void VehicleManagerDemo::buildLandscape()
{
if (1)
{
//
// Create the ground we'll drive on.
//
{
hkpRigidBodyCinfo groundInfo;
//
// Set the if condition to 0 if you want to test the heightfield
//
if ( 1 )
{
FlatLand* fl = new FlatLand();
m_track = fl;
groundInfo.m_shape = fl->createMoppShapeForSpu();
groundInfo.m_position.set(5.0f, -2.0f, 5.0f);
groundInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo( GROUND_LAYER, 0 );
}
{
groundInfo.m_motionType = hkpMotion::MOTION_FIXED;
groundInfo.m_friction = 0.5f;
hkpRigidBody* groundbody = new hkpRigidBody(groundInfo);
m_world->addEntity(groundbody);
groundbody->removeReference();
}
groundInfo.m_shape->removeReference();
}
}
if (1)
{
hkVector4 halfExtents(10.0f, 0.1f, 10.0f);
hkVector4 startPos(-240.0f, -7.8f, 0.0f);
hkVector4 diffPos (30.0f, 0.0f, 0.0f);
createDodgeBoxes(5, halfExtents, startPos, diffPos);
}
if (1)
{
hkVector4 halfExtents(10.0f, 0.05f, 10.0f);
hkVector4 startPos(-240.0f, -7.85f, 30.0f);
hkVector4 diffPos (30.0f, 0.0f, 0.0f);
createDodgeBoxes(5, halfExtents, startPos, diffPos);
}
if (1)
{
int gridSize = 1 + int(hkMath::sqrt( hkReal(m_env->m_cpuMhz/100) ));
createRagdollGrid( m_world, gridSize, gridSize, 4.0f, 4.0f, m_ragdolls );
}
}
//this function allocates and precomputes the data structures that doesn't depend on the a,k0,k1,k2
genome mkGenome(const std::vector<perChr> &pc,const para &p){
genome g;
//prep datastructures
for(size_t i=0;i<pc.size();i++){
hmmRes res;
res.pos = pc[i].pos;
res.nSites = pc[i].nSites;
res.trans = new double*[9];
for(int j=0;j<9;j++)
res.trans[j] = new double[pc[i].nSites+1];
res.emis = new double*[3];
for(int j=0;j<3;j++)
res.emis[j] = new double[pc[i].nSites];
emis(p.pair[0],p.pair[1],pc[i],res.emis);
res.dpos = diffPos(pc[i].pos,pc[i].nSites);
g.results.push_back(res);
}
return g;
}