//the following 2 functions are no longer being used to and real extent, but were left in to avoid errors in the functions that use them
osg::Vec3f Render::calculateForceDirections(float force, osg::Vec2f direction){
Vector2 vector = Vector2::Vector2(direction.x(), direction.y());
float viewHeight = viewer.getCamera()->getViewport()->height();
float viewWidth = viewer.getCamera()->getViewport()->width();
float relationship = (viewHeight<viewWidth)?15/(viewHeight/4):15/(viewWidth/4);
float theta = osg::DegreesToRadians(vector.Length()*relationship);
float phi = atan2(direction.y(), direction.x());
Logger::getInstance()->log("Theta: " + f2s(theta) + " Phi: " + f2s(phi));
return osg::Vec3f(-(force*sin(theta)*cos(phi)), -(force*sin(theta)*sin(phi)),(force*cos(theta)));
}
void
peerDigestStatsReport(const PeerDigest * pd, StoreEntry * e)
{
#define f2s(flag) (pd->flags.flag ? "yes" : "no")
#define appendTime(tm) storeAppendPrintf(e, "%s\t %10d\t %+d\t %+d\n", \
""#tm, pd->times.tm, \
saneDiff(pd->times.tm - squid_curtime), \
saneDiff(pd->times.tm - pd->times.initialized))
const char *host = pd ? strBuf(pd->host) : NULL;
assert(pd);
storeAppendPrintf(e, "\npeer digest from %s\n", host);
cacheDigestGuessStatsReport(&pd->stats.guess, e, host);
storeAppendPrintf(e, "\nevent\t timestamp\t secs from now\t secs from init\n");
appendTime(initialized);
appendTime(needed);
appendTime(requested);
appendTime(received);
appendTime(next_check);
storeAppendPrintf(e, "peer digest state:\n");
storeAppendPrintf(e, "\tneeded: %3s, usable: %3s, requested: %3s\n",
f2s(needed), f2s(usable), f2s(requested));
storeAppendPrintf(e, "\n\tlast retry delay: %d secs\n",
pd->times.retry_delay);
storeAppendPrintf(e, "\tlast request response time: %d secs\n",
pd->times.req_delay);
storeAppendPrintf(e, "\tlast request result: %s\n",
pd->req_result ? pd->req_result : "(none)");
storeAppendPrintf(e, "\npeer digest traffic:\n");
storeAppendPrintf(e, "\trequests sent: %d, volume: %d KB\n",
pd->stats.sent.msgs, (int) pd->stats.sent.kbytes.kb);
storeAppendPrintf(e, "\treplies recv: %d, volume: %d KB\n",
pd->stats.recv.msgs, (int) pd->stats.recv.kbytes.kb);
storeAppendPrintf(e, "\npeer digest structure:\n");
if (pd->cd)
cacheDigestReport(pd->cd, host, e);
else
storeAppendPrintf(e, "\tno in-memory copy\n");
}
void showPressureSensor()
{
float pressure = 0;
float temperature = 0;
pressureSensor -> getPressure(&pressure);
pressureSensor -> getTemperature(&temperature);
char buff[128];
sprintf(buff, "Environment\r\nPressure: \r\n %shPa\r\nTemp: %sC \r\n",f2s(pressure, 2), f2s(temperature, 1));
Screen.print(buff);
}
/** Prints a matrix.
* Looks like:
* [ a, b, c ]
* [ d, e, f ]
* [ g, h, i ]
*/
int MatrixPrint(matrix mx)
{
for(int row = 0; row < mx.rows; row++) {
printf("[ ");
for(int col = 0; col < mx.columns; col++) {
printf("%s ", f2s(mx.mx[row][col]));
}
printf("]\n");
}
return 0;
}
/* ----------------------------------------------------------------------------
* Loads data about the leader type from a data file.
*/
void leader_type::load_from_file(
data_node* file, const bool load_resources,
vector<pair<size_t, string> >* anim_conversions
) {
pluck_delay =
s2f(file->get_child_by_name("pluck_delay")->value);
whistle_range =
s2f(
file->get_child_by_name("whistle_range")->get_value_or_default(
f2s(DEF_WHISTLE_RANGE)
)
);
punch_strength =
s2i(file->get_child_by_name("punch_strength")->value); //TODO default.
throw_height_mult =
s2f(
file->get_child_by_name("throw_height_mult")->get_value_or_default(
"1"
)
);
if(load_resources) {
//TODO don't use load_sample for these.
