static public void DrawTrianglef(float x0, float y0, float x1, float y1, float x2, float y2, Vector2D offset, float z = 0f)
{
GL.PushMatrix();
defaultMaterial.SetPass(0);
GL.Begin(GL.TRIANGLES);
GL.Color(setColor);
Max2DMatrix.DrawTriangle(x0, y0, x1, y1, x2, y2, offset, z);
GL.End();
GL.PopMatrix();
}
void MoveForwards(float delta)
{
_transform.position += delta * _transform.forward;
}
void ChangePitch(float delta)
{
_pitch += delta;
WrapAngle(ref _pitch);
_transform.localEulerAngles = new Vector3(_pitch, _yaw, 0);
}
public SobelFilterY()
{
kernel = new float[, ] {
{ -1, -2, -1 }, { 0, 0, 0 }, { 1, 2, 1 }
};
}
public void pidControl()
{
Console.WriteLine("iter\tnormVal\terror\tpid_val\tpower");
// while (!Button.ESCAPE.isDown())
// while (true)
while (iter++ < max_iter)
{
// int normVal = ls.readNormalizedValue();
int normVal = ev3.getAngularVelocity();
// Proportional Error:
int error = normVal - offset;
// Adjust far and near light readings:
// if (error < 0) error = (int)(error * 1.8F);
// Integral Error:
int_error = ((int_error + error) * 2) / 3;
// Derivative Error:
int deriv_error = error - prev_error;
prev_error = error;
int pid_val = (int)(KP * error + KI * int_error + KD * deriv_error) / SCALE_PID;
if (pid_val > 100)
{
pid_val = 100;
}
if (pid_val < -100)
{
pid_val = -100;
}
// Power derived from PID value:
int power = Math.Abs(pid_val);
power = SPEED + (power * NORM_POWER) / SCALE_POWER; // NORMALIZE POWER
Console.Write(iter + "\t" + normVal + "\t" + error + "\t"
+ pid_val + "\t" + power + "\t");
if (pid_val >= 0)
{
Console.WriteLine("Forward");
ev3.onMotorA(power);
ev3.onMotorD(power);
// MotorPort.B.controlMotor(power, BasicMotorPort.FORWARD);
// MotorPort.C.controlMotor(power, BasicMotorPort.FORWARD);
}
else
{
Console.WriteLine("Backward");
ev3.onMotorA(-1 * power);
ev3.onMotorD(-1 * power);
// MotorPort.B.controlMotor(power, BasicMotorPort.BACKWARD);
// MotorPort.C.controlMotor(power, BasicMotorPort.BACKWARD);
}
// Thread.Sleep (SLEEP);
}
}
/// <summary>
/// Rotates an image
/// </summary>
/// <param name="image">Image to rotate</param>
/// <param name="angleInDegrees">Number of degrees to rotate in counter clockwise direction</param>
/// <param name="mode">Pixel resampling method</param>
/// <returns>Rotated image</returns>
public static Shared <Image> Rotate(this Image image, float angleInDegrees, SamplingMode mode)
{
float ca = (float)System.Math.Cos(angleInDegrees * System.Math.PI / 180.0f);
float sa = (float)System.Math.Sin(angleInDegrees * System.Math.PI / 180.0f);
float minx = 0.0f;
float miny = 0.0f;
float maxx = 0.0f;
float maxy = 0.0f;
float x = image.Width - 1;
float y = 0.0f;
float nx = (x * ca) - (y * sa);
float ny = (x * sa) + (y * ca);
if (nx < minx)
{
minx = nx;
}
if (nx > maxx)
{
maxx = nx;
}
if (ny < miny)
{
miny = ny;
}
if (ny > maxy)
{
maxy = ny;
}
x = image.Width - 1;
y = image.Height - 1;
nx = (x * ca) - (y * sa);
ny = (x * sa) + (y * ca);
if (nx < minx)
{
minx = nx;
}
if (nx > maxx)
{
maxx = nx;
}
if (ny < miny)
{
miny = ny;
}
if (ny > maxy)
{
maxy = ny;
}
x = 0.0f;
y = image.Height - 1;
nx = (x * ca) - (y * sa);
ny = (x * sa) + (y * ca);
if (nx < minx)
{
minx = nx;
}
if (nx > maxx)
{
maxx = nx;
}
if (ny < miny)
{
miny = ny;
}
if (ny > maxy)
{
maxy = ny;
}
int dstWidth = (int)(maxx - minx + 1);
int dstHeight = (int)(maxy - miny + 1);
var bitmap = new Bitmap(dstWidth, dstHeight);
var graphics = Graphics.FromImage(bitmap);
graphics.CompositingMode = System.Drawing.Drawing2D.CompositingMode.SourceCopy;
switch (mode)
{
case SamplingMode.Point:
graphics.CompositingQuality = System.Drawing.Drawing2D.CompositingQuality.HighSpeed;
