double MyController::onAction(ActionEvent &evt)
{
Vector3d robotPos;
Vector3d operatorPos;
// エンティティ取得
SimObj *robot_obj = getObj(robotName);
SimObj *operator_obj = getObj(operatorName);
robot_obj->getPosition(robotPos);
operator_obj->getPosition(operatorPos);
// operator
if(fabs(operatorPos.x()-myPos.x()) < checkSize_x/2.0 &&
fabs(operatorPos.z()-myPos.z()) < checkSize_z/2.0 &&
flag2 == false){
flag1 = true;
}
// robot
if(fabs(robotPos.x()-myPos.x()) < checkSize_x/2.0 &&
fabs(robotPos.z()-myPos.z()) < checkSize_z/2.0 &&
flag1 == true){
flag2 = true;
}
if(flag1 && flag2 && !sentMsg){
LOG_MSG(("crowd_clear"));
sendMsg("score", "crowd_clear");
sentMsg = true;
}
return 0.1;
}
inline static void toObj(Obj& mObj, const T& mValue)
{
arch(mObj, "tileSize", mValue.getTileSize());
auto& labels(getObj(mObj, "labels"));
for(const auto& l : mValue.getLabels())
arch(getObj(labels, l.second.y), l.second.x, l.first);
}
InteractableObject::InteractableObject(gkGameObject* object, const char* animName) :
UseableObject(object),
isOpened(false),
canBeUsed(false)
{
getObj()->addAnimation(animName);
objectAnimation = getObj()->getAnimationPlayer(animName);
blocked = false;
}
void MovieGlHap::allocateVisualContext()
{
// Load HAP Movie
if( HapQTQuickTimeMovieHasHapTrackPlayable( getObj()->mMovie ) )
{
// QT Visual Context attributes
OSStatus err = noErr;
QTVisualContextRef * visualContext = (QTVisualContextRef*)&getObj()->mVisualContext;
CFDictionaryRef pixelBufferOptions = HapQTCreateCVPixelBufferOptionsDictionary();
const CFStringRef keys[] = { kQTVisualContextPixelBufferAttributesKey };
CFDictionaryRef visualContextOptions = ::CFDictionaryCreate(kCFAllocatorDefault, (const void**)&keys, (const void**)&pixelBufferOptions, sizeof(keys)/sizeof(keys[0]), &kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
err = QTPixelBufferContextCreate( kCFAllocatorDefault, visualContextOptions, visualContext );
::CFRelease( pixelBufferOptions );
::CFRelease( visualContextOptions );
if( err != noErr ) {
CI_LOG_E( "HAP ERROR :: " << err << " couldnt create visual context." );
return;
}
// Set the movie's visual context
err = SetMovieVisualContext( getObj()->mMovie, *visualContext );
if( err != noErr ) {
CI_LOG_E( "HAP ERROR :: " << err << " SetMovieVisualContext." );
return;
}
}
// Get codec name
for (long i = 1; i <= GetMovieTrackCount(getObj()->mMovie); i++) {
Track track = GetMovieIndTrack(getObj()->mMovie, i);
Media media = GetTrackMedia(track);
OSType mediaType;
GetMediaHandlerDescription(media, &mediaType, NULL, NULL);
if (mediaType == VideoMediaType)
{
// Get the codec-type of this track
ImageDescriptionHandle imageDescription = (ImageDescriptionHandle)NewHandle(0); // GetMediaSampleDescription will resize it
