void BFS(vector<vector<char>>& grid, int m, int n, int i, int j) { queue<pair<int, int>> q; //queue of <i, j> q.push(make_pair(i, j)); visit(grid, i, j); while (!q.empty()) { pair<int, int> tmp = q.front(); q.pop(); i = tmp.first; j = tmp.second; if (i > 0 && isIsland(grid, i - 1, j)) { q.push(make_pair(i - 1, j)); visit(grid, i - 1, j); } if (j > 0 && isIsland(grid, i, j - 1)) { q.push(make_pair(i, j - 1)); visit(grid, i, j - 1); } if (i < m - 1 && isIsland(grid, i + 1, j)) { q.push(make_pair(i + 1, j)); visit(grid, i + 1, j); } if (j < n - 1 && isIsland(grid, i, j + 1)) { q.push(make_pair(i, j + 1)); visit(grid, i, j + 1); } } }
void nearCallback (void *data, dGeomID o1, dGeomID o2) { int i,n; dBodyID b1,b2; // only collide things with the ground int g1 = (o1 == ground ); int g2 = (o2 == ground ); if (!(g1 ^ g2)) { //printf ("Ground colliding..\n"); //return; } b1 = dGeomGetBody(o1); b2 = dGeomGetBody(o2); if (b1 && b2 && dAreConnected (b1,b2)) return; if (b1 && isAction(b1) && b2 && (isType(b2,WALRUS) || (isType(b2,MANTA))) && isMineFire(gVehicle(b2),(Gunshot*)gVehicle(b1)) ) return; if (b2 && isAction(b2) && b1 && (isType(b1,WALRUS) || (isType(b1,MANTA))) && isMineFire(gVehicle(b1),(Gunshot*)gVehicle(b2)) ) return; int val[]={CARRIER,WALRUS,MANTA}; if (o1 && isRay(o1) && b2 && isType(b2,val,3) && rayHit(gVehicle(b2),(LaserRay*)gVehicle(o1))) {return;} if (o2 && isRay(o2) && b1 && isType(b1,val,3) && rayHit(gVehicle(b1),(LaserRay*)gVehicle(o2))) {return;} const int N = 10; dContact contact[N]; n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); if (n > 0) { for (i=0; i<n; i++) { Vehicle *v1=NULL,*v2=NULL; Structure *s1=NULL, *s2=NULL; gVehicle(v1,v2,dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2),s1,s2,contact[i].geom.g1,contact[i].geom.g2); // Bullets if ((isAction(v1) && isWalrus(v2) && isMineFire(v2,(Gunshot*)v1)) || (isAction(v2) && isWalrus(v1) && isMineFire(v1,(Gunshot*)v2))) { // Water buyoncy reaction contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1; contact[i].surface.mu = 0.0f; contact[i].surface.slip1 = 1.0f; contact[i].surface.slip2 = 1.0f; contact[i].surface.soft_erp = 1.0f; // 0 in both will force the surface to be tight. contact[i].surface.soft_cfm = 1.0f; } else if ( isAction(v1) || isAction(v2)) { contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1; contact[i].surface.mu = 0; contact[i].surface.slip1 = 0.1f; contact[i].surface.slip2 = 0.1f; if (isAction(v1) && isCarrier(v2) && hit(v2,(Gunshot*)v1)) {} if (isAction(v2) && isCarrier(v1) && hit(v1,(Gunshot*)v2)) {} if (isAction(v1) && isManta(v2) && hit(v2,(Gunshot*)v1)) {} if (isAction(v2) && isManta(v1) && hit(v1,(Gunshot*)v2)) {} if (isAction(v1) && isWalrus(v2) && hit(v2,(Gunshot*)v1)) {} if (isAction(v2) && isWalrus(v1) && hit(v1,(Gunshot*)v2)) {} if (isAction(v1) && s2 && hit(s2)) {} if (isAction(v2) && s1 && hit(s1)) {} } else if ( ( isManta(v1) && isCarrier(v2) && releasecontrol(v1) ) || ( isManta(v2) && isCarrier(v1) && releasecontrol(v2) ) ) { // Manta landing on Carrier contact[i].surface.mode = dContactBounce | dContactApprox1; contact[i].surface.mu = dInfinity; contact[i].surface.slip1 = 0.0f; contact[i].surface.slip2 = 0.0f; contact[i].surface.bounce = 0.2f; } else if (isRunway(s1) || isRunway(s2)) { // Manta landing on Runways. contact[i].surface.mode = dContactBounce | dContactApprox1; contact[i].surface.mu = 0.99f; contact[i].surface.slip1 = 0.9f; contact[i].surface.slip2 = 0.9f; contact[i].surface.bounce = 0.2f; if ( isRunway(s1) && isManta(v2) && landed(v2, s1->island)) {} if ( isRunway(s2) && isManta(v1) && landed(v1, s2->island)) {} } else if (isIsland(contact[i].geom.g1) || isIsland(contact[i].geom.g2)) { // Island reaction contact[i].surface.mode = dContactBounce | dContactApprox1; contact[i].surface.mu = 0; contact[i].surface.bounce = 0.2f; contact[i].surface.slip1 = 0.1f; contact[i].surface.slip2 = 0.1f; contact[i].surface.soft_erp = 0; // 0 in both will force the surface to be tight. contact[i].surface.soft_cfm = 0; // Carrier stranded and Walrus arrived on island. if (isIsland(contact[i].geom.g1) && isCarrier(v2) && stranded(v2,getIsland(contact[i].geom.g1))) {} if (isIsland(contact[i].geom.g2) && isCarrier(v1) && stranded(v1,getIsland(contact[i].geom.g2))) {} if (isIsland(contact[i].geom.g1) && isWalrus(v2) && arrived(v2,getIsland(contact[i].geom.g1))) {} if (isIsland(contact[i].geom.g2) && isWalrus(v1) && arrived(v1,getIsland(contact[i].geom.g2))) {} } else if (ground == contact[i].geom.g1 || ground == contact[i].geom.g2 ) { // Water buyoncy reaction contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1; contact[i].surface.mu = 0.0f; contact[i].surface.slip1 = 0.1f; contact[i].surface.slip2 = 0.1f; contact[i].surface.soft_erp = .5f; // 0 in both will force the surface to be tight. contact[i].surface.soft_cfm = .3f; // Walrus reaching shore. if (ground == contact[i].geom.g1 && isWalrus(v2) && departed(v2)) {} if (ground == contact[i].geom.g2 && isWalrus(v1) && departed(v1)) {} if (ground == contact[i].geom.g1 && v2 && isManta(v2) && groundcollisions(v2)) {} if (ground == contact[i].geom.g2 && v1 && isManta(v1) && groundcollisions(v1)) {} } else { /** // Water buyoncy reaction contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1; contact[i].surface.mu = 0.0f; contact[i].surface.slip1 = 0.1f; contact[i].surface.slip2 = 0.1f; contact[i].surface.soft_erp = .5f; // 0 in both will force the surface to be tight. contact[i].surface.soft_cfm = .3f; **/ if (v1 && isManta(v1) && groundcollisions(v1)) {} if (v2 && isManta(v2) && groundcollisions(v2)) {} } dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2)); } } }