void print_and_draw_wiimote_data(void *screen_buffer) {
//Makes the var wd point to the data on the wiimote
WPADData *wd = WPAD_Data(0);
std::cout<<" Data->Err: "<<wd->err<<"\n";
std::cout<<" IR Dots:\n";
int i;
for(i=0; i<4; i++) {
if(wd->ir.dot[i].visible) {
std::cout<<" "<<wd->ir.dot[i].rx<<", "<<wd->ir.dot[i].ry<<"\n";
drawdot(screen_buffer, rmode, 1024, 768, wd->ir.dot[i].rx, wd->ir.dot[i].ry, COLOR_YELLOW);
} else {
std::cout<<" None\n";
}
}
//ir.valid - TRUE is the wiimote is pointing at the screen, else it is false
if(wd->ir.valid) {
float theta = wd->ir.angle / 180.0 * M_PI;
//ir.x/ir.y - The x/y coordinates that the wiimote is pointing to, relative to the screen.
//ir.angle - how far (in degrees) the wiimote is twisted (based on ir)
std::cout<<" Cursor: "<<wd->ir.x<<","<<wd->ir.y<<"\n";
std::cout<<" @ "<<wd->ir.angle<<" deg\n";
drawdot(screen_buffer, rmode, rmode->fbWidth, rmode->xfbHeight, wd->ir.x, wd->ir.y, COLOR_RED);
drawdot(screen_buffer, rmode, rmode->fbWidth, rmode->xfbHeight, wd->ir.x + 10*sinf(theta), wd->ir.y - 10*cosf(theta), COLOR_BLUE);
} else {
std::cout<<" No Cursor\n\n";
}
if(wd->ir.raw_valid) {
//ir.z - How far away the wiimote is from the screen in meters
std::cout<<" Distance: "<<wd->ir.z<<"m\n";
//orient.yaw - The left/right angle of the wiimote to the screen
std::cout<<" Yaw: "<<wd->orient.yaw<<" deg\n";
} else {
std::cout<<"\n\n";
}
std::cout<<" Accel:\n";
//accel.x/accel.y/accel.z - analog values for the accelleration of the wiimote
//(Note: Gravity pulls downwards, so even if the wiimote is not moving,
//one(or more) axis will have a reading as if it is moving "upwards")
std::cout<<" XYZ: "<<wd->accel.x<<","<<wd->accel.y<<","<<wd->accel.z<<"\n";
//orient.pitch - how far the wiimote is "tilted" in degrees
std::cout<<" Pitch: "<<wd->orient.pitch<<"\n";
//orient.roll - how far the wiimote is "twisted" in degrees (uses accelerometer)
std::cout<<" Roll: "<<wd->orient.roll<<"\n";
print_wiimote_buttons(wd);
if(wd->ir.raw_valid) {
for(i=0; i<2; i++) {
drawdot(screen_buffer, rmode, 4, 4, wd->ir.sensorbar.rot_dots[i].x+2, wd->ir.sensorbar.rot_dots[i].y+2, COLOR_GREEN);
}
}
if(wd->btns_h & WPAD_BUTTON_1) doreload=1;
}
void mouse(int button, int state, int x, int y)
{
if (button == GLUT_MIDDLE_BUTTON)
{
if (state == GLUT_DOWN)
{
int i;
for (i = 0; i < numcontrols; i++)
if (fabs(controls[i][0] - x) + fabs(controls[i][1] - y) < radius)
{
dragcontrol = i;
break;
}
else if (state == GLUT_UP)
{
dragcontrol = -1;
}
}
}
else if(button == GLUT_LEFT_BUTTON)
{
if (state == GLUT_DOWN)
{
glPointSize(5.0);
controls[g][0]=x;
controls[g][1]=y;
controls[g][2]=0;
drawdot(controls[g][0],controls[g][1]);
g++;
numcontrols=g;
glutPostRedisplay();
}
}
}
static void drawpath(PathNode* to, uint32 rgb, bool done)
{
PathNode* n1 = to;
PathNode* n2 = to->parent;
while (n2) {
drawedge(n1, n2, rgb);
if (done && n1 == to)
drawdot(n1->state.x, n1->state.y, n1->state.z, 2, 0xFFFF0000);
else
drawdot(n1->state.x, n1->state.y, n1->state.z, 1, 0xFFFFFFFF);
drawdot(n2->state.x, n2->state.y, n2->state.z, 2, 0xFFFFFFFF);
n1 = n2;
n2 = n1->parent;
}
}
int Scope::expose(XEvent *evv)
{
XExposeEvent *ev = &evv->xexpose;
int x;
int flg=0;
int height=gtheight();
drawline(this,gtfgnd(),ev->x,127,ev->x+ev->width,127);
for (x = ev->x - ev->x%20;x <ev->x + ev->width; x += 20)
drawline(this,gtfgnd(),x,127-3,x,127+3);
if(data)
for(x=ev->x;x!=ev->x+ev->width;++x)
{
if(flg) drawline(this,gtfgnd(),x-1,height-data[x-1]-1,x,height-data[x]-1);
