void
piece_move (piece_info_t *obj)
{
int changed_loc;
int speed, max_hits;
int saved_moves;
int need_input;
long saved_loc;
city_info_t *cityp;
/* set func for piece if on city */
cityp = find_city (obj->loc);
if (cityp != NULL)
if (cityp->func[obj->type] != NOFUNC)
obj->func = cityp->func[obj->type];
changed_loc = FALSE; /* not changed yet */
speed = piece_attr[obj->type].speed;
max_hits = piece_attr[obj->type].max_hits;
need_input = FALSE; /* don't require user input yet */
while (obj->moved < obj_moves (obj)) {
saved_moves = obj->moved; /* save moves made */
saved_loc = obj->loc; /* remember starting location */
if (awake (obj) || need_input){ /* need user input? */
ask_user (obj);
display_loc_u (obj->loc); /* let user see result */
need_input = FALSE; /* we got it */
}
if (obj->moved == saved_moves) /* user set function? */
switch (obj->func) { /* handle preprogrammed function */
case NOFUNC: break;
case RANDOM: move_random (obj); break;
case SENTRY: obj->moved = speed; break;
case FILL: move_fill (obj); break;
case LAND: move_land (obj); break;
case EXPLORE: move_explore (obj); break;
case ARMYLOAD: move_armyload (obj); break;
case ARMYATTACK:move_armyattack (obj); break;
case TTLOAD: move_ttload (obj); break;
case REPAIR: move_repair (obj); break;
case WFTRANSPORT: move_transport (obj); break;
case MOVE_N:
case MOVE_NE:
case MOVE_E:
case MOVE_SE:
case MOVE_S:
case MOVE_SW:
case MOVE_W:
case MOVE_NW:
move_dir (obj); break;
default: move_path (obj); break;
}
if (obj->moved == saved_moves) need_input = TRUE;
/*
* handle fighters specially. If in a city or carrier, turn
* is over and reset range to max. Otherwise, if
* range = 0, fighter crashes and burns and turn is over.
*/
if (obj->type == FIGHTER && obj->hits > 0) {
if ((user_map[obj->loc].contents == 'O'
|| user_map[obj->loc].contents == 'C')
&& obj->moved > 0) {
obj->range = piece_attr[FIGHTER].range;
obj->moved = speed;
obj->func = NOFUNC;
info("Landing confirmed.");
}
else if (obj->range == 0) {
info("Fighter at %d crashed and burned.", obj->loc);
kill_obj (obj, obj->loc);
}
}
if (saved_loc != obj->loc) changed_loc = TRUE;
}
/* if a boat is in port, damaged, and never moved, fix some damage */
if (obj->hits > 0 /* still alive? */
&& !changed_loc /* object never changed location? */
&& obj->type != ARMY && obj->type != FIGHTER /* it is a boat? */
&& obj->hits < max_hits /* it is damaged? */
&& user_map[obj->loc].contents == 'O') /* it is in port? */
obj->hits++; /* fix some damage */
}
int main()
{
const std::string program_name{"Boussigon V0.2"};
assert(program_name != "");
const float window_x{700.0f};
const float window_y{700.0f};
assert(window_x > 0.0f);
assert(window_y > 0.0f);
const sf::Vector2f window_sizes{window_x, window_y};
const int delaz{25};
assert(delaz > 0);
const std::chrono::milliseconds delay{delaz};
const sf::Color white{sf::Color(255, 255, 255)};
const sf::Color black{sf::Color(0, 0, 0)};
const sf::Color orange{sf::Color(255, 127, 0)};
const sf::Color purple{sf::Color(127, 0, 255)};
const sf::Color cyan{sf::Color(127, 255, 255)};
const sf::Color red{sf::Color(255, 0, 0)};
const sf::Color yellow{sf::Color(255, 255, 0)};
const sf::Color green{sf::Color(0, 255, 0)};
const sf::Color blue{sf::Color(0, 0, 255)};
sf::RenderWindow window{sf::VideoMode(window_x, window_y), program_name, sf::Style::Default};
const float delta_dist = 3.0f;
const float circ_radius{50.0f};
const sf::Color circ_color{purple};
const sf::Color colli_color{orange};
const sf::Vector2f circ_position{0.25f*window_x, 0.5f*window_y};
player_circle player{circ_radius, circ_color, circ_position};
const float rect_radius{50.0f};
const sf::Color rect_color{green};
const sf::Vector2f rect_position{0.75f*window_x, 0.5f*window_y};
object_square object{rect_radius, rect_color, rect_position};
while (window.isOpen())
{
sf::Event event;
window.clear(black);
show_object_square(window, object);
show_player_circle(window, player);
window.display();
std::this_thread::sleep_for(delay);
move_dir(player, delta_dist);
collision_color(player, object, colli_color, circ_color);
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Escape))
{
window.close();
return 1;
}
while (window.pollEvent(event))
{
if (event.type == sf::Event::Closed)
{
window.close();
return 2;
}
}
}
return 0;
}
void Engine::update(float dt) {
// look //
double x, y;
glfwGetCursorPos(window, &x, &y);
static double last_x = x, last_y = y;
static float x_rot = glm::asin(camera.get_forward().y),
y_rot = glm::asin(camera.get_forward().x);
double dx = last_x - x, dy = last_y - y;
if (glfwGetKey(window, GLFW_KEY_K) == GLFW_PRESS) {
x_rot += dt * fake_mouse_change;
}
if (glfwGetKey(window, GLFW_KEY_J) == GLFW_PRESS) {
x_rot -= dt * fake_mouse_change;
}
if (glfwGetKey(window, GLFW_KEY_H) == GLFW_PRESS) {
y_rot -= dt * fake_mouse_change;
}
if (glfwGetKey(window, GLFW_KEY_L) == GLFW_PRESS) {
y_rot += dt * fake_mouse_change;
}
last_x = x;
last_y = y;
// positive y_rot means left.
