void bitset( const Delta& u, BitSet& bit ) {
const uint n = u.rows();
bit.resize( n, false );
for( Delta::InnerIterator it( u, 0 ); it; ++it ) {
uint i = it.row();
bit[i] = true;
}
}
const SUCCESS mouseMove(const Uint32 window, const Uint32 mouse, const Delta<Point<int> > &movement,
const bitset<N_MOUSE_BUTTONS> &buttons) override
{
SUCCESS ret = SUCCEEDED;
if(window == ren.getWin()->getID() && buttons[SDL_BUTTON_LEFT-1])
ret = ren.drawLine(Line<int>(movement.get(), prev));
prev = movement.get();
return ret;
};
void delta( const Source& source,
const uint size,
Delta& u,
const Scalar& default_value ) {
u.resize( size, 1 );
u.setZero();
u.reserve( source.size() );
for( const auto& s: source ) {
u.insert( s, 0 ) = default_value;
}
}
void
consume(const IMC::Rpm* msg)
{
if (!isActive())
return;
// Compute time delta.
double timestep = m_last_rpm.getDelta();
// Check if we have a valid time delta.
if (timestep < 0.0)
return;
switch (m_speed_units)
{
case IMC::SUNITS_PERCENTAGE:
dispatchThrust(m_desired_speed / 100.0, timestep);
// disable the meters per second controller
m_u_active = false;
break;
case IMC::SUNITS_RPM:
rpmToThrust(msg->value, m_desired_speed, timestep);
m_previous_rpm = m_desired_speed;
// disable the meters per second controller
m_u_active = false;
break;
default:
break;
}
if (m_u_active)
rpmToThrust(msg->value, m_desired_rpm, timestep);
}
//since we're only updating on component at a time, get the delta that
//is at this vertex and stage, and just replace the exisitng delta component with the
//new compnent in change. change will always have 2 zero components and 1 non-zero component
void MeshManager::adjustVertex(int stage, int id, ofVec3f change){
Delta* d = getOrMakeVertexDelta(stage, id);
ofVec3f existing = d->getChange();
if(change.x == 0) change.x = existing.x;
if(change.y == 0) change.y = existing.y;
if(change.z == 0) change.z = existing.z;
d->setChange(change);
//printChanges();
updateMeshes(stage);
}
template<class Bdl, class Delta> void operator()(Bdl& ref, const Delta& refdelta) const
{
assert(ref.size()==refdelta.size());
for(auto i = ref.first() ; i < ref.size() ; ++i)
{
detail::internal_apply_increment(ref.reference(i),get_ptr(refdelta(i)));
}
}
void Timers()
{
UpdateTimer.Update(TimeDelta); //Lower timer times by time passed
for (int i = 0; i < 4; i++)
{
HealthLossTimers[i].UpdateZero(TimeDelta);
}
}
const SUCCESS mouseMove(const Uint32 window, const Uint32 mouse, const Delta<Point<int> > &movement,
const bitset<N_MOUSE_BUTTONS> &buttons)
{
if(current == NULL)
return SUCCEEDED;
current->setImage(new ScaledTexture(stamp, movement.get()-current->getPixelPosition()));
return SUCCEEDED;
}
// re-initialize all member variables;
inline void reset(double __sr, int __vs) {
__exception = 0;
vectorsize = __vs;
samplerate = __sr;
m_y_1 = 0;
m_history_2 = 0;
m_history_3 = 0;
m_history_4 = 0;
m_history_5 = 0;
m_history_6 = 0;
m_history_7 = 0;
m_history_8 = 0;
m_history_9 = 0;
m_y_10 = 0;
m_delay_11.reset("m_delay_11", 96000);
