public void TestRemovingFeedbackReceivers()
{
FieldSize fieldsize = new FieldSize {
Xmin = 0, Xmax = 4, Ymax = 2, Ymin = 0, Zmax = 4, Zmin = 0
};
IParticleGenerator particleGenerator = new RandomParticleGenerator(new ContinuousUniform());
IResampler resampler = new MultinomialResampler();
INoiseGenerator noiseGenerator = new RandomNoiseGenerator(new ContinuousUniform());
ISmoother smoother = new MovingAverageSmoother(200);
ParticleFilter filter = new ParticleFilter(250, 0.1f, fieldsize, particleGenerator, resampler, noiseGenerator, smoother);
Mock <IOrientationFeedbackReceiver> orifeed = new Mock <IOrientationFeedbackReceiver>();
filter.RegisterReceiver(orifeed.Object);
filter.RegisterReceiver(orifeed.Object);
filter.UnregisterReceiver(orifeed.Object);
filter.UnregisterReceiver(orifeed.Object);
Mock <IPositionFeedbackReceiver> posfeed = new Mock <IPositionFeedbackReceiver>();
filter.RegisterReceiver(posfeed.Object);
filter.RegisterReceiver(posfeed.Object);
filter.UnregisterReceiver(posfeed.Object);
filter.UnregisterReceiver(posfeed.Object);
filter.CalculatePose(10);
posfeed.Verify(f => f.NotifyPositionFeedback(It.IsAny <FeedbackData <Vector3> >()), Times.Never);
orifeed.Verify(f => f.NotifyOrientationFeedback(It.IsAny <FeedbackData <Vector3> >()), Times.Never);
}
public void SetUp()
{
this.rngsource = new Mock <IContinuousDistribution>();
this.rngsource.SetupGet(foo => foo.Maximum).Returns(1);
this.rngsource.SetupGet(foo => foo.Minimum).Returns(0);
this.rngsource.Setup(foo => foo.Sample()).Returns(this.sample);
this.rng = new RandomParticleGenerator(this.rngsource.Object);
}
/// <summary>
/// Initializes a new instance of the <see cref="ParticleFilterCoupler"/> class
/// </summary>
/// <param name="fieldSize">The preferred game field size</param>
public ParticleFilterCoupler(FieldSize fieldSize)
{
int particleamount = 300;
IParticleGenerator prtclgen = new RandomParticleGenerator(new ContinuousUniform());
INoiseGenerator noisegen = new RandomNoiseGenerator(new ContinuousUniform());
IResampler resampler = new MultinomialResampler();
ISmoother smoother = new MovingAverageSmoother(1000);
this.localizer = new ParticleFilter(particleamount, 0.1f, fieldSize, prtclgen, resampler, noisegen, smoother);
}
public Ship_Sprite(Texture2D texture, Vector2 location, SpriteBatch spriteBatch)
: base(texture, location, spriteBatch)
{
particles[0] = GameContent.Assets.Images.particles[ParticleType.Circle];
particles[1] = GameContent.Assets.Images.particles[ParticleType.Square];
gen = new RandomParticleGenerator(SpriteBatch, particles);
gen.TTLSettings = TimeToLiveSettings.AlphaLess100;
gen.RandomProperties = new RandomParticleProperties() { ColorFactor = 0.985f, Tint = Color.White };
gen.ParticlesToGenerate = 1;
engine = new Glib.XNA.SpriteLib.ParticleEngine.ParticleEngine(gen);
Vector2 toEngine = new Vector2(Position.X, Position.Y - Height / 2);
toEngineLength = -toEngine.Length();
toEngineAngle = toEngine.ToAngle();
engine.Tracked = this;
}
public void TestNoCrashWhenNoData()
{
FieldSize fieldsize = new FieldSize {
Xmin = 0, Xmax = 4, Ymax = 2, Ymin = 0, Zmax = 4, Zmin = 0
};
IParticleGenerator particleGenerator = new RandomParticleGenerator(new ContinuousUniform());
IResampler resampler = new MultinomialResampler();
INoiseGenerator noiseGenerator = new RandomNoiseGenerator(new ContinuousUniform());
