std::vector<std::string> generateCollisionMap(int numMaps, ... )
{
tilemap rv;
va_list vl;
va_start(vl, numMaps);
for (int i = 0; i < numMaps; i++) //iterate maps
{
if (!i)
rv.tiles = getCollisionMap(va_arg( vl, tilemap));
else
appendCollisionMap(rv,getCollisionMap(va_arg( vl, tilemap)));
}
return rv.tiles;
}
bool RRT2DColisionTest::setCollisionMap (const char* fieldPath){
// Open file
FILE* f = fopen(fieldPath,"rb");
if (!f) {
cout<<"[RTT2D setCollisionMap] Error, fichero no encontrado: "<<string(fieldPath)<<endl;
return false;
}
// Read dimensions
fread(&collision_map_w,sizeof(int),1,f);
fread(&collision_map_h,sizeof(int),1,f);
cout<<"Loaded scenario of dimensions: "<<collision_map_w<<" X "<<collision_map_h<<". "<<flush<<endl;
// Read data
collision_map = (unsigned char*) malloc(collision_map_h*collision_map_w*sizeof(unsigned char));
unsigned int bytesread = fread(getCollisionMap(),sizeof(unsigned char),collision_map_h*collision_map_w*sizeof(unsigned char),f);
cout<< bytesread <<" bytes read out of "<< collision_map_h*collision_map_w*sizeof(unsigned char)<<". "<<endl;
fclose(f);
return true;
}
bool RRT2DColisionTest::test_collision(RRTNode *node){
RRT2DConfiguration* c = dynamic_cast<RRT2DConfiguration*>(node->getData());
return (unsigned int) getCollisionMap()[c->getX()+c->getY()*collision_map_w] != (unsigned int) 255;
}
