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/**
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* @file world.c
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* @author Colony Project
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* @brief Simulator world code
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*
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* This is the world.
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**/
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <math.h> |
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#include <stdarg.h> |
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#include "world.h" |
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double (*collide_func[NUM_SHAPES])(ray_t *ray, object_t *obj) =
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{ |
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collide_poly |
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}; |
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int (*create_func[NUM_SHAPES])(object_t *obj, va_list ap) =
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{ |
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create_poly |
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}; |
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double collide_circle(ray_t *ray, object_t *obj)
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{ |
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return -1; |
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} |
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double collide_seg(ray_t *ray, point_t p3, point_t p4)
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{ |
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double denom, nume_a, nume_b, ua, ub, xint, yint, dist;
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point_t p1 = ray->p; |
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point_t p2 = {ray->p.x+cos(ray->d),ray->p.y+sin(ray->d)}; |
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// printf("(%g,%g) --> (%g,%g) with (%g,%g) --> (%g,%g)\n",p1.x,p1.y,p2.x,p2.y,p3.x,p3.y,p4.x,p4.y);
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denom = (p2.y-p1.y)*(p4.x-p3.x)-(p2.x-p1.x)*(p4.y-p3.y); |
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if (denom == 0) { |
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return RAY_MISS;
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} |
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nume_a = (p2.x-p1.x)*(p3.y-p1.y)-(p2.y-p1.y)*(p3.x-p1.x); |
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nume_b = (p4.x-p3.x)*(p3.y-p1.y)-(p4.y-p3.y)*(p3.x-p1.x); |
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ua = nume_a/denom; |
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if (ua < 0 || ua > 1) { |
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return RAY_MISS;
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} |
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ub = nume_b/denom; |
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if (ub < 0) { |
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return RAY_MISS;
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} |
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xint = p3.x+ua*(p4.x-p3.x); |
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yint = p3.y+ua*(p4.y-p3.y); |
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dist = sqrt((xint-p1.x)*(xint-p1.x)+(yint-p1.y)*(yint-p1.y)); |
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return dist;
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} |
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double collide_rect(ray_t *ray, object_t *obj) {}
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/*
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{
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seg_t s;
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double min = RAY_MISS, x;
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rect_t *rect = (rect_t *)obj->props;
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s.p1 = s.p2 = rect->p1;
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s.p2.y = rect->p2.y;
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if ((x = collide_seg(ray, (seg_t *)&s)) < min)
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min = x;
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s.p1 = rect->p2;
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if ((x = collide_seg(ray, (seg_t *)&s)) < min)
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min = x;
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s.p2 = rect->p1;
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s.p2.x = rect->p2.x;
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if ((x = collide_seg(ray, (seg_t *)&s)) < min)
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min = x;
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s.p1 = rect->p1;
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if ((x = collide_seg(ray, (seg_t *)&s)) < min)
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min = x;
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return min;
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}
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*/
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double collide_poly(ray_t *ray, object_t *obj)
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{ |
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int i;
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double min = RAY_MISS;
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double x;
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poly_t *p = (poly_t *) obj->props; |
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if (obj->id != ID_POLY){
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return -1; |
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} |
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for (i = 0; i < p->num_pts - 1; i++) { |
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if ((x = collide_seg(ray, p->pts[i], p->pts[i+1])) < min){ |
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min = x; |
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} |
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} |
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if (p->type == POLY_DISCONNECTED) {
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if ((x = collide_seg(ray,p->pts[i],p->pts[0])) < min) |
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min = x; |
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} |
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return min;
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} |
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double collide(ray_t *ray, object_t *obj)
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{ |
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if (ray == NULL || obj == NULL) |
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{ |
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return -1; |
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} |
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return collide_func[obj->id](ray, obj);
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} |
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object_t *create(int id, ...)
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{ |
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object_t *obj; |
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va_list args; |
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obj = malloc(sizeof(object_t));
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obj->id = id; |
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va_start(args, id); |
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if (create_func[id](obj, args) < 0) { |
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free(obj); |
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obj = NULL;
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} |
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va_end(args); |
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return obj;
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} |
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/**
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*
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**/
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int create_poly(object_t *obj, va_list ap)
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{ |
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int i;
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poly_t *p; |
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int argc = va_arg(ap, int); |
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int poly_type = va_arg(ap, int); |
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p = malloc(sizeof(poly_t));
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p->num_pts = argc; |
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p->pts = malloc((argc) * sizeof(point_t));
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p->type = poly_type; |
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for(i=0;i < argc; i++) { |
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p->pts[i].x = va_arg(ap, double);
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p->pts[i].y = va_arg(ap, double);
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} |
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obj->id = ID_POLY; |
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obj->bbox = NULL;
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obj->props = p; |
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return 1; |
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} |
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int create_rect(object_t *obj, va_list ap)
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{ |
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int i;
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poly_t *p; |
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int argc = va_arg(ap, int); |
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} |
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void destroy_poly (object_t *obj)
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{ |
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poly_t *p; |
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int i;
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if (obj == NULL) |
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return;
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p = (poly_t *)obj->props; |
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if (p != NULL) free(p->pts); |
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free(p); |
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free(obj); |
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for (i = 0; i < p->num_pts; i++) |
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{ |
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} |
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} |
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void print_object(object_t *obj)
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{ |
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if (obj == NULL) { |
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printf("No object\n");
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return;
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} |
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int i;
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poly_t *p; |
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switch (obj->id) {
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case ID_POLY:
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p = (poly_t *) obj->props; |
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printf("POLYGON (%d points, %s) { ", p->num_pts, p->type?"connected" : "disconnected"); |
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for (i = 0; i < p->num_pts; i++){ |
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printf("(%g, %g) ", p->pts[i].x, p->pts[i].y);
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} |
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printf("}\n");
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break;
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default:
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break;
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} |
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} |
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