graphics.InterpolationMode = System.Drawing.Drawing2D.InterpolationMode.NearestNeighbor;
graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighSpeed;
graphics.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
break;
case SamplingMode.Bilinear:
graphics.CompositingQuality = System.Drawing.Drawing2D.CompositingQuality.HighQuality;
graphics.InterpolationMode = System.Drawing.Drawing2D.InterpolationMode.Bilinear;
graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighQuality;
graphics.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighQuality;
break;
case SamplingMode.Bicubic:
graphics.CompositingQuality = System.Drawing.Drawing2D.CompositingQuality.HighQuality;
graphics.InterpolationMode = System.Drawing.Drawing2D.InterpolationMode.HighQualityBicubic;
graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighQuality;
graphics.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighQuality;
break;
}
graphics.TranslateTransform(-minx, -miny);
graphics.RotateTransform(angleInDegrees);
graphics.DrawImage(image.ToManagedImage(), new Point(0, 0));
return(ImagePool.GetOrCreate(bitmap));
}
static void ResetAllLoadedMaterialKeywords(string descriptionPrefix, float progressScale, float progressOffset)
{
var materials = Resources.FindObjectsOfTypeAll <Material>();
bool VSCEnabled = (UnityEditor.VersionControl.Provider.enabled && UnityEditor.VersionControl.Provider.isActive);
for (int i = 0, length = materials.Length; i < length; i++)
{
EditorUtility.DisplayProgressBar(
"Setup materials Keywords...",
string.Format("{0}{1} / {2} materials cleaned.", descriptionPrefix, i, length),
(i / (float)(length - 1)) * progressScale + progressOffset);
CheckOutFile(VSCEnabled, materials[i]);
HDEditorUtils.ResetMaterialKeywords(materials[i]);
}
}
void SetDelta(float newDelta)
{
delta = Mathf.Clamp(newDelta, -maxDelta, maxDelta);
}
public void RandomizeDelta()
{
sign = Mathf.Sign(Random.Range(-10, 10));
delta = Random.Range(minDelta, maxDelta) * (1.0f + difficulty / 20.0f) * sign;
}
//reset round
void resetround()
{
run = false;
timer = 0;
}
// Update is called once per frame
void Update()
{
Shader.SetGlobalFloat("_Timer", time);
time += delta;
}
public void StartTriangulation()
{
if (dg == null)
return;
mainRooms.Clear();
float mean = dg.rooms.Average(o => o.rect.size.sqrMagnitude);
var roomFromTheBiggest = dg.rooms.OrderBy(o => o.rect.size.sqrMagnitude).ToList();
roomFromTheBiggest.Reverse();
foreach(Room r in roomFromTheBiggest)
{
if(r.rect.size.sqrMagnitude >= mean)
{
mainRooms.Add(r);
}
if (mainRooms.Count >= dg.rooms.Count * mainRoomSize)
break;
}
List<Vector2> m_points = mainRooms.Select(o => o.rect.center).ToList();
List<uint> colors = new List<uint>();
foreach (Vector2 v in m_points)
colors.Add(0);
v = new Voronoi(m_points, colors, new Rect(0, 0, -999999, 999999));
m_delaunayTriangulation = v.DelaunayTriangulation();
m_spanningTree = v.SpanningTree(KruskalType.MINIMUM);
List<LineSegment> trisLeft = new List<LineSegment>();
foreach(LineSegment d in m_delaunayTriangulation)
{
bool safeToAdd = true;
foreach(LineSegment s in m_spanningTree)
{
if ((d.p0 == s.p0 && d.p1 == s.p1) || (d.p0 == s.p1 && d.p1 == s.p0))
{
safeToAdd = false;
break;
}
}
if(safeToAdd)
trisLeft.Add(d);
}
trisLeft = trisLeft.OrderBy(o => (Vector2.SqrMagnitude((Vector2)(o.p0 - o.p1)))).ToList();
for(int i = 0; i < (int)(trisLeft.Count * keepConnection); i++)
{
m_spanningTree.Add(trisLeft[i]);
}
dg.roomConnection.Clear();
foreach(LineSegment l in m_spanningTree)
{
if (dg.roomConnection.ContainsKey(l))
continue;
Room r1 = null, r2 = null;
