void Camera::update()
{
float delta = 0.01f * _eye.z;
//
if (::GetAsyncKeyState('W') & 0x8000f)
{
walk(4.0f * delta);
}
if (::GetAsyncKeyState('S') & 0x8000f)
{
walk(-4.0f * delta);
}
if (::GetAsyncKeyState('A') & 0x8000f)
{
strafe(-4.0f * delta);
}
if (::GetAsyncKeyState('D') & 0x8000f)
{
strafe(4.0f * delta);
}
if (::GetAsyncKeyState('R') & 0x8000f)
{
fly(4.0f * delta);
}
if (::GetAsyncKeyState('F') & 0x8000f)
{
fly(-4.0f * delta);
}
// if (::GetAsyncKeyState(VK_LBUTTON) & 0x8000f)
// {
// yaw(-4.0f * delta);
// }
}
void Ship::flyTo(float& dt, Planet& p)
{
if (getX() < p.getX())
{
fly(dt, L"prawo", 7000);
//focus(p);
}
else if (getX() > p.getX())
{
fly(dt, L"lewo", 7000);
//focus(p);
}
else if (getY() > p.getY())
{
fly(dt, L"gór", 7000);
//focus(p);
}
else if (getY() < p.getY())
{
fly(dt, L"dół", 7000);
//focus(p);
}
}
void moveships(void)
{
register int n,i,p;
int target;
target = goodbogey(0);
if (target != 0)
for (n=0; amtable[n] < MAXSHIPS; n++)
if (amtable[n] != player)
shiplist[amtable[n]].course = intercept(amtable[n], target -1);
target = goodbogey(JAPANESE);
if (target != 0)
for (n=0; japtable[n] < MAXSHIPS; n++)
if (japtable[n] != player)
shiplist[japtable[n]].course = intercept(japtable[n], target -1);
for (n=0; n < MAXSHIPS; n++) {
firedflack[n] = 0;
firedguns[n] = 0;
if (shiplist[n].torps && shiplist[n].hits && n != player && n != MIDWAY)
drdc((shiplist[n].course = shiplist[shiplist[n].flagship].course), &shiplist[n].row, &shiplist[n].col);
}
if (player != MIDWAY)
drdc(shiplist[player].course, &shiplist[player].row, &shiplist[player].col);
if (automatic >= 0)
plotships();
for (n=0; amtable[n] < MAXSHIPS; n++) {
if (shiplist[amtable[n]].hits && shiplist[amtable[n]].torps) {
for (i = 0; japtable[i] < MAXSHIPS; i++) {
if (shiplist[japtable[i]].hits && shiplist[japtable[i]].torps) {
if (range(shiplist[amtable[n]].row, shiplist[amtable[n]].col, shiplist[japtable[i]].row, shiplist[japtable[i]].col) < 25) { /* within sight */
for (p=japtable[i]; p < MAXSHIPS && shiplist[p].flagship == japtable[i]; p++)
if (p != player)
fireguns(p, amtable[n]);
for (p=amtable[n]; p < MAXSHIPS && shiplist[p].flagship == amtable[n]; p++)
if (p != player)
fireguns(p, japtable[i]);
newbogey(japtable[i]);
newbogey(amtable[n]);
}
}
}
}
}
fly(american,0,1);
fly(japanese,0,0);
fly(amscouts,1,1);
fly(japscouts,1,0);
if (automatic >= 0)
plotplanes();
steer(american,0,1);
steer(japanese,0,0);
steer(amscouts,1,1);
steer(japscouts,1,0);
}
int main()
{
std::cout << "Hello World" << std::endl;
fly(10);
return 0;
}
void Hive::addFly(int stupidity)
{
if (m_flies.size() >= m_size * m_size * m_capacity)
{
QMessageBox::warning(NULL, "Sorry!", "Too many flies");
return;
}
int placeOfBirth(rand() % (m_size * m_size));
{
QMutexLocker locker(&m_mutex);
while (isCapacityExceed(placeOfBirth))
{
++placeOfBirth;
placeOfBirth %= (m_size * m_size);
}
}
Fly* fly(new Fly(placeOfBirth, stupidity, this));
m_flies.append(fly);
increaseFliesCount(fly->position());
connect(fly, SIGNAL(positionChanged(int,int)),