ISmoother smoother = new MovingAverageSmoother(200);
ParticleFilter filter = new ParticleFilter(250, 0.1f, fieldsize, particleGenerator, resampler, noiseGenerator, smoother);
for (int i = 0; i < 10; i++)
{
filter.CalculatePose(i);
}
Assert.Pass();
}
public void TestAddingDisplacementSource()
{
FieldSize fieldsize = new FieldSize {
Xmin = 0, Xmax = 4, Ymax = 2, Ymin = 0, Zmax = 4, Zmin = 0
};
IParticleGenerator particleGenerator = new RandomParticleGenerator(new ContinuousUniform());
IResampler resampler = new MultinomialResampler();
INoiseGenerator noiseGenerator = new RandomNoiseGenerator(new ContinuousUniform());
ISmoother smoother = new MovingAverageSmoother(200);
ParticleFilter filter = new ParticleFilter(250, 0.1f, fieldsize, particleGenerator, resampler, noiseGenerator, smoother);
Mock <IDisplacementSource> sourcemock = new Mock <IDisplacementSource>();
sourcemock.SetReturnsDefault <Measurement <Vector3> >(new Measurement <Vector3>(new Vector3(), 0, new Normal(0.1)));
sourcemock.Setup(foo => foo.GetDisplacement(It.IsAny <int>(), It.IsAny <int>())).Returns(() => new Measurement <Vector3>(new Vector3(), 0, new Normal(0.1)));
filter.AddDisplacementSource(sourcemock.Object);
filter.CalculatePose(1);
filter.CalculatePose(2);
sourcemock.Verify(foo => foo.GetDisplacement(1, 2));
}
/// <summary>
/// Creates and initializes the main menu.
/// </summary>
/// <param name="sb">The <see cref="SpriteBatch"/> to render to.</param>
public MainMenu(SpriteBatch sb)
: base(sb, Color.Lime)
{
Name = "MainMenu";
//TextureFactory: Creates textures at runtime
TextureFactory factory = new TextureFactory(sb.GraphicsDevice);
//Sprite: A simple bitmap image, with convenient methods and properties
//Yet it has so many possibilities...
//Here it is used as a mouse cursor
//Star image courtesy of Wikimedia user Felipe Micaroni Lalli
//Image obtained from http://commons.wikimedia.org/wiki/File:Star_Ouro.svg
mouseCursor = new Sprite(GLibXNASampleGame.Instance.Content.Load <Texture2D>("Star"), Vector2.Zero, sb);
mouseCursor.Scale = new Vector2(.1f);
mouseCursor.UseCenterAsOrigin = true;
//OverlayImage overlays the second image onto the first (not in place)
Texture2D imageOverlay = factory.CreateSquare(15, Color.DarkGray * 0.65F);
TextureFactory.OverlayImage(imageOverlay, factory.CreateSquare(11, Color.Black * 0.75F), new Point(2, 2));
TextureFactory.OverlayImage(imageOverlay, factory.CreateSquare(7, Color.DarkOrange * 0.85F), new Point(4, 4));
TextureFactory.OverlayImage(imageOverlay, factory.CreateSquare(3, Color.DarkRed * 0.95F), new Point(6, 6));
fadingImage = new Sprite(imageOverlay, Vector2.Zero, sb);
fadingImage.Position = new Vector2(15, 25);
//The CreateFade method creates an array of textures, each one closer to the final texture than the last
//It is used for fades
Texture2D finalFadeImage = factory.CreateRectangle(fadingImage.Texture.Width, fadingImage.Texture.Height, Color.Red);
TextureFactory.OverlayImage(finalFadeImage, factory.CreateHollowRectangle(fadingImage.Texture.Width - 4, fadingImage.Texture.Height - 4, Color.DarkRed), new Point(2, 2));
fades = TextureFactory.CreateFade(fadingImage.Texture, finalFadeImage, 300);
mouseBoundingBox = new Sprite(factory.CreateHollowCircle((mouseCursor.Width / 2).Round(), Color.Navy), mouseCursor.Position, sb)
