void nGame::RenderExplosion(const Explosion& explosion)
{
nGetInstance()->GetGraphics()->SetLineWidth(2);
// Draw explosion shock-waves
nGetInstance()->GetGraphics()->DrawCircle(nPoint(explosion.position.x,explosion.position.y),explosion.size,30,nColor(1.0f - explosion.size / explosion.power,explosion.color));
nGetInstance()->GetGraphics()->DrawCircle(nPoint(explosion.position.x,explosion.position.y),explosion.size * explosion.size / explosion.power,30,nColor(1.0f - explosion.size * explosion.size / explosion.power / explosion.power,explosion.color));
}
void nGame::RenderMissle(const Missle& missle)
{
nGetInstance()->GetGraphics()->SetLineWidth(3);
// Fade the missle if it's dying
float alpha = 1.0f;
if(missle.dead > 0.0f)
alpha = (10.0f - missle.dead) / 10.0f;
nVector2 line[2];
// Draw missle trail
if(missle.trail)
{
line[0] = missle.source;
line[1] = missle.position;
nGetInstance()->GetGraphics()->DrawLines(line,2,nColor(alpha,missle.color));
}
// Don't draw missle head if it exploded
if(missle.dead == 0.0f)
{
// Get missle direction vector for head drawing
nVector2 dir = missle.destination - missle.source;
dir.Normalize();
// Draw missle head
line[0] = missle.position;
line[1] = missle.position + dir * 5.0f;
nGetInstance()->GetGraphics()->DrawLines(line,2,nColor(alpha,0.1f,1.0f,0.1f));
}
// Draw missle destination target
if(missle.frendly && missle.dead == 0.0f)
{
if(missle.trail)
nGetInstance()->GetGraphics()->DrawTarget(nPoint(missle.destination.x,missle.destination.y),missle.target,nColor(1.0f - missle.target,GAME_FRENDLY_COLOR));
else
nGetInstance()->GetGraphics()->DrawTarget(nPoint(missle.destination.x,missle.destination.y),0.0f,GAME_FRENDLY_COLOR);
}
}
//*******************************************************//
int main(int argc, char* argv[]){
int max_time;
string Tfile, Dfile;
std::cout<<"start dynamic-c"<<std::endl;
//std::cout<<"start dynamic-c process, number of argv:"<<argc<<std::endl;
if(argc != 3){
std::cout<<"Usage:"<<"\n \t"<<argv[0]<<" Tstable-file"<<" Dstable-file"<<" max_time"<<std::endl;
std::cout<<"where Tstable-file and Dstable-file are stable time and stable distance profiles of the car on corresponding road segment"<<std::endl;
std::cout<<"\tmax_time: this set the limit of arrival time"<<std::endl;
std::cout<<" E.g:"<<argv[0]<<" T.csv D.csv 4000"<<std::endl;
std::cout<<"-------end--------"<<std::endl;
std::cout<<"Type Y/N to run the default:"<<argv[0]<<" ../../profiles/90STNORMED.csv ../../profiles/90SDNORMED.csv 500:"<<std::endl;
/* std::string c;
std::cin >>c;
std::cout<<"You have typed: "<<c;
if(c == "y" || c == "Y"){
std::cout<<" .Continue Running...";
Tfile = "../../profiles/90STNORMED.csv";
Dfile = "../../profiles/90SDNORMED.csv";
max_time = 500;
std::cout<<" with: Tfile= " << Tfile <<" Dfile = "<< Dfile <<" and max_time = "<<max_time<<std::endl;
}
else{
std::cout<<" .Stop Running!"<<std::endl;
return 0;
} */
std::cout<<" .Continue Running...";
Tfile = "../../profiles/90STNORMED.csv";
Dfile = "../../profiles/90SDNORMED.csv";
max_time = 500;
std::cout<<" with: Tfile= " << Tfile <<" Dfile = "<< Dfile <<" and max_time = "<<max_time;
}
else {
Tfile = argv[1];
Dfile = argv[2];
max_time = atoi(argv[3]);
}
int N = max_time/2 + 1;
/* open log file to write down running time */
std::string log_file_name = string("running_time.csv");
std::ofstream logFile(log_file_name.c_str() );
std::vector<std::vector<int> > T, D;
Timer timer;
timer.start();
T = readFile(Tfile, NUM_DISCRETE_VEL);
D = readFile(Dfile, NUM_DISCRETE_VEL);
// T = readFile("/bigdrive/pygame/src/carSimulation3/profiles/T.csv", M);
// D = readFile("/bigdrive/pygame/src/carSimulation3/profiles/D.csv", M);
// T = readFile("./profiles/90STNORMED.csv", M);
// D = readFile("./profiles/90SDNORMED.csv", M);
/* std::cout<<"T table:"<<std::endl;
for(int i=0; i<11; i++){
for(int j = 0; j<11; j++)
std::cout<<T[i][j]<<"\t";
std::cout<<"\n";
} */
std::cout<<"Now, begin dynamic programming."<<std::endl;
std::vector<std::vector<fSet> > G(M, std::vector<fSet>(N));
/* initialize a table's elements that have distance value equal 0 */
for(int i=0;i<M;i++){
classPoint2T nPoint(0,i);
fSet x;
x.push_back(nPoint);
G[i][0] = x;
}
// print the original
/* for(int i=0;i<M;i++){
for(int j=0;j<N;j++){
std::cout<<"i,j:"<<i<<" "<<j<<" have size ="<<G[i][j].size()<<std::endl;