drawdot(this,gtfgnd(),x,height-data[x]-1);
flg=1;
}
return 0;
}
void loadlgf(int mode)
{
FILE *ps;
char inname[150], temp[500], *pdchar;
char **signals;
short *signets;
objectptr *libobj;
genericptr *iolabel;
int i, sigs;
sscanf(_STR, "%149s", inname);
ps = fopen(inname, "r");
if (ps == NULL) {
sprintf(inname, "%s.lgf", _STR);
ps = fopen(inname, "r");
if (ps == NULL) {
sprintf(inname, "%s.lfo", _STR);
ps = fopen(inname, "r");
if (ps == NULL) {
Wprintf("Can't open LGF file %s", inname);
return;
}
}
}
/* for PostScript file, remove ".lgf" or ".lfo" (to be replaced with ".ps") */
if ((pdchar = strstr(inname, ".l")) != NULL) *pdchar = '\0';
Wprintf("Loaded file: %s", inname);
/* Make sure that LGF object library has been loaded by loading it now. */
if (NameToLibrary(LGF_LIB) < 0) {
int ilib;
strcpy(_STR, LGF_LIB);
ilib = createlibrary(FALSE);
loadlibrary(ilib);
}
/* Read header information */
if (fgets(temp, 149, ps) == NULL) {
Wprintf("Error: end of file.");
return;
}
for (pdchar = temp; *pdchar != '-' && *pdchar != '\n'; pdchar++);
if (*pdchar == '\n') {
Wprintf("Not an LGF file?");
return;
}
if (*(++pdchar) != '5') {
Wprintf("Don't know how to read version %c.", *pdchar);
return;
}
if (fgets(temp, 149, ps) == NULL) {
Wprintf("Error: end of file.");
return;
}
for (pdchar = temp; *pdchar != 'f' && *pdchar != '\n'; pdchar++);
for (; *pdchar != 's' && *pdchar != '\n'; pdchar++);
if (*pdchar == '\n') {
Wprintf("Something wrong with the LGF file?");
return;
}
/* Done with header. . . okay to clear current page now unless importing */
if (mode == 0) {
reset(topobject, NORMAL);
pagereset(areawin->page);
}
/* Set up filename and object (page) name */
xobjs.pagelist[areawin->page]->filename = (char *) realloc (
xobjs.pagelist[areawin->page]->filename, (strlen(inname) + 1) * sizeof(char));
strcpy(xobjs.pagelist[areawin->page]->filename, inname);
/* If the filename has a path component, use only the root */
if ((pdchar = strrchr(inname, '/')) != NULL)
sprintf(topobject->name, "%s", pdchar + 1);
else
sprintf(topobject->name, "%s", inname);
renamepage(areawin->page);
printname(topobject);
/* Read objects */
for(;;) {
char *lineptr, keyptr, tmpstring[256];
int dval;
short pvalx, pvaly, pvalx2, pvaly2;
if (fgets(temp, 499, ps) == NULL) break; /* End-Of-File */
/* ignore whitespace */
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
if (*lineptr == '\n') continue; /* ignore blank lines */
switch(keyptr = *lineptr) {
case '#': /* comment */
break;
case 'n': /* nodes */
sscanf(++lineptr, "%d", &dval);
for (i = 0; i < dval; i++) {
do {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file in node section");
return;
}
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
} while (*lineptr == '\n');
}
break;
case 's': /* signal names --- save for future reference */
sscanf(++lineptr, "%d", &sigs);
signals = (char **) malloc(sigs * sizeof(char *));
signets = (short *) malloc(sigs * sizeof(short));
for (i = 0; i < sigs; i++) {
do {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file in signal section");
return;
}
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
} while (*lineptr == '\n');
sscanf(lineptr, "%hd %249s", &signets[i], tmpstring);
signals[i] = (char *)malloc((strlen(tmpstring) + 1) * sizeof(char));
sprintf(signals[i], "%s", tmpstring);
}
break;
case 'l': { /* labels */
labelptr *newlabel;
char *tstrp;
sscanf(++lineptr, "%d", &dval);
for (i = 0; i < dval; i++) {
