/*!
@brief 描画プロシージャ
*/
void mine_tile::paint(Graphics* g){
switch(state){
case init:
case init_lock:
draw_frame(g);
break;
case opened:
draw_grid(g);
draw_number(g);
break;
case marked:
case mark_lock:
draw_frame(g);
draw_flag(g);
break;
case bomb:
draw_grid(g);
draw_bomb(g);
break;
case exploded:
draw_grid(g);
draw_bomb(g);
draw_cross(g);
break;
case missmark:
draw_frame(g);
draw_flag(g);
draw_cross(g);
break;
default:
break;
}
}
static void add_clock_to_frame( mlt_producer producer, mlt_frame frame, time_info* info )
{
mlt_profile profile = mlt_service_profile( MLT_PRODUCER_SERVICE( producer ) );
mlt_properties producer_properties = MLT_PRODUCER_PROPERTIES( producer );
uint8_t* image = NULL;
mlt_image_format format = mlt_image_rgb24a;
int size = 0;
int width = profile->width;
int height = profile->height;
int line_width = LINE_WIDTH_RATIO * (width > height ? height : width) / 100;
int radius = (width > height ? height : width) / 2;
char* direction = mlt_properties_get( producer_properties, "direction" );
int clock_angle = 0;
mlt_frame_get_image( frame, &image, &format, &width, &height, 1 );
// Calculate the angle for the clock.
int frames = info->frames;
if( !strcmp( direction, "down" ) )
{
frames = info->fps - info->frames - 1;
}
clock_angle = (frames + 1) * 360 / info->fps;
draw_clock( image, profile, clock_angle, line_width );
draw_cross( image, profile, line_width );
draw_ring( image, profile, ( radius * OUTER_RING_RATIO ) / 100, line_width );
draw_ring( image, profile, ( radius * INNER_RING_RATIO ) / 100, line_width );
size = mlt_image_format_size( format, width, height, NULL );
mlt_frame_set_image( frame, image, size, mlt_pool_release );
}
void simulation_render_lagrange_points(simulation_t* sim,celestial_body_t* secondary)
{
vector_t lagrange_points[5];
vector_t rel_position=vector_subtract(secondary->base.position,secondary->orbit.primary->base.position);
vector_t direction=vector_normalize(rel_position);
float a=secondary->base.mass/(secondary->base.mass+secondary->orbit.primary->base.mass);
float offset=powf(a*0.3333333,0.333333);
lagrange_points[0]=vector_multiply(secondary->orbit.semi_major_axis*(1+offset),direction);
lagrange_points[1]=vector_multiply(secondary->orbit.semi_major_axis*(1-offset),direction);
lagrange_points[2]=vector_multiply(-secondary->orbit.semi_major_axis*(1+(5.0/12.0)*a),direction);
lagrange_points[3].x=rel_position.x*cos(M_PI/3)+rel_position.y*sin(M_PI/3);
lagrange_points[3].y=rel_position.x*-sin(M_PI/3)+rel_position.y*cos(M_PI/3);
lagrange_points[4].x=rel_position.x*cos(-M_PI/3)+rel_position.y*sin(-M_PI/3);
lagrange_points[4].y=rel_position.x*-sin(-M_PI/3)+rel_position.y*cos(-M_PI/3);
int i;
for(i=0;i<5;i++)
{
char str[128];
sprintf(str,"%s-%s L%d point",secondary->orbit.primary->name,secondary->name,i+1);
vector_t screen_pos=vector_transform(vector_add(secondary->orbit.primary->base.position,lagrange_points[i]),sim->camera);
draw_cross(screen_pos,get_color(0,0,255));
draw_text(screen_pos.x+10,screen_pos.y,str);
}
}
void exe_key(int *src, t_ray *ray)
{
if (src[4] == 1)
do_disco_key(ray, 1);
if (src[4] == 0)
do_disco_key(ray, 0);
if (src[5] == 1)
draw_cross(ray);
}
/**
* \brief Selects a random, unoccupied square
*/
static void opponent_turn(void)
{
uint8_t square_num;
do {
square_num = rand() % 9;
} while (occupied_squares[square_num / 3][square_num % 3]);
occupied_squares[square_num / 3][square_num % 3] = COMPUTER;
draw_cross(square_num);
}
static void test_calibration(void)
{
int sample[3][2] = {
{ 200, 200 },
{ 100, 400 },
{ 600, 330 },
};
int tx[3];
int ty[3];
int i, x, y;
for (i = 0; i < 3; i ++) {
draw_cross(sample[i][0], sample[i][1], 0);
get_input(&tx[i], &ty[i]);
x = (cal_val[0] * tx[i]) +
(cal_val[1] * ty[i]) +
cal_val[2];
y = (cal_val[3] * tx[i]) +
(cal_val[4] * ty[i]) +
cal_val[5];
log_write("get event: %d,%d\n", x/cal_val[6], y/cal_val[6]);
