//#pragma argsused
#define ARRIBA 72 // NUMEROS ASOCIADOS A LAS FLECHAS DEL TECLADO
#define IZQUIERDA 75
#define DERECHA 77
#define ABAJO 80
#define ESC 27
#define ENTER 13
int backcolor = 0;
int dir = 0;
int x = 39, y = 22;
int anteriorpx, anteriorpy;
char tecla;
int pillTimer = -1;
Point2D pillPosition = Point2D(0,0);
long int puntos = -5;
int vidas = 3;
void setCColor(int color)
{
static HANDLE hConsole;
hConsole = GetStdHandle(STD_OUTPUT_HANDLE);
SetConsoleTextAttribute(hConsole, color | (backcolor * 0x10 + 0x100));
}
int color[7] = {
0x009,
Point2D Point2D::operator+ (const Point2D& rhs) const
{
return Point2D(x+rhs.x,y+rhs.y);
}
bool Point2D::equals(int xx, int yy) const {
return equals(Point2D(xx,yy));
}
int main( int argc, char* args[] )
{
if (InitSDL())
{
WindowSurface screen(800,600);
MusicHandler musicHandler;
SoundEffectsHandler sfxHandler;
Graphics graphics;
Sounds sounds;
Settings setting;
Maps levels;
GlobalSettings gSettings;
GameStateManager gameStates(&setting);
SettingSaverLoader ssl;
ssl.LoadSettings(gSettings);
long Timer = clock();//For Frame Independent Movement
bool gameRunning=true;
FPS fps(30);
SDL_Event sEvent;
musicHandler.SetNewMusic(&sounds.titleScreen);
sfxHandler.AddSoundEffect(&sounds.death);
sfxHandler.AddSoundEffect(&sounds.bell);
sfxHandler.AddSoundEffect(&sounds.damage);
sfxHandler.AddSoundEffect(&sounds.enemyDeath);
gameStates.NewState(GSIntro);
int introCount=0; float logoPositionY = 0;
Surface surface; surface.LoadImage("Images/icon.png", 255, 255, 0);
SDL_WM_SetIcon(surface, NULL);
screen.SetCaption("A Rat's Tale");
EnemyHandler enemies;
Map map(&graphics.tileSheet, 50, 50, "Map/map1.txt");
levels.count++;
map.AddTile('A', 0, 0);
map.AddTile('B', 50, 0);
map.AddTile('C', 100, 0);
map.AddTile('D', 0, 50);
map.AddTile('E', 50, 50);
map.AddTile('F', 100, 50);
map.AddTile('G', 0, 100);
map.AddTile('H', 50, 100);
map.AddTile('I', 100, 100);
map.AddTile('J', 0, 150);
map.AddTile('K', 50, 150);
map.AddTile('L', 100, 150);
map.AddTile('M', 150, 0);
map.AddTile('N', 150, 50);
map.AddTile('O', 150, 100);
map.AddTile('P', 200, 0);
map.AddTile('Q', 250, 0);
map.AddTile('R', 200, 50);
map.AddTile('S', 250, 50);
map.AddTile('T', 200, 100);
map.AddTile('U', 250, 100);
map.AddTile('V', 150, 150);
map.AddTile('W', 200, 150);
map.AddTile('X', 250, 150);
map.AddTile('Y', 150, 200);
map.AddTile('Z', 200, 200);
map.AddTile('(', 250, 200);
map.AddTile(')', 300, 200);
map.AddTile('>', 300, 0, 50, 0);
map.AddTile('<', 300, 50, 0, 50);
map.AddTile('\\', 300, 100, 50, 0);
map.AddTile('/', 300, 150, 0, 50);
map.AddTile('a', 350, 50);
map.AddTile('b', 400, 50);
map.AddTile('c', 450, 50);
map.AddTile('d', 350, 100);
map.AddTile('e', 400, 100);
map.AddTile('f', 450, 100);
map.AddTile('g', 350, 150);
map.AddTile('h', 400, 150);
map.AddTile('i', 450, 150);
map.AddTile('j', 350, 0);
map.AddTile('k', 400, 0);
map.AddTile('l', 450, 0);
map.AddTile('w', 500, 0, 50, 0);
map.AddTile('v', 500, 50, 0, 50);
map.AddTile('x', 500, 100, 50, 0);
map.AddTile('y', 500, 150, 0, 50);
map.AddTile('m', 0, 200, 0, 50);
map.AddTile('n', 50, 200);
map.AddTile('o', 100, 200, 50, 0);
map.AddTile('p', 350, 200, TStop);
map.AddTile('q', 400, 200, TSleft);
map.AddTile('r', 450, 200, TSright);
map.AddTile('s', 500, 200, TSbottom);
map.AddTile('u', 200, 250, false, true);
map.AddTile('z', 50, 250, false, true);
map.AddTile('@', 150, 250);
map.AddTile('!', 100, 250);
Player player(&graphics.player, map.GetSpawnLocation().X, map.GetSpawnLocation().Y, 3, 3, 2);
player.SetVelocity(200, 300); //If Timer is set in draw of player (50 pixels per second) else (50pixels per frame)
Menu menu("Main menu", &setting, 255, 255, 255);
menu.ShowHeader(false);
menu.SetCenter(true);
menu.SetVerticalSpace(20);
menu.AddButtonChild("New game",false,255,255,255, &Settings::OnClickNewGame);
menu.AddButtonChild("Load game",false,255,255,255, &Settings::OnClickLoadGame);
menu.AddChild("Options", true);
menu.GetChild(2)->SetVerticalSpace(20);
menu.GetChild(2)->AddChild("Graphics",true);
menu.GetChild(2)->GetChild(0)->AddChild("FPS Setting");
menu.GetChild(2)->GetChild(0)->AddChild("Resolution");
menu.GetChild(2)->AddChild("Sounds",true);
menu.GetChild(2)->GetChild(1)->AddChild("Master Volume");
menu.GetChild(2)->GetChild(1)->AddSliderChild(256,10,true,155,155,155,&SetNewVolume,&gSettings);
((SliderMenuItem*)(menu.GetChild(2)->GetChild(1)->GetChild(1)))->SetStatus((int)(gSettings._volume*256));
menu.GetChild(2)->GetChild(1)->AddChild("SFX-Music");
menu.GetChild(2)->GetChild(1)->AddSliderChild(256,10,true,30,200,30,&SetNewProportion,&gSettings);
((SliderMenuItem*)(menu.GetChild(2)->GetChild(1)->GetChild(3)))->SetStatus((int)(gSettings._sfxMusicProportion*256));
menu.GetChild(2)->AddChild("Keys");
menu.AddButtonChild("Exit",false,255,255,255, &Settings::OnClickExitGame);
Menu newLevelMenu("Level completed", &setting);
newLevelMenu.SetCenter(true);
newLevelMenu.SetVerticalSpace(20);
newLevelMenu.AddChild("Congratulations");
newLevelMenu.AddChild("");
newLevelMenu.AddChild("What do you want to do?");
std::vector<std::string> opt; opt.push_back("Main menu"); opt.push_back("Restart"); opt.push_back("Next level");
newLevelMenu.AddOptionChild(opt, " ",false,255,255,255,&Settings::NewLevelOptions);
Menu gameOverMenu("Game Over!", &setting);
gameOverMenu.SetCenter(true);
gameOverMenu.SetVerticalSpace(20);
