Changeset 3231 in orxonox.OLD for orxonox/trunk

Timestamp:

Dec 20, 2004, 12:49:07 AM (20 years ago)

Author:

bensch

Message:

orxonox/trunk: iniparser, collision fixed

Location:

orxonox/trunk/src

Files:

• campaign.cc (modified) (1 diff)
• collision.cc (modified) (19 diffs)
• collision.h (modified) (3 diffs)
• ini_parser.cc (modified) (3 diffs)
• ini_parser.h (modified) (1 diff)

orxonox/trunk/src/campaign.cc

@@ -181 +181 @@
   ListTemplate<StoryEntity>* l;
   StoryEntity* entity = NULL;
-  l = this->entities->get_next();  
+  l = this->entities->getNext();  
   while( l != NULL) 
     { 
-      entity = l->get_object();
-      l = l->get_next();
+      entity = l->getObject();
+      l = l->getNext();
       int id = entity->getStoryID();
       //printf("Campaing::getStoryEntity() - now looping, found entity nr=%i\n", id);

orxonox/trunk/src/collision.cc

@@ -28 +28 @@
 CollisionCluster::CollisionCluster (float rad = 1.0, Vector mid = Vector(0,0,0))
 {
-  root = (CC_Tree*) malloc( sizeof( CC_Tree));
+  root = (CCTree*) malloc( sizeof( CCTree));
   root->n = 0;
   root->data.ID = 0;
@@ -62 +62 @@
   }
   
-  root = load_CC_Tree (stream);
+  root = loadCCTree (stream);
   fclose (stream);
 }
@@ -71 +71 @@
 CollisionCluster::~CollisionCluster ()
 {
-  free_CC_Tree( root);
+  freeCCTree(root);
 }
 
@@ -85 +85 @@
   stream = fopen( filename, "wb");
   if( stream == NULL) return -1;
-  r = save_CC_Tree (root, stream);
+  r = saveCCTree(root, stream);
   fclose (stream);
   return r;
@@ -99 +99 @@
    \return true on collision, false otherwise. If true is returned, the flag in ahitflags that symbolises the hit subsphere is set, and impactpoint is set to the Location where the intersection occured
 */
-bool check_trace (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Line* trace, Vector* impactpoint)
-{
-        CC_Tree* t;
+bool checkTrace (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Line* trace, Vector* impactpoint)
+{
+        CCTree* t;
         if( (t = a->root) == NULL) return false;
         
-  return cctree_trace( pa, t, ahitflags, trace, impactpoint);
+  return cctreeTrace( pa, t, ahitflags, trace, impactpoint);
 }
 
@@ -118 +118 @@
    If true is returned, all flags in ahitflags and bhitflags that symbolize intersecting subspheres in the respective CollisionCluster are set
 */
-bool check_collision (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Placement* pb, const CollisionCluster* b, unsigned long* bhitflags)
-{
-  CC_Tree* ta, *tb;
+bool checkCollision (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Placement* pb, const CollisionCluster* b, unsigned long* bhitflags)
+{
+  CCTree* ta, *tb;
   if( (ta = a->root) == NULL) return false;
   if( (tb = b->root) == NULL) return false;
   
-  return cctree_iterate(pa, ta, ahitflags, pb, tb, bhitflags);
+  return cctreeIterate(pa, ta, ahitflags, pb, tb, bhitflags);
 }
 
@@ -135 +135 @@
    \return true on intersection, false otherwise
 */
-bool sphere_sphere_collision( Vector m1, float r1, Vector m2, float r2)
+bool sphereSphereCollision( Vector m1, float r1, Vector m2, float r2)
 {
   if ((m1-m2).len() < r1+r2) return true;
@@ -149 +149 @@
    \return true on intersection, false otherwise. If true is returned, impactpoint is set to the loaction where the intersection occured
 */
-bool trace_sphere_collision( Vector m, float r, const Line* l, Vector* impactpoint)
+bool traceSphereCollision( Vector m, float r, const Line* l, Vector* impactpoint)
 {
   float A, B, C, D, t[2];
@@ -176 +176 @@
 }
 