m_delay_12.reset("m_delay_12", 96000);
m_resonance_13 = 0;
m_cutoff_14 = 2250;
m_window_15 = 100;
m_mix_16 = 0.5;
m_blur_17 = 0.25;
m_ratio_18 = 0.5;
m_window_19 = 100;
m_ratio_20 = 2;
samples_to_seconds = (1 / samplerate);
m_phasor_21.reset(0);
m_delta_22.reset(0);
m_sah_23.reset(0);
m_sah_24.reset(0);
m_delta_25.reset(0);
m_sah_26.reset(0);
m_sah_27.reset(0);
m_delta_28.reset(0);
m_sah_29.reset(0);
m_sah_30.reset(0);
m_delta_31.reset(0);
m_sah_32.reset(0);
m_sah_33.reset(0);
m_phasor_34.reset(0);
m_delta_35.reset(0);
m_sah_36.reset(0);
m_sah_37.reset(0);
m_delta_38.reset(0);
m_sah_39.reset(0);
m_sah_40.reset(0);
m_delta_41.reset(0);
m_sah_42.reset(0);
m_sah_43.reset(0);
m_delta_44.reset(0);
m_sah_45.reset(0);
m_sah_46.reset(0);
genlib_reset_complete(this);
};
void Model::countObservedFeatures()
{
for(vector<Feature*>::iterator f = features.begin(); f != features.end(); f++)
{
int i = (*f)->xListIndex();
int k = (*f)->yListIndex();
vector<int> xIndices = _Xindices[i];
vector<int> yIndices = _Yindices[k];
for(vector<int>::iterator xx = xIndices.begin(); xx != xIndices.end(); xx++)
{
cout << *xx << " ";
}
cout << endl;
for(int d = 0; d < Xdata->rows(); d++)
{
vector<unsigned long> xrow = Xdata->row(d);
vector<unsigned long> yrow = Ydata->row(d);
bool found = false;
for(vector<Delta*>::iterator d = (*f)->begin(); d != (*f)->end(); d++)
{
if((*d)->matchXY(xrow,yrow))
{
(*d)->incObserved();
found = true;
break;
}
}
if(found == false)
{
Delta *d = new Delta(xrow, xIndices, yrow, yIndices);
d->incObserved();
(*f)->push_back(d);
deltas.push_back(d);
}
}
}
}
int main(void)
{
cout.precision(3);
cout<<"Wheel spinning at 1 radian per iteration:"<<endl<<"Position"<<endl;
Delta<Radians> rotationalVelocity;
for(rotationalVelocity = Radians(1.0); rotationalVelocity.get() < 10.0; rotationalVelocity.increment())
cout<<double(rotationalVelocity.get())<<endl;
cout<<"Now lets start trying to spin it the other way. Every 5 iterations we'll decrease the speed by one third of a radian per iteration"<<endl<<"Position\tVelocity"<<endl;
for(int i = 0; i < 4; i++)
{
rotationalVelocity -= 2.0/3.0;
for(int j = 0; j < 5; j++)
{
cout<<double(rotationalVelocity.get())<<'\t'<<'\t'<<double(rotationalVelocity)<<endl;
rotationalVelocity.increment();
}
}
cout<<"Das p cool, but I want continuity. Let's increase the Delta every instant, using a delta"<<endl<<"Position\tVelocity\tAcceleration"<<endl;
for(Delta<Delta<Radians> > rotationalAccel(Delta<Radians>(Radians(0.2)), rotationalVelocity); rotationalAccel.get() < 100.0; rotationalAccel.increment())
cout<<double(rotationalAccel.get(Delta<Radians>::N_DERIVATIVE))<<'\t'<<'\t'<<
double(rotationalAccel.get(Delta<Delta<Radians> >::N_DERIVATIVE))<<'\t'<<'\t'<<
double(rotationalAccel)<<endl;
cout<<"Wowee. I wonder what else this thing can do..."<<endl;
return 0;
}
void
consume(const IMC::EstimatedState* msg)
{
if (!isActive())
return;
// Compute time delta.
double timestep = m_last_mps.getDelta();
// Check if we have a valid time delta.
