static void
keyboard(unsigned char key, int x, int y)
{
int index = key - 'a';
if(0 <= index && index < demoCount){
runDemo(demos[index]);
} else if(key == '\r'){
runDemo(currDemo);
} else if(key == '`'){
paused = !paused;
} else if(key == '1'){
step += 1;
} else if(key == '-'){
options.drawHash = !options.drawHash;
} else if(key == '='){
options.drawBBs = !options.drawBBs;
} else if(key == '\\'){
glEnable(GL_LINE_SMOOTH);
glEnable(GL_POINT_SMOOTH);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glHint(GL_LINE_SMOOTH_HINT, GL_DONT_CARE);
glHint(GL_POINT_SMOOTH_HINT, GL_DONT_CARE);
}
}
int
main(int argc, const char **argv)
{
cpInitChipmunk();
cp_collision_slop = 0.2f;
#ifdef TIME_TRIAL
sleep(1);
for(int i=0; i<demoCount; i++){
if(i == 'l' - 'a') continue;
time_trial(i, 1000);
}
// time_trial(0, 1000);
exit(0);
#endif
mouseBody = cpBodyNew(INFINITY, INFINITY);
glutStuff(argc, argv);
runDemo(demos[firstDemoIndex]);
glutMainLoop();
return 0;
}
int
main(int argc, const char **argv)
{
ChipmunkDemo demo_list[] = {
LogoSmash,
PyramidStack,
Plink,
BouncyHexagons,
Tumble,
PyramidTopple,
Planet,
Springies,
Pump,
TheoJansen,
Query,
OneWay,
Joints,
Tank,
Chains,
Crane,
ContactGraph,
Buoyancy,
Player,
Slice,
Convex,
Unicycle,
};
demos = demo_list;
demoCount = sizeof(demo_list)/sizeof(ChipmunkDemo);
int trial = 0;
for(int i=0; i<argc; i++){
if(strcmp(argv[i], "-bench") == 0){
demos = bench_list;
demoCount = bench_count;
} else if(strcmp(argv[i], "-trial") == 0){
trial = 1;
}
}
if(trial){
// sleep(1);
for(int i=0; i<demoCount; i++) time_trial(i, 1000);
// time_trial('d' - 'a', 10000);
exit(0);
} else {
mouseBody = cpBodyNew(INFINITY, INFINITY);
glutStuff(argc, argv);
runDemo(demoIndex);
glutMainLoop();
}
return 0;
}
void OgreApp::startDemo(void* uiWindow, void* uiView, unsigned int width, unsigned int height, const char* name, MusicMode musica)
#endif
{
globals.playerName = name;
gameState = STATE_PLAY;
musicMode = musica;
new OgreFramework();
#if !defined(OGRE_IS_IOS)
if (!OgreFramework::getSingletonPtr()->initOgre(this, this, this))
return;
#else
if (!OgreFramework::getSingletonPtr()->initOgre(uiWindow, uiView, width, height, this))
return;
#endif
m_bShutdown = false;
OgreFramework::getSingletonPtr()->m_pLog->logMessage("Demo initialized!");
#ifdef USE_RTSHADER_SYSTEM
initializeRTShaderSystem(OgreFramework::getSingletonPtr()->m_pSceneMgrMain);
MaterialPtr baseWhite = MaterialManager::getSingleton().getByName("BaseWhite", ResourceGroupManager::INTERNAL_RESOURCE_GROUP_NAME);
baseWhite->setLightingEnabled(false);
mShaderGenerator->createShaderBasedTechnique(
"BaseWhite",
MaterialManager::DEFAULT_SCHEME_NAME,
RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
mShaderGenerator->validateMaterial(RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME,
"BaseWhite");
baseWhite->getTechnique(0)->getPass(0)->setVertexProgram(
baseWhite->getTechnique(1)->getPass(0)->getVertexProgram()->getName());
baseWhite->getTechnique(0)->getPass(0)->setFragmentProgram(
baseWhite->getTechnique(1)->getPass(0)->getFragmentProgram()->getName());
// creates shaders for base material BaseWhiteNoLighting using the RTSS
mShaderGenerator->createShaderBasedTechnique(
"BaseWhiteNoLighting",
MaterialManager::DEFAULT_SCHEME_NAME,
RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
mShaderGenerator->validateMaterial(RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME,
"BaseWhiteNoLighting");
