void loop(){
//This function is called once per second. Use it to control the satellite.
updateVariables();
facePos(center); //Always face the center
if((timeToFlare>2||timeToFlare==-1)&&!on){ //Turn sphere back on
game.turnOn();
on=true;
}
else if(timeToFlare!=-1&&timeToFlare<=2&&on){ //Auto Shutdown, doesn't let sphere be on during solar flare
game.turnOff();
on=false;
}
if(game.getMemoryFilled()<2&&poiZone<2&&(timeToFlare>12||timeToFlare==-1)&&time<230){ //If we have memory space and no incoming solar flare
switch(poiZone){
case 0: //Outer Ring
calcPoiEntry(spherePoi,tP1,.4425f);//.430f
safeSetPosition(tP1,.2f);//.15
break;
case 1: //Inner Ring
calcPoiEntry(spherePoi,tP1,.3725f);//.370f
safeSetPosition(tP1,.2f);//.15
break;
}
mathVecSubtract(tempVec,center,myState,3);
if(distance(myState,tP1)<.025f&&mathVecInner(tP1,tempVec,3)<.05f){ //If in range, take picture
game.takePic(spherePoi);
picTries++;
if(game.getMemoryFilled()>lastMem||picTries>7){ //Successfully taken picture or stuck taking pic, go to next poi
poiZone++;
}
}
}else{ //Solar Flare incoming
if(game.getMemoryFilled()>0){ //Upload pictures in memory
//float memPack[] = {-.5,sphere*.6,0};
calcPoiEntry(spherePoi,tP1,.7);
safeSetPosition(tP1,.15f);
game.uploadPic();
if(distance(myState,center)>.5){
game.uploadPic();
picTries=0;
poiZone=0;
}
}else{ //Stop
api.setVelocityTarget(center);
game.takePic(spherePoi);
}
}
}
void
Albany::MpasSTKMeshStruct::constructMesh(
const Teuchos::RCP<const Epetra_Comm>& comm,
const Teuchos::RCP<Teuchos::ParameterList>& params,
const unsigned int neq_,
const Albany::AbstractFieldContainer::FieldContainerRequirements& req,
const Teuchos::RCP<Albany::StateInfoStruct>& sis,
const std::vector<int>& indexToVertexID, const std::vector<int>& indexToMpasVertexID, const std::vector<double>& verticesCoords, const std::vector<bool>& isVertexBoundary, int nGlobalVertices,
const std::vector<int>& verticesOnTria,
const std::vector<bool>& isBoundaryEdge, const std::vector<int>& trianglesOnEdge, const std::vector<int>& trianglesPositionsOnEdge,
const std::vector<int>& verticesOnEdge,
const std::vector<int>& indexToEdgeID, int nGlobalEdges,
const std::vector<int>& indexToTriangleID,
const unsigned int worksetSize,
int numLayers, int Ordering)
{
this->SetupFieldData(comm, neq_, req, sis, worksetSize);
int elemColumnShift = (Ordering == 1) ? 3 : elem_map->NumGlobalElements()/numLayers;
int lElemColumnShift = (Ordering == 1) ? 3 : 3*indexToTriangleID.size();
int elemLayerShift = (Ordering == 0) ? 3 : 3*numLayers;
int vertexColumnShift = (Ordering == 1) ? 1 : nGlobalVertices;
int lVertexColumnShift = (Ordering == 1) ? 1 : indexToVertexID.size();
int vertexLayerShift = (Ordering == 0) ? 1 : numLayers+1;
int edgeColumnShift = (Ordering == 1) ? 2 : 2*nGlobalEdges;
int lEdgeColumnShift = (Ordering == 1) ? 1 : indexToEdgeID.size();
int edgeLayerShift = (Ordering == 0) ? 1 : numLayers;
metaData->commit();
bulkData->modification_begin(); // Begin modifying the mesh
stk::mesh::PartVector nodePartVec;
stk::mesh::PartVector singlePartVec(1);
stk::mesh::PartVector emptyPartVec;
std::cout << "elem_map # elments: " << elem_map->NumMyElements() << std::endl;
unsigned int ebNo = 0; //element block #???