gameOverMenu.AddChild("Your journey has ended. You want to restart?");
std::vector<std::string> opts; opts.push_back("Yes"); opts.push_back("No"); opts.push_back("Quit");
gameOverMenu.AddOptionChild(opts, " ", false, 255, 255, 255, &Settings::GameOverOptions);
Menu inGameMenu("Pause",&setting,255,0,0);
inGameMenu.SetCenter(true);
inGameMenu.SetVerticalSpace(20);
inGameMenu.AddButtonChild("Resume" ,true,255,255,255,&Settings::OnClickResume);
inGameMenu.AddChild("Show statistics" ,true,255,255,255);
inGameMenu.GetChild(1)->AddChild("Current level: ");
inGameMenu.GetChild(1)->AddChild("Remaining Lives: ");
inGameMenu.GetChild(1)->AddChild("Progression: ");
inGameMenu.GetChild(1)->AddChild("Enemies killed: ");
inGameMenu.GetChild(1)->AddChild("Game completion: ");
inGameMenu.GetChild(1)->AddChild("Total distance drawn: ");
inGameMenu.AddChild("Options", true);
inGameMenu.GetChild(2)->SetVerticalSpace(20);
inGameMenu.GetChild(2)->AddChild("Graphics",true);
inGameMenu.GetChild(2)->GetChild(0)->AddChild("FPS Setting");
inGameMenu.GetChild(2)->GetChild(0)->AddChild("Resolution");
inGameMenu.GetChild(2)->AddChild("Sounds",true);
inGameMenu.GetChild(2)->GetChild(1)->AddChild("Master Volume");
inGameMenu.GetChild(2)->GetChild(1)->AddSliderChild(256,10,true,155,155,155,&SetNewVolume,&gSettings);
((SliderMenuItem*)(menu.GetChild(2)->GetChild(1)->GetChild(1)))->SetStatus((int)(gSettings._volume*256));
inGameMenu.GetChild(2)->GetChild(1)->AddChild("SFX-Music");
inGameMenu.GetChild(2)->GetChild(1)->AddSliderChild(256,10,true,30,200,30,&SetNewProportion,&gSettings);
((SliderMenuItem*)(menu.GetChild(2)->GetChild(1)->GetChild(3)))->SetStatus((int)(gSettings._sfxMusicProportion*256));
inGameMenu.GetChild(2)->AddChild("Keys");
inGameMenu.AddChild("Quit",true,255,0,0);
inGameMenu.GetChild(3)->AddButtonChild("Exit to main menu",true,0,255,0, &Settings::OnClickNewGame);
inGameMenu.GetChild(3)->AddButtonChild("Exit game",true,255,255,255, &Settings::OnClickExitGame);
int NewLevelID = 0;
int LevelCounter = 0;
bool actionButtonPressed = false;
//((OptionMenuItem*)newLevelMenu.GetChild(3))->GetOption(1)->Enabled = false;
while (gameRunning)
{
while (SDL_PollEvent(&sEvent))
{
if (sEvent.type==SDL_QUIT || setting.GetResult() == MRExitGame){
gameRunning=false;
setting.Finish();
}
if (sEvent.type == SDL_VIDEORESIZE ) {screen.CreateWindowSurface( sEvent.resize.w,sEvent.resize.h);}
switch(gameStates.CurrentState())
{
case GSIntro:
if (sEvent.type == SDL_KEYDOWN||sEvent.type == SDL_MOUSEBUTTONDOWN)
{
logoPositionY=20;
introCount=256;
graphics.gameLogo.SetTransparency(256);
}
case GSMenuMain:
if(sEvent.type == SDL_KEYDOWN){
if(sEvent.key.keysym.sym == SDLK_ESCAPE)
{gameStates.BackState();menu.Reset();}
}
menu.HandleEvent(sEvent);
break;
case GSPause:
{
if(sEvent.type == SDL_KEYDOWN){
if(sEvent.key.keysym.sym == SDLK_ESCAPE)
{gameStates.BackState();inGameMenu.Reset();}
}
inGameMenu.HandleEvent(sEvent);
break;
}
case GSGame:
if(sEvent.type == SDL_KEYDOWN) {
if(sEvent.key.keysym.sym == SDLK_ESCAPE) {gameStates.PushState(GSPause);}
else if(sEvent.key.keysym.sym == SDLK_s||sEvent.key.keysym.sym == SDLK_DOWN) {actionButtonPressed=true;}
}
if(sEvent.type == SDL_KEYUP){
if(sEvent.key.keysym.sym == SDLK_s||sEvent.key.keysym.sym == SDLK_DOWN)
{actionButtonPressed=false;}
}
player.HandleEvent(sEvent);
map.HandleEvent(sEvent);
break;
case GSMenuNewLevel:
newLevelMenu.HandleEvent(sEvent);
break;
case GSGame_Over:
gameOverMenu.HandleEvent(sEvent);
break;
}
}
if(clock() > Timer + 500) Timer = clock();
if(gameStates.CurrentState() == GSNone) gameStates.PushState(GSMenuMain);
if(gameStates.CurrentState() == GSGame && player.Health <= 0)
{
gameStates.PushState(GSGame_Over);
sounds.forest.SetVolumeModifier(0.1f);
sounds.death.Play(false);
}
screen.ClearWindow();
float musicPercentage=2*gSettings._sfxMusicProportion;
if (musicPercentage>1.0){musicPercentage=1.0;}
float sfxPercentage=2-2*gSettings._sfxMusicProportion;
if (sfxPercentage>1.0){sfxPercentage=1.0;}
musicHandler.SetGlobalVolume((int)(gSettings._volume*musicPercentage*128));
sfxHandler.SetGlobalVolume((int)(gSettings._volume*sfxPercentage*128));
switch(gameStates.CurrentState())
{
case GSIntro:
if(introCount > 255){
logoPositionY -= 5;
if(logoPositionY <= 20){ logoPositionY = 20; gameStates.NewState(GSMenuMain); }
Timer = clock();
graphics.gameLogo.Draw(screen, screen.GetWidth()/2 - graphics.gameLogo.GetWidth()/2, (unsigned int)logoPositionY);
}
else {
graphics.gameLogo.SetTransparency(introCount);
logoPositionY = (float)screen.GetHeight()/2 - (float)graphics.gameLogo.GetHeight()/2;
Timer = clock();
graphics.gameLogo.Draw(screen, screen.GetWidth()/2 - graphics.gameLogo.GetWidth()/2, (unsigned int)logoPositionY);
}
introCount+=2;
break;
case GSMenuMain:
if(setting.GetResult() == MRNewGame){
musicHandler.SetNewMusic(&sounds.forest);
levels.count = 0;
LevelCounter = 0;
map.Reset();
map.NewMap(levels.levels[0]);
enemies.PopulateEnemies(&map, &graphics);
player.Reset(map.GetSpawnLocation(), true);
gameStates.NewState(GSGame);
setting.Finish();
}else if (setting.GetResult()==MRLoadGame)
{
Loader load;
if (load.StartAndCheck("Save1.sav"))
{
int newMapId;
load.LoadCheckpoint(LevelCounter,newMapId);
if(levels.maxCount <= newMapId || newMapId < 0) newMapId = 0;
levels.count = newMapId;
load.LoadMap(map);
load.LoadPlayer(player);
load.Close();
map.NewMap(levels.levels[newMapId]);
