NodeT* insertNode(NodeT* a, int value)
{
if (a == NULL)
return(createNode(value));
if (value < a->value)
a->left = insertNode(a->left, value);
else
a->right = insertNode(a->right, value);
a->height = max(height(a->left), height(a->right)) + 1;
int balance = getBalanceTree(a);
if (balance < -1 && value > a->right->value)
return RotateLeft(a);
if (balance > 1 && value < a->left->value)
return RotateRight(a);
if (balance < -1 && value < a->right->value)
{
a->right = RotateRight(a->right);
return RotateLeft(a);
}
if (balance > 1 && value > a->left->value)
{
a->left = RotateLeft(a->left);
return RotateRight(a);
}
return a;
}
static void InsertFixup(rbtree_t *tree, rbnode_t *X)
{
/*************************************
* maintain red-black tree balance *
* after inserting node X *
*************************************/
/* check red-black properties */
while (X != tree->Root && X->Parent->Color == Red) {
/* we have a violation */
if (X->Parent == X->Parent->Parent->Left) {
rbnode_t *Y = X->Parent->Parent->Right;
if (Y->Color == Red) {
/* uncle is red */
X->Parent->Color = Black;
Y->Color = Black;
X->Parent->Parent->Color = Red;
X = X->Parent->Parent;
} else {
/* uncle is black */
if (X == X->Parent->Right) {
/* make X a left child */
X = X->Parent;
RotateLeft(tree, X);
}
/* recolor and rotate */
X->Parent->Color = Black;
X->Parent->Parent->Color = Red;
RotateRight(tree, X->Parent->Parent);
}
} else {
/* mirror image of above code */
rbnode_t *Y = X->Parent->Parent->Left;
if (Y->Color == Red) {
/* uncle is red */
X->Parent->Color = Black;
Y->Color = Black;
X->Parent->Parent->Color = Red;
X = X->Parent->Parent;
} else {
/* uncle is black */
if (X == X->Parent->Left) {
X = X->Parent;
RotateRight(tree, X);
}
X->Parent->Color = Black;
X->Parent->Parent->Color = Red;
RotateLeft(tree, X->Parent->Parent);
}
}
}
tree->Root->Color = Black;
}
void KeyControlledTransitionBarbarian_cl::ProcessKeyboardEvents()
{
bool bUp = VAppImpl::GetInputMap()->GetTrigger(CHARACTER_MOVE_FORWARD)!=0;
bool bRotLeft = VAppImpl::GetInputMap()->GetTrigger(CHARACTER_ROTATE_LEFT)!=0;
bool bRotRight = VAppImpl::GetInputMap()->GetTrigger(CHARACTER_ROTATE_RIGHT)!=0;
bool bShift = VAppImpl::GetInputMap()->GetTrigger(CHARACTER_RUN)!=0;
if (bUp)
{
// Trigger the run/walk actions when CURSOR UP is pressed.
// Allow rotating the entity while walking/running
if (bShift)
Run();
else
Walk();
if (bRotLeft)
RotateLeft();
else if (bRotRight)
RotateRight();
}
else
{
if (bRotLeft)
RotateLeft();
else if (bRotRight)
RotateRight();
else
Stand();
}
}
void InsertAfter(RBNode** Root, RBNode* Node)
{
while (Node!=(*Root) && Node->Parent->Color == Red)
{
if(Node->Parent == Node->Parent->Parent->Left)
{
RBNode* Uncle = Node->Parent->Parent->Right;
if(Uncle->Color == Red)
{
Node->Parent->Color = Black;
Uncle->Color = Black;
Node->Parent->Parent->Color = Red;
Node= Node->Parent->Parent;
}
else
{
if(Node == Node->Parent ->Right)
{
Node= Node->Parent;
RotateLeft(Root,Node);
}
Node->Parent->Color = Black;
Node->Parent->Parent->Color = Red;
RotateRight(Root, Node->Parent->Parent);
}
}
else
{
RBNode* Uncle = Node->Parent->Parent->Left;
if(Uncle->Color == Red)
{
Node->Parent->Color = Black;
Uncle->Color = Black;
Node->Parent->Parent->Color = Red;
Node = Node->Parent->Parent;
}
else
{
if(Node == Node->Parent->Left)
{
Node = Node->Parent;
RotateRight(Root, Node);
}
Node->Parent->Color = Black;
Node->Parent->Parent->Color = Red;
RotateLeft(Root, Node->Parent->Parent);
}
}
}
(*Root) ->Color = Black;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Copyright (c) Microsoft Corporation. All rights reserved.
