C++ Obstacle类代码示例

        void DistanceToObjectsReport::report(const odcore::wrapper::Time &t) {
            cerr << "Call to DistanceToObjectsReport for t = " << t.getSeconds() << "." << t.getPartialMicroseconds() << ", containing " << getFIFO().getSize() << " containers." << endl;

            // Get last EgoState.
            KeyValueDataStore &kvds = getKeyValueDataStore();
            Container c = kvds.get(opendlv::data::environment::EgoState::ID());
            EgoState es = c.getData<EgoState>();

            const uint32_t SIZE = getFIFO().getSize();
            for (uint32_t i = 0; i < SIZE; i++) {
                c = getFIFO().leave();
                cerr << "Received: " << c.toString() << endl;

                if (c.getDataType() == opendlv::data::environment::Obstacle::ID()) {
                    Obstacle o = c.getData<Obstacle>();

                    const float DISTANCE = (es.getPosition().getDistanceTo(o.getPosition()));
                    cerr << "DistanceToObjectsReport: Distance to object: " << DISTANCE << ", E: " << es.toString() << ", o: " << o.getPosition().toString() << endl;

                    // Continuously check distance.
                    m_correctDistance &= (DISTANCE > m_threshold);

                    vector<Point3> shape = o.getPolygon().getVertices();
                    Point3 head = shape.front();
                    shape.push_back(head);
                    const uint32_t NUMVERTICES = shape.size();
                    for(uint32_t j = 1; j < NUMVERTICES; j++) {
                        Point3 pA = shape.at(j-1);
                        Point3 pB = shape.at(j);

                        // TODO: Check polygonal data as well as perpendicular to all sides.
                        // Create line.
                        Line l(pA, pB);

                        // Compute perpendicular point.
                        Point3 perpendicularPoint = l.getPerpendicularPoint(es.getPosition());

                        // Compute distance between current position and perpendicular point.
                        const float DISTANCE_PP = (es.getPosition().getDistanceTo(perpendicularPoint));

                        cerr << "DistanceToObjectsReport: Distance to object's shape: " << DISTANCE_PP << ", E: " << es.toString() << ", o: " << o.getPosition().toString() << ", perpendicular point:" << perpendicularPoint.toString() << endl;

                        // Continuously check distance.
                        m_correctDistance &= (DISTANCE > m_threshold);
                    }
                }

                if (c.getDataType() == opendlv::data::environment::OtherVehicleState::ID()) {
                    OtherVehicleState o = c.getData<OtherVehicleState>();

                    const float DISTANCE = (es.getPosition().getDistanceTo(o.getPosition()));

                    // Compute distance between current position and perpendicular point.
                    cerr << "DistanceToObjectsReport: Distance to other vehicle: " << DISTANCE << ", E: " << es.toString() << ", o: " << o.getPosition().toString() << endl;

                    // Continuously check distance.
                    m_correctDistance &= (DISTANCE > m_threshold);
                }
            }
        }

void updateGui(Map map){

    ofstream guiFile;
    guiFile.open ("/home/opencvdev/workplace6/socG2/server/data");

    // Add to gui
    // Add Balls
    vector<Ball> ballVector = map.getBalls();
    for(int i=0; i<ballVector.size();i++){
	Ball ball = ballVector.at(i);
	Location ballLocation = ball.getLocation();
	guiFile<<""<<ballLocation.getX()<<"b"<<ballLocation.getY()<<"\n";
    }
    // Add obstacles
    vector<Obstacle> obsVector = map.getObstacles();
    for(int i=0; i<obsVector.size();i++){
	Obstacle obs = obsVector.at(i);
	Location obsLocation = obs.getLocation();
	guiFile<<""<<obsLocation.getX()<<"o"<<obsLocation.getY()<<"\n";
    }
    // Add target point to data
    Location target = brain.getTarget();
    guiFile<<target.getX()<<"t"<<target.getY()<<"\n";

    // Add robot and locationB
    Robot ourRobot = map.getOurRobot();
    // Fake the locationB of the robot
    //ourRobot.addLocationB(ourRobot.getLocation().getX(), ourRobot.getLocation().getY());

