/// <summary>
/// Create a state vector x_v from its component parts. Puts the matrices r, q, v, omega into their right places.
/// </summary>
/// <param name="r"></param>
/// <param name="q"></param>
/// <param name="v"></param>
/// <param name="omega"></param>
/// <param name="xv"></param>
public void compose_xv(ref Vector3D r, ref Quaternion q, ref Vector3D v, ref Vector3D omega, ref Vector xv)
{
xv.Update(r.GetVNL3(), 0);
xv.Update(q.GetRXYZ(), 3);
xv.Update(v.GetVNL3(), 7);
xv.Update(omega.GetVNL3(), 10);
}
public void UpdateSuccess()
{
var Old = new car()
{
UniqueId = 10, odometer = 1000, year = 2000, price = 5000
};
_cars.Plot(Old, out uniqueOut);
car New = _cars.Get(uniqueOut) as car;
New.price = 4500;
Assert.IsTrue(_cars.Update(In: New));
Assert.AreEqual(uniqueOut, _cars.Get(uniqueOut).UniqueId);
}
public void Update(GameTime gameTime)
{
if (CurrentAnimation != null)
{
Position.Update(X, Y);
Bounds = new Rectangle(X, Y, CurrentAnimation.FrameWidth, CurrentAnimation.FrameHeight);
CurrentAnimation.Update(gameTime);
}
}
public override void Update()
{
switch (m_State)
{
case ControlState.none:
break;
case ControlState.SetHardware:
hardware.Update();
if (hardware.State == Hardware.HardwareState.Actionable)
{
m_State = ControlState.SetVector;
}
break;
case ControlState.SetVector:
hardware.Update();
vector.Update(hardware);
if (vector.Procedure == Vector.SettingProcedure.Completed)
{
m_State = ControlState.Wait;
DisplayActuatorVector();
}
break;
case ControlState.Wait:
break;
case ControlState.SetMotionProfile:
motionProfile.Update(vector.TargetLenghsOfActuator);
if (motionProfile.State == MotionProfile.MotionState.CompletedMotionProfile)
{
DisplayMotionProfileGraph();
m_State = ControlState.Actionable;
}
break;
case ControlState.Actionable:
break;
}
}
public Damager(int id, int direction, Entity source)
{
if (id == 0)
{
Vector sDir = source.gameObject.direction;
Vector dir = new Vector(0, 0, 2);
if (direction == 1)
{
dir.Update(sDir.r, sDir.c);
}
else if (direction == 2)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(1, -1);
}
else
{
dir.Update(-1, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(1, 1);
}
else
{
dir.Update(-1, -1);
}
}
}
else if (direction == 3)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(1, 1);
}
else
{
dir.Update(-1, -1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(-1, 1);
}
else
{
dir.Update(1, -1);
}
}
}
else if (direction == 4)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(0, -1);
}
else
{
dir.Update(0, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(1, 0);
}
else
{
dir.Update(-1, 0);
}
}
}
else if (direction == 5)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(0, 1);
}
else
{
dir.Update(0, -1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(-1, 0);
}
else
{
dir.Update(1, 0);
}
}
}
else if (direction == 6)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(-1, -1);
}
else
{
dir.Update(1, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(1, -1);
}
else
{
dir.Update(-1, 1);
}
}
}
else if (direction == 7)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(-1, 1);
}
else
{
dir.Update(1, -1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(-1, -1);
}
else
{
dir.Update(1, 1);
}
}
}
else if (direction == 8)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(-1, 0);
}
else
{
dir.Update(1, 0);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(0, -1);
}
else
{
dir.Update(0, 1);
}
}
}
else if (direction == 9)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(2, -1, 1);
}
else
{
dir.Update(-2, 1, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(1, 2, 1);
}
else
{
dir.Update(-1, -2, 1);
}
}
}
