void Tokenizer::tokenize( vstring &v ) {
if(buffer.length() == 0) {
return;
}
resetPosition();
for( ; firstToken() != ""; v.push_back(thisToken))
;
resetPosition();
}
int Tokenizer::countTokens(void) {
resetPosition();
int tokenNumber = 0;
for(; firstToken() != ""; tokenNumber++ )
;
resetPosition();
return tokenNumber;
}
void SpriteRow::rearrange(int index)
{
resetPosition((CCNode*) villagerImage, ccp(10.0f, (5.0f + villagerImage->boundingBox().size.height) * index));
resetPosition((CCNode*) villagerEnergyBar, ccp(150.0f, (5.0f + villagerImage->boundingBox().size.height) * index + villagerImage->boundingBox().size.height / 2.0f - villagerEnergyBar->boundingBox().size.height / 2.0f + 5.0f));
// resetPosition((CCNode*) villagerEnergyLabel, ccp(235.0f, (5.0f + villagerImage->boundingBox().size.height) * index + villagerImage->boundingBox().size.height / 2.0f - villagerEnergyLabel->boundingBox().size.height / 2.0f + 5.0f));
resetPosition((CCNode*) menu, ccp(580.0f, (5.0f + villagerImage->boundingBox().size.height) * index));
}
void Ekf::controlGpsAiding()
{
// GPS fusion mode selection logic
// To start use GPS we need angular alignment completed, the local NED origin set and fresh GPS data
if ((_params.fusion_mode & MASK_USE_GPS) && !_control_status.flags.gps) {
if (_control_status.flags.tilt_align && (_time_last_imu - _time_last_gps) < 5e5 && _NED_origin_initialised
&& (_time_last_imu - _last_gps_fail_us > 5e6)) {
// If the heading is not aligned, reset the yaw and magnetic field states
if (!_control_status.flags.yaw_align) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// If the heading is valid start using gps aiding
if (_control_status.flags.yaw_align) {
_control_status.flags.gps = true;
_time_last_gps = _time_last_imu;
// if we are not already aiding with optical flow, then we need to reset the position and velocity
if (!_control_status.flags.opt_flow) {
_control_status.flags.gps = resetPosition();
_control_status.flags.gps = resetVelocity();
}
}
}
} else if (!(_params.fusion_mode & MASK_USE_GPS)) {
_control_status.flags.gps = false;
}
// handle the case when we are relying on GPS fusion and lose it
if (_control_status.flags.gps && !_control_status.flags.opt_flow) {
// We are relying on GPS aiding to constrain attitude drift so after 10 seconds without aiding we need to do something
if ((_time_last_imu - _time_last_pos_fuse > 10e6) && (_time_last_imu - _time_last_vel_fuse > 10e6)) {
if (_time_last_imu - _time_last_gps > 5e5) {
// if we don't have gps then we need to switch to the non-aiding mode, zero the velocity states
// and set the synthetic GPS position to the current estimate
_control_status.flags.gps = false;
_last_known_posNE(0) = _state.pos(0);
_last_known_posNE(1) = _state.pos(1);
_state.vel.setZero();
} else {
// Reset states to the last GPS measurement
resetPosition();
resetVelocity();
// Reset the timeout counters
_time_last_pos_fuse = _time_last_imu;
_time_last_vel_fuse = _time_last_imu;
}
}
}
}
PBall::PBall()
{
srand( ( unsigned )time( NULL ) );
serveXvelocity = 1;
resetPosition();
}
Plane::Plane(KGameRenderer *renderer, BomberBoard *board) :
Explodable(QString("plane"), QString("plane_explode"), PLANE_RELATIVE_SIZE,
PLANE_RELATIVE_SIZE, renderer, board)
{
setVelocity(DEFAULT_VELOCITY);
resetPosition();
}
void onKey(int key, int scancode, int action, int mods) {
if (oria::clearHSW(hmd)) {
return;
}
if (CameraControl::instance().onKey(key, scancode, action, mods)) {
return;
}
if (GLFW_PRESS != action) {
int caps = ovrHmd_GetEnabledCaps(hmd);
switch (key) {
case GLFW_KEY_V:
if (caps & ovrHmdCap_NoVSync) {
ovrHmd_SetEnabledCaps(hmd, caps & ~ovrHmdCap_NoVSync);
} else {
ovrHmd_SetEnabledCaps(hmd, caps | ovrHmdCap_NoVSync);
}
return;
case GLFW_KEY_P:
if (caps & ovrHmdCap_LowPersistence) {
