root / branches / simulator / projects / simulator / simulator / core / world.c @ 1047
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1 | 1022 | bpoole | /**
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2 | * @file world.c
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3 | * @author Colony Project
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4 | * @brief Simulator world code
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5 | *
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6 | * This is the world.
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7 | **/
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8 | |||
9 | #include <stdio.h> |
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10 | 1026 | bpoole | #include <stdlib.h> |
11 | #include <math.h> |
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12 | #include <stdarg.h> |
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13 | 1022 | bpoole | #include "world.h" |
14 | 1042 | bpoole | #include "robot.h" |
15 | #include "robot_shared.h" |
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16 | 1022 | bpoole | |
17 | 1040 | bpoole | world_t world; |
18 | 1022 | bpoole | |
19 | 1040 | bpoole | int init_world(int max_objs, bbox_t b) |
20 | { |
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21 | 1044 | bpoole | double pts[8] = {b.p1.x, b.p1.y, b.p1.x, b.p2.y, b.p2.x,b.p2.y,b.p2.x,b.p1.y}; |
22 | 1040 | bpoole | world.max_objs = max_objs; |
23 | world.cur_objs = 0;
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24 | world.objs = calloc(max_objs, sizeof(object_t));
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25 | world.win = b; |
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26 | 1044 | bpoole | /* Add a polygon surrounding the world */
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27 | 1047 | bcoltin | // this devours the world - brian
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28 | //create(ID_POLY,4,POLY_CONNECTED,pts);
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29 | 1040 | bpoole | } |
30 | int destroy_world()
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31 | { |
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32 | int i;
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33 | for (i = 0; i < world.cur_objs; i++) { |
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34 | destroy(&world.objs[i]); |
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35 | } |
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36 | free(world.objs); |
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37 | } |
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38 | 1026 | bpoole | |
39 | double (*collide_func[NUM_SHAPES])(ray_t *ray, object_t *obj) =
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40 | { |
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41 | collide_poly |
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42 | }; |
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43 | int (*create_func[NUM_SHAPES])(object_t *obj, va_list ap) =
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44 | { |
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45 | create_poly |
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46 | }; |
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47 | 1040 | bpoole | int (*destroy_func[NUM_SHAPES])(object_t *obj) =
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48 | { |
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49 | destroy_poly |
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50 | }; |
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51 | |||
52 | |||
53 | |||
54 | 1026 | bpoole | double collide_circle(ray_t *ray, object_t *obj)
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55 | { |
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56 | 1022 | bpoole | return -1; |
57 | } |
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58 | 1026 | bpoole | |
59 | double collide_seg(ray_t *ray, point_t p3, point_t p4)
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60 | { |
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61 | double denom, nume_a, nume_b, ua, ub, xint, yint, dist;
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62 | point_t p1 = ray->p; |
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63 | point_t p2 = {ray->p.x+cos(ray->d),ray->p.y+sin(ray->d)}; |
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64 | |||
65 | 1045 | bpoole | //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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66 | 1026 | bpoole | denom = (p2.y-p1.y)*(p4.x-p3.x)-(p2.x-p1.x)*(p4.y-p3.y); |
67 | if (denom == 0) { |
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68 | return RAY_MISS;
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69 | } |
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70 | nume_a = (p2.x-p1.x)*(p3.y-p1.y)-(p2.y-p1.y)*(p3.x-p1.x); |
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71 | nume_b = (p4.x-p3.x)*(p3.y-p1.y)-(p4.y-p3.y)*(p3.x-p1.x); |
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72 | |||
73 | ua = nume_a/denom; |
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74 | if (ua < 0 || ua > 1) { |
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75 | return RAY_MISS;
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76 | } |
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77 | |||
78 | ub = nume_b/denom; |
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79 | if (ub < 0) { |
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80 | return RAY_MISS;
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81 | } |
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82 | |||
83 | xint = p3.x+ua*(p4.x-p3.x); |
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84 | yint = p3.y+ua*(p4.y-p3.y); |
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85 | dist = sqrt((xint-p1.x)*(xint-p1.x)+(yint-p1.y)*(yint-p1.y)); |
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86 | return dist;
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87 | |||
88 | 1022 | bpoole | } |
89 | |||
90 | 1026 | bpoole | double collide_poly(ray_t *ray, object_t *obj)
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91 | { |
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92 | 1042 | bpoole | |
93 | 1026 | bpoole | int i;
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94 | double min = RAY_MISS;
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95 | double x;
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96 | poly_t *p = (poly_t *) obj->props; |
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97 | |||
98 | if (obj->id != ID_POLY){
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99 | return -1; |
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100 | } |
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101 | |||
102 | for (i = 0; i < p->num_pts - 1; i++) { |
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103 | if ((x = collide_seg(ray, p->pts[i], p->pts[i+1])) < min){ |
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104 | min = x; |
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105 | } |
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106 | } |
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107 | 1040 | bpoole | if (p->type == POLY_CONNECTED) {
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108 | 1026 | bpoole | if ((x = collide_seg(ray,p->pts[i],p->pts[0])) < min) |
109 | min = x; |
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110 | } |
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111 | return min;
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112 | } |
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113 | |||
114 | double collide(ray_t *ray, object_t *obj)
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115 | { |
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116 | 1040 | bpoole | return collide_func[obj->id+ID_OFFSET](ray, obj);
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117 | 1022 | bpoole | } |
118 | 1026 | bpoole | |
119 | 1042 | bpoole | double collide_world(ray_t *ray)
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120 | { |
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121 | double min = RAY_MISS;
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122 | int i, x;
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123 | for (i = 0; i < world.cur_objs; i++) { |
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124 | x = collide(ray, &world.objs[i]); |
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125 | min = (x < min) ? x : min; |
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126 | } |
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127 | return min;
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128 | } |
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129 | 1026 | bpoole | |
130 | |||
131 | 1042 | bpoole | |
132 | 1026 | bpoole | object_t *create(int id, ...)