this, SLOT(positionChanged(int,int)), Qt::QueuedConnection);
connect(fly, SIGNAL(died(int)), this, SLOT(onDied(int)), Qt::QueuedConnection);
m_futureFlies.append(QtConcurrent::run(fly, &Fly::live));
}
int main( )
{
struct airport a ;
int i, pri, curtime, endtime ;
double expectarrive, expectdepart ;
struct plane temp ;
system ( "cls" ) ;
initairport ( &a );
start ( &endtime, &expectarrive, &expectdepart ) ;
for ( curtime = 1 ; curtime <= endtime ; curtime++ )
{
pri = randomnumber ( expectarrive ) ;
for ( i = 1 ; i <= pri ; i++ )
{
newplane ( &a, curtime, ARRIVE ) ;
if ( apfull ( a, 'l' ) )
refuse ( &a, ARRIVE ) ;
else
apaddqueue( &a, 'l' ) ;
}
pri = randomnumber ( expectdepart ) ;
for ( i = 1 ; i <= pri ; i++ )
{
newplane ( &a, curtime, DEPART ) ;
if ( apfull ( a, 't' ) )
refuse ( &a, DEPART ) ;
else
apaddqueue ( &a, 't' ) ;
}
if ( ! ( apempty ( a, 'l' ) ) )
{
temp = apdelqueue ( &a, 'l' ) ;
land ( &a, temp, curtime ) ;
}
else
{
if ( ! ( apempty ( a, 't' ) ) )
{
temp = apdelqueue ( &a, 't' ) ;
fly ( &a, temp, curtime ) ;
}
else
idle ( &a, curtime ) ;
}
}
conclude ( &a, endtime ) ;
return 0 ;
}
task usercontrol()
{
// Set the motors initially
currentPreset = 0;
fly(currentPreset);
while(true)
{
// Flywheel Speed
if(vexRT(Btn8U))
currentPreset = 0;
else if (vexRT(Btn8R))
currentPreset = 1;
else if (vexRT(Btn8D))
currentPreset = 2;
else if (vexRT(Btn8L))
currentPreset = 3;
// Set the flywheel speed
fly(currentPreset);
// Fit the input to an exponential curve
// Squares are always positive, so a ternary operator is needed for negative numbers
// The abs is just in case we decide to go with odd exponents or even roots (like 3/2)
// We devide by 128 because the program can theoretically reach -128
int verticalL = pow(abs(vexRT(Ch3))/128.0,2.7)*127.0 *((vexRT(Ch3)>0)?(1):(-1));
int verticalR = pow(abs(vexRT(Ch2))/128.0,2.7)*127.0 *((vexRT(Ch2)>0)?(1):(-1));
// Move Robot
motor[LRW] = verticalL;
motor[LFW] = motor[LRW];
motor[RRW] = verticalR;
motor[RFW] = motor[RRW];
//Feeder control
if(vexRT(Btn6U))
motor[I1] = 127;
else if(vexRT(Btn5U))
motor[I1] = -127;
else
motor[I1] = 0;
motor[I2] = motor[I1];
}
}
int main(void)
{
int i;
init_genrand(time(NULL));
printf("MT init complete...\n");
for(i=0;i<N;i++)
{
fly(0,rnd());
printf("Neutron#%i completed...\n",i);
}
printf("==Result: N+=%10lu N-=%10lu N0=%10lu\n",Np,Nm,N0);
printf("==Result: W+=%10.2f W-=%10.2f W0=%10.2f\n",(float)Np/N,(float)Nm/N,(float)N0/N);
return 0;
}
Bird::Bird(QWidget *parent)
: QWidget(parent)
{
setMaximumSize(35,35);
setMinimumSize(35,35);
co=0;
timer=new QTimer(this);
src[0]=":/Images/bird1.png";
src[1]=":/Images/bird2.png";
src[2]=":/Images/bird3.png";
this->rale=-31;
connect(timer,SIGNAL(timeout()),this,SLOT(update()));
connect(this,SIGNAL(fly()),this,SLOT(updateRale()));
timer->start(200);
}
//------------------------------------------------------
void ttBirds::update(){
switch (condition) {
case BIRD_FLY:{
bird.body->ApplyForce(bird.body->GetMass() * -world->getWorld()->GetGravity(), bird.body->GetWorldCenter());
fly();
spriteRenderer->clear();
