osg::Node* createHUD(osgText::Text* updateText)
{

    // create the hud. derived from osgHud.cpp
    // adds a set of quads, each in a separate Geode - which can be picked individually
    // eg to be used as a menuing/help system!
    // Can pick texts too!

    osg::Camera* hudCamera = new osg::Camera;
    hudCamera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
    hudCamera->setProjectionMatrixAsOrtho2D(0,1280,0,1024);
    hudCamera->setViewMatrix(osg::Matrix::identity());
    hudCamera->setRenderOrder(osg::Camera::POST_RENDER);
    hudCamera->setClearMask(GL_DEPTH_BUFFER_BIT);
    
    std::string timesFont("fonts/times.ttf");
    
    // turn lighting off for the text and disable depth test to ensure its always ontop.
    osg::Vec3 position(150.0f,800.0f,0.0f);
    osg::Vec3 delta(0.0f,-60.0f,0.0f);
    
    {
        osg::Geode* geode = new osg::Geode();
        osg::StateSet* stateset = geode->getOrCreateStateSet();
        stateset->setMode(GL_LIGHTING,osg::StateAttribute::OFF);
        stateset->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF);
        geode->setName("simple");
        hudCamera->addChild(geode);
        
        osgText::Text* text = new  osgText::Text;
        geode->addDrawable( text );
        
        text->setFont(timesFont);
        text->setText("Picking in Head Up Displays is simple!");
        text->setPosition(position);
        
        position += delta;
    }    
    
    
    for (int i=0; i<5; i++) {
        osg::Vec3 dy(0.0f,-30.0f,0.0f);
        osg::Vec3 dx(120.0f,0.0f,0.0f);
        osg::Geode* geode = new osg::Geode();
        osg::StateSet* stateset = geode->getOrCreateStateSet();
        const char *opts[]={"One", "Two", "Three", "January", "Feb", "2003"};
        osg::Geometry *quad=new osg::Geometry;
        stateset->setMode(GL_LIGHTING,osg::StateAttribute::OFF);
        stateset->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF);
        std::string name="subOption";
        name += " ";
        name += std::string(opts[i]);
        geode->setName(name);
        osg::Vec3Array* vertices = new osg::Vec3Array(4); // 1 quad
        osg::Vec4Array* colors = new osg::Vec4Array;
        colors = new osg::Vec4Array;
        colors->push_back(osg::Vec4(0.8-0.1*i,0.1*i,0.2*i, 1.0));
        quad->setColorArray(colors);
        quad->setColorBinding(osg::Geometry::BIND_PER_PRIMITIVE);
        (*vertices)[0]=position;
        (*vertices)[1]=position+dx;
        (*vertices)[2]=position+dx+dy;
        (*vertices)[3]=position+dy;
        quad->setVertexArray(vertices);
        quad->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::QUADS,0,4));
        geode->addDrawable(quad);
        hudCamera->addChild(geode);
        
        position += delta;
    }    
    
    
    
    { // this displays what has been selected
        osg::Geode* geode = new osg::Geode();
        osg::StateSet* stateset = geode->getOrCreateStateSet();
        stateset->setMode(GL_LIGHTING,osg::StateAttribute::OFF);
        stateset->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF);
        geode->setName("The text label");
        geode->addDrawable( updateText );
        hudCamera->addChild(geode);
        
        updateText->setCharacterSize(20.0f);
        updateText->setFont(timesFont);
        updateText->setColor(osg::Vec4(1.0f,1.0f,0.0f,1.0f));
        updateText->setText("");
        updateText->setPosition(position);
        updateText->setDataVariance(osg::Object::DYNAMIC);
        
        position += delta;
    }    
    
    return hudCamera;

}

position operator/(const position &a, double n)
{
  return position(a.x/n, a.y/n);
}

 void Shield::shot() {
     if (--m_health <= 0) {
         destroy();
         publish(ExplosionMessage(position()));
     }
 }

void LCD_Display::selectLineOne(){  //puts the cursor at line 0 char 0.
   position(1,0);    //position
}

void ChannelChatTab::setSplitPos(int x)
{
    init_sizes();
    position(userList_->x(), 0, x, 0);
}

void Weights::calculateWeights()
{
    mCoefficientNumber = (mTwoDim ? ((size_t)mPolynomeOrder + 1) * ((size_t)mPolynomeOrder + 1)
                                  :  (size_t)mPolynomeOrder + 1);
    size_t  ix, iy, i, j;
    int     x, y;