sfx_dismiss =
load_sample(file->get_child_by_name("dismiss_sfx")->value, mixer);
sfx_name_call =
load_sample(file->get_child_by_name("name_call_sfx")->value, mixer);
sfx_whistle =
load_sample(file->get_child_by_name("whistle_sfx")->value, mixer);
bmp_icon =
bitmaps.get(file->get_child_by_name("icon")->value, file);
}
#define new_conversion(id, name) \
anim_conversions->push_back(make_pair((id), (name)))
new_conversion(LEADER_ANIM_IDLING, "idling");
new_conversion(LEADER_ANIM_WALKING, "walking");
new_conversion(LEADER_ANIM_PLUCKING, "plucking");
new_conversion(LEADER_ANIM_GETTING_UP, "getting_up");
new_conversion(LEADER_ANIM_DISMISSING, "dismissing");
new_conversion(LEADER_ANIM_THROWING, "throwing");
new_conversion(LEADER_ANIM_WHISTLING, "whistling");
new_conversion(LEADER_ANIM_LYING, "lying");
new_conversion(LEADER_ANIM_PAIN, "pain");
new_conversion(LEADER_ANIM_KNOCKED_DOWN, "knocked_down");
new_conversion(LEADER_ANIM_SPRAYING, "spraying");
#undef new_conversion
}
void showHumidTempSensor()
{
ht_sensor->reset();
float temperature = 0;
ht_sensor->getTemperature(&temperature);
//convert from C to F
temperature = temperature*1.8 + 32;
float humidity = 0;
ht_sensor->getHumidity(&humidity);
char buff[128];
sprintf(buff, "Environment \r\n Temp:%sF \r\n Humidity:%s%% \r\n \r\n",f2s(temperature, 1), f2s(humidity, 1));
Screen.print(buff);
}
void draw() {
dt = gui_t.dtime();
gui_f_time += dt;
gui_g_time += dt;
float f_wait;
bool run_always = false;
f_wait = 1.0f/100.0f;
if (run_always || gui_f_time > f_wait)
{
if (first) {
start_engine();
cl_server.set_command_lists(&internal_cmd_in,&internal_cmd_out);
cl_server.start();
first = false;
}
++frame_count;
gui_fullscreen_fpstimer += gui_f_time;
current_fps = f2s(round(1.0f/gui_f_time),2);
if (gui_fullscreen_fpstimer > 1) {
vsx_string h = fpsstring + " @ "+ current_fps+ "fps";
gui_fullscreen_fpstimer = 0;
}
gui_f_time = 0;
glDepthMask(GL_TRUE);
glClearColor(0.0f,0.0f,0.0f,1.0f);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
if (vxe) {
vxe->process_message_queue(&internal_cmd_in,&internal_cmd_out);
vxe->render();
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity(); // Reset The Modelview Matrix
glEnable(GL_BLEND);
++frame_counter;
++delta_frame_counter;
}
}
pgv.iterations = -1;
pgv.process_garbage();
}
void vsx_statelist::dec_amp()
{
(*state_iter).fx_level-=0.05f;
if ((*state_iter).fx_level < 0.1f) (*state_iter).fx_level = 0.1f;
vxe->set_amp((*state_iter).fx_level);
#if defined(__linux__)
vsx_string fxlf = config_dir+"/"+(*state_iter).state_name_suffix.substr(visual_path.size()+1 , (*state_iter).state_name_suffix.size())+"_fx_level";
FILE* fxfp = fopen( fxlf.c_str(), "w");
if (fxfp)
{
fputs(f2s((*state_iter).fx_level).c_str(), fxfp);
fclose(fxfp);
}
#endif
fx_alpha = 5.0f;
}
void vsxu_assistant::toggle_size() {
if (size_multiplier == 1.3f) {
size_multiplier = 1.0f;
} else
if (size_multiplier == 1.0f) {
size_multiplier = 0.8f;
} else
if (size_multiplier == 0.8f) {
size_multiplier = 0.2f;
} else
if (size_multiplier == 0.2f)
{
size_multiplier = 1.3f;
}
printf("assistant size is now: %f\n",size_multiplier);
configuration["assistant_size"] = f2s(size_multiplier);
((vsx_widget_desktop*)root)->save_configuration();
}
void vsx_statelist::inc_amp()
{
(*state_iter).fx_level+=0.05f;
if ((*state_iter).fx_level > 16.0f) (*state_iter).fx_level = 16.0f;
#if defined(__linux__)
vsx_string fxlf = config_dir+"/"+(*state_iter).state_name_suffix.substr(visual_path.size()+1 , (*state_iter).state_name_suffix.size())+"_fx_level";
#ifdef VSXU_DEBUG
printf("fx level file: %s\n", fxlf.c_str() );
#endif
FILE* fxfp = fopen( fxlf.c_str(), "w");
if (fxfp)
{
fputs(f2s((*state_iter).fx_level).c_str(), fxfp);
fclose(fxfp);
}
#endif
vxe->set_amp((*state_iter).fx_level);
fx_alpha = 5.0f;
}
void vsx_widget_timeline::move_time(vsx_vector world) {
if (owner->engine_status == VSX_ENGINE_STOPPED) {
float f = (world.x+size.x/2)/(size.x);
if (f < 0) f = 0;
else
if (f > 1) f = 1;
float c_time = owner->tstart+f*(owner->tend - owner->tstart);
if (c_time < 0) c_time = 0;
float a = (c_time-owner->tstart)/(owner->tend-owner->tstart);
//printf("a: %f\n",a);
if (a > 0.95) {
//dd_time = (0.001)*(owner->tend-owner->tstart);
//owner->tend += dd_time;
//owner->tstart += dd_time;
//c_time = owner->tstart+(owner->tend-owner->tstart)*0.851;