y_rot -= mouse_sensitivity * dx;
x_rot += mouse_sensitivity * dy;
float max_angle = glm::radians(85.f);
float min_angle = -max_angle;
if (x_rot > max_angle) {
x_rot = max_angle;
} else if (x_rot < min_angle) {
x_rot = min_angle;
}
glm::vec3 forward = glm::vec3(
cos(x_rot) * sin(y_rot),
sin(x_rot),
-cos(x_rot) * cos(y_rot));
camera.lookat = camera.position + forward;
// movement //
glm::vec3 move_dir(0.f),
right = camera.get_right(),
up = glm::normalize(camera.up);
if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS) {
move_dir += forward;
}
if (glfwGetKey(window, GLFW_KEY_S) == GLFW_PRESS) {
move_dir -= forward;
}
if (glfwGetKey(window, GLFW_KEY_D) == GLFW_PRESS) {
move_dir += right;
}
if (glfwGetKey(window, GLFW_KEY_A) == GLFW_PRESS) {
move_dir -= right;
}
if (glfwGetKey(window, GLFW_KEY_E) == GLFW_PRESS) {
move_dir += up;
}
if (glfwGetKey(window, GLFW_KEY_Q) == GLFW_PRESS) {
move_dir -= up;
}
float move_speed = normal_move_speed;
if (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS) {
move_speed /= move_speed_change_factor;
}
if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS) {
move_speed *= move_speed_change_factor;
}
float len = glm::length(move_dir);
if (len > 1.f) {
move_dir = move_dir / len;
}
if (glfwGetKey(window, GLFW_KEY_SPACE) == GLFW_PRESS) {
dt *= 10;
}
if (glfwGetKey(window, GLFW_KEY_V) == GLFW_PRESS) {
dt /= 10;
}
// Note: assumes dt will be >= 0. No timetravel...
glm::vec3 move = dt * move_speed * move_dir;
camera.position += move;
camera.lookat += move;
// physics //
bool paused = (glfwGetKey(window, GLFW_KEY_C) == GLFW_RELEASE);
if (!paused) {
physics->step(dt);
//auto printbtvec = [] (const char* fmt, btVector3 v) { // TODO
// printf(fmt, v.x(), v.y(), v.z());
//};
btScalar pi = SIMD_PI;
btVector3 local(0,0.2f,0);
btVector3 target = from_vec3(nodes["redcube"]->position);
KinematicChain* arm = roboarm3;
std::vector<btScalar> angles = arm->get_angles();
std::vector<btScalar> tar_angles =
arm->calc_angles_ccd(angles, target, local);
btVector3 dest = arm->get_position(tar_angles, local);
glm::vec3 offset = glm::vec3(0.05f, 0.f, 0.f);
nodes["cyancube"]->position = to_vec3(dest) - offset;
nodes["yellowcube"]->position = to_vec3(dest) + offset;
std::vector<btScalar> velocities(angles.size());
for (size_t i = 0; i < angles.size(); ++i) {
velocities[i] = (i+1)*7000.f*(tar_angles[i] - angles[i])*dt;
}
arm->apply_velocities(velocities);
//for (size_t i = 0; i < angles.size(); ++i) { // TODO
// printf("v[%lu] %f-%f ==> %f\n", i, angles[i], tar_angles[i],
// velocities[i]);
//}
}
if (glfwGetKey(window, GLFW_KEY_KP_ADD) == GLFW_PRESS) {
nodes["redcube"]->position +=
move_speed * dt * glm::vec3(0.f, 1.f, 0.f);
}
if (glfwGetKey(window, GLFW_KEY_KP_SUBTRACT) == GLFW_PRESS) {
nodes["redcube"]->position +=
move_speed * dt * glm::vec3(0.f, -1.f, 0.f);
}
if (glfwGetKey(window, GLFW_KEY_KP_2) == GLFW_PRESS) {
nodes["redcube"]->position +=
move_speed * dt * glm::vec3(0.f, 0.f, 1.f);
