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Revision 1045

Added by Ben Poole about 15 years ago

added a sample world, updated main to load the sample world

View differences:

branches/simulator/projects/simulator/simulator/core/main.c
15 15 

  		




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#include "gtk_gui.h"


  		




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#include "robot.h"


  		




  
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#include "world.h"


  		




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int main(int argc, char** argv)


  		




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{


  		




  ......




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		exit(-1);


  		




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	}


  		




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	load_world("../../test/world.txt", 100);


  		




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	robot_create(argv[1]);


  		




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	/*robot_create(argv[1]);


  		




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	robot_create(argv[1]);


  		




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	robot_create(argv[1]);


  		




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	robot_create(argv[1]);


  		




  ......




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	robot_create(argv[1]);


  		




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	robot_create(argv[1]);


  		




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	robot_create(argv[1]);


  		




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	*/


  		




  
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	robot_create(argv[1]);


  		




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	sigset_t set;


  		












  

    
      branches/simulator/projects/simulator/simulator/core/world.c
    
  





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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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#if DEBUG


  		




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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);


  		




  66
  
  
    
#endif


  		




  
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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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    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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#if DEBUG


  		




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    printf("Got: %g\n", dist);


  		




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#endif


  		




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    return dist;


  		




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}


  		












  

    
      branches/simulator/projects/simulator/simulator/core/world.h
    
  





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#define POLY_RECT 2


  		




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#define NUM_SHAPES 3


  		




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#define RAY_MISS 1E30


  		




  
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#define RAY_MISS 10000


  		




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#define CREATE(id, ...) (create_func[id](__VA_ARGS__))


  		




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#define PBBOX(b) {printf("(%g,%g) --> (%g, %g)\n",(b).p1.x,(b).p1.y,(b).p2.x,\


  		




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						  (b).p2.y);}


  		












  

    
      branches/simulator/projects/simulator/simulator/Makefile
    
  





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# Add new files here


  		




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COMMON_SRCS :=


  		




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CORE_SRCS := main.c robot.c motion.c


  		




  
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CORE_SRCS := main.c robot.c motion.c world.c


  		




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GUI_SRCS := gtk_gui.c gtk_environment_view.c


  		




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CORE_DIR := core


  		












  

    
      branches/simulator/projects/simulator/test/world.txt
    
  





  
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WORLD 0 0 512 512


  		




  
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POLYGON 4 CONNECTED -1 -1 -1 1 1 1 1 -1


  		




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