enemies.PopulateEnemies(&map, &graphics);
gameStates.NewState(GSGame);
musicHandler.SetNewMusic(&sounds.forest);
player.Reset(map.GetSpawnLocation(), false);
}
setting.Finish();
}
musicHandler.Update();
Timer = clock();
graphics.gameLogo.Draw(screen, screen.GetWidth()/2 - graphics.gameLogo.GetWidth()/2, (unsigned int)logoPositionY);
menu.Open(screen, graphics.another, Point2D(50, logoPositionY + graphics.gameLogo.GetHeight()));
break;
case GSPause:
{
if(setting.GetResult() == MRResume){
gameStates.BackState();
inGameMenu.Reset();
setting.Finish();
}else if(setting.GetResult() == MRLoadGame)
{
Loader load;
if (load.StartAndCheck("tempOldSave.sav"))
{
int newMapId;
load.LoadCheckpoint(LevelCounter,newMapId);
if(levels.maxCount <= newMapId || newMapId < 0) newMapId = 0;
levels.count = newMapId;
load.LoadMap(map);
load.LoadPlayer(player);
load.Close();
map.NewMap(levels.levels[newMapId]);
enemies.PopulateEnemies(&map, &graphics);
gameStates.NewState(GSGame);
musicHandler.SetNewMusic(&sounds.forest);
player.Reset(map.GetSpawnLocation(), false);
Saver save;
save.StartAndOpen();
save.SaveCheckpoint(LevelCounter,levels.count);
save.SaveMap(map);
save.SavePlayer(player);
save.EndAndClose("Save1.sav");
}
if (load.StartAndCheck("tempSave.sav"))
{
int newMapId;
load.LoadCheckpoint(LevelCounter,newMapId);
if(levels.maxCount <= newMapId || newMapId < 0) newMapId = 0;
levels.count = newMapId;
load.LoadMap(map);
load.LoadPlayer(player);
load.Close();
map.NewMap(levels.levels[newMapId]);
enemies.PopulateEnemies(&map, &graphics);
gameStates.NewState(GSGame);
musicHandler.SetNewMusic(&sounds.forest);
player.Reset(map.GetSpawnLocation(), false);
Saver save;
save.StartAndOpen();
save.SaveCheckpoint(LevelCounter,levels.count);
save.SaveMap(map);
save.SavePlayer(player);
save.EndAndClose("Save1.sav");
}
if (load.StartAndCheck("Save1.sav"))
{
int newMapId;
load.LoadCheckpoint(LevelCounter,newMapId);
if(levels.maxCount <= newMapId || newMapId < 0) newMapId = 0;
levels.count = newMapId;
load.LoadMap(map);
load.LoadPlayer(player);
load.Close();
map.NewMap(levels.levels[newMapId]);
enemies.PopulateEnemies(&map, &graphics);
gameStates.NewState(GSGame);
musicHandler.SetNewMusic(&sounds.forest);
player.Reset(map.GetSpawnLocation(), false);
}
setting.Finish();
}else if (setting.GetResult() == MRNewGame)
{
gameStates.NewState(GSMenuMain);
musicHandler.SetNewMusic(&sounds.titleScreen);
setting.Finish();
}
musicHandler.Update();
Timer = clock();
map.DrawBackground(screen, &graphics);
map.Draw(screen, LevelCounter);
player.DrawHealthBar(screen, 1, 5, 5, 100, 20, &graphics.another);
player.DrawInkBar(screen, 1, 5, 35, 100, 20, &graphics.another);
inGameMenu.Open(screen, graphics.another, Point2D(0, 50));
break;
}
case GSGame:
if(gameStates.CurrentState() != GSMenuNewLevel && actionButtonPressed){
if(map.NewMapEnabled(player.GetBoundR(), NewLevelID))
gameStates.PushState(GSMenuNewLevel);
actionButtonPressed=false;
}
player.Update(&map, screen.GetWidth(), screen.GetHeight(),sounds, Timer);
enemies.Update(&map, &player,sounds, Timer);
map.Update(player.GetBoundR(-map.GetMapPosition().X, -map.GetMapPosition().Y),player.InkPool);
musicHandler.Update();
Timer = clock();
map.DrawBackground(screen, &graphics);
map.Draw(screen, LevelCounter);
enemies.Draw(screen, map.GetMapPosition());
player.Draw(screen, map.GetMapPosition());
player.DrawHealthBar(screen, 1, 5, 5, 100, 20, &graphics.another);
player.DrawInkBar(screen, 1, 5, 35, 100, 20, &graphics.another);
break;
case GSMenuNewLevel:{
if(levels.count > LevelCounter) LevelCounter++;
if(NewLevelID < 0) levels.count++;
else if(NewLevelID >= levels.maxCount) levels.count = levels.maxCount-1;
else levels.count = NewLevelID;
map.NewMap(levels.levels[levels.count]);
enemies.PopulateEnemies(&map, &graphics);
player.Reset(map.GetSpawnLocation(), false);
gameStates.BackState();
sounds.bell.Play(false);
Saver saver;
saver.StartAndOpen();
saver.SaveCheckpoint(LevelCounter,levels.count);
saver.SaveMap(map);
saver.SavePlayer(player);
saver.EndAndClose("Save1.sav");
break;
}
case GSGame_Over:
musicHandler.Update();
Timer = clock();
gameOverMenu.Open(screen, graphics.another, Point2D(0, 50));
if(setting.GetResult() != MRExitGame && setting.GetResult() != MRNone) {
if(setting.GetResult() == MRMainMenu)
{
musicHandler.SetNewMusic(&sounds.titleScreen);
sounds.forest.SetVolumeModifier(0.4f);
gameStates.NewState(GSMenuMain);
}
else if(setting.GetResult() == MRNewGame){
levels.count = 1;
map.NewMap(levels.levels[0]);
enemies.PopulateEnemies(&map, &graphics);
player.Reset(map.GetSpawnLocation(), false);
player.Health =(float) 100;
player.InvulnerableTime = 0;
sounds.forest.SetVolumeModifier(0.4f);
gameStates.NewState(GSGame);
}
setting.Finish();
}
break;
}
screen.UpdateWindow();
fps.Delay();
}
}
ClearSDL();
return 0;
};
Point2D Point2D::operator* (const double rhs) const
{
return Point2D(x*rhs,y*rhs,w*rhs);
}
const Point2D Point2D::operator - (const double& a_Value) const
{
return Point2D(x - a_Value, y - a_Value);
}
const Point2D Point2D::operator / (const double& a_Value) const
{
return Point2D(x / a_Value, y / a_Value);
}
void Viewer::reset()
{
if ( !m_initflag )
{
update_mode( MODELROTATE );
}
// Default mouse information
m_button1 = false;
m_button2 = false;
m_button3 = false;
m_ixpos = 0.0;
m_xpos = 0.0;
m_iypos = 0.0;
m_ypos = 0.0;
m_txpos = 0.0;
// Initialize viewport