do {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file in signal section");
return;
}
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
} while (*lineptr == '\n');
/* Allocate label, and put node number into X value, to be replaced */
/* Flag it using an inappropriate rotation value (= 500) */
sscanf(lineptr, "%hd %hd", &pvalx, &pvaly);
/* Get rid of newline character, if any */
ridnewline(lineptr);
/* forward to the label part of the input line */
tstrp = lineptr - 1;
while (isdigit(*(++tstrp)));
while (isspace(*(++tstrp)));
while (isdigit(*(++tstrp)));
while (isspace(*(++tstrp)));
while (isdigit(*(++tstrp)));
while (isspace(*(++tstrp)));
if (tstrp != NULL) { /* could be a blank line */
stringpart *strptr;
NEW_LABEL(newlabel, topobject);
labeldefaults(*newlabel, False, xmat(pvalx), ymat(pvaly));
(*newlabel)->justify = TOP | NOTBOTTOM;
(*newlabel)->color = DEFAULTCOLOR;
(*newlabel)->string->data.font = 0;
strptr = makesegment(&((*newlabel)->string), NULL);
strptr->type = TEXT_STRING;
strptr->data.string = (char *)malloc(1 + strlen(tstrp));
strcpy(strptr->data.string, tstrp);
(*newlabel)->pin = NORMAL;
}
}}
break;
case 'w': { /* wires, implemented as single-segment polygons */
polyptr *newwire;
XPoint *tmppnts;
sscanf(++lineptr, "%d", &dval);
for (i = 0; i < dval; i++) {
do {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file in wire section");
return;
}
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
} while (*lineptr == '\n');
/* Allocate wire */
NEW_POLY(newwire, topobject);
sscanf(lineptr, "%hd %hd %hd %hd", &pvalx, &pvaly, &pvalx2, &pvaly2);
(*newwire)->number = 2;
(*newwire)->points = (XPoint *)malloc(2 * sizeof(XPoint));
(*newwire)->width = 1.0;
(*newwire)->style = UNCLOSED;
(*newwire)->color = DEFAULTCOLOR;
(*newwire)->passed = NULL;
tmppnts = (*newwire)->points;
tmppnts->x = xmat(pvalx);
tmppnts->y = ymat(pvaly);
(++tmppnts)->x = xmat(pvalx2);
tmppnts->y = ymat(pvaly2);
}}
break;
case 'p': /* solder dot */
sscanf(++lineptr, "%d", &dval);
for (i = 0; i < dval; i++) {
do {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file in solder dot section");
return;
}
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
} while (*lineptr == '\n');
/* Allocate arc */
sscanf(lineptr, "%hd %hd", &pvalx, &pvaly);
drawdot(xmat(pvalx), ymat(pvaly));
}
break;
case 'b': { /* boxes */
polyptr *newpoly;
pointlist newpoints;
sscanf(++lineptr, "%d", &dval);
for (i = 0; i < dval; i++) {
do {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file in box section");
return;
}
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
} while (*lineptr == '\n');
NEW_POLY(newpoly, topobject);
(*newpoly)->style = DASHED;
(*newpoly)->color = DEFAULTCOLOR;
(*newpoly)->width = 1.0;
(*newpoly)->number = 4;
(*newpoly)->points = (pointlist) malloc(4 * sizeof(XPoint));
(*newpoly)->passed = NULL;
newpoints = (*newpoly)->points;
sscanf(lineptr, "%hd %hd %hd %hd", &pvalx, &pvaly, &pvalx2, &pvaly2);
newpoints->x = xmat(pvalx);
newpoints->y = ymat(pvaly);
(newpoints + 1)->x = xmat(pvalx2);
(newpoints + 2)->y = ymat(pvaly2);
(newpoints + 2)->x = (newpoints + 1)->x;
(newpoints + 3)->x = newpoints->x;
(newpoints + 1)->y = newpoints->y;
(newpoints + 3)->y = (newpoints + 2)->y;
}}
break;
case 'g': { /* gates */
objinstptr *newinst;
labelptr *newlabel;
int j, k, hval, flip;
sscanf(++lineptr, "%d", &dval);
for (i = 0; i < dval; i++) {
do {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file in gates section");
