Alvaro Cassinelli / Mbed 2 deprecated skinGames_II

save loops

Dependencies:   mbed

blobConfig.cpp@1:3be7b7d050f4, 2014-12-02 (annotated)

Committer:
mbedalvaro
Date:
Tue Dec 02 08:29:59 2014 +0000
Revision:
1:3be7b7d050f4
Parent:
0:df6fdd9b99f0 
updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:df6fdd9b99f0 1
mbedalvaro 0:df6fdd9b99f0 2 #include "blobConfig.h"
mbedalvaro 0:df6fdd9b99f0 3
mbedalvaro 0:df6fdd9b99f0 4 blobConfig::blobConfig(): numBlobs(0) {
mbedalvaro 0:df6fdd9b99f0 5 //blobArray.clear();// there is no need to do this, the vector does not contains anything here.
mbedalvaro 0:df6fdd9b99f0 6 }
mbedalvaro 0:df6fdd9b99f0 7
mbedalvaro 0:df6fdd9b99f0 8 blobConfig::~blobConfig() {
mbedalvaro 0:df6fdd9b99f0 9 clearConfig();
mbedalvaro 0:df6fdd9b99f0 10 }
mbedalvaro 0:df6fdd9b99f0 11
mbedalvaro 0:df6fdd9b99f0 12 // =========================================== STANDARD CONFIGURATIONS =============================================================================
mbedalvaro 0:df6fdd9b99f0 13
mbedalvaro 0:df6fdd9b99f0 14
mbedalvaro 0:df6fdd9b99f0 15
mbedalvaro 0:df6fdd9b99f0 16 void blobConfig::clearConfig() {
mbedalvaro 0:df6fdd9b99f0 17 for (int i=0; i<blobArray.size(); i++) delete blobArray[i]; // we must delete the pointer created with new, so the memory for the object is liberated (calls its destructor)
mbedalvaro 0:df6fdd9b99f0 18 blobArray.clear();
mbedalvaro 0:df6fdd9b99f0 19 numBlobs=0;// this is just equal to blobArray.size()
mbedalvaro 0:df6fdd9b99f0 20 }
mbedalvaro 0:df6fdd9b99f0 21
mbedalvaro 0:df6fdd9b99f0 22 void blobConfig::initConfig(configType cfType, int numblobs) {
mbedalvaro 0:df6fdd9b99f0 23 myConfigType=cfType;
mbedalvaro 0:df6fdd9b99f0 24 int i;
mbedalvaro 0:df6fdd9b99f0 25 switch(myConfigType) {
mbedalvaro 0:df6fdd9b99f0 26 case ONE_ELASTIC_FOLLOWING:
mbedalvaro 0:df6fdd9b99f0 27 // computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 28 clearConfig();
mbedalvaro 0:df6fdd9b99f0 29 addOneElasticContourFollowing();
mbedalvaro 0:df6fdd9b99f0 30 break;
mbedalvaro 0:df6fdd9b99f0 31 case ONE_ELASTIC_MOUTH:
mbedalvaro 0:df6fdd9b99f0 32 // computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 33 clearConfig();
mbedalvaro 0:df6fdd9b99f0 34 addOneElasticLoopContractCentral();
mbedalvaro 0:df6fdd9b99f0 35 break;
mbedalvaro 0:df6fdd9b99f0 36 case ONE_ELASTIC_MOUTH_SMALL:
mbedalvaro 0:df6fdd9b99f0 37 // computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 38 clearConfig();
mbedalvaro 0:df6fdd9b99f0 39 addOneElasticLoopContractCentralFast();
mbedalvaro 0:df6fdd9b99f0 40 break;
mbedalvaro 0:df6fdd9b99f0 41 case BOUNCING_SPOTS:
mbedalvaro 0:df6fdd9b99f0 42 // computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 43 clearConfig();
mbedalvaro 0:df6fdd9b99f0 44 for (i=0; i<numblobs ; i++) addOneRigidLoopBouncing();
mbedalvaro 0:df6fdd9b99f0 45 randomizeAllColors();
mbedalvaro 0:df6fdd9b99f0 46 break;
mbedalvaro 0:df6fdd9b99f0 47 case LORENTZ_SPOTS:
mbedalvaro 0:df6fdd9b99f0 48 // computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 49 clearConfig();
mbedalvaro 0:df6fdd9b99f0 50 for (i=0; i<numblobs ; i++) addOneRigidLoopLorentz();
mbedalvaro 0:df6fdd9b99f0 51 randomizeAllColors();
mbedalvaro 0:df6fdd9b99f0 52 break;
mbedalvaro 0:df6fdd9b99f0 53 case FOLLOWING_SPOTS:
mbedalvaro 0:df6fdd9b99f0 54 // computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 55 clearConfig();
mbedalvaro 0:df6fdd9b99f0 56 for (i=0; i<numblobs ; i++) {
mbedalvaro 0:df6fdd9b99f0 57 addOneRigidLoopFollowing(vector2Df(CENTER_AD_MIRROR_X+i*200, CENTER_AD_MIRROR_Y+i*200), vector2Df(11,0));
mbedalvaro 0:df6fdd9b99f0 58 }
mbedalvaro 0:df6fdd9b99f0 59 // randomize colors:
mbedalvaro 0:df6fdd9b99f0 60 randomizeAllColors();
mbedalvaro 0:df6fdd9b99f0 61 break;
mbedalvaro 0:df6fdd9b99f0 62 case ONE_TRACKING_SPOT:
mbedalvaro 0:df6fdd9b99f0 63 clearConfig();
mbedalvaro 0:df6fdd9b99f0 64 addOneRigidTrackingSpot();
mbedalvaro 0:df6fdd9b99f0 65 break;
mbedalvaro 0:df6fdd9b99f0 66 case ONE_TRACKING_SPOT_DOT:
mbedalvaro 0:df6fdd9b99f0 67 clearConfig();
mbedalvaro 0:df6fdd9b99f0 68 addOneRigidTrackingSpotDot();
mbedalvaro 0:df6fdd9b99f0 69 break;
mbedalvaro 0:df6fdd9b99f0 70 case AIR_HOCKEY_GAME:
mbedalvaro 0:df6fdd9b99f0 71 // computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 72 clearConfig();
mbedalvaro 0:df6fdd9b99f0 73 for (i=0; i<numblobs ; i++) addOneRigidLoopAirHockey();
mbedalvaro 0:df6fdd9b99f0 74 break;
mbedalvaro 0:df6fdd9b99f0 75 case CIRCULAR_PONG_GAME:
mbedalvaro 0:df6fdd9b99f0 76 // computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 77 clearConfig();
mbedalvaro 0:df6fdd9b99f0 78 // (1) One SPOT_TRACK to track the background. It will be the number 0 in the config.
mbedalvaro 0:df6fdd9b99f0 79 addOneRigidTrackingSpotDot();
mbedalvaro 0:df6fdd9b99f0 80 // (2) Add bouncing spots:
mbedalvaro 0:df6fdd9b99f0 81 for (i=0; i<numblobs ; i++) {
mbedalvaro 0:df6fdd9b99f0 82 float anglaux=1.0*i/numblobs*2*PI;
mbedalvaro 0:df6fdd9b99f0 83 addOneRigidLoopBouncing(vector2Df(CENTER_AD_MIRROR_X+200*cos(anglaux), CENTER_AD_MIRROR_Y+200*sin(anglaux)),
mbedalvaro 0:df6fdd9b99f0 84 vector2Df(5*cos(anglaux),sin(anglaux))*10);
mbedalvaro 0:df6fdd9b99f0 85 }
mbedalvaro 0:df6fdd9b99f0 86 break;
mbedalvaro 0:df6fdd9b99f0 87 case VERTICAL_PINBALL_GAME:
mbedalvaro 0:df6fdd9b99f0 88 clearConfig();
mbedalvaro 0:df6fdd9b99f0 89 // (1) one (or two) SPOT_TRACK or SPOT_TRACK_DOT to track the background - It will be the number 0 (and 1) in the config.
mbedalvaro 0:df6fdd9b99f0 90 addOneRigidTrackingSpotDot(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y+600),
mbedalvaro 0:df6fdd9b99f0 91 vector2Df(0,0));
mbedalvaro 0:df6fdd9b99f0 92 // addOneRigidTrackingSpot(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y+600),
mbedalvaro 0:df6fdd9b99f0 93 // vector2Df(0,0));
mbedalvaro 0:df6fdd9b99f0 94 // (2) one or more bouncing spots with gravity:
mbedalvaro 0:df6fdd9b99f0 95 for (i=0; i<numblobs ; i++) {
mbedalvaro 0:df6fdd9b99f0 96 addOneRigidLoopBouncingGravity(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y-600),
mbedalvaro 0:df6fdd9b99f0 97 vector2Df(i*10-5,0));
mbedalvaro 0:df6fdd9b99f0 98 }
mbedalvaro 0:df6fdd9b99f0 99
mbedalvaro 0:df6fdd9b99f0 100 break;
mbedalvaro 0:df6fdd9b99f0 101 case RAIN_MODE:
mbedalvaro 0:df6fdd9b99f0 102 clearConfig();
mbedalvaro 0:df6fdd9b99f0 103 // Add bouncing spot with gravity:
mbedalvaro 0:df6fdd9b99f0 104 for (i=0; i<numblobs ; i++) {
mbedalvaro 0:df6fdd9b99f0 105 addOneRigidLoopBouncingGravity(vector2Df(CENTER_AD_MIRROR_X, 10), vector2Df(0,0));
mbedalvaro 0:df6fdd9b99f0 106 }
mbedalvaro 0:df6fdd9b99f0 107 randomizeAllColors();
mbedalvaro 0:df6fdd9b99f0 108 break;
mbedalvaro 0:df6fdd9b99f0 109 case FISH_NET_GAME:
mbedalvaro 0:df6fdd9b99f0 110 clearConfig();
mbedalvaro 0:df6fdd9b99f0 111 // (1) one SPOT_TRACK_DOT to track the background - It will be the number 0
mbedalvaro 0:df6fdd9b99f0 112 addOneRigidTrackingSpotDot(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y), // CENTERED
mbedalvaro 0:df6fdd9b99f0 113 vector2Df(0,0));
mbedalvaro 0:df6fdd9b99f0 114 // (2) Add bouncing spots without gravity:
mbedalvaro 0:df6fdd9b99f0 115 for (i=0; i<numblobs ; i++) {
mbedalvaro 0:df6fdd9b99f0 116 float anglaux=1.0*i/numblobs*2*PI;
mbedalvaro 0:df6fdd9b99f0 117 addOneRigidLoopBouncing(vector2Df(CENTER_AD_MIRROR_X+400*cos(anglaux), CENTER_AD_MIRROR_Y+400*sin(anglaux)),
mbedalvaro 0:df6fdd9b99f0 118 vector2Df(cos(anglaux),sin(anglaux))*10);
mbedalvaro 0:df6fdd9b99f0 119 }
mbedalvaro 0:df6fdd9b99f0 120 break;
mbedalvaro 0:df6fdd9b99f0 121 case PAC_MAN_GAME:
mbedalvaro 0:df6fdd9b99f0 122 clearConfig();
mbedalvaro 0:df6fdd9b99f0 123 //(1) add one very slowly slidind-bouncing spot, the PACMAN (number 0 in the config):
mbedalvaro 0:df6fdd9b99f0 124 // addOneRigidLoopPacman(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y), vector2Df(20,0));
mbedalvaro 0:df6fdd9b99f0 125
mbedalvaro 0:df6fdd9b99f0 126 // note: the pacman behaviour is not so good... for the time being, let's just use a following spot:
mbedalvaro 0:df6fdd9b99f0 127 addOneRigidLoopFollowing(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y), vector2Df(10,0));
mbedalvaro 0:df6fdd9b99f0 128 // set the color to red+green:
mbedalvaro 0:df6fdd9b99f0 129 blobArray.back()->setColor(0x06);
mbedalvaro 0:df6fdd9b99f0 130
mbedalvaro 0:df6fdd9b99f0 131
mbedalvaro 0:df6fdd9b99f0 132 // (2) Add some initial SPOT_FOLLOWING or SPOT_GHOST spots (the ghosts):
