TransformFrame * DotaAnimParser::newKeyframes(int zOrder, unsigned char opacity,
float x, float y, float skX,
float skY, float scX, float scY,
const std::string& sound)
{
TransformFrame *frame = new TransformFrame();
frame->duration = (int)(round(1 * 1000.f / _frameRate));
if (!sound.empty())
frame->sound = sound;
frame->visible = true;
// NaN:no tween, 10:auto tween, [-1, 0):ease in, 0:line easing, (0, 1]:ease out, (1, 2]:ease in out
frame->tweenEasing = AUTO_TWEEN_EASING;
frame->tweenRotate = 0;
frame->tweenScale = true;
frame->displayIndex = 0;
frame->zOrder = zOrder;
setTransform(frame->global, x, y, skX, skY, scX, scY);
setPivot(frame->pivot, 0, 0);
// copy
frame->transform = frame->global;
frame->scaleOffset.x = 0.f;
frame->scaleOffset.y = 0.f;
if (opacity != 255)
{
frame->color = new ColorTransform();
setColorTransform(*frame->color, opacity);
}
return frame;
}
HRESULT cameraManager::init(float minX, float minY, float maxX, float maxY)
{
// 기본설정
setPivot(0.5f, 0.5f);
RECT rt = RectMake(0, 0, WINSIZEX, WINSIZEY);
setSize(static_cast<float>(rt.right), static_cast<float>(rt.bottom));
setPos(getHalfSize().width, getHalfSize().height);
_minX = minX;
_minY = minY;
_maxX = maxX;
_maxY = maxY;
return S_OK;
}
void SymbolElement::setTransformation(const math::Matrix<double, 3, 3> & m)
{
setPivot(pivot() * getResetMatrix() * m);
BaseT::setTransformation(m);
}
/**
* Set line coordinates.
*
* @param[in] x1 Initial point X coordinate.
* @param[in] y1 Initial point Y coordinate.
* @param[in] x2 Final point X coordinate.
* @param[in] y2 Final point Y coordinate.
*/
void Arrow2D::setLine(const double &x1, const double &y1, const double &x2, const double &y2) {
setPivot(x1, y1);
setFinalPoint(x2, y2);
}
/**
* Set line coordinates.
*
* @param[in] initialPoint Initial point coordinates.
* @param[in] finalPoint Final point coordinates.
*/
void Arrow2D::setLine(const QPointF &initialPoint, const QPointF &finalPoint) {
setPivot(initialPoint);
setFinalPoint(finalPoint);
}
int GOConstraint::methodsBridge(lua_State* luaVM) {
if (isCurrentMethod("getFullID")) {
lua_pushstring(luaVM, id.c_str());
return 1;
}
if (isCurrentMethod("setPivot")) {
setPivot(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)));
return 0;
}
if (isCurrentMethod("getPivot")) {
luaPushVector(luaVM, getPivot().x, getPivot().y, getPivot().z);
return 1;
}
if (isCurrentMethod("getConstraintType")) {
lua_pushinteger(luaVM, getConstraintType());
return 1;
}
if (isCurrentMethod("setSecondObject")) {
if (lua_isnil(luaVM, 1)) {
setSecondObject(NULL);
return 0;
}
lua_pushstring(luaVM, "cpointer");
lua_gettable(luaVM, -2);
PhysicObject* o = (PhysicObject*)lua_tointeger(luaVM, -1);
setSecondObject(o);
lua_pop(luaVM, -1);
return 0;
}
if (isCurrentMethod("getSecondObject")) {
if (getSecondObject() == NULL || getSecondObject()->getObjectID() == "") {
lua_pushnil(luaVM);
}
lua_getglobal(luaVM, getSecondObject()->getObjectID().c_str());
return 1;
}
if (isCurrentMethod("setSecondPivot")) {
