/*!
Get max joint values.
\return Maximal joint values for the 4 dof
X, Y, A, B. Translation Y is expressed in meters. Rotations
X, A and B in radians.
*/
vpColVector
vpAfma4::getJointMax() const
{
vpColVector qmax(4);
for (unsigned int i=0; i < 4; i ++)
qmax[i] = this->_joint_max[i];
return qmax;
}
bool checkURDF2DHForAGivenChain(const KDL::CoDyCo::UndirectedTree& undirectedTree,
const std::string& base_frame,
const std::string& end_effector_frame)
{
KDL::Chain kdl_chain;
iCub::iKin::iKinLimb ikin_limb;
//cerr << "urdf2dh test testing chain extraction between " << base_frame
// << " and " << end_effector_frame << endl;
KDL::Tree kdl_rotated_tree = undirectedTree.getTree(base_frame);
bool result = kdl_rotated_tree.getChain(base_frame,end_effector_frame,kdl_chain);
if( !result )
{
cerr << "urdf2dh: Impossible to find " << base_frame << " or "
<< end_effector_frame << " in the URDF." << endl;
return false;
}
//
// Convert the chain and the limits to an iKin chain (i.e. DH parameters)
//
KDL::JntArray qmin(kdl_chain.getNrOfJoints()),qmax(kdl_chain.getNrOfJoints());
for(size_t i=0; i < qmin.rows(); i++ ) { qmin(i) = -10.0; qmax(i) = 10.0; }
result = iKinLimbFromKDLChain(kdl_chain,ikin_limb,qmin,qmax,1000);
if( !result )
{
cerr << "urdf2dh: Could not export KDL::Tree to iKinChain" << endl;
return false;
}
return checkChainsAreEqual(kdl_chain,ikin_limb);
}
/*
===============
Sbar_DrawInventory
===============
*/
void
Sbar_DrawInventory(void)
{
int i;
char num[6];
float time;
int flashon;
qboolean headsup;
qboolean hudswap;
headsup = !(cl_sbar.value || scr_viewsize.value < 100);
hudswap = cl_hudswap.value; // Get that nasty float out :)
if (!headsup)
Sbar_DrawPic(0, -24, sb_ibar);
// weapons
for (i = 0; i < 7; i++) {
if (cl.stats[STAT_ITEMS] & (IT_SHOTGUN << i)) {
time = cl.item_gettime[i];
flashon = qmax((int)((cl.time - time) * 10), 0);
if (flashon >= 10) {
if (cl.stats[STAT_ACTIVEWEAPON] == (IT_SHOTGUN << i))
flashon = 1;
else
flashon = 0;
} else
flashon = (flashon % 5) + 2;
if (headsup) {
if (i || vid.height > 200)
Sbar_DrawSubPic((hudswap) ? 0 : (vid.width - 24),
-68 - (7 - i) * 16,
sb_weapons[flashon][i], 0, 0, 24, 16);
} else
Sbar_DrawPic(i * 24, -16, sb_weapons[flashon][i]);
// Sbar_DrawSubPic (0,0,20,20,i*24, -16, sb_weapons[flashon][i]);
if (flashon > 1)
sb_updates = 0; // force update to remove flash
}
}
// ammo counts
for (i = 0; i < 4; i++) {
sprintf(num, "%3i", cl.stats[STAT_SHELLS + i]);
if (headsup) {
// Sbar_DrawSubPic(3, -24, sb_ibar, 3, 0, 42,11);
Sbar_DrawSubPic((hudswap) ? 0 : (vid.width - 42),
-24 - (4 - i) * 11, sb_ibar, 3 + (i * 48), 0, 42,
11);
if (num[0] != ' ')
Sbar_DrawCharacter((hudswap) ? 3 : (vid.width - 39),
-24 - (4 - i) * 11, 18 + num[0] - '0');
if (num[1] != ' ')
Sbar_DrawCharacter((hudswap) ? 11 : (vid.width - 31),
-24 - (4 - i) * 11, 18 + num[1] - '0');
if (num[2] != ' ')
Sbar_DrawCharacter((hudswap) ? 19 : (vid.width - 23),
-24 - (4 - i) * 11, 18 + num[2] - '0');
} else {
if (num[0] != ' ')
Sbar_DrawCharacter((6 * i + 1) * 8 - 2, -24,
18 + num[0] - '0');
if (num[1] != ' ')
Sbar_DrawCharacter((6 * i + 2) * 8 - 2, -24,
18 + num[1] - '0');
if (num[2] != ' ')
Sbar_DrawCharacter((6 * i + 3) * 8 - 2, -24,
18 + num[2] - '0');
}
}
flashon = 0;
// items
for (i = 0; i < 6; i++)
if (cl.stats[STAT_ITEMS] & (1 << (17 + i))) {