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
#include "Core.h"
////////////////////////////////////////////////////////////////////////////////////////////////////
void CLR_RT_AVLTree::Initialize()
{
NATIVE_PROFILE_CLR_CORE();
m_root = NULL; // Entry* m_root;
// OwnerInfo m_owner;
}
CLR_RT_AVLTree::Result CLR_RT_AVLTree::Insert( Entry* newDatum )
{
NATIVE_PROFILE_CLR_CORE();
return Insert( m_root, newDatum );
}
CLR_RT_AVLTree::Result CLR_RT_AVLTree::Remove( Entry* oldDatum )
{
NATIVE_PROFILE_CLR_CORE();
return Remove( m_root, oldDatum );
}
CLR_RT_AVLTree::Entry* CLR_RT_AVLTree::Find( Entry* srcDatum )
{
NATIVE_PROFILE_CLR_CORE();
Entry* node = m_root;
ComparerFtn ftn = m_owner.m_ftn_compare;
void* state = m_owner.m_state;
while(node)
{
int cmp = ftn( state, node, srcDatum ); if(cmp == 0) break;
if(cmp > 0)
{
node = node->m_left;
}
else
{
node = node->m_right;
}
}
return node;
}
//////////////////////////////////////////////////
//
// Perform counterclockwise rotation.
//
void CLR_RT_AVLTree::RotateLeft( Entry*& n )
{
NATIVE_PROFILE_CLR_CORE();
//////////////////////////
// //
// A A //
// \ \ //
// B => \ //
// / \ \ //
// C C //
// / \ / \ //
// B //
// / \ //
// //
//////////////////////////
Entry* top = n;
Entry* bottom = top->m_right;
top ->m_right = bottom->m_left;
bottom->m_left = top;
n = bottom;
}
//
// Perform clockwise rotation.
//
void CLR_RT_AVLTree::RotateRight( Entry*& n )
{
NATIVE_PROFILE_CLR_CORE();
//////////////////////////
// //
// A A //
// / / //
// B => / //
// / \ / //
// C C //
// / \ / \ //
// B //
// / \ //
// //
//////////////////////////
Entry* top = n;
Entry* bottom = top->m_left;
top ->m_left = bottom->m_right;
bottom->m_right = top;
n = bottom;
}
//
// LeftGrown: helper function for avlinsert
//
// Parameters:
//
// n Reference to the pointer to a node. This node's left
// subtree has just grown due to item insertion; its
// "skew" flag needs adjustment, and the local tree
// (the subtree of which this node is the root node) may
// have become unbalanced.
//
// Return values:
//
// RES_OK The local tree could be rebalanced or was balanced
// from the start. The parent activations of the avlinsert
// activation that called this function may assume the
// entire tree is valid.
//
// RES_BALANCE The local tree was balanced, but has grown in height.
// Do not assume the entire tree is valid.