spriteRenderer->update(ofGetElapsedTimeMillis());
sprites[0]->animation.loops = -1;
sprites[0]->animation.frame_duration = 75;
sprites[0]->animation.frame_duration /= ofClamp(fabs(bird.getVelocity().x), 1, 3);
spriteRenderer->addCenteredTile(&sprites[0]->animation, sprites[0]->pos.x, sprites[0]->pos.y);
killZone.setFromCenter(bird.getPosition(),50, 50);
}
break;
case BIRD_ATTACK:{
bird.setVelocity(0, 0);
spriteRenderer->clear();
spriteRenderer->update(ofGetElapsedTimeMillis());
if (sprites[0]->animation.loops == -1) {
sprites[0]->animation.loops = 2;
}
if(sprites[0]->animation.loops == 0){
condition = BIRD_FLY;
}
spriteRenderer->addCenteredTile(&sprites[0]->animation, sprites[0]->pos.x, sprites[0]->pos.y);
killZone.setFromCenter(bird.getPosition(), 0, 0);
}
break;
case BIRD_DEAD:{
}break;
}
getPos = bird.getPosition();
}
int main()
{
int t;
scanf("%d", &t);
while (t--) {
int ans = INF, begin,end;
scanf("%d %d %d %d",&a[1],&a[2],&a[3],&up);
scanf("%d %d %d %d",&a[4],&a[5],&a[6],&down);
scanf("%d %d %d",&a[7],&a[8],&a[9]);
scanf("%d %d",&a[10],&a[0]);
scanf("%d %d",&begin,&end);
for(int i = 0 ; i <= 99 ; i++)
{
ans = min(ans , fly(begin,i) + walk(i, end));
}
printf("%d\n", ans == INF ? 0:ans);
}
}
void *run_airplane(void *parameters)
{
thread_args_t *args;
int airplane_id;
args = (thread_args_t *) parameters;
airplane_id = args->airplane_id;
while(1) {
request_landing(airplane_id);
land(airplane_id);
stop(airplane_id);
request_start(airplane_id);
start(airplane_id);
fly(airplane_id);
}
return NULL;
}
void Munition::update(unsigned long elapsed_millis) {
if( isActive ){
fly();
double elapsed_seconds = elapsed_millis / (double)1000;
_physics.step( elapsed_seconds);
actualizeTimer( elapsed_seconds );
if ( isEndTimer() ) {
endTimer();
}
}
else {
// the ball is inactive so don't update
}
}
void Steven::update( float delta )
{
//keep speed
b2Body* body = getB2Body();
b2Vec2 v = body->GetLinearVelocity();
b2Vec2 impulse = skiSpeed(v);
impulse *= body->GetMass();
//b2Vec2 impulse = b2Vec2( (10 - v.x)*body->GetMass(), 0);
body->ApplyLinearImpulse(impulse, body->GetWorldCenter());
////compute distance to hill
b2Vec2 rayStart = this->m_pB2Body->GetWorldCenter();
b2Vec2 rayEnd = b2Vec2(rayStart.x, rayStart.y - 100);
class RayCastCallback : public b2RayCastCallback
{
virtual float32 ReportFixture(b2Fixture* fixture, const b2Vec2& point, const b2Vec2& normal, float32 fraction)
{
CCString* name = b2Helper::getBodyName(fixture->GetBody());
if (name->compare("hill") == 0)
{
Steven* steven = Steven::sharedSteven();
steven->mSkiHigh = (steven->m_pB2Body->GetWorldCenter().y - point.y) * G.PTM_RATIO - mRadius;
return 0;
}
return 1;
}
} callback;
G.world->RayCast(&callback,rayStart, rayEnd);
//auto rotation in sky
if (flying())
{
rotationBy(-30 * delta);
}
if (flying() && mStatus == StevenStatus::SS_Ski)
{
fly();
}
}
task main()
{
while(true)
{
if(VexRT(Btn5U)) {
leftTurn(1);
wait10Msec(100);
}
if(VexRT(Btn6U)) {
rightTurn(1);
wait10Msec(100);
}
if(VexRT(Btn8U)) {
move(2);
wait10Msec(100);
}
if(VexRT(Btn8D)) {
move(-2);
