void n8(float x,float y,float h,float w)
{
glBegin(GL_POINTS);
cir(x+w/2,y+3*h/4,h/4);
cir(x+w/2,y+h/4,h/4);
glEnd();
xnxt+=w;
xnxt+=sp;
}
void test_flash_led()
{
ngac ac("ac1", 0, 5, 1);
ngresistor r("r1", 370);
ngled led("led1", 5e-3);
ngground gnd;
ngline l0(ac.p1, gnd.p1);
ngline l1(ac.p2, r.p1);
ngline l2(r.p2, led.p1);
ngline l3(led.p2, ac.p1);
schema sch;
sch.AddDevices(&ac, &r, &led, &gnd, 0);
sch.AddLines(&l0, &l1, &l2, &l3, 0);
circuit cir(&sch);
cir.Tran("2", "10m");
do
{
Sleep(200);
} while (cir.IsRunning());
getchar();
}
void test_circuit_rc()
{
ngdc dc("dc1", 5);
ngresistor r("r1", 5);
ngcapacitor c("c1", 0.2);
ngground gnd;
ngline line1(dc[0], r[0]);
ngline line2(r[1], c[0]);
ngline line3(c[1], dc[1]);
ngline line4(dc[0], gnd[0]);
schema sch("design1");
sch.AddDevice(&dc);
sch.AddDevice(&r);
sch.AddDevice(&c);
sch.AddDevice(&gnd);
sch.AddLine(&line1);
sch.AddLine(&line2);
sch.AddLine(&line3);
sch.AddLine(&line4);
circuit cir(&sch);
cir.Tran("1s");
do
{
Sleep(200);
} while (cir.IsRunning());
}
void test_restart()
{
ngac ac("ac1", 0, 5, 1);
ngresistor r("r1", 370);
ngled led("led1", 5e-3);
ngground gnd;
ngline l0(ac.p1, gnd.p1);
ngline l1(ac.p2, r.p1);
ngline l2(r.p2, led.p1);
ngline l3(led.p2, ac.p1);
schema sch;
sch.AddDevices(&ac, &r, &led, &gnd, 0);
sch.AddLines(&l0, &l1, &l2, &l3, 0);
circuit cir(&sch);
cir.Tran("1000");
do
{
Sleep(200);
char ch = getchar();
switch (ch)
{
case 'r':
cir.Restart();
Sleep(200);
break;
default:
break;
}
} while (cir.IsRunning());
}
void test_switch_by_csw()
{
ngdc dc("dc1", 5);
ngspst spst("spst", ngspst::on);
ngresistor r("1", 5);
ngled led("led");
ngground gnd;
ngline l1(dc.pos, spst.p1);
ngline l2(spst.p2, r.p1);
ngline l3(r.p2, led.pos);
ngline l4(led.neg, dc.neg);
ngline l0(dc.neg, gnd.ground);
schema sch;
sch.AddDevices(&dc, &spst, &r, &gnd, &led, 0);
sch.AddLines(&l1, &l2, &l3, &l0, &l4, 0);
circuit cir(&sch);
#if 0//not work
// tran with spst disconnected
cir.Tran("10", "1m");
do
{
Sleep(100);
} while (cir.IsRunning());
//cir.Stop();
// tran with spst connected, however it's still disconnected
string sw = spst.switchover();
cir.Do(sw);
cir.Tran("10", "1m");
do
{
Sleep(100);
} while (cir.IsRunning());
#endif
// run with event input to switch spst
cir.Tran("1t", "1m", 0);
do
{
Sleep(200);
char ch = getchar();
switch (ch)
{
case 'a':
cir.SwitchOver(&spst);
Sleep(200);
break;
case 'q':
cir.Halt();
default:
break;
};
} while (cir.IsRunning());
}
void n9(float x,float y,float h,float w)
{
glBegin(GL_POINTS);
cir(x+w/2,y+3*h/4,h/4);
sem34(x+w/2,y+h/4,h/4);
mid(x+w,y+h/4,x+w,y+3*h/4);
glEnd();
xnxt+=w;
xnxt+=sp;
}
int main()
{
int gd=DETECT,gm;
initgraph(&gd,&gm,NULL);
int x=50,y=50,r=10;
cir(x,y,r);
getch();
closegraph();
}
int main()
{
init_graphics(); //initialize graphics system
circle cir(40, 12, 5, cBLUE, X_FILL); //create circle
