root / branches / simulator / projects / simulator / simulator / core / world.c @ 1040
History | View | Annotate | Download (4.01 KB)
1 | 1022 | bpoole | /**
|
---|---|---|---|
2 | * @file world.c
|
||
3 | * @author Colony Project
|
||
4 | * @brief Simulator world code
|
||
5 | *
|
||
6 | * This is the world.
|
||
7 | **/
|
||
8 | |||
9 | #include <stdio.h> |
||
10 | 1026 | bpoole | #include <stdlib.h> |
11 | #include <math.h> |
||
12 | #include <stdarg.h> |
||
13 | 1022 | bpoole | #include "world.h" |
14 | |||
15 | 1040 | bpoole | world_t world; |
16 | 1022 | bpoole | |
17 | 1040 | bpoole | int init_world(int max_objs, bbox_t b) |
18 | { |
||
19 | world.max_objs = max_objs; |
||
20 | world.cur_objs = 0;
|
||
21 | world.objs = calloc(max_objs, sizeof(object_t));
|
||
22 | world.win = b; |
||
23 | //PBBOX(b);
|
||
24 | } |
||
25 | int destroy_world()
|
||
26 | { |
||
27 | int i;
|
||
28 | for (i = 0; i < world.cur_objs; i++) { |
||
29 | destroy(&world.objs[i]); |
||
30 | } |
||
31 | free(world.objs); |
||
32 | } |
||
33 | 1026 | bpoole | |
34 | double (*collide_func[NUM_SHAPES])(ray_t *ray, object_t *obj) =
|
||
35 | { |
||
36 | collide_poly |
||
37 | }; |
||
38 | int (*create_func[NUM_SHAPES])(object_t *obj, va_list ap) =
|
||
39 | { |
||
40 | create_poly |
||
41 | }; |
||
42 | 1040 | bpoole | int (*destroy_func[NUM_SHAPES])(object_t *obj) =
|
43 | { |
||
44 | destroy_poly |
||
45 | }; |
||
46 | |||
47 | |||
48 | |||
49 | 1026 | bpoole | double collide_circle(ray_t *ray, object_t *obj)
|
50 | { |
||
51 | 1022 | bpoole | return -1; |
52 | } |
||
53 | 1026 | bpoole | |
54 | double collide_seg(ray_t *ray, point_t p3, point_t p4)
|
||
55 | { |
||
56 | double denom, nume_a, nume_b, ua, ub, xint, yint, dist;
|
||
57 | point_t p1 = ray->p; |
||
58 | point_t p2 = {ray->p.x+cos(ray->d),ray->p.y+sin(ray->d)}; |
||
59 | |||
60 | // 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);
|
||
61 | denom = (p2.y-p1.y)*(p4.x-p3.x)-(p2.x-p1.x)*(p4.y-p3.y); |
||
62 | if (denom == 0) { |
||
63 | return RAY_MISS;
|
||
64 | } |
||
65 | nume_a = (p2.x-p1.x)*(p3.y-p1.y)-(p2.y-p1.y)*(p3.x-p1.x); |
||
66 | nume_b = (p4.x-p3.x)*(p3.y-p1.y)-(p4.y-p3.y)*(p3.x-p1.x); |
||
67 | |||
68 | ua = nume_a/denom; |
||
69 | if (ua < 0 || ua > 1) { |
||
70 | return RAY_MISS;
|
||
71 | } |
||
72 | |||
73 | ub = nume_b/denom; |
||
74 | if (ub < 0) { |
||
75 | return RAY_MISS;
|
||
76 | } |
||
77 | |||
78 | xint = p3.x+ua*(p4.x-p3.x); |
||
79 | yint = p3.y+ua*(p4.y-p3.y); |
||
80 | dist = sqrt((xint-p1.x)*(xint-p1.x)+(yint-p1.y)*(yint-p1.y)); |
||
81 | return dist;
|
||
82 | |||
83 | 1022 | bpoole | } |
84 | |||
85 | 1026 | bpoole | double collide_poly(ray_t *ray, object_t *obj)
|
86 | { |
||
87 | int i;
|
||
88 | double min = RAY_MISS;
|
||
89 | double x;
|
||
90 | poly_t *p = (poly_t *) obj->props; |
||
91 | |||
92 | if (obj->id != ID_POLY){
|
||
93 | return -1; |
||
94 | } |
||
95 | |||
96 | for (i = 0; i < p->num_pts - 1; i++) { |
||
97 | if ((x = collide_seg(ray, p->pts[i], p->pts[i+1])) < min){ |
||
98 | min = x; |
||
99 | } |
||
100 | } |
||
101 | 1040 | bpoole | if (p->type == POLY_CONNECTED) {
|
102 | 1026 | bpoole | if ((x = collide_seg(ray,p->pts[i],p->pts[0])) < min) |
103 | min = x; |
||
104 | } |
||
105 | return min;
|
||
106 | } |
||
107 | |||
108 | double collide(ray_t *ray, object_t *obj)
|
||
109 | { |
||
110 | 1022 | bpoole | if (ray == NULL || obj == NULL) |
111 | 1026 | bpoole | { |
112 | 1022 | bpoole | return -1; |
113 | 1026 | bpoole | } |
114 | 1040 | bpoole | return collide_func[obj->id+ID_OFFSET](ray, obj);
|
115 | 1022 | bpoole | } |
116 | 1026 | bpoole | |
117 | |||
118 | |||
119 | object_t *create(int id, ...)
