int isPointInTriangle(Point pt, Point v1, Point v2, Point v3)
{
if (isOnLine(pt, v1, v2)) return 0;
if (isOnLine(pt, v2, v3)) return 0;
if (isOnLine(pt, v3, v1)) return 0;
int b1, b2, b3;
b1 = (cross(pt, v1, v2) < 0.0f)?1:0;
b2 = (cross(pt, v2, v3) < 0.0f)?1:0;
b3 = (cross(pt, v3, v1) < 0.0f)?1:0;
return ((b1 == b2) && (b2 == b3))?1:0;
}
bool inLineWithGoal()
{
if(isOnLine() == true && SensorValue[irseeker] == 4)
{
return true;
}
else
{
return false;
}
}
void FollowLine() //Needs better logic just this for tests
{
if(isOnLine())
{
MoveForward(0.05,autospeed);
}
else
{
while(!isOnLine())
{
TurnToIR();
if(facingIR() && !isOnLine())
{
TurnLeft(0.05,autospeed);
}
MoveForward(0.05,autospeed);
LineDown();
}
}
}
void turnToLine(int motorSpeed, int maxAngle)
{
bool turningRight = false;
if(happy_angle < maxAngle)
{
turningRight = true;
}
if(turningRight == true)
{
while(happy_angle < maxAngle && isOnLine() == false)
{
motor[leftmotor] = motorSpeed;
motor[rightmotor] = -motorSpeed;
}
}
else //Turning left
{
while(happy_angle > maxAngle && isOnLine() == false)
{
motor[leftmotor] = -motorSpeed;
motor[rightmotor] = motorSpeed;
}
}
}
int LostInJingAnTemple::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QMainWindow::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: on_actionImportData_triggered(); break;
case 1: on_actionConvert_To_Weighted_Graph_triggered(); break;
case 2: on_actionFindShortestPath_triggered(); break;
case 3: on_actionExportData_triggered(); break;
case 4: on_actionAbout_triggered(); break;
case 5: { float _r = distanceBetweenTwoPoints((*reinterpret_cast< Point(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])));
if (_a[0]) *reinterpret_cast< float*>(_a[0]) = _r; } break;
case 6: { bool _r = onTheBuildingEdge((*reinterpret_cast< Building(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 7: { bool _r = isTheBuildingEdge((*reinterpret_cast< Building(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 8: { bool _r = crossTheBuilding((*reinterpret_cast< Building(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 9: { bool _r = crossTheBuildings((*reinterpret_cast< vector<Building>(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 10: { bool _r = crossLines((*reinterpret_cast< Point(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])),(*reinterpret_cast< Point(*)>(_a[4])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 11: { bool _r = samePosition((*reinterpret_cast< Point(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 12: { bool _r = isPointInsideBuilding((*reinterpret_cast< Building(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 13: { bool _r = isLineInsideBuilding((*reinterpret_cast< Building(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 14: { bool _r = isLineFullInsideBuilding((*reinterpret_cast< Building(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 15: { bool _r = isTwoLinesParalleled((*reinterpret_cast< Point(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])),(*reinterpret_cast< Point(*)>(_a[4])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 16: { bool _r = isOnLine((*reinterpret_cast< Point(*)>(_a[1])),(*reinterpret_cast< Point(*)>(_a[2])),(*reinterpret_cast< Point(*)>(_a[3])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
default: ;
}
_id -= 17;
}
return _id;
}
unsigned char cxSimpleSyntheticVolume::evaluate(const cx::Vector3D &p) const
{
float x = p[0];
float y = p[1];
float z = p[2];
// Let's make a block in the middle of the volume
if(x > mBounds(0)/3 && x < 2*mBounds(0)/3
&& y > mBounds(1)/3 && y < 2*mBounds(1)/3
&& z > mBounds(2)/3 && z < 2*mBounds(2)/3)
{
return 255;
}
// A set of thin lines with traversing in each of the directions
// Z direction
if(isOnLine(x, y-2.0f, 0.5f, 5, 2))
{
return 255;
}
if(isOnLine(x, y-3.0f, 0.25f, 5, 2))
{
return 255;
}
if(isOnLine(x, y-4.0f, 0.125f, 5, 2))
{
return 255;
}
if(isOnLine(x, y-5.0f, 0.0625f, 5, 2))
{
return 255;
}
// Y direction
if(isOnLine(x, z-2.0f, 0.5f, 5, 1))
{
return 255;
}
if(isOnLine(x, z-3.0f, 0.25f, 5, 1))
{
return 255;
}
if(isOnLine(x, z-4.0f, 0.125f, 5, 1))
{
return 255;
}
if(isOnLine(x, z-5.0f, 0.0625f, 5, 1))
{
return 255;
}
// X direction
if(isOnLine(z, y-2.0f, 0.5f, 5, 0))
{
return 255;
}
if(isOnLine(z, y-3.0f, 0.25f, 5, 0))
{
return 255;
}
if(isOnLine(z, y-4.0f, 0.125f, 5, 0))
{
return 255;
}
if(isOnLine(z, y-5.0f, 0.0625f, 5, 0))
{