-bool cctree_iterate(const Placement* pa, CC_Tree* ta, unsigned long* ahitflags, const Placement* pb, CC_Tree* tb, unsigned long* bhitflags)
+bool cctreeIterate(const Placement* pa, CCTree* ta, unsigned long* ahitflags, const Placement* pb, CCTree* tb, unsigned long* bhitflags)
 {
   bool r = false;
@@ -182 +182 @@
   Vector mra = pa->r + pa->w.apply(ta->m);
   Vector mrb = pb->r + pb->w.apply(tb->m);
-  CC_Tree* use_a, *use_b;
-  
-  if( use_a == NULL || use_b == NULL) return false;
-  
-  if( sphere_sphere_collision( mra, ta->r, mrb, tb->r))
+  CCTree* useA, *useB;
+  
+  if( useA == NULL || useB == NULL) return false;
+  
+  if( sphereSphereCollision( mra, ta->r, mrb, tb->r))
   {
     if( ta->n == 0 && tb->n == 0)
@@ -196 +196 @@
     for( ia = 0; ia < ta->n || ta->n == 0; ia++)
     {
-      if( ta->n == 0) use_a = ta;
-      else use_a = ta->data.b[ia];
+      if( ta->n == 0) useA = ta;
+      else useA = ta->data.b[ia];
       for( ib = 0; ib < tb->n || ta->n == 0; ib++)
       {
-        if( ta->n == 0) use_b = ta;
-        else use_b = ta->data.b[ib];
+        if( ta->n == 0) useB = ta;
+        else useB = ta->data.b[ib];
         
-        r = r || cctree_iterate( pa, use_a, ahitflags, pb, use_b, bhitflags);
+        r = r || cctreeIterate( pa, useA, ahitflags, pb, useB, bhitflags);
         
         if( tb->n == 0) break;
@@ -233 +233 @@
 
 /**
-   \brief frees the memory allocated in a CC_Tree
-*/
-void free_CC_Tree( CC_Tree* tree)
+   \brief frees the memory allocated in a CCTree
+*/
+void freeCCTree( CCTree* tree)
 {
   if (tree == NULL) return;
   for (int i = 0; i < tree->n; i++)
   {
-    free_CC_Tree( tree->data.b[i]);
+    freeCCTree(tree->data.b[i]);
   }
   free( tree);
@@ -246 +246 @@
 
 /**
-   \brief loads a CC_Tree from a stream
-*/
-CC_Tree* load_CC_Tree (FILE* stream)
-{
-  CC_Tree* tree = NULL;
-  CC_Tree** branches = NULL;
+   \brief loads a CCTree from a stream
+*/
+CCTree* loadCCTree (FILE* stream)
+{
+  CCTree* tree = NULL;
+  CCTree** branches = NULL;
   float buf[4];
   unsigned long n;
@@ -267 +267 @@
   else
   {
-    branches = (CC_Tree**)malloc( sizeof(CC_Tree*) * n);
+    branches = (CCTree**)malloc( sizeof(CCTree*) * n);
     for( int i = 0; i < n; i++)
     {
-      if ((branches[i] = load_CC_Tree (stream)) == NULL)
+      if ((branches[i] = loadCCTree (stream)) == NULL)
       {
         for( int j = 0; j < i; j++)
         {
-          free_CC_Tree (branches[j]);
-          free (branches);
+          freeCCTree (branches[j]);
+          free(branches);
           return NULL;
         }
@@ -283 +283 @@
   
   // assemble
-  tree = (CC_Tree*) malloc (sizeof(CC_Tree));
+  tree = (CCTree*) malloc (sizeof(CCTree));
   tree->m.x = buf[0];
   tree->m.y = buf[1];
@@ -297 +297 @@
 
 /**
-   \brief saves a CC_Tree to a stream
-*/
-int save_CC_Tree (CC_Tree* tree, FILE* stream)
+   \brief saves a CCTree to a stream
+*/
+int saveCCTree (CCTree* tree, FILE* stream)
 {
   float buf[4];
@@ -321 +321 @@
     for( int i = 0; i < tree->n; i++)
     {
-      if ( save_CC_Tree (tree->data.b[i], stream) == -1) return -1;
+      if ( saveCCTree (tree->data.b[i], stream) == -1) return -1;
     }
   }
@@ -329 +329 @@
 }
 
-bool cctree_trace( const Placement* p, CC_Tree* t, unsigned long* hitflags, const Line* trace, Vector* impactpoint)
+bool cctreetrace( const Placement* p, CCTree* t, unsigned long* hitflags, const Line* trace, Vector* impactpoint)
 {
   bool r = false;
   int i;
   Vector mr = p->r + p->w.apply (t->m);
-  CC_Tree* use_t;
+  CCTree* useT;
   Vector* ips;
   unsigned long* hfs;
   
