96 lines
2.8 KiB
C++
96 lines
2.8 KiB
C++
#include "Thing.h"
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using namespace Passer::RoboidControl;
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Thing::Thing(unsigned char id) : id(id) {
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// this->position = SphericalOf<signed short>::zero;
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this->type = (unsigned int)Type::Undetermined;
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this->childCount = 0;
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this->parent = nullptr;
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this->children = nullptr;
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}
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const unsigned int Thing::SwitchType = SensorType | (unsigned int)Type::Switch;
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const unsigned int Thing::DistanceSensorType =
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SensorType | (unsigned int)Type::DistanceSensor;
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const unsigned int Thing::TemperatureSensorType =
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SensorType | (unsigned int)Type::TemperatureSensor;
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const unsigned int Thing::ControlledMotorType =
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MotorType | (unsigned int)Type::ControlledMotor;
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const unsigned int Thing::UncontrolledMotorType =
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MotorType | (unsigned int)Type::UncontrolledMotor;
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const unsigned int Thing::ServoType = (unsigned int)Type::Servo;
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const unsigned int Thing::HumanoidType = (unsigned int)Type::Humanoid;
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bool Thing::IsMotor() { return (type & Thing::MotorType) != 0; }
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bool Thing::IsSensor() { return (type & Thing::SensorType) != 0; }
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bool Thing::IsRoboid() { return (type & Thing::RoboidType) != 0; }
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void Thing::SetModel(const char *url) { this->modelUrl = url; }
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void Thing::SetParent(Thing *parent) {
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if (parent == nullptr)
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return;
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parent->AddChild(this);
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}
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Thing *Thing::GetParent() { return this->parent; }
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void Thing::AddChild(Thing *child) {
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Thing **newChildren = new Thing *[this->childCount + 1];
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for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
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newChildren[childIx] = this->children[childIx];
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if (this->children[childIx] == child) {
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// child is already present, stop copying do not update the children
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delete[] newChildren;
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return;
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}
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}
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newChildren[this->childCount] = child;
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child->parent = this;
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if (this->children != nullptr)
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delete[] this->children;
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this->children = newChildren;
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this->childCount++;
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}
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Thing *Thing::GetChild(unsigned char childIx) {
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if (childIx >= 0 && childIx < this->childCount) {
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return this->children[childIx];
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} else
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return nullptr;
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}
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Thing *Passer::RoboidControl::Thing::RemoveChild(Thing *child) {
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Thing **newChildren = new Thing *[this->childCount - 1];
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unsigned char newChildIx = 0;
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for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
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if (this->children[childIx] != child) {
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if (newChildIx == this->childCount - 1) { // We did not find the child
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// stop copying and return nothing
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delete[] newChildren;
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return nullptr;
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} else
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newChildren[newChildIx++] = this->children[childIx];
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}
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}
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child->parent = nullptr;
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delete[] this->children;
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this->children = newChildren;
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this->childCount--;
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return child;
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}
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Spherical16 Thing::GetLinearVelocity() { return this->linearVelocity; }
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Spherical16 Thing::GetAngularVelocity() { return this->angularVelocity; } |