test1dlg.cpp

智能弹跳球,能根据自己的倾斜位置判断伸腿角度,以达到自身平衡.智能算法

// test1Dlg.cpp : 实现文件
//

#include "stdafx.h"
#include "test1.h"
#include "test1Dlg.h"
#include ".\test1dlg.h"
#include "math.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#endif


// 用于应用程序“关于”菜单项的 CAboutDlg 对话框

class CAboutDlg : public CDialog
{
public:
	CAboutDlg();

// 对话框数据
	enum { IDD = IDD_ABOUTBOX };

	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV 支持

// 实现
protected:
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
END_MESSAGE_MAP()


// Ctest1Dlg 对话框



Ctest1Dlg::Ctest1Dlg(CWnd* pParent /*=NULL*/)
	: CDialog(Ctest1Dlg::IDD, pParent)
{
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void Ctest1Dlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(Ctest1Dlg, CDialog)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	//}}AFX_MSG_MAP
	ON_BN_CLICKED(IDC_TEST, OnBnClickedTest)
	ON_WM_TIMER()
END_MESSAGE_MAP()


// Ctest1Dlg 消息处理程序

BOOL Ctest1Dlg::OnInitDialog()
{
	CDialog::OnInitDialog();

	// 将\“关于...\”菜单项添加到系统菜单中。

	// IDM_ABOUTBOX 必须在系统命令范围内。
	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
	ASSERT(IDM_ABOUTBOX < 0xF000);

	CMenu* pSysMenu = GetSystemMenu(FALSE);
	if (pSysMenu != NULL)
	{
		CString strAboutMenu;
		strAboutMenu.LoadString(IDS_ABOUTBOX);
		if (!strAboutMenu.IsEmpty())
		{
			pSysMenu->AppendMenu(MF_SEPARATOR);
			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
		}
	}

	// 设置此对话框的图标。当应用程序主窗口不是对话框时，框架将自动
	//  执行此操作
	SetIcon(m_hIcon, TRUE);			// 设置大图标
	SetIcon(m_hIcon, FALSE);		// 设置小图标

	// TODO: 在此添加额外的初始化代码
	ZeroMemory(m_Memory,sizeof(m_Memory) );

	return TRUE;  // 除非设置了控件的焦点，否则返回 TRUE
}

void Ctest1Dlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		dlgAbout.DoModal();
	}
	else
	{
		CDialog::OnSysCommand(nID, lParam);
	}
}

// 如果向对话框添加最小化按钮，则需要下面的代码
//  来绘制该图标。对于使用文档/视图模型的 MFC 应用程序，
//  这将由框架自动完成。

void Ctest1Dlg::OnPaint() 
{
	if (IsIconic())
	{
		CPaintDC dc(this); // 用于绘制的设备上下文

		SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);

		// 使图标在工作矩形中居中
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;

		// 绘制图标
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
		CDialog::OnPaint();
	}
}

//当用户拖动最小化窗口时系统调用此函数取得光标显示。
HCURSOR Ctest1Dlg::OnQueryDragIcon()
{
	return static_cast<HCURSOR>(m_hIcon);
}

void Ctest1Dlg::OnBnClickedTest()
{
	// TODO: 在此添加控件通知处理程序代码
	SetTimer(1,50,NULL);
	m_nTime = 0;
	m_Test.p1.fx = 200.0f ;
	m_Test.p2.fx = 200.0f ;
	m_Test.p1.fy = 100.0f ;
	m_Test.p2.fy = 201.0f ;

	m_Test.p1.vx = -10.0f ;
	m_Test.p2.vx = 0.0f ;
	m_Test.p1.vy = 0.0f ;
	m_Test.p2.vy = 0.0f ;
	
	m_Test.p1.ax = 0.0f ;
	m_Test.p2.ax = 0.0f ;
	m_Test.p1.ay = 100.0f ;
	m_Test.p2.ay = 0.0f ;

	m_Test.m_fRadio = 100.0f;
	m_Test.m_fAngle = 0.0f;
	m_Test.m_fBottom	= 300.0f;
	m_Test.m_fAngleDis	= sqrt( m_Test.p1.vx*m_Test.p1.vx + m_Test.p1.vy*m_Test.p1.vy );

}

void Ctest1Dlg::OnTimer(UINT nIDEvent)
{
	// TODO: 在此添加消息处理程序代码和/或调用默认值
	if( nIDEvent == 1 )
	{
		m_nTime += 50 ;
		Update(50);
		Render();
	}
	CDialog::OnTimer(nIDEvent);
}

void Ctest1Dlg::Update(DWORD nTime)
{


	float fTime = float(nTime) / 1000.0f ;
	m_Test.p1.vx += m_Test.p1.ax * fTime ;
	m_Test.p1.vy += m_Test.p1.ay * fTime ;

	m_Test.p1.fx += m_Test.p1.vx * fTime ;
	m_Test.p1.fy += m_Test.p1.vy * fTime ;