singlePartVec[0] = nsPartVec["Bottom"];
AbstractSTKFieldContainer::IntScalarFieldType* proc_rank_field = fieldContainer->getProcRankField();
AbstractSTKFieldContainer::VectorFieldType* coordinates_field = fieldContainer->getCoordinatesField();
for(int i=0; i< (numLayers+1)*indexToVertexID.size(); i++)
{
int ib = (Ordering == 0)*(i%lVertexColumnShift) + (Ordering == 1)*(i/vertexLayerShift);
int il = (Ordering == 0)*(i/lVertexColumnShift) + (Ordering == 1)*(i%vertexLayerShift);
stk::mesh::Entity node;
if(il == 0)
node = bulkData->declare_entity(stk::topology::NODE_RANK, il*vertexColumnShift+vertexLayerShift * indexToVertexID[ib]+1, singlePartVec);
else
node = bulkData->declare_entity(stk::topology::NODE_RANK, il*vertexColumnShift+vertexLayerShift * indexToVertexID[ib]+1, nodePartVec);
double* coord = stk::mesh::field_data(*coordinates_field, node);
coord[0] = verticesCoords[3*ib]; coord[1] = verticesCoords[3*ib+1]; coord[2] = double(il)/numLayers;
}
int tetrasLocalIdsOnPrism[3][4];
for (int i=0; i<elem_map->NumMyElements()/3; i++) {
int ib = (Ordering == 0)*(i%(lElemColumnShift/3)) + (Ordering == 1)*(i/(elemLayerShift/3));
int il = (Ordering == 0)*(i/(lElemColumnShift/3)) + (Ordering == 1)*(i%(elemLayerShift/3));
int shift = il*vertexColumnShift;
singlePartVec[0] = partVec[ebNo];
//TODO: this could be done only in the first layer and then copied into the other layers
int prismMpasIds[3], prismGlobalIds[6];
for (int j = 0; j < 3; j++)
{
int mpasLowerId = vertexLayerShift * indexToMpasVertexID[verticesOnTria[3*ib+j]];
int lowerId = shift+vertexLayerShift * indexToVertexID[verticesOnTria[3*ib+j]];
prismMpasIds[j] = mpasLowerId;
prismGlobalIds[j] = lowerId;
prismGlobalIds[j + 3] = lowerId+vertexColumnShift;
}
tetrasFromPrismStructured (prismMpasIds, prismGlobalIds, tetrasLocalIdsOnPrism);
for(int iTetra = 0; iTetra<3; iTetra++)
{
stk::mesh::Entity elem = bulkData->declare_entity(stk::topology::ELEMENT_RANK, elem_map->GID(3*i+iTetra)+1, singlePartVec);
for(int j=0; j<4; j++)
{
stk::mesh::Entity node = bulkData->get_entity(stk::topology::NODE_RANK, tetrasLocalIdsOnPrism[iTetra][j]+1);
bulkData->declare_relation(elem, node, j);
}
int* p_rank = (int*)stk::mesh::field_data(*proc_rank_field, elem);
p_rank[0] = comm->MyPID();
}
}
singlePartVec[0] = ssPartVec["lateralside"];
//first we store the lateral faces of prisms, which corresponds to edges of the basal mesh
int tetraSidePoints[4][3] = {{0, 1, 3}, {1, 2, 3}, {0, 3, 2}, {0, 2, 1}};
std::vector<int> tetraPos(2), facePos(2);
std::vector<std::vector<std::vector<int> > > prismStruct(3, std::vector<std::vector<int> >(4, std::vector<int>(3)));
for (int i=0; i<indexToEdgeID.size()*numLayers; i++) {
int ib = (Ordering == 0)*(i%lEdgeColumnShift) + (Ordering == 1)*(i/edgeLayerShift);
if(isBoundaryEdge[ib])
{
int il = (Ordering == 0)*(i/lEdgeColumnShift) + (Ordering == 1)*(i%edgeLayerShift);
int lBasalElemId = trianglesOnEdge[2*ib];
int basalElemId = indexToTriangleID[lBasalElemId];
//TODO: this could be done only in the first layer and then copied into the other layers
