void ObstacleSpawner::Deserialize()
{
JValue* obstacleData = ResourceManager::GetInstance()->GetJson("ObstacleConfig");
JValue & obstacleArray = (*obstacleData)["obstacles"];
_numOfObtacles = obstacleArray.GetLength();
for (int i = 0; i <_numOfObtacles;i++ )
{
std::string name = obstacleArray[i]["name"].ToString();
SDL_Texture * texture =
ResourceManager::GetInstance()->GetTexture(name);
Drawable * drawable = new Drawable();
drawable->SetTexture(texture);
AABB * aabb = new AABB();
aabb->SetRect(drawable->GetRect());
Obstacles * newObstacle = new Obstacles();
newObstacle->SetCollider(aabb);
newObstacle->SetDrawable(drawable);
newObstacle->weight = obstacleArray[i]["weight"].ToInt();
_obstacleArray.InsertAtLast(newObstacle);
}
DEBUGLOG("%s","ObstacleSpawner init success");
}
void ObstacleSpawner::GenerateObstacle(const Vector2D & pos,int i)
{
Obstacles * obstacle = _obstacleArray[i]->Clone();
Vector2D scenePos = Vector2D::ZERO;
scenePos.x = pos.x;
scenePos.y = pos.y-2*obstacle->GetCenter().y;
obstacle->SetPosition(scenePos);
SceneManager::GetInstance()->AddActorToLayer("obstacle", obstacle);
_nextpos.x+=2*obstacle->GetCenter().x;
}
ObstacleObject::ObstacleObject(Ogre::SceneManager * sceneMgr, Obstacles p):
Object::Object( sceneMgr, 100, p.getId())
{
float r;
float g;
float b;
p.getColor(&r,&g,&b);
initObstacle(p.getId(), Ogre::Vector3(p.getX(),p.getY(),p.getZ()), Ogre::Vector3(p.getWidth(),p.getHeight(),p.getLength()), Ogre::ColourValue(r,g,b));
}
int main()
{
g_app->Init();
Obstacles obstacles;
Bird bird(&obstacles);
sf::Clock clock;
while (g_app->window.isOpen())
{
sf::Event event;
while (g_app->window.pollEvent(event))
{
g_input->HandleEvent(event);
}
sf::Time elapsed = clock.restart();
g_app->window.clear(sf::Color(95, 158, 160));
bird.Update(elapsed.asSeconds());
if (!bird.GameOver())
{
obstacles.Update(elapsed.asSeconds());
}
bird.Draw();
obstacles.Draw();
g_input->Reset();
g_app->window.display();
}
return 0;
}
void ObstacleObject::updateState(Obstacles &p){
//Ogre::ColourValue color;
//p.getColor(color.r,color.g,color.b);
//setColor(color.r,color.g,color.b);
setScale(Ogre::Vector3(p.getWidth(),p.getHeight(),p.getLength()));
setPosition(p.getX(),p.getY(),p.getZ());
}
void
configure(const omni_vision::OmniVisionConfig & config, uint32_t level)
{
ROS_INFO("Reconfigure request received");
is_show_ball_ = config.ball;
is_show_whites_ = config.white;
is_show_obstacles_ = config.obstacle;
is_show_scan_points = config.scan;
is_show_result_ = config.show;
int obstacle_thres = config.obsthres;
double obstacle_length_thres = config.obs_length_thres;
double obstacle_basic_thres = config.obs_basic_thres;
obstacles_->setObsThres(obstacle_thres,obstacle_length_thres,obstacle_basic_thres);
ROS_INFO("Reconfigure request end");
}
bool Bomberman::collision(Obstacles obs)
{
if(obs.getISExist()==0)
return 0;
if(y + width <= obs.getY())
return 0;
if(x + length <= obs.getX())
return 0;
if(y >= obs.getY() + obs.getWidth())
return 0;
if(x >= obs.getX() + obs.getLength())
return 0;
return 1;
}
void PlayerManager::checkCollision(vector< InteractiveObject* > &objectsonScreen)
{
unsigned int i;
InteractiveObject *interactiveObj;
Car* car;
Obstacles *obstacle;
for(i = 0 ; i < objectsonScreen.size(); i++)
{
interactiveObj = objectsonScreen.at(i);
collisionSide collSide = player->isCollidingThenFromWhere(interactiveObj);
if(collSide && interactiveObj->getOnScreen())
{
lprintf("collision detected\n");
//Handle all obstacle cases.
if(interactiveObj->getObectType().compare("Obstacle") == 0)
{
obstacle = (Obstacles*)interactiveObj;
obstacleType myObsType = obstacle->getObstacleType();
interactiveObj->setState(READY);
interactiveObj->setOnScreen(no);
player->bumpAction(myObsType);
}
//Handle all car cases.