rect rec(12, 7, 10, 15, cRED, SOLID_FILL); //create rectangle
tria tri(60, 7, 11, cGREEN, MEDIUM_FILL); //create triangle
cir.draw(); //draw all shapes
rec.draw();
tri.draw();
set_cursor_pos(1, 25); //lower left corner
return 0;
}
void test_spdt()
{
//创建所需元器件
ngdc dc("dc1", 5);
ngspdt spdt("spdt", ngspdt::status_throw1);
ngresistor r1("1", 5);
ngresistor r2("2", 5);
ngled led1("led1");
ngled led2("led2");
ngground gnd;
//创建接线，连接各元器件
ngline l1(dc.pos, spdt.pole);
ngline l2(spdt.throw1, r1.p1);
ngline l3(spdt.throw2, r2.p1);
ngline l4(r1.p2, led1.pos);
ngline l5(r2.p2, led2.pos);
ngline l6(led1.neg, dc.neg);
ngline l7(led2.neg, dc.neg);
ngline l0(dc.neg, gnd.ground);
//创建电路图，添加元器件、接线到电路图
schema sch;
sch.AddDevices(&dc, &spdt, &r1, &r2, &led1, &led2, &gnd, 0);
sch.AddLines(&l1, &l2, &l3, &l4, &l5, &l6, &l7, &l0, 0);
//创建仿真对象，添加电路图，并开始暂态仿真
circuit cir(&sch);
cir.Tran("1t", "1m", 0);
do
{
Sleep(200);
char ch = getchar();
switch (ch)
{
case 'a':
cir.SwitchOver(&spdt);
Sleep(200);
break;
case 'q':
cir.Halt();
default:
break;
};
} while (cir.IsRunning()); //主程序线程，类似windows UI消息循环
}
void test_circuit_rc_tran()
{
ngdc dc("dc1", 5);
ngspdt spdt("spdt");
ngresistor r("r1", 5);
ngcapacitor c("c1", 0.2);
ngground gnd;
ngline line1(dc.pos, spdt.throw1);
ngline line2(spdt.pole, r.p1);
ngline line3(r.p2, c.p1);
ngline line4(c.p2, dc.neg);
ngline line5(spdt.throw2, gnd.ground);
ngline line0(dc.neg, gnd.ground);
schema sch;
sch.AddDevices(&dc, &spdt, &r, &c, &gnd, 0);
sch.AddLines(&line1, &line2, &line3, &line4, &line5, &line0, 0);
circuit cir(&sch);
cir.Tran("1t", "100u");
do
{
Sleep(200);
char ch = getchar();
switch (ch)
{
case 'a':
// switchover to charge or discharge
cir.SwitchOver(&spdt);
Sleep(200);
break;
case 'q':
cir.Halt();
default:
break;
};
} while (cir.IsRunning());
cir.Do("plot all");
}
void test_circuit_parallel()
{
//circuit 1
ngac AC("ac1", 0, 5, 1);
ngresistor R("r1", 370);
ngled LED("LED1", 7e-3);
ngground GND;
ngline L0(AC.p1, GND.p1);
ngline L1(AC.p2, R.p1);
ngline L2(R.p2, LED.p1);
ngline L3(LED.p2, AC.p1);
schema SCH;
SCH.AddDevices(&AC, &R, &LED, &GND, 0);
SCH.AddLines(&L0, &L1, &L2, &L3, 0);
circuit CIR(&SCH);
CIR.Tran("20", "1m");
//circuit 2
ngac ac("ac1", 0, 5, 1);
ngresistor r("r1", 370);
ngled led("led1", 5e-3);
ngground gnd;
ngline l0(ac.p1, gnd.p1);
ngline l1(ac.p2, r.p1);
ngline l2(r.p2, led.p1);
ngline l3(led.p2, ac.p1);
schema sch;
sch.AddDevices(&ac, &r, &led, &gnd, 0);
sch.AddLines(&l0, &l1, &l2, &l3, 0);
circuit cir(&sch);
cir.Tran("20", "1m");
do
{
Sleep(200);
} while (CIR.IsRunning() || cir.IsRunning());
}
void test_switch_by_resistor()
{
ngdc dc("dc", 10);
ngresistor r("r1", 370);
ngled led("led1", 5e-3);
ngswitch sw("sw", ngswitch::off);
ngground gnd;
ngline l0(dc.neg, gnd.p1);
ngline l1(dc.pos, r.p1);
ngline l2(r.p2, led.p1);
ngline l3(led.p2, sw.p1);
ngline l4(sw.p2, dc.neg);