-  if( trace_sphere_collision (mr, t->r, trace, impactpoint))
+  if( traceSphereCollision (mr, t->r, trace, impactpoint))
   {
         if( t->n == 0)
@@ -352 +352 @@
                 for (i = 0; i < t->n; i++)
                 {
-                        r = r || cctree_trace (p, t->data.b[i], &(hfs[i]), trace, &(ips[i]));
+                        r = r || cctreeTrace (p, t->data.b[i], &(hfs[i]), trace, &(ips[i]));
                 }
                 if( r)

orxonox/trunk/src/collision.h

@@ -14 +14 @@
 
 //! Tree structure used by the CollisionCluster
-typedef struct CC_Tree
+typedef struct CCTree
 {
   unsigned long n;
   union
   {
-  struct CC_Tree** b;
+  struct CCTree** b;
   unsigned long ID;
   } data;
   float r;
   Vector m;
-} CC_Tree;
+} CCTree;
 
 //! Basic collision detection class
@@ -42 +42 @@
 class CollisionCluster {
   
-  CC_Tree* root;
+  CCTree* root;
   
   
@@ -52 +52 @@
   int store (char* filename);
   
-  friend bool cctree_trace( const Placement* p, CC_Tree* t, unsigned long* hitflags, const Line* trace, Vector* impactpoint);
-  friend bool cctree_iterate(const Placement* pa, CC_Tree* ta, unsigned long* ahitflags, const Placement* pb, CC_Tree* tb, unsigned long* bhitflags);
-  friend bool check_trace (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Line* trace, Vector* impactpoint);
-  friend bool check_collision (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Placement* pb, const CollisionCluster* b, unsigned long* bhitflags);
+  friend bool cctreeTrace( const Placement* p, CCTree* t, unsigned long* hitflags, const Line* trace, Vector* impactpoint);
+  friend bool cctreeIterate(const Placement* pa, CCTree* ta, unsigned long* ahitflags, const Placement* pb, CCTree* tb, unsigned long* bhitflags);
+  friend bool checkTrace (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Line* trace, Vector* impactpoint);
+  friend bool checkCollision (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Placement* pb, const CollisionCluster* b, unsigned long* bhitflags);
 };
 
-bool sphere_sphere_collision( Vector m1, float r1, Vector m2, float r2);
-bool trace_sphere_collision( Vector m, float r, const Line* l, Vector* impactpoint);
+bool sphereSphereCollision( Vector m1, float r1, Vector m2, float r2);
+bool traceSphereCollision( Vector m, float r, const Line* l, Vector* impactpoint);
 
 void setflag( unsigned long* flags, unsigned long ID);
 
-void free_CC_Tree( CC_Tree* tree);
-CC_Tree* load_CC_Tree (FILE* stream);
-int save_CC_Tree (CC_Tree* tree, FILE* stream);
+void freeCCTree( CCTree* tree);
+CCTree* loadCCTree (FILE* stream);
+int saveCCTree (CCTree* tree, FILE* stream);
 
 #endif /* _COLLISION_H */

orxonox/trunk/src/ini_parser.cc

@@ -25 +25 @@
 IniParser::IniParser (char* filename)
 {
-        stream = NULL;
-        bInSection = false;
-        open_file (filename);
+  stream = NULL;
+  bInSection = false;
+  openFile(filename);
 }
 
@@ -35 +35 @@
 IniParser::~IniParser ()
 {
-        if( stream != NULL) fclose (stream);
+  if( stream != NULL) fclose (stream);
 }
 
 /**
-        \brief opens another file to parse
-        \param filename: path and name of the new file to parse
-        \return zero on success or -1 if an error occured;
+   \brief opens another file to parse
+   \param filename: path and name of the new file to parse
+   \return zero on success or -1 if an error occured;
 */
-int IniParser::open_file( char* filename)
+int IniParser::openFile( char* filename)
 {
-        if( filename == NULL) return -1;
-        if( stream != NULL)     fclose (stream);
-        if( (stream = fopen (filename, "r")) == NULL)
-        {
-                printf("IniParser could not open %s\n", filename);
-                return -1;
-        }
-        bInSection = false;
-        return 0;
+  if( filename == NULL) return -1;
+  if( stream != NULL)   fclose (stream);
+  if( (stream = fopen (filename, "r")) == NULL)
+    {
+      printf("IniParser could not open %s\n", filename);
+      return -1;
+    }
+  bInSection = false;
+  return 0;
 }
 
 /**
-        \brief set the parsing cursor to the specified section
-        \param section: the name of the section to set the cursor to
-        \return zero on success or -1 if the section could not be found
+   \brief set the parsing cursor to the specified section
+   \param section: the name of the section to set the cursor to
+   \return zero on success or -1 if the section could not be found
 */
-int IniParser::get_section( char* section)
+int IniParser::getSection( char* section)
 {
   bInSection = false;
@@ -95 +95 @@
 