{
UseCenterAsOrigin = true
};
//TextSprite: Displays text
//Can be used for titles, descriptions, etc
title = new TextSprite(sb, GLibXNASampleGame.Instance.Content.Load <SpriteFont>("Title"), "GlenLibrary XNA");
//Extension method: GetCenterPosition: Returns the position required to center the object on the specified viewport
title.Position = new Vector2(title.GetCenterPosition(sb.GraphicsDevice.Viewport).X, 15);
//Fancy color constructor: Uses a Vector4 with RGBA values expressed as floats from 0 to 1, basically dark gray shadow with 128 alpha
title.Shadow = new TextShadow(title, new Vector2(-2, 2), new Color(new Vector4(Color.DarkGray.ToVector3(), 0.5f)));
AdditionalSprites.Add(title);
desc = new TextSprite(sb, GLibXNASampleGame.Instance.Content.Load <SpriteFont>("Subtitle"), "A general purpose XNA library", Color.Chocolate);
desc.Color *= 0.75f;
desc.Color.A = 255;
desc.X = desc.GetCenterPosition(Graphics.Viewport).X;
desc.Y = title.Y + title.Height + 5;
AdditionalSprites.Add(desc);
//Add items to the buttons dictionary
buttons.Add("Video Player", "VideoPlayer");
buttons.Add("Multiplayer", "MultiPlayer");
buttons.Add("Animated Sprite", "AnimatedScreen");
#region Generation of buttons systematically
float yCoord = desc.Y + desc.Height + 10;
foreach (var element in buttons)
{
Sprite buttonSprite = new Sprite(GLibXNASampleGame.Instance.TextureCreator.CreateSquare(1, Color.Red), Vector2.Zero, sb);
TextSprite button = new TextSprite(sb, GLibXNASampleGame.Instance.Content.Load <SpriteFont>("MenuItem"), element.Key);
//Allows hovering (and therefore clicking) on a sprite
button.IsHoverable = true;
// These are the colors that are displayed at the various hovering states
button.HoverColor = Color.DarkCyan;
button.NonHoverColor = Color.Black;
// "Pressed" event handler lambda expression
button.Pressed += (src, args) => GLibXNASampleGame.Instance.SetScreen(buttons[((TextSprite)src).Text]);
// Setting width and height on a Sprite scales it
buttonSprite.Width = button.Width + 6;
buttonSprite.Height = button.Height + 4;
buttonSprite.Position = new Vector2(buttonSprite.GetCenterPosition(sb.GraphicsDevice.Viewport).X, yCoord);
// ParentSprite: Allows for a "button" behind a clickable TextSprite (or not clickable), all collision and position logic done with this sprite
button.ParentSprite = buttonSprite;
// Round to look better
button.Scale.X = button.Scale.X.Round();
button.Scale.Y = button.Scale.Y.Round();
button.X = button.X.Round();
button.Y = button.Y.Round();
Sprites.Add(buttonSprite);
AdditionalSprites.Add(button);
yCoord += buttonSprite.Height;
yCoord += 7.5f;
yCoord = yCoord.Round();
}
#endregion
// ProgressBar: A dynamically generated progress bar, could be used to represent asset loading progress
// Here it is just used for effects :-)
progressBar = new ProgressBar(Vector2.Zero, _filledColors[0], _emptyColors[0], sb);
//HeightScale: The progress bar shall be 7 pixels high
progressBar.HeightScale = 7;
progressBar.Denominator = Graphics.Viewport.Width - 20;
progressBar.Value = 0;
progressBar.X = progressBar.GetCenterPosition(sb.GraphicsDevice.Viewport).X;
progressBar.Y = Graphics.Viewport.Height - progressBar.Height - 5;
Sprites.Add(progressBar);
caption = new TextSprite(sb, GLibXNASampleGame.Instance.Content.Load <SpriteFont>("Details"), "A caption!");