return 255;
}
// Return nonzero if value is inside region
else if(x > 0 && x < mBounds(0)
&& y > 0 && y < mBounds(1)
&& z > 0 && z < mBounds(2))
{
return 10;
}
return 0;
}
void Triangulation2D_Delaunay::InsertPoint(Point* newPoint) {
if(_triangles.empty()) {
// 1er point
if(_points.empty()) {
_points.push_back(newPoint);
}
// 2em point
else if(_points.size() == 1) {
_points.push_back(newPoint);
_edges.push_back(new Line(_points[0], newPoint));
}
// 3+em point
else {
_points.push_back(newPoint);
// Si le point est colinéaire aux autres
if(isOnLine(_edges[0], newPoint)) {
// Si le point est à l'extremité "basse" des points colinéaires
Point* minPoint = getMinCoordinates(_points);
Point* maxPoint = getMaxCoordinates(_points);
if(newPoint->getX() < minPoint->getX() || (newPoint->getX() == minPoint->getX() && newPoint->getY() < minPoint->getY())) {
_edges.push_back(new Line(newPoint, nullptr));
}
// Si le point est à l'extremité "haute" des points colinéaires
else if(newPoint->getX() > maxPoint->getX() || (newPoint->getX() == maxPoint->getX() && newPoint->getY() > maxPoint->getY())) {
_edges.push_back(new Line(nullptr, newPoint));
}
// Si le point est en plein milieu
// On update l'ancienne arete et on ajoute une nouvelle arête
else {
Point* pointBefore = getMiddleCoordinates(_points, newPoint);
for(auto edge : _edges) {
if(edge->getStartPoint() == pointBefore) {
_edges.push_back(new Line(newPoint, edge->getEndPoint()));
edge->setEndPoint(newPoint);
break;
}
}
}
delete minPoint;
delete maxPoint;
}
// Si le point n'est pas colinéaire
// (on passera ici qu'une fois normalement)
else {
for(auto point : _points) {
Line* tempLine = new Line(point, newPoint);
_edges.push_back(tempLine);
point->setLine(tempLine);
}
for(auto edge : _edges) {
Line* tempLineA = edge->getStartPoint()->getLine();
Line* tempLineB = edge->getEndPoint()->getLine();
// Peut etre à l'envers
_triangles.push_back(new Triangle(edge, tempLineA, tempLineB));
// ou
//_triangles.push_back(new Triangle(edge, tempLineB, tempLineA));
// en fonction de la position de newPoint ?
}
}
}
}
// Y'a deja des triangles
else {
_points.push_back(newPoint);
// Si le point est dans un triangle
bool inTriangle = false;
Triangle* triangleContainingPoint = nullptr;
std::vector<Line*> edges;
std::vector<Triangle*>::iterator it;
for(it = _triangles.begin(); it != _triangles.end(); it++) {
Triangle* triangle = *it;
if(PointInTriangle(*newPoint, *triangle->getPointA(), *triangle->getPointB(), *triangle->getPointC())) {
inTriangle = true;
triangleContainingPoint = triangle;
break;
}
}
if(inTriangle) {
_triangles.erase(it);
edges.push_back(triangleContainingPoint->LineA());
edges.push_back(triangleContainingPoint->LineB());
edges.push_back(triangleContainingPoint->LineC());
}
else {
//TODO: déterminer la liste des aretes vues par le point
// Avec l'enveloppe c'est plus opti
for(auto edge : _edges) {
Point normal(-(edge->getEndPoint()->getY() - (edge->getStartPoint()->getY())), edge->getEndPoint()->getX() - (edge->getStartPoint())->getX());
Point edgee(newPoint->getX() - edge->getEndPoint()->getX(), newPoint->getY() - edge->getEndPoint()->getY());
double dot = dotProduct(normal, edgee);
if(dot < 0) {
edges.push_back(edge);
}
}
}
while(!edges.empty()) {
Line* a = edges.back();
edges.pop_back();
bool pointInCircle = false;
std::vector<Triangle*>::iterator it2;
for(it2 = _triangles.begin(); it2 != _triangles.end(); it2++) {
Triangle* triangle2 = *it2;
if(inCircle(triangle2->getPointA(), triangle2->getPointB(), triangle2->getPointC(), newPoint)) {
pointInCircle = true;
break;
}
}
// Si l'arete a un triangle incident t dont le cercle circonscrit contient newPoint, suprimer le triangle t et l'arete a et ajouter les 2 autres aretes du triangle à la liste
if(pointInCircle) {
std::cout << "je passe jamais !" << std::endl;
Triangle* triangle = *it;
edges.erase(edges.begin());
if(triangle->LineA() != a) {
edges.push_back(triangle->LineA());
}
if(triangle->LineB() != a) {
edges.push_back(triangle->LineB());
}
if(triangle->LineC() != a) {
edges.push_back(triangle->LineC());
}
_triangles.erase(it);
}
else {
// creer aretes start - new et end - new et le triangle a a1 a2 (ou a2 a1 a)
Line* a1 = new Line(a->getStartPoint(), newPoint);
Line* a2 = new Line(a->getEndPoint(), newPoint);
_edges.push_back(a1);
_edges.push_back(a2);
_triangles.push_back(new Triangle(a, a1, a2));
}
}
}
}
