public bool WriteUserClass(object obj, FuzzyClass super)
{
FuzzyObject fobj = obj as FuzzyObject;
if (fobj != null)
{
FuzzyClass klass = fobj.Class;
}
return(false);
}
/// <summary>
/// static void w_class(char type, VALUE obj, struct dump_arg *arg, int check)
/// </summary>
/// <param name="type"></param>
/// <param name="obj"></param>
/// <param name="check"></param>
public void WriteClass(byte type, object obj, bool check)
{
object real_obj;
if (this.m_compat_tbl.TryGetValue(obj, out real_obj))
{
obj = real_obj;
}
FuzzyObject fobj = obj as FuzzyObject;
if (fobj != null)
{
FuzzyClass klass = FuzzyClass.GetClass(fobj.ClassName);
WriteExtended(klass, check);
WriteByte(type);
WriteUnique(fobj.ClassName);
}
}
/// <summary>
/// static void w_uclass(VALUE obj, VALUE super, struct dump_arg *arg)
/// </summary>
/// <param name="obj"></param>
/// <param name="super"></param>
public void WriteUserClass(object obj, FuzzyClass super)
{
FuzzyObject fobj = obj as FuzzyObject;
if (fobj != null)
{
FuzzyClass klass = fobj.Class;
WriteExtended(klass, true);
if (klass != super)
{
WriteByte(RubyMarshal.Types.UserClass);
WriteUnique(klass.Symbol);
}
}
else
{
throw new InvalidOperationException();
}
}
/// <summary>
/// static void w_object(VALUE obj, struct dump_arg *arg, int limit)
/// </summary>
/// <param name="obj"></param>
public void WriteObject(object obj)
{
int num;
if (this.m_objects.TryGetValue(obj, out num))
{
WriteByte(RubyMarshal.Types.Link);
WriteLong(num);
return;
}
if (obj == null || obj == FuzzyNil.Instance)
{
WriteByte(RubyMarshal.Types.Nil);
}
else if (obj is bool && (bool)obj == true)
{
WriteByte(RubyMarshal.Types.True);
}
else if (obj is bool && (bool)obj == false)
{
WriteByte(RubyMarshal.Types.False);
}
else if (obj is FuzzyBool && (obj as FuzzyBool).Value)
{
WriteByte(RubyMarshal.Types.True);
}
else if (obj is FuzzyBool && !(obj as FuzzyBool).Value)
{
WriteByte(RubyMarshal.Types.False);
}
else if (obj is int || obj is long || obj is FuzzyFixnum)
{
long v;
if (obj is int | obj is long)
{
v = (long)obj;
}
else
{
v = (obj as FuzzyFixnum).Value;
}
// (2**30).class => Bignum
// (2**30-1).class => Fixnum
// (-2**30-1).class=> Bignum
// (-2**30).class => Fixnum
if (v <= 1073741823 && v >= -1073741824)
{
WriteByte(RubyMarshal.Types.Fixnum);
WriteLong((int)v);
}
else
{
WriteObject(FuzzyBignum.Create(v));
}
}
else if (obj is FuzzySymbol)
{
WriteSymbol(obj as FuzzySymbol);
}
else
{
FuzzyObject fobj = obj as FuzzyObject;
bool hasiv = false;
if (fobj != null)
{
hasiv = (obj as FuzzyObject).InstanceVariables.Count > 0 || fobj.Encoding != null;
}
var factor = Serialization.Factory <byte[]> .Factor(fobj.GetType());
if (factor != null)
{
WriteSymbol(fobj.ClassName);
factor.dump(m_stream, fobj, null);
}
if (obj is IRubyUserdefinedMarshalDumpObject)
{
this.m_objects.Add(obj, this.m_objects.Count);
object result = (obj as IRubyUserdefinedMarshalDumpObject).Dump();
if (hasiv)
{
WriteByte(RubyMarshal.Types.InstanceVariable);
}
WriteClass(RubyMarshal.Types.UserMarshal, obj, false);
WriteObject(result);
if (hasiv)
{
WriteObjectInstanceVariable(fobj);
}
return;
}
if (obj is IRubyUserdefinedDumpObject)
{
byte[] result = (obj as IRubyUserdefinedDumpObject).Dump();
if (hasiv)
{
WriteByte(RubyMarshal.Types.InstanceVariable);
}
WriteClass(RubyMarshal.Types.UserDefined, obj, false);
WriteBytes(result, result.Length);