draw_cross(sample[i][0], sample[i][1], 1);
}
}
/**
* @brief draws a little cross on each corner of a quad
*
* @param frame the \c IplImage to draw on to
* @param quad the quad that should be drawn
*/
void koki_quad_draw(IplImage *frame, koki_quad_t *quad)
{
koki_point2Di_t p;
assert(frame != NULL);
assert(quad != NULL);
for (uint8_t i=0; i<4; i++){
p.x = quad->vertices[i].x;
p.y = quad->vertices[i].y;
if (p.x < 0 || p.x > frame->width ||
p.y < 0 || p.y > frame->height)
continue;
draw_cross(frame, p);
}
}
Var* ff_drawshape(vfuncptr func, Var* arg)
{
Var *obj = NULL, *ovar = NULL;
size_t x, y, z;
char* out;
float ignore = FLT_MAX;
const char* options[] = {"cross", "box", "circle", NULL};
const char* shape = options[0];
Alist alist[9];
alist[0] = make_alist("object", ID_VAL, NULL, &obj);
alist[1] = make_alist("shape", ID_ENUM, options, &shape);
alist[2] = make_alist("ignore", DV_FLOAT, NULL, &ignore);
alist[3].name = NULL;
if (parse_args(func, arg, alist) == 0) return (NULL);
if (obj == NULL) {
parse_error("%s: No object specified\n", func->name);
return (NULL);
}
x = GetX(obj);
y = GetY(obj);
z = GetZ(obj);
out = calloc(x * y, sizeof(char));
ovar = newVal(BSQ, x, y, 1, DV_UINT8, out);
if (!strcmp(shape, "cross")) {
draw_cross(obj, x, y, ignore, out);
} else if (!strcmp(shape, "box")) {
draw_box(obj, x, y, ignore, out);
} else if (!strcmp(shape, "circle")) {
draw_circle(obj, x, y, ignore, out);
}
return (ovar);
}
int main(int argc, char** argv)
{
if(argc != 6) {
std::cerr << "Usage: " << argv[0]
<< " in.png out.png match.txt left|right H.txt" <<std::endl;
return 1;
}
// Read image
size_t nx, ny;
LWImage<unsigned char> in(0,0,0);
in.data = read_png_u8_rgb(argv[1], &nx, &ny);
in.w = static_cast<int>(nx); in.h = static_cast<int>(ny); in.comps=3;
if(! in.data) {
std::cerr << "Error reading image " << argv[1] << std::endl;
return 1;
}
// Read correspondences
std::vector<Match> match;
if(! loadMatch(argv[3],match)) {
std::cerr << "Failed reading " << argv[3] << std::endl;
return 1;
}
// Read left/right image
bool bLeft = (strcmp(argv[4],"left")==0);
if(!bLeft && strcmp(argv[4], "right")!=0) {
std::cerr << "Error: arg 4 must be 'left' or 'right'" << std::endl;
return 1;
}
// Read homography
libNumerics::Homography H;
std::ifstream f(argv[5]);
if((f >> H.mat()).fail()) {
std::cerr << "Error reading homography file " << argv[2] << std::endl;
return 1;
}
// Drawing lines
int delta = in.h/(NUM_LINES+1);
if(delta==0) delta=1;
for(int i=delta; i < in.h; i+=delta)
draw_horizontal_dashed_line(in.data, in.w, in.h, i,
LENGTH_ON, LENGTH_OFF, CYAN);
// Drawing SIFT
std::vector<Match>::const_iterator it=match.begin();
for(; it != match.end(); ++it) {
double x=it->x1, y=it->y1;
if(! bLeft) {
x = it->x2; y=it->y2;
}
H(x,y);
int ix = static_cast<int>(std::floor(x+0.5));
int iy = static_cast<int>(std::floor(y+0.5));
if(0<=ix && ix<in.w && 0<=iy && iy<in.h)
draw_cross(in.data, in.w, in.h, ix, iy, CROSS_HALF_LENGTH, RED);
}
// Write image
if(write_png_u8(argv[2], in.data, in.w, in.h, in.comps) != 0) {
std::cerr << "Error writing file " << argv[3] << std::endl;
return 1;
}
return 0;
}
int main(int argc, char** argv)
{
/* A matrix data */
const float A[] = { 1, 1, 0, 1 };
IplImage* img = cvCreateImage( cvSize(500,500), 8, 3 );
CvKalman* kalman = cvCreateKalman( 2, 1, 0 );
/* state is (phi, delta_phi) - angle and angle increment */
CvMat* state = cvCreateMat( 2, 1, CV_32FC1 );
CvMat* process_noise = cvCreateMat( 2, 1, CV_32FC1 );
/* only phi (angle) is measured */
CvMat* measurement = cvCreateMat( 1, 1, CV_32FC1 );
CvRandState rng;
int code = -1;
cvRandInit( &rng, 0, 1, -1, CV_RAND_UNI );
cvZero( measurement );
cvNamedWindow( "Kalman", 1 );
for(;;)
{
cvRandSetRange( &rng, 0, 0.1, 0 );
rng.disttype = CV_RAND_NORMAL;
cvRand( &rng, state );
memcpy( kalman->transition_matrix->data.fl, A, sizeof(A));