int prismMpasIds[3], prismGlobalIds[6];
int shift = il*vertexColumnShift;
for (int j = 0; j < 3; j++)
{
int mpasLowerId = vertexLayerShift * indexToMpasVertexID[verticesOnTria[3*lBasalElemId+j]];
int lowerId = shift+vertexLayerShift * indexToVertexID[verticesOnTria[3*lBasalElemId+j]];
prismMpasIds[j] = mpasLowerId;
prismGlobalIds[j] = lowerId;
prismGlobalIds[j + 3] = lowerId+vertexColumnShift;
}
tetrasFromPrismStructured (prismMpasIds, prismGlobalIds, tetrasLocalIdsOnPrism);
for(int iTetra = 0; iTetra<3; iTetra++)
{
std::vector<std::vector<int> >& tetraStruct =prismStruct[iTetra];
stk::mesh::EntityId tetraPoints[4];
for(int j=0; j<4; j++)
{
tetraPoints[j] = tetrasLocalIdsOnPrism[iTetra][j]+1;
// std::cout<< tetraPoints[j] << ", ";
}
for(int iFace=0; iFace<4; iFace++)
{
std::vector<int>& face = tetraStruct[iFace];
for(int j=0; j<3; j++)
face[j] = tetraPoints[tetraSidePoints[iFace][j]];
}
}
int basalVertexId[2] = {indexToVertexID[verticesOnEdge[2*ib]]*vertexLayerShift, indexToVertexID[verticesOnEdge[2*ib+1]]*vertexLayerShift};
std::vector<int> bdPrismFaceIds(4);
bdPrismFaceIds[0] = indexToVertexID[verticesOnEdge[2*ib]]*vertexLayerShift+vertexColumnShift*il+1;
bdPrismFaceIds[1] = indexToVertexID[verticesOnEdge[2*ib+1]]*vertexLayerShift+vertexColumnShift*il+1;
bdPrismFaceIds[2] = bdPrismFaceIds[0]+vertexColumnShift;
bdPrismFaceIds[3] = bdPrismFaceIds[1]+vertexColumnShift;
//std::cout<< "bdPrismFaceIds: (" << bdPrismFaceIds[0] << ", " << bdPrismFaceIds[1] << ", " << bdPrismFaceIds[2] << ", " << bdPrismFaceIds[3] << ")"<<std::endl;
setBdFacesOnPrism (prismStruct, bdPrismFaceIds, tetraPos, facePos);
int basalEdgeId = indexToEdgeID[ib]*2*edgeLayerShift;
for(int k=0; k< tetraPos.size(); k++)
{
int iTetra = tetraPos[k];
int iFace = facePos[k];
stk::mesh::Entity elem = bulkData->get_entity(stk::topology::ELEMENT_RANK, il*elemColumnShift+elemLayerShift * basalElemId +iTetra+1);
std::vector<int>& faceIds = prismStruct[iTetra][iFace];
stk::mesh::Entity side = bulkData->declare_entity(metaData->side_rank(), edgeColumnShift*il+basalEdgeId+k+1, singlePartVec);
bulkData->declare_relation(elem, side, iFace );
for(int j=0; j<3; j++)
{
stk::mesh::Entity node = bulkData->get_entity(stk::topology::NODE_RANK, faceIds[j]);
bulkData->declare_relation(side, node, j);
}
}
}
}
//then we store the lower and upper faces of prisms, which corresponds to triangles of the basal mesh
edgeLayerShift = (Ordering == 0) ? 1 : numLayers+1;
edgeColumnShift = 2*(elemColumnShift/3);
singlePartVec[0] = ssPartVec["basalside"];
int edgeOffset = 2*nGlobalEdges*numLayers;
for (int i=0; i<indexToTriangleID.size(); i++)
{
stk::mesh::Entity side = bulkData->declare_entity(metaData->side_rank(), indexToTriangleID[i]*edgeLayerShift+edgeOffset+1, singlePartVec);
stk::mesh::Entity elem = bulkData->get_entity(stk::topology::ELEMENT_RANK, indexToTriangleID[i]*elemLayerShift+1);
bulkData->declare_relation(elem, side, 3);
for(int j=0; j<3; j++)
{
stk::mesh::Entity node = bulkData->get_entity(stk::topology::NODE_RANK, vertexLayerShift*indexToVertexID[verticesOnTria[3*i+j]]+1);