for ( int i = 0; i < 4; i += 1 )
{
m_viewport[i] = ( Point2D() );
}
// Default FOV of 30
m_fov = 30.0;
// Set the default far and near plane values
m_near = 2.0;
m_far = 20.0;
// Initialize all the transformation matrices
m_projection = Matrix4x4();
m_modelling = Matrix4x4();
m_viewing = Matrix4x4();
m_scaling = Matrix4x4();
// Start off by pushing the cube back into the screen
Vector4D row1, row2, row3, row4;
row1 = Vector4D( 1, 0, 0, 0 );
row2 = Vector4D( 0, 1, 0, 0 );
row3 = Vector4D( 0, 0, 1, 8 );
row4 = Vector4D( 0, 0, 0, 1 );
m_viewing = Matrix4x4( row1, row2, row3, row4 );
// Initialize the unit cubes
m_unitCube[0] = ( Point3D( 1.0, -1.0, -1.0) );
m_unitCube[1] = ( Point3D(-1.0, -1.0, -1.0) );
m_unitCube[2] = ( Point3D(-1.0, 1.0, -1.0) );
m_unitCube[3] = ( Point3D( 1.0, 1.0, -1.0) );
m_unitCube[4] = ( Point3D(-1.0, -1.0, 1.0) );
m_unitCube[5] = ( Point3D( 1.0, -1.0, 1.0) );
m_unitCube[6] = ( Point3D( 1.0, 1.0, 1.0) );
m_unitCube[7] = ( Point3D(-1.0, 1.0, 1.0) );
for ( int i = 0; i < 8; i += 1 )
{
m_unitCubeTrans[i] = ( Point3D() );
}
// Initialize the gnomons
m_gnomon[0] = ( Point3D(0.0, 0.0, 0.0) );
m_gnomon[1] = ( Point3D(0.5, 0.0, 0.0) );
m_gnomon[2] = ( Point3D(0.0, 0.5, 0.0) );
m_gnomon[3] = ( Point3D(0.0, 0.0, 0.5) );
for ( int i = 0; i < 4; i += 1 )
{
m_gnomonTrans[i] = ( Point3D() );
}
m_viewflag = false;
m_initflag = false;
// Initialize the perspective
set_perspective( m_fov, 1, m_near, m_far );
}
Point2D Point2D::operator+(const Point2D &p) const
{
return Point2D(x + p.x, y + p.y);
}
void
UIRectangle::dropShadowRounded( float dens, float rad) {
glPushMatrix( );
glTranslated( 0.08, -0.08, 0 );
int div = 6;
double span = TWO_PI * 0.25 / ( double)div;
int i;
if ( rad <= 0 ) rad = 0.5 * min ( w( ), h( ) );
Point2D p;
double il = tl[0] + rad;
double ir = br[0] - rad;
double it = tl[1] - rad;
double ib = br[1] + rad;
//center block
glColor4d ( 0,0,0,dens);
glBegin( GL_QUADS);
glVertex2d ( il , it );
glVertex2d ( ir , it );
glVertex2d ( ir , ib );
glVertex2d ( il , ib );
//upper
glColor4d ( 0,0,0,0);
glVertex2d ( il , tl[1] );
glVertex2d ( ir , tl[1] );
glColor4d ( 0,0,0,dens);
glVertex2d ( ir , it );
glVertex2d ( il , it );
//lower
glColor4d ( 0,0,0,0);
glVertex2d ( il , br[1] );
glVertex2d ( ir , br[1] );
glColor4d ( 0,0,0,dens);
glVertex2d ( ir , ib );
glVertex2d ( il , ib );
//left
glColor4d ( 0,0,0,0);
glVertex2d ( tl[0] , it );
glVertex2d ( tl[0] , ib );
glColor4d ( 0,0,0,dens);
glVertex2d ( il , ib );
glVertex2d ( il , it );
//right
glColor4d ( 0,0,0,0);
glVertex2d ( br[0] , it );
glVertex2d ( br[0] , ib );
glColor4d ( 0,0,0,dens);
glVertex2d ( ir , ib );
glVertex2d ( ir , it );
glEnd( );
p = tl + Point2D( rad, -rad );
glBegin( GL_TRIANGLE_FAN);
glColor4d ( 0,0,0,dens);
glVertex2d ( p[0], p[1]);
glColor4d ( 0,0,0,0.0);
for ( i = 0 ; i <= div ; i++ ) {
glVertex2d ( p[0] - rad * cos( ( double)i * span ) , p[1] + rad * sin( ( double)i * span ) );
}
glEnd( );
p = Point2D( br[0] - rad, tl[1] -rad );
glBegin( GL_TRIANGLE_FAN);
glColor4d ( 0,0,0,dens);
glVertex2d ( p[0], p[1]);
glColor4d ( 0,0,0,0.0);
for ( i = 0 ; i <= div ; i++ ) {
glVertex2d ( p[0] + rad * sin( ( double)i * span ) , p[1] + rad * cos( ( double)i * span ));
}
glEnd( );
p = br + Point2D( - rad, rad );
glBegin( GL_TRIANGLE_FAN);
glColor4d ( 0,0,0,dens);
glVertex2d ( p[0], p[1]);
glColor4d ( 0,0,0,0.0);
for ( i = 0 ; i <= div ; i++ ) {
glVertex2d ( p[0] + rad * cos( ( double)i * span ) , p[1] - rad * sin( ( double)i * span ));
}
glEnd( );
p = Point2D( tl[0] + rad, br[1] + rad );
glBegin( GL_TRIANGLE_FAN);
glColor4d ( 0,0,0,dens);
glVertex2d ( p[0], p[1]);
glColor4d ( 0,0,0,0.0);
for ( i = 0 ; i <= div ; i++ ) {
glVertex2d ( p[0] - rad * sin( ( double)i * span ) , p[1] - rad * cos( ( double)i * span ));
}
glEnd( );
glPopMatrix( );
}
bool Viewer::on_expose_event( GdkEventExpose* /*event*/ )
{
Glib::RefPtr<Gdk::GL::Drawable> gldrawable = get_gl_drawable();
if ( !gldrawable )
{
return false;
}
if ( !gldrawable->gl_begin(get_gl_context()) )
{
return false;
}
// Start drawing
draw_init( get_width(), get_height() );
// Transform the world gnomon
for( int i = 0; i < 4; i += 1 )
{
m_gnomonTrans[i] = m_viewing * m_gnomon[i];
}
// Draw the world gnomon
set_colour( Colour(0.1, 0.1, 1.0) );
draw_line2D( m_gnomonTrans[0], m_gnomonTrans[1] );
draw_line2D( m_gnomonTrans[0], m_gnomonTrans[2] );
draw_line2D( m_gnomonTrans[0], m_gnomonTrans[3] );
// Draw the modelling gnomon
set_colour( Colour(0.1, 1.0, 0.1) );
draw_modellingGnomon();
// Draw the unit cube
set_colour( Colour(0.1, 0.1, 0.1) );
draw_unitCube();
// Initialize the viewport
if ( !m_viewflag )
{
m_viewport[0] = ( Point2D(get_width() * 0.05, get_height() * 0.05) );
m_viewport[1] = ( Point2D(get_width() * 0.95, get_height() * 0.05) );
m_viewport[2] = ( Point2D(get_width() * 0.95, get_height() * 0.95) );
m_viewport[3] = ( Point2D(get_width() * 0.05, get_height() * 0.95) );
m_viewflag = true;
}
// Draw the viewport
set_colour( Colour(0.1, 0.1, 0.1) );
draw_line( m_viewport[0], m_viewport[1] );
draw_line( m_viewport[1], m_viewport[2] );
draw_line( m_viewport[2], m_viewport[3] );
draw_line( m_viewport[3], m_viewport[0] );
// Finish drawing
draw_complete();
// Update the information bar
update_infobar();
// Swap the contents of the front and back buffers so we see what we
// just drew. This should only be done if double buffering is enabled.