//owner->curtime + dd_time*2;
auto_move_dir = 1;
owner->update_time_from_engine = false;
a_dist = a-0.95;
} else
if (a < 0.05) {
//dd_time = (0.001)*(owner->tend-owner->tstart);
//owner->tend -= dd_time;
//owner->tstart -= dd_time;
//c_time = owner->tstart+(owner->tend-owner->tstart)*0.149;
auto_move_dir = -1;
a_dist = 0.05-a;
owner->update_time_from_engine = false;
} else {
auto_move_dir = 0;
owner->curtime = c_time;
command_q_b.add_raw("time_set "+f2s(owner->curtime));
parent->vsx_command_queue_b(this);
owner->update_time_from_engine = false;
}
//owner->check_timeline();
} else {
auto_move_dir = 0;
owner->update_time_from_engine = true;
}
}
void vsx_window_object_inspector::vsx_command_process_b(vsx_command_s *t) {
if (k_focus == component_rename_edit || t->cmd == "component_rename_button") {
if (inspected->widget_type == VSX_WIDGET_TYPE_COMPONENT) {
vsx_widget_component* cc = (vsx_widget_component*)inspected;
vsx_string curname = "";
vsx_string newname = "";
// if (cc->parent_name != "") {
// curname += cc->parent_name+".";
// newname += cc->parent_name+".";
// }
newname += ((vsx_widget_base_edit*)component_rename_edit)->get_string();
command_q_b.add_raw("component_rename " +cc->name+" "+newname);
cc->server->vsx_command_queue_b(this);
} else
if (inspected->widget_type == VSX_WIDGET_TYPE_ANCHOR) {
//printf("sending\n");
command_q_b.add_raw(
"pa_ren "+ // command
((vsx_widget_anchor*)inspected)->component->name+" "+ // component
((vsx_widget_anchor*)inspected)->name+" "+
((vsx_widget_base_edit*)component_rename_edit)->get_string()+" "+
i2s(((vsx_widget_anchor*)inspected)->io)
);
((vsx_widget_component*)((vsx_widget_anchor*)inspected)->component)->server->vsx_command_queue_b(this);
}
}
if (t->cmd == "component_timing_ok")
{
label2->title = vsx_string("run time: ")+t->parts[2] + " seconds\noutput time:" + t->parts[3] + " seconds\n";
label2->title = label2->title + "% of total frame time: "+f2s( (s2f(t->parts[2])+s2f(t->parts[3]))*100.0f / s2f(t->parts[4]),3);
}
//if (t->cmd == "cancel") { visible = 0; return; }
//if (((vsx_widget_2d_edit*)edit1)->value.str().size())
//{
//command_q_b.add(name,((vsx_widget_2d_edit*)edit1)->value.str());
//parent->vsx_command_queue_b(this);
//((vsx_widget_2d_edit*)edit1)->value.str("");
//((vsx_widget_2d_edit*)edit1)->value.clear();
//}
//visible = 0;
}
double f3s(double x1, double x2, double y1, double y2, double b1,
double b2, double z )
{
double p;
if (x2 < x1 || y2 < y1 || b2 < b1)
{
/* cat("Bad input parameters, upper limits less than lower limits\n");
p = NA; */
/* cng - make a big number to be subtracted and yield ndv */
/* p = 1000.0 */
p = 1000.0;
}
else if (x1 < 0 || y1 < 0 || b1 < 0)
{
/* cat("Bad input parameters, Variables cannot be negative\n");
p = NA; */
p = 1000.;
}
else
{
if(y1 == y2 || b1 == b2)
{ /* degenerate on y or b - reverts to additive convolution */
p = f2s(x1,x2,y1*b1,y2*b2,z);
}
else
{
if(x2 == x1)
{
p = fa(y1, y2, b1, b2, z - x1);
}
else
{
p = (fai(y1, y2, b1, b2, z - x1) -
fai(y1, y2, b1, b2, z - x2)) / (x2 - x1);
}
}
}
return p;
}
bool app_draw(int id)
{
if (id == 0) {
my_draw.draw();
} else
{
if (dual_monitor) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear Screen And Depth Buffer
vxe->process_message_queue(&internal_cmd_in,&internal_cmd_out);
vxe->render();
glDisable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity(); // Reset The Modelview Matrix
glEnable(GL_BLEND);
++frame_counter;
++delta_frame_counter;
float dt = time2.dtime();
delta_frame_time+= dt;
total_time += dt;
if (delta_frame_counter == 100) {
delta_fps = 100.0f/delta_frame_time;
delta_frame_counter = 0;
delta_frame_time = 0.0f;
}
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glColor4f(0,0,0,0.4f);
glBegin(GL_QUADS); // Draw A Quad
glVertex3f(-1.0f, 1.0f, 0.0f); // Top Left
glVertex3f( 1.0f, 1.0f, 0.0f); // Top Right
glVertex3f( 1.0f,0.92f, 0.0f); // Bottom Right
glVertex3f(-1.0f,0.92f, 0.0f); // Bottom Left
glEnd(); // Done Drawing The Quad
myf.print(vsx_vector(-1.0f,0.92f)," Fc "+i2s(frame_counter)+" Fps "+f2s(delta_fps)+" T "+f2s(total_time)+" Tfps "+f2s(frame_counter/total_time)+" MC "+i2s(vxe->get_num_modules())+" VSX Ultra (c) Vovoid",0.07);
}
}
return true;
}
double Qmatrix::operator()(int64_t a) const {
return max_elem_in_row_[f2s(f2s_maps_[0], a)];
}