foreach(Room r in mainRooms)
{
if (r.rect.center == l.p0)
r1 = r;
else if (r.rect.center == l.p1)
r2 = r;
}
if(r1 == null || r2 == null)
{
#if DEBUG_MODE
Debug.Log("Dude, something doesn't right! Room is not detected in triangulation! Check here");
#endif
}
else
{
dg.roomConnection.Add(l, new List<Room>(2) { r1, r2 });
}
}
}
static public void DrawMesh(Material material, Mesh mesh, Transform transform, Vector2D offset, float z = 0f)
{
if (mesh == null)
{
return;
}
GL.PushMatrix();
material.SetPass(0);
GL.Begin(GL.TRIANGLES);
for (int i = 0; i < mesh.triangles.GetLength(0); i = i + 3)
{
Vector3 a = transform.TransformPoint(mesh.vertices [mesh.triangles [i]]);
Vector3 b = transform.TransformPoint(mesh.vertices [mesh.triangles [i + 1]]);
Vector3 c = transform.TransformPoint(mesh.vertices [mesh.triangles [i + 2]]);
Max2DMatrix.DrawTriangle(a.x, a.y, b.x, b.y, c.x, c.y, offset, z);
}
GL.End();
GL.PopMatrix();
}
static public void DrawStrippedLine(List <Vector2D> pointsList, float minVertsDistance, float z = 0f, bool full = false, Vector2D offset = null)
{
if (offset == null)
{
offset = new Vector2D(0, 0);
}
Vector2D vA = null, vB = null;
if (setBorder == true)
{
Color tmcColor = setColor;
float tmpWidth = lineWidth;
GL.PushMatrix();
SetColor(Color.black);
lineMaterial.SetPass(0);
GL.Begin(GL.QUADS);
lineWidth = 2f * tmpWidth;
foreach (Pair2D id in Pair2D.GetList(pointsList, full))
{
vA = new Vector2D(id.A + offset);
vB = new Vector2D(id.B + offset);
vA.Push(Vector2D.Atan2(id.A, id.B), -minVertsDistance / 5 * setScale);
vB.Push(Vector2D.Atan2(id.A, id.B), minVertsDistance / 5 * setScale);
Max2DMatrix.DrawLineImage(new Pair2D(vA, vB), z);
}
GL.End();
GL.PopMatrix();
SetColor(tmcColor);
lineWidth = tmpWidth;
}
GL.PushMatrix();
lineMaterial.SetPass(0);
GL.Begin(GL.QUADS);
foreach (Pair2D id in Pair2D.GetList(pointsList, full))
{
vA = new Vector2D(id.A + offset);
vB = new Vector2D(id.B + offset);
vA.Push(Vector2D.Atan2(id.A, id.B), -minVertsDistance / 4 * setScale);
vB.Push(Vector2D.Atan2(id.A, id.B), minVertsDistance / 4 * setScale);
Max2DMatrix.DrawLineImage(new Pair2D(vA, vB), z);
}
GL.End();
GL.PopMatrix();
}
private object getAsFloat(ILuaState luaState,int stackPos)
{
float retVal=(float)LuaDLL.lua_tonumber(luaState,stackPos);
if(retVal==0 && !LuaDLL.lua_isnumber(luaState,stackPos)) return null;
return retVal;
}
// Use this for initialization
void Start () {
var particleSystem = GetComponent<ParticleSystem>();
float t = particleSystem.main.duration
+ particleSystem.main.startLifetime.constant;
Destroy(gameObject, t);
}
protected IEnumerator DoCreateEffect(GameObject prefab, Vector3 worldPos, Quaternion rotation, float length, EffectDelegate endDel)
{
GameObject go = CreateEffect(prefab);
go.name = prefab.name + "_Inst";
go.transform.position = worldPos;
go.transform.rotation = rotation;
yield return(new WaitForSeconds(length));
if (null != endDel)
{
endDel(go);
}
Destroy(go);
}
public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
{
EditorGUI.BeginProperty(position, label, property);
float x = position.x;
float y = position.y;
float inspectorWidth = position.width;
// Draw label
// Don't make child fields be indented
var indent = EditorGUI.indentLevel;
EditorGUI.indentLevel = 0;
var items = property.FindPropertyRelative("items");
var titles = new string[] {"Transform", "", "", ""};
var props = new string[] {"transform", "^", "v", "-"};
var widths = new float[] {.7f, .1f, .1f, .1f};
float lineHeight = 18;
bool changedLength = false;
if (items.arraySize > 0)
{
for (int i = 0; i < items.arraySize; i++)
{
var item = items.GetArrayElementAtIndex(i);