mbedalvaro 0:df6fdd9b99f0 133 addOneRigidLoopGhost(vector2Df(CENTER_AD_MIRROR_X+500, CENTER_AD_MIRROR_Y-500), vector2Df(-5,0));
mbedalvaro 0:df6fdd9b99f0 134 addOneRigidLoopGhost(vector2Df(CENTER_AD_MIRROR_X-500, CENTER_AD_MIRROR_Y-500), vector2Df(5,0));
mbedalvaro 0:df6fdd9b99f0 135
mbedalvaro 0:df6fdd9b99f0 136 break;
mbedalvaro 0:df6fdd9b99f0 137 default:
mbedalvaro 0:df6fdd9b99f0 138 break;
mbedalvaro 0:df6fdd9b99f0 139 }
mbedalvaro 0:df6fdd9b99f0 140
mbedalvaro 0:df6fdd9b99f0 141 // make sure lockin red is ON (could be off if using blue for checking mirror delay...):
mbedalvaro 0:df6fdd9b99f0 142 IO.setLaserLockinPower(1);
mbedalvaro 0:df6fdd9b99f0 143 }
mbedalvaro 0:df6fdd9b99f0 144
mbedalvaro 0:df6fdd9b99f0 145 void blobConfig::printParameters() {
mbedalvaro 0:df6fdd9b99f0 146 for (int i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 147 pc.printf("Blob n.%d\n", i);
mbedalvaro 0:df6fdd9b99f0 148 blobArray[i]->printParameters(); // a blob that is in stand-by mode may send data (good for testing with a fixed loop)
mbedalvaro 0:df6fdd9b99f0 149 }
mbedalvaro 0:df6fdd9b99f0 150 }
mbedalvaro 0:df6fdd9b99f0 151
mbedalvaro 0:df6fdd9b99f0 152 // ==================== Template spots from which to create multi-spot configurations: =====================
mbedalvaro 0:df6fdd9b99f0 153
mbedalvaro 0:df6fdd9b99f0 154 void blobConfig::addOneElasticLoopRelax(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 155 elasticLoop* pBlob= new elasticLoop();
mbedalvaro 0:df6fdd9b99f0 156 pBlob->createBlob(blobArray.size(), RELAX, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 157 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 158 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 159
mbedalvaro 0:df6fdd9b99f0 160 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 161 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 162
mbedalvaro 0:df6fdd9b99f0 163 }
mbedalvaro 0:df6fdd9b99f0 164
mbedalvaro 0:df6fdd9b99f0 165
mbedalvaro 0:df6fdd9b99f0 166 void blobConfig::addOneElasticLoopContract(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 167 elasticLoop* pBlob= new elasticLoop();
mbedalvaro 0:df6fdd9b99f0 168 pBlob->createBlob(blobArray.size(), CONTRACT, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 169 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 170 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 171
mbedalvaro 0:df6fdd9b99f0 172 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 173 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 174 }
mbedalvaro 0:df6fdd9b99f0 175
mbedalvaro 0:df6fdd9b99f0 176 void blobConfig::addOneElasticLoopContractCentral(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 177 elasticLoop* pBlob= new elasticLoop();
mbedalvaro 0:df6fdd9b99f0 178 pBlob->createBlob(blobArray.size(), CONTRACT_CENTRAL, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 179 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 180 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 181
mbedalvaro 0:df6fdd9b99f0 182 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 183 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 184 }
mbedalvaro 0:df6fdd9b99f0 185
mbedalvaro 0:df6fdd9b99f0 186 void blobConfig::addOneElasticLoopContractCentralFast(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 187 elasticLoop* pBlob= new elasticLoop();
mbedalvaro 0:df6fdd9b99f0 188 pBlob->createBlob(blobArray.size(), CONTRACT_CENTRAL_FAST, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 189 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 190 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 191
mbedalvaro 0:df6fdd9b99f0 192 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 193 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 194 }
mbedalvaro 0:df6fdd9b99f0 195
mbedalvaro 0:df6fdd9b99f0 196 void blobConfig::addOneElasticContourFollowing(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 197
mbedalvaro 0:df6fdd9b99f0 198 elasticLoop* pBlob= new elasticLoop();
mbedalvaro 0:df6fdd9b99f0 199 pBlob->createBlob(blobArray.size(), CONTOUR_FOLLOWING, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 200 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 201 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 202