double Qmatrix::operator()(int64_t a, int64_t b) const {
return Q_(f2s(f2s_maps_[0], a), f2s(f2s_maps_[1], b));
}
void Render::updateGamePlay()
{
//Cow collision detection:
if (Render::detectCollision(osg::BoundingSphere(cowTransform->getBound()), osg::BoundingSphere(tor1Tr->getBound())) && missileCollison==false)
{
missileCollison = true;
ball1->setColor(osg::Vec4(0.0f,1.0f,0.0f,0.0f));
Logger::getInstance()->log("Cow collision with ball #1");
std::cout<<"Cow impacts ball #1\n";
}
if (Render::detectCollision(osg::BoundingSphere(cowTransform->getBound()), osg::BoundingSphere(tor2Tr->getBound())) && missileCollison==false)
{
missileCollison = true;
ball2->setColor(osg::Vec4(0.0f,1.0f,0.0f,0.0f));
Logger::getInstance()->log("Cow collision with ball #2");
std::cout<<"Cow impacts ball #2\n";
}
if (Render::detectCollision(osg::BoundingSphere(cowTransform->getBound()), osg::BoundingSphere(tor3Tr->getBound())) && missileCollison==false)
{
missileCollison = true;
ball3->setColor(osg::Vec4(0.0f,1.0f,0.0f,0.0f));
Logger::getInstance()->log("Cow collision with ball #3");
std::cout<<"Cow impacts ball #3\n";
}
if((cowPosition.z() < 0) && missileCollison==false)
{ //these ones should be radius of ball
missileCollison = true;
std::cout<<"Cow impacts ground\n";
Logger::getInstance()->log("Cow impacts ground\n");
}
if (Render::detectCollision(osg::BoundingSphere(helicopterTransform->getBound()), osg::BoundingSphere(tor1Tr->getBound())))
{
ball1->setColor(osg::Vec4(1.0f,0.0f,0.0f,0.0f));
Logger::getInstance()->log("Collision with ball #1");
}
if (Render::detectCollision(osg::BoundingSphere(helicopterTransform->getBound()), osg::BoundingSphere(tor2Tr->getBound())))
{
ball2->setColor(osg::Vec4(1.0f,0.0f,0.0f,0.0f));
Logger::getInstance()->log("Collision with ball #2");
}
if (Render::detectCollision(osg::BoundingSphere(helicopterTransform->getBound()), osg::BoundingSphere(tor3Tr->getBound())))
{
ball3->setColor(osg::Vec4(1.0f,0.0f,0.0f,0.0f));
Logger::getInstance()->log("Collision with ball #3");
}
float frictionScalar;
if(friction==true)
frictionScalar = Constants::getInstance()->frictionConstant;//*sqrt(pow(modelVelocity.x(),2)+pow(modelVelocity.y(),2)+pow(modelVelocity.z(),2));
else
frictionScalar = 0;
float mass = Constants::getInstance()->helicopter->mass;
float axForce = (sin(osg::DegreesToRadians(helicopterOrientation.y_theta))*rotorForce)//magnitude of rotor initially this direction
*cos(osg::DegreesToRadians(helicopterOrientation.z_theta))//transform for when heli turns
+(sin(osg::DegreesToRadians(helicopterOrientation.x_theta))*rotorForce)//magnitude of rotor initially in other direction
*sin(osg::DegreesToRadians(helicopterOrientation.z_theta))//transform for when heli turns
- frictionScalar*modelVelocity.x();//friction portion
float ayForce = -(((sin(osg::DegreesToRadians(helicopterOrientation.x_theta))*rotorForce)//same as for axForce
*cos(osg::DegreesToRadians(helicopterOrientation.z_theta))
+(sin(osg::DegreesToRadians(helicopterOrientation.y_theta))*rotorForce)
*sin(osg::DegreesToRadians(helicopterOrientation.z_theta)))
- frictionScalar*modelVelocity.y());
float azForce = cos(osg::DegreesToRadians(helicopterOrientation.x_theta))*cos(osg::DegreesToRadians(helicopterOrientation.y_theta))*rotorForce + aGrav*mass - frictionScalar*modelVelocity.z();
float xAcc = axForce/mass;
float yAcc = ayForce/mass;
float zAcc = azForce/mass;
float delta = 0.0235; //viewer.getFrameStamp()->getReferenceTime() - last;
last = viewer.getFrameStamp()->getReferenceTime();
float xPos = modelPosition.x() + (modelVelocity.x()*delta) + (0.5)*xAcc*(pow(delta,2));
float xVel = (modelVelocity.x() + xAcc*delta)*0.99999999999;
float yPos = modelPosition.y() + (modelVelocity.y()*delta) + (0.5)*yAcc*(pow(delta,2));
float yVel = (modelVelocity.y() + yAcc*delta)*0.99999999999;
float zPos = modelPosition.z() + (modelVelocity.z()*delta) + (0.5)*zAcc*(pow(delta,2));
float zVel = (modelVelocity.z() + zAcc*delta)*0.99999999999;
if(zPos < 1){ //these ones should be radius of ball
if(zVel < -3)//THIS VALUE IS SUBJECT TO CHANGE
{
crash=true;
Logger::getInstance()->log("Collison with ground");
}
else
{
Logger::getInstance()->log("Successful landing");
}
zPos = 1;
zVel *= 0;
}
hud.crashed(crash);
Logger* logger = Logger::getInstance();
string something = f2s(xPos);
logger->log("X Pos: " + f2s(xPos) + " Y Pos: " + f2s(yPos) + " Z Pos: " + f2s(zPos));