setSecondPivot(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)));
return 0;
}
if (isCurrentMethod("getSecondPivot")) {
luaPushVector(luaVM, getSecondPivot().x, getSecondPivot().y, getSecondPivot().z);
return 1;
}
if (isCurrentMethod("setSecondObjectID")) {
string objid = lua_tostring(luaVM, 1);
PhysicObject* obj = (PhysicObject*)Game::instance->mapManager->findByID(objid);
setSecondObject(obj);
return 0;
}
if (isCurrentMethod("getSecondObjectID")) {
if (getSecondObject() == NULL) {
lua_pushstring(luaVM, "");
return 0;
}
lua_pushstring(luaVM, getSecondObject()->getObjectID().c_str());
return 1;
}
return LuaBridge::methodsBridge(luaVM);
}
task main()
{
initializeRobot();
int x1, y1, x2;
int threshold = 8;
int liftPrecisionFactor = 0;
//int pivotSet = 0;
waitForStart();
/*
Encoder demo
while (nMotorEncoder [frontLeft] < driveEncoderCycle)
{
motor [frontLeft] = 12 * autoDriveScale;
}
motor [frontLeft] = 0 * autoDriveScale;
*/
//run loop
while (1)
{
//joystick refresh
getJoystickSettings(joystick);
//lift precision factor - manual control of value
if (joy2Btn(1) == 1) {
liftPrecisionFactor += 5;
while (joy2Btn(1) != 0)
{
}
}
else if (joy2Btn(3) == 1) {
liftPrecisionFactor -= 5;
while (joy2Btn(3) != 0)
{
}
}
//lift precision factor - automatic control of bounds
if (liftPrecisionFactor <= 0) {
liftPrecisionFactor = 0;
}
else if (liftPrecisionFactor >= 100) {
liftPrecisionFactor = 95;
}
//drive code
x1 = (abs(joystick.joy1_x1) > threshold) ? ((joystick.joy1_x1 * manualDriveScale) * 0.75) : 0;
y1 = (abs(joystick.joy1_y1) > threshold) ? ((joystick.joy1_y1 * manualDriveScale) * 0.75) : 0;
x2 = (abs(joystick.joy1_x2) > threshold) ? ((joystick.joy1_x2 * manualDriveScale) * 0.75) : 0;
motor [frontLeft] = y1 + x2 + x1;
motor [frontRight] = y1 - x2 - x1;
motor [rearLeft] = y1 + x2 - x1;
motor [rearRight] = y1 - x2 + x1;
//pivot control
if (joystick.joy2_y1 > 110 || joystick.joy2_y2 > 110)
if (pivotTarget < 1000)
{
pivotTarget += pivotIncrement;
setPivot(pivotTarget/1000.0);
}
if (joystick.joy2_y1 < -110 || joystick.joy2_y2 < -110)
if (pivotTarget > 0)
{
pivotTarget -= pivotIncrement;
setPivot(pivotTarget/1000.0);
}
//arm control
if (joy2Btn(5) == 1) {
motor [lift] = 100 - liftPrecisionFactor;
}
else if (joy2Btn(7) == 1) {
motor [lift] = -100 + liftPrecisionFactor;
}
else {
motor [lift] = 0;
}
if (joy2Btn(6) == 1)
{
motor [arm] = -50;
}
else if (joy2Btn(8) == 1)
{
motor [arm] = 50;
}
else
{
motor [arm] = 0;
}
if (joystick.joy2_TopHat == 6)
{
servo [leftHook] = 22;
servo [rightHook] = 209;
}
else if (joystick.joy2_TopHat == 2)
{
servo [leftHook] = 255;
servo [rightHook] = 0;
}
if (joystick.joy2_TopHat == 4)
{
servo [spinner] = 255;
}
else if (joystick.joy2_TopHat == 0)
{
servo [spinner] = 0;
}
else if (joy2Btn(2) == 1 || joy2Btn(4) == 1)
{
servo [spinner] = 128;
}
if (joy1Btn(10) && joy2Btn(10))
{
servo [guiderDrop] = 0;
}
//if (joy2Btn(4) == 1)
//{
// if (pivotSet == 0)
// {
// servo [pivot] = 255;
// pivotSet = 1;
// }
// else if (pivotSet == 1)
