void triangle()
{
static int tid=0;
double x1,y1,x2,y2,x3,y3;
double a,b,c;
++tid;
scanf("%lf%lf%lf%lf%lf%lf",&x1,&y1,&x2,&y2,&x3,&y3);
//求得三角形3边长
a=getDis(x1,y1,x2,y2);
b=getDis(x1,y1,x3,y3);
c=getDis(x2,y2,x3,y3);
sprintf(sh[shIndex].name,"triangle%d",tid);
sh[shIndex].area=(1.0/4)*sqrt((a+b+c)*(a+b-c)*(b+c-a)*(a+c-b)) ;
++shIndex;
}
void getDis(int u,int fa,int d,int& cnt){
dis[cnt++] = d;
for(int i = head[u];~i;i = next[i]){
Edge& ed = e[i];
if(ed.v==fa||vis[ed.v]) continue;
getDis(ed.v,u,d+ed.w,cnt);
}
}
int solve(int u,int fa,int d){
int cnt = 0;
getDis(u,-1,d,cnt);
sort(dis,dis+cnt);
int l = 0,r = cnt-1,ret = 0;
while(l<r){
if(dis[l]+dis[r]<=k){
ret+=r-l;
l++;
}else r--;
}
return ret;
}
void AStarInfo::SearchNodes(PathItem* node, PathItem* sideNode, PathItem* endNode)//把相邻的节点放入开放节点中
{
if (sideNode != nullptr)
{
float fX = abs(endNode->_nX - sideNode->_nX);
float fY = abs(endNode->_nY - sideNode->_nY);
float F, G, H2;
sideNode->_fDisToStart = node->_fDisToStart + getDis(node, sideNode);//获得累计的路程
G = sideNode->_fDisToStart;
H2 = hypot(fX, fX);
int nFunction = 0;
if (nFunction == 0)
{
//A*算法 = Dijkstra算法 + 最佳优先搜索
F = G + H2;
}
else if (nFunction == 1)
{
//Dijkstra算法
F = G;
}
else if (nFunction == 2)
{
//最佳优先搜索
F = H2;
}
sideNode->_fFValue = F;
sideNode->_pParentPath = node;//设置父节点
_vSearchedList.pushBack(sideNode);
node->_pChildPath = sideNode;//设置子节点
_aSearchArr[sideNode->_nX][sideNode->_nY] = nullptr;//把检测过的点从检测列表中删除
_vOpenList.pushBack(sideNode);//加入开放列表
}
}
double grahamScan(point* p, int numOfpoint, int* stack)
{
double distance=0; // total distance..
double tempDis=0;
int tempIndex=0;
int isCCW=0;
int i;
int countFail=0; // count the insert failed
int countCheck=0; // count the total try
for(i=0; i<=numOfpoint; i++)
{
if(i==0 || i==1)
{
countCheck++;
stack[i] = i;
continue;
}
if(getAng(p[0].x, p[0].y, p[stack[i-2]].x, p[stack[i-2]].y) <=180)
{
isCCW = ccw(p[i-2],p[i-1],p[i]);
if(isCCW == 1)
{
stack[i-(countFail)]=i;
tempIndex = i-(countFail);
}
else
{
countFail++;
stack[i-1]=i;
tempIndex = i-1;
}
countCheck++;
if(countCheck==numOfpoint)
{
break;
}
}
else
{
isCCW = ccw(p[i-2],p[i-1],p[i]);
if(isCCW == -1)
{
stack[i-(countFail)]=i;
tempIndex = i-(countFail);
}
else
{
countFail++;
stack[i-1]=i;
tempIndex = i-1;
}
countCheck++;
if(countCheck==numOfpoint)
{
break;
}
}
}
//calcultate the distance using stack...//
for(i=0; i<tempIndex; i++)
{
tempDis = getDis(p[stack[i]].x,p[stack[i]].y,p[stack[i+1]].x,p[stack[i+1]].y);
printf("%d to %d // temp Dis : %.2lf\n",stack[i], stack[i+1], tempDis);
distance += tempDis;
}
tempDis = getDis(p[0].x,p[0].y,p[stack[tempIndex]].x,p[stack[tempIndex]].y);
printf("%d to %d // temp Dis : %.2lf\n",stack[tempIndex],stack[0],tempDis);
distance += tempDis;
//
return distance;
}
int main(void)
{
int numOfTest=0;
int numOfPoint=0;
int i, j;
int min=360; int startLoc=0; int prevLoc=0;
int tempAng=0; // save the angel of each step...