ovrHmd_SetEnabledCaps(hmd, caps & ~ovrHmdCap_LowPersistence);
} else {
ovrHmd_SetEnabledCaps(hmd, caps | ovrHmdCap_LowPersistence);
}
return;
case GLFW_KEY_R:
resetPosition();
return;
}
}
GlfwApp::onKey(key, scancode, action, mods);
}
void Camera::initialize()
{
m_aspectRatio = ((float)graphics.getScreenWidth()) / ((float)graphics.getScreenHeight());
m_target = Vector3((float)graphics.getScreenWidth() / 2, (float)graphics.getScreenHeight() / 2, 0.0f);
resetPosition();
}
Item *GfxBlockItem::newImage(QImage img, QUrl src, QPointF pos) {
ASSERT(data()->book());
ASSERT(data()->resManager());
double maxW = availableWidth();
double maxH = maxW;
double scale = 1;
if (scale*img.width()>maxW)
scale = maxW/img.width();
if (scale*img.height()>maxH)
scale = maxH/img.height();
if (allChildren().isEmpty())
pos = QPointF(0, 0);
else
pos -= QPointF(img.width(),img.height())*(scale/2);
pos = constrainPointToRect(pos, boundingRect());
Resource *res = data()->resManager()->importImage(img, src);
QString resName = res->tag();
GfxImageData *gid = new GfxImageData(resName, img, data());
gid->setScale(scale);
gid->setPos(pos);
GfxImageItem *gii = new GfxImageItem(gid, this);
gii->makeWritable();
resetPosition();
sizeToFit();
return gii;
}
void yeseulCooperMessages::tensionEffect(ofRectangle rec1, ofRectangle rec2) {
if (abs((dimensions.width/2+margin-redMove*1.1 - (0-dimensions.width/2-rec1.getWidth()-margin+redMove*1.6))) < rec1.getWidth()) {
redMove+=redTextSpeed/7;
}
else {
redMove+=redTextSpeed;
}
if (abs((dimensions.width/2+margin-greenMove) - (0-dimensions.width/2-rec1.getWidth()-margin+greenMove)) < rec1.getWidth()) {
greenMove+=greenTextSpeed/6;
}
else {
greenMove+=greenTextSpeed;
}
if (abs((0-dimensions.width/2-margin-rec1.getWidth()+purpleMove*1.7) - (dimensions.width/2+margin-150-purpleMove*1.4)) < rec1.getWidth()) {
purpleMove+=purpleTextSpeed/6;
}
else {
purpleMove+=purpleTextSpeed;
}
resetPosition();
}
image_info::image_info()
{
real_width = user_width = DEFAULT_WIDTH;
real_height = user_height = DEFAULT_HEIGHT;
aa_factor = DEFAULT_AAFACTOR;
depth = DEFAULT_DEPTH;
nr_threads = DEFAULT_NR_THREADS;
rgb_data = NULL;
raw_data = NULL;
resetPosition();
render_in_progress = false;
stop_in_progress = false;
j_pre = false;
palette_ip = false;
finfo.type = MANDELBROT;
color_out.nr = 1;
color_out.ops[0].type = OP_ITER;
color_in.nr = 1;
color_in.ops[0].type = OP_NUMBER;
color_in.ops[0].value = 0.0;
io_id = -1;
lines_posted = 0;
lines_done = 0;
}
Alien::Alien(wsp::Image *img) {
SetImage(img);
DefineCollisionRectangle(28, 14, 42, 55);
resetMotion();
resetPosition();
resetShotCountdown();
}
HelloRift() {
ovr_Initialize();
hmd = ovrHmd_Create(0);
if (nullptr == hmd) {
debugDevice = true;
hmd = ovrHmd_CreateDebug(ovrHmd_DK2);
}
ovrHmd_ConfigureTracking(hmd,
ovrTrackingCap_Orientation |
ovrTrackingCap_Position, 0);
resetPosition();
}
void Alien::update() {
Move(motionX, motionY);
if(GetY() < 0) {
SetY(0);
resetMotion();
}
else if(GetY() > 480-GetHeight()) {
SetY(480-GetHeight());
resetMotion();
}
int i;
for(i=0;i<numEnemyShots;i++) {
if(enemyShots[i]->isFired() == false) continue;
if(CollidesWith(enemyShots[i])) {
enemyShots[i]->remove();
resetPosition();
resetMotion();
resetShotCountdown();
score++;
break;
}
}
if(--lockMotionFrames == 0) resetMotion();
if(GetX() < 0) resetPosition();
if(--nextShotCountdown == 0) {
resetShotCountdown();
for(i=0;i<numOwnShots;i++) {
if(ownShots[i]->isFired() == false) {
ownShots[i]->fire(GetX(), GetY() + (GetHeight() / 2) - 10, -6);
break;
}
}
}
}
void Racer::reset(hkVector4* resetPos, float rotation)
{
hkVector4 reset;
reset.set(0.0f, 0.0f, 0.0f);
hkVector4 resetPosition;
resetPosition.setXYZ(*resetPos);
// Generate random offsets so that the racer doesn't spawn exactly in the middle of the track anymore.