GetMediaSampleDescription(media, 1, (SampleDescriptionHandle)imageDescription);
OSType codecType = (*imageDescription)->cType;
DisposeHandle((Handle)imageDescription);
switch (codecType) {
case 'Hap1': mCodec = Codec::HAP; break;
case 'Hap5': mCodec = Codec::HAP_A; break;
case 'HapY': mCodec = Codec::HAP_Q; break;
default: mCodec = Codec::UNSUPPORTED; break;
}
}
}
// Set framerate callback
this->setNewFrameCallback( updateMovieFPS, (void*)this );
}
std::string RobotController::getPointedTrashName(std::string entName)
{
// 発話者の名前からSimObjを取得します
SimObj *tobj = getObj(entName.c_str());
// メッセージ送信者の左肘関節の位置を取得します
Vector3d jpos;
if(!tobj->getJointPosition(jpos, "RARM_JOINT4")) {
LOG_ERR(("failed to get joint position"));
return "";
}
// メッセージ送信者の左肘から左手首をつなぐベクトルを取得します
Vector3d jvec;
if(!tobj->getPointingVector(jvec, "RARM_JOINT4", "RARM_JOINT7")) {
LOG_ERR(("failed to get pointing vector"));
return "";
}
double distance = 0.0;
std::string objName = "";
// 全ゴミオブジェクトでループします
int trashboxSize = m_trashboxs.size();
for(int i = 0; i < trashboxSize; i++) {
// エンティティの位置を取得します
SimObj *obj = getObj(m_trashboxs[i].c_str());
Vector3d objVec;
obj->getPosition(objVec);
// エンティティと左肘関節を結ぶベクトルを作成します
objVec -= jpos;
// cos角度が不の場合（指差した方向と反対側にある場合)は対象から外します
double cos = jvec.angle(objVec);
if(cos < 0)
continue;
// 指差した方向ベクトルまでの最短距離の計算
double theta = acos(cos);
double tmp_distance = sin(theta) * objVec.length();
// 最小距離の場合は名前、距離を保存しておく
if(tmp_distance < distance || distance == 0.0){
distance = tmp_distance;
objName = obj->name();
}
}
// エンティティでループして最も近いオブジェクトの名前を取得する
return objName;
}
int gamehsp::makeNewLgt( int id, int lgtopt, float range, float inner, float outer )
{
gpobj *obj;
Node *node;
Light *light;
if ( id < 0 ) {
int newid = makeNullNode();
obj = getObj( newid );
} else {
obj = getObj( id );
}
if ( obj == NULL ) return -1;
node = obj->_node;
if ( node == NULL ) return -1;
if ( obj->_light ) {
node->setLight( NULL );
SAFE_RELEASE( obj->_light );
}
light = NULL;
switch( lgtopt ) {
case GPLGT_OPT_POINT:
light = Light::createPoint( 1.0f, 1.0f, 1.0f, range );
break;
case GPLGT_OPT_SPOT:
light = Light::createSpot( 1.0f, 1.0f, 1.0f, range, inner, outer );
break;
default:
light = Light::createDirectional( 1.0f, 1.0f, 1.0f );
break;
}
if ( light ) {
//light->setColor( 1.0f, 1.0f, 1.0f );
node->setLight( light );
if ( id < 0 ) {
node->rotateX(MATH_DEG_TO_RAD(-45.0f));
}
obj->_light = light;
}
obj->_vec[GPOBJ_USERVEC_COLOR].set( 1.0f, 1.0f, 1.0f, 1.0f );
obj->_vec[GPOBJ_USERVEC_WORK].set( 0.25f, 0.25f, 0.25f, 1.0f );
return obj->_id;
}
void AvatarControllerByKinectV2::onRecvMsg(RecvMsgEvent &evt)
{
try
{
std::string allMsg = evt.getMsg();
// std::cout << "msg:" << allMsg << std::endl;
// Decode message to sensor data of kinect v2.