float rowX = x;
for (int n = 0; n < props.Length; ++n)
{
float w = widths[n]*inspectorWidth;
// Calculate rects
Rect rect = new Rect(rowX, y, w, lineHeight);
rowX += w;
if (i == -1)
{
EditorGUI.LabelField(rect, titles[n]);
}
else
{
if (n == 0)
{
EditorGUI.ObjectField(rect, item.objectReferenceValue, typeof (Transform), true);
}
else
{
if (GUI.Button(rect, props[n]))
{
switch (props[n])
{
case "-":
items.DeleteArrayElementAtIndex(i);
items.DeleteArrayElementAtIndex(i);
changedLength = true;
break;
case "v":
if (i > 0)
{
items.MoveArrayElement(i, i + 1);
}
break;
case "^":
if (i < items.arraySize - 1)
{
items.MoveArrayElement(i, i - 1);
}
break;
}
}
}
}
}
y += lineHeight + spacing;
if (changedLength)
{
break;
}
}
}
else
{
// add button
var addButtonRect = new Rect((x + position.width) - widths[widths.Length - 1]*inspectorWidth, y,
widths[widths.Length - 1]*inspectorWidth, lineHeight);
if (GUI.Button(addButtonRect, "+"))
{
items.InsertArrayElementAtIndex(items.arraySize);
}
y += lineHeight + spacing;
}
// add all button
var addAllButtonRect = new Rect(x, y, inspectorWidth, lineHeight);
if (GUI.Button(addAllButtonRect, "Assign using all child objects"))
{
var circuit = property.FindPropertyRelative("circuit").objectReferenceValue as WaypointCircuit;
var children = new Transform[circuit.transform.childCount];
int n = 0;
foreach (Transform child in circuit.transform)
{
children[n++] = child;
}
Array.Sort(children, new TransformNameComparer());
circuit.waypointList.items = new Transform[children.Length];
for (n = 0; n < children.Length; ++n)
{
circuit.waypointList.items[n] = children[n];
}
}
y += lineHeight + spacing;
// rename all button
var renameButtonRect = new Rect(x, y, inspectorWidth, lineHeight);
if (GUI.Button(renameButtonRect, "Auto Rename numerically from this order"))
{
var circuit = property.FindPropertyRelative("circuit").objectReferenceValue as WaypointCircuit;
int n = 0;
foreach (Transform child in circuit.waypointList.items)
{
child.name = "Waypoint " + (n++).ToString("000");
}
}
y += lineHeight + spacing;
// Set indent back to what it was
EditorGUI.indentLevel = indent;
EditorGUI.EndProperty();
}
static void UpdateHeightMapParametrization()
{
try
{
var matIds = AssetDatabase.FindAssets("t:Material");
for (int i = 0, length = matIds.Length; i < length; i++)
{
var path = AssetDatabase.GUIDToAssetPath(matIds[i]);
var mat = AssetDatabase.LoadAssetAtPath <Material>(path);
EditorUtility.DisplayProgressBar(
"Updating Materials...",
string.Format("{0} / {1} materials updated.", i, length),
i / (float)(length - 1));
bool VSCEnabled = (UnityEditor.VersionControl.Provider.enabled && UnityEditor.VersionControl.Provider.isActive);
if (mat.shader.name == "HDRenderPipeline/LitTessellation" ||
mat.shader.name == "HDRenderPipeline/Lit")
{
// Need only test one of the new properties
if (mat.HasProperty("_HeightPoMAmplitude"))
{
CheckOutFile(VSCEnabled, mat);
float valueMax = mat.GetFloat("_HeightMax");
float valueMin = mat.GetFloat("_HeightMin");
float center = mat.GetFloat("_HeightCenter");
float amplitude = valueMax - valueMin;
mat.SetInt("_HeightMapParametrization", 1);
mat.SetFloat("_HeightPoMAmplitude", amplitude);
mat.SetFloat("_HeightTessAmplitude", amplitude);
mat.SetFloat("_HeightOffset", 0.0f);
mat.SetFloat("_HeightTessCenter", center);
BaseLitGUI.DisplacementMode displaceMode = (BaseLitGUI.DisplacementMode)mat.GetInt("_DisplacementMode");
if (displaceMode == BaseLitGUI.DisplacementMode.Pixel)
{
mat.SetFloat("_HeightCenter", 1.0f); // With PoM this is always 1.0f. We set it here to avoid having to open the UI to update it.