cvSetIdentity( kalman->measurement_matrix, cvRealScalar(1) );
cvSetIdentity( kalman->process_noise_cov, cvRealScalar(1e-5) );
cvSetIdentity( kalman->measurement_noise_cov, cvRealScalar(1e-1) );
cvSetIdentity( kalman->error_cov_post, cvRealScalar(1));
/* choose random initial state */
cvRand( &rng, kalman->state_post );
rng.disttype = CV_RAND_NORMAL;
for(;;)
{
#define calc_point(angle) \
cvPoint( cvRound(img->width/2 + img->width/3*cos(angle)), \
cvRound(img->height/2 - img->width/3*sin(angle)))
float state_angle = state->data.fl[0];
CvPoint state_pt = calc_point(state_angle);
/* predict point position */
const CvMat* prediction = cvKalmanPredict( kalman, 0 );
float predict_angle = prediction->data.fl[0];
CvPoint predict_pt = calc_point(predict_angle);
float measurement_angle;
CvPoint measurement_pt;
cvRandSetRange( &rng,
0,
sqrt(kalman->measurement_noise_cov->data.fl[0]),
0 );
cvRand( &rng, measurement );
/* generate measurement */
cvMatMulAdd( kalman->measurement_matrix, state, measurement, measurement );
measurement_angle = measurement->data.fl[0];
measurement_pt = calc_point(measurement_angle);
/* plot points */
#define draw_cross( center, color, d ) \
cvLine( img, cvPoint( center.x - d, center.y - d ), \
cvPoint( center.x + d, center.y + d ), \
color, 1, 0 ); \
cvLine( img, cvPoint( center.x + d, center.y - d ), \
cvPoint( center.x - d, center.y + d ), \
color, 1, 0 )
cvZero( img );
draw_cross( state_pt, CV_RGB(255,255,255), 3 );
draw_cross( measurement_pt, CV_RGB(255,0,0), 3 );
draw_cross( predict_pt, CV_RGB(0,255,0), 3 );
cvLine( img, state_pt, predict_pt, CV_RGB(255,255,0), 3, 0 );
/* adjust Kalman filter state */
cvKalmanCorrect( kalman, measurement );
cvRandSetRange( &rng,
0,
sqrt(kalman->process_noise_cov->data.fl[0]),
0 );
cvRand( &rng, process_noise );
cvMatMulAdd( kalman->transition_matrix,
state,
process_noise,
state );
cvShowImage( "Kalman", img );
code = cvWaitKey( 100 );
if( code > 0 ) /* break current simulation by pressing a key */
break;
}
if( code == 27 ) /* exit by ESCAPE */
break;
}
return 0;
}
static int do_calibration_uc6811(void)
{
/* calculate the expected point */
int i, x, y;
int dx[4], dy[4];
int tx[4], ty[4];
int tmp_x, tmp_y;
x = info.xres;
y = info.yres;
int get_width, get_height;
dx[0] = x / 2;
dy[0] = y / 10;
dx[1] = x / 10;
dy[1] = y / 2;
dx[2] = x - x / 10;
dy[2] = y / 2;
dx[3] = x / 2;
dy[3] = y - y / 10;
log_write("enter in do_calibration_uc6811\n");
log_write("x: %d---y:%d", x, y);
retry:
for (i = 0; i < 4; i ++) {
draw_cross(dx[i], dy[i], 0);
get_input(&tx[i], &ty[i]);
log_write("get event: %d,%d -> %d,%d\n", tx[i], ty[i], dx[i], dy[i]);
draw_cross(dx[i], dy[i], 1);
}
for(i = 0; i < 4; i++) {
log_write("tx[%d] = %d, ty[%d] = %d\n\r", i, tx[i], i, ty[i]);
}
for (i = 0; i < 4; i ++) {
tx[i] = tx[i] * 800 / MAX_12BIT;
ty[i] = ty[i] * 480 / MAX_12BIT;
}
for(i = 0; i < 4; i++) {
log_write("tx[%d] = %d, ty[%d] = %d\n\r", i, tx[i], i, ty[i]);
}
if ( ((tx[0] > ((int)(x/2 + x/10))) || (tx[0] < ((int)(x/2 - x/10))) || (ty[0] > ((int)(y*1/4)))) ||
((ty[1] > ((int)(y/2 + y/10))) || (ty[1] < ((int)(y/2 - y/10))) || (tx[1] > ((int)(x*1/4)))) ||
((ty[2] > ((int)(y/2 + y/10))) || (ty[2] < ((int)(y/2) - y/10)) || (tx[2] < ((int)(x-x*1/4)))) ||
((tx[3] > ((int)(x/2 + x/10))) || (tx[3] < ((int)(x/2 - x/10))) || (ty[3] < ((int)(y-y*1/4))))) {
log_write("Not pass calibration\n");
return 1;
}
get_width = tx[2] - tx[1];
get_height = ty[3] - ty[0];
tx[1] -= (int)(get_width/8);
if (tx[1] < 0){
tx[1] = 0;
}
tx[2] += (int)(get_width/8);
if (tx[2] > (x-1)){
tx[2] = (x-1);
}
ty[0] -= (int)(get_height/8);
if (ty[0] < 0){
ty[0] = 0;
}
ty[3] += (int)(get_height/8);
if (ty[3] > (y-1)){
ty[3] = (y-1);
}
for(i = 0; i < 4; i++) {
log_write("tx[%d] = %d, ty[%d] = %d\n\r", i, tx[i], i, ty[i]);
}
//modify the max, min data, end
// for(i = 0; i < 4; i++) {
// tmp_x=y-ty[i];
// tmp_y=x-tx[i];
// tx[i]=tmp_x;