MaterialPtr baseWhiteNoLighting = MaterialManager::getSingleton().getByName("BaseWhiteNoLighting", ResourceGroupManager::INTERNAL_RESOURCE_GROUP_NAME);
baseWhiteNoLighting->getTechnique(0)->getPass(0)->setVertexProgram(
baseWhiteNoLighting->getTechnique(1)->getPass(0)->getVertexProgram()->getName());
baseWhiteNoLighting->getTechnique(0)->getPass(0)->setFragmentProgram(
baseWhiteNoLighting->getTechnique(1)->getPass(0)->getFragmentProgram()->getName());
#endif
setupDemoScene();
#if !((OGRE_PLATFORM == OGRE_PLATFORM_APPLE) && __LP64__)
runDemo();
#endif
}
void ChipmunkTestLayer::ccTouchesEnded(CCSet* touches, CCEvent *event)
{
demoIndex++;
if( demoIndex >= maxDemos )
demoIndex = 0;
runDemo(demos[demoIndex]);
label->setString( demos[demoIndex]->name );
}
static void
keyboard(unsigned char key, int x, int y)
{
int index = key - 'a';
if(0 <= index && index < demoCount){
demos[demoIndex].destroyFunc();
runDemo(index);
} else if(key == '\r'){
demos[demoIndex].destroyFunc();
runDemo(demoIndex);
} else if(key == '`'){
paused = !paused;
} else if(key == '1'){
step = cpTrue;
} else if(key == '='){
drawBBs = !drawBBs;
} else if(key == '\\'){
glDisable(GL_LINE_SMOOTH);
glDisable(GL_POINT_SMOOTH);
}
GLfloat translate_increment = 50.0/scale;
GLfloat scale_increment = 1.2;
if(key == '5'){
translate_x = 0.0;
translate_y = 0.0;
scale = 1.0;
}else if(key == '4'){
translate_x += translate_increment;
}else if(key == '6'){
translate_x -= translate_increment;
}else if(key == '2'){
translate_y += translate_increment;
}else if(key == '8'){
translate_y -= translate_increment;
}else if(key == '7'){
scale /= scale_increment;
}else if(key == '9'){
scale *= scale_increment;
}
}
void DemoApp::startDemo()
{
new OgreFramework();
if(!OgreFramework::getSingletonPtr()->initOgre("DemoApp v1.0", this, 0))
return;
m_bShutdown = false;
OgreFramework::getSingletonPtr()->m_pLog->logMessage("Demo initialized!");
setupDemoScene();
runDemo();
}
static void
keyboard(unsigned char key, int x, int y)
{
int index = key - 'a';
if(0 <= index && index < demoCount){
demos[demoIndex].destroyFunc();
runDemo(index);
} else if(key == '\r'){
demos[demoIndex].destroyFunc();
runDemo(demoIndex);
} else if(key == '`'){
paused = !paused;
} else if(key == '1'){
step = cpTrue;
} else if(key == '='){
drawBBs = !drawBBs;
} else if(key == '\\'){
glDisable(GL_LINE_SMOOTH);
glDisable(GL_POINT_SMOOTH);
}
}
void App::startDemo()
{
new OgreFramework();
if(!OgreFramework::getSingletonPtr()->initOgre("Open Uber Shader", this, 0))
return;
m_bShutdown = false;
OgreFramework::getSingletonPtr()->m_pLog->logMessage("Application initialized!");
setupDemoScene();
runDemo();
}
void DemoApp::startDemo()
{
new OgreFramework();
if(!OgreFramework::getSingletonPtr()->initOgre("DemoApp v1.0", this, this))
return;
m_bShutdown = false;
OgreFramework::getSingletonPtr()->m_pLog->logMessage("Demo initialized!");
#ifdef USE_RTSHADER_SYSTEM
initializeRTShaderSystem(OgreFramework::getSingletonPtr()->m_pSceneMgr);
MaterialPtr baseWhite = MaterialManager::getSingleton().getByName("BaseWhite", ResourceGroupManager::INTERNAL_RESOURCE_GROUP_NAME);
baseWhite->setLightingEnabled(false);
mShaderGenerator->createShaderBasedTechnique(
"BaseWhite",
MaterialManager::DEFAULT_SCHEME_NAME,
RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
mShaderGenerator->validateMaterial(RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME,
"BaseWhite");