//
CLR_RT_AVLTree::Result CLR_RT_AVLTree::LeftGrown( Entry*& n )
{
NATIVE_PROFILE_CLR_CORE();
Entry* left;
Entry* right;
switch(n->m_skew)
{
case SKEW_LEFT:
left = n->m_left;
if(left->m_skew == SKEW_LEFT)
{
n ->m_skew = SKEW_NONE;
left->m_skew = SKEW_NONE;
RotateRight( n );
}
else
{
right = left->m_right;
switch(right->m_skew)
{
case SKEW_LEFT:
n ->m_skew = SKEW_RIGHT;
left->m_skew = SKEW_NONE;
break;
case SKEW_RIGHT:
n ->m_skew = SKEW_NONE;
left->m_skew = SKEW_LEFT;
break;
default:
n ->m_skew = SKEW_NONE;
left->m_skew = SKEW_NONE;
}
right->m_skew = SKEW_NONE;
RotateLeft ( n->m_left );
RotateRight( n );
}
return RES_OK;
case SKEW_RIGHT:
n->m_skew = SKEW_NONE;
return RES_OK;
default:
n->m_skew = SKEW_LEFT;
return RES_BALANCE;
}
}
///*
// * avlrightgrown: helper function for avlinsert
// *
// * See avlleftgrown for details.
// */
CLR_RT_AVLTree::Result CLR_RT_AVLTree::RightGrown( Entry*& n )
{
NATIVE_PROFILE_CLR_CORE();
Entry* left;
Entry* right;
switch(n->m_skew)
{
case SKEW_LEFT:
n->m_skew = SKEW_NONE;
return RES_OK;
case SKEW_RIGHT:
right = n->m_right;
if(right->m_skew == SKEW_RIGHT)
{
n ->m_skew = SKEW_NONE;
right->m_skew = SKEW_NONE;
RotateLeft( n );
}
else
{
left = right->m_left;
switch(left->m_skew)
{
case SKEW_RIGHT:
n ->m_skew = SKEW_LEFT;
right->m_skew = SKEW_NONE;
break;
case SKEW_LEFT:
n ->m_skew = SKEW_NONE;
right->m_skew = SKEW_RIGHT;
break;
default:
n ->m_skew = SKEW_NONE;
right->m_skew = SKEW_NONE;
}
left->m_skew = SKEW_NONE;
RotateRight( n->m_right );
RotateLeft ( n );
}
return RES_OK;
default:
n->m_skew = SKEW_RIGHT;
return RES_BALANCE;
}
}
bool RBTree<T>::Insert(T item){
bool flag = false;
Node<T>* inserted_node = NULL;
if (!Contains(item)){
inserted_node = BSTInsert(item); // normal BST insertion method
inserted_node->is_black = false;
while (inserted_node != root && !inserted_node->p->is_black){ // iterates until root or black parent is reached
if (inserted_node->p == inserted_node->p->p->left){
Node<T>* uncle = inserted_node->p->p->right; // node's uncle
if(!uncle->is_black){
inserted_node->p->is_black = true;
uncle->is_black = true;
inserted_node->p->p->is_black = false;
inserted_node = inserted_node->p->p;
}
else {//uncle is black yo
if (inserted_node == inserted_node->p->right){
inserted_node = inserted_node->p;
RotateLeft(inserted_node);
}
inserted_node->p->is_black = true;
inserted_node->p->p->is_black = false;
RotateRight(inserted_node->p->p);
}
}
if (inserted_node->p == inserted_node->p->p->right) {
Node<T>* aunt = inserted_node->p->p->left;
if(!aunt->is_black){
inserted_node->p->is_black = true;
aunt->is_black = true;
inserted_node->p->p->is_black = false;
inserted_node = inserted_node->p->p;
}
else{
if(inserted_node == inserted_node->p->left){
inserted_node = inserted_node->p;
RotateRight(inserted_node);
}
inserted_node->p->is_black = true;