else if (direction == 10)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(2, 1, 1);
}
else
{
dir.Update(-2, -1, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(-1, 2, 1);
}
else
{
dir.Update(1, -2, 1);
}
}
}
else if (direction == 11)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(1, -2, 1);
}
else
{
dir.Update(-1, 2, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(2, 1, 1);
}
else
{
dir.Update(-2, -1, 1);
}
}
}
else if (direction == 12)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(1, 2, 1);
}
else
{
dir.Update(-1, -2, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(-2, 1, 1);
}
else
{
dir.Update(2, -1, 1);
}
}
}
else if (direction == 13)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(-1, -2, 1);
}
else
{
dir.Update(1, 2, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(2, -1, 1);
}
else
{
dir.Update(-2, 1, 1);
}
}
}
else if (direction == 14)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(-1, 2, 1);
}
else
{
dir.Update(1, -2, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(-2, -1, 1);
}
else
{
dir.Update(2, 1, 1);
}
}
}
else if (direction == 15)
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(-2, -1, 1);
}
else
{
dir.Update(2, 1, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(1, -2, 1);
}
else
{
dir.Update(-1, 2, 1);
}
}
}
else
{
if (Math.Abs(sDir.r) > Math.Abs(sDir.c))
{
if (sDir.r > 0)
{
dir.Update(-2, 1, 1);
}
else
{
dir.Update(2, -1, 1);
}
}
else
{
if (sDir.c > 0)
{
dir.Update(-1, -2, 1);
}
else
{
dir.Update(1, 2, 1);
}
}
}
gameObject = new GameObject(2, new Position(source.gameObject.position.r + dir.r, source.gameObject.position.c + dir.c), "* ", 0, 15);
gameObject.ChangeDirection(dir);
lifeSpan = source.range * 2;
}
else
{
gameObject = new GameObject(3, source.gameObject.position, "/\\", 0, 8);
lifeSpan = source.trail;
}
damage = source.damage;
durability = source.piercing;
alignment = source.alignment;
}
public void Update(GameTime gameTime)
{
if (CurrentAnimation != null)
{
Position.Update(X, Y);
if (MoveRoute && Alive)
{
switch (Route.Type)
{
case RouteType.Horizontal:
if (X >= Route.XF)
{
State = 2;
}
if (X < Route.X)
{
State = 1;
}
if (State == 1)
{
CurrentAnimation = Animations[1];
CurrentAnimation.IsFliped = false;
X += 5;
}
else if (State == 2)
{
CurrentAnimation = Animations[1];
CurrentAnimation.IsFliped = true;
X -= 5;
}
break;
case RouteType.Vertical:
if (Y >= Route.YF)
{
State = 2;
}
if (Y < Route.Y)
{
State = 1;
}
if (State == 1)
{
CurrentAnimation = Animations[3];
Y += 5;
}
else if (State == 2)
{
CurrentAnimation = Animations[2];
Y -= 5;
}
break;
}
}
Bounds = new Rectangle(X, Y, CurrentAnimation.FrameWidth, CurrentAnimation.FrameHeight);
CurrentAnimation.Update(gameTime);
}
if (Alive == false)
{
Effect.Update(gameTime);
}
}
// Function to find a region in an image guided by current motion prediction
// which doesn't overlap existing features
public static bool FindNonOverlappingRegion(Scene_Single scene,
Vector local_u,
float delta_t,
Partially_Initialised_Feature_Measurement_Model default_feature_type_for_initialisation,
uint camera_width,
uint camera_height,
uint BOXSIZE,
ref int init_feature_search_ustart,
ref int init_feature_search_vstart,
ref int init_feature_search_ufinish,
ref int init_feature_search_vfinish,
uint FEATURE_INIT_STEPS_TO_PREDICT,
float FEATURE_INIT_DEPTH_HYPOTHESIS,
Random rnd)
{
ThreeD_Motion_Model threed_motion_model = (ThreeD_Motion_Model)scene.get_motion_model();
Vector local_xv = new Vector(scene.get_xv());
for (uint i = 0; i < FEATURE_INIT_STEPS_TO_PREDICT; i++)
{
scene.get_motion_model().func_fv_and_dfv_by_dxv(local_xv, local_u, delta_t);
local_xv.Update(scene.get_motion_model().get_fvRES());
}