// ty[i]=tmp_y;
// }
//file established when calibration ok
save_conf_uc6811(&(tx[0]), &(ty[0]));
//write_conf(cal_val);
return 0;
// write parameter data into file
}
void LineChart::draw_highlight(QPainter& painter, const QPoint& mouse_position) const
{
draw_point_highlight(painter, mouse_position);
draw_cross(painter, mouse_position);
}
static int do_calibration(void)
{
int i, x, y;
int dx[6], dy[6];
int tx[6], ty[6];
int delta, delta_x[6], delta_y[6];
int status=0;
/* calculate the expected point */
x = info.xres / 4;
y = info.yres / 4;
dx[0] = x;
dy[0] = info.yres / 2;
dx[1] = info.xres / 2;
dy[1] = y;
dx[2] = info.xres - x;
dy[2] = info.yres - y;
dx[3] = 400;
dy[3] = 360;
dx[4] = 200;
dy[4] = 360;
dx[5] = 600;
dy[5] = 240;
retry:
for (i = 0; i < 3; i ++) {
draw_cross(dx[i], dy[i], 0);
get_input(&tx[i], &ty[i]);
log_write("get event: %d,%d -> %d,%d\n", tx[i], ty[i], dx[i], dy[i]);
draw_cross(dx[i], dy[i], 1);
}
if( (dx[0] == 0) || (dx[1] == 0) || (dx[2] == 0) || (dy[0] == 0) || (dy[1] == 0) || (dy[2] == 0)){
log_write("Calibration Got ZERO Value\n");
goto retry;
}
if( (dy[0] < dy[1]) && (dy[1] - dy[0] < 10)){
log_write("Point 0 and Point 1 Get too Closed\n");
goto retry;
}else if( dy[0] > dx[1]){
goto retry;
}
if( (dy[1] < dy[2]) && (dy[2] - dy[1] < 10))
goto retry;
else if( dy[1] > dy[2])
goto retry;
/* check ok, calulate the result */
delta = (tx[0] - tx[2]) * (ty[1] - ty[2])
- (tx[1] - tx[2]) * (ty[0] - ty[2]);
delta_x[0] = (dx[0] - dx[2]) * (ty[1] - ty[2])
- (dx[1] - dx[2]) * (ty[0] - ty[2]);
delta_x[1] = (tx[0] - tx[2]) * (dx[1] - dx[2])
- (tx[1] - tx[2]) * (dx[0] - dx[2]);
delta_x[2] = dx[0] * (tx[1] * ty[2] - tx[2] * ty[1]) -
dx[1] * (tx[0] * ty[2] - tx[2] * ty[0]) +
dx[2] * (tx[0] * ty[1] - tx[1] * ty[0]);
delta_y[0] = (dy[0] - dy[2]) * (ty[1] - ty[2])
- (dy[1] - dy[2]) * (ty[0] - ty[2]);
delta_y[1] = (tx[0] - tx[2]) * (dy[1] - dy[2])
- (tx[1] - tx[2]) * (dy[0] - dy[2]);
delta_y[2] = dy[0] * (tx[1] * ty[2] - tx[2] * ty[1]) -
dy[1] * (tx[0] * ty[2] - tx[2] * ty[0]) +
dy[2] * (tx[0] * ty[1] - tx[1] * ty[0]);
cal_val[0] = delta_x[0];
cal_val[1] = delta_x[1];
cal_val[2] = delta_x[2];
cal_val[3] = delta_y[0];
cal_val[4] = delta_y[1];
cal_val[5] = delta_y[2];
cal_val[6] = delta;
for (i = 3; i < 6; i ++) {
draw_cross(dx[i], dy[i], 0);
get_input(&tx[i], &ty[i]);
get_calibration_value(&tx[i],&ty[i]);
if(tx[i] >= dx[i] )
status = (tx[i] - dx[i] > status) ? tx[i] - dx[i]: status;
else if(dx[i] > tx[i] ){
status = (dx[i] - tx[i] > status) ? dx[i] - tx[i]: status;
}
if(ty[i] >= dy[i] )
status = (ty[i] - dy[i] > status) ? ty[i] - dy[i]: status;
else if(dy[i] > ty[i] ){
status = (dy[i] - ty[i] > status) ? dy[i] - ty[i]: status;
}
log_write("get event: %d,%d -> %d,%d status=%d\n", tx[i], ty[i], dx[i], dy[i],status);
draw_cross(dx[i], dy[i], 1);
}
if(status > DIFF_VALUE){
return status;
}
save_conf(cal_val);
write_conf(cal_val);
return 0;
}
int main(int argc, char** argv)
{
const float A[] = { 1, 1, 0, 1 };//状态转移矩阵
IplImage* img = cvCreateImage( cvSize(500,500), 8, 3 );//创建显示所用的图像
CvKalman* kalman = cvCreateKalman( 2, 1, 0 );//创建cvKalman数据结构，状态向量为2维，观测向量为1维，无激励输入维
CvMat* state = cvCreateMat( 2, 1, CV_32FC1 ); //(phi, delta_phi) 定义了状态变量
CvMat* process_noise = cvCreateMat( 2, 1, CV_32FC1 );// 创建两行一列CV_32FC1的单通道浮点型矩阵
CvMat* measurement = cvCreateMat( 1, 1, CV_32FC1 ); //定义观测变量
CvRNG rng = cvRNG(-1);//初始化一个随机序列函数
char code = -1;
cvZero( measurement );//观测变量矩阵置零
cvNamedWindow( "Kalman", 1 );
for(;;)
{ //用均匀分布或者正态分布的随机数填充输出数组state
cvRandArr( &rng, state, CV_RAND_NORMAL, cvRealScalar(0), cvRealScalar(0.1) );//状态state
memcpy( kalman->transition_matrix->data.fl, A, sizeof(A));//初始化状态转移F矩阵
//cvSetIdentity()用法：把数组中除了行数与列数相等以外的所有元素的值都设置为0；行数与列数相等的元素的值都设置为1
//我们将(第一个前假象阶段的)后验状态初始化为一个随机值
cvSetIdentity( kalman->measurement_matrix, cvRealScalar(1) );//观测矩阵H
cvSetIdentity( kalman->process_noise_cov, cvRealScalar(1e-5) );//过程噪声Q