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133 | { |
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134 | 1040 | bpoole | object_t *obj = &(world.objs[world.cur_objs++]); |
135 | 1026 | bpoole | va_list args; |
136 | |||
137 | va_start(args, id); |
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138 | 1040 | bpoole | if (create_func[id+ID_OFFSET](obj, args) < 0) { |
139 | /* Cleanup ? */
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140 | 1026 | bpoole | } |
141 | va_end(args); |
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142 | return obj;
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143 | } |
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144 | |||
145 | 1040 | bpoole | int destroy(object_t *obj)
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146 | { |
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147 | if (obj->id == ID_NULL)
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148 | return 0; |
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149 | destroy_func[obj->id+ID_OFFSET](obj); |
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150 | obj->id = ID_NULL; |
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151 | } |
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152 | |||
153 | 1026 | bpoole | /**
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154 | *
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155 | **/
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156 | int create_poly(object_t *obj, va_list ap)
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157 | { |
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158 | int i;
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159 | poly_t *p; |
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160 | |||
161 | int argc = va_arg(ap, int); |
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162 | int poly_type = va_arg(ap, int); |
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163 | |||
164 | p = malloc(sizeof(poly_t));
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165 | |||
166 | |||
167 | p->num_pts = argc; |
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168 | p->pts = malloc((argc) * sizeof(point_t));
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169 | p->type = poly_type; |
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170 | |||
171 | 1043 | chihsiuh | double *pts = va_arg(ap, double*); |
172 | |||
173 | 1026 | bpoole | for(i=0;i < argc; i++) { |
174 | 1043 | chihsiuh | p->pts[i].x = pts[2*i];
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175 | p->pts[i].y = pts[2*i+1]; |
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176 | 1026 | bpoole | } |
177 | obj->id = ID_POLY; |
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178 | obj->bbox = NULL;
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179 | obj->props = p; |
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180 | return 1; |
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181 | } |
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182 | |||
183 | int create_rect(object_t *obj, va_list ap)
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184 | { |
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185 | int i;
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186 | poly_t *p; |
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187 | int argc = va_arg(ap, int); |
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188 | } |
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189 | |||
190 | 1040 | bpoole | int destroy_poly (object_t *obj)
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191 | 1026 | bpoole | { |
192 | poly_t *p; |
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193 | p = (poly_t *)obj->props; |
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194 | if (p != NULL) free(p->pts); |
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195 | free(p); |
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196 | 1040 | bpoole | return 1; |
197 | } |
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198 | 1026 | bpoole | |
199 | 1040 | bpoole | void print_world(void) |
200 | { |
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201 | int i;
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202 | 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);
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203 | for (i = 0; i < world.cur_objs; i++) { |
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204 | print_object(&world.objs[i]); |
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205 | 1026 | bpoole | } |
206 | } |
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207 | void print_object(object_t *obj)
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208 | { |
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209 | int i;
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210 | poly_t *p; |
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211 | switch (obj->id) {
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212 | 1040 | bpoole | case ID_NULL:
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213 | printf("\tNULL\n");
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214 | 1026 | bpoole | case ID_POLY:
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215 | p = (poly_t *) obj->props; |
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216 | 1040 | bpoole | printf("\tPOLYGON (%d points, %s) { ", p->num_pts, p->type?"connected" : "disconnected"); |
217 | 1026 | bpoole | for (i = 0; i < p->num_pts; i++){ |
218 | printf("(%g, %g) ", p->pts[i].x, p->pts[i].y);
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219 | } |
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220 | printf("}\n");
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221 | break;
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222 | default:
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223 | break;
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224 | |||
225 | } |
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226 | } |
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227 | |||
228 | 1042 | bpoole | |
229 | /*
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230 | * XXX: This shouldn't be here. Where should it be?
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231 | */
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232 | /* These need to be measured... */
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233 | double rf_thetas[5] = {0.0, 2*M_PI/5, 4*M_PI/5, 6*M_PI/5, 8*M_PI/5}; |
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234 | void update_rangefinders(Robot *bot)
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235 | { |
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236 | 1044 | bpoole | RangeFinder r = bot->shared->ranges; |
237 | ray_t rf = {bot->pose.x, bot->pose.y, 0};
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238 | /* Motion code has +y going down, I don't.
