
game->getCurrentMap()->setGoal(int(playerPos.X), int(playerPos.Z), 0);
game->getCurrentMap()->setGoal(int(mPosition.X), int(mPosition.Z), 0);
//Increase position of monster.
mPosition -= Vec3d(motion.X(),0,motion.Y());
}
else
{
Vec2d motion = Vec2d(playerPos.X-mPosition.X,playerPos.Z-mPosition.Z);
motion.normalize();
motion /= 50;
if((playerPos.X - mPosition.X) + (playerPos.Z - mPosition.Z) < 0.3)
{
int goalStr = game->getCurrentMap()->getTile(int(mPosition.X), int(mPosition.Z)).goodCreatureGoal;
playerPos = mPosition;
for(int i = -1; i < 2; ++i)
for(int j = -1; j < 2; ++j)
if(game->getCurrentMap()->getTile(i + int(mPosition.X), j + int(mPosition.Z)).type != TYPE_WALL && goalStr < game->getCurrentMap()->getTile(i + int(mPosition.X), j + int(mPosition.Z)).goodCreatureGoal && game->getCurrentMap()->getTile(i + int(mPosition.X), j + int(mPosition.Z)).goodCreatureGoal < 100)
{
goalStr = game->getCurrentMap()->getTile(i + int(mPosition.X), j + int(mPosition.Z)).goodCreatureGoal;
playerPos.X = mPosition.X + i;
playerPos.Z = mPosition.Z + j;
}
}
game->getCurrentMap()->setGoal(int(playerPos.X), int(playerPos.Z), 0);
game->getCurrentMap()->setGoal(int(mPosition.X), int(mPosition.Z), 0);
//Increase position of monster.
mPosition += Vec3d(motion.X(),0,motion.Y());
}
/*if(rand() % 500 == 0)
{
attack();
}
if(rand() % 5000 == 0)
{
makeMonsterNoise();
}*/
if(mVoice)
mVoice->setPosition(mPosition);
}
// Called from the constructor.
// Set the initial bed shape from a list of points.
// Deduce the bed shape type(rect, circle, custom)
// This routine shall be smart enough if the user messes up
// with the list of points in the ini file directly.
void BedShapePanel::set_shape(ConfigOptionPoints* points)
{
auto polygon = Polygon::new_scale(points->values);
// is this a rectangle ?
if (points->size() == 4) {
auto lines = polygon.lines();
if (lines[0].parallel_to(lines[2]) && lines[1].parallel_to(lines[3])) {
// okay, it's a rectangle
// find origin
coordf_t x_min, x_max, y_min, y_max;
x_max = x_min = points->values[0](0);
y_max = y_min = points->values[0](1);
for (auto pt : points->values)
{
x_min = std::min(x_min, pt(0));
x_max = std::max(x_max, pt(0));
y_min = std::min(y_min, pt(1));
y_max = std::max(y_max, pt(1));
}
auto origin = new ConfigOptionPoints{ Vec2d(-x_min, -y_min) };
m_shape_options_book->SetSelection(SHAPE_RECTANGULAR);
auto optgroup = m_optgroups[SHAPE_RECTANGULAR];
optgroup->set_value("rect_size", new ConfigOptionPoints{ Vec2d(x_max - x_min, y_max - y_min) });//[x_max - x_min, y_max - y_min]);
optgroup->set_value("rect_origin", origin);
update_shape();
return;
}
}
// is this a circle ?
{
// Analyze the array of points.Do they reside on a circle ?
auto center = polygon.bounding_box().center();
std::vector<double> vertex_distances;
double avg_dist = 0;
for (auto pt: polygon.points)
{
double distance = (pt - center).cast<double>().norm();
vertex_distances.push_back(distance);
avg_dist += distance;
}
avg_dist /= vertex_distances.size();
bool defined_value = true;
for (auto el: vertex_distances)
{
if (abs(el - avg_dist) > 10 * SCALED_EPSILON)
defined_value = false;
break;
}
if (defined_value) {
// all vertices are equidistant to center
m_shape_options_book->SetSelection(SHAPE_CIRCULAR);
auto optgroup = m_optgroups[SHAPE_CIRCULAR];
boost::any ret = wxNumberFormatter::ToString(unscale<double>(avg_dist * 2), 0);
optgroup->set_value("diameter", ret);
update_shape();
return;
}
}
if (points->size() < 3) {
// Invalid polygon.Revert to default bed dimensions.