 /**
-        \brief gets the next VarName=VarValue pair from the parsing stream
-        \param name: a pointer to a buffer to store the name of the entry
-        \param value: a pointer to a buffer to store the value of the entry
-        \return zero if the buffers have been filled with data or -1 if there are no entries left in the current section
+   \brief gets the next VarName=VarValue pair from the parsing stream
+   \param name: a pointer to a buffer to store the name of the entry
+   \param value: a pointer to a buffer to store the value of the entry
+   \return zero if the buffers have been filled with data or -1 if there are no entries left in the current section
 */
-int IniParser::next_var( char* name, char* value)
+int IniParser::nextVar( char* name, char* value)
 {
-        if( stream == NULL)
+  if( stream == NULL)
+    {
+      bInSection = false;
+      return -1;
+    }
+  if( !bInSection) return -1;
+  
+  char linebuffer[PARSELINELENGHT];
+  char* ptr;
+  
+  while( !feof( stream))
+    {
+      // get next line
+      fgets (linebuffer, PARSELINELENGHT, stream);
+      // remove newline char
+      if( (ptr = strchr( linebuffer, '\n')) != NULL) *ptr = 0;
+      if( linebuffer[0] == '[')
         {
-                bInSection = false;
-                return -1;
+          bInSection = false;
+          return -1;
         }
-        if( !bInSection) return -1;
-        
-        char linebuffer[PARSELINELENGHT];
-        char* ptr;
-
-        while( !feof( stream))
+      if( (ptr = strchr( linebuffer, '=')) != NULL)
         {
-                        // get next line
-                fgets (linebuffer, PARSELINELENGHT, stream);
-                        // remove newline char
-                if( (ptr = strchr( linebuffer, '\n')) != NULL) *ptr = 0;
-                if( linebuffer[0] == '[')
-                {
-                        bInSection = false;
-                        return -1;
-                }
-                if( (ptr = strchr( linebuffer, '=')) != NULL)
-                {
-                        if( ptr == linebuffer) continue;
-                        strcpy (value, &ptr[1]);
-                        strncpy (name, linebuffer, strlen (linebuffer) - strlen (value) - 1);
-                        return 0;
-                }
+          if( ptr == linebuffer) continue;
+          strcpy (value, &ptr[1]);
+          strncpy (name, linebuffer, strlen (linebuffer) - strlen (value) - 1);
+          return 0;
         }
-        return -1;      
+    }
+  return -1;    
 }
 
 /**
-        \brief directly acesses an entry in a section
-        \param name: the name of the entry to find
-        \param section: the section where the entry is to be found
-        \param defvalue: what should be returned in case the entry cannot be found
-        \return a pointer to a buffer conatining the value of the specified entry. This buffer will contain the data specified in defvalue in case the entry wasn't found
-
-        The returned pointer points to an internal buffer, so do not free it on your own. Do not give a NULL pointer to defvalue, this will certainly
-        lead to unwanted behaviour.
+   \brief directly acesses an entry in a section
+   \param name: the name of the entry to find
+   \param section: the section where the entry is to be found
+   \param defvalue: what should be returned in case the entry cannot be found
+   \return a pointer to a buffer conatining the value of the specified entry. This buffer will contain the data specified in defvalue in case the entry wasn't found
+   
+   The returned pointer points to an internal buffer, so do not free it on your own. Do not give a NULL pointer to defvalue, this will certainly
+   lead to unwanted behaviour.
 */
-char* IniParser::get_var( char* name, char* section, char* defvalue = "")
+char* IniParser::getVar( char* name, char* section, char* defvalue = "")
 {
-        strcpy (internbuf, defvalue);
-        if( get_section (section) == -1) return internbuf;
-        
-        char namebuf[PARSELINELENGHT];
-        char valuebuf[PARSELINELENGHT];
-        
-        while( next_var (namebuf, valuebuf) != -1)
+  strcpy (internbuf, defvalue);
+  if( getSection (section) == -1) return internbuf;
+  
+  char namebuf[PARSELINELENGHT];
+  char valuebuf[PARSELINELENGHT];
+  
+  while( nextVar (namebuf, valuebuf) != -1)
+    {
+      if( !strcmp (name, namebuf))
         {
-                if( !strcmp (name, namebuf))
-                {
-                        strcpy (internbuf, valuebuf);
-                        return internbuf;
-                }
+          strcpy (internbuf, valuebuf);
+          return internbuf;
         }
-        return internbuf;
+    }
+  return internbuf;
 }

orxonox/trunk/src/ini_parser.h

@@ -29 +29 @@
   ~IniParser ();
   
-  char* get_var( char* name, char* section, char* defvalue);
-        int open_file( char* name);
-  int get_section( char* section);
-  int next_var( char* name, char* value);
+  char* getVar( char* name, char* section, char* defvalue);
+        int openFile( char* name);
+  int getSection( char* section);
+  int nextVar( char* name, char* value);
 };