gldrawable->swap_buffers();
gldrawable->gl_end();
return true;
}
void
ConsoleWindow::reshape( ) {
DisplayWindow::reshape();
UIRect &bw = _baseWindow;
//these are all relative to basewindow coordinates!
double pad = _marginSize;
double pad2 = 2.0 * _marginSize;
double cspan = max ( 1.5 * bw.h() - pad2, min ( 1.2, 0.4 * bw.w() ) );
_cubeWindow.moveto ( pad, -pad );
_cubeWindow.resize ( cspan - pad2 , bw.h() - pad2 );
_contentWindow.moveto ( _cubeWindow.right() + pad2 , _cubeWindow.top() );
_contentWindow.resize ( bw.w() - ( cspan + pad2 ) , _cubeWindow.h() );
if ( _content ) setContentArea();
_vScrollBar.moveto ( _contentWindow.right(), _contentWindow.top() );
_vScrollBar.resize ( pad2, _contentWindow.h() );
_hScrollBar.moveto ( _contentWindow.left(), _contentWindow.bottom() );
_hScrollBar.resize ( pad , _contentWindow.w() );
_sizeBox.moveto ( -pad , - bw.h() + pad );
_sizeBox.resize ( pad2, pad2 );
_curLabel.moveto ( cspan + pad, pad * 1.5 );
_curLabel.resize ( pad2 * 3.0, pad * 3.0 );
_curLabel.setLabel("current face");
_curLabel.fitLabel();
_curDisplay.moveto ( cspan - pad * 1.5, pad * 1.5 );
_curDisplay.resize ( pad * 3.0 , pad * 3.0 );
_prevLabel.resize ( pad2 * 3.0, pad2 );
_prevLabel.setLabel( "previous face" );
_prevLabel.fitLabel();
_prevLabel.moveto ( cspan - ( _prevLabel.w() + pad ) , - bw.h() + pad );
_prevDisplay.moveto ( cspan - pad * 1.5, -bw.h() + pad * 1.25 );
_prevDisplay.resize ( pad * 3.0 , pad * 2.5 );
_prevDisplay.setLabel("0");
double timex = cspan + 0.5 * ( bw.w() - cspan );
_timeDisplay.moveto ( timex + pad, pad );
_timeDisplay.resize ( pad2 * 3.0, pad2 );
_timeLabel.resize ( pad * 3.0 , pad * 3.0 );
_timeLabel.fitLabel ( );
_timeLabel.moveto ( timex - ( pad + _timeLabel.w() * 0.5 ) , pad * 1.5 );
_timeDisplay.setx( _timeLabel.right() - pad * 0.5 );
double kdim = min ( _cubeWindow.h() * 0.25 , _cubeWindow.w() * 0.125 );
for ( int i = 0 ; i < 6; i++ ) { //resize
_cubeSides[i].resize( kdim, kdim );
}
//this is always the same.
//depending on the current face, each
//cubeside will move to one of these positions...
_cubePos[ Audicle::UP ] = Point2D ( kdim, 0 );
_cubePos[ Audicle::DOWN ] = Point2D ( kdim, -2.0 * kdim );
_cubePos[ Audicle::LEFT ] = Point2D ( 0, -kdim );
_cubePos[ Audicle::RIGHT ] = Point2D ( 2.0 * kdim, -kdim );
_cubePos[ Audicle::BACK ] = Point2D ( 3.0 * kdim, -kdim );
_cubePos[ Audicle::CUR ] = Point2D ( kdim, -kdim );
setCubes();
}
bool CanvasViewport::contains( Point2D p ) const {
return p > location && p < Point2D( location.x + width, location.y + height );
}
void fantasma::mover_fantasma(){
borrar_fantasma();
choque_pacman();
float nearerDistance = calculateDistance(Point2D(_x*1.0, _y*1.0), Point2D(x*1.0, y*1.0));
float newDistance = nearerDistance;
float fuzzyRate = fuzzyReaction(nearerDistance);
//printf("%f", fuzzyRate);
int bolx = _x, boly = _y;
if (mapa[_y][_x] == '|'){
fdir = rand() % 4;
}
if (mapa[_y][_x] == '*'){
fdir = 0;
}
// fuzzy Bonus
if ((fuzzyRate > .50 && fuzzyRate <= 1.0) || (fuzzyRate > .25 && rand() % 10 == 3)){
for (int i = 0; i < 4; i++){
if (i == 2){
newDistance = calculateDistance(Point2D((_x+1)*1.0, _y*1.0), Point2D(x*1.0, y*1.0));
if(mapa[_y][_x + 1] != 'X' && mapa[_y][_x + 1] != 'A' && mapa[_y][_x + 1] != 'Y' &&
mapa[_y][_x + 1] != 'B' && mapa[_y][_x + 1] != 'C' && mapa[_y][_x + 1] != 'D'){
if (pillTimer < 0 && newDistance < nearerDistance){
fdir = i;
}
else if (pillTimer >= 0 && newDistance > nearerDistance){
fdir = i;
}
}
}
if (i == 3){
newDistance = calculateDistance(Point2D((_x - 1)*1.0, _y*1.0), Point2D(x*1.0, y*1.0));
if (mapa[_y][_x - 1] != 'X' && mapa[_y][_x - 1] != 'A' && mapa[_y][_x - 1] != 'Y' &&
mapa[_y][_x - 1] != 'B' && mapa[_y][_x - 1] != 'C' && mapa[_y][_x - 1] != 'D'){
if (pillTimer < 0 && newDistance < nearerDistance){
fdir = i;
}
else if (pillTimer >= 0 && newDistance > nearerDistance){
fdir = i;
}
}
}
if (i == 0){
newDistance = calculateDistance(Point2D(_x*1.0, (_y-1)*1.0), Point2D(x*1.0, y*1.0));
if (mapa[_y - 1][_x] != 'X' && mapa[_y - 1][_x] != 'A' && mapa[_y - 1][_x] != 'Y' &&
mapa[_y - 1][_x] != 'B' && mapa[_y - 1][_x] != 'C' && mapa[_y - 1][_x] != 'D'){
if (pillTimer < 0 && newDistance < nearerDistance){
fdir = i;
}
else if (pillTimer >= 0 && newDistance > nearerDistance){
fdir = i;
}
}
}
if (i == 1){
newDistance = calculateDistance(Point2D(_x*1.0, (_y + 1)*1.0), Point2D(x*1.0, y*1.0));
if (mapa[_y + 1][_x] != 'X' && mapa[_y + 1][_x] != 'A' && mapa[_y + 1][_x] != 'Y' &&
mapa[_y + 1][_x] != 'B' && mapa[_y + 1][_x] != 'C' && mapa[_y + 1][_x] != 'D'){
if (pillTimer < 0 && newDistance < nearerDistance){
fdir = i;
}
else if (pillTimer >= 0 && newDistance > nearerDistance){
fdir = i;
}
}
}
}
}
if (fdir == 2){
if (mapa[_y][_x + 1] != 'X' && mapa[_y][_x + 1] != 'A' && mapa[_y][_x + 1] != 'Y' &&