m_shape_options_book->SetSelection(SHAPE_RECTANGULAR);
auto optgroup = m_optgroups[SHAPE_RECTANGULAR];
optgroup->set_value("rect_size", new ConfigOptionPoints{ Vec2d(200, 200) });
optgroup->set_value("rect_origin", new ConfigOptionPoints{ Vec2d(0, 0) });
update_shape();
return;
}
// This is a custom bed shape, use the polygon provided.
m_shape_options_book->SetSelection(SHAPE_CUSTOM);
// Copy the polygon to the canvas, make a copy of the array.
m_canvas->m_bed_shape = points->values;
update_shape();
}
void Curve::computeCurvatureAndOrientation ()
{
const_vertex_iterator v = vertices_begin(), vend = vertices_end(), v2, prevV, v0;
Vec2d p0, p1, p2;
Vec3r p;
p = (*v)->point2d();
p0 = Vec2d(p[0], p[1]);
prevV = v;
++v;
p = (*v)->point2d();
p1 = Vec2d(p[0], p[1]);
Vec2d prevDir(p1 - p0);
for (; v! = vend; ++v) {
v2 = v;
++v2;
if (v2 == vend)
break;
Vec3r p2 = (*v2)->point2d();
Vec2d BA = p0 - p1;
Vec2d BC = p2 - p1;
real lba = BA.norm(), lbc = BC.norm();
BA.normalizeSafe();
BC.normalizeSafe();
Vec2d normalCurvature = BA + BC;
Vec2d dir = Vec2d(BC - BA);
Vec2d normal = Vec2d(-dir[1], dir[0]);
normal.normalizeSafe();
real curvature = normalCurvature * normal;
if (lba + lbc > MY_EPSILON)
curvature /= (0.5 * lba + lbc);
if (dir.norm() < MY_EPSILON)
dir = 0.1 * prevDir;
(*v)->setCurvatureFredo(curvature);
(*v)->setDirectionFredo(dir);
prevV = v;
p0 = p1;
p1 = p2;
prevDir = dir;
prevDir.normalize();
}
(*v)->setCurvatureFredo((*prevV)->curvatureFredo());
(*v)->setDirectionFredo((*v)->point2d() - (*prevV)->point2d());
v0 = vertices_begin();
v2 = v0;
++v2;
(*v0)->setCurvatureFredo((*v2)->curvatureFredo());
(*v0)->setDirectionFredo((*v2)->point2d() - (*v0)->point2d());
//closed curve case one day...
//
return;
//numerical degeneracy verification... we'll see later
const_vertex_iterator vLastReliable = vertices_begin();
v = vertices_begin();
p = (*v)->point2d();
p0 = Vec2d(p[0], p[1]);
prevV = v;
++v;
p = (*v)->point2d();
p1 = Vec2d(p[0], p[1]);
bool isReliable = false;
if ((p1 - p0).norm > EPS_CURVA) {
vLastReliable = v;
isReliable = true;
}
for (; v != vend; ++v) {
v2 = v;
++v2;
if (v2 == vend)
break;
Vec3r p2 = (*v2)->point2d();
Vec2d BA = p0 - p1;
Vec2d BC = p2 - p1;
real lba = BA.norm(), lbc = BC.norm();
if ((lba + lbc) < EPS_CURVA) {
isReliable = false;
cerr << "/";
}
else {
if (!isReliable) { //previous points were not reliable
const_vertex_iterator vfix = vLastReliable;
++vfix;
for (; vfix != v; ++vfix) {
(*vfix)->setCurvatureFredo((*v)->curvatureFredo());
(*vfix)->setDirectionFredo((*v)->directionFredo());
}
}
isReliable = true;
vLastReliable = v;
}
prevV = v;
p0 = p1;
p1 = p2;
}
}
// Update the bed shape from the dialog fields.