bulkData->declare_relation(side, node, j);
}
}
singlePartVec[0] = ssPartVec["upperside"];
for (int i=0; i<indexToTriangleID.size(); i++)
{
stk::mesh::Entity side = bulkData->declare_entity(metaData->side_rank(), indexToTriangleID[i]*edgeLayerShift+numLayers*edgeColumnShift+edgeOffset+1, singlePartVec);
stk::mesh::Entity elem = bulkData->get_entity(stk::topology::ELEMENT_RANK, indexToTriangleID[i]*elemLayerShift+(numLayers-1)*elemColumnShift+1+2);
bulkData->declare_relation(elem, side, 1);
for(int j=0; j<3; j++)
{
stk::mesh::Entity node = bulkData->get_entity(stk::topology::NODE_RANK, vertexLayerShift*indexToVertexID[verticesOnTria[3*i+j]]+numLayers*vertexColumnShift+1);
bulkData->declare_relation(side, node, j);
}
}
bulkData->modification_end();
}
void GameCharaSelectMenu::renderPlayerInfo(kuto::Graphics2D& g, int index) const
{
rpg2k::model::Project const& proj = field_.project();
rpg2k::model::DataBase const& ldb = proj.getLDB();
unsigned playerID = proj.getLSD().member(index);
char temp[256] = "\0";
// face
kuto::Vector2 facePos(8.f + position_.x, index * 58.f + 8.f + position_.y);
// TODO: field_.players()[index]->renderFace(g, facePos);
// status
const kuto::Color color(1.f, 1.f, 1.f, 1.f);
kuto::Vector2 windowPosition(position_.x + 64.f, position_.y);
rpg2k::model::Project::Character const& character = proj.character(playerID);
const char* conditionStr = NULL;
const std::vector<uint8_t>& badConditions = character.condition();
unsigned cond = 0;
std::vector<uint8_t>::const_iterator cond_it = badConditions.begin();
while ( ( cond_it = std::find( cond_it, badConditions.end(), true ) ) != badConditions.end() ) {
unsigned const nextCond = cond_it - badConditions.begin() + 1;
if (ldb.condition()[nextCond][4].to<int>() > ldb.condition()[cond][4].to<int>()) {
cond = nextCond;
}
}
if(cond == 0) { conditionStr = ldb.vocabulary(126).toSystem().c_str(); }
else { conditionStr = ldb.condition()[cond][1].to_string().toSystem().c_str(); }
if (size_.x < 200.f) { // short version
kuto::Vector2 pos = windowPosition;
pos.y += (rowHeight_ + lineSpace_) * index + 8.f + 2.f;
g.drawText(character.name().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos = windowPosition;
pos.y += (rowHeight_ + lineSpace_) * index + 16.f + 8.f;
g.drawText(ldb.vocabulary(128).toSystem().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 12.f;
sprintf(temp, "%2d", character.level());
g.drawText(temp, pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 48.f;
g.drawText(ldb.vocabulary(129).toSystem().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 12.f;
sprintf(temp, "%3d/%3d", character.hp(), character.param(rpg2k::Param::HP) );
g.drawText(temp, pos, color, fontSize_, kuto::Font::NORMAL);
pos = windowPosition;
pos.y += (rowHeight_ + lineSpace_) * index + 16.f * 2.f + 8.f;
g.drawText(conditionStr, pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 60.f;
g.drawText(ldb.vocabulary(130).toSystem().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 12.f;