    // Determine coordinates of pixels to be sampled

    if (mTwoDim)
    {

        int iPolynomeOrder = (int) mPolynomeOrder; //lets avoid signed/unsigned comparison warnings
        int iHeight        = (int) height();
        int iWidth         = (int) width();

        for (y = -iPolynomeOrder; y < iHeight + iPolynomeOrder; ++y)
        {
            for (x = -iPolynomeOrder; x < iWidth + iPolynomeOrder; ++x)
            {
                if ((x < 0 && y < 0 && -x - y < iPolynomeOrder + 2)                             ||
                    (x < 0 && y >= iHeight && -x + y - iHeight < iPolynomeOrder + 1)            ||
                    (x >= iWidth && y < 0 && x - y - iWidth < iPolynomeOrder + 1)               ||
                    (x >= iWidth && y >= iHeight && x + y - iWidth - iHeight < iPolynomeOrder)  ||
                    (x < 0 && y >= 0 && y < iHeight) || (x >= iWidth  && y >= 0 && y < iHeight) ||
                    (y < 0 && x >= 0 && x < iWidth ) || (y >= iHeight && x >= 0 && x < iWidth))
                {
                    QPoint position(x,y);
                    mPositions.append(position);
                }
            }
        }
    }
    else
    {
        // In the one-dimensional case, only the y coordinate and y size is used.  */

        for (y = (-1)*mPolynomeOrder; y < 0; ++y)
        {
            QPoint position(0,y);
            mPositions.append(position);
        }

        for (y = (int) height(); y < (int) height() + (int) mPolynomeOrder; ++y)
        {
            QPoint position(0,y);
            mPositions.append(position);
        }
    }

    // Allocate memory.

    QScopedArrayPointer<double> matrix (new double[mCoefficientNumber * mCoefficientNumber]);
    QScopedArrayPointer<double> vector0(new double[mPositions.count() * mCoefficientNumber]);
    QScopedArrayPointer<double> vector1(new double[mPositions.count() * mCoefficientNumber]);

    // Calculate coefficient matrix and vectors

    for (iy = 0; iy < mCoefficientNumber; ++iy)
    {
        for (ix = 0; ix < mCoefficientNumber; ++ix)
        {
            matrix [iy* mCoefficientNumber+ix] = 0.0;
        }

        for (j = 0; j < (size_t)mPositions.count(); ++j)
        {
            vector0 [iy * mPositions.count() + j] = polyTerm (iy, mPositions.at(j).x(),
                                                    mPositions.at(j).y(), mPolynomeOrder);

            for (ix = 0; ix < mCoefficientNumber; ++ix)
            {
                matrix [iy* mCoefficientNumber + ix] += (vector0 [iy * mPositions.count() + j]
                                                        * polyTerm (ix, mPositions.at(j).x(), mPositions.at(j).y(), mPolynomeOrder));
            }
        }
    }

    // Invert matrix.

    matrixInv (matrix.data(), mCoefficientNumber);

    // Multiply inverse matrix with vector.

    for (iy = 0; iy < mCoefficientNumber; ++iy)
    {
        for (j = 0; j < (size_t)mPositions.count(); ++j)
        {
            vector1 [iy * mPositions.count() + j] = 0.0;

            for (ix = 0; ix < mCoefficientNumber; ++ix)
            {
                vector1 [iy * mPositions.count() + j] += matrix [iy * mCoefficientNumber + ix]
                        * vector0 [ix * mPositions.count() + j];
            }
        }
    }

    // Store weights

//.........这里部分代码省略.........

   // ----------------------------------------------------------------------
   void
   DrawableNodeDefault::
   draw( cairo_t* cr, double t, const Context& C )
      const throw(std::runtime_error)
   {
      Drawable::draw(cr,t,C);
      if( visible() )
         {
            shawn::Vec pos = position(t);
            double size    = node_properties().size(t);
            
            shawn::Vec bg;

            shawn::ConstTagHandle rtag = node().find_tag( "red" );
            shawn::ConstTagHandle gtag = node().find_tag( "green" );
            shawn::ConstTagHandle btag = node().find_tag( "blue" );
            //if(rtag!=NULL && gtag!=NULL && btag!=NULL)
            //{
            //   double r = dynamic_cast<const shawn::DoubleTag*>( rtag.get() )->value();
            //   double g = dynamic_cast<const shawn::DoubleTag*>( gtag.get() )->value();
            //   double b = dynamic_cast<const shawn::DoubleTag*>( btag.get() )->value();
            //   
            //   bg = shawn::Vec(r,g,b);
            //}
            //else
            //{
               bg = node_properties().background(t);
            //}