baseWhite->getTechnique(0)->getPass(0)->setVertexProgram(
baseWhite->getTechnique(1)->getPass(0)->getVertexProgram()->getName());
baseWhite->getTechnique(0)->getPass(0)->setFragmentProgram(
baseWhite->getTechnique(1)->getPass(0)->getFragmentProgram()->getName());
// creates shaders for base material BaseWhiteNoLighting using the RTSS
mShaderGenerator->createShaderBasedTechnique(
"BaseWhiteNoLighting",
MaterialManager::DEFAULT_SCHEME_NAME,
RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
mShaderGenerator->validateMaterial(RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME,
"BaseWhiteNoLighting");
MaterialPtr baseWhiteNoLighting = MaterialManager::getSingleton().getByName("BaseWhiteNoLighting", ResourceGroupManager::INTERNAL_RESOURCE_GROUP_NAME);
baseWhiteNoLighting->getTechnique(0)->getPass(0)->setVertexProgram(
baseWhiteNoLighting->getTechnique(1)->getPass(0)->getVertexProgram()->getName());
baseWhiteNoLighting->getTechnique(0)->getPass(0)->setFragmentProgram(
baseWhiteNoLighting->getTechnique(1)->getPass(0)->getFragmentProgram()->getName());
#endif
setupDemoScene();
#if !((OGRE_PLATFORM == OGRE_PLATFORM_APPLE) && __LP64__)
runDemo();
#endif
}
int
main(int argc, const char **argv)
{
cpInitChipmunk();
// for(int i=0; i<demoCount; i++)
// time_trial(i, 1000);
// time_trial('d' - 'a', 10000);
// exit(0);
mouseBody = cpBodyNew(INFINITY, INFINITY);
glutStuff(argc, argv);
runDemo(demos[firstDemoIndex]);
glutMainLoop();
return 0;
}
void ChipmunkTestLayer::init()
{
CCLayer::init();
CCLayer::setIsTouchEnabled(true);
demoIndex = 0;
cpInitChipmunk();
cp_collision_slop = 0.2f;
mouseBody = cpBodyNew(INFINITY, INFINITY);
runDemo(demos[firstDemoIndex]);
label = CCLabelTTF::labelWithString(demos[firstDemoIndex]->name, "Arial", 32);
label->setPosition( ccp(0, -300) );
label->setColor(ccBLACK);
addChild(label);
// [self schedule: @selector(step:)];
scheduleUpdate();
}
void Controller::checkState()
{
Coordinate create_coord;
bool Bumper_Hit = false;
std::cout << "total_distance:" << this->create.getTotalDistance() << std::endl;
std::cout << "angle:" << this->create.getTotalAngle() << std::endl;
std::cout << "(" << this->create.getCurrentCoordinate().x << ", " << this->create.getCurrentCoordinate().y << ")" << std::endl;
std::cout << "direction:"<< this->create.direction << std::endl;
std::cout << "current mesh:" << this->block.getCurrentMeshNum(this->create.getCurrentCoordinate()) << std::endl;
// 1.壁探索
if(this->search_flag == WALL)
{
int bumper_hit = getBumpsAndWheelDrops();
Coordinate wall_coord;
//1-1.バンパーに衝突したかを判定
// 1-1-1.バンパセンサ反応無し → 現在座標、超音波センサの観測座標を記録
this->block.showMesh();
if(bumper_hit == 0)
{
float soner_distance;
// 1-1-1-1各座表値の計算
this->create.doNormalMode(create_coord, wall_coord, soner_distance);
// 1-1-1-2座標値の記録 → Map
this->map.push_back_CreatePointList( create_coord ); //createの現在座標を記録（プッシュバック）
if(soner_distance < RECORD_OBSTACLE_TH) // RECORD_OBSTACLE_TH 以上離れた障害物は記録しない
{
this->map.push_back_WallPointList( wall_coord ); // 障害物の座標を記録（プッシュバック）
}
this->create.run();
}
// 1-1-2.バンパセンサに衝突
else if( bumper_hit != 0)
{
// 1-1-2-1.現在座標とバンパーヒット座標を計算 ＆ 方向転換 → Createクラスへ
this->create.doBumperHitMode(bumper_hit, create_coord, wall_coord);
// 1-1-2-2.座標値の記録 → Mapクラスへ
this->map.push_back_CreatePointList( create_coord );
this->map.push_back_WallPointList( wall_coord );
}
//1-2.メッシュの更新
this->block.setMeshMark( create_coord, Bumper_Hit );
//1-3.壁探索終了の判定
Coordinate start_coord;