logger->log("X Vel: " + f2s(xVel) + " Y Vel: " + f2s(yVel) +" Z Vel: " + f2s(zVel));
logger->log("X Acc: " + f2s(xAcc) + " Y Acc: " + f2s(yAcc) +" Z Acc: " + f2s(zAcc));
logger->log("Throttle Position: " + f2s(rotorForce/Constants::getInstance()->baseThrottle));
modelPosition.set(osg::Vec3d(xPos, yPos, zPos));
modelVelocity.set(osg::Vec3f(xVel, yVel, zVel));
helicopterTransform->setPosition(modelPosition);
//m3: missile
if(fire == true)
{
if(fireTimer==Constants::getInstance()->fireRate)
{
cowVelocity.set(osg::Vec3f((sin(osg::DegreesToRadians(helicopterOrientation.z_theta)))*Constants::getInstance()->missile->Airspeed + (modelVelocity.x()*delta),
-((cos(osg::DegreesToRadians(helicopterOrientation.z_theta)))*Constants::getInstance()->missile->Airspeed + (modelVelocity.y()*delta)),
(sin(-(osg::DegreesToRadians(helicopterOrientation.x_theta+5))))*Constants::getInstance()->missile->Airspeed + (-modelVelocity.z()*delta)));
cowPosition.set(osg::Vec3d(cowPosition.x() + cowVelocity.x()*delta,cowPosition.y() + cowVelocity.y()*delta,cowPosition.z() + cowVelocity.z()*delta));
cowTransform->setPosition(cowPosition);
}
if(fireTimer<=Constants::getInstance()->fireRate && fireTimer>0)
{
cowPosition.set(osg::Vec3d(cowPosition.x() + cowVelocity.x()*delta,cowPosition.y() + cowVelocity.y()*delta,cowPosition.z() + cowVelocity.z()*delta));
cowTransform->setPosition(cowPosition);
}
fireTimer--;
if(fireTimer<=0)
{
missileCollison = false;
fireTimer=Constants::getInstance()->fireRate;
fire=false;
}
}
else
{
cowTransform->setPosition(modelPosition);
cowPosition = modelPosition;
}
// orientation
helicopterTransform->setAttitude(
osg::Quat(
osg::DegreesToRadians(90 + helicopterOrientation.x_theta),osg::Vec3f(1,0,0),
osg::DegreesToRadians(helicopterOrientation.y_theta),osg::Vec3f(0,1,0),
osg::DegreesToRadians(helicopterOrientation.z_theta),osg::Vec3f(0,0,1)
)
);
// hud
hud.updateText(xPos, yPos, zPos, xVel, yVel, zVel, xAcc, yAcc, zAcc, helicopterOrientation.x_theta , helicopterOrientation.y_theta, helicopterOrientation.z_theta, axForce, ayForce, azForce, cowVelocity.x(), cowVelocity.y(), cowVelocity.z(),helicopterOrientation.x_theta+5);
if(ScriptRunner::getInstance()->getStatus()){ ScriptRunner::getInstance()->doCommand(); }
}
/* function to compute stability index with potentially
uncertain parameters for a specific grid cell */
double sindexcell(double s, double a, double c1, double c2,
double t1, double t2, double x1, double x2, double r,
double *sat)
{
/* c1, c2 bounds on dimensionless cohesion
t1,t2 bounds on friction angle
x1,x2 bounds on wetness parameter q/T
r Density ratio
s slope angle
a specific catchment area */
double cs, ss, w1, w2, fs2, fs1, cdf1, cdf2, y1, y2, as, si;
/* cng - added this to prevent division by zero */
if (s == 0.0)
{
*sat = 3.0;
return 10;
}
/* DGT - The slope in the GIS grid file is the tangent of the angle */
s = atan(s);
/* t1 and t2 input as angle must be converted to tan */
t1 = tan(t1);
t2 = tan(t2);
cs = cos(s);
ss = sin(s);
if(x1 > x2)
{ /* Error these are wrong way round - switch them */
w1 = x2; /* Using w1 as a temp variable */
x2 = x1;
x1 = w1;
}
/* Wetness is coded between 0 and 1.0 based on the lower T/q parameter
(this is conservative). If wetness based on lower T/q is > 1.0 and wetness based
on upper T/q <1.0, then call it the "threshold saturation zone" and hard code it
to 2.0. Then if wetness based on upper T/q >1.0, then call it the
"saturation zone" and hard code it to 3.0.
Lower T/q correspounds to upper q/T = x = x2 -> w2 */
w2 = x2*a/ss;
w1 = x1*a/ss;
*sat = w2;
if(w2 > 1.0)
{
w2 = 1.0;
*sat = 2.0;
}
if(w1 > 1.0)
{
w1 = 1.0;
*sat = 3.0;
}
fs2 = fs(s,w1,c2,t2,r);
if (fs2 < 1) /* always unstable */
{
si = 0;
}
else
{
fs1 = fs(s,w2,c1,t1,r);
if(fs1 >= 1) /* Always stable */
{
si = fs1;
}
else
{
if(w1 == 1) /* region 1 */
{
si = 1-f2s(c1/ss,c2/ss,cs*(1-r)/ss*t1,cs*(1-r)/ss*t2,1);
}
else
{
if(w2 == 1) /* region 2 */
{
as = a/ss;
y1 = cs/ss*(1-r);
y2 = cs/ss*(1-x1*as*r);
cdf1 = (x2*as-1)/(x2*as-x1*as)*f2s(c1/ss,c2/ss,cs*(1-r)/ss*t1,cs*(1-r)/ss*t2,1);
cdf2 = (1-x1*as)/(x2*as-x1*as)*f3s(c1/ss,c2/ss,y1,y2,t1,t2,1);
si = 1-cdf1-cdf2;
}
else /* region 3 */
{
as = a/ss;
y1 = cs/ss*(1-x2*as*r);
y2 = cs/ss*(1-x1*as*r);
si = 1-f3s(c1/ss,c2/ss,y1,y2,t1,t2,1);
}
}
}
}