			   int shape = node_properties().shape(t);

            cairo_save(cr);
            cairo_translate(cr,pos.x(),pos.y());
            cairo_set_line_width( cr, 0 );

			   switch(shape)
			   {
			   case 2:
				   cairo_rectangle(cr,-size,-size,size*2,size*2);
				   break;
			   default:
				   cairo_arc(cr,0.0,0.0,size,0,2.0*M_PI);
				   break;
			   }
            blend_set_color(cr,bg);
            cairo_fill(cr);

            if( C.draft_level()<2 ) {
               double lw      = node_properties().line_width(t);
               shawn::Vec fg  = node_properties().foreground(t);

               cairo_set_line_width( cr, lw );
               
               switch(shape)
			      {
				   case 2:
					   cairo_rectangle(cr,-size,-size,size*2,size*2);
				   break;
				   default:
					   cairo_arc(cr,0.0,0.0,size,0,2.0*M_PI);
				   break;
			      }
                  blend_set_color(cr,fg);
                  cairo_stroke(cr);
            }

            cairo_restore(cr);
         }
   }

File* File::skipBytes(unsigned int numberOfBytes)
{
    setPosition(position() + numberOfBytes);
    return this;
}

void SixenseManager::update(float deltaTime) {
#ifdef HAVE_SIXENSE
    Hand* hand = DependencyManager::get<AvatarManager>()->getMyAvatar()->getHand();
    if (_isInitialized && _isEnabled) {
#ifdef __APPLE__
        SixenseBaseFunction sixenseGetNumActiveControllers =
        (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetNumActiveControllers");
#endif
        
        if (sixenseGetNumActiveControllers() == 0) {
            _hydrasConnected = false;
            return;
        }
        
        PerformanceTimer perfTimer("sixense");
        if (!_hydrasConnected) {
            _hydrasConnected = true;
            UserActivityLogger::getInstance().connectedDevice("spatial_controller", "hydra");
        }
        
#ifdef __APPLE__
        SixenseBaseFunction sixenseGetMaxControllers =
        (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetMaxControllers");
#endif
        
        int maxControllers = sixenseGetMaxControllers();
        
        // we only support two controllers
        sixenseControllerData controllers[2];
        
#ifdef __APPLE__
        SixenseTakeIntFunction sixenseIsControllerEnabled =
        (SixenseTakeIntFunction) _sixenseLibrary->resolve("sixenseIsControllerEnabled");
        
        SixenseTakeIntAndSixenseControllerData sixenseGetNewestData =
        (SixenseTakeIntAndSixenseControllerData) _sixenseLibrary->resolve("sixenseGetNewestData");
#endif
        int numControllersAtBase = 0;
        int numActiveControllers = 0;
        for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) {
            if (!sixenseIsControllerEnabled(i)) {
                continue;
            }
            sixenseControllerData* data = controllers + numActiveControllers;
            ++numActiveControllers;
            sixenseGetNewestData(i, data);
            
            //  Set palm position and normal based on Hydra position/orientation
            
            // Either find a palm matching the sixense controller, or make a new one
            PalmData* palm;
            bool foundHand = false;
            for (size_t j = 0; j < hand->getNumPalms(); j++) {
                if (hand->getPalms()[j].getSixenseID() == data->controller_index) {
                    palm = &(hand->getPalms()[j]);
                    foundHand = true;
                }
            }
            if (!foundHand) {
                PalmData newPalm(hand);
                hand->getPalms().push_back(newPalm);
                palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
                palm->setSixenseID(data->controller_index);
                qCDebug(interfaceapp, "Found new Sixense controller, ID %i", data->controller_index);
            }
            
            // Disable the hands (and return to default pose) if both controllers are at base station
            if (foundHand) {
                palm->setActive(!_controllersAtBase);
            } else {
                palm->setActive(false); // if this isn't a Sixsense ID palm, always make it inactive
            }
            
            
            //  Read controller buttons and joystick into the hand
            palm->setControllerButtons(data->buttons);
            palm->setTrigger(data->trigger);
            palm->setJoystick(data->joystick_x, data->joystick_y);
            