std::map<std::string, std::vector<std::string> > sensorDataMap = KinectV2SensorData::decodeSensorData(allMsg);
if (sensorDataMap.find(MSG_KEY_DEV_TYPE) == sensorDataMap.end()){ return; }
if(sensorDataMap[MSG_KEY_DEV_TYPE][0] !=this->kinectV2DeviceManager.deviceType ){ return; }
if(sensorDataMap[MSG_KEY_DEV_UNIQUE_ID][0]!=this->kinectV2DeviceManager.deviceUniqueID){ return; }
KinectV2SensorData sensorData;
sensorData.setSensorData(sensorDataMap);
ManNiiPosture posture = KinectV2DeviceManager::convertSensorData2ManNiiPosture(sensorData);
// Set SIGVerse quaternions and positions
SimObj *obj = getObj(myname());
this->kinectV2DeviceManager.setRootPosition(obj, sensorData.rootPosition);
KinectV2DeviceManager::setJointQuaternions2ManNii(obj, posture, sensorData);
}
catch(SimObj::Exception &err)
{
LOG_MSG(("Exception: %s", err.msg()));
}
catch(...)
{
std::cout << "some error occurred." << std::endl;
}
}
double RobotController::onAction(ActionEvent &evt)
{
try {
typedef std::vector<std::string> C;
C agents;
bool b = detectEntities(agents);
if (b && agents.size() > 0) {
for (C::iterator i=agents.begin(); i!=agents.end(); i++) {
std::string name = *i;
LOG_MSG(("detected %s\n", name.c_str()));
SimObj *obj = getObj(name.c_str());
if (!obj) {
LOG_ERR(("cannot get object"));
}
// ...;
}
} else {
LOG_MSG(("no object in front of me"));
}
} catch(SimObj::Exception &) {
LOG_ERR(("Exception"));
}
return 2.0;
}
Light *gamehsp::getLight( int objid )
{
gpobj *obj;
obj = getObj( objid );
if ( obj == NULL ) return NULL;
return obj->_light;
}
void Profiler::end(string mId)
{
if (!active) return;
ProfilerObj* cObj = getObj(mId);
if (cObj != NULL) cObj->end();
}
double NiiRobotOkonomi::onAction(ActionEvent &evt)
{
SimObj *my = getObj(myname());
static int s_cnt = 0;
int step = s_cnt % STEP_NUM;
for (int i=0; i<JOINT_NUM; i++) {
const char * jointName = jointNames[i];
if (!jointName) { continue; }
double angle = jointAngles[step][i];
double rad = DEG2RAD(angle);
my->setJointAngle(jointName, rad);
}
s_cnt++;
/*
double zz = cos(s_cnt*5*3.14/180);
double xx = sin(s_cnt*5*3.14/180);
my->setPosition(xx, 0.5, zz);
my->setAxisAndAngle(0.0, 1.0, 0.0, s_cnt*5*3.14/180);
*/
return 0.1;
}
Kate::PluginConfigPage* PluginKateKJSWrapper::configPage (uint id,
QWidget *w, const char */*name*/) {
kdDebug()<<"PluginKateKJSWrapper::configPage"<<endl;
if (id>=configPages()) return 0;
KJS::Interpreter *js = m_part->interpreter();
KJS::Object constr=getObj(js,m_configPageFactories,id);
if (js->globalExec()->hadException()) {
kdDebug()<<"PluginKateKJSWrapper::configPage: exit 1"<<endl;
js->globalExec()->clearException();
return 0;
}
if (!constr.implementsConstruct()) {
kdWarning()<<"config page factory has to be an object constructor"<<endl;
return 0;
}
KateKJSWrapperConfigPage *p=new KateKJSWrapperConfigPage(constr,this,w);
return (Kate::PluginConfigPage*)p;
/*
KateKJSWrapperConfigPage* p = new KateKJSWrapperConfigPage(this, w);
//init
connect( p, SIGNAL(configPageApplyRequest(KateKJSWrapperConfigPage*)),
this, SLOT(applyConfig(KateKJSWrapperConfigPage*)) );
return (Kate::PluginConfigPage*);*/
