void
EKFLocalization::WTDreset2Initial(RoboCupGameControlData *gc, float MT, float MO)
{
mgrid->resetClear();
removeFilters();
switch(GameController::getInstance()->getPlayerNumber()){
case 1:
//addPosition(-2000.0, -1900.0, pi_2);
addPosition(-2000.0, 1900.0, -pi_2);
break;
case 2:
//addPosition(-1500.0, -1900.0, pi_2);
addPosition(-1500.0, 1900.0, -pi_2);
break;
case 3:
addPosition(-1000.0, -1900.0, pi_2);
//addPosition(-1000.0, 1900.0, -pi_2);
break;
case 4:
addPosition(-500.0, -1900.0, pi_2);
//addPosition(-500.0, 1900.0, -pi_2);
break;
};
mgrid->normalize();
}
void RectPlacement::addRect(const Rectangle &r) {
m_vRects.push_back(r);
m_area += r.width() * r.height();
// Add two new anchor points
addPosition(Vector2(r.x(), r.y() + r.height() + m_margin));
addPosition(Vector2(r.x() + r.width() + m_margin, r.y()));
}
void ProtocolGame::sendMove(const Position& fromPos, int thingId, int stackpos, const Position& toPos, int count)
{
OutputMessagePtr msg(new OutputMessage);
msg->addU8(Proto::ClientMove);
addPosition(msg, fromPos);
msg->addU16(thingId);
msg->addU8(stackpos);
addPosition(msg, toPos);
msg->addU8(count);
send(msg);
}
void ProtocolGame::sendThrow(const Position& fromPos, int thingId, int stackpos, const Position& toPos, int count)
{
OutputMessage oMsg;
oMsg.addU8(Proto::ClientMoveObject);
addPosition(oMsg, fromPos);
oMsg.addU16(thingId);
oMsg.addU8(stackpos);
addPosition(oMsg, toPos);
oMsg.addU8(count);
send(oMsg);
}
void
EKFLocalization::WTDresetFromPenalised(RoboCupGameControlData *gc, float MT, float MO)
{
mgrid->resetClear();
removeFilters();
addPosition(-1500.0, -2000.0, pi_2);
addPosition(-1500.0, 2000.0, -pi_2);
mgrid->normalize();
}
void ProtocolGame::sendUseItemEx(const Position& fromPos, int fromThingId, int fromStackpos, const Position& toPos, int toThingId, int toStackpos)
{
OutputMessage oMsg;
oMsg.addU8(Proto::ClientUseTwoObjects);
addPosition(oMsg, fromPos);
oMsg.addU16(fromThingId);
oMsg.addU8(fromStackpos);
addPosition(oMsg, toPos);
oMsg.addU16(toThingId);
oMsg.addU8(toStackpos);
send(oMsg);
}
void ProtocolGame::sendUseItemWith(const Position& fromPos, int itemId, int fromStackPos, const Position& toPos, int toThingId, int toStackPos)
{
OutputMessagePtr msg(new OutputMessage);
msg->addU8(Proto::ClientUseItemWith);
addPosition(msg, fromPos);
msg->addU16(itemId);
msg->addU8(fromStackPos);
addPosition(msg, toPos);
msg->addU16(toThingId);
msg->addU8(toStackPos);
send(msg);
}
void ViewpointNode::translate(SFVec3f vec)
{
float frame[3][3];
float vector[3];
getFrame(frame);
vec.getValue(vector);
addPosition(vector, frame);
}
void ViewpointNode::addPosition(float x, float y, float z, float frame[3][3])
{
float localTranslation[3];
localTranslation[0] = x;
localTranslation[1] = y;
localTranslation[2] = z;
addPosition(localTranslation, frame);
}
void ColoredText::getText(unique_ptr_vector<sf::Text>& target, const sf::Font& font, const unsigned char characterSize)const
{
const float TEXT_HEIGHT(font.getLineSpacing(characterSize) + LINE_SPACING);
sf::Vector2f addPosition(0, 0);
target.clear();
getText(target, font, characterSize, TEXT_HEIGHT, addPosition);
}
void GameWorld::onTick(float ds)
{
m_terrain->onTick(ds);
// Update entities
for (auto i = m_entities.begin(); i != m_entities.end(); ++i) {
std::shared_ptr<Entity> e1 = *i;
e1->addVelocity(-m_gravity * ds);
e1->onTick(ds); // updates the entity position based on velocity and camera
