main.h

浙江大学 RoboCup3D 2006 源代码

  double z;
  Vector(double vx = 0, double vy = 0,double vz = 0) { x = vx; y = vy;z=vz; }
  double mod(){return sqrt(x*x + y*y + z*z );}
  ~Vector(){};
  Vector operator -() { return Vector(-x, -y,-z); }
  Vector operator +(const Vector &a) { return Vector(x + a.x, y + a.y,z+a.z); }
  Vector operator -(const Vector &a) { return Vector(x - a.x, y - a.y,z-a.z); }
  Vector operator *(const double &a) { return Vector(x * a, y * a, z*a); }
  Vector operator *(const Vector &a) { return Vector(x * a.x, y * a.y,z*a.z); }
  Vector operator /(const double &a) { return Vector(x / a, y / a,z/a); }
  Vector operator /(const Vector &a) { return Vector(x / a.x, y / a.y,z/a.z); }
  void operator =(const double &a) { x = a; y = a; z=z;}
  void operator +=(const Vector &a) { x += a.x;  y += a.y; z +=a.z;}
  void operator +=(const double &a) { x += a;  y += a; z +=a;}
  void operator -=(const Vector &a) { x -= a.x;  y -= a.y; z -=a.z;}
  void operator -=(const double &a) { x -= a;  y -= a; z -=a;}
  void operator *=(const double &a) { x *= a;  y *= a; z*=a;}
  void operator /=(const double &a) { x /= a;  y /= a; z/=a;}
  operator !=(const Vector &a) { return (x != a.x) || (y != a.y) || (z != a.z); }
  operator !=(const double &a) { return (x != a) || (y != a) || (z != a); }
  operator ==(const Vector &a) { return (x == a.x) && (y == a.y) && (z == a.z); }
};

struct WM{
	//======================
	int		myNumber;
	Vector		myPos;
	Vector		myVel;
	Vector		nextPos;
	Vector		nextVel;
	//=======================
	Vector		ballPos;
	Vector		ballVel;
	//=======================
	Vector		ourPos[11];
	Vector		oppPos[11];
	Vector		ourVel[11];
	Vector		oppVel[11];
	//=======================
    double          myPanAngle;
	double          myTiltAngle;
        //=======================
	int     	pm;
	int		mSensationCount;
	double		currentTime;
	//===================
	int 	noball;
	int		noour[11];
	int		noopp[11];
	int		noflag[8];
};