mbedalvaro 0:df6fdd9b99f0 203 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 204 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 205 }
mbedalvaro 0:df6fdd9b99f0 206
mbedalvaro 0:df6fdd9b99f0 207
mbedalvaro 0:df6fdd9b99f0 208 void blobConfig:: addOneElasticContourFollowingFAST(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 209 elasticLoop* pBlob= new elasticLoop();
mbedalvaro 0:df6fdd9b99f0 210 pBlob->createBlob(blobArray.size(), CONTOUR_FOLLOWING_FAST, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 211 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 212 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 213
mbedalvaro 0:df6fdd9b99f0 214 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 215 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 216 }
mbedalvaro 0:df6fdd9b99f0 217
mbedalvaro 0:df6fdd9b99f0 218 void blobConfig::addOneElasticBouncing(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 219 elasticLoop* pBlob= new elasticLoop();
mbedalvaro 0:df6fdd9b99f0 220 pBlob->createBlob(blobArray.size(), BOUNCING, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 221 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 222 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 223
mbedalvaro 0:df6fdd9b99f0 224 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 225 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 226 }
mbedalvaro 0:df6fdd9b99f0 227 void blobConfig::addOneRigidLoopBouncingGravity(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 228 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 229 pBlob->createBlob(blobArray.size(), SPOT_BOUNCING_FACTOR, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 230 // (We can use here methods of the child class, even if these are not declared virtual on the base class, because we are doing this BEFORE
mbedalvaro 0:df6fdd9b99f0 231 // adding this to the blobArray as a pointer). This is good to set parameters...
mbedalvaro 0:df6fdd9b99f0 232 pBlob->gravity.set(0,3.5);
mbedalvaro 0:df6fdd9b99f0 233 pBlob->centerMass.dampMotion = 0.002;
mbedalvaro 0:df6fdd9b99f0 234 pBlob->factorBouncingForce=0;//0.003; // this is because we will use a force on the central mass (not used in SPOT_BOUNCING_FACTOR)
mbedalvaro 0:df6fdd9b99f0 235 pBlob->factorAbsorptionShock=0.9; // coef elastic bouncing
mbedalvaro 0:df6fdd9b99f0 236
mbedalvaro 0:df6fdd9b99f0 237 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 238 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 239
mbedalvaro 0:df6fdd9b99f0 240 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 241 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 242 }
mbedalvaro 0:df6fdd9b99f0 243 void blobConfig::addOneRigidLoopBouncing(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 244 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 245 pBlob->createBlob(blobArray.size(), SPOT_BOUNCING_FACTOR, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 246 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 247 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 248
mbedalvaro 0:df6fdd9b99f0 249 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 250 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 251 }
mbedalvaro 0:df6fdd9b99f0 252
mbedalvaro 0:df6fdd9b99f0 253 void blobConfig::addOneRigidLoopPacman(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 254 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 255 pBlob->createBlob(blobArray.size(), SPOT_PACMAN, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 256 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 257 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 258
mbedalvaro 0:df6fdd9b99f0 259 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 260 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 261 }
mbedalvaro 0:df6fdd9b99f0 262 void blobConfig::addOneRigidLoopGhost(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 263 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 264 pBlob->createBlob(blobArray.size(), SPOT_GHOST, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 265 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 266 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 267