}
EditorUtility.SetDirty(mat);
}
}
else if (mat.shader.name == "HDRenderPipeline/LayeredLit" ||
mat.shader.name == "HDRenderPipeline/LayeredLitTessellation")
{
int numLayer = (int)mat.GetFloat("_LayerCount");
if (mat.HasProperty("_HeightPoMAmplitude0"))
{
CheckOutFile(VSCEnabled, mat);
for (int x = 0; x < numLayer; ++x)
{
float valueMax = mat.GetFloat("_HeightMax" + x);
float valueMin = mat.GetFloat("_HeightMin" + x);
float center = mat.GetFloat("_HeightCenter" + x);
float amplitude = valueMax - valueMin;
mat.SetInt("_HeightMapParametrization" + x, 1);
mat.SetFloat("_HeightPoMAmplitude" + x, valueMax - valueMin);
mat.SetFloat("_HeightTessAmplitude" + x, valueMax - valueMin);
mat.SetFloat("_HeightOffset" + x, 0.0f);
mat.SetFloat("_HeightTessCenter" + x, center);
BaseLitGUI.DisplacementMode displaceMode = (BaseLitGUI.DisplacementMode)mat.GetInt("_DisplacementMode");
if (displaceMode == BaseLitGUI.DisplacementMode.Pixel)
{
mat.SetFloat("_HeightCenter" + x, 1.0f); // With PoM this is always 1.0f. We set it here to avoid having to open the UI to update it.
}
}
EditorUtility.SetDirty(mat);
}
}
}
}
finally
{
EditorUtility.ClearProgressBar();
}
}
public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
{
SerializedProperty items = property.FindPropertyRelative("items");
float lineAndSpace = lineHeight + spacing;
return 40 + (items.arraySize*lineAndSpace) + lineAndSpace;
}
public SobelFilterX()
{
kernel = new float[, ] {
{ -1, 0, 1 }, { -2, 0, 2 }, { -1, 0, 1 }
};
}
private void Start()
{
currentHealth = MaxHealth;
}
private void SetWeight(int index, float value)
{
var clamped = Mathf.Clamp(value, 0, 100);
_renderer.SetBlendShapeWeight(index, clamped);
}
public void setHealth(float amount)
{
currentHealth = Mathf.Clamp(amount, 0, MaxHealth);
checkDeath();
}
void FixedUpdate ()
{
float v = Input.GetAxisRaw(axis);
GetComponent<Rigidbody2D>().velocity = new Vector2(0, v) * speed;
}
public static void ShiftAlignmentPlane(float y)
{
AlignmentPlane.Shift(y);
}
void Strafe(float delta)
{
transform.position += delta * _transform.right;
}
public static void SetAlignmentPlane(float y)
{
AlignmentPlane.Set(y);
}
public void Flatten( object matrix, float flatness )
{
var paramTypes = new System.Type[] { matrix.GetType(), flatness.GetType() };
var method = ReflectionUtils.getMethodInfo( _graphicsPath, "Flatten", paramTypes );
method.Invoke( _graphicsPath, new object[] { matrix, flatness } );
}
///// Geometry & Test Functions /////
static public void DrawTriangle(Vector2D p0, Vector2D p1, Vector2D p2, Vector2D offset, float z = 0f)
{
DrawTrianglef((float)p0.x, (float)p0.y, (float)p1.x, (float)p1.y, (float)p2.x, (float)p2.y, offset, z);
}
