void QQmlVMEMetaObject::writeProperty(int id, const QVariant &value)
{
if (id >= firstVarPropertyIndex) {
if (!ensureVarPropertiesAllocated())
return;
QV4::Scope scope(varProperties.engine());
// Importantly, if the current value is a scarce resource, we need to ensure that it
// gets automatically released by the engine if no other references to it exist.
QV4::ScopedObject vp(scope, varProperties.value());
QV4::Scoped<QV4::VariantObject> oldv(scope, vp->getIndexed(id - firstVarPropertyIndex));
if (!!oldv)
oldv->removeVmePropertyReference();
// And, if the new value is a scarce resource, we need to ensure that it does not get
// automatically released by the engine until no other references to it exist.
QV4::ScopedValue newv(scope, QQmlEnginePrivate::get(ctxt->engine)->v8engine()->fromVariant(value));
QV4::Scoped<QV4::VariantObject> v(scope, newv);
if (!!v)
v->addVmePropertyReference();
// Write the value and emit change signal as appropriate.
QVariant currentValue = readPropertyAsVariant(id);
vp->putIndexed(id - firstVarPropertyIndex, newv);
if ((currentValue.userType() != value.userType() || currentValue != value))
activate(object, methodOffset() + id, 0);
} else {
bool needActivate = false;
if (value.userType() == QMetaType::QObjectStar) {
QObject *o = *(QObject **)value.data();
needActivate = (data[id].dataType() != QMetaType::QObjectStar || data[id].asQObject() != o);
data[id].setValue(o, this, id);
} else {
needActivate = (data[id].dataType() != qMetaTypeId<QVariant>() ||
data[id].asQVariant().userType() != value.userType() ||
data[id].asQVariant() != value);
data[id].setValue(value);
}
if (needActivate)
activate(object, methodOffset() + id, 0);
}
}
void QQmlVMEMetaObject::writeVarProperty(int id, const QV4::ValueRef value)
{
Q_ASSERT(id >= firstVarPropertyIndex);
if (!ensureVarPropertiesAllocated())
return;
QV4::Scope scope(varProperties.engine());
// Importantly, if the current value is a scarce resource, we need to ensure that it
// gets automatically released by the engine if no other references to it exist.
QV4::ScopedObject vp(scope, varProperties.value());
QV4::Scoped<QV4::VariantObject> oldv(scope, vp->getIndexed(id - firstVarPropertyIndex));
if (!!oldv)
oldv->removeVmePropertyReference();
QObject *valueObject = 0;
QQmlVMEVariantQObjectPtr *guard = getQObjectGuardForProperty(id);
QV4::ScopedObject o(scope, value);
if (o) {
// And, if the new value is a scarce resource, we need to ensure that it does not get
// automatically released by the engine until no other references to it exist.
if (QV4::VariantObject *v = o->as<QV4::VariantObject>()) {
v->addVmePropertyReference();
} else if (QV4::QObjectWrapper *wrapper = o->as<QV4::QObjectWrapper>()) {
// We need to track this QObject to signal its deletion
valueObject = wrapper->object();
// Do we already have a QObject guard for this property?
if (valueObject && !guard) {
guard = new QQmlVMEVariantQObjectPtr(true);
varObjectGuards.append(guard);
}
}
}
if (guard) {
guard->setGuardedValue(valueObject, this, id);
}
// Write the value and emit change signal as appropriate.
vp->putIndexed(id - firstVarPropertyIndex, value);
activate(object, methodOffset() + id, 0);
}
//限制机器人加速度
void Simulator::AccelerationLimit(SimRobot &sr, double maxdv)
{
#if 0
double a = sr.vel.v.angle() - sr.pos.dir;
double vmag = sr.vel.v.length();
MyVector2d oldv(vmag * cos(a), vmag * sin(a));
MyVector2d dv = sr.vel.v - oldv;
double dvmag = dv.length();
if (dvmag > maxdv)
sr.vel.v = oldv + dv * (maxdv / dvmag);
#else
MyVector2d curv = sr.vel.v.rotate(-sr.pos.dir);
MyVector2d dv = sr.vcmd.v - curv;
if (dv.length() > maxdv)
{
sr.vcmd.v = curv + dv.norm() * maxdv;
}
#endif
}
