//--------------------------------------------------------------
void testApp::setup(){
ofBackground(250,250,250);
ofSetFrameRate(30);
ofSetVerticalSync(true);
ofPoint iniPos(0,0,0); //the position is refering to the center of the grid
ofPoint gridSize(1500, 1500, 1500);
int gridResX = 40;
int gridResY = 40;
int gridResZ = 40;
marchingCubes.init(iniPos, gridSize, gridResX, gridResY, gridResZ);
glEnable(GL_DEPTH_TEST);
metaBalls.resize(NUM_META_BALLS);
for(int i=0; i<metaBalls.size(); i++){
metaBalls[i].init(iniPos);
}
ofEnableLighting();
ofSetSmoothLighting(true);
light.enable();
light.setup();
ofSetLogLevel(OF_LOG_VERBOSE);
bSaveModel = false;
pointLight.setDiffuseColor( ofColor(0.f, 255.f, 0.f));
// specular color, the highlight/shininess color //
pointLight.setSpecularColor( ofColor(255.f, 255.f, 0.f));
pointLight.setPointLight();
float threshold = 0.2;
}
//--------------------------------------------------------------
void testApp::setup(){
ofBackground(250,250,250);
ofSetVerticalSync(true);
ofPoint iniPos(0,0,0); //the position is refering to the center of the grid
ofPoint gridSize(480, 480, 480);
int gridResX = 70;
int gridResY = 70;
int gridResZ = 70;
marchingCubes.init(iniPos, gridSize, gridResX, gridResY, gridResZ);
// populate mesh from image with alpha values
ofImage img;
img.loadImage("linzer.png");
mesh.setMode(OF_PRIMITIVE_POINTS);
for(int y = 0; y < img.getHeight(); y+=2) {
for(int x = 0; x < img.getWidth(); x+=2) {
ofColor cur = img.getColor(x, y);
if(cur.a > 0) {
// the alpha value encodes depth, let's remap it to a good depth range
float z = ofMap(cur.a, 0, 255, -480, 480);
cur.a = 255;
mesh.addColor(cur);
ofVec3f pos(x - img.getWidth() / 2, y - img.getHeight() / 2, z);
mesh.addVertex(pos);
}
}
}
ofEnableLighting();
light.enable();
light.setup();
bModelRendered = false;
bSaveModel = false;
bShowCubes = false;
ofSetLogLevel(OF_LOG_VERBOSE);
}
//next best location
void hotspot::updateMeasurement(float attribute[6])
{
MatrixXf nei(6,2),iniPos(6,2),dummy;
iniPos=repeatMat(initialRobotPosition);
dummy=repeatMat(target);
nei=array2Mat(HexSamples);
VectorXf BaseCost(6),goalCost;
BaseCost=distance( iniPos , nei);
goalCost=distance(dummy,nei);
//find direction based on measurement
int local_best;
//----------------------------------------------------------------
//update measurement based on measurement gain
// float curr_max[1],curr_min[1];
// minMax(attribute,curr_max,curr_min);
// local_best=tree->sampleMeasurement(attribute,BaseCost.data());
// if(curr_max[0]-curr_min[0]<1.2)
// local_best=area_coverage->area_coverage_direction(uav);
// else
// local_best=area_coverage->area_coverage_direction(uav,local_best);
//----------------------------------------------------------------
local_best=tree->sampleMeasurement(goalCost.data(),BaseCost.data());
updateParentLocation(uav,local_best);
tree->addParent(uav);
tree->currentchildren(HexSamples);
ROS_INFO("updated uav (%f, %f)",uav[0],uav[1]);
sampling_path_publish();
}
bool Morpion()
{
SDL_Surface *screen = NULL, *texte[3] = {NULL,NULL,NULL};
SDL_Rect posBlock[9], posFond, posTexte[3];
SDL_Event event_morpion;
IMAGE images;
bool continuer = true, correct = false, rejouer = true, full_case = false,finJeux = true;
int joueur = 1;
int blocks[9], i, block_boutton;
int pointJ[2] = {0}, manche = 1;
int n = 9;
const int jeu = MORPION;
/******************************************************************************/
screen = SDL_GetVideoSurface();
verifSetVideo(screen);
iniPos(&posFond,0,0);