if (timestep < 0.0)
return;
// If we're asked for m/s or if u controller is active
if (m_speed_units == IMC::SUNITS_METERS_PS || m_u_active)
{
float abs_gvel = msg->u;
mpsToRpm(abs_gvel, timestep);
// Enable u controller
m_u_active = true;
}
}
void apply_delta_and_capture(const Delta& dd, GameState *gs)
{
take_step_and_capture(dd.first(), gs);
if (dd.size() == 2)
take_step_and_capture(dd.second(), gs);
}
void Network()
{
if (UpdateTimer.Check() <= 0 && UpdateTimer.Active == true)
{
UpdateTimer.Reset(1);
int numconnected = 0; //Number of connected players
//Find out the number of players connected
for (int i = 0; i < 4; i++)
{
if (Players[i].Connected)
{
numconnected++;
}
}
for (int i = 0; i < 4; i++)
{
if (Players[i].Connected)
{
RakNet::BitStream BSOut;
BSOut.Write((RakNet::MessageID)SID_POS_UPDATE);
//Send number of connected players
BSOut.Write((int)numconnected);
//Send own player's information
BSOut.Write((float)Players[i].PosX);
BSOut.Write((float)Players[i].PosZ);
BSOut.Write((int)Players[i].Health);
//Send other players' information
for (int j = 0; j < 4; j++)
{
//If we haven't already sent this player's information and if he/she is connected..
if (j != i)
{
//Is the player connected?
if (Players[j].Connected)
{
//Flag for client identification of other players
BSOut.Write((int)Players[j].Flag);
BSOut.Write((float)Players[j].PosX);
BSOut.Write((float)Players[j].PosZ);
}
}
}
NetDevice->Send(&BSOut, HIGH_PRIORITY, RELIABLE_ORDERED, 0, PlayerAddresses[i], false);
}
}
}
for (Packet = NetDevice->Receive(); Packet; NetDevice->DeallocatePacket(Packet), Packet = NetDevice->Receive())
{
switch (Packet->data[0])
{
case CID_MOVE_MESSAGE :
{
for (int i = 0; i < 4; i++)
{
//Which player sent the message? Is he/she still connected?
if (Packet->systemAddress == PlayerAddresses[i] && Players[i].Connected)
{
//Read messages into server player classes
RakNet::BitStream BSIn(Packet->data, Packet->length, false);
BSIn.IgnoreBytes(sizeof(RakNet::MessageID));
BSIn.Read(Players[i].DestinationX);
BSIn.Read(Players[i].DestinationZ);
std::cout << "Player " << i << " ordered a move to (" << Players[i].DestinationX << " , " << Players[i].DestinationZ << ")";
Skip();
//Send authentication packet to player who sent message
RakNet::BitStream BSOut;
BSOut.Write((RakNet::MessageID)SID_MOVE_AUTH);
BSOut.Write((float)Players[i].DestinationX);
BSOut.Write((float)Players[i].DestinationZ);
NetDevice->Send(&BSOut, HIGH_PRIORITY, RELIABLE_ORDERED, 0, Packet->systemAddress, false);
Players[i].NewDestination = true;
//Send move messages to all other online players
for (int j = 0; j < 4; j++)
{
if (j != i)
{
//Is the player connected?
if (Players[j].Connected)
{
RakNet::BitStream BSOutOther;
BSOutOther.Write((RakNet::MessageID)SID_MOVE_OTHER);
BSOutOther.Write((int)Players[i].Flag);
BSOutOther.Write((float)Players[i].DestinationX);
BSOutOther.Write((float)Players[i].DestinationZ);
NetDevice->Send(&BSOutOther, HIGH_PRIORITY, RELIABLE_ORDERED, 0, PlayerAddresses[j], false);
}
}
}
break;
}
}
}
break;
case CID_POS_REQUEST :
{
int numconnected = 0; //Number of connected players
//Find out the number of players connected
for (int i = 0; i < 4; i++)
{
if (Players[i].Connected)
{
numconnected++;
}
}
for (int i = 0; i < 4; i++)
{
//Who sent the packet? Is he/she still connected?
if (Packet->systemAddress == PlayerAddresses[i] && Players[i].Connected)
{
std::cout << "Player " << i << " has requested an update.";
Skip();
//Send current player situation
RakNet::BitStream BSOut;
BSOut.Write((RakNet::MessageID)SID_POS_INITIATE);
BSOut.Write((float)Players[i].PosX);
BSOut.Write((float)Players[i].PosZ);
BSOut.Write((float)Players[i].MoveFactor);
BSOut.Write((int)Players[i].Health);
//Send the flag
BSOut.Write((int)(i));
//Send the number of connected players
BSOut.Write((int)numconnected);
for (int j = 0; j < 4; j++)
{
//If we haven't already sent this player's information and if he/she is connected..
