void PlayState::HandleUpdates(Game &game){
UpdateManager::EnemyUpdate(enemyv, game.window, elapsedTime, game.highscore); //enemy
UpdateManager::StdUpdate(enemyFormationv, game.window, elapsedTime); //enemyFormation
UpdateManager::StdUpdate(monkeyv, game.window, elapsedTime); //monkey
UpdateManager::StdUpdate(shitv, game.window, elapsedTime); //shit
UpdateManager::StdUpdate(boss1v, game.window, elapsedTime); //boss1
UpdateManager::StdUpdate(unlockPewv, game.window, elapsedTime); //unlockpew
UpdateManager::StdUpdate(b1Weaponv, game.window, elapsedTime); //b1Weapon
UpdateManager::StdUpdate(boss2v, game.window, elapsedTime); //boss2
UpdateManager::Boss2WeaponUpdate(boss2Weaponv, game.window, elapsedTime, player1); // b2Weapon
UpdateManager::StdUpdate(boss3v, game.window, elapsedTime); //boss3
UpdateManager::StdUpdate(cowv, game.window, elapsedTime); //cow
UpdateManager::StdUpdate(healthv, game.window, elapsedTime); //health
UpdateManager::StdUpdate(boss3FWeaponv, game.window, elapsedTime); //boss3firstWeapon
UpdateManager::StdUpdate(boss3SWeaponv, game.window, elapsedTime); //boss3SecWeapon
UpdateManager::WeaponUpdate(bulletv, elapsedTime); //bullet
UpdateManager::WeaponUpdate(dShotv, elapsedTime); //double shot
UpdateManager::WeaponUpdate(pewv, elapsedTime); //pewv
UpdateHUD(game.window);
if (player1.getActiveBool())
player1.Update(game.window, elapsedTime);
}
void Vehicle::Update()
{
UpdateHUD();
UpdateWheels();
UpdateEffects();
UpdateSounds();
UpdateCameraEntity();
UpdateLight();
}
// IGameFramework methods
void CCoherentUISystem::OnPostUpdate( float fDeltaTime )
{
SetTexturesForListeners();
if ( m_pUISystem )
{
UpdateHUD();
m_pUISystem->Update();
}
}
void StopRun(char reason[255])
{
isRunning=false;
DumpToFile();
//CaptureScene(); don't know why this doesn't work
printf("Run Stopped. (Reason: %s)\n",reason);
char logFile[255];
sprintf(logFile,"%s\\%s\\%s.log",_getcwd(NULL,0),gRunBaseName,gRunBaseName);
LogRunStats(logFile);
LogExperimentStats(logFile);
WritePrivateProfileString("experiment","stop_reason",reason,logFile);
SetThreadExecutionState(ES_CONTINUOUS); // save electricity for the uni
if (bQuitWhenDone) exit(0);
UpdateHUD();
}
void Simulation::Step() {
// dispatch the new frame, this wraps up the follow Viewer operations:
// advance() to the new frame
// eventTraversal() that collects events and passes them on to the event handlers and event callbacks
// updateTraversal() to calls the update callbacks
// renderingTraversals() that runs syncronizes all the rendering threads (if any) and dispatch cull, draw and swap buffers
int64 tmptime = cvGetTickCount();
int64 difftime = (tmptime-loop_time_)/cvGetTickFrequency();
// if(difftime < loop_target_time_){
// //std::cout<<"sleeping: "<<loop_target_time_-difftime<<std::endl;
// usleep(loop_target_time_-difftime);
// return;
// }
loop_time_ = tmptime;
viewer_.advance();
viewer_.eventTraversal();
viewer_.updateTraversal();