if (hasiv)
{
WriteObjectInstanceVariable(fobj);
}
this.m_objects.Add(obj, this.m_objects.Count);
return;
}
this.m_objects.Add(obj, this.m_objects.Count);
if (hasiv)
{
WriteByte(RubyMarshal.Types.InstanceVariable);
}
if (obj is FuzzyClass)
{
WriteByte(RubyMarshal.Types.Class);
WriteCString((obj as FuzzyClass).Name);
}
else if (obj is FuzzyModule)
{
WriteByte(RubyMarshal.Types.Module);
WriteCString((obj as FuzzyModule).Name);
}
else if (obj is float)
{
WriteByte(RubyMarshal.Types.Float);
WriteFloat((float)obj);
}
else if (obj is double)
{
WriteByte(RubyMarshal.Types.Float);
WriteFloat((double)obj);
}
else if (obj is FuzzyFloat)
{
WriteByte(RubyMarshal.Types.Float);
WriteFloat((FuzzyFloat)obj);
}
else if (obj is FuzzyBignum || obj is FuzzyBignumAdapter)
{
FuzzyBignum value;
if (obj is FuzzyBignumAdapter)
{
value = (obj as FuzzyBignumAdapter).Value;
}
else
{
value = (FuzzyBignum)obj;
}
char ch;
if (value.Sign > 0)
{
ch = '+';
}
else if (value.Sign < 0)
{
ch = '-';
}
else
{
ch = '0';
}
this.m_writer.Write((byte)ch);
uint[] words = value.GetWords();
int num2 = words.Length * 2;
int index = words.Length - 1;
bool flag = false;
if ((words.Length > 0) && ((words[index] >> 0x10) == 0))
{
num--;
flag = true;
}
this.WriteLong(num2);
for (int i = 0; i < words.Length; i++)
{
if (flag && (i == index))
{
this.m_writer.Write((ushort)words[i]);
}
else
{
this.m_writer.Write(words[i]);
}
}
}
else if (obj is FuzzyString || obj is string)
{
FuzzyString v;
if (obj is string)
{
v = new FuzzyString(obj as string);
}
else
{
v = (FuzzyString)obj;
}
WriteUserClass(v, FuzzyClass.GetClass("String"));
WriteByte(RubyMarshal.Types.String);
WriteBytes(v.Raw);
}
else if (obj is FuzzyRegexp)
{
FuzzyRegexp v = (FuzzyRegexp)obj;
WriteUserClass(obj, FuzzyClass.GetClass("Regexp"));
WriteByte(RubyMarshal.Types.Regexp);
WriteBytes(v.Pattern.Raw);
WriteByte((byte)v.Options);
}
else if (obj is FuzzyArray || obj is List <object> )
{
FuzzyArray v;
if (obj is List <object> )
{
v = new FuzzyArray(obj as List <object>);
}
else
{
v = (FuzzyArray)obj;
}
WriteUserClass(v, FuzzyClass.GetClass("Array"));
WriteByte(RubyMarshal.Types.Array);
WriteLong(v.Length);
for (int i = 0; i < v.Count; i++)
{
WriteObject(v[i]);
}
}
else if (obj is FuzzyHash)
{
FuzzyHash v = (FuzzyHash)obj;
WriteUserClass(obj, FuzzyClass.GetClass("Hash"));
WriteByte(v.DefaultValue != null ? RubyMarshal.Types.HashWithDefault : RubyMarshal.Types.Hash);
WriteLong(v.Length);
foreach (KeyValuePair <object, object> item in v)
{
WriteObject(item.Key);
WriteObject(item.Value);
}
if (v.DefaultValue != null)
{
WriteObject(v.DefaultValue);
}
}
else if (obj is FuzzyStruct)
{
FuzzyStruct v = (FuzzyStruct)obj;
WriteUserClass(obj, FuzzyClass.GetClass("Struct"));
WriteLong(v.InstanceVariables.Count);
foreach (KeyValuePair <FuzzySymbol, object> item in v.InstanceVariables)
{
WriteObject(item.Key);
WriteObject(item.Value);
}
}
else if (obj is FuzzyObject)
{
WriteClass(RubyMarshal.Types.Object, obj, true);
WriteObjectInstanceVariable((FuzzyObject)obj);
}
else
{
throw new InvalidDataException(string.Format("can't dump {0}", obj.GetType().FullName));
}
if (hasiv)
{
WriteInstanceVariable(fobj, fobj.InstanceVariables);
}
}
}
public FuzzyRule(List <FuzzyClass> inputClasses, FuzzyClass outputClass)
{
this.inputClasses = inputClasses;
this.outputClass = outputClass;
action = outputClass.Action;