mbedalvaro 0:df6fdd9b99f0 268 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 269 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 270 }
mbedalvaro 0:df6fdd9b99f0 271
mbedalvaro 0:df6fdd9b99f0 272
mbedalvaro 0:df6fdd9b99f0 273 void blobConfig::addOneRigidLoopLorentz(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 274 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 275 pBlob->createBlob(blobArray.size(), SPOT_LORENTZ_FORCE, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 276 // add this loop to the present config:
mbedalvaro 0:df6fdd9b99f0 277 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 278
mbedalvaro 0:df6fdd9b99f0 279 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 280 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 281 }
mbedalvaro 0:df6fdd9b99f0 282
mbedalvaro 0:df6fdd9b99f0 283 void blobConfig::addOneRigidLoopAirHockey(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 284 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 285 pBlob->createBlob(blobArray.size(), SPOT_AIR_HOCKEY, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 286 // add this loop to the present config:
mbedalvaro 0:df6fdd9b99f0 287 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 288
mbedalvaro 0:df6fdd9b99f0 289 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 290 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 291 }
mbedalvaro 0:df6fdd9b99f0 292
mbedalvaro 0:df6fdd9b99f0 293 void blobConfig::addOneRigidLoopFollowing(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 294 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 295 pBlob->createBlob(blobArray.size(), SPOT_FOLLOWING, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 296 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 297 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 298
mbedalvaro 0:df6fdd9b99f0 299 // random color for Tokyo Designer Week:
mbedalvaro 0:df6fdd9b99f0 300 //randomizeAllColors();
mbedalvaro 0:df6fdd9b99f0 301
mbedalvaro 0:df6fdd9b99f0 302 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 303 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 304 }
mbedalvaro 0:df6fdd9b99f0 305
mbedalvaro 0:df6fdd9b99f0 306 void blobConfig::addOneRigidLoopTest(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 307 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 308 pBlob->createBlob(blobArray.size(), SPOT_TEST, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 309 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 310 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 311
mbedalvaro 0:df6fdd9b99f0 312 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 313 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 314 }
mbedalvaro 0:df6fdd9b99f0 315
mbedalvaro 0:df6fdd9b99f0 316 void blobConfig::addOneRigidTrackingSpot(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 317 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 318 pBlob->createBlob(blobArray.size(), SPOT_TRACK, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 319 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 320 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 321
mbedalvaro 0:df6fdd9b99f0 322 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 323 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 324 }
mbedalvaro 0:df6fdd9b99f0 325
mbedalvaro 0:df6fdd9b99f0 326 void blobConfig::addOneRigidTrackingSpotDot(vector2Df initpos, vector2Df initspeed) {
mbedalvaro 0:df6fdd9b99f0 327 rigidLoop* pBlob= new rigidLoop();
mbedalvaro 0:df6fdd9b99f0 328 pBlob->createBlob(blobArray.size(), SPOT_TRACK_DOT, initpos, initspeed);
mbedalvaro 0:df6fdd9b99f0 329 // add this relaxing loop to the present config:
mbedalvaro 0:df6fdd9b99f0 330 blobArray.push_back(pBlob);
mbedalvaro 0:df6fdd9b99f0 331
mbedalvaro 0:df6fdd9b99f0 332 // update auxiliary variable numBlobs (just for easy reference):
mbedalvaro 0:df6fdd9b99f0 333 numBlobs=blobArray.size();
mbedalvaro 0:df6fdd9b99f0 334 }
mbedalvaro 0:df6fdd9b99f0 335 // ==================================================================================================================================================
mbedalvaro 0:df6fdd9b99f0 336 void blobConfig::processSensedData() {