}
double RobotController::onAction(ActionEvent &evt)
{
LOG_MSG(("\ncurrent time : %f", evt.time()));
static int cnt = 0;
try {
const char *name = myname();
SimObj *obj = getObj(name);
obj->dump();
if (!obj->dynamics()) {
double angle = 2*PI*cnt*0.01;
double xx = 5*sin(angle);
double yy = 0.5;
double zz = 5*cos(angle);
LOG_MSG(("pos (%f, %f, %f)", xx, yy, zz));
obj->setPosition(xx, yy, zz);
obj->setAxisAndAngle(0.0, 1.0, 0.0, angle);
}
obj->dump();
} catch(SimObj::NoAttributeException &) {
} catch(SimObj::AttributeReadOnlyException &) {
} catch(SimObj::Exception &) {
}
cnt++;
return 0.1;
}
void *allocateDoc(DbMap *docStore, uint32_t size, DbAddr *addr, uint32_t set) {
uint32_t amt = size + sizeof(DbDoc), bits = MinDocType;
DbAddr *free, *tail, slot;
DbDoc *doc;
while ((1UL << bits) < amt)
bits++;
free = docStoreAddr(docStore)->docWait[set][bits].free;
tail = docStoreAddr(docStore)->docWait[set][bits].tail;
lockLatch(free->latch);
slot.bits = bits;
while (!(slot.addr = getNodeFromFrame(docStore, free))) {
if (!getNodeWait(docStore, free, tail))
if (!initObjFrame(docStore, free, bits, 1UL << bits)) {
unlockLatch(free->latch);
return 0;
}
}
addr->bits = slot.bits;
unlockLatch(free->latch);
doc = getObj(docStore, slot);
memset(doc, 0, sizeof(DbDoc));
doc->docSize = size;
return doc + 1;
}
void DemoRobotController::recognizeObjectPosition(Vector3d &pos, std::string &name)
{
// get object of trash selected
SimObj *trash = getObj(name.c_str());
// get trash's position
trash->getPosition(pos);
}
TiObj* TiGroup::getObj(string name){
TiObj* res = NULL;
for (int i=0; i<conjs.size(); i++){
if ( res = getObj(conjs[i]->classe, name) )
return res;
}
return NULL;
}
const CGHeroInstance* CGameInfoCallback::getHero(ObjectInstanceID objid) const
{
const CGObjectInstance *obj = getObj(objid, false);
if(obj)
return dynamic_cast<const CGHeroInstance*>(obj);
else
return nullptr;
}
static PyObject* pyDrawObj(PyObject *self, PyObject *args) {
int id;
if(!PyArg_ParseTuple(args, "i", &id))
return NULL;
drawObj(getObj(id));
Py_RETURN_NONE;
}
const CGTownInstance* CGameInfoCallback::getTown(ObjectInstanceID objid) const
{
const CGObjectInstance *obj = getObj(objid, false);
if(obj)
return dynamic_cast<const CGTownInstance*>(obj);
else
return NULL;
}
///@brief Initialize this controller.
void AvatarControllerByKinectV2::onInit(InitEvent &evt)
{
this->readIniFileAndInitialize();
SimObj *myself = getObj(myname());
this->kinectV2DeviceManager.initPositionAndRotation(myself);
}
std::vector<ObjectInstanceID> CGameInfoCallback::getVisibleTeleportObjects(std::vector<ObjectInstanceID> ids, PlayerColor player) const
{
vstd::erase_if(ids, [&](ObjectInstanceID id) -> bool
{
auto obj = getObj(id, false);
return player != PlayerColor::UNFLAGGABLE && (!obj || !isVisible(obj->pos, player));
});
return ids;
}
const CGObjectInstance * IGameCallback::putNewObject(Obj ID, int subID, int3 pos)
{
NewObject no;
no.ID = ID; //creature
no.subID= subID;
no.pos = pos;
commitPackage(&no);
return getObj(no.id); //id field will be filled during applying on gs
}
///@brief Initialize this controller.