            // Emulate the mouse so we can use scripts
            if (Menu::getInstance()->isOptionChecked(MenuOption::SixenseMouseInput) && !_controllersAtBase) {
                emulateMouse(palm, numActiveControllers - 1);
            }
            
            // NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.
            glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
            position *= METERS_PER_MILLIMETER;
            
            // Check to see if this hand/controller is on the base
            const float CONTROLLER_AT_BASE_DISTANCE = 0.075f;
            if (glm::length(position) < CONTROLLER_AT_BASE_DISTANCE) {
                numControllersAtBase++;
            }
            
            // Transform the measured position into body frame.
            glm::vec3 neck = _neckBase;
            // Zeroing y component of the "neck" effectively raises the measured position a little bit.
            neck.y = 0.0f;
            position = _orbRotation * (position - neck);
            
//.........这里部分代码省略.........

 node_impl_pointer& prev(node_impl_pointer x)const
 {
   return prev_at(position(x));
 }

static void displayMultiPlayer(WIDGET *psWidget, UDWORD xOffset, UDWORD yOffset, PIELIGHT *pColours)
{
	char str[128];
	int x = xOffset + psWidget->x;
	int y = yOffset + psWidget->y;
	unsigned player = psWidget->UserData;  // Get the in game player number.

	if (responsibleFor(player, 0))
	{
		displayExtraGubbins(widgGetFromID(psWScreen,MULTIMENU_FORM)->height);
	}

	iV_SetFont(font_regular);  // font
	iV_SetTextColour(WZCOL_TEXT_BRIGHT);

	const bool isHuman = isHumanPlayer(player);
	const bool isAlly = aiCheckAlliances(selectedPlayer, player);
	const bool isSelectedPlayer = player == selectedPlayer;

	SetPlayerTextColor(alliances[selectedPlayer][player], player);

	if (isHuman || (game.type == SKIRMISH && player<game.maxPlayers) )
	{
		ssprintf(str, "%d: %s", NetPlay.players[player].position, getPlayerName(player));

		while (iV_GetTextWidth(str) >= MULTIMENU_C0 - MULTIMENU_C2 - 10)
		{
			str[strlen(str) - 1] = '\0';
		}
		iV_DrawText(str, x + MULTIMENU_C2, y + MULTIMENU_FONT_OSET);

		//c3-7 alliance
		//manage buttons by showing or hiding them. gifts only in campaign,
		if (game.alliance != NO_ALLIANCES)
		{
			if (isAlly && !isSelectedPlayer && !giftsUp[player] )
			{
				if (game.alliance != ALLIANCES_TEAMS)
				{
					widgReveal(psWScreen, MULTIMENU_GIFT_RAD + player);
					widgReveal(psWScreen, MULTIMENU_GIFT_RES + player);
				}
				widgReveal(psWScreen, MULTIMENU_GIFT_DRO + player);
				widgReveal(psWScreen, MULTIMENU_GIFT_POW + player);
				giftsUp[player] = true;
			}
			else if (!isAlly && !isSelectedPlayer && giftsUp[player])
			{
				if (game.alliance != ALLIANCES_TEAMS)
				{
					widgHide(psWScreen, MULTIMENU_GIFT_RAD + player);
					widgHide(psWScreen, MULTIMENU_GIFT_RES + player);
				}
				widgHide(psWScreen, MULTIMENU_GIFT_DRO + player);
				widgHide(psWScreen, MULTIMENU_GIFT_POW + player);
				giftsUp[player] = false;
			}
		}
	}

	// Let's use the real score for MP games
	if (NetPlay.bComms)
	{
		//c8:score,
		if (Cheated)
		{
			sprintf(str, "(cheated)");
		}
		else
		{
			sprintf(str, "%d", getMultiStats(player).recentScore);
		}
		iV_DrawText(str, x + MULTIMENU_C8, y + MULTIMENU_FONT_OSET);

		//c9:kills,
		sprintf(str, "%d", getMultiStats(player).recentKills);
		iV_DrawText(str, x + MULTIMENU_C9, y + MULTIMENU_FONT_OSET);
	}
	else
	{
		// estimate of score for skirmish games
		sprintf(str, "%d", ingame.skScores[player][0]);
		iV_DrawText(str, x + MULTIMENU_C8, y + MULTIMENU_FONT_OSET);
		// estimated kills
		sprintf(str, "%d", ingame.skScores[player][1]);
		iV_DrawText(str, x + MULTIMENU_C9, y + MULTIMENU_FONT_OSET);
	}