/* cng - need to limit the size spread for arcview since it has
difficulties with equal intervals over a large range of numbers */
if (si > 10.0)
si = 10.0;
return si;
}
void vsx_widget_timeline::i_draw() {
parentpos = parent->get_pos_p();
float time_diff = owner->tend - owner->tstart;
totalsize = (owner->tend - owner->tstart);
float y_mid = parentpos.y+pos.y;
float y_size = size.y;
if (a_focus == this) y_size *= 3.0f;
float y_size_half = y_size * 0.5f;
if (auto_move_dir) {
//float c_time = owner->curtime;
float curtime = owner->curtime + auto_move_dir*dtime*time_diff*10.0f*a_dist;//totalsize*0.01;
float tstart = owner->tstart + auto_move_dir*dtime*time_diff*10.0f*a_dist;//totalsize*0.01;
float tend = owner->tend + auto_move_dir*dtime*time_diff*10.0f*a_dist;//totalsize*0.01;
if (curtime >= 0) {
owner->curtime = curtime;
owner->tstart = tstart;
owner->tend = tend;
}
command_q_b.add_raw("time_set "+f2s(owner->curtime));
parent->vsx_command_queue_b(this);
}
glBegin(GL_QUADS);
if (owner->tstart < 0) {
glColor4f(0.4,0.3,0.3f,0.5f);
ff = size.x*(fabs(owner->tstart)/totalsize);
glVertex2f(parentpos.x+pos.x-size.x*0.5f, y_mid+y_size_half);
glVertex2f(parentpos.x+pos.x-size.x*0.5f+ff, y_mid+y_size_half);
glVertex2f(parentpos.x+pos.x-size.x*0.5f+ff, y_mid-y_size_half);
glVertex2f(parentpos.x+pos.x-size.x*0.5f, y_mid-y_size_half);
if (owner->tend > 0) {
glColor4f(0.3,0.4,0.3,0.5f);
glVertex2f(parentpos.x+pos.x-size.x*0.5f+ff, y_mid+y_size_half);
glVertex2f(parentpos.x+pos.x+size.x*0.5f, y_mid+y_size_half);
glVertex2f(parentpos.x+pos.x+size.x*0.5f, y_mid-y_size_half);
glVertex2f(parentpos.x+pos.x-size.x*0.5f+ff, y_mid-y_size_half);
}
} else {
glColor4f(0.3,0.4,0.3,0.5f);
glVertex2f(parentpos.x+pos.x-size.x*0.5f, y_mid+y_size_half);
glVertex2f(parentpos.x+pos.x+size.x*0.5f, y_mid+y_size_half);
glVertex2f(parentpos.x+pos.x+size.x*0.5f, y_mid-y_size_half);
glVertex2f(parentpos.x+pos.x-size.x*0.5f, y_mid-y_size_half);
}
glEnd();
if (a_focus == this) {
glColor3f(1.0f,1.0f,1.0f);
} else
glColor3f(0.5f,0.5f,0.5f);
draw_box_border(vsx_vector(parentpos.x+pos.x-size.x*0.5,y_mid-y_size_half), vsx_vector(size.x,y_size), dragborder*0.5);
levelstart = ((float)z_round(owner->tstart) - owner->tstart)/totalsize;
//printf("levelstart: %f\n",levelstart);
levelstart = 0;
myf.color.a = 0.8f;
float one_div_totalsize_times_sizex = 1.0f / totalsize * size.x;
for (int i = (int)owner->tstart; i < (int)(owner->tend)+1; ++i)
{
glColor3f(0.5,0.5,0.5);
float x = (float)(i-owner->tstart) * one_div_totalsize_times_sizex;
if (x > 0)
{
x += parentpos.x+pos.x - size.x*0.5f+levelstart*size.x;
glBegin(GL_LINES);
glVertex2f(x,y_mid+y_size*0.416666667f);
glVertex2f(x,y_mid-y_size*0.416666667f);
glEnd();
myf.print_center(vsx_vector(x,y_mid), i2s(i),0.005);
}
}
glColor3f(1,1,1);
float f = ((owner->curtime-owner->tstart)/(owner->tend-owner->tstart))*size.x;
glBegin(GL_LINES);
glVertex2f(parentpos.x+pos.x-size.x*0.5f+f,y_mid+y_size*0.416666667);
glVertex2f(parentpos.x+pos.x-size.x*0.5f+f,y_mid-y_size*0.416666667);
glEnd();
// ************************************************************
// sound waveform display
// ************************************************************
if (show_wave_data)
{
vsx_widget_server* server = (vsx_widget_server*)owner->get_server();
vsx_engine* engine = (vsx_engine*)(server->engine);
if (engine->engine_info.param_float_arrays.size() >= 4 && a_focus == this)
{
vsx_engine_float_array *full_pcm_data_l;
vsx_engine_float_array *full_pcm_data_r;
full_pcm_data_l = engine->engine_info.param_float_arrays[2];
full_pcm_data_r = engine->engine_info.param_float_arrays[3];
if (full_pcm_data_l->array.size() > 0)
{
// assuming we have 44100 samples per second
float x_start = parentpos.x+pos.x-size.x*0.5f;
float x_end = parentpos.x+pos.x+size.x*0.5f;
float t_start = owner->tstart;
float t_end = owner->tend;
size_t data_end = (size_t) (t_end * 44100.0f);
if (owner->tstart < 0)
{
x_start += fabs(t_start / (t_end - t_start)) * size.x;
//data_end -= fabs(t_start) * 44100.0f;
t_start = 0.0f;
}
size_t data_start = (size_t) (t_start * 44100.0f);
size_t data_count = data_end - data_start;
float x_dist = x_end - x_start;
double x_diff = (double)x_dist / (double)data_count;
// printf("data_start: %d\n", data_start);
//printf("data_end: %d\n", data_end);
//printf("data_count: %d\n", data_count);