void BedShapePanel::update_shape()
{
auto page_idx = m_shape_options_book->GetSelection();
if (page_idx == SHAPE_RECTANGULAR) {
Vec2d rect_size(Vec2d::Zero());
Vec2d rect_origin(Vec2d::Zero());
try{
rect_size = boost::any_cast<Vec2d>(m_optgroups[SHAPE_RECTANGULAR]->get_value("rect_size")); }
catch (const std::exception & /* e */) {
return;
}
try {
rect_origin = boost::any_cast<Vec2d>(m_optgroups[SHAPE_RECTANGULAR]->get_value("rect_origin"));
}
catch (const std::exception & /* e */) {
return;
}
auto x = rect_size(0);
auto y = rect_size(1);
// empty strings or '-' or other things
if (x == 0 || y == 0) return;
double x0 = 0.0;
double y0 = 0.0;
double x1 = x;
double y1 = y;
auto dx = rect_origin(0);
auto dy = rect_origin(1);
x0 -= dx;
x1 -= dx;
y0 -= dy;
y1 -= dy;
m_canvas->m_bed_shape = { Vec2d(x0, y0),
Vec2d(x1, y0),
Vec2d(x1, y1),
Vec2d(x0, y1)};
}
else if(page_idx == SHAPE_CIRCULAR) {
double diameter;
try{
diameter = boost::any_cast<double>(m_optgroups[SHAPE_CIRCULAR]->get_value("diameter"));
}
catch (const std::exception & /* e */) {
return;
}
if (diameter == 0.0) return ;
auto r = diameter / 2;
auto twopi = 2 * PI;
auto edges = 60;
std::vector<Vec2d> points;
for (size_t i = 1; i <= 60; ++i) {
auto angle = i * twopi / edges;
points.push_back(Vec2d(r*cos(angle), r*sin(angle)));
}
m_canvas->m_bed_shape = points;
}
// $self->{on_change}->();
update_preview();
}
void TestApp::test_vector2(void)
{
Console::write_line(" Header: cl_vector.h");
Console::write_line(" Class: Vec2");
Console::write_line(" Function: rotate()");
{
Vec2i test_a;
Vec2i hotspot(1,3);
test_a = Vec2i(4,5);
test_a.rotate(hotspot, Angle(0, angle_degrees));
if (test_a != Vec2i(4, 5)) fail();
test_a = Vec2i(4,5);
test_a.rotate(hotspot, Angle(90, angle_degrees));
if (test_a != Vec2i(-1, 6)) fail();
test_a = Vec2i(4,5);
test_a.rotate(hotspot, Angle(180, angle_degrees));
if (test_a != Vec2i(-2, 1)) fail();
test_a = Vec2i(4,5);
test_a.rotate(hotspot, Angle(270, angle_degrees));
if (test_a != Vec2i(3, 0)) fail();
test_a = Vec2i(4,5);
test_a.rotate(hotspot, Angle(360, angle_degrees));
if (test_a != Vec2i(4, 5)) fail();
test_a = Vec2i(4,5);
test_a.rotate(Vec2i(0,0), Angle(180, angle_degrees));
if (test_a != Vec2i(-4, -5)) fail();
}
Console::write_line(" Function: distance()");
{
Vec2d test_a(2.0,3.0);
Vec2d test_b(3.0,4.0);
if (test_a.distance(test_b) != sqrt(1.0 + 1.0 )) fail();
}
Console::write_line(" Function: normalize()");
{
Vec2d testi(3.0,4.0);
testi.normalize();
if (testi != Vec2d(3.0/sqrt(25.0), 4.0/sqrt(25.0))) fail();
}
Console::write_line(" Function: static normalize()");
{
Vec2d testi(3.0,4.0);
if (Vec2d::normalize(testi) != Vec2d(3.0/sqrt(25.0), 4.0/sqrt(25.0))) fail();
}
Console::write_line(" Function: length()");
{
Vec2d testi(3.0,4.0);
if (testi.length() != sqrt(25.0 )) fail();
}
Console::write_line(" Function: dot()");
{
Vec2d test_a(3.0,4.0);
Vec2d test_b(13.0,14.0);
if (test_a.dot(test_b) != ((3.0 * 13.0)+ (4.0*14.0))) fail();
}
Console::write_line(" Function: operator += (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd += Vec2d(1.0, 2.0);
if (testd.x != 3.5) fail();
if (testd.y != 5.5) fail();
Vec2i testi(2, 3);
testi += Vec2i(1, 2);
if (testi.x != 3) fail();
if (testi.y != 5) fail();
}
Console::write_line(" Function: operator += ( Type value)");
{
Vec2d testd(2.5, 3.5);
double valued = 2.0;
testd += valued;
if (testd.x != 4.5) fail();
if (testd.y != 5.5) fail();
Vec2i testi(2, 3);
int valuei = 2;
testi += valuei;
if (testi.x != 4) fail();
if (testi.y != 5) fail();
}
Console::write_line(" Function: operator + (Type value)");
{
Vec2d testd(2.5, 3.5);
double valued = 2.0;
testd = testd + valued;
if (testd.x != 4.5) fail();
if (testd.y != 5.5) fail();
Vec2i testi(2, 3);
int valuei = 2;
testi = testi + valuei;
