void Shape::fill(FrameBuffer &fb){
std::queue <Point> qpoints;
Point newFP;
newFP.setX((firePoint->getX()-centrePoint->getX())*k+centrePoint->getX());
newFP.setY((firePoint->getY()-centrePoint->getX())*k+centrePoint->getX());
qpoints.push(newFP);
while (qpoints.size() > 0){
Point current = qpoints.front();
fb.plot(current.getX(), current.getY(), r,g,b);
qpoints.pop();
// TO-DO !!
//std::cout << current.getY() << " " << current.getX() << std::endl;
if (isPointValid(fb, current.getX()+1, current.getY())) {
if (fb.zbuffer[current.getY()][current.getX()+1] == 0){
qpoints.push(Point(current.getX()+1, current.getY()));
fb.zbuffer[current.getY()][current.getX()+1] = 1;
}
}
if (isPointValid(fb, current.getX(), current.getY()+1)) {
if (fb.zbuffer[current.getY()+1][current.getX()] == 0){
qpoints.push(Point(current.getX(), current.getY()+1));
fb.zbuffer[current.getY()+1][current.getX()] = 1;
}
}
if (isPointValid(fb, current.getX(), current.getY()-1)) {
if (fb.zbuffer[current.getY()-1][current.getX()] == 0){
qpoints.push(Point(current.getX(), current.getY()-1));
fb.zbuffer[current.getY()-1][current.getX()] = 1;
}
}
if (isPointValid(fb, current.getX()-1, current.getY())) {
if (fb.zbuffer[current.getY()][current.getX()-1] == 0){
qpoints.push(Point(current.getX()-1, current.getY()));
fb.zbuffer[current.getY()][current.getX()-1] = 1;
}
}
}
}
int Chessboard::GetIdOfPoint(const ChessPoint& cp)const
{
if (isPointValid(cp))
{
return cb[cp.y*width+cp.x];
}
return -1;
}
int HaarFeature::slantToRect(const CB_SlantT &slant, CB_RectangleT &rect, const CB_PointT &image_size)
{
CB_PointT left = {slant.x-slant.L, slant.y+slant.L};
CB_PointT right = {slant.x+slant.R, slant.y+slant.R};
CB_PointT top = {slant.x, slant.y};
CB_PointT bottom = {slant.x-slant.L+slant.R, slant.y+slant.L+slant.R};
if ( isPointValid(left, image_size) == 0 ||
isPointValid(right, image_size) == 0 ||
isPointValid(bottom, image_size) == 0 )
{
return 0;
}
rect.left = left;
rect.right = right;
rect.top = top;
rect.bottom = bottom;
return 1;
}
std::vector<double> RandomGlobalPoll::computeFamilyStepPoint ( const int size ) {
std::vector<double> newPoint;
do {
// create family index set
set<RandomGlobalPoll::PopulationType::const_iterator> idxFamily = createFamilySet ( size );
// find max idx in family
RandomGlobalPoll::PopulationType::const_iterator idxmaxFam= *max_element ( idxFamily.begin(),
idxFamily.end(),
PopulationIteratorLess() );
// compute centroid family
// cout << "deltaInit: " << deltaInit << " delta: " << delta << endl;
double phi = bounds.size()*delta*delta/deltaInit;
std::vector<double> eta;
transform ( idxFamily.begin(), idxFamily.end(),back_inserter ( eta ),
EtaGenerator ( idxmin->value(),phi ) );
double sumEta = accumulate ( eta.begin(),eta.end(),0. );
// compute weights
std::vector<double> weight;
transform ( eta.begin(),eta.end(),back_inserter ( weight ),WeightGenerator ( sumEta ) );
// compute centroid
std::vector<double> centroid = createCentroid ( idxFamily,weight );
// compute new point (reflex max idx in family with centroid family)
// compute stepsize
double sumFWeights = computeSumFWeights ( idxFamily,weight );