sprintf(temp, "%3d/%3d", character.mp(), character.param(rpg2k::Param::MP));
g.drawText(temp, pos, color, fontSize_, kuto::Font::NORMAL);
} else {
kuto::Vector2 pos = windowPosition;
pos.y += (rowHeight_ + lineSpace_) * index + 8.f + 2.f;
g.drawText(character.name().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 86.f;
g.drawText(character.title().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos = windowPosition;
pos.y += (rowHeight_ + lineSpace_) * index + 16.f + 8.f;
g.drawText(ldb.vocabulary(128).toSystem().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 12.f;
sprintf(temp, "%2d", character.level());
g.drawText(temp, pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 30.f;
g.drawText(conditionStr, pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 50.f;
g.drawText(ldb.vocabulary(129).toSystem().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 22.f;
sprintf(temp, "%3d/%3d", character.hp(), character.param(rpg2k::Param::HP));
g.drawText(temp, pos, color, fontSize_, kuto::Font::NORMAL);
pos = windowPosition;
pos.y += (rowHeight_ + lineSpace_) * index + 16.f * 2.f + 8.f;
g.drawText(ldb.vocabulary(127).toSystem().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 12.f;
sprintf(temp, "%6d/%6d", character.levelExp(), character.nextLevelExp());
g.drawText(temp, pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 80.f;
g.drawText(ldb.vocabulary(130).toSystem().c_str(), pos, color, fontSize_, kuto::Font::NORMAL);
pos.x += 22.f;
sprintf(temp, "%3d/%3d", character.mp(), character.param(rpg2k::Param::MP));
g.drawText(temp, pos, color, fontSize_, kuto::Font::NORMAL);
}
}
void loop()
{
DEBUG(("\n# of Captured POIs: %d", countPOI));
//DEBUG(("\nPOIs Visited 1: %d", pastPOIs[0]));
//DEBUG(("\nPOIs Visited 2: %d", pastPOIs[1]));
//DEBUG(("\nPOIs Visited 3: %d", pastPOIs[2]));
DEBUG(("\n targetPOI: %d", targetPOI));
//----Base Functions----//
time = api.getTime();
stayInBounds();
api.getMyZRState(myState);
for (int i = 0; i<3; i++) {
myPos[i] = myState[i];
}
if (game.getFuelRemaining() <= 0)
{
game.turnOff();
//DEBUG(("\nGame over man, game over!"));
}
/*else if (game.getNextFlare() != -1 && game.getNextFlare() < 5)
{
game.turnOff();
DEBUG(("Flare incoming"));
}
else
{
game.turnOn();
}*/
/*while (game.getScore() > 14)
{
api.setPositionTarget(safetyZone);
}*/
if (0.9*game.getScore() > game.getOtherScore())
{
strategyType = 1;
}
else
{
if (time > 200)
{
if (game.getScore() < game.getOtherScore())
{
strategyType = 1;
}
else
{
strategyType = 0;
}
}
else
{
strategyType = 0;
}
}
if (time > 16)
{
if (strategyType == 0) {
//----TargetPOI----//
if (time == 60 || time % 60 == 0)
{
DEBUG(("\n POIs Updated..."));
pastPOIs[0] = -1;
pastPOIs[1] = -1;
pastPOIs[2] = -1;
countPOI = 0;
targetPOI = findClosestPOI(myPos, pastPOIs);
DEBUG(("\ntargetPOI: %d", targetPOI));
pastPOIs[countPOI] = targetPOI;
countPOI++;
picturesTaken = 0;
}
/*if (targetPOI > 2 || countPOI >= 3)
{
pastPOIs[0] = -1;
pastPOIs[1] = -1;
pastPOIs[2] = -1;
countPOI = 0;
targetPOI = findClosestPOI(myPos, pastPOIs);