cvSetIdentity( kalman->measurement_noise_cov, cvRealScalar(1e-1) );//观测噪声R
cvSetIdentity( kalman->error_cov_post, cvRealScalar(1));//后验误差协方差
cvRandArr( &rng, kalman->state_post, CV_RAND_NORMAL, cvRealScalar(0), cvRealScalar(0.1) );//校正状态
//在时机动态系统上开始预测
for(;;)
{
#define calc_point(angle) \
cvPoint( cvRound(img->width/2 + img->width/3*cos(angle)), \
cvRound(img->height/2 - img->width/3*sin(angle)))
float state_angle = state->data.fl[0];
CvPoint state_pt = calc_point(state_angle);
const CvMat* prediction = cvKalmanPredict( kalman, 0 );//计算下一个时间点的预期值，激励项输入为0
float predict_angle = prediction->data.fl[0];
CvPoint predict_pt = calc_point(predict_angle);
float measurement_angle;
CvPoint measurement_pt;
cvRandArr( &rng, measurement, CV_RAND_NORMAL, cvRealScalar(0),
cvRealScalar(sqrt(kalman->measurement_noise_cov->data.fl[0])) );
/* generate measurement */
cvMatMulAdd( kalman->measurement_matrix, state, measurement, measurement );
//cvMatMulAdd(src1,src2,src3,dst)就是实现dist=src1*src2+src3;
measurement_angle = measurement->data.fl[0];
measurement_pt = calc_point(measurement_angle);
//调用Kalman滤波器并赋予其最新的测量值，接下来就是产生过程噪声，然后对状态乘以传递矩阵F完成一次迭代并加上我们产生的过程噪声
/* plot points */
#define draw_cross( center, color, d ) \
cvLine( img, cvPoint( center.x - d, center.y - d ), \
cvPoint( center.x + d, center.y + d ), color, 1, CV_AA, 0); \
cvLine( img, cvPoint( center.x + d, center.y - d ), \
cvPoint( center.x - d, center.y + d ), color, 1, CV_AA, 0 )
cvZero( img );
//使用上面宏定义的函数
draw_cross( state_pt, CV_RGB(255,255,255), 3 );//白色，状态点
draw_cross( measurement_pt, CV_RGB(255,0,0), 3 );//红色，测量点
draw_cross( predict_pt, CV_RGB(0,255,0), 3 );//绿色，估计点
cvLine( img, state_pt, measurement_pt, CV_RGB(255,0,0), 3, CV_AA, 0 );
cvLine( img, state_pt, predict_pt, CV_RGB(255,255,0), 3, CV_AA, 0 );
cvKalmanCorrect( kalman, measurement );//校正新的测量值
cvRandArr( &rng, process_noise, CV_RAND_NORMAL, cvRealScalar(0),
cvRealScalar(sqrt(kalman->process_noise_cov->data.fl[0])));//设置正态分布过程噪声
cvMatMulAdd( kalman->transition_matrix, state, process_noise, state );
cvShowImage( "Kalman", img );
//当按键按下时，开始新的循环，初始矩阵可能会改变，所以移动速率会改变
code = (char) cvWaitKey( 100 );
if( code > 0 )
break;
}
if( code == 27 || code == 'q' || code == 'Q' )
break;
}
cvDestroyWindow("Kalman");
return 0;
}
static void do_calibration_da9052(int do_calib)
{
int i, x, y;
int dx[3], dy[3];
int tx[3], ty[3];
int delta, delta_x[3], delta_y[3];
struct input_absinfo absX, absY;
if (do_calib) {
/* calculate the expected point */
x = info.xres / 4;
y = info.yres / 4;
dx[0] = x;
dy[0] = info.yres / 2;
dx[1] = info.xres / 2;
dy[1] = y;
dx[2] = info.xres - x;
dy[2] = info.yres - y;
for (i = 0; i < 3; i ++) {
draw_cross(dx[i], dy[i], 0);
get_input(&tx[i], &ty[i]);
log_write("Received x,y -> Expected x,y\n");
log_write("%d,%d -> %d,%d\n",
tx[i], ty[i], dx[i], dy[i]);
draw_cross(dx[i], dy[i], 1);
}
/* check ok, calulate the result */
delta = (tx[0] - tx[2]) * (ty[1] - ty[2])
- (tx[1] - tx[2]) * (ty[0] - ty[2]);
delta_x[0] = (dx[0] - dx[2]) * (ty[1] - ty[2])
- (dx[1] - dx[2]) * (ty[0] - ty[2]);
delta_x[1] = (tx[0] - tx[2]) * (dx[1] - dx[2])
- (tx[1] - tx[2]) * (dx[0] - dx[2]);
delta_x[2] = dx[0] * (tx[1] * ty[2] - tx[2] * ty[1]) -
dx[1] * (tx[0] * ty[2] - tx[2] * ty[0]) +
dx[2] * (tx[0] * ty[1] - tx[1] * ty[0]);
delta_y[0] = (dy[0] - dy[2]) * (ty[1] - ty[2])
- (dy[1] - dy[2]) * (ty[0] - ty[2]);
delta_y[1] = (tx[0] - tx[2]) * (dy[1] - dy[2])
- (tx[1] - tx[2]) * (dy[0] - dy[2]);
delta_y[2] = dy[0] * (tx[1] * ty[2] - tx[2] * ty[1]) -
dy[1] * (tx[0] * ty[2] - tx[2] * ty[0]) +
dy[2] * (tx[0] * ty[1] - tx[1] * ty[0]);
cal_val[0] = delta_x[0];
cal_val[1] = delta_x[1];
cal_val[2] = delta_x[2];
cal_val[3] = delta_y[0];
cal_val[4] = delta_y[1];
cal_val[5] = delta_y[2];
cal_val[6] = delta;
save_conf(cal_val);
write_conf(cal_val);
}
/* Android input framework expects values based on the absmax.