int tempLoc=0; // save the location of each step...
double tempDis=0; // temp distance of minimum angel...
double dis=0; // total distance...
point* p;
//input the each information and dynamic allocation...//
printf("Enter the number of the test : ");
scanf("%d", &numOfTest);
for(j=0; j<numOfTest; j++)
{
while(1)
{
printf("Enter the number of point : ");
scanf("%d", &numOfPoint);
if(numOfPoint<=100)
{
break;
}
printf("[ERROR] number of point <=100 \n\n");
}
numOfPoint++; //automatically, add the start point (0,0)
p = (point*)malloc(sizeof(point)*(numOfPoint));
p[0].x =0; // automatically, set location (0,0) value...
p[0].y =0; // same as above step
p[0].index=0; // same as above step
p[0].check=0; // sames as above step
for(i=1; i<numOfPoint; i++)
{
printf("Enter the [%d]loc : ", i);
scanf("%lf %lf",&p[i].x, &p[i].y);
p[i].check=0; // set the every check value is '0'...
p[i].index = i; // set index number each location...
}
//
//calculate the needed silk...
startLoc = 0; // set start location index '0'...
while(1)
{
min = 360;//set min value is max angle(360)...
for(i=0; i<numOfPoint; i++)
{
if(startLoc==i || i==prevLoc)
{
continue;
}
tempAng = getAng(p[startLoc].x, p[startLoc].y, p[i].x, p[i].y);
if(tempAng == min)
{
if(tempDis >= getDis(p[startLoc].x,p[startLoc].y,p[i].x,p[i].y))
{
continue;
}
}
if(tempAng<=min)
{
min = tempAng;
tempLoc = i;
tempDis = getDis(p[startLoc].x, p[startLoc].y, p[i].x, p[i].y);
}
}
if(p[tempLoc].check==1)
{
dis += getDis(p[startLoc].x, p[startLoc].y, p[0].x, p[0].y);
break;
}
dis+=getDis(p[startLoc].x, p[startLoc].y, p[tempLoc].x, p[tempLoc].y);
if(startLoc!=0)
{
p[startLoc].check=1;
}
printf("[start loc : %d / dest loc : %d]\n",startLoc, tempLoc);
prevLoc = startLoc;
startLoc = tempLoc;
}
dis+=2;
//
//dis += 0.05;
printf("\ntotal dis %.2lf\n\n",dis);
dis=0;
}
}
void getClosest(PointX X[], PointY Y[], PointY Z[], int left, int right, PointX &a, PointX &b, float &d)
{
/*剩下两个点*/
if(right -left ==1)
{
d = getDis(X[left], X[right]);
a = X[left];
b = X[right];
return;
}
/*剩下三个点*/
if(right - left ==2)
{
float d1, d2, d3;
d1 = getDis(X[left], X[right-1]);
d2 = getDis(X[left], X[right]);
d3 = getDis(X[left+1], X[right]);
if(d1<=d2 && d1<=d3)
{
a=X[left];
b=X[right -1];
d=d1;
return;
}
if(d2<=d3)
{
a=X[left];
b=X[right];
d=d2;
}
else {
a=X[left+1];
b=X[right];
d=d3;
}
return;
}
int center = (left + right)/2;
int k = left;
int g= center +1;
/*将已经按Y排序的点，根据中线，分别放入中线左边和右边*/
for(int i = left; i <=right; i++)
{
if(Y[i].xID <= center)
Z[k++] = Y[i];
else
Z[g++] = Y[i];
}
PointX atmp, btmp;
float dtmp;
getClosest(X, Z, Y, left, center, a, b, d);
getClosest(X, Z, Y, center+1, right, atmp, btmp, dtmp);
if(dtmp< d)
{
a = atmp;
b = btmp;
d = dtmp;
}
Merge(Z, Y, left, center+1, right);
int f = left;
/*距离中心线距离在d内的点放入Z中，并且这些点是按照y坐标从小到大排序的 */
for(int i =left; i<=right; i++)
{
if(ABS(X[center].x - Y[i].x) <d)
Z[f++] = Y[i];
}
/*搜索刚刚加入strip中的点， 如果y之间的距离大于d，就开始搜索*/
for(int i=left; i<f; i++)
for(int j = i+1; j< f && (Y[j].y-Y[i].y) < d; j++)
{
dtmp =getDis(Y[i], Y[j]);