if (j != i)
{
//Is the player connected?
if (Players[j].Connected)
{
//Flag for client identification of other players
BSOut.Write((int)Players[j].Flag);
BSOut.Write((float)Players[j].PosX);
BSOut.Write((float)Players[j].PosZ);
BSOut.Write((float)Players[j].MoveFactor);
}
}
}
NetDevice->Send(&BSOut, HIGH_PRIORITY, RELIABLE_ORDERED, 0, Packet->systemAddress, false);
//Send initiation messages to all other online players
for (int j = 0; j < 4; j++)
{
if (j != i)
{
//Is the player connected?
if (Players[j].Connected)
{
RakNet::BitStream BSOutOther;
BSOutOther.Write((RakNet::MessageID)SID_POS_OTHER);
BSOutOther.Write((int)Players[i].Flag);
BSOutOther.Write((float)Players[i].PosX);
BSOutOther.Write((float)Players[i].PosZ);
BSOutOther.Write((float)Players[i].MoveFactor);
NetDevice->Send(&BSOutOther, HIGH_PRIORITY, RELIABLE_ORDERED, 0, PlayerAddresses[j], false);
}
}
}
break;
}
}
}
break;
case ID_REMOTE_DISCONNECTION_NOTIFICATION:
Print("Another client has disconnected.");
Skip();
break;
case ID_REMOTE_CONNECTION_LOST:
Print("Another client has lost the connection.");
Skip();
break;
case ID_REMOTE_NEW_INCOMING_CONNECTION:
Print("Another client has connected.");
Skip();
break;
case ID_NEW_INCOMING_CONNECTION:
Print("A connection is incoming.");
for (int i = 0; i < 4; i++)
{
//Allocate Player IP
if (PlayerAddresses[i].port == 0)
{
PlayerAddresses[i] = Packet->systemAddress;
Players[i].Connected = true;
//Begin appropriate timer
for (int i = 0; i < 4; i++)
{
HealthLossTimers[i].Activate();
}
break;
}
}
//Begin the timer(s)
UpdateTimer.Activate();
if (UpdateTimer.Timer == 0) //Check if reset is nessasary (Only for initiation)
{
UpdateTimer.Reset(0);
}
break;
case ID_NO_FREE_INCOMING_CONNECTIONS:
Print("The server is full.");
Skip();
break;
case CID_DISCONNECT:
for (int i = 0; i < 4; i++)
{
//Which player sent the message?
if (Packet->systemAddress == PlayerAddresses[i])
{
//Close the connection
NetDevice->CloseConnection(PlayerAddresses[i], true, 1, IMMEDIATE_PRIORITY);
//Reset the player's data
Players[i] = resetplayers[i];
//Reset the port and address to allow reconnection
PlayerAddresses[i] = EmptyAddress;
PlayerAddresses[i].port = 0;
std::cout << "Player " << i << " " << "has disconnected manually.";
Skip();
//Send disconnect information to other players
for (int j = 0; j < 4; j++)
{
if (j != i)
{
//Is the player connected?
if (Players[j].Connected)
{
RakNet::BitStream BSOutOther;
BSOutOther.Write((RakNet::MessageID)SID_DISCONNECT_OTHER);
BSOutOther.Write((int)Players[i].Flag);
NetDevice->Send(&BSOutOther, HIGH_PRIORITY, RELIABLE_ORDERED, 0, PlayerAddresses[j], false);
}
}
}
}
}
break;
case ID_DISCONNECTION_NOTIFICATION:
for (int i = 0; i < 4; i++)
{
//Which player sent the message?
if (Packet->systemAddress == PlayerAddresses[i])
{
//Reset the player's data
Players[i] = resetplayers[i];
//Reset the port and address to allow reconnection
PlayerAddresses[i] = EmptyAddress;
PlayerAddresses[i].port = 0;
std::cout << "Player " << i << " " << "has disconnected.";
Skip();
}
}
break;
case ID_CONNECTION_LOST:
Print("A client lost the connection.");
Skip();
break;
default:
printf("Message with identifier %i has arrived.\n\n", Packet->data[0]);
break;
}
}
}