else
{
car = (Car*)interactiveObj;
if(car->getCarType() != BONUS_CAR)
{
//In the case of car, we are interested in from where we are having the collision
switch(collSide)
{
case COLLIDING_TOP_LEFT:
player->setSlideDirection(DIRECTION_LEFT);
break;
case COLLIDING_TOP_RIGHT:
player->setSlideDirection(DIRECTION_RIGHT);
break;
case COLLIDING_BOTTOM_LEFT:
player->setSlideDirection(DIRECTION_LEFT);
break;
case COLLIDING_BOTTOM_RIGHT:
player->setSlideDirection(DIRECTION_RIGHT);
break;
}
}
carType mycarType = car->getCarType();
if(car->isActive())
{
car->setSlideDirection(player->getSlideDirection() == DIRECTION_LEFT ? DIRECTION_RIGHT : DIRECTION_LEFT);
car->bumpAction();
player->bumpAction(mycarType);
}
}
}
}
}
void
process()
{
if(!colorsegment_->Segment(imginfo_->yuv_image_))
return;
//get the colors of the scan_points
scanpts_->process();
//detect the white points
whites_->process();
if(whites_->img_white_.size()<=0)
{
// is_restart_=true;
ROS_WARN("don't detect the white points");
return ;
}
if(!is_power_off_)
is_restart_=true;
if(is_restart_)
{
is_restart_=false;
robot.isglobal_=true;
}
//localization
if(robot.isglobal_)
{
ROS_INFO("start global localization");
robot.isglobal_=glocation_->process(whites_->weights_,whites_->robot_white_,robot.visual_location_,robot.angle_);
}
else
{
DPoint delta_loc=odometry_->getWorldLocaton();
Angle delta_ang=odometry_->getDeltaAngle();
odometry_->clear(robot.angle_);
robot.realvtrans_ = odometry_->getRealVelocity();
robot.worldvtrans_ = odometry_->getWorldVelocity();
robot.angular_velocity_ = odometry_->getAngularVelocity();
location_->process(whites_->weights_,whites_->robot_white_,robot.visual_location_,robot.angle_,delta_loc,delta_ang);
}
PPoint correct_pt = PPoint(tranfer_->get_offset().angle(),tranfer_->get_offset().norm());
tranfer_->calculateWorldCoordinates(correct_pt,robot.visual_location_,robot.angle_,robot.final_location_);
obstacles_->process(colorsegment_->segment_result_,robot.final_location_,robot.angle_);
ball_info_.pos_known=ball_finder_->Process(colorsegment_->segment_result_,robot.final_location_,robot.angle_);
if(is_show_whites_ || is_show_obstacles_ || is_show_ball_ )
{
if(field_image_.empty())
ROS_INFO("Field.bmp is empty");
cv::Mat image = field_image_.clone();
cv::Mat orgnal = imginfo_->getBGRImage().clone();
static double length = 1920;
static double width = 1314;
if(WIDTH_RATIO<1)
{
length = 1920;
width = 882;
}
if(is_show_scan_points)
scanpts_->showScanPoints();
if(is_show_obstacles_)
{
obstacles_->showObstacles(orgnal);
if(!field_image_.empty())
obstacles_->showObstacles(image,robot.final_location_,robot.angle_,length,width);
}
if(is_show_whites_)
{
whites_->showWhitePoints(orgnal);
if(!field_image_.empty())
whites_->showWhitePoints(image,robot.final_location_,robot.angle_,length,width);
}
if(is_show_ball_)
{
ball_finder_->showBall(orgnal);
if(!field_image_.empty())
ball_finder_->showBall(image,robot.final_location_,robot.angle_,length,width);
}
}
}
void CarManager::checkCollision(vector< InteractiveObject* > &objectsonScreen)
{
unsigned int i, j;;
InteractiveObject *interactiveObj;
Car *car;
Car* otherCar;
Obstacles *obstacle;
for(i = 0 ; i < cars.size(); i++)
{
car = cars.at(i);
for(j = 0 ; j < objectsonScreen.size(); j++)
{
interactiveObj = objectsonScreen.at(j);
//preventing collision from itself
if(interactiveObj->getObectType().compare("Car") == 0 && i == j)
{
break;
}
Logical colliding = car->isCollidingWith(interactiveObj);
if(colliding && interactiveObj->getOnScreen())
{
//Handle all obstacle cases.
if(interactiveObj->getObectType().compare("Obstacle") == 0)
{
obstacle = (Obstacles*)interactiveObj;
obstacleType myObsType = obstacle->getObstacleType();
interactiveObj->setState(READY);
interactiveObj->setOnScreen(no);
car->bumpAction();
}
//Handle all car cases.
else
{
otherCar = (Car*)interactiveObj;
if(otherCar->isActive())
{
if(car->getCarType() == BONUS_CAR && otherCar->getCarType() != TRUCK_CAR)
{
otherCar->destroy();
}
else if(otherCar->getCarType() == BONUS_CAR && car->getCarType() != TRUCK_CAR)
{
car->destroy();
}
else
if(car->getCarType() != TRUCK_CAR && otherCar->getCarType() != TRUCK_CAR)
{
otherCar->destroy();
}
else if(car->getCarType() == TRUCK_CAR && otherCar->getCarType() != TRUCK_CAR)
{
otherCar->destroy();
}
else if(otherCar->getCarType() == TRUCK_CAR && car->getCarType() != TRUCK_CAR)
{
car->destroy();
}
}
}
}
}
}
}