int total_distance = this->create.getTotalDistance();
// 1個目ドッキング検知
if(this->create.getTotalDistance() > 4000 && this->create.isDockFound() && !this->LinePointSet)
{
this->create.stopRun(); // 壁探索が終わったら、即Createを止める
std::cout << "2line point set!" << std::endl;
std::vector<Coordinate> tmp_obstacle_list;
std::vector<Coordinate> SOC_list; // search obstacle create list 障害物を探索する時のcreateの座標値リスト
this->map.set2LinePoint(); // 2辺分の座標値をwall_point_list2に入れる
this->output_WallList2();
// this->showWall2();
this->LinePointSet = true;
tmp_obstacle_list = create.searchObstacle(SOC_list); // 衝突した障害物の周りを回る
for(int i=0;i<SOC_list.size();i++)
{
this->map.push_back_CreatePointList( SOC_list[i] );
this->map.push_back_ObstaclePointList( SOC_list[i] );
}
this->search_flag = DOCK;
this->showWall2();
}
else if(this->create.getTotalDistance() > 10000 && this->create.isDockFound()) // 2個目ドッキング検知
{
std::vector<Coordinate> tmp_obstacle_list;
std::vector<Coordinate> SOC_list; // search obstacle create list 障害物を探索する時のcreateの座標値リスト
this->create.stopRun(); // 壁探索が終わったら、即Createを止める
tmp_obstacle_list = create.searchObstacle(SOC_list); // 衝突した障害物の周りを回る
for(int i=0;i<SOC_list.size();i++)
{
this->map.push_back_CreatePointList( SOC_list[i] );
this->map.push_back_ObstaclePointList( SOC_list[i] );
}
std::cout << "Docking!" << std::endl;
this->search_flag = DOCK;
}
}
//2.障害物探索
else if(this->search_flag == OBSTACLE) // 障害物探索
{
int goal;
std::vector<Coordinate> move_point_list; // Createが辿る座標を格納したリスト
std::vector<Coordinate> tmp_create_list;
std::vector<Coordinate> tmp_obstacle_list;
this->block.showMesh();
bool Bumper = false;
// 2-1.createの現在座標を取得
create_coord = this->create.getCurrentCoordinate();
// 2-2.createの現在座標から向かうメッシュを計算し、辿る座標リストを得る
goal = this->block.getNextMeshNum();
move_point_list = this->block.getMovePointList(create_coord, this->create.direction, goal);// → Createの現在座標を元に、ゴールまでに辿る座標のリストを得る
// 2-3.座標リスト通りに進む
for(int i=0;i<move_point_list.size();i++)
{
// 2-3-1.次の座標値を渡して、移動し、各座表値の計算を行う
this->create.runNextPoint(move_point_list[i], Bumper, tmp_create_list, tmp_obstacle_list);
if(Bumper) // runNextPoint()中に障害物に衝突したら
{
this->create.changeDirection();
break;
#if 1
std::vector<Coordinate> SOC_list; // search obstacle create list 障害物を探索する時のcreateの座標値リスト
Bumper = false;
tmp_obstacle_list = create.searchObstacle(SOC_list); // 衝突した障害物の周りを回る
for(int i=0;i<tmp_obstacle_list.size();i++)
{
this->map.push_back_ObstaclePointList( tmp_obstacle_list[i] );
this->block.setMeshMark(tmp_obstacle_list[i], true);
//obstacle_list.push_back(tmp_obstacle_list[i]);
}
for(int i=0;i<SOC_list.size();i++)
{
this->map.push_back_CreatePointList( SOC_list[i] );
this->block.setMeshMark(SOC_list[i], false);//
//create_list.push_back(create_coord[i]);
}
#endif
}
// 2-3-2 移動後の座標値を渡して、メッシュを更新
for(int j=0;j<tmp_create_list.size();j++)
{
this->block.setMeshMark(tmp_create_list[j], false);//
// 2-3-3各座表の情報を渡して、map,obstacleリストを更新
this->map.push_back_CreatePointList( tmp_create_list[j] );
}
for(int j=0;j<tmp_obstacle_list.size();j++)
{
// this->block.setMeshMark(tmp_obstacle_list[j], true);//
this->map.push_back_ObstaclePointList( tmp_obstacle_list[j] );
}
this->block.showMesh();
}
// 2-4.全部のメッシュをチェックし終えたかを判定
if( !this->block.checkAllSearchEnd() )
{
this->search_flag = DOCK;
}
}
// 3.ドッキングステーションへゴール
else if(this->search_flag == DOCK)
{
this->create.stopRun();
runDemo(DEMO_COVER_AND_DOCK);
this->finished = true;
std::cout << "finished!" << std::endl;
}
}