wait10Msec(100);
}
if(VexRT(Btn7U)) {
rightTurn(360);
}
if(vexRT(Btn8R)) {
rightTurn(2);
move(20);
leftTurn(10);
move(30);
intake(true);
fly(3);
wait10Msec(1000);
rest();
}
}
}
/*! The viewer will be parented on the specified widget,
but with a Qt::Window flag to make it a top-level window
*/
TriangleMeshViewer::TriangleMeshViewer(QWidget* parent,const ParametersRender* param,const std::vector<const TriangleMesh*>& mesh,bool verbose)
:QWidget(parent,Qt::Window)
,_verbose(verbose)
,parameters(param)
,camera_position(0.0f,-3.0f,0.0f)
,camera_forward(0.0f,1.0f,0.0f)
,camera_up(0.0f,0.0f,1.0f)
,camera_velocity(0.0f)
,camera_yaw_rate(0.0f)
,camera_pitch_rate(0.0f)
,camera_roll_rate(0.0f)
,object_tilt(30.0f*M_PI/180.0f)
,object_rotation(0.0f)
,object_spinrate(0.0f)
,keypressed_arrow_left(false)
,keypressed_arrow_right(false)
,keypressed_arrow_up(false)
,keypressed_arrow_down(false)
,keypressed_mouse_left(false)
,keypressed_mouse_right(false)
,fly_mode(false)
{
QGridLayout*const grid=new QGridLayout();
setLayout(grid);
grid->setRowStretch(0,1);
grid->setColumnStretch(0,1);
//! \todo Is there any good reason not to enable multisampling by default ?
QGLFormat gl_format;
gl_format.setSampleBuffers(true);
display=new TriangleMeshViewerDisplay(this,gl_format,param,mesh,_verbose);
grid->addWidget(display,0,0);
tilt_box=new QGroupBox("Tilt");
tilt_box->setLayout(new QVBoxLayout());
tilt_box->layout()->setAlignment(Qt::AlignCenter);
tilt_slider=new QSlider(Qt::Vertical);
tilt_box->layout()->addWidget(tilt_slider);
tilt_slider->setRange(-80,80);
tilt_slider->setSingleStep(10);
tilt_slider->setValue(30);
tilt_slider->setTickInterval(10);
tilt_slider->setTickPosition(QSlider::TicksBothSides);
tilt_slider->setTracking(true);
grid->addWidget(tilt_box,0,1);
spinrate_box=new QGroupBox("Spin Rate");
spinrate_box->setLayout(new QHBoxLayout());
spinrate_box->layout()->setAlignment(Qt::AlignCenter);
spinrate_slider=new QSlider(Qt::Horizontal);
spinrate_box->layout()->addWidget(spinrate_slider);
spinrate_slider->setRange(-80,80);
spinrate_slider->setSingleStep(10);
spinrate_slider->setValue(0);
spinrate_slider->setTickInterval(10);
spinrate_slider->setTickPosition(QSlider::TicksBothSides);
spinrate_slider->setTracking(true);
grid->addWidget(spinrate_box,1,0);
button_box=new QWidget();
button_box->setLayout(new QVBoxLayout());
grid->addWidget(button_box,1,1);
QPushButton*const fly_button=new QPushButton("Fly");
button_box->layout()->addWidget(fly_button);
fly_button->setToolTip("While flying:\nEsc will return to normal view.\nMouse controls pitch and yaw.\nLeft and right mouse buttons (or left/right arrow keys) control roll.\nMouse wheel (or up/down arrow keys) control speed.");
QPushButton*const reset_button=new QPushButton("Reset");
button_box->layout()->addWidget(reset_button);
reset_button->setToolTip("Press to restore initial default orientation.");
statusbar=new QStatusBar();
grid->addWidget(statusbar,2,0,1,2);
//Calling setFocus() when switching to fly mode seems to avoid need for this, but do it anyway.