if (testi.x != 4) fail();
if (testi.y != 5) fail();
}
Console::write_line(" Function: operator + (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd = testd + Vec2d(1.5, 2.5);
if (testd.x != 4.0) fail();
if (testd.y != 6.0) fail();
Vec2i testi(2, 3);
testi = testi + Vec2i(1, 2);
if (testi.x != 3) fail();
if (testi.y != 5) fail();
}
Console::write_line(" Function: operator -= (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd -= Vec2d(1.0, 2.0);
if (testd.x != 1.5) fail();
if (testd.y != 1.5) fail();
Vec2i testi(2, 3);
testi -= Vec2i(1, 2);
if (testi.x != 1) fail();
if (testi.y != 1) fail();
}
Console::write_line(" Function: operator -= ( Type value)");
{
Vec2d testd(2.5, 3.5);
double valued = 2.0;
testd -= valued;
if (testd.x != 0.5) fail();
if (testd.y != 1.5) fail();
Vec2i testi(2, 3);
int valuei = 2;
testi -= valuei;
if (testi.x != 0) fail();
if (testi.y != 1) fail();
}
Console::write_line(" Function: operator - (Type value)");
{
Vec2d testd(2.5, 3.5);
double valued = 2.0;
testd = testd - valued;
if (testd.x != 0.5) fail();
if (testd.y != 1.5) fail();
Vec2i testi(2, 3);
int valuei = 2;
testi = testi - valuei;
if (testi.x != 0) fail();
if (testi.y != 1) fail();
}
Console::write_line(" Function: operator - (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd = testd - Vec2d(1.5, 2.5);
if (testd.x != 1.0) fail();
if (testd.y != 1.0) fail();
Vec2i testi(2, 3);
testi = testi - Vec2i(1, 2);
if (testi.x != 1) fail();
if (testi.y != 1) fail();
}
Console::write_line(" Function: operator *= (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd *= Vec2d(1.0, 2.0);
if (testd.x != 2.5) fail();
if (testd.y != 7.0) fail();
Vec2i testi(2, 3);
testi *= Vec2i(1, 2);
if (testi.x != 2) fail();
if (testi.y != 6) fail();
}
Console::write_line(" Function: operator *= ( Type value)");
{
Vec2d testd(2.5, 3.5);
double valued = 2.0;
testd *= valued;
if (testd.x != 5.0) fail();
if (testd.y != 7.0) fail();
Vec2i testi(2, 3);
int valuei = 2;
testi *= valuei;
if (testi.x != 4) fail();
if (testi.y != 6) fail();
}
Console::write_line(" Function: operator * (Type value)");
{
Vec2d testd(2.5, 3.5);
double valued = 2.0;
testd = testd * valued;
if (testd.x != 5.0) fail();
if (testd.y != 7.0) fail();
Vec2i testi(2, 3);
int valuei = 2;
testi = testi * valuei;
if (testi.x != 4) fail();
if (testi.y != 6) fail();
}
Console::write_line(" Function: operator * (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd = testd * Vec2d(1.5, 2.5);
if (testd.x != 3.75) fail();
if (testd.y != 8.75) fail();
Vec2i testi(2, 3);
testi = testi * Vec2i(1, 2);
if (testi.x != 2) fail();
if (testi.y != 6) fail();
}
Console::write_line(" Function: operator /= (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd /= Vec2d(1.0, 2.0);
if (testd.x != 2.5) fail();
if (testd.y != 1.75) fail();
Vec2i testi(2, 10);
testi /= Vec2i(1, 2);
if (testi.x != 2) fail();
if (testi.y != 5) fail();
}
Console::write_line(" Function: operator /= ( Type value)");
{
Vec2d testd(2.5, 3.5);
double valued = 2.0;
testd /= valued;
if (testd.x != 1.25) fail();
if (testd.y != 1.75) fail();
Vec2i testi(2, 10);
int valuei = 2;
testi /= valuei;
if (testi.x != 1) fail();
if (testi.y != 5) fail();
}
Console::write_line(" Function: operator / (Type value)");
{
Vec2d testd(2.5, 3.5);
double valued = 2.0;
testd = testd / valued;
if (testd.x != 1.25) fail();
if (testd.y != 1.75) fail();
Vec2i testi(2, 10);
int valuei = 2;
testi = testi / valuei;
if (testi.x != 1) fail();
if (testi.y != 5) fail();
}
Console::write_line(" Function: operator / (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd = testd / Vec2d(1.0, 2.5);
if (testd.x != 2.5) fail();
if (testd.y != 1.4) fail();
Vec2i testi(2, 10);
testi = testi / Vec2i(1, 2);
if (testi.x != 2) fail();
if (testi.y != 5) fail();