srand((unsigned)time(0)+givenDamage);
int offsetX = rand()%5;
srand((unsigned)time(0)+offsetX);
int offsetZ = rand()%5;
if(offsetX%2 == 0){
offsetX *= -1;
}
if(offsetZ%2 == 0){
offsetZ *= -1;
}
//------------------------
setPosAndRot(resetPosition(0)+offsetX, resetPosition(1), resetPosition(2)+offsetZ, 0, rotation, 0);
body->setLinearVelocity(reset);
wheelFL->body->setLinearVelocity(reset);
wheelFR->body->setLinearVelocity(reset);
wheelRL->body->setLinearVelocity(reset);
wheelRR->body->setLinearVelocity(reset);
body->setAngularVelocity(reset);
wheelFL->body->setAngularVelocity(reset);
wheelFR->body->setAngularVelocity(reset);
wheelRL->body->setAngularVelocity(reset);
wheelRR->body->setAngularVelocity(reset);
}
void Map::detectCollisionFG() {
for (int i = 0; i < gbVector.size(); i++) {
for (int j = 0; j < foVector.size(); j++) {
if (!foVector[j]->intersected && intersects(foVector[j], gbVector[i]->gbSprite.getGlobalBounds(), 1)) { //collision detected
sound.setBuffer(iBuffer);
sound.play();
gbVector.erase(gbVector.begin() + i);
curNumFO--;
foVector[j]->intersected = true;
resetPosition(foVector[j]);
if (curNumFO == 0) {
nextLevel();
}
break;
}
}
}
}
void Map::nextLevel() {
level++;
maxNumFO += 5; //x number more falling objects each level
curNumFO = maxNumFO;
maxVelY += 0.02f; //general speed increase of falling objects
//make and add extra falling objects to vector for next level
for (int i = foVector.size(); i < maxNumFO; i++) {
FallingObject * myFO = new FallingObject(*iceTextureM);
resetPosition(myFO);
foVector.insert(foVector.begin(), myFO);
}
for (int i = 0; i < foVector.size(); i++) {
float randVelY = (rand() % 2)* 0.03f; //give falling objects random speed within range
//update all velY to start next level
foVector[i]->velY = maxVelY + randVelY;
foVector[i]->intersected = false;
}
}
void Map::updateFO() {
for (int i = 0; i < foVector.size(); i++) {
//if falling object off screen
if (foVector[i]->foSprite.getPosition().y - foVector[i]->foSprite.getGlobalBounds().height / 2 > window->getSize().y) {
resetPosition(foVector[i]);
curNumFO--;
//check if all falling objects have been destroyed
if (curNumFO == 0) {
nextLevel();
}
}
else {
foVector[i]->foSprite.setRotation(foVector[i]->foSprite.getRotation() + foVector[i]->randomNum);
foVector[i]->foSprite.move(0, 15*foVector[i]->velY);
foVector[i]->foCircle.move(0, 15*foVector[i]->velY);
}
}
}
void Map::foCreate() {
srand(time(NULL));
for (int i = 0; i < maxNumFO; i++) { //initalize falling objects
FallingObject * myFO = new FallingObject(*iceTextureM);
resetPosition(myFO);
float randVelY = (rand() % 2)* 0.02f;
myFO->velY = maxVelY + randVelY;
myFO->intersected = false;
foVector.insert(foVector.begin(),myFO);
}
int initx = 20;
int x = initx;
for (int i = 0; i < curNumGB; i++) { //initalize ground blocks
GroundBlock * myGB = new GroundBlock(*woodTextureM);
myGB->gbSprite.setPosition(sf::Vector2f(x, window->getSize().y-myGB->gbSprite.getGlobalBounds().height));
x += (((window->getSize().x - 2 * initx) - (curNumGB * myGB->gbSprite.getGlobalBounds().width)) / (curNumGB - 1)) + myGB->gbSprite.getGlobalBounds().width;
gbVector.insert(gbVector.begin(), myGB);
}
}
bool NormalAttack::init()
{
if (!Attack::init())
return false;
isHit = false;
sprite = CCSprite::create("dropper.png");
addChild(sprite);
angle = CCRANDOM_0_1() * 2 * M_PI;
distance = 400;
speed = 150 + CCRANDOM_0_1() * 50;
