/**
* Compare Interrupt
*/
void TIM4_IRQHandler(void){
if(TIM_GetITStatus(TIM4, TIM_IT_CC1) == SET){
// clear IRQ Status
TIM_ClearITPendingBit(TIM4, TIM_IT_CC1);
NVIC_ClearPendingIRQ(TIM2_IRQn);
// now increment local loop counter and modify local
// time on second increment
++loops;
if(loops == RATE_MIN){
// reset timing information for next 1 second round
loops = 0;
totalDuration = newTotalDuration;
lastOverflow = 0;
currentCycleDuration = 0;
immediateCorrection = 0; // only applied till next cycle/second starts, then
// newTotalDuration contains corrected value
}
if(loops % UPDATE_RATE_SEC == 0){
DCF77_incrementTime(&clockTime);
UART_SendString("S\n\0");
}
// update timer compare register and update duration of current cycle /second in ticks
currentCycleDuration += lastCompareDuration;
lastCompareDuration = Clock_calcMacrotickDuration();
previousCompareRegisterValue = TIM4->CCR1;
TIM4->CCR1 += lastCompareDuration;
// update visualization of clock
updateVisualization(&clockTime, (loops % UPDATE_RATE_SEC), UPDATE_RATE_SEC);
}
}
void RamachandranPlot::resetSelectedResidueAngles()
{
ProteinState *state = curProtein();
if ( !state ) return;
#ifdef COIL
if ( state->selectedResidue != 0 &&
state->selectedResidue->getType() != MD::Protein::Residue::UNK &&
state->selectedResidue->getSecondaryStructure()->getStructureType() ==
MD::Protein::SecondaryStructure::COIL )
#endif
if ( state->selectedResidue != 0 &&
state->selectedResidue->getType() != MD::Protein::Residue::UNK )
{
/* reset dihedral angles of selected residue: */
MD::Scalar newPhi = MD::Scalar( phiAngle );
MD::Scalar newPsi = MD::Scalar( psiAngle );
/* Apply the change: */
undoBuffer.startInteraction (
state->protein,
state->selectedResidue,
state->interactor->getUpdateDirection()
);
state->protein->setDihedralAngles (
state->protein->getResidueIndex(state->selectedResidue),
1,&newPhi,&newPsi,state->interactor->getUpdateDirection()
);
undoBuffer.finishInteraction();
/* Update visualization state: */
updateVisualization();
}
}
int main(int argc, char* argv[]) {
ros::init(argc, argv, "rvo_example");
ros::NodeHandle nh("rvo_example");
/* Create a new simulator instance. */
RVO::RVOSimulator* sim = new RVO::RVOSimulator();
/* Set up the scenario. */
setupScenario(sim);
/* Perform (and manipulate) the simulation. */
ROS_INFO("Iteration");
do {
#if RVO_OUTPUT_TIME_AND_POSITIONS
updateVisualization(sim);
#endif
setPreferredVelocities(sim);
sim->doStep();
} while (!reachedGoal(sim));
ROS_INFO("End");
delete sim;
return 0;
}
void PhysicsLib::enableFeature(PhysicsLib::Feature feature, bool enable)
{
if(!data->sdk || !data->scene)
return;
if(!data->scene->isWritable())
{
::Logger::getInstance()->warning("PhysicsLib::enableFeature - Attempt to set physics features while physics running (pause game/physics update first).");
return;
}
data->featureMap[feature] = enable;
data->applyOptions();
// not necessarily a good idea? will cause a huge hit for this frame until proper settings get updated..
updateVisualization(VC3(0,0,0), 999999.0f, true);
}
int main(int argc, const char* argv[])
{
/* Create a new simulator instance. */
RVO::RVOSimulator* sim = new RVO::RVOSimulator();
/* Set up the scenario. */
setupScenario(sim);
/* Perform (and manipulate) the simulation. */
do {
updateVisualization(sim);
setPreferredVelocities(sim);
sim->doStep();
} while (!reachedGoal(sim));
delete sim;
return 0;
}
/**
* Compare Interrupt - dummy handler demo for local counter
*/
void TIM4_IRQHandler(void){
if(TIM_GetITStatus(TIM4, TIM_IT_CC1) == SET){
// clear IRQ Status
TIM_ClearITPendingBit(TIM4, TIM_IT_CC1);
NVIC_ClearPendingIRQ(TIM4_IRQn);
// now increment local loop counter and modify local
// time on second increment
++loops;
if(loops % UPDATE_RATE_SEC == 0){
// primitve watch
seconds++;
if(seconds == 60){
seconds = 0;
++minutes;
if(minutes == 60){
++hours;
minutes = 0;
if(hours == 24){
hours = 0;
}
}
}
seconds = seconds % 60;
loops = 0;
//UART_SendString("S\n\0");
}
// update timer compare register and update duration of current cycle /second in ticks
TIM4->CCR1 += COUNTERVALUE40MS;
// update visualization of clock
updateVisualization(hours, minutes, seconds, (loops % UPDATE_RATE_SEC));
}
}