inserted_node->p->p->is_black = false;
RotateLeft(inserted_node->p->p);
}
}
}
root->is_black = true;//FIXME
flag = true;
size++;
}
return flag;
}
void RBTree<KEY>::InsertFixUp(RBNode* pNode)
{
while(pNode->parent->color == RED) //如果p[z]==RED,那么p[z]不是根节点，所以p[p[z]一定存在。
{
if(pNode->parent == pNode->parent->parent->left)
{
RBNode* pUncle = pNode->parent->parent->right;
if(pUncle->color == RED)
{
pNode->parent->color = BLACK;
pUncle->color = BLACK;
pNode->parent->parent->color = RED;
pNode = pNode->parent->parent;
}
else
{
if(pNode == pNode->parent->right)
{
pNode = pNode->parent;
RotateLeft(pNode);
}
pNode->parent->color=BLACK;
pNode->parent->parent->color=RED;
RotateRight(pNode->parent->parent);
}
}
else
{
RBNode* pUncle = pNode->parent->parent->left;
if(pUncle->color == RED)
{
pNode->parent->color = BLACK;
pUncle->color = BLACK;
pNode->parent->parent->color = RED;
pNode = pNode->parent->parent;
}
else
{
if(pNode == pNode->parent->left)
{
pNode = pNode->parent;
RotateRight(pNode);
}
pNode->parent->color=BLACK;
pNode->parent->parent->color=RED;
RotateLeft(pNode->parent->parent);
}
}
}
m_root->color=BLACK;
}
void AVL_tree::Balance(Node& node)
{
if(BalanceFactor(node) == 2) // Unbalance on right side
{
if(BalanceFactor(node->right) < 0) // If left chain longer
RotateLeft(node->right);
RotateRight(node);
}
if(BalanceFactor(node) == -2)
{
if(BalanceFactor(node->left) > 0)
RotateRight(node->left);
RotateLeft(node);
}
}
//**************************************************
// NAME: RotateLeft
// DESCRIPTION: Robot rotates over the center
// PARAMETERS: - speed->Motor speed
// - angle->Rotation angle
//**************************************************
void Motor::RotateLeft(byte speed, int angle)
{
unsigned long time,timeout;
byte count;
byte encoder;
ReduceInertia();
count = angle/(2*ENCODER_ANGLE);
encoder = digitalRead(ENC_R);
time=millis();
RotateLeft(speed);
while (count > 0)
{
while (encoder == digitalRead(ENC_R))
{
timeout=millis();
if (timeout - time > MAX_TIMEOUT)
{
return;
}
}
encoder=digitalRead(ENC_R);
count--;
time=millis();
}
ReduceInertia();
}
void MD5::GG( uint32_t& A, uint32_t B, uint32_t C, uint32_t D, uint32_t X, uint32_t S, uint32_t T)
{
uint32_t G = (B & D) | (C & ~D);
A += G + X + T;
A = RotateLeft(A, S);
A += B;
}
/*! Single or double left rotates the AVL tree on the node to balance
*/
void LeftRotateAvlTree(AVL_TREE_PTR node, AVL_TREE_PTR *avl_root_ptr)
{
AVL_TREE_PTR child = AVL_TREE_RIGHT_NODE(node);
int balance_factor = GetAvlTreeBalanceFactor(child);
BINARY_TREE_PTR bt_root_ptr;
/*only -1,0 or 1 balance is expected*/
assert( balance_factor<=1 && balance_factor>=-1 );
/*check for double rotate*/
if ( balance_factor == -1 ) {
CALCULATE_ROOT_PTR_AVL_TO_BT(avl_root_ptr, &bt_root_ptr);
RotateRight( &child->bintree, &bt_root_ptr);
CALCULATE_ROOT_PTR_BT_TO_AVL(avl_root_ptr, &bt_root_ptr);
