utils.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------

#ifndef EGRAPH_UTILS_H
#define EGRAPH_UTILS_H

#include <libplayerc++/playerc++.h>
#include <iostream>
#include <vector>
#include <assert.h>
#include <math.h>


using namespace PlayerCc;
using namespace std;

vector<player_color_t> gColorVec;

player_color_t gColorFrontier;
player_color_t gColorObstacle;
player_color_t gColorFreeArc;
player_color_t gColorCapture;
player_color_t gColorRed;
player_color_t gColorBlue;
player_color_t gColorGreen;
player_color_t gColorGray;
player_color_t gColorOrange;

int sign( const double num )
{
    if( num > 0 )
        return 1;
    if( num < 0 )
        return -1;
    return 0;
}

int pickIndexInRange( int iMin, int iMax )
{
    int iRand = rand();
    
    double fFrac = iRand/(RAND_MAX + 1.0);
    int iAdd = int((iMax - iMin)*fFrac);

    return (iMin + iAdd);
}

double angDistCCW( double angFrom, double angTo, bool bFixSmall )
{
    double dist = (normalize(angTo) - normalize(angFrom));
    
    // Handle discretized raster lines
    if( bFixSmall && fabs(dist) < M_PI/10.0 )
    {
        dist = fabs(dist);
    }
    
    while( dist < 0 )
    {
        dist += 2*M_PI;
    }
    
    return dist;
}

void initColors( )
{
    gColorFrontier.alpha = 255;
    gColorFrontier.red = 210;
    gColorFrontier.green = 0;
    gColorFrontier.blue = 0;

    gColorObstacle.alpha = 255;
    gColorObstacle.red = 170;
    gColorObstacle.green = 255;
    gColorObstacle.blue = 170;

    gColorFreeArc.alpha = 255;
    gColorFreeArc.red = 170;
    gColorFreeArc.green = 170;
    gColorFreeArc.blue = 255;
    
    gColorCapture.alpha = 255;
    gColorCapture.red = 0;
    gColorCapture.green = 0;
    gColorCapture.blue = 0;
    
    player_color_t color;

    // 0 Chartreuse
    color.alpha = 255;
    color.red = 127;
    color.green = 255;
    color.blue = 0;
    
    gColorGreen = color;

    gColorVec.push_back(color);

    // 1 Blue
    color.alpha = 255;
    color.red = 0;
    color.green = 0;
    color.blue = 255;
    
    gColorBlue = color;

    gColorVec.push_back(color);

    // 2 Coral
    color.alpha = 255;
    color.red = 255;
    color.green = 127;
    color.blue = 80;

    gColorVec.push_back(color);

    // 3 Cyan
    color.alpha = 255;
    color.red = 0;
    color.green = 255;
    color.blue = 255;

    gColorVec.push_back(color);

    // 4 Dark magenta
    color.alpha = 255;
    color.red = 139;
    color.green = 0;
    color.blue = 139;

    gColorVec.push_back(color);

    // 5 Dark cyan
    color.alpha = 255;
    color.red = 0;
    color.green = 139;
    color.blue = 139;
    
    gColorVec.push_back(color);
    
    // 6 Gold
    color.alpha = 255;
    color.red = 255;
    color.green = 215;
    color.blue = 0;

    gColorVec.push_back(color);

    // 7 Forest green
    color.alpha = 255;
    color.red = 34;
    color.green = 139;
    color.blue = 34;

    gColorVec.push_back(color);

    // 8 Deep pink
    color.alpha = 255;
    color.red = 255;
    color.green = 20;
    color.blue = 147;
    
    gColorRed = color;

    gColorVec.push_back(color);

    // 9 Peru
    color.alpha = 255;
    color.red = 205;
    color.green = 133;
    color.blue = 63;

    gColorVec.push_back(color);

    // 10 Dark Gray
    color.alpha = 255;
    color.red = 169;
    color.green = 169;
    color.blue = 169;
    
    gColorVec.push_back(color);

    // 11 Silver
    color.alpha = 255;
    color.red = 192;
    color.green = 192;
    color.blue = 192;
    
    gColorGray = color;

    gColorVec.push_back(color);
}

#endif    //UTILS_H