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239 | * So to compensate, just reflect theta up to first quadrant.*/
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240 | double theta = bot->pose.theta;
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241 | theta = 2*M_PI - theta;
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242 | //ray_t rf = {0,0,0};
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243 | 1042 | bpoole | int ir;
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244 | double x;
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245 | for (ir = 0; ir < 5; ir++) |
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246 | { |
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247 | rf.d = rf_thetas[ir]; |
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248 | 1044 | bpoole | x = collide_world(&rf); |
249 | 1047 | bcoltin | //printf("[%d] = %g\n", ir, x);
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250 | 1044 | bpoole | bot->shared->ranges.d[ir] = x; |
251 | 1042 | bpoole | } |
252 | } |
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253 | |||
254 | 1041 | chihsiuh | int load_object (const char* line) { |
255 | char buf[BUF_SIZE];
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256 | int i = 0; |
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257 | int j;
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258 | int id;
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259 | 1043 | chihsiuh | if (strstr(line,"POLYGON") == line){ |
260 | 1041 | chihsiuh | int num;
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261 | int type;
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262 | double *pts;
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263 | id = ID_POLY; |
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264 | 1043 | chihsiuh | i = strlen("POLYGON") + 1; |
265 | 1041 | chihsiuh | |
266 | sscanf(line+i,"%s",buf);
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267 | num = strtol(buf,NULL,0); |
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268 | i += strlen(buf) + 1;
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269 | |||
270 | 1043 | chihsiuh | if (strstr(line+i,"CONNECTED") == line+i){ |
271 | 1041 | chihsiuh | i += strlen("CONNECTED") + 1; |
272 | type = POLY_CONNECTED; |
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273 | 1043 | chihsiuh | }else if (strstr(line+i,"DISCONNECTED") == line+i){ |
274 | 1041 | chihsiuh | i += strlen("DISCONNECTED") + 1; |
275 | type = POLY_DISCONNECTED; |
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276 | 1043 | chihsiuh | }else if (strstr(line+i,"RECT") == line+i){ |
277 | 1041 | chihsiuh | i += strlen("RECT") + 1; |
278 | type = POLY_RECT; |
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279 | }else{
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280 | // invalid input
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281 | 1043 | chihsiuh | fprintf(stderr,"Invalid input for POLYGON\n");
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282 | 1041 | chihsiuh | return -1; |
283 | } |
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284 | |||
285 | char *c1,*c2;
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286 | c1 = (char*)(line+i);
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287 | c2 = (char*)(line+i);
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288 | pts = (double*) malloc(sizeof(double)*num*2); |
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289 | for (j = 0;j < num;j++){ |
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290 | pts[2*j] = strtod(c1,&c2);
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291 | pts[2*j+1] = strtod(c2,&c1); |
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292 | 1043 | chihsiuh | #if DEBUG
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293 | 1041 | chihsiuh | printf("%lf %lf\n",pts[2*j],pts[2*j+1]); |
294 | 1043 | chihsiuh | #endif
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295 | 1041 | chihsiuh | } |
296 | |||
297 | create(id,num,type,pts); |
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298 | free(pts); |
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299 | 1043 | chihsiuh | }else if (strstr(line,"CIRCLE") == line){ |
300 | id = ID_CIRCLE; |
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301 | i = strlen("CIRCLE") + 1; |
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302 | //TODO
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303 | }else if (strstr(line,"RECTANGLE") == line){ |
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304 | id = ID_RECTANGLE; |
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305 | i = strlen("RECTANGLE") + 1; |
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306 | //TODO
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307 | }else{
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308 | //Invalid input
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309 | #if DEBUG
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310 | fprintf(stderr,"Invalid object: %s",line);
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311 | #endif
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312 | } |
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313 | 1041 | chihsiuh | return 0; |
314 | } |
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315 | |||
316 | 1043 | chihsiuh | int load_world (const char* filename,int max_objs) { |
317 | 1041 | chihsiuh | FILE* fin; |
318 | char buf[BUF_SIZE];
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319 | bbox_t bbox = {0,0,0,0}; |
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320 | if ((fin = fopen(filename,"r"))==NULL){ |
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321 | // open file failed
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322 | 1043 | chihsiuh | perror("Fail to open file");
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323 | 1041 | chihsiuh | return -1; |
324 | } |
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325 | if (fgets(buf,512,fin) != NULL){ |
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326 | sscanf(buf,"WORLD %lf %lf %lf %lf",&bbox.p1.x,&bbox.p1.y,&bbox.p2.x,&bbox.p2.y);
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327 | 1043 | chihsiuh | init_world(max_objs, bbox); |
328 | 1041 | chihsiuh | while (fgets(buf,512,fin) != NULL){ |
329 | load_object(buf); |
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330 | } |
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331 | } |
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332 | fclose(fin); |
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333 | return 0; |
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334 | } |