int main()
{
auto tmp = make_unique<Compute>(make_unique<ConsoleTokeniser>(),
make_unique<ConsoleOutput>(),
make_unique<NPI>());
assert(tmp && "ERROR CREATING OBJECT");
tmp->setDebug();
std::string data("1 1 +\n");
for (auto it = data.rbegin(); it != data.rend(); ++it)
std::cin.putback(*it);
tmp->computeLine();
};
/**
* This is some of the big money. This method will dynamically allocate masks
* for circles rendered in grid.
*
* @param radius - The radius of the raster circle to be generated and added.
*/
vision::rastercircle vision::initRMask(int radius) {
vision::rastercircle t;
std::vector<coord> temp;
int size = 4;
//BEGIN Midpoint circle algorithm.
int f = 1 - radius;
int ddF_x = 1;
int ddF_y = -2 * radius;
int x = 0;
int y = radius;
//calculated the number of points recursively
while(x < y) {
// ddF_x == 2 * x + 1;
// ddF_y == -2 * y;
// f == x*x + y*y - radius*radius + 2*x - y + 1;
if(f >= 0)
{
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x;
if(x != y) {
size += 8;
}
else {
size += 4;
}
}
//END Midpoint circle algorithm.
//Create the array of coordinates
for (int i = 0; i < size+4; ++i) {
vision::coord tempc;
tempc.x = 0.0;
tempc.y = 0.0;
tempc.z = 0.0;
temp.push_back(tempc);
}
//BEGIN Midpoint circle algorithm.
f = 1 - radius;
ddF_x = 1;
ddF_y = -2 * radius;
x = 0;
y = radius;
temp[0].x = radius; temp[0].y = 0; // 0
temp[size/4].x = 0; temp[size/4].y = -radius; // Pi/2
temp[size/2].x = -radius; temp[size/2].y = 0; // Pi
temp[3*size/4].x = 0; temp[3*size/4].y = radius; // 3Pi/2
int it1 = 1;
int it2 = size/4-1;
int it3 = size/4+1;
int it4 = size/2-1;
int it5 = size/2+1;
int it6 = 3*size/4-1;
int it7 = 3*size/4+1;
int it8 = size-1;
while(x < y)
{
// ddF_x == 2 * x + 1;
// ddF_y == -2 * y;
// f == x*x + y*y - radius*radius + 2*x - y + 1;
if(f >= 0)
{
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x;
// 0 to 45
temp[it1].x = y; temp[it1].y = -x;
// 90 to 45
temp[it2].x = x; temp[it2].y = -y;
// 90 to 135
temp[it3].x = -x; temp[it3].y = -y;
// 180 to 135
temp[it4].x = -y; temp[it4].y = -x;
// 180 to 225
temp[it5].x = -y; temp[it5].y = x;
// 270 to 225
temp[it6].x = -x; temp[it6].y = y;
// 270 to 315
temp[it7].x = x; temp[it7].y = y;
// 360 to 315
temp[it8].x = y; temp[it8].y = x;
it1++; it3++; it5++; it7++;
it2--; it4--; it6--; it8--;
}
//END Midpoint circle algorithm.
int max = ceil(sqrt(pow((double)radius, 2.0)/2.0));
for(int i = 0; i < 4; i++) {
temp[size+i].x = (i == 1 || i == 2) ? -max : max;
temp[size+i].y = (i == 0 || i == 1) ? -max : max;
}
t.setMask(temp);
display& disp = gamemanager::getDisplay();
disp.printRaster(t);
std::vector<std::vector<vision::coord> > lines;
for(int i = 0; i < size; i++) {
lines.push_back(computeLine(temp[i].x, temp[i].y));
disp.printLine(temp[i].x, temp[i].y, lines[i]);
}
for(int i = 1; i <= 4; i++) {
lines.push_back(getDiag(i, radius));
disp.printLine(temp[size+i-1].x, temp[size+i-1].y, lines[size+i-1]);
}
t.setLines(lines);
radiusmask.insert(std::make_pair(radius, t));
return t;
}