for(unsigned int k=0;k<G[i][j].size();k++)
G[i][j][k].print();
}
} */
/* dynamic program */
for(int k=0;k<N;k++){
for(int i=0;i<M;i++){
// std::cout<<"problem with i,k:"<<i<<" "<<k<<std::endl;
for(int j=0;j<M;j++)
if(k>= D[i][j]){
// std::cout<<" subproblem: j:"<<j<<" k:"<<k<<" vs D[i][j]:"<<D[i][j]<<std::endl;
if(addPoints(G[i][k], G[j][k-D[i][j]], T[i][j], max_time)){};
}
}
}
/* print final result */
/* std::cout<<"\nFinal data is:"<<std::endl;
for(int i=0;i<M;i++){
for(int j=0;j<N;j++){
std::cout<<"<$"<<i<<","<<j<<">"<<std::endl;
for(unsigned int k=0;k<G[i][j].size();k++)
G[i][j][k].print();
std::cout<<"<"<<i<<","<<j<<"&>"<<std::endl;
}
} */
std::cout<<"Acquiring feasible points took: running time:"<< " seconds" <<std::endl;
// write down running time:
logFile << "*******start dynamic********" <<"\n";
logFile << timer.now() << ":" <<" max_time\t"<< max_time <<"\n";
logFile << timer.now() <<": table creation time:\t" << timer.elapse()<<"\n";
/* Find trajectory corresponding different arrival configurations and road segment's distances */
// vector of road segments
std::vector<int> distance_array;
distance_array.push_back(max_time/4);
distance_array.push_back(max_time*3/8);
distance_array.push_back(max_time/2);
// choose feasible points for each road segment
/* initialize random seed: */
srand (time(NULL));
for(unsigned int i=0; i<distance_array.size(); i++){
for(int j=0; j<NUM_PLANS; j++){
int v0_index;
int feasible_size;
while(true){
v0_index = rand()%M;
feasible_size = G[v0_index][distance_array[i]].size();
if(feasible_size >= NUM_PLANS){
// std::cout<<"subproblem "<<v0_index<<"-"<<distance_array[i]<<" has" << feasible_size <<" plans, >= NUM_PLANS. Continue"<<std::endl;
break;
}
// std::cout<<"subproblem "<<v0_index<<"-"<<distance_array[i]<<" has" << feasible_size <<" plans, >= NUM_PLANS. Move to next v0_index."<<std::endl;
}
std::cout<<"\n**********************"<<std::endl;
// std::cout<<"\n** Problem v0 = "<< v0_index<< "distance = "<<distance_array[i]<<std::endl;
classPoint2T point(0,0);
int rand_index = rand()%feasible_size;
point = G[v0_index][distance_array[i]][rand_index];
// std::cout<<"\t* Chosen feasible_point: "<<point.time<<" "<<point.vel<<"\n"<<std::endl;
if(findTrajectory(G, distance_array[i], v0_index, point, T, D) > 0) {};
// std::cout<<"One more plan is extracted!"<<std::endl;
}
std::cout<<"\n**********************"<<std::endl;
}
// write down running time:
logFile << "************************" <<"\n";
logFile << timer.now() << ":" <<" time to extract plans:\t"<< timer.elapse() <<"\n";
logFile << "************************" <<"\n";
logFile << timer.now() << ":" <<" End! Total running time:\t"<< timer.stop() <<"\n";
logFile << "************End dynamic programming **********************" <<"\n";
return 0;
}
QgsPointSequence QgsCircularString::compassPointsOnSegment( double p1Angle, double p2Angle, double p3Angle, double centerX, double centerY, double radius )
{
QgsPointSequence pointList;
QgsPointV2 nPoint( centerX, centerY + radius );
QgsPointV2 ePoint( centerX + radius, centerY );
QgsPointV2 sPoint( centerX, centerY - radius );
QgsPointV2 wPoint( centerX - radius, centerY );
if ( p3Angle >= p1Angle )
{
if ( p2Angle > p1Angle && p2Angle < p3Angle )
{
if ( p1Angle <= 90 && p3Angle >= 90 )
{
pointList.append( nPoint );
}
if ( p1Angle <= 180 && p3Angle >= 180 )
{
pointList.append( wPoint );
}
if ( p1Angle <= 270 && p3Angle >= 270 )
{
pointList.append( sPoint );
}
}
else
{
pointList.append( ePoint );
if ( p1Angle >= 90 || p3Angle <= 90 )
{
pointList.append( nPoint );
}
if ( p1Angle >= 180 || p3Angle <= 180 )
{
pointList.append( wPoint );
}
if ( p1Angle >= 270 || p3Angle <= 270 )
{
pointList.append( sPoint );
}
}
}
else
{
if ( p2Angle < p1Angle && p2Angle > p3Angle )
{
if ( p1Angle >= 270 && p3Angle <= 270 )
{
pointList.append( sPoint );
}
if ( p1Angle >= 180 && p3Angle <= 180 )
{
pointList.append( wPoint );
}
if ( p1Angle >= 90 && p3Angle <= 90 )
{
pointList.append( nPoint );
}
}
else
{
pointList.append( ePoint );
if ( p1Angle <= 270 || p3Angle >= 270 )
{
pointList.append( sPoint );
}
if ( p1Angle <= 180 || p3Angle >= 180 )
{
pointList.append( wPoint );
}
if ( p1Angle <= 90 || p3Angle >= 90 )
{
pointList.append( nPoint );
}
}
}
return pointList;
}