}
if (glfwGetKey(window, GLFW_KEY_KP_8) == GLFW_PRESS) {
nodes["redcube"]->position +=
move_speed * dt * glm::vec3(0.f, 0.f, -1.f);
}
if (glfwGetKey(window, GLFW_KEY_KP_4) == GLFW_PRESS) {
nodes["redcube"]->position +=
move_speed * dt * glm::vec3(-1.f, 0.f, 0.f);
}
if (glfwGetKey(window, GLFW_KEY_KP_6) == GLFW_PRESS) {
nodes["redcube"]->position +=
move_speed * dt * glm::vec3(1.f, 0.f, 0.f);
}
redcube_rb->setMotionState(redcube_rb->getMotionState());
nodes["cyancube"]->orientation *=
glm::angleAxis(dt*glm::radians(90.f),
glm::normalize(glm::vec3(1.f, 1.f, 1.f)));
// quit //
if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS) {
glfwSetWindowShouldClose(window, GL_TRUE);
}
}
shadowtcb_status shadowtcb_move (/*@NULL@*/const char *user_newname, uid_t user_newid)
{
struct stat dirmode, filemode;
char *tcbdir, *shadow;
shadowtcb_status ret = SHADOWTCB_FAILURE;
if (!getdef_bool ("USE_TCB")) {
return SHADOWTCB_SUCCESS;
}
if (NULL == stored_tcb_user) {
return SHADOWTCB_FAILURE;
}
if (NULL == user_newname) {
user_newname = stored_tcb_user;
}
if (move_dir (user_newname, user_newid) == SHADOWTCB_FAILURE) {
return SHADOWTCB_FAILURE;
}
if (-1 == user_newid) {
return SHADOWTCB_SUCCESS;
}
if ( (asprintf (&tcbdir, TCB_DIR "/%s", user_newname) == -1)
|| (asprintf (&shadow, TCB_FMT, user_newname) == -1)) {
OUT_OF_MEMORY;
return SHADOWTCB_FAILURE;
}
if (stat (tcbdir, &dirmode) != 0) {
fprintf (stderr,
_("%s: Cannot stat %s: %s\n"),
Prog, tcbdir, strerror (errno));
goto out_free;
}
if (chown (tcbdir, 0, 0) != 0) {
fprintf (stderr,
_("%s: Cannot change owners of %s: %s\n"),
Prog, tcbdir, strerror (errno));
goto out_free;
}
if (chmod (tcbdir, 0700) != 0) {
fprintf (stderr,
_("%s: Cannot change mode of %s: %s\n"),
Prog, tcbdir, strerror (errno));
goto out_free;
}
if (lstat (shadow, &filemode) != 0) {
if (errno != ENOENT) {
fprintf (stderr,
_("%s: Cannot lstat %s: %s\n"),
Prog, shadow, strerror (errno));
goto out_free;
}
fprintf (stderr,
_("%s: Warning, user %s has no tcb shadow file.\n"),
Prog, user_newname);
} else {
if (!S_ISREG (filemode.st_mode) ||
filemode.st_nlink != 1) {
fprintf (stderr,
_("%s: Emergency: %s's tcb shadow is not a "
"regular file with st_nlink=1.\n"
"The account is left locked.\n"),
Prog, user_newname);
goto out_free;
}
if (chown (shadow, user_newid, filemode.st_gid) != 0) {
fprintf (stderr,
_("%s: Cannot change owner of %s: %s\n"),
Prog, shadow, strerror (errno));
goto out_free;
}
if (chmod (shadow, filemode.st_mode & 07777) != 0) {
fprintf (stderr,
_("%s: Cannot change mode of %s: %s\n"),
Prog, shadow, strerror (errno));
goto out_free;
}
}
if (unlink_suffs (user_newname) == SHADOWTCB_FAILURE) {
goto out_free;
}
if (chown (tcbdir, user_newid, dirmode.st_gid) != 0) {
fprintf (stderr,
_("%s: Cannot change owner of %s: %s\n"),
Prog, tcbdir, strerror (errno));
goto out_free;
}
ret = SHADOWTCB_SUCCESS;
out_free:
free (tcbdir);
free (shadow);
return ret;
}