mapa[_y][_x + 1] != 'B' && mapa[_y][_x + 1] != 'C' && mapa[_y][_x + 1] != 'D')
_x++;
else fdir = rand() % 4;
}
if (fdir == 3){
newDistance = calculateDistance(Point2D((_x - 1)*1.0, _y*1.0), Point2D(x*1.0, y*1.0));
if (mapa[_y][_x - 1] != 'X' && mapa[_y][_x - 1] != 'A' && mapa[_y][_x - 1] != 'Y' &&
mapa[_y][_x - 1] != 'B' && mapa[_y][_x - 1] != 'C' && mapa[_y][_x - 1] != 'D')
_x--;
else fdir = rand() % 4;
}
if (fdir == 0){
if (mapa[_y - 1][_x] != 'X' && mapa[_y - 1][_x] != 'A' && mapa[_y - 1][_x] != 'Y' &&
mapa[_y - 1][_x] != 'B' && mapa[_y - 1][_x] != 'C' && mapa[_y - 1][_x] != 'D')
_y--;
else fdir = rand() % 4;
}
if (fdir == 1){
if (mapa[_y + 1][_x] != 'X' && mapa[_y + 1][_x] != 'A' && mapa[_y + 1][_x] != 'Y' &&
mapa[_y + 1][_x] != 'B' && mapa[_y + 1][_x] != 'C' && mapa[_y + 1][_x] != 'D')
_y++;
else fdir = rand() % 4;
}
if (fuzzyRate < .50 || (rand() % 10 == 3 && fuzzyRate <= .75)){
if (fuzzyRate >.50 || (fuzzyRate > .25 && rand() % 10 == 3)){
for (int i = 0; i < 4; i++){
if (i == 2){
newDistance = calculateDistance(Point2D((_x + 1)*1.0, _y*1.0), Point2D(x*1.0, y*1.0));
if (mapa[_y][_x + 1] != 'X' && mapa[_y][_x + 1] != 'A' && mapa[_y][_x + 1] != 'Y' &&
mapa[_y][_x + 1] != 'B' && mapa[_y][_x + 1] != 'C' && mapa[_y][_x + 1] != 'D'){
if (pillTimer < 0 && newDistance < nearerDistance){
fdir = i;
}
else if (pillTimer > 0 && newDistance > nearerDistance){
fdir = i;
}
}
else{
fdir = rand() % 4;
}
}
if (i == 3){
newDistance = calculateDistance(Point2D((_x - 1)*1.0, _y*1.0), Point2D(x*1.0, y*1.0));
if (mapa[_y][_x - 1] != 'X' && mapa[_y][_x - 1] != 'A' && mapa[_y][_x - 1] != 'Y' &&
mapa[_y][_x - 1] != 'B' && mapa[_y][_x - 1] != 'C' && mapa[_y][_x - 1] != 'D'){
if (pillTimer < 0 && newDistance < nearerDistance){
fdir = i;
}
else if (pillTimer >= 0 && newDistance > nearerDistance){
fdir = i;
}
}
else{
fdir = rand() % 4;
}
}
if (i == 0){
newDistance = calculateDistance(Point2D(_x*1.0, (_y - 1)*1.0), Point2D(x*1.0, y*1.0));
if (mapa[_y - 1][_x] != 'X' && mapa[_y - 1][_x] != 'A' && mapa[_y - 1][_x] != 'Y' &&
mapa[_y - 1][_x] != 'B' && mapa[_y - 1][_x] != 'C' && mapa[_y - 1][_x] != 'D'){
if (pillTimer < 0 && newDistance < nearerDistance){
fdir = i;
}
else if (pillTimer >= 0 && newDistance > nearerDistance){
fdir = i;
}
}
else{
fdir = rand() % 4;
}
}
if (i == 1){
newDistance = calculateDistance(Point2D(_x*1.0, (_y + 1)*1.0), Point2D(x*1.0, y*1.0));
if (mapa[_y + 1][_x] != 'X' && mapa[_y + 1][_x] != 'A' && mapa[_y + 1][_x] != 'Y' &&
mapa[_y + 1][_x] != 'B' && mapa[_y + 1][_x] != 'C' && mapa[_y + 1][_x] != 'D') {
if (pillTimer < 0 && newDistance < nearerDistance){
fdir = i;
}
else if (pillTimer >= 0 && newDistance > nearerDistance){
fdir = i;
}
}
}
}
if (fdir == 2){
if (mapa[_y][_x + 1] != 'X' && mapa[_y][_x + 1] != 'A' && mapa[_y][_x + 1] != 'Y' &&
mapa[_y][_x + 1] != 'B' && mapa[_y][_x + 1] != 'C' && mapa[_y][_x + 1] != 'D') _x++;
else fdir = rand() % 4;
}
if (fdir == 3){
if (mapa[_y][_x - 1] != 'X' && mapa[_y][_x - 1] != 'A' && mapa[_y][_x - 1] != 'Y' &&
mapa[_y][_x - 1] != 'B' && mapa[_y][_x - 1] != 'C' && mapa[_y][_x - 1] != 'D') _x--;
else fdir = rand() % 4;
}
if (fdir == 0){
if (mapa[_y - 1][_x] != 'X' && mapa[_y - 1][_x] != 'A' && mapa[_y - 1][_x] != 'Y' &&
mapa[_y - 1][_x] != 'B' && mapa[_y - 1][_x] != 'C' && mapa[_y - 1][_x] != 'D') _y--;
else fdir = rand() % 4;
}
if (fdir == 1){
if (mapa[_y + 1][_x] != 'X' && mapa[_y + 1][_x] != 'A' && mapa[_y + 1][_x] != 'Y' &&
mapa[_y + 1][_x] != 'B' && mapa[_y + 1][_x] != 'C' && mapa[_y + 1][_x] != 'D') _y++;
else fdir = rand() % 4;
}
}
}
if (mapa[boly][bolx] == '_') { setCColor(color[1]); gotoxy(bolx, boly); printf("%c", 250); }
// rutina atajo
if (_x <= 17) _x = 61;
else if (_x >= 62) _x = 18;
dibujar_fantasma();
}
const Point2D Point2D::operator - (const Point2D& a_Value) const
{
return Point2D(x - a_Value.x, y - a_Value.y);
}
Point2D Point2D::operator-(const Point2D &p) const
{
return Point2D(x - p.x, y - p.y);
}
const Point2D Point2D::operator + (const double& a_Value) const
{
return Point2D(x + a_Value, y + a_Value);
}
Point2D Point2D::operator* (float f) const
{
return Point2D(f * x, f * y);
}
const Point2D Point2D::operator * (const double& a_Value) const
{
return Point2D(x * a_Value, y * a_Value);
}
Point2D Point2D::operator/ (float f) const
{
assert(f!=0);
float inv = 1.f/f;
return Point2D(inv*x, inv*y);
}
void Test()
{
int n = 5;
Point2D* p = new Point2D[n];
p[0] = Point2D(0,1);
p[1] = Point2D(1,0);
p[2] = Point2D(3,0);
p[3] = Point2D(3,1);
p[4] = Point2D(2,2);
int m = 6;
Point2D* q = new Point2D[m];
q[0] = Point2D(4,1);
q[1] = Point2D(6,0);
q[2] = Point2D(7,0);
q[3] = Point2D(8,1);
q[4] = Point2D(7,2);
q[5] = Point2D(5,2);
int t0[2], t1[2];
CommonTangents(p,n,q,m,t0,t1);
printf("Common Tangents:\n");