Now that the touchscreen is calibrated set the input maximum
according to screen resolution, not the touch sensor resolution */
if (ioctl(ts_fd, EVIOCGABS(ABS_X), &absX) == -1) {
log_write("EVIOCGABS( failed\n");
} else {
log_write("Modifying x.max:%i -> %i\n", absX.maximum, info.xres);
absX.maximum = info.xres;
if (ioctl(ts_fd, EVIOCSABS(ABS_X), &absX) == -1)
log_write("EVIOCSABS( failed\n");
}
if (ioctl(ts_fd, EVIOCGABS(ABS_Y), &absY) == -1) {
log_write("EVIOCGABS( failed\n");
} else {
log_write("Modifying y.max:%i -> %i\n", absY.maximum, info.yres);
absY.maximum = info.yres;
if (ioctl(ts_fd, EVIOCSABS(ABS_Y), &absY) == -1)
log_write("EVIOCSABS( failed\n");
}
}
void simulation_render(simulation_t* sim)
{
const color_t red=get_color(255,0,0);
const color_t white=get_color(255,255,255);
orbit_t* current_orbit=&sim->current_spacecraft->orbit;
//Calculate camera position and orientation
sim->camera.position=sim->current_spacecraft->base.position;
//vector_t primary_to_cam=vector_subtract(sim->camera.position,current_orbit->primary->base.position);
sim->camera.rotation=0;//atan2(primary_to_cam.y,primary_to_cam.x)+M_PI_2;
//Plot apoapsis and periapsis
vector_t apoapsis=vector_transform(orbit_get_position(current_orbit,current_orbit->longitude_of_periapsis+M_PI),sim->camera);
vector_t periapsis=vector_transform(orbit_get_position(current_orbit,current_orbit->longitude_of_periapsis),sim->camera);
draw_cross(apoapsis,red);
draw_cross(periapsis,red);
draw_text(apoapsis.x-20,apoapsis.y-20,"Apoapsis");
draw_text(periapsis.x-20,periapsis.y-20,"Periapsis");
//Render arrow on spacecraft
draw_arrow(vector_transform(sim->current_spacecraft->base.position,sim->camera),sim->current_spacecraft->base.rotation+sim->camera.rotation,get_color(0,255,255));
//Show orbit
orbit_show(current_orbit,sim->camera,get_color(0,255,0));
char str[64];
//Show speedup
if(sim->speedup==1)draw_text(20,650,"Real time");
else
{
sprintf(str,"Fast forward: %dx",sim->speedup);
draw_text(20,650,str);
}
int i;
for(i=0;i<sim->num_celestial_bodies;i++)
{
//Show orbit
if(sim->celestial_bodies[i].orbit.primary!=NULL)
{
orbit_show(&sim->celestial_bodies[i].orbit,sim->camera,get_color(255,255,0));
simulation_render_lagrange_points(sim,&sim->celestial_bodies[i]);
}
//Draw planet
object_render((object_t*)(&sim->celestial_bodies[i]),sim->camera);
//Show name
vector_t position=vector_transform(sim->celestial_bodies[i].base.position,sim->camera);
draw_text(position.x,position.y,sim->celestial_bodies[i].name);
//Draw sphere of influence
int j;
double theta=0;
for(j=0;j<32;j++)
{
vector_t line_start=sim->celestial_bodies[i].base.position;
line_start.x+=sim->celestial_bodies[i].sphere_of_influence*sin(theta);
line_start.y+=sim->celestial_bodies[i].sphere_of_influence*cos(theta);
line_start=vector_transform(line_start,sim->camera);
theta+=M_PI/32;
vector_t line_end=sim->celestial_bodies[i].base.position;
line_end.x+=sim->celestial_bodies[i].sphere_of_influence*sin(theta);
line_end.y+=sim->celestial_bodies[i].sphere_of_influence*cos(theta);
line_end=vector_transform(line_end,sim->camera);
theta+=M_PI/32;
draw_line(line_start.x,line_start.y,line_end.x,line_end.y,white);
}
}
for(i=0;i<sim->num_spacecraft;i++)
{
object_render((object_t*)(&sim->spacecraft[i]),sim->camera);
}
render_spacecraft_info(sim->current_spacecraft,50,50);
//render_celestial_body_info(sim->current_spacecraft->orbit.primary,500,50);
//render_celestial_body_info(&sim->celestial_bodies[5],950,50);
}
/**SDLGui_DoDialog
* Show and process a dialog. Returns the button number that has been
* pressed or SDLGUI_UNKNOWNEVENT if an unsupported event occured (will be
* stored in parameter pEventOut).
