void startSearch()
{
int currentNodeID = 0; //Current node while starting is 0
init_Dfs(); //Initialize the stack spine
init_motors();
run();
int nextNodeID;
addNeigbourNodesToFrontier(currentNodeID);
addToSet(&markedNodes,currentNodeID);
push(&spine, currentNodeID);
nextNodeID = DecideNextNode(currentNodeID);
int cnt = 0;
while(1)
{
//scanAndSearch(); //openCV code
if(objectFound == true)
{
// Functionality here TBD
printf("Obj found: %d",cnt);
cnt ++;
rotate360();
objectFound = false;
/* while(isObjectClose() == 0)
moveForward(); // Provided by the motor library
if(distanceTravelledFromPrevNode == distanceToNextNode)
addToSet(&markedNodes,currentNodeID);
//?? Who updates the current position of the object
*/
//Keep track of the distance so that obj position is known
//Keep track of where we are in the graph
}
else
{
printf("Spine. \n");
printStack(&spine);
printf("\n\n");
printf("Next node to be traversed: %d\n", nextNodeID);
moveToNextNode(currentNodeID,nextNodeID); //Move to the next node
currentNodeID = nextNodeID;
addToSet(&markedNodes,currentNodeID); //Current Node has been traversed. Add to the set
addNeigbourNodesToFrontier(currentNodeID); //Adding frontier nodes from the new current node
removeNodeFromSet(&frontierNodes,currentNodeID); //Removing the current node from frontier
printf("Done nodes : \n");
listSet(markedNodes);
printf("Frontier Nodes : \n");
listSet(frontierNodes);
if (checkIfNeighborExistsInFrontier(currentNodeID)) //Check if neighbor exists in frontier
{ // If so visit there
push(&spine, currentNodeID); //Change
nextNodeID = DecideNextNode(currentNodeID);
}
else
{
if(isStackEmpty(&spine))
return ; // Done traversing. Stop
else
{
nextNodeID = pop(&spine);
}
}
}
}
}
void Planet::load()
{
unload();
if ( fileName[0] && (!manager->isServer())) {
ResourceManager &rm = *SimResource::get(manager);
// const char *filename = SimTagDictionary::getString(manager, textureTag);
// load the texture
hTexture = rm.load(fileName);
AssertWarn((bool)hTexture,
avar("Error reading bitmap file \"%s\"", fileName));
// don't want to assert fatal because we don't want to bring down
// the mission editor
if ((bool)hTexture) {
planet.texture = (GFXBitmap *)hTexture;
addToSet(SimRenderSetId);
inRenderSet = true;
loaded = true;
}
}
else
planet.texture = NULL;
// calculate planet position in world coordinates
// add 90 to azimuth so that zero is at up Y axis
if (incidence > 89.0f)
incidence = 89.0f;
if (incidence < -89.0f)
incidence = -89.0f;
const float az = azimuth + 90.0f;
const float c = planet.distance*m_cos(DEGRAD*incidence);
planet.position = Point3F(c*m_cos(DEGRAD*az), c*m_sin(DEGRAD*az), planet.distance*m_sin(DEGRAD*incidence));
// initialize light if any
Point3F direction = planet.position;
direction.normalize();
direction *= -1.0f;
if (castShadows) {
// set static data items
shadowDirection = direction;
shadows = true;
}
light.setAim(direction);
//light.setType(TS::Light::LightDirectional);
light.setType(TS::Light::LightDirectionalWrap);
light.setIntensity(intensity.red, intensity.green, intensity.blue);
if (intensity.red > 0.0f || intensity.green > 0.0f || intensity.blue > 0.0f
|| ambient.red > 0.0f || ambient.green > 0.0f || ambient.blue > 0.0f) {
addToSet(SimLightSetId);
inLightSet = true;
lensFlare.setColor(intensity);
}
planet.lensFlare = useLensFlare ? &lensFlare : NULL;
// initialize static texture coordinates
textCoord[0].x = 0.0f; textCoord[0].y = 0.0f;
textCoord[1].x = 1.0f; textCoord[1].y = 0.0f;
textCoord[2].x = 1.0f; textCoord[2].y = 1.0f;
textCoord[3].x = 0.0f; textCoord[3].y = 1.0f;
setMaskBits(Modified);
}
bool
SimInterior::loadShape(const char* fileName)
{
// setFilename returns false if the filename is invalid, OR if the filename
// is the same as the one already set. In either case, we exit wo/ doing
// any work...
//
if (setFilename(fileName) == false) {
return false;
}
// NOTE: This function is VERY poor on error checking, there are only a few
// asserts in ITRInstance(). Maybe restructure to be a bit more robust?
//
ResourceManager *rm = SimResource::get(manager);
Resource<ITRShape> itrShape;
bool missionLit;
// check if we need to try and find the missionlit ver
if( rm->findFile( fileName ) )
{
missionLit = missionLitName();
itrShape = rm->load( fileName);
}
else
{
if( !missionLitName() )
return( false );
String base = String(fileName);
getBaseFilename( base );
if( rm->findFile( base.c_str() ) )
itrShape = rm->load(base.c_str());
missionLit = false;
}
if( !bool( itrShape ) )
return( false );
// If we make it to here, then all is cool, nuke the old resources...
//
unloadResources();
ITRInstance* pInstance = new ITRInstance(rm, itrShape, 0);
if( missionLit )
pInstance->setMissionLit();
renderImage.instance = pInstance;
// Set the geometry for the database and collision image. Note that this
// is the highest level of state 0 for the interior. May have to change
// the collision image geometry pointer on detail level change, probably
// will only change the database pointer on state switches...
//
updateBoundingBox();
SimContainer* root = NULL;
root = findObject(manager,SimRootContainerId,root);
root->addObject(this);
getInstance()->getAutoStartIDs(animatingLights);
SimSet* pITRTimerSet = dynamic_cast<SimSet*>(manager->findObject(SimITRTimerSetId));
if (pITRTimerSet == NULL)
manager->addObject(new SimTimerSet(1.0f/15.0f, SimITRTimerSetId));
bool timerSuccess = addToSet(SimITRTimerSetId);
AssertFatal(timerSuccess == true, "Could not add to SimITRTimerSet");
return true;
}