caption.X = caption.GetCenterPosition(Graphics.Viewport).X;
caption.Y = progressBar.Y - caption.Height - 2;
caption.Visible = false;
AdditionalSprites.Add(caption);
// Random Particle Generator: A particle generator that uses a Random instance to set properties of the generated particles
RandomParticleGenerator particlegen = new RandomParticleGenerator(sb, GLibXNASampleGame.Instance.Content.Load <Texture2D>("Star"));
particlegen.MinimumParticleColorChangeRate = 0.925f;
particlegen.MinimumTimeToLive = TimeSpan.FromMilliseconds(400);
particlegen.MaximumTimeToLive = TimeSpan.FromMilliseconds(780);
particlegen.ParticlesToGenerate = 1;
particlegen.ScaleFactor = 15;
// TimeToLiveSettings: When to make a particle expire, binary flaggable enumerator
particlegen.TTLSettings = TimeToLiveSettings.AlphaLess100 | TimeToLiveSettings.StrictTTL;
// Particle engine: Generates particles using the specified particle generator
mouseParticleGen = new ParticleEngine(particlegen);
mouseParticleGen.FramesPerGeneration = 3;
mouseParticleGen.Tracked = mouseCursor;
AdditionalSprites.Add(mouseParticleGen);
AdditionalSprites.Add(mouseCursor);
AdditionalSprites.Add(mouseBoundingBox);
Sprites.Add(fadingImage);
}
public void TestRealMarkerSensorData()
{
List <Measurement <Vector3> > oridata = new List <Measurement <Vector3> >();
List <Measurement <Vector3> > posdata = new List <Measurement <Vector3> >();
using (StreamReader sr = new StreamReader(TestContext.CurrentContext.TestDirectory + @"\RealMarkerOriData_Expected_9_10_3.dat"))
{
string line = sr.ReadLine();
while (line != null)
{
string[] unparsed = line.Split(',');
oridata.Add(new Measurement <Vector3>(
VectorMath.Normalize(new Vector3(float.Parse(unparsed[0]), float.Parse(unparsed[1]), float.Parse(unparsed[2]))),
0,
new Normal(0.1)));
line = sr.ReadLine();
}
}
using (StreamReader sr = new StreamReader(TestContext.CurrentContext.TestDirectory + @"\RealMarkerPosData_Expected_060_150_1.dat"))
{
string line = sr.ReadLine();
while (line != null)
{
string[] unparsed = line.Split(',');
posdata.Add(new Measurement <Vector3>(
new Vector3(float.Parse(unparsed[0]), float.Parse(unparsed[1]), float.Parse(unparsed[2])),
0,
new Normal(0.01)));
line = sr.ReadLine();
}
}
FieldSize fieldsize = new FieldSize {
Xmin = 0, Xmax = 4, Ymax = 2, Ymin = 0, Zmax = 4, Zmin = 0
};
IParticleGenerator particleGenerator = new RandomParticleGenerator(new ContinuousUniform());
IResampler resampler = new MultinomialResampler();
INoiseGenerator noiseGenerator = new RandomNoiseGenerator(new ContinuousUniform());
ISmoother smoother = new MovingAverageSmoother(200);
ParticleFilter filter = new ParticleFilter(250, 0.1f, fieldsize, particleGenerator, resampler, noiseGenerator, smoother);
int poscount = 0;
Mock <IPositionSource> possource = new Mock <IPositionSource>();
possource.Setup(foo => foo.GetPositionsClosestTo(It.IsAny <long>(), It.IsAny <long>())).
Returns(() => new List <Measurement <Vector3> > {
posdata[poscount]
}).
Callback(() => poscount++);
filter.AddPositionSource(possource.Object);
int oricount = 0;
Mock <IOrientationSource> orisource = new Mock <IOrientationSource>();
orisource.Setup(foo => foo.GetOrientationClosestTo(It.IsAny <long>(), It.IsAny <long>())).
Returns(() => new List <Measurement <Vector3> > {
oridata[oricount]
}).