*/
int32_t SDLGui_DoDialog(SGOBJ *dlg, int/*SDL_Event */*pEventOut)
{
int32_t obj=0;
int32_t oldbutton=0;
int32_t retbutton=0;
int32_t i, j, b;
int32_t /*SDL_Event*/ sdlEvent;//SDL_Event sdlEvent;
SDL_Rect rct;
Uint32 grey;
SDL_Rect dlgrect, bgrect;
grey = 0xC0C0C0FF;
dlgrect.x = dlg[0].x * sdlgui_fontwidth;
dlgrect.y = dlg[0].y * sdlgui_fontheight;
dlgrect.w = dlg[0].w * sdlgui_fontwidth;
dlgrect.h = dlg[0].h * sdlgui_fontheight;
bgrect.x = bgrect.y = 0;
bgrect.w = dlgrect.w;
bgrect.h = dlgrect.h;
/* (Re-)draw the dialog */
SDLGui_DrawDialog(dlg);
input_gui();
if(touch!=-1){b=1;boutc=1;}
else {b=0;boutc=0;}
i=gmx;j=gmy;
/* If current object is the scrollbar, and mouse is still down, we can scroll it */
/* also if the mouse pointer has left the scrollbar */
if (dlg[current_object].type == SGSCROLLBAR) {
if (b == 1/*& SDL_BUTTON(1))*/) {
obj = current_object;
dlg[obj].state |= SG_MOUSEDOWN;
oldbutton = obj;
retbutton = obj;
}
else {
obj = current_object;
current_object = 0;
dlg[obj].state &= SG_MOUSEUP;
//retbutton = obj;
//oldbutton = obj;
okold=1;
}
}
else {
obj = SDLGui_FindObj(dlg, i, j);
current_object = obj;
if (obj > 0 && (dlg[obj].flags&SG_TOUCHEXIT) )
{
oldbutton = obj;
if (b ==1/*2*/ /*& SDL_BUTTON(1)*/)
{
dlg[obj].state |= SG_SELECTED;
retbutton = obj;
}else{
dlg[obj].state &= ~SG_SELECTED;
}
}
}
/* The main loop */
while (retbutton == 0 && !bQuitProgram)
{
input_gui();
draw_cross(gmx,gmy);
if(touch!=-1 && okold==0 ){
okold=1;
obj = SDLGui_FindObj(dlg, gmx, gmy);
if (obj>0)
{
if (dlg[obj].type==SGBUTTON)
{
dlg[obj].state |= SG_SELECTED;
SDLGui_DrawButton(dlg, obj);
oldbutton=obj;//dbgoldobj=obj;
}
if (dlg[obj].type==SGSCROLLBAR)
{
dlg[obj].state |= SG_MOUSEDOWN;
oldbutton=obj;
}
if ( dlg[obj].flags&SG_TOUCHEXIT )
{
dlg[obj].state |= SG_SELECTED;
retbutton = obj;
}
}
}
else if(touch==-1 && okold==1){
okold=0;
// It was the left button: Find the object under the mouse cursor /
obj = SDLGui_FindObj(dlg, gmx, gmy);
if (obj>0)
{
switch (dlg[obj].type)
{
case SGBUTTON:
if (oldbutton==obj){
retbutton=obj;}
break;
case SGSCROLLBAR:
dlg[obj].state &= SG_MOUSEUP;
if (oldbutton==obj)
retbutton=obj;
break;
case SGEDITFIELD:
SDLGui_EditField(dlg, obj);
break;
case SGRADIOBUT:
for (i = obj-1; i > 0 && dlg[i].type == SGRADIOBUT; i--)
{
dlg[i].state &= ~SG_SELECTED; // Deselect all radio buttons in this group /
DrawBoxF((dlg[0].x+dlg[i].x)*fontwidth,(dlg[0].y+dlg[i].y)*fontheight,0,fontwidth ,fontheight,grey);
SDLGui_DrawRadioButton(dlg, i);
}
for (i = obj+1; dlg[i].type == SGRADIOBUT; i++)
{
dlg[i].state &= ~SG_SELECTED; // Deselect all radio buttons in this group /
DrawBoxF((dlg[0].x+dlg[i].x)*fontwidth,(dlg[0].y+dlg[i].y)*fontheight,0,fontwidth ,fontheight,grey);
SDLGui_DrawRadioButton(dlg, i);
}
dlg[obj].state |= SG_SELECTED; // Select this radio button
DrawBoxF((dlg[0].x+dlg[obj].x)*fontwidth,(dlg[0].y+dlg[obj].y)*fontheight,0,fontwidth ,fontheight,grey);
SDLGui_DrawRadioButton(dlg, obj);
break;
case SGCHECKBOX:
dlg[obj].state ^= SG_SELECTED;
DrawBoxF((dlg[0].x+dlg[obj].x)*fontwidth,(dlg[0].y+dlg[obj].y)*fontheight,0,fontwidth ,fontheight,grey);
SDLGui_DrawCheckBox(dlg, obj);
break;
case SGPOPUP:
dlg[obj].state |= SG_SELECTED;
SDLGui_DrawPopupButton(dlg, obj);
retbutton=obj;
break;
}
}
if (oldbutton > 0)
{
dlg[oldbutton].state &= ~SG_SELECTED;
SDLGui_DrawButton(dlg, oldbutton);
oldbutton = 0;//dbgoldobj=0;
}
if (obj >= 0 && (dlg[obj].flags&SG_EXIT))
{
if(dlg[obj].type==SGBUTTON)dlg[obj].state &= ~SG_SELECTED;
retbutton = obj;
}
}
if(retbutton ==0)retbutton = 1;//SG_TOUCHEXIT ;
}
if (retbutton == SDLGUI_QUIT)
bQuitProgram = true;
return retbutton;
}
static void
draw_action_volume (GsdMediaKeysWindow *window,
cairo_t *cr)
{
int window_width;
int window_height;
double icon_box_width;
double icon_box_height;
double icon_box_x0;
double icon_box_y0;
double volume_box_x0;
double volume_box_y0;
double volume_box_width;
double volume_box_height;
gboolean res;
gtk_window_get_size (GTK_WINDOW (window), &window_width, &window_height);
icon_box_width = round (window_width * ICON_SCALE);
icon_box_height = round (window_height * ICON_SCALE);
volume_box_width = icon_box_width;
volume_box_height = round (window_height * 0.05);
icon_box_x0 = round ((window_width - icon_box_width) / 2);
icon_box_y0 = round ((window_height - icon_box_height - volume_box_height) / 2 - volume_box_height);
volume_box_x0 = round (icon_box_x0);
volume_box_y0 = round (icon_box_height + icon_box_y0) + volume_box_height;
#if 0
g_message ("icon box: w=%f h=%f _x0=%f _y0=%f",
icon_box_width,
icon_box_height,
icon_box_x0,
icon_box_y0);
g_message ("volume box: w=%f h=%f _x0=%f _y0=%f",
volume_box_width,