}
/// <summary>
/// static VALUE r_object0(struct load_arg *arg, int *ivp, VALUE extmod)
/// </summary>
/// <param name="hasivp"></param>
/// <param name="ivp"></param>
/// <param name="extmod"></param>
/// <returns></returns>
public object ReadObject0(bool hasivp, ref bool ivp, List <FuzzyModule> extmod)
{
object v = null;
int type = ReadByte();
int id;
object link;
switch (type)
{
case RubyMarshal.Types.Link:
id = ReadLong();
if (!this.m_objects.TryGetValue(id, out link))
{
throw new InvalidDataException("dump format error (unlinked)");
}
v = link;
if (this.m_proc != null)
{
v = this.m_proc(v);
}
break;
case RubyMarshal.Types.InstanceVariable:
{
bool ivar = true;
v = ReadObject0(ref ivar, extmod);
bool hasenc = false;
if (ivar)
{
ReadInstanceVariable(v, ref hasenc);
}
}
break;
case RubyMarshal.Types.Extended:
{
FuzzyModule m = FuzzyModule.GetModule(ReadUnique());
if (extmod == null)
{
extmod = new List <FuzzyModule>();
}
extmod.Add(m);
v = ReadObject0(extmod);
FuzzyObject fobj = v as FuzzyObject;
if (fobj != null)
{
fobj.ExtendModules.AddRange(extmod);
}
}
break;
case RubyMarshal.Types.UserClass:
{
FuzzyClass c = FuzzyClass.GetClass(ReadUnique());
v = ReadObject0(extmod);
if (v is FuzzyObject)
{
(v as FuzzyObject).ClassName = c.Symbol;
}
}
break;
case RubyMarshal.Types.Nil:
v = FuzzyNil.Instance;
v = Leave(v);
break;
case RubyMarshal.Types.True:
v = FuzzyBool.True;
v = Leave(v);
break;
case RubyMarshal.Types.False:
v = FuzzyBool.False;
v = Leave(v);
break;
case RubyMarshal.Types.Fixnum:
v = ReadLong();
v = new FuzzyFixnum(Convert.ToInt64(v));
v = Leave(v);
break;
case RubyMarshal.Types.Float:
{
double d;
FuzzyString fstr = ReadString();
string str = fstr.Text;
if (str == "inf")
{
d = double.PositiveInfinity;
}
else if (str == "-inf")
{
d = double.NegativeInfinity;
}
else if (str == "nan")
{
d = double.NaN;
}
else
{
if (str.Contains("\0"))
{
str = str.Remove(str.IndexOf("\0"));
}
d = Convert.ToDouble(str);
}
v = new FuzzyFloat(d);
v = Entry(v);
v = Leave(v);
}
break;
case RubyMarshal.Types.Bignum:
{
int sign = 0;
switch (ReadByte())
{
case 0x2b:
sign = 1;
break;
case 0x2d:
sign = -1;
break;
default:
sign = 0;
break;
}
int num3 = ReadLong();
int index = num3 / 2;
int num5 = (num3 + 1) / 2;
uint[] data = new uint[num5];
for (int i = 0; i < index; i++)
{
data[i] = m_reader.ReadUInt32();
}
if (index != num5)
{
data[index] = m_reader.ReadUInt16();
}
v = new FuzzyBignum(sign, data);
v = new FuzzyBignumAdapter(v as FuzzyBignum);
v = Entry(v);
v = Leave(v);
}
break;
case RubyMarshal.Types.String:
v = Entry(ReadString());
v = Leave(v);
break;
case RubyMarshal.Types.Regexp:
{
FuzzyString str = ReadString();
int options = ReadByte();
bool has_encoding = false;
int idx = Prepare();
if (hasivp)
{
ReadInstanceVariable(str, ref has_encoding);
ivp = false;
}
if (!has_encoding)
{
// TODO: 1.8 compatibility; remove escapes undefined in 1.8
/*
* char *ptr = RSTRING_PTR(str), *dst = ptr, *src = ptr;
* long len = RSTRING_LEN(str);
* long bs = 0;
* for (; len-- > 0; *dst++ = *src++) {
* switch (*src) {
* case '\\': bs++; break;
* case 'g': case 'h': case 'i': case 'j': case 'k': case 'l':
* case 'm': case 'o': case 'p': case 'q': case 'u': case 'y':
* case 'E': case 'F': case 'H': case 'I': case 'J': case 'K':
* case 'L': case 'N': case 'O': case 'P': case 'Q': case 'R':