time = cl.item_gettime[17 + i];
if (time && time > cl.time - 2 && flashon) { // flash frame
sb_updates = 0;
} else
Sbar_DrawPic(192 + i * 16, -16, sb_items[i]);
if (time && time > cl.time - 2)
sb_updates = 0;
}
// sigils
for (i = 0; i < 4; i++)
if (cl.stats[STAT_ITEMS] & (1 << (28 + i))) {
time = cl.item_gettime[28 + i];
if (time && time > cl.time - 2 && flashon) { // flash frame
sb_updates = 0;
} else
Sbar_DrawPic(320 - 32 + i * 8, -16, sb_sigil[i]);
if (time && time > cl.time - 2)
sb_updates = 0;
}
}
void checkauto() // Check automatic/timer controlled stuff (Like fighting and regeneration)
{
// static TIMERVAL checkspawnregions=0;
static TIMERVAL checktempfx=0;
static TIMERVAL checknpcs=0;
static TIMERVAL checktamednpcs=0;
static TIMERVAL checknpcfollow=0;
static TIMERVAL checkitemstime=0;
static TIMERVAL lighttime=0;
static TIMERVAL htmltime=0;
static TIMERVAL housedecaytimer=0;
LOGICAL lightChanged = false;
//
// Accounts
//
if (SrvParms->auto_a_reload > 0 && TIMEOUT( Accounts->lasttimecheck + (SrvParms->auto_a_reload*60*MY_CLOCKS_PER_SEC) ) )
Accounts->CheckAccountFile();
//
// Weather (change is handled by crontab)
//
// Calendar
//
if ( TIMEOUT( uotickcount ) )
{
if (Calendar::advanceMinute())
day++;
uotickcount=uiCurrentTime+secondsperuominute*MY_CLOCKS_PER_SEC;
if (Calendar::g_nMinute%8==0)
moon1=(UI08)((moon1+1)%8);
if (Calendar::g_nMinute%3==0)
moon2=(UI08)((moon2+1)%8);
}
//
// Light
//
if( TIMEOUT( lighttime ) )
{
UI08 lightLevel = worldcurlevel;
SI32 timenow = (Calendar::g_nHour * 60) + Calendar::g_nMinute;
SI32 dawntime = (Calendar::g_nCurDawnHour * 60) + Calendar::g_nCurDawnMin;
SI32 sunsettime = (Calendar::g_nCurSunsetHour * 60) + Calendar::g_nCurSunsetMin;
SI32 nighttime = qmin((sunsettime+120), (1439));
SI32 morntime = qmax((dawntime-120), (0));
SI32 const middaytime = 750;
// SI32 const midnighttime = 0; // unused variable
UI08 dawnlight = (UI08)((((worlddarklevel - worldbrightlevel))/3) + worldbrightlevel);
//
// default lights at dawn and sunset
//
if ( timenow == dawntime || timenow==sunsettime )
lightLevel = dawnlight;
//
// highest light at midday
//
else if( timenow == middaytime )
lightLevel = (UI08) qmax(worldbrightlevel-1, 0);
//
// darkest light during night
//
else if( timenow >= nighttime )
lightLevel = worlddarklevel;
//
else if( timenow <= morntime )
lightLevel = worlddarklevel;
//
// fading light slight before dawn
//
else if( timenow > morntime && timenow < dawntime )
lightLevel = (UI08)linInterpolation(morntime, worlddarklevel, dawntime, dawnlight, timenow);
//
// fading light slight from dawn to midday
else if( timenow > dawntime && timenow < middaytime )
lightLevel = (UI08)linInterpolation(dawntime, dawnlight, middaytime, worldbrightlevel, timenow);
//
// fading light slight from midday to sunset
//
else if( timenow > middaytime && timenow < sunsettime )
lightLevel = (UI08)linInterpolation(middaytime, worldbrightlevel, sunsettime, dawnlight, timenow);
//
// fading light slight from sunset to night
//
else if( timenow > sunsettime && timenow < nighttime )
lightLevel = (UI08)linInterpolation(sunsettime, dawnlight, nighttime, worlddarklevel, timenow);
if (wtype)
lightLevel += 2;
if (moon1+moon2<4)
++lightLevel;
if (moon1+moon2<10)
++lightLevel;
if (lightLevel != worldcurlevel)
{
worldcurlevel = lightLevel;