|
||
120 | { |
||
121 | 1040 | bpoole | object_t *obj = &(world.objs[world.cur_objs++]); |
122 | 1026 | bpoole | va_list args; |
123 | |||
124 | va_start(args, id); |
||
125 | 1040 | bpoole | if (create_func[id+ID_OFFSET](obj, args) < 0) { |
126 | /* Cleanup ? */
|
||
127 | 1026 | bpoole | } |
128 | va_end(args); |
||
129 | return obj;
|
||
130 | } |
||
131 | |||
132 | 1040 | bpoole | int destroy(object_t *obj)
|
133 | { |
||
134 | if (obj->id == ID_NULL)
|
||
135 | return 0; |
||
136 | destroy_func[obj->id+ID_OFFSET](obj); |
||
137 | obj->id = ID_NULL; |
||
138 | } |
||
139 | |||
140 | 1026 | bpoole | /**
|
141 | *
|
||
142 | **/
|
||
143 | int create_poly(object_t *obj, va_list ap)
|
||
144 | { |
||
145 | int i;
|
||
146 | poly_t *p; |
||
147 | |||
148 | int argc = va_arg(ap, int); |
||
149 | int poly_type = va_arg(ap, int); |
||
150 | |||
151 | p = malloc(sizeof(poly_t));
|
||
152 | |||
153 | |||
154 | p->num_pts = argc; |
||
155 | p->pts = malloc((argc) * sizeof(point_t));
|
||
156 | p->type = poly_type; |
||
157 | |||
158 | for(i=0;i < argc; i++) { |
||
159 | p->pts[i].x = va_arg(ap, double);
|
||
160 | p->pts[i].y = va_arg(ap, double);
|
||
161 | } |
||
162 | obj->id = ID_POLY; |
||
163 | obj->bbox = NULL;
|
||
164 | obj->props = p; |
||
165 | return 1; |
||
166 | } |
||
167 | |||
168 | int create_rect(object_t *obj, va_list ap)
|
||
169 | { |
||
170 | int i;
|
||
171 | poly_t *p; |
||
172 | int argc = va_arg(ap, int); |
||
173 | } |
||
174 | |||
175 | 1040 | bpoole | int destroy_poly (object_t *obj)
|
176 | 1026 | bpoole | { |
177 | poly_t *p; |
||
178 | p = (poly_t *)obj->props; |
||
179 | if (p != NULL) free(p->pts); |
||
180 | free(p); |
||
181 | 1040 | bpoole | return 1; |
182 | } |
||
183 | 1026 | bpoole | |
184 | 1040 | bpoole | void print_world(void) |
185 | { |
||
186 | int i;
|
||
187 | printf("WORLD: %d object(s) in (%g,%g)->(%g,%g)\n", world.cur_objs, world.win.p1.x,world.win.p1.y,world.win.p2.x,world.win.p2.y);
|
||
188 | for (i = 0; i < world.cur_objs; i++) { |
||
189 | print_object(&world.objs[i]); |
||
190 | 1026 | bpoole | } |
191 | } |
||
192 | void print_object(object_t *obj)
|
||
193 | { |
||
194 | int i;
|
||
195 | poly_t *p; |
||
196 | switch (obj->id) {
|
||
197 | 1040 | bpoole | case ID_NULL:
|
198 | printf("\tNULL\n");
|
||
199 | 1026 | bpoole | case ID_POLY:
|
200 | p = (poly_t *) obj->props; |
||
201 | 1040 | bpoole | printf("\tPOLYGON (%d points, %s) { ", p->num_pts, p->type?"connected" : "disconnected"); |
202 | 1026 | bpoole | for (i = 0; i < p->num_pts; i++){ |
203 | printf("(%g, %g) ", p->pts[i].x, p->pts[i].y);
|
||
204 | } |
||
205 | printf("}\n");
|
||
206 | break;
|
||
207 | default:
|
||
208 | break;
|
||
209 | |||
210 | } |
||
211 | } |
||
212 |