volume_box_height,
volume_box_x0,
volume_box_y0);
#endif
res = render_speaker (window,
cr,
icon_box_x0, icon_box_y0,
icon_box_width, icon_box_height);
if (! res) {
double speaker_width;
double speaker_height;
double speaker_cx;
double speaker_cy;
speaker_width = icon_box_width * 0.5;
speaker_height = icon_box_height * 0.75;
speaker_cx = icon_box_x0 + speaker_width / 2;
speaker_cy = icon_box_y0 + speaker_height / 2;
#if 0
g_message ("speaker box: w=%f h=%f cx=%f cy=%f",
speaker_width,
speaker_height,
speaker_cx,
speaker_cy);
#endif
/* draw speaker symbol */
draw_speaker (cr, speaker_cx, speaker_cy, speaker_width, speaker_height);
if (! window->priv->volume_muted) {
/* draw sound waves */
double wave_x0;
double wave_y0;
double wave_radius;
wave_x0 = window_width / 2;
wave_y0 = speaker_cy;
wave_radius = icon_box_width / 2;
draw_waves (cr, wave_x0, wave_y0, wave_radius, window->priv->volume_level);
} else {
/* draw 'mute' cross */
double cross_x0;
double cross_y0;
double cross_size;
cross_size = speaker_width * 3 / 4;
cross_x0 = icon_box_x0 + icon_box_width - cross_size;
cross_y0 = speaker_cy;
draw_cross (cr, cross_x0, cross_y0, cross_size);
}
}
/* draw volume meter */
draw_volume_boxes (window,
cr,
(double)window->priv->volume_level / 100.0,
volume_box_x0,
volume_box_y0,
volume_box_width,
volume_box_height);
}
int main(int argc, char **argv) {
if (argc > 2 || (argc == 2 && strcmp(argv[1], "print"))) {
printf("I expect no command line argument or \"print\" as unique command line argument.\n");
return EXIT_FAILURE;
}
if (!get_input()) {
printf("Incorrect input.\n");
return EXIT_FAILURE;
}
if (argc == 2) {
printf("\\documentclass[10pt]{article}\n");
printf("\\usepackage{tikz}\n");
printf("\\usetikzlibrary{shapes.misc}\n");
printf("\\usepackage[margin=0cm]{geometry}\n");
printf("\\pagestyle{empty}\n");
printf("\\tikzstyle{every node}=[cross out, draw, red]\n\n");
printf("\\begin{document}\n\n");
printf("\\vspace*{\\fill}\n");
printf("\\begin{center}\n");
printf("\\begin{tikzpicture}[x=0.5cm, y=-0.5cm, ultra thick, blue]\n");
rebuild_grid();
printf("%% Walls\n");
draw_horizontal_lines();
draw_vertical_lines();
rebuild_grid();
draw_pillars();
rebuild_grid();
trans_grid();
looking_for_access_areas();
looking_for_inner_points();
looking_for_dead_ends();
printf("%% Inner points in accessible cul-de-sacs\n");
draw_cross();
looking_for_one_way_paths();
adjust_grid();
printf("%% Entry-exit paths without intersections\n");
draw_horizontal_dash();
draw_vertical_dash();
printf("\\end{tikzpicture}\n");
printf("\\end{center}\n");
printf("\\vspace*{\\fill}\n\n");
printf("\\end{document}\n");
return EXIT_SUCCESS;
}
rebuild_grid();
int num_of_gates = looking_for_gates();
if (num_of_gates == 0)
printf("The maze has no gate.\n");
if (num_of_gates == 1)
printf("The maze has a single gate.\n");
if (num_of_gates > 1)
printf("The maze has %d gates.\n", num_of_gates);
rebuild_grid();
int num_of_walls = looking_for_walls();
if (num_of_walls == 0)
printf("The maze has no wall.\n");
if (num_of_walls == 1)
printf("The maze has walls that are all connected.\n");
if (num_of_walls > 1)
printf("The maze has %d sets of walls that are all connected.\n", num_of_walls);
rebuild_grid();
trans_grid();
int num_of_accessible_areas = looking_for_access_areas();
int num_of_inner_points = looking_for_inner_points();
if (num_of_inner_points == 0)
printf("The maze has no inaccessible inner point.\n");
if (num_of_inner_points == 1)
printf("The maze has a unique inaccessible inner point.\n");
if (num_of_inner_points > 1)
printf("The maze has %d inaccessible inner points.\n", num_of_inner_points);
if (num_of_accessible_areas == 0)
printf("The maze has no accessible area.\n");
if (num_of_accessible_areas == 1)
printf("The maze has a unique accessible area.\n");
if (num_of_accessible_areas > 1)
printf("The maze has %d accessible areas.\n", num_of_accessible_areas);
int num_of_dead_ends = looking_for_dead_ends();
if (num_of_dead_ends == 0)
printf("The maze has no accessible cul-de-sac.\n");
if (num_of_dead_ends == 1)
printf("The maze has accessible cul-de-sacs that are all connected.\n");
if (num_of_dead_ends > 1)
printf("The maze has %d sets of accessible cul-de-sacs that are all connected.\n", num_of_dead_ends);
int num_of_paths = looking_for_one_way_paths();
if (num_of_paths == 0)
printf("The maze has no entry-exit path with no intersection not to cul-de-sacs.\n");
if (num_of_paths == 1)
printf("The maze has a unique entry-exit path with no intersection not to cul-de-sacs.\n");
if (num_of_paths > 1)
printf("The maze has %d entry-exit paths with no intersections not to cul-de-sacs.\n", num_of_paths);
}