schema sch;
sch.AddDevices(&dc, &r, &led, &gnd, &sw, 0);
sch.AddLines(&l0, &l1, &l2, &l3, &l4, 0);
circuit cir(&sch);
cir.Tran("1t", "1m");
do
{
Sleep(200);
char ch = getchar();
switch (ch)
{
case 'a':
cir.SwitchOver(&sw);
Sleep(200);
break;
case 'q':
cir.Halt();
default:
break;
};
} while (cir.IsRunning());
}
/* same effect to test_rc_charge_discharge()
title rc charge discharge
.global gnd
vdc1 1 0 dc 5.000e+000
xspdt 1 2 0 spdt
rr1 2 3 5.000e+000
cc1 3 0 2.000e-001
.subckt spdt 1 2 3 params: vstatus=0 ron=1e-8 roff=1e30
r1 0 6 20
v1 6 0 dc {vstatus}
w0 2 1 v1 nc_contact
w1 2 3 v1 no_contact
.model no_contact csw (it=0.05 ih=0.025 ron={ron} roff={roff})
.model nc_contact csw (it=0.05 ih=0.025 ron={roff} roff={ron})
.ends
.control
stop when time = 5s
tran 100u 10s uic
alter v.xspdt.v1=-2
resume
plot all
.endc
*/
void test_rc_charge_discharge()
{
ngdc dc("dc1", 5);
ngspdt spdt("spdt");
ngresistor r("r1", 5);
ngcapacitor c("c1", 0.2);
ngground gnd;
ngline line1(dc.pos, spdt.throw1);
ngline line2(spdt.pole, r.p1);
ngline line3(r.p2, c.p1);
ngline line4(c.p2, dc.neg);
ngline line5(spdt.throw2, gnd.ground);
ngline line0(dc.neg, gnd.ground);
schema sch;
sch.AddDevices(&dc, &spdt, &r, &c, &gnd, 0);
sch.AddLines(&line1, &line2, &line3, &line4, &line5, &line0, 0);
circuit cir(&sch);
// transient analysis last 10 seconds
cir.Tran("10", "1m");
do
{
Sleep(100);
//charge 5 seconds. when time passes 5 seconds, start to discharge.
static bool done = false;
if (cir.CurrentValue("time") >= 5 && !done)
{
cir.SwitchOver(&spdt);
Sleep(200);
done = true;
}
} while (cir.IsRunning());
cir.Do("plot all");
getchar();
}
void test_switch_by_csw_inter()
{
ngdc dc("dc1", 5);
ngspst spst("spst");
ngresistor r("1", 5);
ngground gnd;
ngline l1(dc.pos, spst.p1);
ngline l2(spst.p2, r.p1);
ngline l3(r.p2, dc.neg);
ngline l0(dc.neg, gnd.ground);
schema sch;
sch.AddDevices(&dc, &spst, &r, &gnd, 0);
sch.AddLines(&l1, &l2, &l3, &l0, 0);
circuit cir(&sch);
#if 1//ok now
vector<string> netlist = sch.GetNetlist();
// tran with spst disconnected
printf("-----spst disconnected---------\n");
cir.LoadNetlist(netlist);
cir.Do("listing");
cir.Do("tran 1m 10 uic");
// tran with spst connected
printf("-----spst connected---------\n");
string sw = spst.switchover();
cir.Do(sw.c_str());
cir.Do("listing");
cir.Do("tran 1m 10 uic");
#endif
}
void freeKick6::setPositions()
{
Position leftDefPos,rightDefPos,goaliePos;
int leftID = -1, rightID = -1 , midID = -1;
bool rightNav , leftNav;
if( wm->ourRobot[tDefenderLeft->getID()].Role == AgentRole::DefenderLeft )
leftID = tDefenderLeft->getID();
if( wm->ourRobot[tDefenderRight->getID()].Role == AgentRole::DefenderRight )
rightID = tDefenderRight->getID();
if( leftChecker > 100 || leftID == -1 )
midID = rightID;
if( rightChecker > 100 || rightID == -1)
midID = leftID;
