int main() {
int N;
struct Point pt;
while (scanf("%d", &N) == 1) {
init(&A, 2), init(&B, 2);
for (int i = 0; i < N; i++) {
read(&pt, i);
if (i) printf("%d\n", s_closest(&B, pt));
s_insert(&A, pt);
read(&pt, i);
printf("%d\n", s_closest(&A, pt));
s_insert(&B, pt);
}
}
return 0;
}
void SE_BipedController::interpolation(std::vector<SE_BipedKeyFrame*>::iterator &source,std::vector<SE_BipedKeyFrame*>::iterator &target,
std::vector<SE_BipedKeyFrame*> &targetVector)
{
SE_BipedKeyFrame* node_s = *source;
SE_BipedKeyFrame* node_t = *target;
//new frame counts,than push_back(node_s).For example:node_s = 3,node_t=0,
//needGenerate 2 frames,then,push_back(node_s),now fullframe vector is 0, 1,2, 3
int needGenerate = node_s->frameIndex - node_t->frameIndex - 1;
for(int i = 0; i < needGenerate; ++i)
{
SE_Quat q_s = node_s->rotateQ;
SE_Vector3f t_s = node_s->translate;
SE_Quat q_t = node_t->rotateQ;
SE_Vector3f t_t = node_t->translate;
float t = (i+1.0) / (needGenerate+1.0);
SE_Quat q_insert = SE_Quat::slerp(q_t,q_s,t);
float x = SE_Lerp(t_t.x,t_s.x,t);
float y = SE_Lerp(t_t.y,t_s.y,t);
float z = SE_Lerp(t_t.z,t_s.z,t);
SE_Vector3f t_insert(x,y,z);
SE_Vector3f s_insert(1,1,1);//scale,not use
SE_BipedKeyFrame* insertFrame = new SE_BipedKeyFrame();
insertFrame->rotateQ = q_insert;
insertFrame->translate = t_insert;
insertFrame->scale = s_insert;
insertFrame->frameIndex = node_t->frameIndex + i + 1;
targetVector.push_back(insertFrame);
target = targetVector.end();
--target;
}
//push source node to target
SE_BipedKeyFrame* insertSourceFrame = new SE_BipedKeyFrame();
insertSourceFrame->rotateQ = node_s->rotateQ;
insertSourceFrame->translate = node_s->translate;
insertSourceFrame->scale = node_s->scale;
insertSourceFrame->frameIndex = node_s->frameIndex;
targetVector.push_back(insertSourceFrame);
target = targetVector.end();
--target;
//don't increase source,next test will automatic increase
}
bool ParserInsertQuery::parseImpl(Pos & pos, Pos end, ASTPtr & node, Pos & max_parsed_pos, Expected & expected)
{
Pos begin = pos;
ParserWhiteSpaceOrComments ws;
ParserString s_insert("INSERT", true, true);
ParserString s_into("INTO", true, true);
ParserString s_dot(".");
ParserString s_id("ID");
ParserString s_eq("=");
ParserStringLiteral id_p;
ParserString s_values("VALUES", true, true);
ParserString s_format("FORMAT", true, true);
ParserString s_select("SELECT", true, true);
ParserString s_lparen("(");
ParserString s_rparen(")");
ParserIdentifier name_p;
ParserList columns_p(std::make_unique<ParserCompoundIdentifier>(), std::make_unique<ParserString>(","), false);
ASTPtr database;
ASTPtr table;
ASTPtr columns;
ASTPtr format;
ASTPtr select;
ASTPtr id;
/// Данные для вставки
const char * data = nullptr;
ws.ignore(pos, end);
/// INSERT INTO
if (!s_insert.ignore(pos, end, max_parsed_pos, expected)
|| !ws.ignore(pos, end)
|| !s_into.ignore(pos, end, max_parsed_pos, expected))
return false;
ws.ignore(pos, end);
if (!name_p.parse(pos, end, table, max_parsed_pos, expected))
return false;
ws.ignore(pos, end);
if (s_dot.ignore(pos, end, max_parsed_pos, expected))
{
database = table;
if (!name_p.parse(pos, end, table, max_parsed_pos, expected))
return false;
ws.ignore(pos, end);
}
ws.ignore(pos, end);
if (s_id.ignore(pos, end, max_parsed_pos, expected))
{
if (!s_eq.ignore(pos, end, max_parsed_pos, expected))
return false;
ws.ignore(pos, end);
if (!id_p.parse(pos, end, id, max_parsed_pos, expected))
return false;
}
ws.ignore(pos, end);
/// Есть ли список столбцов
if (s_lparen.ignore(pos, end, max_parsed_pos, expected))
{
ws.ignore(pos, end);
if (!columns_p.parse(pos, end, columns, max_parsed_pos, expected))
return false;
ws.ignore(pos, end);
if (!s_rparen.ignore(pos, end, max_parsed_pos, expected))
return false;
}
ws.ignore(pos, end);
Pos before_select = pos;
/// VALUES или FORMAT или SELECT
if (s_values.ignore(pos, end, max_parsed_pos, expected))
{
ws.ignore(pos, end);
data = pos;
pos = end;
}
else if (s_format.ignore(pos, end, max_parsed_pos, expected))
{
ws.ignore(pos, end);
if (!name_p.parse(pos, end, format, max_parsed_pos, expected))
return false;
/// Данные начинаются после первого перевода строки, если такой есть, или после всех пробельных символов, иначе.
ParserWhiteSpaceOrComments ws_without_nl(false);
ws_without_nl.ignore(pos, end);
if (pos != end && *pos == ';')
throw Exception("You have excessive ';' symbol before data for INSERT.\n"
"Example:\n\n"
"INSERT INTO t (x, y) FORMAT TabSeparated\n"
"1\tHello\n"
"2\tWorld\n"
"\n"
"Note that there is no ';' in first line.", ErrorCodes::SYNTAX_ERROR);
if (pos != end && *pos == '\n')
++pos;
data = pos;
pos = end;
}
else if (s_select.ignore(pos, end, max_parsed_pos, expected))
{
pos = before_select;
ParserSelectQuery select_p;
select_p.parse(pos, end, select, max_parsed_pos, expected);
}
else
{
expected = "VALUES or FORMAT or SELECT";
return false;
}
auto query = std::make_shared<ASTInsertQuery>(StringRange(begin, data ? data : pos));
node = query;
if (database)
query->database = typeid_cast<ASTIdentifier &>(*database).name;
query->table = typeid_cast<ASTIdentifier &>(*table).name;
if (id)
query->insert_id = safeGet<const String &>(typeid_cast<ASTLiteral &>(*id).value);
if (format)
query->format = typeid_cast<ASTIdentifier &>(*format).name;
query->columns = columns;
query->select = select;
query->data = data != end ? data : NULL;
query->end = end;
if (columns)
query->children.push_back(columns);
if (select)
query->children.push_back(select);
return true;
}