Callback(() => oricount++);
filter.AddOrientationSource(orisource.Object);
this.writetofile = false;
StringBuilder res = new StringBuilder();
List <Pose> results = new List <Pose>();
long i = 0;
while ((poscount < posdata.Count / 10) && (oricount < oridata.Count / 10))
{
Pose pose = filter.CalculatePose(i);
if (this.writetofile)
{
res.AppendFormat($"{pose.Position.X},{pose.Position.Y},{pose.Position.Z},{pose.Orientation.X},{pose.Orientation.Y},{pose.Orientation.Z}" + Environment.NewLine);
}
i += 33;
results.Add(pose);
}
if (this.writetofile)
{
File.WriteAllText(TestContext.CurrentContext.TestDirectory + @"\RealMarkerResults.dat", res.ToString());
}
int startindex = 30;
Pose[] resultarray = new Pose[results.Count - startindex];
results.CopyTo(startindex, resultarray, 0, resultarray.Length);
Assert.AreEqual(posdata.GetRange(startindex, resultarray.Length).Select(m => m.Data.X).Average(), resultarray.Select(p => p.Position.X).Average(), 0.1);
Assert.AreEqual(posdata.GetRange(startindex, resultarray.Length).Select(m => m.Data.Y).Average(), resultarray.Select(p => p.Position.Y).Average(), 0.1);
Assert.AreEqual(posdata.GetRange(startindex, resultarray.Length).Select(m => m.Data.Z).Average(), resultarray.Select(p => p.Position.Z).Average(), 0.1);
Assert.AreEqual(oridata.GetRange(startindex, resultarray.Length).Select(m => m.Data.X).Average(), resultarray.Select(p => p.Orientation.X).Average(), 0.1);
Assert.AreEqual(oridata.GetRange(startindex, resultarray.Length).Select(m => m.Data.Y).Average(), resultarray.Select(p => p.Orientation.Y).Average(), 0.1);
Assert.AreEqual(oridata.GetRange(startindex, resultarray.Length).Select(m => m.Data.Z).Average(), resultarray.Select(p => p.Orientation.Z).Average(), 0.1);
}
public Ship(Texture2D texture, Vector2 location, SpriteBatch spriteBatch)
: base(texture, location, spriteBatch)
{
StateManager.Options.ScreenResolutionChanged += new EventHandler<ViewportEventArgs>(Options_ScreenResolutionChanged);
_healthBar = new ProgressBar(new Vector2(X, Y), Color.DarkGreen, Color.Red, spriteBatch);
_healthBar.WidthScale = 1;
_healthBar.HeightScale = 10;
Moved += new EventHandler(Ship_Moved);
_shipID = Guid.NewGuid();
_initHealth = 100;
_healthBar.X -= (_healthBar.Width / 2);
_healthBar.Y -= (_healthBar.Height / 1.5f);
_isDead = false;
Explosion = GameContent.Assets.Images.SpriteSheets[SpriteSheetType.Explosion];
_explosionSheet = new SpriteSheet(GameContent.Assets.Images.SpriteSheets[SpriteSheetType.Explosion], new Rectangle(0, 0, 50, 50), this.Position, spriteBatch, 8, 9);
_explosionSheet.IsAnimated = true;
_explosionSheet.Scale = new Vector2(1.5f);
_explosionSheet.RestartAnimation = false;
_currentHealth = _initHealth;
ExplosionSFX = GameContent.Assets.Sound[SoundEffectType.EnemyExplodes];
FriendlyName = ShipType.ToFriendlyString();
particles[0] = GameContent.Assets.Images.particles[ParticleType.Circle];
particles[1] = GameContent.Assets.Images.particles[ParticleType.Square];
gen = new RandomParticleGenerator(SpriteBatch, particles);
gen.TTLSettings = TimeToLiveSettings.AlphaLess100;
gen.RandomProperties = new RandomParticleProperties() { ColorFactor = 0.985f, Tint = Color.White };
gen.ParticlesToGenerate = 1;
engine = new Glib.XNA.SpriteLib.ParticleEngine.ParticleEngine(gen);
Vector2 toEngine = new Vector2(Position.X, Position.Y - texture.Height / 2);
toEngineLength = -toEngine.Length();
toEngineAngle = toEngine.ToAngle();
engine.PositionOffset = new Vector2(0, texture.Height / 2);
engine.Tracked = this;
}