viewer_.renderingTraversals();
// osg::Matrix testmat = viewer_.getView(2)->getCamera()->getProjectionMatrix();
// testmat = viewer_.getView(2)->getCamera()->getProjectionMatrix();
// std::cout<<testmat(0,0)<<" "<<testmat(0,1)<<" "<<testmat(0,2)<<" "<<testmat(0,3)<<std::endl;
// std::cout<<testmat(1,0)<<" "<<testmat(1,1)<<" "<<testmat(1,2)<<" "<<testmat(1,3)<<std::endl;
// std::cout<<testmat(2,0)<<" "<<testmat(2,1)<<" "<<testmat(2,2)<<" "<<testmat(2,3)<<std::endl;
// std::cout<<testmat(3,0)<<" "<<testmat(3,1)<<" "<<testmat(3,2)<<" "<<testmat(3,3)<<std::endl;
// std::cout<<std::endl;
viewer_.getView(0)->getCamera()->getViewMatrixAsLookAt(view_matrix_eye_, view_matrix_center_, view_matrix_up_, view_matrix_distance_);
view_matrix_ = viewer_.getView(0)->getCamera()->getViewMatrix();
// osg::Matrix windowMatrix = viewer_.getView(2)->getCamera()->getViewport()->computeWindowMatrix();
// osg::Matrix projectionMatrix = viewer_.getView(2)->getCamera()->getProjectionMatrix();
// osg::Matrix mat = projectionMatrix*windowMatrix;
// std::cout<<"mat: "<<mat(0,0)<<" "<<mat(1,1)<<" "<<mat(2,0)<<" "<<mat(2,1)<<std::endl;
// std::cout<<"eye: "<<view_matrix_eye_.x()<<" "<<view_matrix_eye_.y()<<" "<<view_matrix_eye_.z()<<std::endl;
if(particles_on_){
// The dynamic update of the particle filter.
localisation_->dynamic(robotdata_->incremente_left_,robotdata_->incremente_right_);
// Update of simulations view of particles.
particle_view_->Update(localisation_->getParticles(), particle_visibility_ratio_);
}
//Picture handling
if(screen_shot_callback_->isPicTaken() && !picture_processed_){
osg::ref_ptr<osg::Image> osgImage = screen_shot_callback_->getImage();
cv::Mat cvImg(osgImage->t(), osgImage->s(), CV_8UC3);
cv::Mat cvCopyImg(osgImage->t(), osgImage->s(), CV_8UC3);
cvImg.data = (uchar*)osgImage->data();
cv::flip(cvImg, cvCopyImg, 0); // Flipping because of different origins
observedImg_ = &cvCopyImg;
// Write position, orientation and image to log file.
data_to_file_writer_.WriteData(robotdata_->incremente_left_, robotdata_->incremente_right_,
robotdata_->x_pos_, view_matrix_eye_[0], localisation_->getPosition().at(0),
robotdata_->y_pos_, view_matrix_eye_[1], localisation_->getPosition().at(2),
robotdata_->psi_, view_matrix_(0,0), localisation_->getOrientation().at(1), cvCopyImg);
Observe();
// old version
// data_to_file_writer_.WritePlotData( robotdata_->x_pos_, robotdata_->y_pos_, robotdata_->psi_,
// localisation_->getPosition().at(0), localisation_->getPosition().at(2),
// localisation_->getPosition().at(1)*3, localisation_->getPosition().at(3)*3, true);
es_ = localisation_->getEstimatedRobotPose();
data_to_file_writer_.WritePlotData( robotdata_->x_pos_, robotdata_->y_pos_,
es_->x, es_->y,
es_->sigmaXYLarge, es_->sigmaXYSmall,
es_->sigmaXYAngle/M_PI*180, true);
// observe for particle filter is done here.
picture_processed_ = true;
}
else {
// writes the current position and orientation of the robot to file.