    //cout << "--->Robot Location in Test: (" << ourRobot.getLocationB().getX() << "," << ourRobot.getLocationB().getY() << ")\n";
    guiFile<<ourRobot.getLocation().getX()<<"r"<<ourRobot.getLocation().getY()<<"\n";
    guiFile<<ourRobot.getLocationB().getX()<<"n"<<ourRobot.getLocationB().getY()<<"\n";

    guiFile.close();
}

void Map::createMap()
{
    //TODO : Add a quadrant system
    const int w = m_pSurface->w / World::ratio;
    const int h = m_pSurface->h / World::ratio;

    b2Vec2 oldPos(0.0f,0.f);
    const float minDis = 3;
    for(unsigned int i=0; i<16*5; i++)
    {
        bool foundPos = false;
        while(foundPos == false)
        {
            b2Vec2 pos(rand()%w, rand()%h);
            if(b2DistanceSquared(pos, oldPos) >= minDis)
            {
                foundPos = true;
                oldPos = pos;
            }
        }

        Obstacle * obs = new Obstacle(m_pWorld, oldPos);
        obs->init();

        m_Obstacles.push_back(obs);
    }

}

	void ObstacleFactory::update( float time )
	{
		
		
		Obstacle* b;
		std::string name;

		for (ObstacleIterator ei = ObstacleList.begin(); ei != ObstacleList.end(); ){
			b = *ei;
			b->update(time);
			ei++;
			if(b->die)
			{
				delete b;
				b = 0;
			}


			
			name = b->getName();
			sillyRotation(time, b->getSceneNode());

			if(hit)
				sillyHitCamera(time, b->getSceneNode());

			
		}


		if(!hit)
			debug->setText("false");

		//resetPath();
		//ObstacleList.clear();
	}

void sv::ObstacleManager::UpdateLevel(ulong deltaTime)
{
	m_PassedTime += deltaTime;
	if(m_PassedTime > SPAWN_TIME_OB)
	{
		m_PassedTime -= SPAWN_TIME_OB;
		m_Step ++;
		if(m_Step == m_LevelSize)
			m_Step = 0;
		
		ObstacleMsg obstacleMsg;
		bool obstacleCreated = false;

		for(uchar i=0; i<GetGrid()->GetNumberLanes(); ++i)
		{
			if(m_Level[m_Step][i] != ' ')
			{
				uchar category = m_Level[m_Step][i] - 'a' +1;
				Obstacle* ob = CreateObstacle(category, i);
				obstacleMsg.AddObstacle(ob->GetId(), category, ob->GetPos());
				obstacleCreated = true;
			}
		}

		if(obstacleCreated)
			GetGame()->SendMsg(&obstacleMsg);
	}
}

char TGame::doHitTest(int x, int y) {
	//do hit test
	
	if(Tank1.hitTest(x,y,2,2))//could be for dynamic bullet size
	{
		//delete &Tank1
		Tank1.isHit = true;
		return '1';
	}

	if(Tank2.hitTest(x,y,2,2))//could be for dynamic bullet size
	{
		//delete &Tank2
		Tank2.isHit = true;
		return '2';
	}

	for(int i=0;i<vObs.size();i++)
	{
		 Obstacle O = (Obstacle) vObs[i];
		 int w,h;
		 w = .5;
		 h = .5;
		 if(O.hitTest(x,y,w,h))
		 return 'w';
	}

	

	return 'n';
}

bool SoaringLayer::onContactBegin(PhysicsContact& contact)
{
    Node* nodes[2];
    nodes[0] = contact.getShapeA()->getBody()->getNode();
    nodes[1] = contact.getShapeB()->getBody()->getNode();
    
    if (nodes[0] && nodes[1])
    {
        for (int i = 0; i < 2; i++)
        {
            int j = (i + 1) % 2;
            
            if (nodes[i]->getTag() == FLYPLANT_TAG)
            {
                FlyPlant *flyPlant = dynamic_cast<FlyPlant*>(nodes[i]);
                if (flyPlant)
                {
                    flyPlant->onContactBegin(nodes[j]);
                }
            }
            if (nodes[i]->getTag() == OBSTACLE_TAG)
            {
                Obstacle *obstacle = dynamic_cast<Obstacle*>(nodes[i]);
                if (obstacle)
                {
                    obstacle->onContactBegin(nodes[j]);
                }
            }
        }
    }
    
    return false;
}

Obstacle *Obstacle::getInstanceByGid(unsigned int gid)
{
    Obstacle *obstacle = nullptr;