resetPosition();
scheduleUpdate();
return true;
}
void Map::detectCollisionFB(std::vector<Weapon::Bullet*> bullets) {
for (int i = 0; i < bullets.size(); i++) {
for (int j = 0; j < foVector.size(); j++) {
if (!foVector[j]->intersected && intersects(foVector[j], bullets[i]->bulletSprite.getGlobalBounds(), 0)) { //collision detected
sound.setBuffer(iBuffer);
sound.play();
bullets.erase(bullets.begin() + i);
score += 10;
curNumFO--;
foVector[j]->intersected = true;
resetPosition(foVector[j]);
if (curNumFO == 0) {
nextLevel();
}
break;
}
}
}
}
void RawModel::updateScrollPos(int value) {
m_iCurAbsScrollPos = firstSample()+value;
qDebug() << "RawModel: absolute Fiff Scroll Cursor" << m_iCurAbsScrollPos << "(m_iAbsFiffCursor" << m_iAbsFiffCursor << ", sizeOfPreloadedData" << sizeOfPreloadedData() << ")";
//if a scroll position is selected, which is not within the loaded data range -> reset position of model
if(m_iCurAbsScrollPos > (m_iAbsFiffCursor+sizeOfPreloadedData()+m_iWindowSize) || m_iCurAbsScrollPos < m_iAbsFiffCursor) {
resetPosition(m_iCurAbsScrollPos);
return;
}
//reload data if end of loaded range is reached
//front
if(!m_bReloading && (m_iCurAbsScrollPos-m_iAbsFiffCursor < m_reloadPos) && !m_bStartReached) {
qDebug() << "RawModel: Reload requested at FRONT of loaded fiff data, m_iAbsFiffCursor:" << m_iAbsFiffCursor << "m_iCurAbsScrollPos:" << m_iCurAbsScrollPos;
reloadFiffData(1);
}
//end
else if(!m_bReloading && m_iCurAbsScrollPos > m_iAbsFiffCursor+sizeOfPreloadedData()-m_reloadPos && !m_bEndReached) {
qDebug() << "RawModel: Reload requested at END of loaded fiff data, m_iAbsFiffCursor:" << m_iAbsFiffCursor << "m_iCurAbsScrollPos:" << m_iCurAbsScrollPos;
reloadFiffData(0);
}
}
void Map::detectCollisionFC(sf::RectangleShape charShape) {
for (int i = 0; i < foVector.size(); i++) {
if (!foVector[i]->intersected && intersects(foVector[i], charShape.getGlobalBounds(), 0)) {
foVector[i]->intersected = true;
lives--;
if (lives <= 0) {
sound.setBuffer(dBuffer);
sound.play();
gameOverB = true;
}
else {
sound.setBuffer(oBuffer);
sound.play();
}
resetPosition(foVector[i]);
curNumFO--;
if (curNumFO == 0) {
nextLevel();
}
}
}
}
bool MissileAttack::init()
{
if (!Attack::init())
return false;
missile = CCSprite::create("missile.png");
addChild(missile);
aim = CCSprite::create("aim.png");
aim->setColor(ccc3(255, 0, 0));
aim->setScale(1.5f);
addChild(aim);
isHit = false;
angle = 0;
distance = 1600;
resetPosition();
scheduleUpdate();
return true;
}
void MissileAttack::rotate(float r)
{
angle += r;
resetPosition();
}
void MissileAttack::update(float dt)
{
distance -= dt * 800;
resetPosition();
}
bool Ekf::initialiseFilter(void)
{
_state.ang_error.setZero();
_state.vel.setZero();
_state.pos.setZero();
_state.gyro_bias.setZero();
_state.gyro_scale(0) = _state.gyro_scale(1) = _state.gyro_scale(2) = 1.0f;
_state.accel_z_bias = 0.0f;
_state.mag_I.setZero();
_state.mag_B.setZero();
_state.wind_vel.setZero();
// get initial roll and pitch estimate from accel vector, assuming vehicle is static
Vector3f accel_init = _imu_down_sampled.delta_vel / _imu_down_sampled.delta_vel_dt;
float pitch = 0.0f;
float roll = 0.0f;
if (accel_init.norm() > 0.001f) {
accel_init.normalize();
pitch = asinf(accel_init(0));
roll = -asinf(accel_init(1) / cosf(pitch));
}
matrix::Euler<float> euler_init(roll, pitch, 0.0f);
// Get the latest magnetic field measurement.