	//only show player's and allies' unit counts, and nobody elses.
	//c10:units
	if (isAlly || getDebugMappingStatus())
	{
		sprintf(str, "%d", getNumDroids(player) + getNumTransporterDroids(player));
		iV_DrawText(str, x + MULTIMENU_C10, y + MULTIMENU_FONT_OSET);
	}

	/* Display player power instead of number of played games
	  * and number of units instead of ping when in debug mode
	  */
	if (getDebugMappingStatus())  //Won't pass this when in both release and multiplayer modes
//.........这里部分代码省略.........

void File_v1::loadCell(CrochetTab *tab, QXmlStreamReader *stream)
{

    Cell *c = new Cell();
    Stitch *s = 0;
    int row = -1, column = -1;
    int group = -1;
    QString bgColor;
    QPointF position(0.0,0.0);
    QPointF pivotPoint;
    qreal angle = 0.0;
    QPointF scale = QPointF(1.0,1.0);
    QTransform transform;
    qreal   m11 = 1, m12 = 0, m13 = 0,
            m21 = 0, m22 = 1, m23 = 0,
            m31 = 0, m32 = 0, m33 = 1;

    while(!(stream->isEndElement() && stream->name() == "cell")) {
        stream->readNext();
        QString tag = stream->name().toString();

        if(tag == "stitch") {
            QString st = stream->readElementText();
            s = StitchLibrary::inst()->findStitch(st, true);

        } else if(tag == "grid") {
            row = stream->attributes().value("row").toString().toDouble();
            column = stream->attributes().value("column").toString().toDouble();
            stream->readElementText();

        } else if(tag == "color") {
            bgColor = stream->readElementText();

        } else if(tag == "position") {
            position.rx() = stream->attributes().value("x").toString().toDouble();
            position.ry() = stream->attributes().value("y").toString().toDouble();
            stream->readElementText();

        } else if(tag == "angle") {
            angle = stream->readElementText().toDouble();

        } else if(tag == "scale") {
            scale.rx() = stream->attributes().value("x").toString().toDouble();
            scale.ry() = stream->attributes().value("y").toString().toDouble();
            stream->readElementText();

        } else if(tag == "pivotPoint") {
            pivotPoint.rx() = stream->attributes().value("x").toString().toDouble();
            pivotPoint.ry() = stream->attributes().value("y").toString().toDouble();
            stream->readElementText();

        } else if(tag == "group") {
            group = stream->readElementText().toInt();

        } else if(tag == "transformation") {
            m11 = stream->attributes().value("m11").toString().toDouble();
            m12 = stream->attributes().value("m12").toString().toDouble();
            m13 = stream->attributes().value("m13").toString().toDouble();
            m21 = stream->attributes().value("m21").toString().toDouble();
            m22 = stream->attributes().value("m22").toString().toDouble();
            m23 = stream->attributes().value("m23").toString().toDouble();
            m31 = stream->attributes().value("m31").toString().toDouble();
            m32 = stream->attributes().value("m32").toString().toDouble();
            m33 = stream->attributes().value("m33").toString().toDouble();
            transform.setMatrix(m11, m12, m13, m21, m22, m23, m31, m32, m33);
            stream->readElementText();
        }
    }

    tab->scene()->addItem(c);

    if(row > -1 && column > -1) {
        c->setStitch(s);
        if(row % 2) {
            QString colorName = Settings::inst()->value("stitchAlternateColor").toString();
            c->setColor(QColor(colorName));
        }
        tab->scene()->grid[row].replace(column, c);
        c->setZValue(100);
    } else {
        c->setStitch(s);
        c->setZValue(10);
    }

    c->setTransform(transform);
    c->setPos(position);
    c->setBgColor(QColor(bgColor));
    c->setTransformOriginPoint(pivotPoint);
    c->setRotation(angle);
	ChartItemTools::recalculateTransformations(c);
    
	if(group != -1)
        tab->scene()->addToGroup(group, c);

}

void NavigationSubWidget::restoreSettings()
{
    if (!m_navigationWidget || !factory())
        return;
    factory()->restoreSettings(position(), m_navigationWidget);
}

void World::Load(const std::string filepath, sf::RenderWindow &window, TextureManager &textureManager, FontManager &fontManager)
{
	isGameOver = -1;