pastPOIs[countPOI] = targetPOI;
countPOI++;
}*/
game.getPOILoc(poiPos, targetPOI);
for (int i = 0; i<3; i++)
{ //Reset POI vector to half its original magnitude
poiPos[i] *= 0.5;
}
float posTarget[3] = {poiPos[0]*3.9, poiPos[1]*3.9, poiPos[2]*3.9};
//Find coordinates for SPHERE to be at while taking pictures
float uploadTarget[3] = {poiPos[0]*7.25, poiPos[1]*7.25, poiPos[2]*7.25};
//Find coordinates for SPHERE to be at while uploading
if (picturesTaken > 3)// && time > 60)
{
//If SPHERE has attempted more than 3 pictures (valid or not), move to next POI
if (countPOI == 3)
{
DEBUG(("\n All POIs captured"));
pastPOIs[0] = -1;
pastPOIs[1] = -1;
pastPOIs[2] = -1;
countPOI = 0;
targetPOI = findClosestPOI(myPos, pastPOIs);
pastPOIs[countPOI] = targetPOI;
countPOI++;
picturesTaken = 0;
DEBUG(("\n Moving on~~"));
DEBUG(("\n New targetPOI: %d", targetPOI));
}
else
{
targetPOI = findClosestPOI(myPos, pastPOIs);
pastPOIs[countPOI] = targetPOI;
countPOI++;
picturesTaken = 0;
DEBUG(("\n Moving on~~"));
DEBUG(("\n targetPOI: %d", targetPOI));
}
}
else {
//Otherwise, continue taking pictures
facePos(poiPos, myPos);
}
//----Collision Avoidance & Positioning----//
//float midpoint[3] = {(myPos[0]+posTarget[0])/2, (myPos[1]+posTarget[1])/2, (myPos[2]+posTarget[2])/2};
//float qtl1[3] = {(myPos[0]+midpoint[0])/2, (myPos[1]+midpoint[1])/2, (myPos[2]+midpoint[2])/2};
//float qtl3[3] = {(posTarget[0]+midpoint[0])/2, (posTarget[1]+midpoint[1])/2, (posTarget[2]+midpoint[2])/2};
arcMove(posTarget);
/* if (mathVecMagnitude(midpoint,3) < 0.35) {
// this part is really rough - with some tweaking of magnitudes and such, it might work better.
arcMove(midpoint, posTarget);
}
else { //Proceed to target coordinates as usual
/*if(mathVecMagnitude(qtl3, 3)>0.35)
{
if (mathVecMagnitude(qtl1,3)>0.35)
{
api.setPositionTarget(posTarget);
}
else
{
arcMove(midpoint, posTarget);
}
}
else
{
arcMove(midpoint, posTarget);
}
*/
// }
if (game.getMemoryFilled()>0 && game.getScore() < targetScore) { //If SPHERE has a valid picture
DEBUG(("\n Moving to upload"));
float attTarget[3];
attTarget[0] = 0.64 -myPos[0]; // [0.64,0,0] is the position of Earth
attTarget[1] = 0 -myPos[1];
attTarget[2] = 0 -myPos[2];
mathVecNormalize(attTarget,3);
api.setAttitudeTarget(attTarget);
api.setPositionTarget(uploadTarget); //Move to upload position
if (distanceVec(myPos, zero)> 0.53 && distanceVec(myPos,attTarget)> 0.05) //When SPHERE is out of both orbits, upload
{
float oldScore = game.getScore();
game.uploadPic();
if (oldScore < game.getScore())
{
//DEBUG(("Upload was successful!"));
}
if (oldScore >= game.getScore())
{
//DEBUG(("Upload failed!"));
}
}
}
}
else if (strategyType == 1) {
api.getOtherZRState(otherState);
for (int i = 0; i<3; i++) {
otherPos[i] = 0.5*otherState[i];
}
if (distanceVec(myPos,otherPos) < 0.38) {
arcMove(otherPos);
DEBUG((" | Heading to otherPos | "));
}
else {
arcMove(otherState);
DEBUG((" | Heading to otherState | "));
}
}
}
else
{
float initialShotTarget[3] = {-0.2, 0.0, -0.35};
api.setPositionTarget(initialShotTarget);
}
}