tilt_slider->setFocusPolicy(Qt::NoFocus);
spinrate_slider->setFocusPolicy(Qt::NoFocus);
connect(
tilt_slider,SIGNAL(valueChanged(int)),
this,SLOT(set_tilt(int))
);
connect(
spinrate_slider,SIGNAL(valueChanged(int)),
this,SLOT(set_spinrate(int))
);
connect(
fly_button,SIGNAL(clicked()),
this,SLOT(fly())
);
connect(
reset_button,SIGNAL(clicked()),
this,SLOT(reset())
);
clock.reset(new QTime());
clock->start();
last_t=0;
QTimer*const timer=new QTimer(this);
connect(timer,SIGNAL(timeout()),this,SLOT(tick()));
timer->start(static_cast<int>(ceil(1000.0f/parameters->fps_target)));
setMouseTracking(true); // To get moves regardless of button state
display->setMouseTracking(true);
setFocus();
}
void Budgie::move()const{
fly();
}
void rest()//all motors on robot stop
{
freeze();
fly(0);
intake(false);
}
void FloatingCamera::simulateSelf(GLdouble deltaTime)
{
double pyrSpd = -5;
double pyrRot = 3;
Matrix4D newTransform = Matrix4D::createIdentity();
//Create movement vector
Vector3f dVec = {0,0,0};
double dYaw = 0.0;
double dPitch = 0.0;
double dRoll = 0.0;
if(mApp->gMoveForward)
{
dVec.z = -pyrSpd*deltaTime;
}
else if(mApp->gMoveBackward)
{
dVec.z = pyrSpd*deltaTime;
}
if(mApp->gMoveLeft)
{
dVec.x = -pyrSpd*deltaTime;
}
else if(mApp->gMoveRight)
{
dVec.x = pyrSpd*deltaTime;
}
if(mApp->gMoveUp)
{
dVec.y = pyrSpd*deltaTime;
}
else if(mApp->gMoveDown)
{
dVec.y = -pyrSpd*deltaTime;
}
if(mApp->gYawLeft)
{
dYaw = pyrRot*deltaTime;
}
else if(mApp->gYawRight)
{
dYaw = -pyrRot*deltaTime;
}
if(mApp->gPitchUp)
{
dPitch = pyrRot*deltaTime;
}
else if(mApp->gPitchDown)
{
dPitch = -pyrRot*deltaTime;
}
if(mApp->gRollLeft)
{
dRoll = pyrRot*deltaTime;
}
else if(mApp->gRollRight)
{
dRoll = -pyrRot*deltaTime;
}
if(mRechargeTime > 0)
{
mRechargeTime -= deltaTime;
}
if(mApp->gShoot)
{
if(mRechargeTime < 0)
{
//Shoot
MatterNodePtr matterNode(new MatterNode(mApp, VP_RENDER_GEOMETRY, mApp->gBulletMaterial, false, mApp->gBulletFile.c_str()));
// matterNode->setOffset(0.0f, 0.0f, 0.0f);
matterNode->setTransform(getCameraMatrix().inverted());
Vector3f force = mForward * mApp->gBulletForce;
matterNode->setInitialForce(force);
mApp->getSceneGraph()->getRoot()->addChild(matterNode);
mRechargeTime = RECHARGE_TIME;
}
}
yaw(dYaw);
pitch(dPitch);
roll(dRoll);
walk(dVec.z);
fly(dVec.y);
strafe(dVec.x);
}
void FlyingCreature::attack(Creature& other){
fly();
dealDamage(other);
stopFly();
}
int main()
{
int fbfd = 0;
struct fb_var_screeninfo vinfo;
struct fb_fix_screeninfo finfo;
long int screensize = 0;
char *fbp = 0;
int x = 0, y = 0;
long int location = 0;
#define background_red 235
#define background_green 138
#define background_blue 163
void makeBackground(){
for (y = 0; y < 236; y++)//maks 236
for (x = 0; x < 800; x++) {//maks 800
location = (x+vinfo.xoffset) * (vinfo.bits_per_pixel/8) +
(y+vinfo.yoffset) * finfo.line_length;
if (vinfo.bits_per_pixel == 32) { // color information
*(fbp + location) = background_blue; // blue
*(fbp + location + 1) = background_green; // green