    //gid = convertGidToOld(gid);

    switch(gid)
    {
        case 1089: //case 273:
            obstacle = (Obstacle *) ObjectCache::getInstance()->getObject(COT_MAZE_BLOCK);
            break;
        case 999999999:
            obstacle = (Obstacle *) ObjectCache::getInstance()->getObject(COT_LEVER_BLOCK);
            break;
        case 1092: //case 276:
            obstacle = (Obstacle *) ObjectCache::getInstance()->getObject(COT_DESTROYABLE_BLOCK);
            break;
        case 1026: //case 258:
        case 2639:
            obstacle = (Obstacle *) ObjectCache::getInstance()->getObject(COT_PUSHABLE_BLOCK);
            break;
        default:
            obstacle = (Obstacle *) ObjectCache::getInstance()->getObject(COT_MAZE_BLOCK);
            printf("Obstacle::getInstanceByGid - unknown obstacle gid %u\n", gid);
    }

    obstacle->setGid(gid);

    return obstacle;
}

void TGame::moveTank2(char direction) {
	bool canMove = true;

   	point tm;
	tm = Tank2.getMovePoint(direction);
	if(!Tank1.hitTest(tm.x,tm.y,Tank2.width,Tank2.height))//check contact with opposing tank
	{
	  for(int i=0;i<vObs.size();i++)
	  {
		 Obstacle O = (Obstacle) vObs[i];
		 int x,y,w,h;
		 point p = Tank2.getMovePoint(direction);
		 x= p.x;
		 y= p.y;
		 w = Tank1.width;
		 h = Tank1.height;
		 if(O.hitTest(x,y,w+2,h+2))
		  canMove = false;
	  }
	}
	else{canMove = false;}
	
	  if(canMove)
	  Tank2.move(direction);
	
}

Obstacle* Game::getSelectedAtPosition(V2f position, long mask) {
	for (int i = 0; i < selectedObstacles.size(); ++i) {
		Obstacle * obs = selectedObstacles[i];
		if (obs->contains(position, mask))
			return obs;
	}
	return 0;
}

void Obstacle::fusion2D(Obstacle& one, const Obstacle& other)
{
  if(!twoDimSquareEquation(one.center, one.covariance, other.center, other.covariance))
  {
    OUTPUT_ERROR("Call Florian: one's type " << one.type << " cov: " << one.covariance(0, 0) << " " << one.covariance(1, 1)
                 << " other type " << other.type << " cov: " << other.covariance(0, 0) << " " << other.covariance(1, 1));
  }
}

void ObstacleManager::Resume()
{
    for (unsigned int i = 0 ; i < allObstacles->count() ; i++)
    {
        Obstacle *obstacleObj = (Obstacle*)allObstacles->objectAtIndex(i);
        obstacleObj->Resume();
    }
}

//test if object is within BoundingBox
bool Obstacle::objectWithinBoundingBox(Obstacle testObj)
{
	if (   (testObj.getOrigin().x>=minX && testObj.getOrigin().x<=maxX)
		&& (testObj.getOrigin().y>=minY && testObj.getOrigin().y<=maxY)
		&& (testObj.getOrigin().z>=minZ && testObj.getOrigin().z<=maxZ))
	{ 
			return true;
	}
	return false;
}

bool RobotClass::detectObstacle(Obstacle obstacle)
{	
	int xdiff = getXPosition() - obstacle.getXPosition(); 
	int ydiff = getYPosition() - obstacle.getYPosition();
	int distance = getSize() + obstacle.getSize();
	if (xdiff * xdiff + ydiff * ydiff <= distance * distance)
	{
		return true;
	}
	else return false;
}

void GameStateUpdater::spawnObstacle(unsigned int obstacleGid, Coordinates coords, unsigned int spawnerId)
{
    Obstacle *obstacle = Obstacle::getInstanceByGid(obstacleGid);
    obstacle->setId(coords.y*_state->getWidth() + coords.x);
    obstacle->setPosition(coords.x*TILE_WIDTH, coords.y*TILE_HEIGHT);
    obstacle->setSize(TILE_WIDTH, TILE_HEIGHT);

    _state->getObstacleLayer()->addObject(obstacle);
    _state->getObstacleLayer()->updateGrid();

    this->logObstacleSpawn(obstacleGid, obstacle, spawnerId);
}