}
Console::write_line(" Function: operator = (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
testd = Vec2d(1.0, 2.0);
if (testd.x != 1.0) fail();
if (testd.y != 2.0) fail();
Vec2i testi(2, 3);
testi = Vec2i(1, 2);
if (testi.x != 1) fail();
if (testi.y != 2) fail();
}
Console::write_line(" Function: operator == (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
if (testd == Vec2d(1.0, 2.0)) fail();
if (testd == Vec2d(2.5, 2.0)) fail();
if (!(testd == Vec2d(2.5, 3.5))) fail();
Vec2i testi(2, 3);
if (testi == Vec2i(1, 2)) fail();
if (testi == Vec2i(2, 2)) fail();
if (!(testi == Vec2i(2, 3))) fail();
}
Console::write_line(" Function: operator != (const Vec2<Type>& vector)");
{
Vec2d testd(2.5, 3.5);
if (!(testd != Vec2d(1.0, 2.0))) fail();
if (!(testd != Vec2d(2.5, 2.0))) fail();
if ((testd != Vec2d(2.5, 3.5))) fail();
Vec2i testi(2, 3);
if (!(testi != Vec2i(1, 2))) fail();
if (!(testi != Vec2i(2, 2))) fail();
if ((testi != Vec2i(2, 3))) fail();
}
Console::write_line(" Function: round()");
{
Vec2d testd(2.0, 2.5);
testd.round();
if (testd.x != 2.0) fail();
if (testd.y != 3.0) fail();
Vec2f testf(2.0f, 2.5f);
testf.round();
if (testf.x != 2.0f) fail();
if (testf.y != 3.0f) fail();
}
Console::write_line(" Function: static round()");
{
Vec2d testd(2.0, 2.5);
Vec2d destd = Vec2d::round(testd);
if (destd.x != 2.0) fail();
if (destd.y != 3.0) fail();
Vec2f testf(2.0f, 2.5f);
Vec2f destf = Vec2f::round(testf);
if (destf.x != 2.0f) fail();
if (destf.y != 3.0f) fail();
}
}
void BedShapePanel::build_panel(ConfigOptionPoints* default_pt)
{
// on_change(nullptr);
auto box = new wxStaticBox(this, wxID_ANY, _(L("Shape")));
auto sbsizer = new wxStaticBoxSizer(box, wxVERTICAL);
// shape options
m_shape_options_book = new wxChoicebook(this, wxID_ANY, wxDefaultPosition,
wxSize(25*wxGetApp().em_unit(), -1), wxCHB_TOP);
sbsizer->Add(m_shape_options_book);
auto optgroup = init_shape_options_page(_(L("Rectangular")));
ConfigOptionDef def;
def.type = coPoints;
def.default_value = new ConfigOptionPoints{ Vec2d(200, 200) };
def.label = L("Size");
def.tooltip = L("Size in X and Y of the rectangular plate.");
Option option(def, "rect_size");
optgroup->append_single_option_line(option);
def.type = coPoints;
def.default_value = new ConfigOptionPoints{ Vec2d(0, 0) };
def.label = L("Origin");
def.tooltip = L("Distance of the 0,0 G-code coordinate from the front left corner of the rectangle.");
option = Option(def, "rect_origin");
optgroup->append_single_option_line(option);
optgroup = init_shape_options_page(_(L("Circular")));
def.type = coFloat;
def.default_value = new ConfigOptionFloat(200);
def.sidetext = L("mm");
def.label = L("Diameter");
def.tooltip = L("Diameter of the print bed. It is assumed that origin (0,0) is located in the center.");
option = Option(def, "diameter");
optgroup->append_single_option_line(option);
optgroup = init_shape_options_page(_(L("Custom")));
Line line{ "", "" };
line.full_width = 1;
line.widget = [this](wxWindow* parent) {
auto btn = new wxButton(parent, wxID_ANY, _(L("Load shape from STL...")), wxDefaultPosition, wxDefaultSize);
auto sizer = new wxBoxSizer(wxHORIZONTAL);
sizer->Add(btn);
btn->Bind(wxEVT_BUTTON, ([this](wxCommandEvent e)
{
load_stl();
}));
return sizer;
};
optgroup->append_line(line);
Bind(wxEVT_CHOICEBOOK_PAGE_CHANGED, ([this](wxCommandEvent e)
{
update_shape();
}));
// right pane with preview canvas
m_canvas = new Bed_2D(this);
m_canvas->m_bed_shape = default_pt->values;
// main sizer
auto top_sizer = new wxBoxSizer(wxHORIZONTAL);
top_sizer->Add(sbsizer, 0, wxEXPAND | wxLeft | wxTOP | wxBOTTOM, 10);
if (m_canvas)
top_sizer->Add(m_canvas, 1, wxEXPAND | wxALL, 10) ;
SetSizerAndFit(top_sizer);
set_shape(default_pt);
update_preview();
}
Vec3d CubeMap::getColor(ray r) const {