data_to_file_writer_.WriteData(robotdata_->incremente_left_, robotdata_->incremente_right_,
robotdata_->x_pos_, view_matrix_eye_[0], localisation_->getPosition().at(0),
robotdata_->y_pos_, view_matrix_eye_[1], localisation_->getPosition().at(2),
robotdata_->psi_, view_matrix_(0,0), localisation_->getOrientation().at(1));
es_ = localisation_->getEstimatedRobotPose();
data_to_file_writer_.WritePlotData( robotdata_->x_pos_, robotdata_->y_pos_,
es_->x, es_->y,
es_->sigmaXYLarge, es_->sigmaXYSmall,
es_->sigmaXYAngle/M_PI*180);
}
UpdateHUD();
// without pad_control pictures are taken every takepicture_intervall_ ms
// if( (!pad_control_on_) && (0.001*(cvGetTickCount()-take_picture_timer_)/cvGetTickFrequency()>takepicture_intervall_) ){
// std::cout<<"Sim: 'I queued a Shot!'"<<std::endl;
// screen_shot_callback_->queueShot();
// picture_processed_ = false;
// take_picture_timer_ = cvGetTickCount();
// }
if(step_counter_ % takepicture_intervall_ == 0){
screen_shot_callback_->queueShot();
picture_processed_ = false;
take_picture_timer_ = cvGetTickCount();
}
if(pad_control_on_){
if(picture_processed_ && !take_picture_button_pressed_ && sixaxes_->buttonPressed(BUTTON_CIRCLE)){
// Every 2 sec a Shot is queued to get a picture form the scene.
screen_shot_callback_->queueShot();
take_picture_button_pressed_ = true;
picture_processed_ = false;
take_picture_timer_ = cvGetTickCount();
}
if(!sixaxes_->buttonPressed(BUTTON_CIRCLE))
take_picture_button_pressed_ = false;
// If Padcontrol is enabled, the inputs from the pad are written to the robotData.
// That way the callback will use the inputs to move the robot.
if(sixaxes_->buttonPressed(BUTTON_L1) && sixaxes_->buttonPressed(BUTTON_R1)){
robotdata_->speed_ = sixaxes_->axis(AXIS_LY)*-0.2;
robotdata_->psi_speed_ = sixaxes_->axis(AXIS_RX)*-0.05;
}
else{
robotdata_->speed_ = 0.0;
robotdata_->psi_speed_ = 0.0;
}
if(sixaxes_->buttonPressed(BUTTON_TRIANGLE)){
while(viewer_.areThreadsRunning()){
viewer_.stopThreading();
}
viewer_.setDone(true);
}
}
if(!trajectory_from_file_.empty()){
double temp = trajectory_from_file_.front();
if(temp<1){
//screen_shot_callback_->queueShot();
//picture_processed_ = false;
}
trajectory_from_file_.erase(trajectory_from_file_.begin());
temp = trajectory_from_file_.front();
if(temp>0){
while(viewer_.areThreadsRunning()){
viewer_.stopThreading();
}
viewer_.setDone(true);
}
trajectory_from_file_.erase(trajectory_from_file_.begin());
temp = trajectory_from_file_.front();
robotdata_->speed_ = temp;
trajectory_from_file_.erase(trajectory_from_file_.begin());
temp = trajectory_from_file_.front();
robotdata_->psi_speed_ = temp;
trajectory_from_file_.erase(trajectory_from_file_.begin());
}
else{
trajectory_buffer_ << screen_shot_callback_->isPicTaken() << std::endl;
trajectory_buffer_ << viewer_.done() << std::endl;
trajectory_buffer_ << robotdata_->speed_ << std::endl;
trajectory_buffer_ << robotdata_->psi_speed_ << std::endl;
}
//trajectory_buffer_ << "------------------" << std::endl;
step_counter_ ++;
}
void RPG_GuiManager_VisionGUI::OnTick(float const deltaTime)
{
RPG_Character* characterEntity = static_cast<RPG_Character *>(RPG_PlayerUI::s_instance.GetController()->GetOwner());
VASSERT(characterEntity);
UpdateHUD(characterEntity, deltaTime);
}
void HUD::Update()
{
UpdateFrame();
UpdateHUD();
}