for(i=0; i<9; i++)
{
blocks[i] = RIEN;
posBlock[i].x = (Sint16)(MIN + ((i%3)*TAILLE));
posBlock[i].y = (Sint16)(MAX + ((i/3)*TAILLE));
}
/* position police */
for(i=0; i<2; i++)
{
posTexte[i].x = 125;
posTexte[i].y = (Sint16)(555 + (22*i));
}
iniPos(&posTexte[2],322,577);
/******************************************************************************/
initialiseImagesMorpion(&images);
verifChargImage(images.fond);
verifChargImage(images.croix);
verifChargImage(images.rond);
/******************************************************************************/
SDL_WM_SetCaption("Morpion", NULL);
/******************************************************************************/
SDL_BlitSurface(images.fond, NULL,screen, &posFond);
SDL_Flip(screen);
while(rejouer)
{
full_case = false;
continuer = true;
while(continuer == true)
{
block_boutton = 0;
if (joueur == 1)
joueur++;
else
joueur--;
/**********/
if (joueur == 2) /*IA*/
{
i = verifie(blocks);
if (i != -1)
{
blocks[i] = ROND;
if(check(blocks,&full_case))
continuer=false;
}
else if(continuer)
{
do
{
i=(rand()%9);
}
while(blocks[i] != RIEN);
blocks[i] = ROND;
}
if(check(blocks,&full_case))
continuer=false;
}
/**********/
else if (joueur&&continuer)
{
do
{
correct = false;
SDL_WaitEvent(&event_morpion);
switch(event_morpion.type)
{
case SDL_QUIT:
correct = true;
continuer = false;
rejouer = false;
finJeux = false;
break;
case SDL_KEYDOWN:
switch (event_morpion.key.keysym.sym)
{
case SDLK_ESCAPE:
if(afficherMenuJeux(jeu))
{
correct = true;
continuer = false;
rejouer = false;
}
else
{
initialiseImagesMorpion(&images);
SDL_BlitSurface(images.fond,NULL,screen,&posFond);
affiche_score(texte, manche,pointJ, posTexte);
for(i=0; i<9; i++)
{
if(blocks[i]==CROIX)
SDL_BlitSurface(images.croix, NULL,screen, &posBlock[i]);
else if(blocks[i]==ROND)
SDL_BlitSurface(images.rond, NULL,screen, &posBlock[i]);
}
SDL_Flip(screen);
}
break;
default :
break;
}
break;
case SDL_MOUSEBUTTONUP:
switch(event_morpion.button.button)
{
case SDL_BUTTON_LEFT:
block_boutton = testPos(posBlock, TAILLE,TAILLE,n,event_morpion);
if (block_boutton > -1 && blocks[block_boutton] == RIEN)
{
blocks[block_boutton] = CROIX;
if(check(blocks, &full_case))
{
continuer=false;
}
correct = true;
}
else if(block_boutton == -2)
{
if(afficherMenuJeux(jeu))
{
correct = true;
continuer = false;
rejouer = false;
}
else
{
initialiseImagesMorpion(&images);
SDL_BlitSurface(images.fond,NULL,screen,&posFond);
affiche_score(texte, manche,pointJ, posTexte);
for(i=0; i<9; i++)
{
if(blocks[i]==CROIX)
SDL_BlitSurface(images.croix, NULL,screen, &posBlock[i]);
else if(blocks[i]==ROND)
SDL_BlitSurface(images.rond, NULL,screen, &posBlock[i]);
}
SDL_Flip(screen);
}
}
break;
default :
break;
}
break;
default :
break;
}
}
while(!correct);
}
SDL_BlitSurface(images.fond, NULL,screen, &posFond);
for(i=0; i<9; i++)
{
if(blocks[i]==CROIX)
SDL_BlitSurface(images.croix, NULL,screen, &posBlock[i]);
else if(blocks[i]==ROND)
SDL_BlitSurface(images.rond, NULL,screen, &posBlock[i]);
}
affiche_score(texte, manche,pointJ, posTexte);
SDL_Flip(screen);
}
if(rejouer)
{
SDL_Delay(1500);
if(!full_case)
pointJ[joueur - 1]++;
manche++;
}
for(i=0; i<9; i++)
{
blocks[i] = RIEN;
}
SDL_BlitSurface(images.fond, NULL,screen, &posFond);
affiche_score(texte, manche,pointJ, posTexte);
SDL_Flip(screen);
}
/******************************************************************************/
SDL_FreeSurface(images.fond);
SDL_FreeSurface(images.croix);
SDL_FreeSurface(images.rond);
return finJeux;
}