}
// Resolve collisions
for (auto i = m_entities.begin(); i != m_entities.end(); ++i) {
std::shared_ptr<Entity> e1 = *i;
for (auto j = i; ++j != m_entities.end(); /**/) {
std::shared_ptr<Entity> e2 = *j;
glm::vec3 diff = e1->collides(e2);
if (diff == glm::vec3(0.f)) continue;
if(!e1->moveable() && !e2->moveable()) {
e1->onCollide(e2);
e2->onCollide(e1);
continue;
}
if (!e1->moveable() || (e1->position().y == 0 && diff.y != 0)) {
addPosition(e2, -diff);
}
else if (!e2->moveable() || (e2->position().y == 0 && diff.y != 0)) {
addPosition(e1, diff);
}
else {
addPosition(e1, diff / 2.f);
addPosition(e2, -diff / 2.f);
}
e1->onCollide(e2);
e2->onCollide(e1);
}
}
//m_terrain->collide(m_entities);
}
void
EKFLocalization::WTDreset2Playing(RoboCupGameControlData *gc, float MT, float MO)
{
mgrid->resetClear();
removeFilters();
switch(GameController::getInstance()->getPlayerNumber())
{
case 1:
addPosition(-2500.0, 0.0, 0.0);
break;
case 2:
if(GameController::getInstance()->isMyKickOff())
addPosition(-1500.0, 1500.0, 0.0);
else
addPosition(-2000.0, 1500.0, 0.0);
break;
case 3:
if(GameController::getInstance()->isMyKickOff())
addPosition(-1000.0, 0.0, 0.0);
else
addPosition(-2000.0, 250.0, 0.0);
break;
case 4:
if(GameController::getInstance()->isMyKickOff())
addPosition(-1500.0, -1500.0, 0.0);
else
addPosition(-2000.0, -1500.0, 0.0);
break;
};
mgrid->normalize();
}
void MultiPosFilterBlock::addRLEBlock(RLEBlock* block_){
if (currBlock == NULL){//The first time add a triple
setTriple(block_->getTriple());
}else{//Next times add by postions.
while(block_->hasNext()){
addPosition(block_->getNext()->position);
}
}
}
void ProtocolGame::sendLookAt(const Position& position, int thingId, int stackpos)
{
OutputMessage oMsg;
oMsg.addU8(Proto::ClientLook);
addPosition(oMsg, position);
oMsg.addU16(thingId);
oMsg.addU8(stackpos);
send(oMsg);
}
void ProtocolGame::sendRotateItem(const Position& pos, int thingId, int stackpos)
{
OutputMessage oMsg;
oMsg.addU8(Proto::ClientTurnObject);
addPosition(oMsg, pos);
oMsg.addU16(thingId);
oMsg.addU8(stackpos);
send(oMsg);
}
void ProtocolGame::sendRotateItem(const Position& pos, int thingId, int stackpos)
{
OutputMessage msg;
msg.addU8(Proto::ClientRotateItem);
addPosition(msg, pos);
msg.addU16(thingId);
msg.addU8(stackpos);
send(msg);
}
void ProtocolGame::sendLook(const Position& position, int thingId, int stackpos)
{
OutputMessagePtr msg(new OutputMessage);
msg->addU8(Proto::ClientLook);
addPosition(msg, position);
msg->addU16(thingId);
msg->addU8(stackpos);
send(msg);
}
void GPSTracker::positionUpdated(QGeoPositionInfo position) {
if(tracking){
addPosition(position);
}
emit positionUpdated(Point(position));
horizontalAccuracy = position.attribute(QGeoPositionInfo::HorizontalAccuracy);
verticalAccuracy = position.attribute(QGeoPositionInfo::VerticalAccuracy);
changeGPSStatus(RECEIVE);
}
void ProtocolGame::sendUseOnCreature(const Position& pos, int thingId, int stackpos, uint creatureId)
{
OutputMessagePtr msg(new OutputMessage);
msg->addU8(Proto::ClientUseOnCreature);
addPosition(msg, pos);
msg->addU16(thingId);
msg->addU8(stackpos);
msg->addU32(creatureId);
send(msg);
}
void ProtocolGame::sendRequestTrade(const Position& pos, int thingId, int stackpos, uint playerId)
{
OutputMessage oMsg;
oMsg.addU8(Proto::ClientTradeObject);
addPosition(oMsg, pos);
oMsg.addU16(thingId);
oMsg.addU8(stackpos);