printf("(%d,%d)\n",t0[0],t1[0]);
printf("(%d,%d)\n",t0[1],t1[1]);
}
/*
--------------------------------------------------------------------------------------------------
- constructor
--------------------------------------------------------------------------------------------------
*/
PlanesPhysicHandler::PlanesPhysicHandler(const std::string filename,
LocalActorsHandler * LAH, ExternalActorsHandler * EAH)
: _localAH(LAH), _externalAH(EAH)
{
std::ifstream file(filename.c_str());
if(!file.is_open())
return;
int sizePlanes, sizewallX, sizewallZ, sizeStairs, sizecornerStairs;
file>>sizePlanes;
file>>sizewallX;
file>>sizewallZ;
file>>sizeStairs;
file>>sizecornerStairs;
for(int i=0; i<sizePlanes; ++i)
{
NormalPlane np;
file>>np.Layer;
float sx, sz, ex, ez;
file>>sx;
file>>sz;
file>>ex;
file>>ez;
np.Square._minX = MIN(sx, ex);
np.Square._maxX = MAX(sx, ex);
np.Square._minZ = MIN(sz, ez);
np.Square._maxZ = MAX(sz, ez);
file>>np.IsWater;
_floors[np.Layer].push_back(np);
}
for(int i=0; i<sizewallX; ++i)
{
NormalPlane np;
file>>np.Layer;
float sx, sz, ex, ez;
file>>sx;
file>>sz;
file>>ex;
file>>ez;
np.Square._minX = MIN(sx, ex);
np.Square._maxX = MAX(sx, ex);
np.Square._minZ = MIN(sz, ez);
np.Square._maxZ = MAX(sz, ez);
_wallsX[np.Layer].push_back(np);
}
for(int i=0; i<sizewallZ; ++i)
{
NormalPlane np;
file>>np.Layer;
float sx, sz, ex, ez;
file>>sx;
file>>sz;
file>>ex;
file>>ez;
np.Square._minX = MIN(sx, ex);
np.Square._maxX = MAX(sx, ex);
np.Square._minZ = MIN(sz, ez);
np.Square._maxZ = MAX(sz, ez);
_wallsZ[np.Layer].push_back(np);
}
for(int i=0; i<sizeStairs; ++i)
{
StairPlane sp;
file>>sp.C1.x;
file>>sp.C1.y;
file>>sp.C1.z;
file>>sp.C2.x;
file>>sp.C2.y;
file>>sp.C2.z;
file>>sp.C3.x;
file>>sp.C3.y;
file>>sp.C3.z;
file>>sp.C4.x;
file>>sp.C4.y;
file>>sp.C4.z;
sp.Normal = ((sp.C2 - sp.C1).cross(sp.C3-sp.C1)).unit();
sp.D = sp.Normal.dot(sp.C1);
// calculate min max X
{
sp.minX = sp.C1.x;
sp.maxX = sp.C1.x;
if(sp.C2.x > sp.maxX)
sp.maxX = sp.C2.x;
if(sp.C2.x < sp.minX)
sp.minX = sp.C2.x;
if(sp.C3.x > sp.maxX)
sp.maxX = sp.C3.x;
if(sp.C3.x < sp.minX)
sp.minX = sp.C3.x;
if(sp.C4.x > sp.maxX)
sp.maxX = sp.C4.x;
if(sp.C4.x < sp.minX)
sp.minX = sp.C4.x;
}
// calculate min max Z
{
sp.minZ = sp.C1.z;
sp.maxZ = sp.C1.z;
if(sp.C2.z > sp.maxZ)
sp.maxZ = sp.C2.z;
if(sp.C2.z < sp.minZ)
sp.minZ = sp.C2.z;
if(sp.C3.z > sp.maxZ)
sp.maxZ = sp.C3.z;
if(sp.C3.z < sp.minZ)
sp.minZ = sp.C3.z;
if(sp.C4.z > sp.maxZ)
sp.maxZ = sp.C4.z;
if(sp.C4.z < sp.minZ)
sp.minZ = sp.C4.z;
}
_stairs.push_back(sp);
}
for(int i=0; i<sizecornerStairs; ++i)
{
CornerStairPlane sp;
file>>sp.C1.x;
file>>sp.C1.y;
file>>sp.C1.z;
file>>sp.C2.x;
file>>sp.C2.y;
file>>sp.C2.z;
file>>sp.C3.x;
file>>sp.C3.y;
file>>sp.C3.z;
sp.tr_wh_y = Triangle2D(Point2D(sp.C1.x, sp.C1.z), Point2D(sp.C2.x, sp.C2.z), Point2D(sp.C3.x, sp.C3.z));
sp.Normal = ((sp.C2 - sp.C1).cross(sp.C3-sp.C1)).unit();
_corner_stairs.push_back(sp);
}
}
Truck::Truck():Car() {
setPosition(Point2D(10, 20));
}
// ****************************************************************************
// draws the string centred on cds
void MolDraw2DSVG::drawString(const std::string &str, const Point2D &cds) {
unsigned int fontSz = scale() * fontSize();
double string_width, string_height;
getStringSize(str, string_width, string_height);
double draw_x = cds.x - string_width / 2.0;
double draw_y = cds.y - string_height / 2.0;
#if 0
// for debugging text output
DrawColour tcolour =colour();
setColour(DrawColour(.8,.8,.8));
std::vector<Point2D> poly;
poly.push_back(Point2D(draw_x,draw_y));
poly.push_back(Point2D(draw_x+string_width,draw_y));
poly.push_back(Point2D(draw_x+string_width,draw_y+string_height));
poly.push_back(Point2D(draw_x,draw_y+string_height));
drawPolygon(poly);
setColour(tcolour);
#endif
std::string col = DrawColourToSVG(colour());
Point2D draw_coords = getDrawCoords(Point2D(draw_x, draw_y));
d_os << "<svg:text";
d_os << " x='" << draw_coords.x;
d_os << "' y='" << draw_coords.y << "'";
d_os << " style='font-size:" << fontSz
<< "px;font-style:normal;font-weight:normal;fill-opacity:1;stroke:none;"
"font-family:sans-serif;text-anchor:start;"
<< "fill:" << col << "'";
d_os << " >";
TextDrawType draw_mode =
TextDrawNormal; // 0 for normal, 1 for superscript, 2 for subscript
std::string span;
bool first_span = true;
for (int i = 0, is = str.length(); i < is; ++i) {
// setStringDrawMode moves i along to the end of any <sub> or <sup>
// markup
if ('<' == str[i] && setStringDrawMode(str, draw_mode, i)) {
if (!first_span) {
d_os << span << "</svg:tspan>";
span = "";
}
first_span = false;
d_os << "<svg:tspan";
switch (draw_mode) {
case TextDrawSuperscript:
d_os << " style='baseline-shift:super;font-size:" << fontSz * 0.75
<< "px;"
<< "'";
break;
case TextDrawSubscript:
d_os << " style='baseline-shift:sub;font-size:" << fontSz * 0.75
<< "px;"
<< "'";
break;
default:
break;
}
d_os << ">";
continue;
}
if (first_span) {
first_span = false;
d_os << "<svg:tspan>";
span = "";
}
span += str[i];
}
d_os << span << "</svg:tspan>";
d_os << "</svg:text>\n";
}
Point2D Point2D::operator/ (const double rhs) const
{
return Point2D(x/rhs,y/rhs,w/rhs);
}
Point2D Spiral::getPointFromRadius(Point2D center, float radius, float angle)
{
float x = center.x + radius * cos((double) angle * MY_PI / 180),
y = center.y - radius * sin((double) angle * MY_PI / 180);
return Point2D(x, y);
}
Point2D Point2D::operator- (const Point2D& rhs) const
{
return Point2D(x-rhs.x,y-rhs.y);
}
const Point2D Point2D::operator + (const Point2D& a_Value) const
{
return Point2D(x + a_Value.x, y + a_Value.y);
}
void LocalizationModule::processFrame() {
auto& ball = cache_.world_object->objects_[WO_BALL];
auto& self = cache_.world_object->objects_[cache_.robot_state->WO_SELF];
// Process the current frame and retrieve our location/orientation estimate
// from the particle filter
pfilter_->processFrame();
self.loc = pfilter_->pose().translation;
self.orientation = pfilter_->pose().rotation;
log(40, "Localization Update: x=%2.f, y=%2.f, theta=%2.2f", self.loc.x, self.loc.y, self.orientation * RAD_T_DEG);
if(ball.seen) {
// Compute the relative position of the ball from vision readings
auto relBall = Point2D::getPointFromPolar(ball.visionDistance, ball.visionBearing);
auto belief = ball_filter_.x;
if (ball.visionDistance > 5000) {
seen_last_frame_ = false;
frames_since_last_seen_ ++;
ball_filter_.predict();
} else {
BallFilter::MeasurementVector observation;
observation(0) = relBall.x;
observation(1) = relBall.y;
// if (seen_last_frame_)
// {
// observation(2) = (relBall.x - belief(0)) * 1.0 + belief(2) * 0.0;
// observation(3) = (relBall.y - belief(1)) * 1.0 + belief(3) * 0.0;
// }
// else
// {
// observation(2) = belief(2);
// observation(3) = belief(3);
// }
if (frames_since_last_seen_ < SIGHT_THRESHOLD)
{
observation(2) = (relBall.x - last_seen_ball.x) / (frames_since_last_seen_ + 1);
observation(3) = (relBall.y - last_seen_ball.y) / (frames_since_last_seen_ + 1);
} else {
observation(2) = 0;
observation(3) = 0;
}
frames_since_last_seen_ = 0;
seen_last_frame_ = true;
last_seen_ball.x = relBall.x;
last_seen_ball.y = relBall.y;
// std::cout << "Observation: " << observation(0) << ", " << observation(1) << ", " << observation(2) << ", " << observation(3) << std::endl;
ball_filter_.predict();
ball_filter_.correct(observation);
}
}
else {
frames_since_last_seen_ ++;
seen_last_frame_ = false;
ball_filter_.predict();
}
auto new_belief = ball_filter_.x;
// std::cout << "New State: " << new_belief(0) << ", " << new_belief(1) << ", " << new_belief(2) << ", " << new_belief(3)<< std::endl;
auto relBall = Point2D(new_belief(0), new_belief(1));
auto relVel = Point2D(new_belief(2), new_belief(3));
// std::cout << self.loc.x << ", " << self.loc.y << std::endl;
auto globalBall = relBall.relativeToGlobal(self.loc, self.orientation);
auto globalVel = relVel;
globalVel.rotate(self.orientation);
// Update the ball in the WorldObject block so that it can be accessed in python
ball.loc = globalBall;
ball.relPos = relBall;
ball.distance = relBall.getMagnitude(); //ball.visionDistance;
ball.bearing = relBall.getDirection(); //ball.visionBearing;
ball.absVel = globalVel;
ball.relVel = relVel;
// Update the localization memory objects with localization calculations
// so that they are drawn in the World window
cache_.localization_mem->state[0] = ball.loc.x;
cache_.localization_mem->state[1] = ball.loc.y;
cache_.localization_mem->covariance = ball_filter_.P.topLeftCorner<2, 2>() * 10000;
}
void GLBox::bresenhamCircle(Point2D center, int radius, Color color)
{
int x = 0;
int y = radius;
int d = 5 - 4*radius;
setPoint(Point2D(x + center.x,y + center.y),color);
setPoint(Point2D(x + center.x,-y + center.y),color);
setPoint(Point2D(y + center.x,-x + center.y), color);
setPoint(Point2D(-y + center.x,-x + center.y),color);
setPoint(Point2D(-x + center.x,-y + center.y),color);
setPoint(Point2D(-x + center.x,y + center.y),color);
setPoint(Point2D(-y + center.x,x + center.y),color);
setPoint(Point2D(y + center.x,x + center.y),color);
while(y > x) {
if (d <= 0) {
d += 4*(2*x + 3);
}
else {
d += 4*(2*(x - y) + 5);
y--;
}
x++;
setPoint(Point2D(x + center.x,y + center.y),color);
setPoint(Point2D(x + center.x,-y + center.y),color);
setPoint(Point2D(y + center.x,-x + center.y), color);
setPoint(Point2D(-y + center.x,-x + center.y),color);
setPoint(Point2D(-x + center.x,-y + center.y),color);
setPoint(Point2D(-x + center.x,y + center.y),color);
setPoint(Point2D(-y + center.x,x + center.y),color);
setPoint(Point2D(y + center.x,x + center.y),color);
}
}