lightChanged = true;
}
lighttime=uiCurrentTime+secondsperuominute*5*MY_CLOCKS_PER_SEC;
}
//
// Housedecay and stabling
//
if ( TIMEOUT( housedecaytimer ) )
{
//////////////////////
///// check_houses
/////////////////////
if( SrvParms->housedecay_secs != UINVALID )
cHouses::check_house_decay();
housedecaytimer = uiCurrentTime+MY_CLOCKS_PER_SEC*60*60; // check only each hour
}
//
// Spawns
//
if( TIMEOUT( Spawns->check ) )
{
Spawns->doSpawn();
}
//
// Shoprestock
//
Restocks->doRestock();
//
// Prison release
//
prison::checkForFree();
//
// Temporary effects
//
if( TIMEOUT( checktempfx ) )
tempfx::checktempeffects();
//
// Characters & items
//
NxwSocketWrapper sw;
sw.fillOnline();
for( sw.rewind(); !sw.isEmpty(); sw++ )
{
NXWCLIENT ps = sw.getClient();
if( ps == NULL )
continue;
P_CHAR pc=ps->currChar();
if( !ISVALIDPC( pc ) )
continue;
if( lightChanged )
dolight(ps->toInt(),worldcurlevel);
pc->heartbeat();
if( TIMEOUT( checknpcs ) || TIMEOUT( checktamednpcs ) || TIMEOUT( checknpcfollow ) )
{
#ifdef SPAR_C_LOCATION_MAP
PCHAR_VECTOR *pCV = pointers::getNearbyChars( pc, VISRANGE, pointers::NPC );
PCHAR_VECTOR it( pCV->begin() ), end( pCV->end() );
P_CHAR pNpc = 0;
while( it != end )
{
pNpc = (*it);
if( pNpc->lastNpcCheck != uiCurrentTime &&
(TIMEOUT( checknpcs ) ||
(TIMEOUT( checktamednpcs ) && pNpc->tamed) ||
(TIMEOUT( checknpcfollow ) && pNpc->npcWander == WANDER_FOLLOW ) ) )
{
pNpc->heartbeat();
pNpc->lastNpcCheck = uiCurrentTime;
}
++it;
}
#else
NxwCharWrapper sc;
sc.fillCharsNearXYZ( pc->getPosition(), VISRANGE, true, false );
for( sc.rewind(); !sc.isEmpty(); sc++ )
{
P_CHAR npc=sc.getChar();
if(!ISVALIDPC(npc) || !npc->npc )
continue;
if( npc->lastNpcCheck != uiCurrentTime &&
(TIMEOUT( checknpcs ) ||
(TIMEOUT( checktamednpcs ) && npc->tamed) ||
(TIMEOUT( checknpcfollow ) && npc->npcWander == WANDER_FOLLOW ) ) )
{
npc->heartbeat();
npc->lastNpcCheck = uiCurrentTime;
}
}
#endif
}
if( TIMEOUT( checkitemstime ) )
{
NxwItemWrapper si;
si.fillItemsNearXYZ( pc->getPosition(), 2*VISRANGE, false );
for( si.rewind(); !si.isEmpty(); si++ )
{
P_ITEM pi=si.getItem();
if( !ISVALIDPI( pi ) )
continue;
pi->doDecay();
switch( pi->type )
{
case 51 :
case 52 :
//if( TIMEOUT( pi->gatetime ) )
//for (int k=0;k<2;++k) Sparhawk what's this???? Let's comment it out for now
// pi->deleteItem(); // bugfix for items disappearing
//pi->deleteItem();
break;
case 61 :
case 62 :
case 63 :
case 64 :
case 65 :
case 69 :
case 125 :
break; //SPAWNERS may not decay!!! --> Sparhawk then don't use the decay tag in the script
case 88 :
if( pi->morey >= 0 && pi->morey < 25 )
if (pc->distFrom(pi)<=pi->morey)
if( (UI32)RandomNum(1,100) <= pi->morez )
soundeffect4(ps->toInt(), pi, (UI16)pi->morex);
break;
}
}
}
// Check boats extra, or else they will only be updated every CHECK_ITEMS time
std::map<int,P_BOAT>::iterator iter_boat;
for ( iter_boat= s_boat.begin();iter_boat != s_boat.end();iter_boat++)
{
P_BOAT boat=iter_boat->second;
P_ITEM pi=boat->getShipLink();
if( pi->type2 == 1 || pi->type2 == 2 )
if( TIMEOUT( pi->gatetime ) )
{
if (pi->type2==1)
Boats->Move(ps->toInt(),pi->dir,pi);
else
{
int dir=pi->dir+4;
dir%=8;
Boats->Move(ps->toInt(),dir,pi);
}
pi->gatetime=(TIMERVAL)(uiCurrentTime + (R64)(SrvParms->boatspeed*MY_CLOCKS_PER_SEC));
}
}
}//for i<now
if( TIMEOUT( checkitemstime ) )