//---------------------------------------------------------------------------
class TForm1 : public TForm
{
__published:	// IDE-managed Components
        TOpenDialog *OpenDialog1;
    TGroupBox *GroupBox1;
    TTrackBar *TrackBar1;
    TRadioButton *RadioButton1;
    TNMUDP *NMUDP1;
    TImageList *ImageList1;
    TTimer *Timer1;
    TServerSocket *ServerSocket1;
    TTimer *Timer2;
    TButton *Button1;
    TButton *Button2;
    TMemo *Memo1;
    TToolBar *ToolBar1;
    TToolButton *ToolButton1;
    TToolButton *ToolButton2;
    TToolButton *ToolButton3;
    TToolButton *ToolButton4;
    TToolButton *ToolButton5;
    TToolButton *ToolButton6;
    TToolButton *ToolButton7;
    TToolButton *ToolButton8;
    TSplitter *Splitter1;
    TButton *Button3;
    TClientSocket *ClientSocket1;
    TButton *Button4;
    TEdit *ServerIPEdit;
        TPanel *MonitorCommandPanel;
        TBitBtn *MonitorCommandButton;
        TBitBtn *MonitorCommandCloseButton;
        TMemo *MonitorCommandEdit;
    void __fastcall RadioButton1Enter(TObject *Sender);
    void __fastcall NMUDP1DataReceived(TComponent *Sender, int NumberBytes,
          AnsiString FromIP, int Port);
    void __fastcall TrackBar1Change(TObject *Sender);
    void __fastcall Timer1Timer(TObject *Sender);
    void __fastcall ToolButton5Click(TObject *Sender);
    void __fastcall ToolButton4Click(TObject *Sender);
    void __fastcall ToolButton3Click(TObject *Sender);
    void __fastcall ToolButton2Click(TObject *Sender);
    void __fastcall ToolButton6Click(TObject *Sender);
    void __fastcall ToolButton1Click(TObject *Sender);
    void __fastcall ToolButton8Click(TObject *Sender);
    void __fastcall ToolButton7Click(TObject *Sender);
    void __fastcall Timer2Timer(TObject *Sender);
    void __fastcall ServerSocket1ClientConnect(TObject *Sender,
          TCustomWinSocket *Socket);
    void __fastcall ServerSocket1ClientDisconnect(TObject *Sender,
          TCustomWinSocket *Socket);
    void __fastcall Button1Click(TObject *Sender);
    void __fastcall Button2Click(TObject *Sender);
    void __fastcall FormPaint(TObject *Sender);
    void __fastcall FormMouseDown(TObject *Sender, TMouseButton Button,
          TShiftState Shift, int X, int Y);
    void __fastcall FormMouseMove(TObject *Sender, TShiftState Shift,
          int X, int Y);
    void __fastcall FormMouseUp(TObject *Sender, TMouseButton Button,
          TShiftState Shift, int X, int Y);
    void __fastcall FormMouseWheel(TObject *Sender, TShiftState Shift,
          int WheelDelta, TPoint &MousePos, bool &Handled);
    void __fastcall Button3Click(TObject *Sender);
    void __fastcall FormCreate(TObject *Sender);
    void __fastcall FormDestroy(TObject *Sender);
    void __fastcall FormKeyDown(TObject *Sender, WORD &Key,
          TShiftState Shift);
    void __fastcall RadioButton1KeyDown(TObject *Sender, WORD &Key,
          TShiftState Shift);
    void __fastcall TrackBar1KeyDown(TObject *Sender, WORD &Key,
          TShiftState Shift);
    void __fastcall Button2KeyDown(TObject *Sender, WORD &Key,
          TShiftState Shift);
    void __fastcall Button1KeyDown(TObject *Sender, WORD &Key,
          TShiftState Shift);
    void __fastcall Button3KeyDown(TObject *Sender, WORD &Key,
          TShiftState Shift);
    void __fastcall Memo1KeyDown(TObject *Sender, WORD &Key,
          TShiftState Shift);
    void __fastcall FormResize(TObject *Sender);
    void __fastcall Splitter1CanResize(TObject *Sender, int &NewSize,
          bool &Accept);
    void __fastcall ClientSocket1Read(TObject *Sender,
          TCustomWinSocket *Socket);
    void __fastcall Button4Click(TObject *Sender);
    void __fastcall Button4KeyDown(TObject *Sender, WORD &Key,
          TShiftState Shift);
        void __fastcall MonitorCommandButtonClick(TObject *Sender);
        void __fastcall MonitorCommandCloseButtonClick(TObject *Sender);
private:	// User declarations
    class Monitor hMonitor;
    HDC hdc;
    HGLRC hrc;

    WM wm;
    vecWM collWM[11];
    TRadioButton * rbs[11];
    vector<string> monitor;
    int currentNumber;
    string initstr;
    int interval;
    int connects;
    bool mLiveMonitor;
    bool mShowReal;
    bool mFieldReverse;
    bool mMonitorOnly;
public:		// User declarations
        __fastcall TForm1(TComponent* Owner);
    void ReadFiles(TStrings* files);
    void ReadFile(FILE *p,vecWM &collWM);
    void ReadMonitor(char* filename);
    void SendWM(int pos);
    //==============================

    void ParseWM();
    string strWM;
    string strWMReal;
    string strMonitor;
    vector<string> strDebug;
    vector<string> geoDebug;
    Vector center;
    double scale;
    Vector RealToScreen(Vector p);
    void MyPaint();
    bool mouse_left_down;
    bool mouse_right_down;
    Vector mouse;
	double FieldLength,FieldWidth,FieldHeight,GoalWidth,GoalDepth,GoalHeight;
    bool big;
protected:
    SendMessage(const string& msg);
    void SendWorldModel(const string& msg);
    //==============================

};
//---------------------------------------------------------------------------
extern PACKAGE TForm1 *Form1;
//---------------------------------------------------------------------------
#endif