zonePositions(leftID,rightID,midID,goaliePos,leftDefPos,leftNav,rightDefPos,rightNav);
tGolie->setIdlePosition(goaliePos);
tDefenderLeft->setIdlePosition(leftDefPos);
tDefenderLeft->setUseNav(leftNav);
tDefenderRight->setIdlePosition(rightDefPos);
tDefenderRight->setUseNav(rightNav);
if( leftID != -1)
{
if( (wm->ourRobot[leftID].pos.loc - leftDefPos.loc).length() > 250 )
leftChecker++;
else
leftChecker = 0;
}
if( rightID != -1)
{
if( (wm->ourRobot[rightID].pos.loc - rightDefPos.loc).length() > 250 )
rightChecker++;
else
rightChecker = 0;
}
Position pos;
QList<int> ourAttackers = wm->kn->findAttackers();
ourAttackers.removeOne(tAttackerMid->getID());
QList<int> ourPlayers = wm->kn->ActiveAgents();
Positioning voronoi;
voronoi.setWorldModel(wm);
bool isMatched;
QList<Positioning_Struct> positions = voronoi.kickPositions(ourAttackers,target,isMatched);
for(int i=0;i<positions.size();i++)
{
Positioning_Struct tmp = positions.at(i);
ourPlayers.removeOne(tmp.ourI);
switch (wm->ourRobot[tmp.ourI].Role) {
case AgentRole::AttackerLeft:
pos.loc = tmp.loc;
pos.dir = (Field::oppGoalCenter - pos.loc).dir().radian();
tAttackerLeft->setIdlePosition(pos);
break;
case AgentRole::AttackerRight:
pos.loc = tmp.loc;
pos.dir = (Field::oppGoalCenter - pos.loc).dir().radian();
tAttackerRight->setIdlePosition(pos);
break;
default:
break;
}
}
if( state == 0)
{
if( checkAttackersDistance() )
state = 1;
}
for(int i=0;i<ourPlayers.size();i++)
{
switch (wm->ourRobot[ourPlayers.at(i)].Role) {
case AgentRole::DefenderLeft:
if( state != 0)
{
Vector2D first,second,final;
Line2D t2t(wm->ball.pos.loc, Field::oppGoalCenter);
Circle2D cir(wm->ball.pos.loc ,ALLOW_NEAR_BALL_RANGE+100);
cir.intersection(t2t,&first,&second);
if( wm->ball.pos.loc.x < first.x)
final = first;
else
final = second;
pos.loc = final;
pos.dir = (Field::oppGoalCenter - wm->ball.pos.loc).dir().radian();
tDefenderLeft->setIdlePosition(pos);
if( wm->kn->ReachedToPos(wm->ourRobot[tDefenderLeft->getID()].pos.loc
,pos.loc, 95))
state = 2;
}
break;
case AgentRole::AttackerMid:
if( state == 1)
{
pos.loc = Vector2D(wm->ball.pos.loc.x-200,wm->ball.pos.loc.y);
pos.dir = 0;
tAttackerMid->setIdlePosition(pos);
}
else if(state == 0)
tAttackerMid->setIdlePosition(wm->ourRobot[tAttackerMid->getID()].pos);
break;
default:
break;
}
AcDbIntArray & geomIds) const
#else
Acad::ErrorStatus PDEcone::getOsnapPoints(
AcDb::OsnapMode osnapMode,
int gsSelectionMark,
const AcGePoint3d& pickPoint,
const AcGePoint3d& lastPoint,
const AcGeMatrix3d& viewXform,
AcGePoint3dArray& snapPoints,
AcDbIntArray& geomIds) const
#endif
{
assertReadEnabled();
if(!hasSnap())
return Acad::eOk;
int gsSelectionMark_int = (int)gsSelectionMark;
if(gsSelectionMark_int == 0)
return Acad::eOk;
AcGePoint3dArray pArray;
AcGeIntArray stdIdx;
int actPrecision;
getVertices(m_dDividPrecision, pArray, stdIdx, actPrecision);