if(dtmp <d)
{
d = dtmp;
a = X[Y[i].xID];
b = X[Y[j].xID];
}
}
}
void raySelect(int mouseX, int mouseY){
int objNumb; // indicate how many objects in the scene
//SG has two children (one child is a translation at child(0) and the other is nodeModel at child(1)). All objects are linked to NodeTransform
objNumb = SG->rootNode->children->at(0)->children->size();
printf("objNumb is %d\n", objNumb);
bool hitRes[objNumb]; //array to store the hit result of each object
Vector3D currentNear, currentFar; //temp vertex to store the current node near and far vertex;
bool currentHitRes = false; // temp bool to store the hit result
float nearestDis = 0.0;//use this temp variable to store the shortest distance with the ray origin
int nearObj = 0;// use this temp variable to store the children index and it is about the nearest object within the hitted ones
//use for loop to check if the ray hits each object or not
for (int i = 0; i < objNumb; i++) {
//pointer "currentNode" points to the current object; copy current object near vertex to the temp "near" vertex
SG->goToParent();
SG->goToChild(i);
currentNear = SG->currentNode->nodeNear;
//copy object's far vertex to the temp "far" vertex
currentFar = SG->currentNode->nodeFar;
printf("currentNear x, y, z is %f,%f,%f\n", currentNear.x, currentNear.y, currentNear.z);
printf("currentFar x, y, z is %f,%f,%f\n", currentFar.x, currentFar.y, currentFar.z);
//compare near and far vertex first, because after transform, near would be far and far be near
float dNear = getDis(currentNear, mouseX, mouseY);
float dFar = getDis(currentFar, mouseX, mouseY);
printf("dNear is %f\n", dNear);
printf("dFar is %f\n", dFar);
if (dNear > dFar) {
currentFar = SG->currentNode->nodeNear;
currentNear = SG->currentNode->nodeFar;
}
//use intersect func to check if there is a hit
currentHitRes = intersect(currentNear, currentFar, mouseX, mouseY);
//use currentDis to store the distance with the near and ray origin
float currentDis;
if (currentHitRes == true) {
printf("have Intersection!!!\n");
currentDis = getDis(currentNear, mouseX, mouseY);
}else{
printf("no Intersection!!!\n");
}
if ((currentDis < nearestDis) && (currentHitRes == true)) {
nearestDis = currentDis;
nearObj = i;
printf("current nearest distance is %f\n", nearestDis);
printf("current nearest object is %d\n", nearObj);
}
//store the hit result to the array
hitRes[i] = currentHitRes;
}
printf("nearest object is child %d\n", nearObj);
//after the for loop, we could get the shortest distance between the nearest object and the ray origin. And get the index of the child "nearObj"
//then move the pointer "currentNode" points to this child[nearObj]
SG->goToRoot();
SG->goToChild(0);//go to the Transform node
SG->goToChild(nearObj);// go to the nearest object where it is located at the childfren vector and the "currentNode" is pointing to it
}
int SharpA02::getDisCM() {
int _raw = getDis();
float voltFromRaw=map(_raw, 0, 1023, 0, 5000);
return (int)(61.573*pow(voltFromRaw/1000, -1.1068));
}