glColor4f(1.0f,0.2f,0.2f,0.15f);
double x_pos = x_start;
glBegin(GL_LINE_STRIP);
for (
size_t i = data_start;
i < data_end;
i++
)
{
glVertex2f(x_pos, y_mid + (*full_pcm_data_l).array[i] * y_size_half );
x_pos += x_diff;
}
glEnd();
glColor4f(0.2f,1.0f,0.2f,0.1f);
x_pos = x_start;
glBegin(GL_LINE_STRIP);
for (
size_t i = data_start;
i < data_end;
i++
)
{
glVertex2f(x_pos, y_mid + (*full_pcm_data_r).array[i] * y_size_half );
x_pos += x_diff;
}
glEnd();
} // pcm data pool size
}
}
vsx_widget::i_draw();
}
void draw() {
if (record_movie) {
vxe->set_constant_frame_progression(1.0f / 60.0f);
vxe->play();
}
if (desktop)
{
desktop->vsx_command_process_f();
}
if (first) {
intro = new vsx_logo_intro;
}
dt = gui_t.dtime();
gui_f_time += dt;
gui_g_time += dt;
float f_wait;
bool run_always = false;
if (desktop)
{
if (desktop->global_framerate_limit == -1)
{
run_always = true;
}
else
{
f_wait = 1.0f/desktop->global_framerate_limit;
}
}
else
{
f_wait = 1.0f/100.0f;
}
if (run_always || gui_f_time > f_wait)
{
++frame_count;
if (desktop) {
desktop->dtime = gui_f_time;
desktop->time += desktop->dtime;
desktop->frames = frame_count;
}
gui_fullscreen_fpstimer += gui_f_time;
current_fps = f2s(round(1.0f/gui_f_time),2);
if (gui_fullscreen_fpstimer > 1)
{
vsx_string h = fpsstring + " @ "+ current_fps+ "fps";
gui_fullscreen_fpstimer = 0;
}
gui_f_time = 0;
if (!*gui_prod_fullwindow)
{
if (desktop) {
desktop->init_frame();
desktop->draw();
desktop->draw_2d();
}
}
if (!dual_monitor)
{
vxe->process_message_queue(&internal_cmd_in,&internal_cmd_out);
}
if (*gui_prod_fullwindow)
{
glDepthMask(GL_TRUE);
glClearColor(0.0f,0.0f,0.0f,1.0f);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
#ifndef NO_INTRO
if (vxe->e_state == VSX_ENGINE_STOPPED)
{
//intro->draw(true);
}
#endif
if (vxe && !dual_monitor) {
vxe->render();
glDisable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glEnable(GL_BLEND);
++frame_counter;
++delta_frame_counter;
delta_frame_time+= dt;
total_time += dt;
if (delta_frame_counter == 100) {
delta_fps = 100.0f/delta_frame_time;
delta_frame_counter = 0;
delta_frame_time = 0.0f;
}
if (gui_prod_fullwindow_helptext)
{
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glColor4f(0,0,0,0.4f);
glBegin(GL_QUADS); // Draw A Quad
glVertex3f(-1.0f, 1.0f, 0.0f); // Top Left
glVertex3f( 1.0f, 1.0f, 0.0f); // Top Right
glVertex3f( 1.0f,0.92f, 0.0f); // Bottom Right
glVertex3f(-1.0f,0.92f, 0.0f); // Bottom Left
glEnd(); // Done Drawing The Quad
myf.print(vsx_vector(-1.0f,0.92f)," Fc "+i2s(frame_counter)+" Fps "+f2s(delta_fps)+" T "+f2s(total_time)+" Tfps "+f2s(frame_counter/total_time)+" MC "+i2s(vxe->get_num_modules())+" VSX Ultra (c) 2003-2010 Vovoid - Alt+T=toggle this text, Ctrl+Alt+P=screenshot (data dir), Alt+F=performance mode ",0.03f);
}
}
if (desktop && desktop->performance_mode) {
glClear(GL_DEPTH_BUFFER_BIT);
desktop->init_frame();
desktop->draw();
desktop->draw_2d();
}
}
#ifndef NO_INTRO
//intro->draw();
#endif
if (!first && !desktop)
{
pgv.iterations = -1;
}
pgv.process_garbage();
if (first)
{
if (!dual_monitor) {
vxe->init();
vxe->start();
}
load_desktop_a();
first = false;
}
} else
{
int zz = (int)((f_wait-gui_f_time)*1000.0f);
if (zz < 0) zz = 0;
//printf("zz%d ",zz);
//Sleep(zz);
}
//------------------------------------------------------------------
// movie recording
//------------------------------------------------------------------
if (record_movie)
{
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
char* pixeldata = (char*)malloc( viewport[2] * viewport[3] * 3 );
char* pixeldata_flipped = (char*)malloc( viewport[2] * viewport[3] * 3 );
take_screenshot = false;
glReadPixels(0,0,viewport[2],viewport[3],GL_RGB,GL_UNSIGNED_BYTE, (GLvoid*)pixeldata);
int x3 = viewport[2]*3;
int hi = viewport[3];
for (int y = 0; y < hi; y++)
{
for (int x = 0; x < x3; x++)
{
pixeldata_flipped[y*x3+x] = pixeldata[ (hi-y)*x3+x];
}
}
CJPEGTest jpeg;
jpeg.m_nResX = viewport[2];
jpeg.m_nResY = viewport[3];
jpeg.m_pBuf = (unsigned char*)pixeldata_flipped;
//char filename[32768];
#if PLATFORM_FAMILY == PLATFORM_FAMILY_UNIX
if (access((vsx_get_data_path()+"videos").c_str(),0) != 0) mkdir((vsx_get_data_path()+"/videos").c_str(),0700);
//sprintf(filename, "%sscreenshots/%d_%d_%d_rgb.jpg",vsx_get_data_path().c_str(),(int)time(0),viewport[2],viewport[3]);
#endif