threed_motion_model.func_xp(local_xv);
Vector local_xp = new Vector(threed_motion_model.get_xpRES());
threed_motion_model.func_r(local_xp);
Vector3D rW = threed_motion_model.get_rRES();
threed_motion_model.func_q(local_xp);
Quaternion qWR = threed_motion_model.get_qRES();
// yW = rW + RWR hR
Vector3D hR = new Vector3D(0.0f, 0.0f, FEATURE_INIT_DEPTH_HYPOTHESIS);
// Used Inverse + transpose because this was't compiling the normal way
Vector3D yW = new Vector3D(rW + qWR.RotationMatrix() * hR);
// Then project that point into the current camera position
scene.get_motion_model().func_xp(scene.get_xv());
Fully_Initialised_Feature_Measurement_Model fully_init_fmm =
(Fully_Initialised_Feature_Measurement_Model)(default_feature_type_for_initialisation.more_initialised_feature_measurement_model);
Vector yWVNL = yW.GetVNL3();
fully_init_fmm.func_hi_and_dhi_by_dxp_and_dhi_by_dyi(yWVNL, scene.get_motion_model().get_xpRES());
// Now, this defines roughly how much we expect a feature initialised to move
float suggested_u = fully_init_fmm.get_hiRES()[0];
float suggested_v = fully_init_fmm.get_hiRES()[1];
float predicted_motion_u = camera_width / 2.0f - suggested_u;
float predicted_motion_v = camera_height / 2.0f - suggested_v;
// So, the limits of a "safe" region within which we can initialise
// features so that they end up staying within the screen
// (Making the approximation that the whole screen moves like the
// centre point)
int safe_feature_search_ustart = (int)(-predicted_motion_u);
int safe_feature_search_vstart = (int)(-predicted_motion_v);
int safe_feature_search_ufinish = (int)(camera_width - predicted_motion_u);
int safe_feature_search_vfinish = (int)(camera_height - predicted_motion_v);
if (safe_feature_search_ustart < ((int)((BOXSIZE - 1) / 2) + 1))
{
safe_feature_search_ustart = (int)((BOXSIZE - 1) / 2 + 1);
}
if (safe_feature_search_ufinish > (int)camera_width - ((int)((BOXSIZE - 1) / 2) + 1))
{
safe_feature_search_ufinish = (int)(camera_width - (BOXSIZE - 1) / 2 - 1);
}
if (safe_feature_search_vstart < ((int)((BOXSIZE - 1) / 2) + 1))
{
safe_feature_search_vstart = (int)((BOXSIZE - 1) / 2 + 1);
}
if (safe_feature_search_vfinish > (int)camera_height - ((int)((BOXSIZE - 1) / 2) + 1))
{
safe_feature_search_vfinish = (int)(camera_height - (BOXSIZE - 1) / 2 - 1);
}
return(FindNonOverlappingRegionNoPredict(safe_feature_search_ustart,
safe_feature_search_vstart,
safe_feature_search_ufinish,
safe_feature_search_vfinish,
scene,
ref init_feature_search_ustart,
ref init_feature_search_vstart,
ref init_feature_search_ufinish,
ref init_feature_search_vfinish, rnd));
}
public void Update(GameTime gameTime)
{
if (CurrentAnimation != null)
{
switch (State)
{
case 0: //Idle
//Cursor = MoveCursor;
CurrentAnimation = Animations[0];
break;
case 1: //Move
//Cursor = MoveCursor;
if (RightPress == true)
{
//P1 Move right
CurrentAnimation = Animations[1];
CurrentAnimation.IsFliped = false;
X += 3;
}
else if (LeftPress == true)
{
//P1 Move left
CurrentAnimation = Animations[1];
CurrentAnimation.IsFliped = true;
X -= 3;
}
else if (UpPress == true)
{
//P1 Move up
CurrentAnimation = Animations[2];
CurrentAnimation.IsFliped = false;
Y -= 3;
}
else if (DownPress == true)
{
//P1 Move down
CurrentAnimation = Animations[3];
CurrentAnimation.IsFliped = false;
Y += 3;
}
break;
case 2: //Shoot
//Cursor = Player.Cursor;
CurrentAnimation = Animations[5];
break;
}
Position.Update(X, Y);
Bounds = new Rectangle(X, Y, CurrentAnimation.FrameWidth, CurrentAnimation.FrameHeight);
CurrentAnimation.Update(gameTime);
FieldView.SetPoints((int)Position.X + CurrentAnimation.FrameWidth, (int)Position.Y);
}
if (Action)
{
Effect.Update(gameTime);
}
}