mbedalvaro 0:df6fdd9b99f0 337 for (int i=0; i<blobArray.size(); i++) blobArray[i]->displaySensingBuffer.processSensedData(); // note: region with light is -1, and without is 2 (TO CHANGE!!! then we don't need to do "if" in the moment computation, but just a product)
mbedalvaro 0:df6fdd9b99f0 338 }
mbedalvaro 0:df6fdd9b99f0 339
mbedalvaro 0:df6fdd9b99f0 340 void blobConfig::allKill() { // this put all the blobs in "dead" mode, meaning that neither rendering nor update is done (but they are not deleted).
mbedalvaro 0:df6fdd9b99f0 341 for (int i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 342 blobArray[i]->render = false;
mbedalvaro 1:3be7b7d050f4 343 blobArray[i]->standByMode = true;
mbedalvaro 0:df6fdd9b99f0 344 }
mbedalvaro 0:df6fdd9b99f0 345 }
mbedalvaro 0:df6fdd9b99f0 346 void blobConfig::allAlive() {
mbedalvaro 0:df6fdd9b99f0 347 for (int i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 348 blobArray[i]->render = true;
mbedalvaro 1:3be7b7d050f4 349 blobArray[i]->standByMode = false;
mbedalvaro 0:df6fdd9b99f0 350 }
mbedalvaro 0:df6fdd9b99f0 351 }
mbedalvaro 0:df6fdd9b99f0 352
mbedalvaro 0:df6fdd9b99f0 353 void blobConfig::allStandBy() {
mbedalvaro 0:df6fdd9b99f0 354 for (int i=0; i<blobArray.size(); i++) blobArray[i]->standByMode = true;
mbedalvaro 0:df6fdd9b99f0 355 }
mbedalvaro 0:df6fdd9b99f0 356
mbedalvaro 0:df6fdd9b99f0 357 void blobConfig::allResume() {
mbedalvaro 0:df6fdd9b99f0 358 for (int i=0; i<blobArray.size(); i++) blobArray[i]->standByMode = false;
mbedalvaro 0:df6fdd9b99f0 359 }
mbedalvaro 0:df6fdd9b99f0 360
mbedalvaro 0:df6fdd9b99f0 361 void blobConfig::allVisible() {
mbedalvaro 0:df6fdd9b99f0 362 for (int i=0; i<blobArray.size(); i++) blobArray[i]->render = true;
mbedalvaro 0:df6fdd9b99f0 363 }
mbedalvaro 0:df6fdd9b99f0 364
mbedalvaro 0:df6fdd9b99f0 365 void blobConfig::allInvisible() { // note that they may continue to evolve
mbedalvaro 0:df6fdd9b99f0 366 for (int i=0; i<blobArray.size(); i++) blobArray[i]->render = false;
mbedalvaro 0:df6fdd9b99f0 367 }
mbedalvaro 0:df6fdd9b99f0 368
mbedalvaro 0:df6fdd9b99f0 369 void blobConfig::allSetColor(unsigned char c) {
mbedalvaro 0:df6fdd9b99f0 370 for (int i=0; i<blobArray.size(); i++) blobArray[i]->setColor(c);
mbedalvaro 0:df6fdd9b99f0 371 }
mbedalvaro 0:df6fdd9b99f0 372
mbedalvaro 0:df6fdd9b99f0 373 void blobConfig::allSetGreen(unsigned char c) {
mbedalvaro 0:df6fdd9b99f0 374 for (int i=0; i<blobArray.size(); i++) blobArray[i]->setGreenColor(c);
mbedalvaro 0:df6fdd9b99f0 375 }
mbedalvaro 0:df6fdd9b99f0 376
mbedalvaro 0:df6fdd9b99f0 377 void blobConfig::allSetBlue(unsigned char c) {
mbedalvaro 0:df6fdd9b99f0 378 for (int i=0; i<blobArray.size(); i++) blobArray[i]->setBlueColor(c);
mbedalvaro 0:df6fdd9b99f0 379 }
mbedalvaro 0:df6fdd9b99f0 380
mbedalvaro 0:df6fdd9b99f0 381 void blobConfig::randomizeAllColors() {
mbedalvaro 0:df6fdd9b99f0 382 int c;
mbedalvaro 0:df6fdd9b99f0 383 for (int i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 384 c= rand() % 2;
mbedalvaro 0:df6fdd9b99f0 385 blobArray[i]->setBlueColor(c);
mbedalvaro 0:df6fdd9b99f0 386 c= rand() % 2;
mbedalvaro 0:df6fdd9b99f0 387 blobArray[i]->setGreenColor(c);
mbedalvaro 0:df6fdd9b99f0 388 }
mbedalvaro 0:df6fdd9b99f0 389 }
mbedalvaro 0:df6fdd9b99f0 390
mbedalvaro 0:df6fdd9b99f0 391 void blobConfig::update() { // update dynamics of the blob configuration:
mbedalvaro 0:df6fdd9b99f0 392 int i;
mbedalvaro 0:df6fdd9b99f0 393 float minDist=5000, dist;
mbedalvaro 0:df6fdd9b99f0 394 bool win;
mbedalvaro 0:df6fdd9b99f0 395 // Depending on the config type, perform some special test and updates:
mbedalvaro 0:df6fdd9b99f0 396 switch(myConfigType) {
mbedalvaro 0:df6fdd9b99f0 397 // simple behaviours:
mbedalvaro 0:df6fdd9b99f0 398 case ONE_ELASTIC_FOLLOWING:
mbedalvaro 0:df6fdd9b99f0 399 case ONE_ELASTIC_MOUTH:
mbedalvaro 0:df6fdd9b99f0 400 case ONE_ELASTIC_MOUTH_SMALL:
mbedalvaro 0:df6fdd9b99f0 401 case BOUNCING_SPOTS:
mbedalvaro 0:df6fdd9b99f0 402 case LORENTZ_SPOTS:
mbedalvaro 0:df6fdd9b99f0 403 case FOLLOWING_SPOTS:
mbedalvaro 0:df6fdd9b99f0 404 case ONE_TRACKING_SPOT:
mbedalvaro 0:df6fdd9b99f0 405 case AIR_HOCKEY_GAME:
mbedalvaro 0:df6fdd9b99f0 406 // In all these simple cases, update dynamics of each blob independently:
mbedalvaro 0:df6fdd9b99f0 407 for (i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 408 if (blobArray[i]->standByMode==false) blobArray[i]->update();