double alpha = 1 - ( idxmaxFam->value() - sumFWeights ) / ( delta+phi );
// compute new point
newPoint = computeNewPoint ( centroid,alpha,idxmaxFam->point() );
} while ( !isPointValid ( newPoint ) );
return newPoint;
}
bool Chessboard::SetChessPoint(const ChessPoint& cp,int id)
{
if(!isPointValid(cp))
{
return false;
}
//if (GetIdOfPoint(cp)!=0)
//{
// return false;
//}
if (GetIdOfPoint(cp)==0)
{
sum++;
}
cb[cp.y*width+cp.x]=id;
return true;
}
void pathFinder::findPath( p2DArray maze, const vector2 &start, const vector2 &end )
{
// 起点或者终点无效，直接返回
if( !isPointValid( start, maze ) ||
!isPointValid( end, maze ) )
{
return;
}
else
{
clearPath();
char mazeCopy[ROW][CEL];
memcpy( dirMap, maze, sizeof(char)*ROW*CEL );
memcpy( mazeCopy, maze, sizeof(char)*ROW*CEL );
MyQueue openList;
openList.push_back( start );
vector2 curPos;
vector2 temp;
while ( 1 )
{
openList.pop_front( curPos );
// 碰到了终点，可以停止了
if( curPos == end )
{
dirMap[start.x][start.y] = MS_START;
// readPathFromDirMap( end );
return;
}
// 当前点有效才需要扩展
if( isPointValid( curPos, mazeCopy ) )
{
mazeCopy[curPos.x][curPos.y] = MS_WALKED;
int curDir = 0;
while ( curDir < 4 )
{
temp.x = curPos.x + dirArray[curDir].x;
temp.y = curPos.y + dirArray[curDir].y;
if( isPointValid( temp, mazeCopy ) )
{
openList.push_back( temp );
// 标记当前节点的上一节点
dirMap[temp.x][temp.y] = getOppositeDir( curDir );
}
++curDir;
}
}
// 扩展列表为空，只能退出了
if( openList.isEmpty() )
{
return;
}
}
}
}
bool aStarPathFinder::findPathOneStep( char (*mapdata)[COL],
int startX, int startY,
int endX, int endY,
bool isFirst )
{
if( isFirst )
{
m_OpenList.setEmpty();
m_CloseList.setEmpty();
m_Start.x = startX;
m_Start.y = startY;
m_End.x = endX;
m_End.y = endY;
// 初始化地图数据
for ( int i=0; i<ROW; ++i )
{
for ( int j=0; j<COL; ++j )
{
m_Map[i][j].pos.x = j;
m_Map[i][j].pos.y = i;
m_Map[i][j].mapFlag = mapdata[i][j];
_calcH( m_Map[i][j] );
m_Map[i][j].G = 0;
}
}
node = &m_Map[m_Start.y][m_Start.x];
node->H = INT_MAX;
mapdata[m_Start.y][m_Start.x]= AF_INOPENLIST;
m_OpenList.add( node );
return false;
}
if( !m_OpenList.isEmpty() )
{
m_OpenList.remove_Top( &node );
m_CloseList.push( node );
mapdata[node->pos.y][node->pos.x] = AF_INCLOSELIST;
// 探索周围的八个方向
m_Dir = 0;
while ( m_Dir < DIR_NUM )
{
tempPos.x = node->pos.x + dirArray[m_Dir].x;
tempPos.y = node->pos.y + dirArray[m_Dir].y;
if ( isPointValid( mapdata, tempPos ) )
{
temp= &m_Map[tempPos.y][tempPos.x];
// 完成寻路
if( isPointEqual( temp->pos, m_End ) )
{
temp->pParent = node;
return true;
}
if ( mapdata[temp->pos.y][temp->pos.x] == SPACE )
{
m_OpenList.add( temp );
mapdata[temp->pos.y][temp->pos.x] = AF_INOPENLIST;
// 由于这里使用了一个方向的数组，其中斜线方向的下标
// 刚好是一个奇数，所以判断当前的方向是否为奇数即可
// 判断是否为斜线方向
if( _calcF( *temp, *node, (m_Dir%2 != 0) ) )
{
temp->pParent = node;
}
}
else
{
if( mapdata[temp->pos.y][temp->pos.x] == AF_INOPENLIST &&
_calcF( *temp, *node, (m_Dir%2 != 0) ) )
{
temp->pParent = node;
}
else
if( mapdata[temp->pos.y][temp->pos.x] == AF_INCLOSELIST &&
_calcF( *temp, *node, (m_Dir%2 != 0) ) )
{
m_OpenList.add( temp );
m_CloseList.remove( temp );
mapdata[temp->pos.y][temp->pos.x] = AF_INOPENLIST;
temp->pParent = node;
}
}
}
++m_Dir;
}
}
return false;
}