	//open up the file
	std::filebuf fb;
	fb.open(filepath, std::ios::in);

	//try to parse it
	Json::Value root;
	Json::Reader reader;
	bool parseSuccessful = reader.parse(std::istream(&fb), root);
	if(!parseSuccessful)
	{
		std::cerr << "Unsuccessful parse" << filepath << std::endl;
		std::cerr << reader.getFormattedErrorMessages() << std::endl;
		return;
	}
	//now we have it parsed we can close it
	fb.close();

	//set the background
	std::string backgroundFilepath = root.get("background", "").asString();
	if(!backgroundFilepath.empty())
	{
		worldSprite.setTexture(*textureManager.getResource(backgroundFilepath));
		worldSprite.setScale((float)window.getSize().x / worldSprite.getTexture()->getSize().x, (float)window.getSize().y / worldSprite.getTexture()->getSize().y);
	}

	//hardcoded values
	winTexture = *textureManager.getResource("Config/Content/Images/Menus/Backgrounds/WinBackground.png");
	loseTexture = *textureManager.getResource("Config/Content/Images/Menus/Backgrounds/LoseBackground.png");

	//build the walls
	Json::Value walls = root["walls"];
	for(unsigned int i = 0; i < walls.size(); i++)
	{
		Json::Value wall = walls[i];
		std::string filepath = wall["name"].asString();
		sf::Vector2f position(wall["position"]["x"].asFloat(), wall["position"]["y"].asFloat());
		EntityBuilder::getInstance()->buildEntity(filepath, position);
	}

	//build the player
	EntityBuilder::getInstance()->buildPlayer("Config/Entities/Characters/Player.json", sf::Vector2f(400, 300));
	
	//set level mode, normal or survival
	mode = (Mode) root.get("mode", NORMAL).asInt();

	//build hud
	Json::Value hudValue = root.get("hud", NULL);
	const sf::Texture *healthBarPtr = textureManager.getResource(hudValue.get("healthBar", NULL).asString());
	const sf::Texture *healthBarBackgroundPtr = textureManager.getResource(hudValue.get("healthBarBackground", NULL).asString());
	hud.init(*healthBarPtr, *healthBarBackgroundPtr, entityManager.getVector(PLAYER), fontManager, mode);
	
	//load the enemy waves, mode is important
	enemySpawnManager.load(root, &entityManager, mode);

	playerLoseClock.pause();
	playerLoseClock.restart();
}

 void Shield::update(const sf::Time& dt) {
     publish(ShieldMessage(position(), health()));
 }

void Player::atirar(Portal* portal)
{
    portal->visible(true);
    portal->position() = position();
    portal->velocity() = (Mouse::ray() * 300);
}

/*! Uses the \a projCoords and \a fixedCoordSet (which identifies the indices
	of the fixed coordinates) to project the 6D hyperplanes of the Grasp Wrench 
	Space into 3D. The \a projCoords is an array of 6 values, but only 3 are used.  
	It then calls qhull to perform a halfspace intersection to get the vertices 
	of the 3D volume.  These vertices are stored in \a hullCoords, and indices 
	of the individual faces that make up the volume are stored in \a hullIndices 
	(an Indexed Face Set).
*/
int
GWS::projectTo3D(double *projCoords, std::set<int> fixedCoordSet,
				 std::vector<position> &hullCoords, std::vector<int> &hullIndices)
{
  int i,j,k,validPlanes,numCoords,numInLoop;
  double **planes;
  int freeCoord[3],fixedCoord[3];

  // qhull variables
  boolT ismalloc;
  int curlong,totlong,exitcode;
  char options[200];  
  facetT *facet;

  if (numHyperPlanes == 0) {
	  DBGP("No hyperplanes");
	  return SUCCESS;
  }

  planes = (double **) malloc(numHyperPlanes * sizeof(double *));
  if (!planes) {
#ifdef GRASPITDBG
    pr_error("GWS::ProjectTo3D,Out of memory allocating planes array");
    printf("NumHyperplanes: %d\n",numHyperPlanes);
#endif
    return FAILURE;
  }

  validPlanes = 0;