mbedalvaro 0:df6fdd9b99f0 409 }
mbedalvaro 0:df6fdd9b99f0 410 break;
mbedalvaro 0:df6fdd9b99f0 411 // more game-like:
mbedalvaro 0:df6fdd9b99f0 412 case CIRCULAR_PONG_GAME:
mbedalvaro 0:df6fdd9b99f0 413 // spot index 0 is a tracking spot, the background "anchor":
mbedalvaro 0:df6fdd9b99f0 414 if (blobArray[0]->standByMode==false) blobArray[0]->update();
mbedalvaro 0:df6fdd9b99f0 415 // all the other spots are bouncing spots:
mbedalvaro 0:df6fdd9b99f0 416 for (i=1; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 417 if (blobArray[i]->standByMode==false) blobArray[i]->update();
mbedalvaro 0:df6fdd9b99f0 418 }
mbedalvaro 0:df6fdd9b99f0 419 // GAME CHECK: is some bouncing spot too far from the anchor? if so, make it "explode" (and then dissapear, but leave this for now):
mbedalvaro 0:df6fdd9b99f0 420 for (i=1; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 421 dist=(blobArray[0]->getCenter()).distance(blobArray[i]->getCenter());
mbedalvaro 0:df6fdd9b99f0 422 if (dist>1000) {
mbedalvaro 0:df6fdd9b99f0 423 blobArray[i]->explosion();
mbedalvaro 0:df6fdd9b99f0 424 float anglaux=1.0*(i-1)/(blobArray.size()-1)*2*PI;
mbedalvaro 0:df6fdd9b99f0 425 blobArray[i]->setPositionSpeed(vector2Df(CENTER_AD_MIRROR_X+200*cos(anglaux), CENTER_AD_MIRROR_Y+200*sin(anglaux)),
mbedalvaro 0:df6fdd9b99f0 426 vector2Df(cos(anglaux),sin(anglaux))*10);
mbedalvaro 0:df6fdd9b99f0 427 }
mbedalvaro 0:df6fdd9b99f0 428 }
mbedalvaro 0:df6fdd9b99f0 429 break;
mbedalvaro 0:df6fdd9b99f0 430 case RAIN_MODE: // this is just spots with gravity that reapears in the top position when reaching the bottom:
mbedalvaro 0:df6fdd9b99f0 431 // others are bouncing with gravity:
mbedalvaro 0:df6fdd9b99f0 432 for (i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 433 if (blobArray[i]->standByMode==false) blobArray[i]->update();
mbedalvaro 0:df6fdd9b99f0 434 }
mbedalvaro 0:df6fdd9b99f0 435 // GAME CHECKS:
mbedalvaro 0:df6fdd9b99f0 436 for (i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 437 if (blobArray[i]->getCenter().y>MAX_AD_MIRRORS-20) {
mbedalvaro 0:df6fdd9b99f0 438 // Replace position of spot to the initial position:
mbedalvaro 0:df6fdd9b99f0 439 blobArray[i]->explosion();
mbedalvaro 0:df6fdd9b99f0 440 blobArray[i]->resetPositionSpeed();
mbedalvaro 0:df6fdd9b99f0 441 }
mbedalvaro 0:df6fdd9b99f0 442 }
mbedalvaro 0:df6fdd9b99f0 443 break;
mbedalvaro 0:df6fdd9b99f0 444 case VERTICAL_PINBALL_GAME:
mbedalvaro 0:df6fdd9b99f0 445 // spot index 0 is a tracking spot, the background "anchor":
mbedalvaro 0:df6fdd9b99f0 446 if (blobArray[0]->standByMode==false) blobArray[0]->update();
mbedalvaro 0:df6fdd9b99f0 447 // others are bouncing with gravity:
mbedalvaro 0:df6fdd9b99f0 448 for (i=1; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 449 if (blobArray[i]->standByMode==false) blobArray[i]->update();
mbedalvaro 0:df6fdd9b99f0 450 }
mbedalvaro 0:df6fdd9b99f0 451 // GAME CHECKS:
mbedalvaro 0:df6fdd9b99f0 452 for (i=1; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 453 dist=(blobArray[0]->getCenter()).distance(blobArray[i]->getCenter());
mbedalvaro 0:df6fdd9b99f0 454 //(1) win (meaning bouncing spot very close to anchor):
mbedalvaro 0:df6fdd9b99f0 455 if (dist<60) {
mbedalvaro 0:df6fdd9b99f0 456 blobArray[i]->explosion();
mbedalvaro 0:df6fdd9b99f0 457 blobArray[i]->setPositionSpeed(vector2Df(blobArray[0]->getCenter().x-400+rand()%800, blobArray[0]->getCenter().y-1200),
mbedalvaro 0:df6fdd9b99f0 458 vector2Df(0, 0));
mbedalvaro 0:df6fdd9b99f0 459 }
mbedalvaro 0:df6fdd9b99f0 460 //(2) loose (meaning spot went outside range):
mbedalvaro 0:df6fdd9b99f0 461 if (blobArray[i]->getCenter().y>blobArray[0]->getCenter().y) {
mbedalvaro 0:df6fdd9b99f0 462 blobArray[i]->setPositionSpeed(vector2Df(blobArray[0]->getCenter().x-400+rand()%800, blobArray[0]->getCenter().y-1200),
mbedalvaro 0:df6fdd9b99f0 463 vector2Df(i*10-5, 0));
mbedalvaro 0:df6fdd9b99f0 464 }
mbedalvaro 0:df6fdd9b99f0 465 }
mbedalvaro 0:df6fdd9b99f0 466 break;
mbedalvaro 0:df6fdd9b99f0 467 case FISH_NET_GAME:
mbedalvaro 0:df6fdd9b99f0 468 // spot index 0 is a tracking spot, the background "anchor":
mbedalvaro 0:df6fdd9b99f0 469 if (blobArray[0]->standByMode==false) blobArray[0]->update();