}
/*single rotate*/
CALCULATE_ROOT_PTR_AVL_TO_BT(avl_root_ptr, &bt_root_ptr);
RotateLeft( &node->bintree, &bt_root_ptr);
CALCULATE_ROOT_PTR_BT_TO_AVL(avl_root_ptr, &bt_root_ptr);
/*calculate the new heights*/
RECALCULATE_HEIGHT(node);
RECALCULATE_HEIGHT(child);
}
void MD5::HH( uint32_t& A, uint32_t B, uint32_t C, uint32_t D, uint32_t X, uint32_t S, uint32_t T)
{
uint32_t H = (B ^ C ^ D);
A += H + X + T;
A = RotateLeft(A, S);
A += B;
}
void MD5::II( uint32_t& A, uint32_t B, uint32_t C, uint32_t D, uint32_t X, uint32_t S, uint32_t T)
{
uint32_t I = (C ^ (B | ~D));
A += I + X + T;
A = RotateLeft(A, S);
A += B;
}
void CBinaryTree::AddNode(int N)
{
CNode *pNode,*pParent=NULL,*pNewNode;
pNode=LocateNode(N,pRoot);
pParent=LocateParent(N,pRoot);
if(pParent==NULL)
pRoot=new CNode(N);
else
{
if(pNode==NULL)
{
pNewNode=new CNode(N,pParent);
if(pParent->GetData()>N)
pParent->pLeft=pNewNode;
else
pParent->pRight=pNewNode;
}
}
while(pParent!=NULL)
{
int iBF=GetBalancingFactor(pParent->pRight)-GetBalancingFactor(pParent->pLeft);
if(iBF<-1 || iBF>1)
{
if(iBF>0)
RotateLeft(pNewNode);
else
RotateRight(pNewNode);
if(pNewNode->pParent==NULL) pRoot=pNewNode;
}
pParent=pParent->pParent;
pNewNode=pNewNode->pParent;
}
}
Node<Key, Val>* InsertInternal(Node<Key, Val>* h, Key key, Val val){
if (h == NULL){
++num_;
return new Node<Key, Val>(key, val);
}
if (IsRED(h->left) && IsRED(h->right)){
FlipColor(h);
}
if (key == h->key){
h->val = val;
} else if (Comp()(key, h->key)){
h->left = InsertInternal(h->left, key, val);
} else {
h->right = InsertInternal(h->right, key, val);
}
if (IsRED(h->right)){
h = RotateLeft(h);
}
if (IsRED(h->left) && IsRED(h->left->left)){
h = RotateRight(h);
}
return h;
}
void wxPageContainer::OnLeftDClick(wxMouseEvent& event)
{
wxPageInfo pgInfo;
int tabIdx;
int where = HitTest(event.GetPosition(), pgInfo, tabIdx);
switch(where)
{
case wxFNB_RIGHT_ARROW:
RotateRight();
break;
case wxFNB_LEFT_ARROW:
RotateLeft();
break;
case wxFNB_TAB:
if(HasFlag(wxFNB_DCLICK_CLOSES_TABS))
{
DeletePage((size_t)tabIdx);
}
break;
case wxFNB_X:
{
OnLeftDown(event);
}
break;
default:
event.Skip();
break;
}
}
void KeyControlledTransitionCharacter_cl::ProcessKeyboardEvents()
{
if(!m_bKeyboardInputAllowed)
return;
bool bLeft = m_pInputMap->GetTrigger(CHARACTER_MOVE_LEFT)!=0;
bool bRight = m_pInputMap->GetTrigger(CHARACTER_MOVE_RIGHT)!=0;
bool bUp = m_pInputMap->GetTrigger(CHARACTER_MOVE_FORWARD)!=0;
bool bDown = m_pInputMap->GetTrigger(CHARACTER_MOVE_BACKWARD)!=0;
bool bShift = m_pInputMap->GetTrigger(CHARACTER_RUN)!=0;
if (bUp)
{
// Trigger the run/walk actions when CURSOR UP is pressed.
// Allow rotating the entity while walking/running
if (bShift)
Run();
else
Walk();
if (bLeft)
RotateLeft();
else if (bRight)
RotateRight();
}
else if (bDown)
{
// Trigger the walk backward action when CURSOR DOWN is pressed.