checkitemstime = (TIMERVAL)((R64) uiCurrentTime+(speed.itemtime*MY_CLOCKS_PER_SEC));
if( TIMEOUT( checknpcs ) )
checknpcs = (TIMERVAL)((R64) uiCurrentTime+(speed.npctime*MY_CLOCKS_PER_SEC));
if( TIMEOUT( checktamednpcs ) )
checktamednpcs=(TIMERVAL)((R64) uiCurrentTime+(speed.tamednpctime*MY_CLOCKS_PER_SEC));
if( TIMEOUT( checknpcfollow ) )
checknpcfollow=(TIMERVAL)((R64) uiCurrentTime+(speed.npcfollowtime*MY_CLOCKS_PER_SEC));
//
// Html
//
if(SrvParms->html>0 && (htmltime<=uiCurrentTime ))
{
updatehtml();
htmltime=uiCurrentTime+(SrvParms->html*MY_CLOCKS_PER_SEC);
}
//
// Finish
//
if ( TIMEOUT( nextfieldeffecttime ) )
nextfieldeffecttime = (TIMERVAL)((R64) uiCurrentTime + (0.5*MY_CLOCKS_PER_SEC));
if ( TIMEOUT( nextdecaytime ) )
nextdecaytime = uiCurrentTime + (15*MY_CLOCKS_PER_SEC);
if( TIMEOUT( checktempfx ) )
checktempfx = (TIMERVAL)((R64) uiCurrentTime+(0.5*MY_CLOCKS_PER_SEC));
}
//--------------------------------------------------------------------------
void run(int /*arg*/)
{
if ( !autoIsOk()
&& askyn_c(-1, "HIDECANCEL\n"
"The autoanalysis has not finished yet.\n"
"The result might be incomplete. Do you want to continue?") < 0 )
return;
// gather information about the entry points
entrylist_t *li = new entrylist_t;
size_t n = get_entry_qty();
for ( size_t i=0; i < n; i++ )
{
asize_t ord = get_entry_ordinal((int)i);
ea_t ea = get_entry(ord);
if ( ord == ea )
continue;
qtype type, fnames;
char decl[MAXSTR];
char true_name[MAXSTR];
asize_t argsize = 0;
get_entry_name(ord, true_name, sizeof(true_name));
if ( get_tinfo(ea, &type, &fnames)
&& print_type_to_one_line(
decl, sizeof(decl),
idati,
type.c_str(),
true_name,
NULL,
fnames.c_str()) == T_NORMAL )
{
// found type info -- calc the args size
func_type_info_t fi;
int a = build_funcarg_info(idati, type.c_str(), fnames.c_str(), &fi, 0);
if ( a != 0 )
{
for ( int k=0; k < a; k++ )
{
const type_t *ptr = fi[k].type.c_str();
int s1 = (int)get_type_size(idati, ptr);
s1 = qmax(s1, inf.cc.size_i);
argsize += s1;
}
}
}
else if ( get_long_name(BADADDR, ea, decl, sizeof(decl)) != NULL
&& get_true_name(BADADDR, ea, true_name, sizeof(true_name)) != NULL
&& strcmp(decl, true_name) != 0 )
{
// found mangled name
}
else
{
// found nothing, just show the name
const char *name = get_name(BADADDR, ea, true_name, sizeof(true_name));
if ( name == NULL )
continue;
qstrncpy(decl, name, sizeof(decl));
}
if ( argsize == 0 )
{
func_t *pfn = get_func(ea);
if ( pfn != NULL )
argsize = pfn->argsize;
}
item_t x;
x.ord = (int)ord;
x.ea = ea;
x.decl = decl;
x.argsize = (uint32)argsize;
li->push_back(x);
}
// now open the window
choose2(false, // non-modal window
-1, -1, -1, -1, // position is determined by Windows
li, // pass the created array
qnumber(header), // number of columns
widths, // widths of columns
sizer, // function that returns number of lines
desc, // function that generates a line
"Exported functions", // window title
-1, // use the default icon for the window
0, // position the cursor on the first line
NULL, // "kill" callback
NULL, // "new" callback
NULL, // "update" callback
NULL, // "edit" callback
enter_cb, // function to call when the user pressed Enter
destroy_cb, // function to call when the window is closed
NULL, // use default popup menu items
NULL); // use the same icon for all lines
}