// {
// servo [pivot] = 0;
// pivotSet = 0;
// }
//}
}
}
void Vehicle::initialize(btDiscreteDynamicsWorld &dynamicsWorld_in)
{
// SceneObject *nullObj;
if (!cmap_obj)
{
cmap_obj = new Mesh;
cmap_obj->cloneStructure(*obj);
}
#ifndef ARCH_PSP
#ifndef OPENGL_ES
#ifndef ARCH_DC
cmap_obj->triangulate();
#endif
#endif
#endif
cmap = new CollisionMap;
cmap->addMesh(*cmap_obj);
colShape = cmap->makeCollisionShape(mass);
// if (wheelObj)
// {
// // front left
// wheelRef[0].bind(*wheelObj);
// wheel[0].bindChild(wheelRef[0]);
// wheel[0].setPosition(XYZ(0.486f,0.141f,-0.9125f));
// wheel[0].setMatrixLock(true);
//
// // front right
// wheelRef[1].bind(*wheelObj);
// wheelRef[1].setRotation(XYZ(0,180,0));
// wheel[1].bindChild(wheelRef[1]);
// wheel[1].setPosition(XYZ(-0.486f,0.141f,-0.9125f));
// wheel[1].setMatrixLock(true);
//
// // front left
// wheelRef[2].bind(*wheelObj);
// wheelRef[2].setRotation(XYZ(0,180,0));
// wheel[2].bindChild(wheelRef[2]);
// wheel[2].setPosition(XYZ(0.486f,0.141f,0.843f));
// wheel[2].setMatrixLock(true);
//
// // front right
// wheelRef[3].bind(*wheelObj);
// wheel[3].bindChild(wheelRef[3]);
// wheel[3].setPosition(XYZ(-0.486f,0.141f,0.843f));
// wheel[3].setMatrixLock(true);
// }
btVector3 wheelAxleCSR,wheelAxleCSL;
wheelDirectionCS0 = btVector3(0,-1,0);
wheelAxleCS = btVector3(-1,0,0);
RigidSceneObject::initialize(dynamicsWorld_in);
btTransform tr;
tr.setIdentity();
setPivot(XYZ(0,0,0));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
localTrans.setOrigin(btVector3(0,0,0));
compound->addChildShape(localTrans,colShape);
tr.setOrigin(btVector3(0,0.f,0));
setMass(mass);
mRigidBody = &createRigidBody(*compound);
// reset scene
gVehicleSteering = 0.f;
mRigidBody->setCenterOfMassTransform(btTransform::getIdentity());
mRigidBody->setLinearVelocity(btVector3(0,0,0));
mRigidBody->setAngularVelocity(btVector3(0,0,0));
// dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle(),dynamicsWorld->getDispatcher());
/// create vehicle
m_vehicleRayCaster = new btDefaultVehicleRaycaster(dynamicsWorld);
m_vehicle = new btRaycastVehicle(m_tuning,mRigidBody,m_vehicleRayCaster);
///never deactivate the vehicle
mRigidBody->setActivationState(DISABLE_DEACTIVATION);
dynamicsWorld->addVehicle(m_vehicle);
//choose coordinate system
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
// btVector3 connectionPointCS0(axelWidth/2.0f,connectionHeight,frontAxelZ);
for (unsigned int i = 0; i < wheels.size(); i++)
{
btVector3 wpos = wheels[i]->getWheelPosition().cast();
// printf("Wheel Radius: %f\n",wheels[i]->getWheelRadius());
// printf("Wheel Width: %f\n",wheels[i]->getWheelWidth());
m_vehicle->addWheel(wpos,wheelDirectionCS0,wheelAxleCS,wheels[i]->getSuspensionRest(),wheels[i]->getWheelRadius(),m_tuning,wheels[i]->getSteering());
}
// connectionPointCS0 = btVector3(axelWidth/2.0f,connectionHeight,rearAxelZ);
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
updateSuspension();
/// end car
//worldspaceChildren = true;
}