return;
}
for (lineptr = temp; *lineptr != '\n'; lineptr++); *lineptr = '\0';
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\0'; lineptr++);
} while (*lineptr == '\0');
/* double loop through user libraries */
for (j = 0; j < xobjs.numlibs; j++) {
for (k = 0; k < xobjs.userlibs[j].number; k++) {
libobj = xobjs.userlibs[j].library + k;
if (!strcmp(lineptr, (*libobj)->name)) break;
}
if (k < xobjs.userlibs[j].number) break;
}
strcpy(tmpstring, lineptr);
/* read gate definition */
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file during gate read");
return;
}
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
if (j < xobjs.numlibs || k < xobjs.userlibs[xobjs.numlibs - 1].number) {
NEW_OBJINST(newinst, topobject);
sscanf(lineptr, "%hd %hd %hd %*d %*d %*d %d", &pvalx, &pvaly,
&pvalx2, &hval);
flip = (pvalx2 >= 4) ? 1 : 0;
if (!strcmp(tmpstring, "FROM")) flip = 1 - flip;
(*newinst)->position.x = xmat(pvalx);
(*newinst)->position.y = ymat(pvaly);
(*newinst)->scale = 1.0;
(*newinst)->color = DEFAULTCOLOR;
(*newinst)->params = NULL;
(*newinst)->passed = NULL;
if (pvalx2 & 0x01) pvalx2 ^= 0x02;
if (pvalx2 >= 4) (*newinst)->rotation = -(((pvalx2 - 4) * 90) + 1);
else (*newinst)->rotation = (pvalx2 * 90) + 1;
(*newinst)->thisobject = *libobj;
(*newinst)->bbox.lowerleft.x = (*libobj)->bbox.lowerleft.x;
(*newinst)->bbox.lowerleft.y = (*libobj)->bbox.lowerleft.y;
(*newinst)->bbox.width = (*libobj)->bbox.width;
(*newinst)->bbox.height = (*libobj)->bbox.height;
/* Add label to "TO" and "FROM" */
if (!strcmp(tmpstring, "FROM") || !strcmp(tmpstring, "TO")) {
int nval;
hval--;
fgets(temp, 499, ps);
sscanf(temp, "%d", &nval);
for (k = 0; k < sigs; k++)
if (signets[k] == nval) {
stringpart *strptr;
NEW_LABEL(newlabel, topobject);
/* reconnect newinst if displaced by realloc() */
newinst = (objinstptr *)(topobject->plist
+ topobject->parts - 2);
labeldefaults(*newlabel, False, (*newinst)->position.x,
(*newinst)->position.y);
(*newlabel)->color = DEFAULTCOLOR;
(*newlabel)->pin = LOCAL;
(*newlabel)->color = LOCALPINCOLOR;
if (!strcmp(tmpstring, "TO"))
(*newlabel)->position.x += ((flip) ? 48 : -48);
else
(*newlabel)->position.x += ((flip) ? 54 : -54);
(*newlabel)->justify = NOTBOTTOM;
if (flip) (*newlabel)->justify |= (RIGHT | NOTLEFT);
(*newlabel)->string->data.font = 0;
strptr = makesegment(&((*newlabel)->string), NULL);
strptr->type = TEXT_STRING;
strptr->data.string = (char *)malloc(1 + strlen(signals[k]));
strcpy(strptr->data.string, signals[k]);
break;
}
}
}
/* read through list of attributes */
else {
sscanf(lineptr, "%*d %*d %*d %*d %*d %*d %d", &hval);
Wprintf("No library object %s", tmpstring);
}
for (j = 0; j < hval + 1; j++) {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("Unexpected end of file");
return;
}
}
/* read to next blank line */
do {
if (fgets(temp, 499, ps) == NULL) break;
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
} while (*lineptr != '\n');
}}
break;
case 'h': { /* history */
int j, hval;
sscanf(++lineptr, "%d", &dval);
for (i = 0; i < dval; i++) {
do {
if (fgets(temp, 499, ps) == NULL) {
Wprintf("End of file in history section");
return;
}
for (lineptr = temp; isspace(*lineptr) && *lineptr != '\n'; lineptr++);
} while (*lineptr == '\n');
/* read through history */
sscanf(lineptr, "%*d %d", &hval);
for (j = 0; j < hval; j++)
if (fgets(temp, 499, ps) == NULL) {
Wprintf("Unexpected end of file");
return;
}
}}
break;
case '.': /* blank, don't use for EOF */