mbedalvaro 0:df6fdd9b99f0 470 // all the other spots are bouncing spots:
mbedalvaro 0:df6fdd9b99f0 471 for (i=1; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 472 if (blobArray[i]->standByMode==false) blobArray[i]->update();
mbedalvaro 0:df6fdd9b99f0 473 }
mbedalvaro 0:df6fdd9b99f0 474 // GAME CHECKS: a win only, when all the spots are very close to the mother spot:
mbedalvaro 0:df6fdd9b99f0 475 win=true;
mbedalvaro 0:df6fdd9b99f0 476 for (i=1; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 477 dist=(blobArray[0]->getCenter()).distance(blobArray[i]->getCenter());
mbedalvaro 0:df6fdd9b99f0 478 win&=(dist<80);
mbedalvaro 0:df6fdd9b99f0 479 }
mbedalvaro 0:df6fdd9b99f0 480 if (win) {
mbedalvaro 0:df6fdd9b99f0 481 for (i=1; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 482 blobArray[i]->explosion();
mbedalvaro 0:df6fdd9b99f0 483 float anglaux=1.0*(i-1)/(blobArray.size()-1)*2*PI;
mbedalvaro 0:df6fdd9b99f0 484 blobArray[i]->setPositionSpeed(vector2Df(CENTER_AD_MIRROR_X+400*cos(anglaux), CENTER_AD_MIRROR_Y+400*sin(anglaux)),
mbedalvaro 0:df6fdd9b99f0 485 vector2Df(cos(anglaux),sin(anglaux))*10);
mbedalvaro 0:df6fdd9b99f0 486 }
mbedalvaro 0:df6fdd9b99f0 487 }
mbedalvaro 0:df6fdd9b99f0 488 break;
mbedalvaro 0:df6fdd9b99f0 489 case PAC_MAN_GAME:
mbedalvaro 0:df6fdd9b99f0 490 // spot index 0 is the pacman:
mbedalvaro 0:df6fdd9b99f0 491 if (blobArray[0]->standByMode==false) blobArray[0]->update();
mbedalvaro 0:df6fdd9b99f0 492 // spot 1 and 2 are ghosts:
mbedalvaro 0:df6fdd9b99f0 493 if (blobArray[1]->standByMode==false) blobArray[1]->update(blobArray[0]->getCenter());
mbedalvaro 0:df6fdd9b99f0 494 if (blobArray[2]->standByMode==false) blobArray[2]->update(blobArray[0]->getCenter()); // pass the position of the PACMAN!
mbedalvaro 0:df6fdd9b99f0 495
mbedalvaro 0:df6fdd9b99f0 496 // GAME CHECK: are any ghost too close to the pacman?
mbedalvaro 0:df6fdd9b99f0 497 for (i=1; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 498 dist=(blobArray[0]->getCenter()).distance(blobArray[i]->getCenter());
mbedalvaro 0:df6fdd9b99f0 499 if (minDist>dist) minDist=dist;
mbedalvaro 0:df6fdd9b99f0 500 }
mbedalvaro 0:df6fdd9b99f0 501 if (minDist<50) {
mbedalvaro 0:df6fdd9b99f0 502 blobArray[0]->explosion();
mbedalvaro 0:df6fdd9b99f0 503 // then restart the game:
mbedalvaro 0:df6fdd9b99f0 504 // initConfig(PAC_MAN_GAME);
mbedalvaro 0:df6fdd9b99f0 505 }
mbedalvaro 0:df6fdd9b99f0 506
mbedalvaro 0:df6fdd9b99f0 507 break;
mbedalvaro 0:df6fdd9b99f0 508 default:
mbedalvaro 0:df6fdd9b99f0 509 break;
mbedalvaro 0:df6fdd9b99f0 510 }
mbedalvaro 0:df6fdd9b99f0 511
mbedalvaro 0:df6fdd9b99f0 512
mbedalvaro 0:df6fdd9b99f0 513 }
mbedalvaro 0:df6fdd9b99f0 514
mbedalvaro 0:df6fdd9b99f0 515 void blobConfig::computeBoundingBox() {
mbedalvaro 0:df6fdd9b99f0 516 for (int i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 517 blobArray[i]->computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 518 }
mbedalvaro 0:df6fdd9b99f0 519 }
mbedalvaro 0:df6fdd9b99f0 520
mbedalvaro 0:df6fdd9b99f0 521 void blobConfig::draw() { // draw uses the opengl like renderer (if any), and save projected trajectory in the LaserSensingTrajectory object of each blob
mbedalvaro 0:df6fdd9b99f0 522 for (int i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 523 if (blobArray[i]->render==true) blobArray[i]->draw();
mbedalvaro 0:df6fdd9b99f0 524 }
mbedalvaro 0:df6fdd9b99f0 525 }
mbedalvaro 0:df6fdd9b99f0 526
mbedalvaro 0:df6fdd9b99f0 527 void blobConfig::sendConfData() {
mbedalvaro 0:df6fdd9b99f0 528 // For the time being, only "per blob" data sending:
mbedalvaro 1:3be7b7d050f4 529 // (b) Per-spot sending of data (note: both are NOT exclusive; so if we want just packaged data,
mbedalvaro 1:3be7b7d050f4 530 // we need to make all the spot STOP sending data.
mbedalvaro 0:df6fdd9b99f0 531 for (int i=0; i<blobArray.size(); i++) {
mbedalvaro 0:df6fdd9b99f0 532 if (blobArray[i]->render==true) blobArray[i]->sendData(); // a blob that is in stand-by mode may send data (good for testing with a fixed loop)
mbedalvaro 0:df6fdd9b99f0 533 }
mbedalvaro 0:df6fdd9b99f0 534 }
mbedalvaro 0:df6fdd9b99f0 535
mbedalvaro 0:df6fdd9b99f0 536
mbedalvaro 0:df6fdd9b99f0 537
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