// If we don't have a measurement then we cannot initialise the filter
magSample mag_init = _mag_buffer.get_newest();
if (mag_init.time_us == 0) {
return false;
}
// rotate magnetic field into earth frame assuming zero yaw and estimate yaw angle assuming zero declination
// TODO use declination if available
matrix::Dcm<float> R_to_earth_zeroyaw(euler_init);
Vector3f mag_ef_zeroyaw = R_to_earth_zeroyaw * mag_init.mag;
float declination = 0.0f;
euler_init(2) = declination - atan2f(mag_ef_zeroyaw(1), mag_ef_zeroyaw(0));
// calculate initial quaternion states
_state.quat_nominal = Quaternion(euler_init);
_output_new.quat_nominal = _state.quat_nominal;
// calculate initial earth magnetic field states
matrix::Dcm<float> R_to_earth(euler_init);
_state.mag_I = R_to_earth * mag_init.mag;
resetVelocity();
resetPosition();
// initialize vertical position with newest baro measurement
baroSample baro_init = _baro_buffer.get_newest();
if (baro_init.time_us == 0) {
return false;
}
_state.pos(2) = -baro_init.hgt;
_output_new.pos(2) = -baro_init.hgt;
initialiseCovariance();
return true;
}
RemoteVertex(const RemoteVertex &v) : Vertex(v), owner(v.owner), remoteIndex(v.remoteIndex),
secondaryOwner(0), secondaryIndex(0), secondaryPos(0.0f,0.0f,0.0f), offset(0.0f)
{
resetPosition();
}
void Communication_Thread::run()
{
Msg_Ordre_Com msg_ordre_com;
resetPosition(robot1);
resetPosition(robot2);
for(;;)
{
// si on a reçu un message
//printf("tache : %d\n",bal_ordre_com);
if (mq_receive(bal_ordre_com, (char*)&msg_ordre_com, sizeof(Msg_Ordre_Com), NULL)!= -1)
{
liste = msg_ordre_com;
ordreCourantRobot1 = 0;
ordreCourantRobot2 = 0;
pasPreviousTopRobot1.pas_droite = 0;
pasPreviousTopRobot1.pas_gauche = 0;
pasPreviousTopRobot2.pas_droite = 0;
pasPreviousTopRobot2.pas_gauche = 0;
Pas_Robot reinit = {0,0};
if (msg_ordre_com.ordres[0].robot1.pas_droite == 0 && msg_ordre_com.ordres[0].robot1.pas_gauche == 0)
{
ordreCourantRobot1 = 4;
}else
{
setSpeed(robot1,reinit);
resetPosition(robot1);
setObjectif(robot1, liste.ordres[ordreCourantRobot1].robot1);
}
if (msg_ordre_com.ordres[0].robot2.pas_droite == 0 && msg_ordre_com.ordres[0].robot2.pas_gauche == 0)
{
ordreCourantRobot2 = 4;
}
else
{
setSpeed(robot2,reinit);
resetPosition(robot2);
setObjectif(robot2, liste.ordres[ordreCourantRobot2].robot2);
}
sleep(1);
}else
{
Pas_Robot vitesse = getSpeed(robot1);
if (vitesse.pas_droite == 0 && vitesse.pas_gauche == 0 && ordreCourantRobot1 < 3)
{
resetPosition(robot1);
pasPreviousTopRobot1.pas_droite = 0;
pasPreviousTopRobot1.pas_gauche = 0;
setObjectif(robot1, liste.ordres[++ordreCourantRobot1].robot1);
}
vitesse = getSpeed(robot2);
if (vitesse.pas_droite == 0 && vitesse.pas_gauche == 0 && ordreCourantRobot2 < 3)
{
resetPosition(robot2);
pasPreviousTopRobot2.pas_droite = 0;
pasPreviousTopRobot2.pas_gauche = 0;
setObjectif(robot2, liste.ordres[++ordreCourantRobot2].robot2);
}
}//sinon
usleep(50000);
}
}
//インデックスとタグと位置を変更する
void BallSprite::setPositionIndexAndChangePosition(PositionIndex positionIndex)
{
setPositionIndex(positionIndex); //インデックスとタグを変更する
resetPosition(); //位置を変更する
}