*(fbp + location + 2) = background_red; // red
*(fbp + location + 3) = 0; // No transparency
} else {
printf("can't write\n");
}
}
}
void drawBlock(int absis, int ordinat, int red, int green, int blue){
for (y = ordinat; y < ordinat+10; y++)//maks 236
for (x = absis; x < ordinat+10; x++) {//maks 800
location = (x+vinfo.xoffset) * (vinfo.bits_per_pixel/8) +
(y+vinfo.yoffset) * finfo.line_length;
if (vinfo.bits_per_pixel == 32) { // color information
*(fbp + location) = blue; // blue
*(fbp + location + 1) = green; // green
*(fbp + location + 2) = red; // red
*(fbp + location + 3) = 0; // No transparency
} else {
printf("can't write\n");
}
}
}
void eraseBlock(int absis, int ordinat){
for (y = ordinat; y < ordinat+10; y++)//maks 236
for (x = absis; x < ordinat+10; x++) {//maks 800
location = (x+vinfo.xoffset) * (vinfo.bits_per_pixel/8) +
(y+vinfo.yoffset) * finfo.line_length;
if (vinfo.bits_per_pixel == 32) { // color information
*(fbp + location) = background_blue; // blue
*(fbp + location + 1) = background_green; // green
*(fbp + location + 2) = background_red; // red
*(fbp + location + 3) = 0; // No transparency
} else {
printf("can't write\n");
}
}
}
void fly(int red, int green, int blue){
for(int i = 0; i<10; i++){
drawBlock(10*i,10*i,red,green,blue);
printf("Heiho\n");
sleep(1000);
eraseBlock(10*i,10*i);
}
}
// Open the file for reading and writing
fbfd = open("/dev/fb0", O_RDWR);
if (fbfd == -1) {
perror("Error: cannot open framebuffer device");
exit(1);
}
printf("The framebuffer device was opened successfully.\n");
// Get fixed screen information
if (ioctl(fbfd, FBIOGET_FSCREENINFO, &finfo) == -1) {
perror("Error reading fixed information");
exit(2);
}
// Get variable screen information
if (ioctl(fbfd, FBIOGET_VSCREENINFO, &vinfo) == -1) {
perror("Error reading variable information");
exit(3);
}
printf("%dx%d, %dbpp\n", vinfo.xres, vinfo.yres, vinfo.bits_per_pixel);
// Figure out the size of the screen in bytes
screensize = vinfo.xres * vinfo.yres * vinfo.bits_per_pixel / 8;
printf("Screensize: %d", screensize);
// Map the device to memory
fbp = (char *)mmap(0, screensize, PROT_READ | PROT_WRITE, MAP_SHARED, fbfd, 0);
if ((int)fbp == -1) {
perror("Error: failed to map framebuffer device to memory");
exit(4);
}
printf("The framebuffer device was mapped to memory successfully.\n");
makeBackground(0, 200, 255);
drawBlock(0, 0, 200, 100, 0);
fly(200,100,0);
munmap(fbp, screensize);
close(fbfd);
return 0;
}
int
main(int argc, char *argv[])
{
SDL_Surface *screen;
TPool *tpool;
CIList *cil;
CImage *ci;
int i, ch;
unsigned int rw, rh; // requested window size
unsigned long int fcount, do_jpeg;
double ticks_start, load_fade, aspect;
/* Copyright notice */
printf("\n Continuous Imaging 'fly'\n Copyright (C) 2008-2012 David Lowy & Tom Rathborne\n\n");
/* Get options --jpeg / -j and --geometry / -g */
static struct option longopts[] = {
{ "jpeg", no_argument, NULL, 'j' },
{ "geometry", required_argument, NULL, 'g' },
{ NULL, 0, NULL, 0 }
};