// Allow rotating the entity while walking backwards
WalkBackwards();
if (bLeft)
RotateLeft();
else if (bRight)
RotateRight();
}
else
{
if (bLeft)
RotateLeft();
else if (bRight)
RotateRight();
else
Stand();
}
}
Node<Key, Val>* MoveREDLeft(Node<Key, Val>* h){
FlipColor(h);
if (h->right != NULL && IsRED(h->right->left)){
h->right = RotateRight(h->right);
h = RotateLeft(h);
FlipColor(h);
}
return h;
}
void RedBlackTree::CheckInsert(RBNode* node)
{
if(node->parent == m_nil)
{
node->bRed = false;
return;
}
if(!node->parent->bRed)
{
return;
}
if(getUncle(node)->bRed)
{
node->parent->bRed = false;
getUncle(node)->bRed = false;
getGrandParent(node)->bRed = true;
CheckInsert(getGrandParent(node));
return;
}
if(node == node->parent->right && node->parent == getGrandParent(node)->left)
{
RotateLeft(node->parent);
node = node->left;
}
else if(node == node->parent->left && node->parent == getGrandParent(node)->right)
{
RotateRight(node->parent);
node = node->right;
}
node->parent->bRed = false;
getGrandParent(node)->bRed = true;
if(node == node->parent->left)
{
RotateRight(getGrandParent(node));
}
else
{
RotateLeft(getGrandParent(node));
}
}
static void Balance(pNode& p)
{
if (!p)
return;
FixHeight(p);
if (BalanceFactor(p) == 2)
{
if (BalanceFactor(p->Right) < 0)
RotateRight(p->Right);
RotateLeft(p);
}
if (BalanceFactor(p) == -2)
{
if (BalanceFactor(p->Left) > 0)
RotateLeft(p->Left);
RotateRight(p);
}
}
void NodeBase::insert(NodeBase *head, NodeBase * n) {
/* check Red-Black properties */
while (n != head->left && n->parent->color == NodeColor::Red) {
auto p = n->parent;
auto g = n->parent->parent;
if (p == g->left) {
NodeBase * u = g->right;
if (u && u->color == NodeColor::Red) {
p->color = NodeColor::Black;
u->color = NodeColor::Black;
g->color = NodeColor::Red;
n = g;
} else {
if (n == p->right) {
RotateLeft(head, n, p);
n = n->left;
p = n->parent;
}
p->color = NodeColor::Black;
g->color = NodeColor::Red;
RotateRight(head, p, g);
}
} else {
NodeBase * u = g->left;
if (u && u->color == NodeColor::Red) {
p->color = NodeColor::Black;
u->color = NodeColor::Black;
g->color = NodeColor::Red;
n = g;
} else {
if (n == n->parent->left) {
RotateRight(head, n, p);
n = n->right;
p = n->parent;
}
p->color = NodeColor::Black;
g->color = NodeColor::Red;
RotateLeft(head, p, g);
}
}
}
head->left->color = NodeColor::Black; // root
}
template<typename T, typename KEY> RBTNode<T, KEY> *RBTree<T, KEY>::MoveRedLeft(RBTNode<T, KEY> *h)
{
regaincolors(h);
if (isRed(h->pRight->pLeft))
{
h->pRight = RotateRight(h->pRight);
h = RotateLeft(h);
flipcolors(h);
}
return h;
}
void RedBlackTree::BalanceInsertion(Node* target) {
Node* temp;
target->black = false;
while (target != root && target->parent->black == false) {
if (target->parent == target->parent->parent->left) { //parent is a left child
temp = target->parent->parent->right;
if (!temp->black) {
target->parent->black = true;
temp->black = true;
target->parent->parent->black = false;
target = target->parent->parent;
} else {
if (target == target->parent->right) {
target = target->parent;
RotateLeft(target);
}
target->parent->black = true;
target->parent->parent->black = false;
RotateRight(target->parent->parent);
}
} else { //parent is a right child, mirror the if
temp = target->parent->parent->left;
if (!temp->black) {
target->parent->black = true;
temp->black = true;
target->parent->parent->black = false;
target = target->parent->parent;
}
else {