	//进行腿部调节
	if( m_Test.p1.vy > 0 )
	{
		
		m_Test.m_fAngleDis	= sqrt( m_Test.p1.vx*m_Test.p1.vx + m_Test.p1.vy*m_Test.p1.vy );
		//收腿区
		if( m_Test.p1.fy<m_Test.m_fBottom - m_Test.m_fRadio && m_Test.p1.fy>m_Test.m_fBottom - m_Test.m_fRadio*1.5f )
		{
			float buf = ( m_Test.p1.fy - m_Test.m_fBottom + m_Test.m_fRadio*1.5f )/( m_Test.m_fRadio*0.5f );
			m_Test.m_fBufx = m_Test.m_fRadio * buf *  m_Test.p1.vx / m_Test.m_fAngleDis;
			m_Test.m_fBufy = m_Test.m_fRadio * buf *  m_Test.p1.vy / m_Test.m_fAngleDis;
		}
		//升直区
		else if( m_Test.p1.fy >= m_Test.m_fBottom - m_Test.m_fRadio )
		{

			m_Test.m_fBufx = m_Test.m_fRadio * m_Test.p1.vx / m_Test.m_fAngleDis;
			m_Test.m_fBufy = m_Test.m_fRadio * m_Test.p1.vy / m_Test.m_fAngleDis;
		
		}
		//最高区
		else{
			m_Test.m_fBufx = 0;
			m_Test.m_fBufy = 6;
		}
	}
	if( m_Test.p1.vy < 0 )
	{

		m_Test.m_fAngleDis	= sqrt( m_Test.p1.vx*m_Test.p1.vx + m_Test.p1.vy*m_Test.p1.vy );
		//收腿区
		if( m_Test.p1.fy<m_Test.m_fBottom - m_Test.m_fRadio && m_Test.p1.fy>m_Test.m_fBottom - m_Test.m_fRadio*1.5f )
		{
			float buf = ( m_Test.p1.fy - m_Test.m_fBottom + m_Test.m_fRadio*1.5f )/( m_Test.m_fRadio*0.5f );
			m_Test.m_fBufx = m_Test.m_fRadio * buf *  -m_Test.p1.vx / m_Test.m_fAngleDis;
			m_Test.m_fBufy = m_Test.m_fRadio * buf *  -m_Test.p1.vy / m_Test.m_fAngleDis;
		}
		////升直区
		//else if( m_Test.p1.fy >= m_Test.m_fBottom - m_Test.m_fRadio )
		//{

		//	m_Test.m_fBufx = m_Test.m_fRadio * m_Test.p1.vx / m_Test.m_fAngleDis;
		//	m_Test.m_fBufy = m_Test.m_fRadio * m_Test.p1.vy / m_Test.m_fAngleDis;

		//}
		//最高区
		else{
			m_Test.m_fBufx = 0;
			m_Test.m_fBufy = 6;
		}
	}

	m_Test.p2.fx = m_Test.p1.fx + m_Test.m_fBufx;
	m_Test.p2.fy = m_Test.p1.fy + m_Test.m_fBufy;		

	//判断碰撞
	if( m_Test.p2.fy > 300.0f && m_Test.p1.vy > 0 )
	{
		float vx1 = m_Test.p1.vx *  m_Test.p1.vx / m_Test.m_fAngleDis;
		float vx2 = m_Test.p1.vx *  m_Test.p1.vy / m_Test.m_fAngleDis;
		float vy1 = m_Test.p1.vy *  m_Test.p1.vx / m_Test.m_fAngleDis;
		float vy2 = m_Test.p1.vy *  m_Test.p1.vy / m_Test.m_fAngleDis;

		m_Test.p1.vx = -(vx1+vy2)*m_Test.p1.vx / m_Test.m_fAngleDis  +(vx2-vy1)*m_Test.p1.vy / m_Test.m_fAngleDis ;//+ float(rand()%100-50);
		m_Test.p1.vy = -(vx1+vy2)*m_Test.p1.vy / m_Test.m_fAngleDis  +(vx2-vy1)*m_Test.p1.vx / m_Test.m_fAngleDis ;

	}


}

void Ctest1Dlg::Render()
{

	CDC *pDC = GetDC();
	pDC->FillSolidRect(0,0,600,400,RGB(155,155,155) );
	pDC->FillSolidRect( m_Test.p1.fx - 3 , m_Test.p1.fy - 3 ,6,6,RGB(255,0,0)  );
	pDC->FillSolidRect( m_Test.p2.fx - 3 , m_Test.p2.fy - 3 ,6,6,RGB(0,255,0)  );
	pDC->MoveTo( m_Test.p1.fx  , m_Test.p1.fy );
	pDC->LineTo( m_Test.p2.fx  , m_Test.p2.fy );

	pDC->MoveTo( 0  , 300 );
	pDC->LineTo( 600  , 300 );
	pDC->MoveTo( 0  , 301 );
	pDC->LineTo( 600  , 301 );


}