/* Defaults */
do_jpeg = 0;
rw = 0;
rh = 0;
while ((ch = getopt_long(argc, argv, "jg:", longopts, NULL)) != -1)
switch(ch) {
case 'j':
do_jpeg = 1;
break;
case 'g':
if (sscanf(optarg, "%ux%u", &rw, &rh) != 2) {
printf("Unhandled geometry '%s': format is WxH\n", optarg);
rw = 0;
rh = 0;
}
break;
default:
printf("Unrecognized option %c ignored\n", ch);
}
argc -= optind;
argv += optind;
/* Get SDL+GL screen */
screen = init_sdl_gl(CI_BPC, CI_BITS, rw, rh);
if(!screen) {
fprintf(stderr, "Failed to init SDL GL context.\n");
return (0);
}
#ifndef CI_LINUX
SDL_ShowCursor(SDL_DISABLE);
#endif
SDL_EventState(SDL_MOUSEMOTION, SDL_IGNORE);
/* Set up JPEG if necessary */
if (do_jpeg) jpeg_alloc(screen->w, screen->h);
aspect = CI_ASPECT / ((double)screen->w / (double)screen->h);
/* time entire program */
ticks_start = SDL_GetTicks();
/* Init texture pool */
tpool = tp_create(65535, 800); // This was supposed to keep fewer textures in VRAM, but it just fills VRAM.
/* create CI List */
cil = cil_create(tpool, "thumb/%s.jpg", "image/%s.jpg");
/* Load all dbs, make links */
cil_load_scidb(cil, "cidb.db");
/* Load image data and textures - and draw 'em! */
for(i = 0; i < cil->rcount; i++) {
ci = cil->list[i];
assert(ci);
assert(ci->subs);
cil_ci_imgprep(cil, ci, 0); /* load images to N levels */
ci_load_tx(ci, 0); /* load textures to N level */
// Render
load_fade = sqrt(1.0 - ((double) i / (double) cil->rcount));
glLoadIdentity();
glScalef(load_fade, load_fade / aspect, 1.0);
// glRotatef(360.0 * ((double) i / (double) cil->rcount), 0.0, 0.0, 1.0);
glTranslatef(-0.5, -0.5, 0.0);
glClear(GL_COLOR_BUFFER_BIT);
glColor4f(1.0, 1.0, 1.0, sqrt(load_fade));
glBindTexture(GL_TEXTURE_2D, ci->tid);
glCallList(cil->gl_list);
SDL_GL_SwapBuffers();
}
for(i = 0; i < cil->rcount; i++) {
ci = cil->list[i];
assert(ci);
assert(ci->subs);
ci_mklist(ci, cil->gl_list);
}
printf("Startup took %.2fs.\n", (SDL_GetTicks() - ticks_start) / 1000.0);
/* Main loop */
ticks_start = SDL_GetTicks();
SDL_WarpMouse(screen->w/2, screen->h/2);
SDL_EventState(SDL_MOUSEMOTION, SDL_ENABLE);
fcount = fly(screen, cil, do_jpeg);
printf("Average FPS: %.2f\n", fcount * 1000.0 / (SDL_GetTicks() - ticks_start));
printf("Cleaning up ...\n");
cil_cleanup(cil);
/* cleanup */
cil_delete(cil);
/* drop our data */
tp_delete(tpool);
/* JPEG cleanup */
if (do_jpeg) jpeg_free();
SDL_Quit();
return (0);
}
// Stop all motors on bot
void rest()
{
freeze();
fly(0);
intake(false);
}
void flight::run()
{
fly();
}
C_RESULT output_gtk_stage_transform( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
static int frame = 0;
static int mass = 0, x_center = -1, y_center = -1;
unsigned char mask_buf[WIDTH*HEIGHT];
uint8_t display_data[WIDTH*HEIGHT*3];
int is_hover;
static int width, height;
static int is_face = 0;
int camshift_error;
static float this_hue_buf[WIDTH*HEIGHT];
static float last_hue_buf[WIDTH*HEIGHT];
int i;
static camshift_frames = 0;
FILE *fp;
char filename[50];
frame++;
// GET FRAME FROM VIDEO FEED