vsx_string err;
char mfilename[32];
sprintf(mfilename, "%05d", movie_frame_count);
jpeg.SaveJPEG( vsx_get_data_path()+"videos"+DIRECTORY_SEPARATOR+vsx_string(mfilename)+"_"+ i2s(viewport[2]) + "_" + i2s(viewport[3])+".jpg", err, 100 );
jpeg.m_pBuf = 0;
free(pixeldata);
free(pixeldata_flipped);
movie_frame_count++;
}
//------------------------------------------------------------------
// screenshots
//------------------------------------------------------------------
if (take_screenshot)
{
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
char* pixeldata = (char*)malloc( viewport[2] * viewport[3] * 3 );
char* pixeldata_flipped = (char*)malloc( viewport[2] * viewport[3] * 3 );
take_screenshot = false;
glReadPixels(0,0,viewport[2],viewport[3],GL_RGB,GL_UNSIGNED_BYTE, (GLvoid*)pixeldata);
int x3 = viewport[2]*3;
int hi = viewport[3];
for (int y = 0; y < hi; y++)
{
for (int x = 0; x < x3; x++)
{
pixeldata_flipped[y*x3+x] = pixeldata[ (hi-y)*x3+x];
}
}
CJPEGTest jpeg;
jpeg.m_nResX = viewport[2];
jpeg.m_nResY = viewport[3];
jpeg.m_pBuf = (unsigned char*)pixeldata_flipped;
//char filename[32768];
#if PLATFORM_FAMILY == PLATFORM_FAMILY_UNIX
if (access((vsx_get_data_path()+"screenshots").c_str(),0) != 0) mkdir((vsx_get_data_path()+"/screenshots").c_str(),0700);
//sprintf(filename, "%sscreenshots/%d_%d_%d_rgb.jpg",vsx_get_data_path().c_str(),(int)time(0),viewport[2],viewport[3]);
#endif
/*FILE* fp = fopen(filename,"wb");
fwrite(pixeldata_flipped, 1, viewport[2] * viewport[3] * 3, fp);
fclose(fp);*/
vsx_string err;
jpeg.SaveJPEG( vsx_get_data_path()+"screenshots"+DIRECTORY_SEPARATOR+i2s(time(0))+"_"+ i2s(viewport[2]) + "_" + i2s(viewport[3])+".jpg", err, 100 );
jpeg.m_pBuf = 0;
free(pixeldata);
free(pixeldata_flipped);
}
} // ::draw()
void Render::updateGamePlay()
{
if (Render::detectCollision(osg::BoundingSphere(helicopterTransform->getBound()), osg::BoundingSphere(tor1Tr->getBound())))
{
ball1->setColor(osg::Vec4(1.0f,0.0f,0.0f,0.0f));
Logger::getInstance()->log("Collision with ball #1");
}
if (Render::detectCollision(osg::BoundingSphere(helicopterTransform->getBound()), osg::BoundingSphere(tor2Tr->getBound())))
{
ball2->setColor(osg::Vec4(1.0f,0.0f,0.0f,0.0f));
Logger::getInstance()->log("Collision with ball #2");
}
if (Render::detectCollision(osg::BoundingSphere(helicopterTransform->getBound()), osg::BoundingSphere(tor3Tr->getBound())))
{
ball3->setColor(osg::Vec4(1.0f,0.0f,0.0f,0.0f));
Logger::getInstance()->log("Collision with ball #3");
}
float frictionScalar = Constants::getInstance()->frictionConstant*sqrt(pow(modelVelocity.x(),2)+pow(modelVelocity.y(),2)+pow(modelVelocity.z(),2));
float mass = Constants::getInstance()->helicopter->mass;
float axForce = helicopterThrust.x() - frictionScalar*modelVelocity.x();
float ayForce = helicopterThrust.y() - frictionScalar*modelVelocity.y();
float azForce = aGrav*mass + helicopterThrust.z() - frictionScalar*modelVelocity.z();
float xAcc = axForce/mass;
float yAcc = ayForce/mass;
float zAcc = azForce/mass;
float delta = viewer.getFrameStamp()->getReferenceTime() - last;
last = viewer.getFrameStamp()->getReferenceTime();
float xPos = modelPosition.x() + (modelVelocity.x()*delta) + (0.5)*xAcc*(pow(delta,2));
float xVel = (modelVelocity.x() + xAcc*delta)*0.99999999999;
float yPos = modelPosition.y() + (modelVelocity.y()*delta) + (0.5)*yAcc*(pow(delta,2));
float yVel = (modelVelocity.y() + yAcc*delta)*0.99999999999;
float zPos = modelPosition.z() + (modelVelocity.z()*delta) + (0.5)*zAcc*(pow(delta,2));
float zVel = (modelVelocity.z() + zAcc*delta)*0.99999999999;
if(zPos < 1){ //these ones should be radius of ball
zPos = 1;
zVel *= 0.8;
zVel = -zVel;
}
Logger* logger = Logger::getInstance();
string something = f2s(xPos);
logger->log("X Pos: " + f2s(xPos) + " Y Pos: " + f2s(yPos) + " Z Pos: " + f2s(zPos));
logger->log("X Vel: " + f2s(xVel) + " Y Vel: " + f2s(yVel) +" Z Vel: " + f2s(zVel));
logger->log("X Acc: " + f2s(xAcc) + " Y Acc: " + f2s(yAcc) +" Z Acc: " + f2s(zAcc));
logger->log("Throttle Position: " + f2s(rotorForce/Constants::getInstance()->baseThrottle));
modelPosition.set(osg::Vec3d(xPos, yPos, zPos));
modelVelocity.set(osg::Vec3f(xVel, yVel, zVel));
helicopterTransform->setPosition(modelPosition);
if(ScriptRunner::getInstance()->getStatus()){ ScriptRunner::getInstance()->doCommand(); }
}