int axis, front, left, right, top, bottom;
double u,v;
Vec3d dir = r.getDirection();
if (fabs(dir[0]) > fabs(dir[1]))
if (fabs(dir[0]) > fabs(dir[2])) {
axis = 0;
bottom = 3;
top = 2;
if (dir[0] > 0.0) {
front = 0;
left = 4;
right = 5;
}
else {
front = 1;
left = 5;
right = 4;
}
}
else {
axis = 2;
bottom = 3;
top = 2;
if (dir[2] > 0.0) {
front = 5;
left = 0;
right = 1;
}
else {
front = 4;
left = 1;
right = 0;
}
}
else
if (fabs(dir[1]) > fabs(dir[2])) {
axis = 1;
left = 1;
right = 0;
if (dir[1] > 0.0) {
front = 2;
bottom = 4;
top = 5;
}
else {
front = 3;
bottom = 5;
top = 4;
}
}
else {
axis = 2;
bottom = 3;
top = 2;
if (dir[2] > 0.0) {
front = 5;
left = 0;
right = 1;
}
else {
front = 4;
left = 1;
right = 0;
}
}
if (axis == 0) {
u = dir[2]/dir[0];
if (dir[0] > 0.0) v = dir[1]/dir[0];
else v = -dir[1]/dir[0];
}
else if (axis == 1) {
if (dir[1] > 0.0) u = dir[0]/dir[1];
else u = -dir[0]/dir[1];
v = dir[2]/dir[1];
}
else if (axis == 2) {
u = -dir[0]/dir[2];
if (dir[2] > 0.0) v = dir[1]/dir[2];
else v = -dir[1]/dir[2];
}
u = (u + 1.0)/2.0;
v = (v + 1.0)/2.0;
int filterwidth = traceUI->getFilterWidth();
if (r.type() != ray::VISIBILITY || filterwidth == 1) return tMap[front]->getMappedValue(Vec2d(u, v));
int fw = (filterwidth + 1)/2 - 1;
int rm = filterwidth - fw;
int width = tMap[front]->getWidth();
int height = tMap[front]->getHeight();
double delu = 1.0/width;
double delv = 1.0/height;
int x = floor(0.5 + u * (width - 1));
int y = floor(0.5 + v * (height - 1));
double startu = delu * (x - fw);
double startv = delv * (y - fw);
double nextu = startu;
double nextv = startv;
double xslope = 1.0/(((double)filterwidth + 1) / 2.0 * delu);
double yslope = 1.0/(((double)filterwidth + 1) / 2.0 * delv);
double correct = 0.0;
Vec3d thePixel = Vec3d(0.0, 0.0, 0.0);
for (int jj = -fw; jj < rm; jj++) {
for (int ii = -fw; ii < rm; ii++) {
int xindex = x + ii;
int yindex = y + jj;
if (xindex < 0 && yindex < 0) continue;
if (xindex >= width && yindex >= height) continue;
if (xindex >= width && yindex < 0) continue;
if (xindex < 0 && yindex >= height) continue;
int theMap = front;
if (yindex < 0) {
theMap = bottom;
if (axis == 0)
if (dir[0] > 0) {
yindex = height - 1 - xindex;
xindex = width + jj;
}
else {
yindex = xindex;
xindex = -1 - jj;
}
else if (axis == 1)
if (dir[1] > 0) yindex = height + jj;
else {
yindex = -1 - jj;
xindex = width - 1 - xindex;
}
else if (axis == 2)
if (dir[2] > 0) {
yindex = -1 - jj;
xindex = width - 1 - xindex;
}
else yindex = height + jj;
}
else if (yindex >= height) {
theMap = top;
if (axis == 0)
if (dir[0] > 0) {
yindex = xindex;
xindex = width - jj;
}
else {
yindex = height - 1 - xindex;
xindex = jj - 1;
}
else if (axis == 1)
if (dir[1] > 0) {
yindex = height - jj;
xindex = width - 1 - xindex;
}
else yindex = jj - 1;
else if (axis == 2)
if (dir[2] > 0) {
yindex = height - jj;
xindex = width - 1 - xindex;
}
else yindex = jj - 1;
}
else if (xindex < 0) {
theMap = left;
if (axis == 0 || axis == 2) xindex = width + ii;
else if (axis == 1)
if (dir[1] > 0) {
xindex = width - 1 - yindex;
yindex = height + ii;
}
else {
xindex = yindex;
yindex = -1 - ii;
}
}
else if (xindex >= width) {
theMap = right;
if (axis == 0 || axis == 2) xindex = ii - 1;
else if (axis == 1)
if (dir[1] > 0) {
xindex = yindex;
yindex = height - ii;
}
else {
xindex = width - 1 - yindex;
yindex = ii - 1;
}
}
double du = u - nextu;
double dv = v - nextv;
double weight = (1.0 - fabs(du * xslope)) * (1.0 - fabs(dv * yslope));
nextu += delu;
correct += weight;
thePixel += tMap[theMap]->getPixelAt(xindex, yindex) * weight;
}
nextu = startu;
nextv += delv;
}
thePixel /= correct;
return thePixel;
}
Pointfs FillOctagramSpiral::_generate(coord_t min_x, coord_t min_y, coord_t max_x, coord_t max_y)
{
// Radius to achieve.