vp_os_mutex_lock(&video_update_lock);
pixbuf_data = (uint8_t*)in->buffers[0];
vp_os_mutex_unlock(&video_update_lock);
// Process frame for orange ball
// UNCOMMENT TO DETECT BALL
//process_frame_ball(pixbuf_data, mask_buf, &mass, &x_center, &y_center);
// UNCOMMENT TO DETECT FACES
if (is_face == 0) {
//printf("Detecting face...\n");
process_frame_face(pixbuf_data, &mass, &x_center, &y_center, &width, &height);
if (mass > 8) {
is_face = 1;
rgb2hue(pixbuf_data, last_hue_buf);
printf("DETECT!!! x,y = %d, %d\n", x_center, y_center);
}
} else {
rgb2hue(pixbuf_data, this_hue_buf);
camshift_error = camshift(last_hue_buf, this_hue_buf, &x_center, &y_center, width, height);
printf("camshift x,y = %d, %d\n", x_center, y_center);
// copy this buffer to last buffer
for (i=0; i<WIDTH*HEIGHT; i++) {
last_hue_buf[i] = this_hue_buf[i];
}
if (camshift_error) {
printf("CAMSHIFT ERROR\n");
is_face = 0;
x_center = -1;
y_center = -1;
}
camshift_frames++;
// about two seconds
if (camshift_frames > 30) {
printf("!!check to see if we are still tracking\n");
camshift_frames = 0;
is_face = 0;
}
}
// we did not use the mask, so make it all black
clear_mask(mask_buf);
// write pixbuf to file
sprintf(filename, "/home/a/pixbuf/pixbuf_%d.ppm", frame);
fp = fopen(filename, "w");
// write header
fprintf(fp, "P6\n320 240\n255\n");
for (i=0; i<320*240*3; i++) {
fprintf(fp, "%c", pixbuf_data[i]);
}
fclose(fp);
fp = fopen("/home/a/meanshift_log.txt", "a");
// write log
// framenum, mass, centroid_x, centroid_y, width, height
fprintf(fp, "%d %d %d %d %d %d\n", frame, mass, x_center, y_center, width, height);
// Get mask display
display_mask(mask_buf, display_data, x_center, y_center);
// Fly drone
is_hover = fly(x_center, y_center, mass);
// Print status
printf("Frame number: %d\n", frame);
printf("Mass: %d; Centroid: (%d, %d)\n", mass, x_center, y_center);
printf("Meanshift Width: %d; Height: %d\n", width, height);
printf("\033[2J");
gdk_threads_enter();
// GdkPixbuf structures to store the displayed picture
static GdkPixbuf *pixbuf = NULL;
static GdkPixbuf *maskbuf = NULL;
if (pixbuf != NULL) {
g_object_unref(pixbuf);
pixbuf=NULL;
}
// Create GdkPixbuf from color frame data
pixbuf = gdk_pixbuf_new_from_data(pixbuf_data,
GDK_COLORSPACE_RGB,
FALSE, // No alpha channel
8, // 8 bits per pixel
320, // Image width
240,
320 * 3, // new pixel every 3 bytes (3channel per pixel)
NULL, // Function pointers
NULL);
// Create the GdkPixbuf from color mask display buffer
maskbuf = gdk_pixbuf_new_from_data(display_data,
GDK_COLORSPACE_RGB,
FALSE, // No alpha channel
8, // 8 bits per pixel
320, // Image width
240,
320 * 3, // new pixel every 3 bytes (3channel per pixel)
NULL, // Function pointers
NULL);
gui_t *gui = get_gui();
// Display the image
if (gui && gui->cam) {
gtk_image_set_from_pixbuf(GTK_IMAGE(gui->cam), pixbuf);
// also display the pixbuf in a second window
if (gui->mask_cam) {
gtk_image_set_from_pixbuf(GTK_IMAGE(gui->mask_cam), maskbuf);
}
}
gdk_threads_leave();
return (SUCCESS);
}