  // determine which dimensions are free and which are fixed
  // the set keeps things ordered
  for (i=0,j=0,k=0;i<6;i++) {
    if (fixedCoordSet.find(i) == fixedCoordSet.end()) {
      freeCoord[k++] = i;
	} else {
      fixedCoord[j++] = i;
	}
  }

  // project the hyperplanes to three dimensional planes
  for (i=0;i<numHyperPlanes;i++) {
    double len = sqrt(hyperPlanes[i][freeCoord[0]]*hyperPlanes[i][freeCoord[0]] +
                      hyperPlanes[i][freeCoord[1]]*hyperPlanes[i][freeCoord[1]] +
                      hyperPlanes[i][freeCoord[2]]*hyperPlanes[i][freeCoord[2]]);

    if (len>1e-11) {
      planes[validPlanes] = (double *) malloc(4 * sizeof(double));
      if (!planes[validPlanes]) {
		pr_error("Out of memory allocating planes array");
	    DBGP("Out of memory allocating planes array");
		return FAILURE;
	  }
      planes[validPlanes][0] = hyperPlanes[i][freeCoord[0]]/len;
      planes[validPlanes][1] = hyperPlanes[i][freeCoord[1]]/len;
      planes[validPlanes][2] = hyperPlanes[i][freeCoord[2]]/len;
      planes[validPlanes][3] = (hyperPlanes[i][6] + 
	                            hyperPlanes[i][fixedCoord[0]]*projCoords[fixedCoord[0]] +
		                        hyperPlanes[i][fixedCoord[1]]*projCoords[fixedCoord[1]] +
		                        hyperPlanes[i][fixedCoord[2]]*projCoords[fixedCoord[2]])/len;
      
      validPlanes++;
	}
  }

  if (validPlanes<numHyperPlanes) {
	  DBGP("Ignored " << numHyperPlanes-validPlanes << 
		   " hyperplanes which did not intersect this 3-space");
  }
  if (!validPlanes) {
	  DBGA("No valid planes in 3D projection!");
	  return FAILURE;
  }
	   

  //
  // call qhull to do the halfspace intersection
  //
  coordT *array = new coordT[validPlanes*3];
  coordT *p = &array[0];
  
  boolT zerodiv;
  coordT *point, *normp, *coordp, **pointp, *feasiblep;
  vertexT *vertex, **vertexp;

#ifdef GRASPITDBG
  printf("Calling qhull to perform a 3D halfspace intersection of %d planes...\n",validPlanes);
#endif

  ismalloc = False; 	// True if qh_freeqhull should 'free(array)'

  // I want to get rid of this but qh_init needs some sort of file pointer
//.........这里部分代码省略.........

 position north() { return position(cent.x, cent.y + dim.y/2.0); }

int Flu_Combo_Box::Popup :: handle( int event )
{
  if( event == FL_MOVE )
    {
      // FL_MOVE is also generated while the window is moving
      // this attempts to keep the popup window moving with the enclosing window
      //position( combo->window()->x()+combo->x()-2, combo->window()->y()+combo->y()+combo->h()-2 );
      position( global_x(combo)-2, global_y(combo)+combo->h()-2 );
      // this lets the mouse move event also move the selected item
      combo->_hilight( Fl::event_x(), Fl::event_y() );
    }

  if( event == FL_DRAG )
    dragging = true;

  // if push outside the popup window, popdown
  if( event == FL_PUSH &&
      !Fl::event_inside( child(0) ) )
    {
      combo->_popped = false;
      return 0;
    }

  // if release after dragging outside the popup window, popdown
  if( event == FL_RELEASE && dragging && 
      !Fl::event_inside( child(0) ) )
    {
      combo->_popped = false;
      return 0;
    }

  if( event == FL_KEYDOWN )
    {
      if( Fl::event_key( FL_Escape ) )
	{
	  combo->_popped = false;
	  return 0;
	}
      else if( Fl::event_key( FL_Up ) )
	{
	  const char *s = combo->_previous();
	  if( s )
	    selected = s;
	  return 1;
	}
      else if( Fl::event_key( FL_Down ) )
	{
	  const char *s = combo->_next();
	  if( s )
	    selected = s;
	  return 1;
	}
      else if( Fl::event_key( FL_Enter ) || Fl::event_key( ' ' ) )
	{
	  if( selected )
	    {
	      combo->value( selected );
	      combo->selected( selected );
	    }
	  combo->_popped = false;
	  return 1;	  
	}
    }

  return Fl_Double_Window::handle( event );
}