void WheelControllerByMyo::onInit(InitEvent &evt)
{
this->readIniFileAndInitialize();
this->myoDeviceManager = MyoDeviceManager(this->serviceName, this->deviceType, this->deviceUniqueID);
//For initialize.
getObj(myname());
}
double RobotController::onAction(ActionEvent &evt)
{
SimObj *obj = getObj(myname());
if (obj) {
obj->setAccel(0.0, 100.0, 0.0);
}
return 5.0;
}
void GraphDraw::mousePressEvent(QMouseEvent *event)
{
QGraphicsView::mousePressEvent(event);
if (QApplication::keyboardModifiers() & Qt::ControlModifier) return;
//record the conditions of this press event, nothing is changed
if (event->button() == Qt::LeftButton)
{
_selectionState = SELECTION_STATE_PRESS;
const auto objs = this->getObjectsAtPos(event->pos());
if (objs.empty())
{
//perform deselect when background is clicked
_lastClickSelectEp = GraphConnectionEndpoint();
this->deselectAllObjs();
}
else
{
//make the clicked object topmost
objs.front()->setZValue(this->getMaxZValue()+1);
}
//handle click selection for connections
const auto thisEp = this->mousedEndpoint(event->pos());
//enter the connect drag mode and object immobilization
//slots are exempt because they are the block's body
if (thisEp.isValid())
{
auto topObj = thisEp.getObj();
if (thisEp.getKey().direction != GRAPH_CONN_SLOT)
{
_connectLineItem.reset(new QGraphicsLineItem(topObj));
_connectLineItem->setPen(QPen(QColor(GraphObjectDefaultPenColor), ConnectModeLineWidth));
_connectModeImmobilizer.reset(new GraphObjectImmobilizer(topObj));
}
//if separate clicks to connect when try to make connection
auto actions = MainActions::global();
if (actions->clickConnectModeAction->isChecked())
{
if (not this->tryToMakeConnection(thisEp))
{
//stash this endpoint when connection is not made
_lastClickSelectEp = thisEp;
}
}
//stash the connection endpoint for a drag+release connection
else _lastClickSelectEp = thisEp;
}
}
this->render();
}
///@brief Initialize this controller.
void AvatarControllerByPerceptionNeuron::onInit(InitEvent &evt)
{
this->readIniFileAndInitialize();
this->perceptionNeuronDeviceManager = PerceptionNeuronDeviceManager(this->serviceName, this->deviceType, this->deviceUniqueID);
SimObj *myself = getObj(myname());
this->perceptionNeuronDeviceManager.getInitialPositionAndRotation(myself);
}
void InteractableObject::act(bool toOpen){
objectAnimation->reset();
if (toOpen)
objectAnimation->setMode(AK_ACT_END);
else
objectAnimation->setMode(AK_ACT_INVERSE);
getObj()->playAnimation(objectAnimation, 0);
}
// This sets the focus on a list item.
// So that clicking the button will cause it to grab control.
void fList::chooseItem(int index) {
drawObj* item;
item = getObj(index); // ITEMS START AT 0
if (item) {
setFocusPtr(item);
makeVisable((fListItem*)item);
}
}
inline static void fromObj(const Obj& mObj, T& mValue)
{
const auto& labels(getObj(mObj, "labels"));
for(auto iY(0u); iY < getObjSize(labels); ++iY)
for(auto iX(0u); iX < getObjSize(labels[iY]); ++iX)
mValue.setLabel(
getExtr<std::string>(labels[iY][iX]), {iX, iY});
mValue.setTileSize(getExtr<ssvs::Vec2u>(mObj, "tileSize"));
}
///@brief Initialize this controller.
void AvatarControllerByOculusCV1::onInit(InitEvent &evt)
{
readIniFileAndInitialize();
this->oculusCV1DeviceManager = OculusCV1DeviceManager(this->serviceName, this->deviceType, this->deviceUniqueID);
//For initialize.
getObj(myname());
}
