void
World::action(double frame_ratio)
{
tux.action(frame_ratio);
tux.check_bounds(level->back_scrolling, (bool)level->hor_autoscroll_speed);
scrolling(frame_ratio);
/* Handle bouncy distros: */
for (unsigned int i = 0; i < bouncy_distros.size(); i++)
bouncy_distros[i]->action(frame_ratio);
/* Handle broken bricks: */
for (unsigned int i = 0; i < broken_bricks.size(); i++)
broken_bricks[i]->action(frame_ratio);
// Handle all kinds of game objects
for (unsigned int i = 0; i < bouncy_bricks.size(); i++)
bouncy_bricks[i]->action(frame_ratio);
for (unsigned int i = 0; i < floating_scores.size(); i++)
floating_scores[i]->action(frame_ratio);
for (unsigned int i = 0; i < bullets.size(); ++i)
bullets[i].action(frame_ratio);
for (unsigned int i = 0; i < upgrades.size(); i++)
upgrades[i].action(frame_ratio);
for (BadGuys::iterator i = bad_guys.begin(); i != bad_guys.end(); ++i)
(*i)->action(frame_ratio);
/* update particle systems */
std::vector<ParticleSystem*>::iterator p;
for(p = particle_systems.begin(); p != particle_systems.end(); ++p)
{
(*p)->simulate(frame_ratio);
}
/* Handle all possible collisions. */
collision_handler();
// Cleanup marked badguys
for (BadGuys::iterator i = bad_guys.begin(); i != bad_guys.end();
/* ++i handled at end of the loop */) {
if ((*i)->is_removable()) {
delete *i;
i = bad_guys.erase(i);
} else {
++i;
}
}
}
unsigned int HashTableCounter::hashfunc(const unsigned int k_item[]) const {
unsigned int hashcode = m_hash_func(k_item, m_dimension, m_table_size);
if (NULL == m_hash_table[hashcode])
return hashcode;
else {
bool equal = true;
for (unsigned int i = 0; i < m_dimension; i++) {
if (m_hash_table[hashcode][i] != k_item[i]) {
equal = false;
break;
}
}
if (equal)
return hashcode;
else
return collision_handler(k_item, hashcode);
}
}
void rigid_sys::update(number_t t0,number_t tn)
{
int i;
int N=dynamics.size();
number_t h=step_max;
number_t err=0;
vector<dynamic_info> y=dynamics,z=dynamics,y_temp=dynamics,z_temp=dynamics,y_back;
RK temp;
//adaptive
while(t0<=tn)
{
while(1)
{
err=0;
temp=delta(y,t0,h);
for(i=0;i<N;i++)
{
y_temp[i]=y[i]+temp.RK4[i];
z_temp[i]=z[i]+temp.RK5[i];
dynamic_info diff=y_temp[i]-z_temp[i];
err+=diff.L.len2()+diff.P.len2()+diff.q.len2()+diff.x.len2();
}
err=sqrt(err);
//y_temp.at(N)=y.at(N);
if(err<=err_max && err>=err_min)
{
y_back=y;
y=y_temp;
z=z_temp;
break;
}
if(err>=err_max)
{
if(h==step_min)
{
cout<<"not accurate at t="<<t0+h<<endl;
y_back=y;
y=y_temp;
z=z_temp;
break;
}
h=max(step_min,h/2.0);
continue;
}
if(err<err_min)
{
h=min(step_max,h*2);
y_back=y;
y=y_temp;
z=z_temp;
break;
}
}
if(collision_dectect(y))
{
//bisection to find the time
//int itr=2;
number_t dtl=0,dtr=h;
vector<dynamic_info> rk4;
for(int i=0;i<iteration_conllision_rollback;i++)
{
//y_back=delta(y_back,t0,(dtl+dtr)/2).RK4;
rk4=delta(y_back,t0,(dtl+dtr)/2).RK4;
for(int j=0;j<rk4.size();j++)
rk4[j]=rk4[j]+y_back[j];
if(collision_dectect(rk4))
dtr=(dtl+dtr)/2;
else
dtl=(dtl+dtr)/2;
}
rk4=delta(y_back,t0,dtr).RK4;
for(int j=0;j<rk4.size();j++)
{
y[j]=rk4[j]+y_back[j];
}
t0+=dtr;
collision_handler(y);
//start over
z=y;
y_temp=y;
z_temp=y;
}
else
{
t0+=h;
}
for(i=0;i<y.size();i++)
{
if(y[i].L.len()<precision)
y[i].L=vec(0,0,0);
if(y[i].P.len()<precision)
y[i].P=vec(0,0,0);
}
}
dynamics=y;
}
/**
* @brief 1-wire search ROM callback.
* @note Must be called from PWM's ISR.
*
* @param[in] pwmp pointer to the @p PWMDriver object
* @param[in] owp pointer to the @p onewireDriver object
*
* @notapi
*/
static void ow_search_rom_cb(PWMDriver *pwmp, onewireDriver *owp) {
onewire_search_rom_t *sr = &owp->search_rom;
if (0 == sr->reg.bit_step) { /* read direct bit */
sr->reg.bit_buf |= ow_read_bit(owp);
sr->reg.bit_step++;
}
else if (1 == sr->reg.bit_step) { /* read complement bit */
sr->reg.bit_buf |= ow_read_bit(owp) << 1;
sr->reg.bit_step++;
switch(sr->reg.bit_buf){
case 0b11:
/* no one device on bus or any other fail happened */
sr->reg.result = ONEWIRE_SEARCH_ROM_ERROR;
goto THE_END;
break;
case 0b01:
/* all slaves have 1 in this position */
store_bit(sr, 1);
ow_write_bit_I(owp, 1);
break;
case 0b10:
/* all slaves have 0 in this position */
store_bit(sr, 0);
ow_write_bit_I(owp, 0);
break;
case 0b00:
/* collision */
sr->reg.single_device = false;
ow_write_bit_I(owp, collision_handler(sr));
break;
}
}
else { /* start next step */
#if !ONEWIRE_SYNTH_SEARCH_TEST
ow_write_bit_I(owp, 1);
#endif
sr->reg.bit_step = 0;
sr->reg.bit_buf = 0;
}
/* one ROM successfully discovered */
if (64 == sr->reg.rombit) {
sr->reg.devices_found++;
sr->reg.search_iter = ONEWIRE_SEARCH_ROM_NEXT;
if (true == sr->reg.single_device)
sr->reg.result = ONEWIRE_SEARCH_ROM_LAST;
goto THE_END;
}
return; /* next search bit iteration */
THE_END:
#if ONEWIRE_SYNTH_SEARCH_TEST
(void)pwmp;
return;
#else
osalSysLockFromISR();
pwmDisableChannelI(pwmp, owp->config->master_channel);
pwmDisableChannelI(pwmp, owp->config->sample_channel);
osalThreadResumeI(&(owp)->thread, MSG_OK);
osalSysUnlockFromISR();
#endif
}