* case 'S': case 'T': case 'U': case 'V': case 'X': case 'Y':
* if (bs & 1) --dst;
* default: bs = 0; break;
* }
* }
* rb_str_set_len(str, dst - ptr);
*/
}
v = Entry0(new FuzzyRegexp(str, (FuzzyRegexpOptions)options), idx);
v = Leave(v);
}
break;
case RubyMarshal.Types.Array:
{
int len = ReadLong();
FuzzyArray ary = new FuzzyArray();
v = ary;
v = Entry(v);
while (len-- > 0)
{
ary.Push(ReadObject());
}
v = Leave(v);
}
break;
case RubyMarshal.Types.Hash:
case RubyMarshal.Types.HashWithDefault:
{
int len = ReadLong();
FuzzyHash hash = new FuzzyHash();
v = hash;
v = Entry(v);
while (len-- > 0)
{
object key = ReadObject();
object value = ReadObject();
hash.Add(key, value);
}
if (type == RubyMarshal.Types.HashWithDefault)
{
hash.DefaultValue = ReadObject();
}
v = Leave(v);
}
break;
case RubyMarshal.Types.Struct:
{
int idx = Prepare();
FuzzyStruct obj = new FuzzyStruct();
FuzzySymbol klass = ReadUnique();
obj.ClassName = klass;
int len = ReadLong();
v = obj;
v = Entry0(v, idx);
while (len-- > 0)
{
FuzzySymbol key = ReadSymbol();
object value = ReadObject();
obj.InstanceVariable[key] = value;
}
v = Leave(v);
}
break;
case RubyMarshal.Types.UserDefined:
{
FuzzySymbol klass = ReadUnique();
var factor = Factory <byte[]> .Factor(klass.Name);
if (factor == null)
{
FuzzyString data = ReadString();
if (hasivp)
{
ReadInstanceVariable(data);
ivp = false;
}
FuzzyUserdefinedDumpObject obj = new FuzzyUserdefinedDumpObject();
obj.ClassName = klass;
obj.DumpedObject = data.Raw;
v = obj;
v = Entry(v);
v = Leave(v);
}
else
{
object obj = factor._dump(m_stream, null);
v = obj;
v = Entry(v);
v = Leave(v);
}
}
break;
case RubyMarshal.Types.UserMarshal:
{
FuzzySymbol klass = ReadUnique();
FuzzyUserdefinedMarshalDumpObject obj = new FuzzyUserdefinedMarshalDumpObject();
v = obj;
if (extmod != null)
{
AppendExtendedModule(obj, extmod);
}
v = Entry(v);
object data = ReadObject();
obj.ClassName = klass;
obj.DumpedObject = data;
v = Leave(v);
if (extmod != null)
{
extmod.Clear();
}
}
break;
case RubyMarshal.Types.Object:
{
int idx = Prepare();
FuzzyObject obj = new FuzzyObject();
FuzzySymbol klass = ReadUnique();
obj.ClassName = klass;
v = obj;
v = Entry0(v, idx);
ReadInstanceVariable(v);
v = Leave(v);
}
break;
case RubyMarshal.Types.Class:
{
FuzzyString str = ReadString();
v = FuzzyClass.GetClass(FuzzySymbol.GetSymbol(str));
v = Entry(v);
v = Leave(v);
}
break;
case RubyMarshal.Types.Module:
{
FuzzyString str = ReadString();
v = FuzzyModule.GetModule(FuzzySymbol.GetSymbol(str));
v = Entry(v);
v = Leave(v);
}
break;
case RubyMarshal.Types.Symbol:
if (hasivp)
{
v = ReadSymbolReal(ivp);
ivp = false;
}
else
{
v = ReadSymbolReal(false);
}
v = Leave(v);
break;
case RubyMarshal.Types.SymbolLink:
v = ReadSymbolLink();
break;
case RubyMarshal.Types.Data:
/* TODO: Data Support
* {
* VALUE klass = path2class(r_unique(arg));
* VALUE oldclass = 0;
*
* v = obj_alloc_by_klass(klass, arg, &oldclass);
* if (!RB_TYPE_P(v, T_DATA)) {
* rb_raise(rb_eArgError, "dump format error");
* }
* v = r_entry(v, arg);
* if (!rb_respond_to(v, s_load_data)) {
* rb_raise(rb_eTypeError, "class %s needs to have instance method `_load_data'", rb_class2name(klass));
* }
* rb_funcall(v, s_load_data, 1, r_object0(arg, 0, extmod));
* check_load_arg(arg, s_load_data);
* v = r_leave(v, arg);
* }
*/
case RubyMarshal.Types.ModuleOld:
/*
* TODO: ModuleOld Support
* {
* volatile VALUE str = r_bytes(arg);
