KoduWorld.cc

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// INCLUDES
// tekkodu
#include "Kodu/KoduWorld.h"
#include "Kodu/General/GeneralFncs.h"

// tekkotsu Library
#include "DualCoding/Point.h"
#include "DualCoding/ShapeFuns.h"
#include "DualCoding/VRmixin.h"
using namespace DualCoding;

namespace Kodu {

    ScoreKeeper KoduWorld::globalScoreKeeper;

    KoduWorld::KoduWorld()
      : thisAgent(),
        shapeToTagMap(),
        starConstellation(),
        worldBoundsPolygon(),
        worldSideLength(2000.0f)    // 2 meters (area = 2m sq)
    { }

    //! Destructor
    KoduWorld::~KoduWorld() {
        // reinitialize score board
        globalScoreKeeper.initialize();
    }
    
    void KoduWorld::applyGlobalScoreChanges(std::queue<ScoreChange>& queue) {
        while (!queue.empty()) {
            const ScoreChange& change = queue.front();
            // apply the appropriate operation
            switch(change.operationType) {
                // add score operation
                case KoduActionScore::ST_SCORE:
                    globalScoreKeeper.addScore(change.designator, change.value);
                    break;

                // set score operation
                case KoduActionScore::ST_SET_SCORE:
                    globalScoreKeeper.setScore(change.designator, change.value);
                    break;

                // subtract score operation
                case KoduActionScore::ST_SUBTRACT:
                    globalScoreKeeper.subtractScore(change.designator, change.value);
                    break;
            }
            // pop the top element off
            queue.pop();
        }
    }

    int KoduWorld::getScoreValue(const std::string& kDesignator) {
        return globalScoreKeeper.checkScoreValue(kDesignator);
    }

    int KoduWorld::getTagIdForShape(int worldShapeId) {
        if (shapeTagPairExists(worldShapeId))
            return shapeToTagMap[worldShapeId];
        else
            return (-1);
    }

    void KoduWorld::pairShapeWithTag(int worldShapeId, int aprilTagId) {
        if (!shapeTagPairExists(worldShapeId)) {
            shapeToTagMap.insert(std::pair<int, int>(worldShapeId, aprilTagId));
        }
    }

    bool KoduWorld::shapeTagPairExists(int worldShapeId) const {
        return static_cast<bool>(shapeToTagMap.count(worldShapeId));
    }

    const std::map<int, Point>& KoduWorld::getStarConstellation() const {
        return starConstellation;
    }

    const Shape<PolygonData>& KoduWorld::getWorldBoundsPolygon() const {
        return worldBoundsPolygon;
    }

    void KoduWorld::setStarConstellation(const std::vector<ShapeRoot>& kConstellation) {
        for (std::size_t i = 0; i < kConstellation.size(); i++) {
            const Shape<AprilTagData>& kTag = ShapeRootTypeConst(kConstellation[i], AprilTagData);
            starConstellation.insert(std::pair<int, Point>(kTag->getTagID(), kTag->getCentroid()));
            std::cout << "inserted pair: {" << kTag->getTagID() << ", "
                << kTag->getCentroid() << "}\n";
        }
    }

    void KoduWorld::generateWorldBoundsPolygon() {
        // create world bounds
        std::vector<Point> worldBounds;
        const float kSideLength = 2000.0f;   // assumes the world is a square (all sides are equal)
        const float kHalfSideLength = kSideLength / 2.0f;
        // float minX = 0.0f;
        // float maxX = 0.0f;
        // float minY = 0.0f;
        // float maxY = 0.0f;

        // create the max and min coordinates of the world bounds
        // const float maxX = northStarLocation.coordX();
        // const float minX = maxX - kSideLength;
        // const float maxY = northStarLocation.coordY() + kHalfSideLength;
        // const float minY = northStarLocation.coordY() - kHalfSideLength; // minY = maxY - kSideLength
        const float maxX = 1500.0f;
        const float minX = maxX - kSideLength;
        const float maxY = kHalfSideLength;
        const float minY = -1.0f * kHalfSideLength; // minY = maxY - kSideLength

        // add the points of the square polygon to the vector
        worldBounds.push_back(Point(minX, maxY, 0, allocentric)); // bottom left
        worldBounds.push_back(Point(maxX, maxY, 0, allocentric)); // top left
        worldBounds.push_back(Point(maxX, minY, 0, allocentric)); // top right
        worldBounds.push_back(Point(minX, minY, 0, allocentric)); // bottom right
        worldBounds.push_back(worldBounds[0]);  // close the polygon
        
        // create a Shape<PolygonData> object and use it as the world bounds.
        NEW_SHAPE(wBoundPolygon, PolygonData, new PolygonData(VRmixin::worldShS, worldBounds, true));
        worldBoundsPolygon = wBoundPolygon;
        worldBoundsPolygon->setName("worldBoundsPolygon");
        worldBoundsPolygon->setObstacle(true);
    }

}