coordf_t rmax = std::sqrt(coordf_t(max_x)*coordf_t(max_x)+coordf_t(max_y)*coordf_t(max_y)) * std::sqrt(2.) + 1.5;
// Now unwind the spiral.
coordf_t r = 0;
coordf_t r_inc = sqrt(2.);
Pointfs out;
out.push_back(Vec2d(0, 0));
while (r < rmax) {
r += r_inc;
coordf_t rx = r / sqrt(2.);
coordf_t r2 = r + rx;
out.push_back(Vec2d( r, 0.));
out.push_back(Vec2d( r2, rx));
out.push_back(Vec2d( rx, rx));
out.push_back(Vec2d( rx, r2));
out.push_back(Vec2d(0., r));
out.push_back(Vec2d(-rx, r2));
out.push_back(Vec2d(-rx, rx));
out.push_back(Vec2d(-r2, rx));
out.push_back(Vec2d(-r, 0.));
out.push_back(Vec2d(-r2, -rx));
out.push_back(Vec2d(-rx, -rx));
out.push_back(Vec2d(-rx, -r2));
out.push_back(Vec2d(0., -r));
out.push_back(Vec2d( rx, -r2));
out.push_back(Vec2d( rx, -rx));
out.push_back(Vec2d( r2+r_inc, -rx));
}
return out;
}
Vec2d Delta () const { return Vec2d (p2->X()-p1->X(), p2->Y()-p1->Y()); }
void
triangulatePoints(InputArrayOfArrays _points2d, InputArrayOfArrays _projection_matrices,
OutputArray _points3d)
{
// check
size_t nviews = (unsigned) _points2d.total();
CV_Assert(nviews >= 2 && nviews == _projection_matrices.total());
// inputs
size_t n_points;
vector<Mat_<double> > points2d(nviews);
vector<Matx34d> projection_matrices(nviews);
{
vector<Mat> points2d_tmp;
_points2d.getMatVector(points2d_tmp);
n_points = points2d_tmp[0].cols;
vector<Mat> projection_matrices_tmp;
_projection_matrices.getMatVector(projection_matrices_tmp);
// Make sure the dimensions are right
for(size_t i=0; i<nviews; ++i) {
CV_Assert(points2d_tmp[i].rows == 2 && points2d_tmp[i].cols == n_points);
if (points2d_tmp[i].type() == CV_64F)
points2d[i] = points2d_tmp[i];
else
points2d_tmp[i].convertTo(points2d[i], CV_64F);
CV_Assert(projection_matrices_tmp[i].rows == 3 && projection_matrices_tmp[i].cols == 4);
if (projection_matrices_tmp[i].type() == CV_64F)
projection_matrices[i] = projection_matrices_tmp[i];
else
projection_matrices_tmp[i].convertTo(projection_matrices[i], CV_64F);
}
}
// output
_points3d.create(3, n_points, CV_64F);
cv::Mat points3d = _points3d.getMat();
// Two view
if( nviews == 2 )
{
const Mat_<double> &xl = points2d[0], &xr = points2d[1];
const Matx34d & Pl = projection_matrices[0]; // left matrix projection
const Matx34d & Pr = projection_matrices[1]; // right matrix projection
// triangulate
for( unsigned i = 0; i < n_points; ++i )
{
Vec3d point3d;
triangulateDLT( Vec2d(xl(0,i), xl(1,i)), Vec2d(xr(0,i), xr(1,i)), Pl, Pr, point3d );
for(char j=0; j<3; ++j)
points3d.at<double>(j, i) = point3d[j];
}
}
else if( nviews > 2 )
{
// triangulate
for( unsigned i=0; i < n_points; ++i )
{
// build x matrix (one point per view)
Mat_<double> x( 2, nviews );
for( unsigned k=0; k < nviews; ++k )
{
points2d.at(k).col(i).copyTo( x.col(k) );
}
Vec3d point3d;
nViewTriangulate( x, projection_matrices, point3d );
for(char j=0; j<3; ++j)
points3d.at<double>(j, i) = point3d[j];
}
}
}
inline Vec2d operator+ (const Vec2d & v1, const Vec2d & v2)
{
return Vec2d (v1.X() + v2.X(), v1.Y() + v2.Y());
}