* v = rb_path_to_class(str);
* v = r_entry(v, arg);
* v = r_leave(v, arg);
* }
*/
default:
throw new InvalidDataException(string.Format("dump format error(0x{0:X2})", type));
}
return(v);
}
public static FuzzyClass mirrorPositive(FuzzyClass x)
{
return(new FuzzyClass(x.p4 * (-1), x.p3 * (-1), x.p2 * (-1), x.p1 * (-1)));
}
private void Start()
{
//Fuzzy classes initialization
nlA = new FuzzyClass("NL", -70f, -70f, -40f);
nmA = new FuzzyClass("NL", -60f, -37.5f, -15f);
nsA = new FuzzyClass("NL", -25f, -12.5f, 0f);
zeA = new FuzzyClass("NL", -20f, 0f, 20f);
psA = new FuzzyClass("NL", 0f, 12.5f, 25f);
pmA = new FuzzyClass("NL", 15f, 37.5f, 60f);
plA = new FuzzyClass("NL", 40f, 70f, 70f);
nlV = new FuzzyClass("NL", -100f, -100f, -50f);
nmV = new FuzzyClass("NL", -70f, -50f, -20f);
nsV = new FuzzyClass("NL", -40f, -20f, 0f);
zeV = new FuzzyClass("NL", -20f, 0f, 20f);
psV = new FuzzyClass("NL", 0f, 20f, 40f);
pmV = new FuzzyClass("NL", 20f, 50f, 70f);
plV = new FuzzyClass("NL", 50f, 100f, 100f);
nlP = new FuzzyClass("pos", -2.4f, -2.4f, -1f);
nsP = new FuzzyClass("pos", -0.7f, -0.5f, -0.3f);
zeP = new FuzzyClass("pos", -0.3f, 0f, -0.3f);
psP = new FuzzyClass("pos", 0.3f, 0.5f, 0.7f);
plP = new FuzzyClass("pos", 1f, 2.4f, 2.4f);
nlF = new FuzzyClass("NL", -25, -25f, -20f);
nmF = new FuzzyClass("NL", -25f, -20f, -12f);
nsF = new FuzzyClass("NL", -20f, -10f, 0f);
zeF = new FuzzyClass("NL", -4f, 0f, 4f);
psF = new FuzzyClass("NL", 0f, 10f, 20f);
pmF = new FuzzyClass("NL", 12f, 20f, 25f);
plF = new FuzzyClass("NL", 20f, 25f, 25f);
List <FuzzyClass> list;
list = new List <FuzzyClass>()
{
nlA, nmA, nsA, zeA, psA, pmA, plA
};
angle = new FuzzyDominion(list);
list = new List <FuzzyClass>()
{
nlV, nmV, nsV, zeV, psV, pmV, plV
};
angularVelocity = new FuzzyDominion(list);
list = new List <FuzzyClass>()
{
nlF, nmF, nsF, zeF, psF, pmF, plF
};
force = new FuzzyDominion(list);
list = new List <FuzzyClass>()
{
nlP, nsP, zeP, psP, plP
};
position = new FuzzyDominion(list);
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
nlP
}, nsF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
plP
}, psF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
zeA, nlV
}, plF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
zeA, nmV
}, pmF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
psA, nsV
}, nsF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
zeA, nsV
}, psF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
plA, zeV
}, nlF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
pmA, zeV
}, nmF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
psA, zeV
}, nsF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
zeA, zeV
}, zeF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
nsA, zeV
}, psF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
nmA, zeV
}, pmF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
nlA, zeV
}, plF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
zeA, psV
}, nsF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
nsA, psV
}, psF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
zeA, pmV
}, nmF));
rules.Add(new FuzzyRule(new List <FuzzyClass>()
{
zeA, nlV
}, nlF));
if (poleTransform.eulerAngles.z > 90)
{
previousAngle = poleTransform.eulerAngles.z - 360;
}
else
{
previousAngle = poleTransform.eulerAngles.z;
}
StartCoroutine(UpdateSystem());
}