if (target == target->parent->left) {
target = target->parent;
RotateRight(target);
}
target->parent->black = true;
target->parent->parent->black = false;
RotateLeft(target->parent->parent);
}
}
}
root->black = true;
}
Node<Key, Val>* FixUp(Node<Key, Val>* h){
if (IsRED(h->right)){
h = RotateLeft(h);
}
if (IsRED(h->left) && IsRED(h->left->left)){
h = RotateRight(h);
}
if (IsRED(h->left) && IsRED(h->right)){
FlipColor(h);
}
return h;
}
Node<T>* AVLTree<T>::aux_add(Node<T>* current, T val )
{
if( current == nullptr )
return new Node<T>( val );
if( val < current->data )
current->left = aux_add( current->left, val );
else
current->right = aux_add( current->right, val );
current->height = std::max( Height(current->left),
Height(current->right) ) + 1;
int balance = ( current == nullptr ) ? 0:
( Height(current->left) - Height(current->right) ) ;
// Balance the Tree
if (balance > 1 && val < current->left->data )
return RotateRight(current);
if (balance < -1 && val > current->right->data )
return RotateLeft(current);
if (balance > 1 && val > current->left->data )
{
current->left = RotateLeft( current->left );
return RotateRight(current);
}
if (balance < -1 && val < current->right->data )
{
current->right = RotateRight(current->right);
return RotateLeft(current);
}
return current ;
}
template<typename T, typename KEY> RBTNode<T, KEY> *RBTree<T, KEY>::deletemin(RBTNode<T, KEY> *h)
{
if (h->pLeft == NULL)
{
// be careful here hasn't check if the h is empty.
//std::cout << "Delete min " << h->key << std::endl;
delete h;
return NULL;
}
if (!isRed(h->pLeft) && !isRed(h->pLeft->pLeft))
h = MoveRedLeft(h);
h->pLeft = deletemin(h->pLeft);
if (isRed(h->pRight))
h = RotateLeft(h);
return h;
}
void Calibrate(void){
LSA08_Calibrate();
RotateRight(); motor(180,180);
__delay_ms(600);
RotateLeft();
__delay_ms(600);__delay_ms(600);
RotateRight(); motor(180,180);
__delay_ms(600);
motor(0,0);Forward();
lcd_clr();
}
template<typename T, typename KEY> RBTNode<T, KEY> *RBTree<T, KEY>::put(RBTNode<T, KEY> *h, T Value, KEY Key)
{
if (h == NULL)
{
h = new RBTNode<T, KEY>(Value, Key, RED);
return h;
}
if (h->key > Key) h->pLeft = put(h->pLeft, Value, Key);
else if (h->key < Key) h->pRight = put(h->pRight, Value, Key);
else h->value = Value;
if (!isRed(h->pLeft) && isRed(h->pRight)) { h = RotateLeft(h); }
if (isRed(h->pLeft) && isRed(h->pLeft->pLeft)) { h=RotateRight(h); }
if (isRed(h->pLeft) && isRed(h->pRight)) { flipcolors(h); }
return h;
}
void MyKeyboard(int thekey, int mouseX, int mouseY)
{
switch(thekey)
{
case GLUT_KEY_UP:InclineCameraAltitude();break;
case GLUT_KEY_DOWN:DeclineCameraAltitude();break;
case GLUT_KEY_RIGHT:InclineCameraAzimuth();break;
case GLUT_KEY_LEFT:DeclineCameraAzimuth();break;
case 'w':MoveForward();break;
case 's':MoveBackward();break;
case 'c':ElevateCannon();break;
case 'z':DeclineCannon();break;
case '1':RotateLeft();break;
case '2':RotateRight();break;
}
}
void cBauul::Logic(float min, float max) {
if (nextState) {
Stop();
animation_frame = 0;
nextState = false;
int random = rand()%5;
if (random == 0)
actionstate = STATE_MOVE_FORWARD;
else if (random == 1)
actionstate = STATE_ROTATE_LEFT;
else if (random == 2)
actionstate = STATE_ROTATE_RIGHT;
else
actionstate = STATE_STANDBY;
}
switch(actionstate) {
case STATE_STANDBY: Stop(); break;
case STATE_MOVE_FORWARD: MoveForward(min,max); break;
case STATE_ROTATE_LEFT: RotateLeft(); break;
case STATE_ROTATE_RIGHT: RotateRight(); break;
}
}