int actPrecision__1 = actPrecision + 1;
int stdIdxLen = stdIdx.length();
int stdIdxLen_1 = stdIdxLen - 1;
int stdIdxLen____2 = stdIdxLen / 2;
AcGeVector3d viewDir(viewXform(Z, 0), viewXform(Z, 1),
viewXform(Z, 2));
AcGeVector3d vect = getFaceVect();
int i;
switch(osnapMode)
{
case AcDb::kOsModeEnd:
snapPoints.append(m_ptStart);
snapPoints.append(m_ptEnd);
for(i = 0; i < stdIdxLen_1; ++i)
{
snapPoints.append(pArray[stdIdx[i]]);
snapPoints.append(pArray[stdIdx[i] + actPrecision__1]);
}
break;
case AcDb::kOsModeMid:
snapPoints.append(m_ptStart + (m_ptEnd - m_ptStart) / 2.0);
for(i = 0; i < stdIdxLen_1; ++i)
snapPoints.append(pArray[stdIdx[i]] +
(pArray[stdIdx[i] + actPrecision__1] - pArray[stdIdx[i]]) / 2.0);
break;
case AcDb::kOsModeCen:
if(gsSelectionMark_int == 1)
snapPoints.append(m_ptStart);
else if(gsSelectionMark_int == 2)
snapPoints.append(m_ptEnd);
else
snapPoints.append(m_ptStart + (m_ptEnd - m_ptStart) / 2.0);
break;
case AcDb::kOsModeQuad:
for(i = 0; i < stdIdxLen____2; i++)
{
snapPoints.append(pArray[stdIdx[i * 2]]);
snapPoints.append(pArray[stdIdx[i * 2] + actPrecision__1]);
}
break;
case AcDb::kOsModeNode:
break;
case AcDb::kOsModeIns:
snapPoints.append(m_ptStart);
break;
case AcDb::kOsModePerp:
{
AcGeLine3d line;
AcGeVector3d vec;
AcGePoint3d pt;
if(gsSelectionMark_int == 1)
{
AcGeCircArc3d cir(m_ptStart, vect, m_dDiameter1 / 2.0);
pt = cir.closestPointTo(lastPoint);
snapPoints.append(pt);
}
else if(gsSelectionMark_int == 2)
{
AcGeCircArc3d cir(m_ptEnd, vect, m_dDiameter2 / 2.0);
pt = cir.closestPointTo(lastPoint);
snapPoints.append(pt);
}
//重新定义对象垂直正交点的捕捉方式，同时满足实体模型和线框模型的捕捉
//modified by szw 2009.11.18 : begin
else if(gsSelectionMark_int == 3)
{
for(int i = 0; i < stdIdxLen - 1; ++i)
{
vec = pArray[stdIdx[i]] - pArray[stdIdx[i] + actPrecision__1];
line.set(pArray[stdIdx[i]], vec);
pt = line.closestPointTo(lastPoint);
snapPoints.append(pt);
}
}
//modified by szw 2009.11.18 : end
}
break;
case AcDb::kOsModeTan:
break;
case AcDb::kOsModeNear:
{
AcGePoint3d pt;
AcGeCircArc3d cir;
//下底面
if(gsSelectionMark_int == 1)
{
cir.set(m_ptStart, vect, m_dDiameter1 / 2.0);
pt = cir.projClosestPointTo(pickPoint, viewDir);
snapPoints.append(pt);
}
//上底面
else if(gsSelectionMark_int == 2)
{
cir.set(m_ptEnd, vect, m_dDiameter2 / 2.0);
pt = cir.projClosestPointTo(pickPoint, viewDir);
snapPoints.append(pt);
}
//棱边
//重新定义对象垂直正交点的捕捉方式，同时满足实体模型和线框模型的捕捉
//modified by szw 2009.11.18 : begin
else if(gsSelectionMark_int == 3)
{
AcGeLineSeg3d lnsg;
AcGePoint3d p1,p2;
for(int i = 0; i < stdIdxLen - 1; ++i)
{
p1 = pArray[stdIdx[i]];
p2 = pArray[stdIdx[i] + actPrecision__1];
lnsg.set(p1, p2);
// lnsg.set(pArray[stdIdx[i]], pArray[stdIdx[i] + actPrecision__1]);
pt = lnsg.projClosestPointTo(pickPoint, viewDir);
snapPoints.append(pt);
}
}
//modified by szw 2009.11.18 : end
}
break;
default:
break;
}
return Acad::eOk;
}