double TileNode::Transition::getCost(const Vec2d& selfSpeed, const TileNode& thisNode)
{
static const double TURN_PENALTY = Map::NORMAL_TURN_COST;
static const double TURN_180_PENALTY = 4 * Map::NORMAL_TURN_COST;
static const double WAYPOINT_OUT_OF_ORDER_PENALTY = Map::NORMAL_TURN_COST; // TODO - increase? // it's not so good to go through incorrect waypoint
static const double ZIGZAZ_TURN_PRIZE = -Map::NORMAL_TURN_COST / 1.5; // zigzag turn is slightly better then usual turn
double cost = Map::NORMAL_TURN_COST;
AbsoluteDirection previousTurn = m_cachedParent == nullptr ? m_turnedDirection/*assume no change*/ : m_cachedParent->m_transition.m_turnedDirection;
if (m_turnedDirection != previousTurn)
cost += TURN_PENALTY;
AbsoluteDirection minDirection = std::min(m_turnedDirection, previousTurn);
AbsoluteDirection maxDirection = std::max(m_turnedDirection, previousTurn);
if ((minDirection == AbsoluteDirection::LEFT && maxDirection == AbsoluteDirection::RIGHT)
|| (minDirection == AbsoluteDirection::UP && maxDirection == AbsoluteDirection::DOWN))
{
cost += TURN_180_PENALTY;
}
TileNode* prePrevious = m_cachedParent != nullptr ? m_cachedParent->m_transition.m_cachedParent : nullptr;
bool isZigzag = m_isZigzag // already calculated
|| ( prePrevious != nullptr
&& prePrevious->m_transition.m_turnedDirection == m_turnedDirection
&& m_cachedParent->m_transition.m_turnedDirection != m_turnedDirection );
if (isZigzag)
{
cost += ZIGZAZ_TURN_PRIZE;
}
m_isZigzag = isZigzag;
if (m_cachedParent != nullptr)
m_cachedParent->m_transition.m_isZigzag = isZigzag;
if (thisNode.m_isWaypoint)
cost += WAYPOINT_OUT_OF_ORDER_PENALTY;
// speed vector may become a bonus or penalty for transitions near start
bool isMoving = selfSpeed.m_x != 0 || selfSpeed.m_y != 0;
if (m_cachedParent != nullptr && isMoving)
{
int tilesFromStart = 0;
Vec2d correctedSpeed = selfSpeed;
TileNode* previousNode = m_cachedParent->m_transition.m_cachedParent;
while (previousNode != nullptr)
{
correctedSpeed /= 2; // further from start -> less penalty
previousNode = previousNode->m_transition.m_cachedParent;
if (++tilesFromStart > 2)
{
// too far, no sense to calculate
correctedSpeed = Vec2d(0, 0);
break;
}
}
// remove "noise"
if (std::abs(correctedSpeed.m_x) < 1)
correctedSpeed.m_x = 0;
if (std::abs(correctedSpeed.m_y) < 1)
correctedSpeed.m_y = 0;
// todo - use tilesFromStart?
Vec2d turnVector = Vec2d::fromPoint(thisNode.m_pos - m_cachedParent->m_pos);
double directionPrize = Vec2d::dot(correctedSpeed, turnVector) / selfSpeed.length(); // [-1; +1]
// almost no penalty after log2(8) = 3 tiles
static const double SPEED_VECTOR_PENALTY = -Map::NORMAL_TURN_COST * 16; // negative prize * negative penalty = positive cost incerment
static const double SPEED_VECTOR_PRIZE = -Map::NORMAL_TURN_COST * 2; // positive prize * negative penalty = negative cost increment
double costIncrement = directionPrize > 0 ? directionPrize * SPEED_VECTOR_PRIZE : directionPrize * SPEED_VECTOR_PENALTY;
double newCost = cost + costIncrement;
cost = std::max(newCost, Map::MIN_TURN_COST);
}
return cost;
}