void PointArrayParticleSystem::init(IStorm3D* s3d, IStorm3D_Scene* scene)
{
defaultInit(s3d, scene, *m_eds);
std::string fileName = m_eds->modelFile;
if(fileName.empty())
return;
Matrix sm;
Matrix rm;
QUAT q;
q.MakeFromAngles(m_eds->rotation.x, m_eds->rotation.y, m_eds->rotation.z);
rm.CreateRotationMatrix(q);
sm.CreateScaleMatrix(m_eds->scale);
sm.Multiply(rm);
IStorm3D_Model* model = s3d->CreateNewModel();
assert(model != NULL);
if(model->LoadS3D(fileName.c_str()))
{
Iterator<IStorm3D_Model_Object*>* obj = model->ITObject->Begin();
assert(obj != NULL);
boost::shared_ptr<PointArray> pm(new PointArray());
for(; !obj->IsEnd(); obj->Next())
{
IStorm3D_Mesh* mesh = obj->GetCurrent()->GetMesh();
VC3 opos = obj->GetCurrent()->GetPosition();
if(mesh)
{
int base = pm->verts.size();
pm->verts.resize(base + mesh->GetVertexCount());
pm->normals.resize(base + mesh->GetVertexCount());
Storm3D_Vertex *v = mesh->GetVertexBuffer();
for(int i = 0; i < mesh->GetVertexCount(); i++)
{
Vector pos = v[i].position + opos;
Vector nor = v[i].normal;
sm.TransformVector(pos);
rm.RotateVector(nor);
pm->verts[base + i] = pos;
pm->normals[base + i] = nor;
}
}
}
m_parray.swap(pm);
if(m_eds->firstVertex < 0)
m_eds->firstVertex = 0;
if(m_eds->lastVertex >= (int)m_parray->verts.size())
m_eds->lastVertex = m_parray->verts.size()-1;
delete obj;
}
delete model;
}
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
:m_vehicleRaycaster(raycaster),
m_pitchControl(btScalar(0.))
{
m_chassisBody = chassis;
m_indexRightAxis = 0;
m_indexUpAxis = 2;
m_indexForwardAxis = 1;
defaultInit(tuning);
}
LoadSBMLOptions::LoadSBMLOptions(const Dictionary* dict)
{
defaultInit();
const LoadSBMLOptions *opt = dynamic_cast<const LoadSBMLOptions*>(dict);
if (opt) {
version = opt->version;
size = opt->size;
modelGeneratorOpt = opt->modelGeneratorOpt;
loadFlags = opt->loadFlags;
this->items = opt->items;
}
else if (dict) {
std::vector<std::string> keys = dict->getKeys();
for (std::vector<std::string>::const_iterator k = keys.begin(); k != keys.end(); ++k) {
setItem(*k, dict->getItem(*k));
}
}
}
/// Main function for ADC test firmware
int main(void) {
uint8_t debugAdc, i;
FunctionalState led = DISABLE;
defaultInit();
debugAdc = debugNewSource("ADC");
debugSourceEnable(debugAdc, ENABLE);
debugPrintln(debugAdc, "test start");
timerStartMs(100);
for (;;) {
adcLoop();
if (timerEnd()) {
timerStartMs(500);
ledCmd(0, led);
led = !led;
debugPrintRaw(debugAdc, "ADC:");
for (i = 0; i < ADC_NUMBER; i++) {
debugPrintRaw(debugAdc, " %u", adcRead(i));
}
debugPrintRaw(debugAdc, "\r\n");
}
}
}
GFXFontEdit::GFXFontEdit(GFXOldFont *oldFont) : GFXFont()
{
// Create a font from an old font
defaultInit();
memcpy(&fi, &oldFont->fi, sizeof(oldFont->fi));
fi.numChars = 0;
GFXBitmap *bitmap;
GFXOldCharInfo *oldCharInfo;
pPal = oldFont->pPal;
oldFont->pPal = NULL;
for (int i = 0; i < MAX_CHARS; i++)
{
oldFont->getCharInfo(i, &bitmap, &oldCharInfo);
if (bitmap != oldFont->missing)
insertBitmap(i, bitmap, oldCharInfo->baseline);
}
computeUsefulInformation();
}
void GFXFontEdit::unpack(GFXFont *font)
{
// In order to allow easy editing of a font, we generate extra space
// in the arrays for copying/pasting, etc.
// if "font" is null then we are unpacking the current object
// (this), so we need to make a copy of ourselves:
if (font == NULL)
{
font = new GFXFont;
font->bma.numBitmaps = bma.numBitmaps;
font->bma.array = bma.array;
font->fi = fi;
font->charTable = charTable;
font->charTableLookup = charTableLookup;
font->charTableLookupOffset = charTableLookupOffset;
font->charTableLookupSize = charTableLookupSize;
font->pPal = pPal;
}
// if "font" is non-null then we are unpacking a font that was
// just read from a file.
// defaultInit() will attempt to delete these arrays before it creates
// the new ones, we want to keep our copies of them, and they'll be
// deleted at the bottom
bma.array = NULL;
charTable = NULL;
charTableLookup = NULL;
// now clobber everyting, create the unpacked space
defaultInit();
// now copy packed to unpacked
fi = font->fi;
int i;
bma.numBitmaps = font->bma.numBitmaps;
for (i = 0; i < bma.numBitmaps; i++)
{
bma.array[i] = font->bma.array[i];
font->bma.array[i] = NULL; // so it doesn't get deleted immediately
}
font->bma.numBitmaps = 0;
int index;
int count = font->charTableLookupSize + font->charTableLookupOffset;
for (i = 0; i < count; i++)
{
index = i - font->charTableLookupOffset;
if (index >= 0)
charTableLookup[i] = font->charTableLookup[index];
}
for (i = 0; i < fi.numChars; i++)
charTable[i] = font->charTable[i];
computeUsefulInformation();
if (font->pPal)
{
pPal = font->pPal;
font->pPal = NULL; // so it doesn't get deleted immediately
}
fi.scale.x = 1<<16;
fi.scale.y = 1<<16;
delete font;
}
LoadSBMLOptions::LoadSBMLOptions()
{
defaultInit();
}
WalkBalanceConfig::WalkBalanceConfig():
detX(0.015),detY(0.02)
{
defaultInit();
}
//const int NaoConfig::LegIDRight = 1;
//const int NaoConfig::LegIDLeft = -1;
NaoConfig::NaoConfig()
{
theNaoCfg = this;
defaultInit();
}