break;
default:
Wprintf("Don't understand statement '%c'", *lineptr);
break;
}
}
/* check for unattached labels and delete them */
for (iolabel = topobject->plist; iolabel < topobject->plist +
topobject->parts; iolabel++)
if (IS_LABEL(*iolabel)) {
if (TOLABEL(iolabel)->rotation == 500) {
genericptr *tmplabel;
free(TOLABEL(iolabel)->string);
free(*iolabel);
for (tmplabel = iolabel + 1; tmplabel < topobject->plist +
topobject->parts; tmplabel++) *(tmplabel - 1) = *tmplabel;
topobject->parts--;
iolabel--;
}
}
calcbbox(areawin->topinstance);
centerview(areawin->topinstance);
for (i = 0; i < sigs; i++) free(signals[i]);
free(signals);
free(signets);
}
bool Pathfinder::pathfind(std::vector<PathfindingAction>& path)
{
#if 0
pout << "Actor " << actor->getObjId();
if (targetitem) {
pout << " pathfinding to item: ";
targetitem->dumpInfo();
} else {
pout << " pathfinding to (" << targetx << "," << targety << "," << targetz << ")" << std::endl;
}
#endif
#ifdef DEBUG
if (actor->getObjId() == visualdebug_actor) {
RenderSurface* screen = GUIApp::get_instance()->getScreen();
screen->BeginPainting();
if (targetitem)
drawbox(targetitem);
else
drawdot(targetx, targety, targetz, 2, 0xFF0000FF);
screen->EndPainting();
}
#endif
path.clear();
PathNode* startnode = new PathNode();
startnode->state = start;
startnode->cost = 0;
startnode->parent = 0;
startnode->depth = 0;
startnode->stepsfromparent = 0;
nodelist.push_back(startnode);
nodes.push(startnode);
unsigned int expandednodes = 0;
const unsigned int NODELIMIT_MIN = 30; //! constant
const unsigned int NODELIMIT_MAX = 200; //! constant
bool found = false;
Uint32 starttime = SDL_GetTicks();
while (expandednodes < NODELIMIT_MAX && !nodes.empty() && !found) {
PathNode* node = nodes.top(); nodes.pop();
#if 0
pout << "Trying node: (" << node->state.x << "," << node->state.y
<< "," << node->state.z << ") target=(" << targetx << ","
<< targety << "," << targetz << ")" << std::endl;
#endif
if (checkTarget(node)) {
// done!
// find path length
PathNode* n = node;
unsigned int length = 0;
while (n->parent) {
n = n->parent;
length++;
}
#if 0
pout << "Pathfinder: path found (length = " << length << ")"
<< std::endl;
#endif
unsigned int i = length;
if (length > 0) length++; // add space for final 'stand' action
path.resize(length);
// now backtrack through the nodes to assemble the final animation
while (node->parent) {
PathfindingAction action;
action.action = node->state.lastanim;
action.direction = node->state.direction;
action.steps = node->stepsfromparent;
path[--i] = action;
#if 0
pout << "anim = " << node->state.lastanim << ", dir = "
<< node->state.direction << ", steps = "
<< node->stepsfromparent << std::endl;
#endif
//TODO: check how turns work
//TODO: append final 'stand' animation
node = node->parent;
}
if (length) {
if (node->state.combat)
path[length-1].action = Animation::combatStand;
else
path[length-1].action = Animation::stand;
path[length-1].direction = path[length-2].direction;
}
expandtime = SDL_GetTicks() - starttime;
return true;
}
expandNode(node);
expandednodes++;
if(expandednodes >= NODELIMIT_MIN && ((expandednodes) % 5) == 0)
{
Uint32 elapsed_ms = SDL_GetTicks() - starttime;
if(elapsed_ms > 350) break;
}
}
expandtime = SDL_GetTicks() - starttime;
#if 0
static sint32 pfcalls = 0;
static sint32 pftotaltime = 0;
pfcalls++;
pftotaltime += expandtime;
pout << "maxout average = " << (pftotaltime / pfcalls) << "ms." << std::endl;
#endif
return false;
}