oMsg.addU32(playerId);
send(oMsg);
}
void ProtocolGame::sendUseItem(const Position& position, int itemId, int stackpos, int index)
{
OutputMessagePtr msg(new OutputMessage);
msg->addU8(Proto::ClientUseItem);
addPosition(msg, position);
msg->addU16(itemId);
msg->addU8(stackpos);
msg->addU8(index);
send(msg);
}
void ProtocolGame::sendUseItem(const Position& position, int itemId, int stackpos, int index)
{
OutputMessage oMsg;
oMsg.addU8(Proto::ClientUseObject);
addPosition(oMsg, position);
oMsg.addU16(itemId);
oMsg.addU8(stackpos);
oMsg.addU8(index);
send(oMsg);
}
void ProtocolGame::sendBrowseField(const Position& position)
{
if(!g_game.getFeature(Otc::GameBrowseField))
return;
OutputMessagePtr msg(new OutputMessage);
msg->addU8(Proto::ClientBrowseField);
addPosition(msg, position);
send(msg);
}
void ProtocolGame::sendUseOnCreature(const Position& pos, int thingId, int stackpos, uint creatureId)
{
OutputMessage oMsg;
oMsg.addU8(Proto::ClientUseOnCreature);
addPosition(oMsg, pos);
oMsg.addU16(thingId);
oMsg.addU8(stackpos);
oMsg.addU32(creatureId);
send(oMsg);
}
void ProtocolGame::sendRequestTrade(const Position& pos, int thingId, int stackpos, uint creatureId)
{
OutputMessage msg;
msg.addU8(Proto::ClientRequestTrade);
addPosition(msg, pos);
msg.addU16(thingId);
msg.addU8(stackpos);
msg.addU32(creatureId);
send(msg);
}
void
EKFLocalization::WTDreset2Penalty(RoboCupGameControlData *gc, float MT, float MO)
{
mgrid->resetClear();
removeFilters();
switch(GameController::getInstance()->getPlayerNumber())
{
case 1:
addPosition(-3000.0, 0.0, 0.0);
break;
case 2:
case 3:
case 4:
addPosition(700.0, 0.0, 0.0);
break;
};
mgrid->normalize();
}
FingerInfo::FingerInfo(int id, Vec2 position) :
m_iFingerId(id),
m_iHistorySize(0),
m_angle(0),
m_width(0),
m_height(0),
m_area(0)
{
// first position
addPosition(position);
}
void AbstractGame::paintRegularPolygon(CDC &dc, int edgeCount, int size, const CPoint &start, double startDir) {
Point2DP p = start;
dc.MoveTo(p);
const double dg = 360.0/edgeCount;
const double sideLength = sqrt(2.0 * size * size * (1.0 - cos(GRAD2RAD(dg))));
double dir = startDir;
for(int i = 0; i < edgeCount; i++, dir += dg) {
addPosition(dc, p);
p.x += sideLength * cos(GRAD2RAD(dir));
p.y += sideLength * sin(GRAD2RAD(dir));
dc.LineTo(p);
}
}
void updateFile(ObjFile* file, const char* line)
{
// counts the number of groups, objectes, faces, positions, normals,
// texcoords
// TODO: trim [line]
if (line[0] == 'v' && line[1] == ' ')
{
addPosition(file, line);
return;
}
if (line[0] == 'v' && line[1] == 'n' && line[2] == ' ')
{
addNormal(file, line);
return;
}
if (line[0] == 'v' && line[1] == 't' && line[2] == ' ')
{
addTexCoord(file, line);
return;
}
if (line[0] == 'o' && line[1] == ' ')
{
addObject(file, line);
return;
}
if (line[0] == 'g' && line[1] == ' ')
{
addGroup(file, line);
return;
}
if (line[0] == 'f' && line[1] == ' ')
{
addFace(file, line);
return;
}
if (strstr(line, "usemtl") == line)
{
setCurrentMaterial(file, line);
return;
}
}
void Knight::makeTrajectory(const Board* board)
{
Log::Debug::write("KNIGHT: ");
Log::Debug::write(this->boardPos);
Log::Debug::writeln("makeTrajectory");
this->trajectory.clear();
addPosition(board, 1, -2 );
addPosition(board, 2, -1 );
addPosition(board, 2, 1 );
addPosition(board, 1, 2 );
addPosition(board, -1, 2 );
addPosition(board, -2, 1 );
addPosition(board, -2, -1 );
addPosition(board, -1, -2 );
}
