Ogre::Quaternion DetectedVehicle::getOrientation() const
      {
        Ogre::Vector3 speed = getSpeed() ;

        Ogre::Vector3 side(-speed.y,speed.x,-speed.z) ;
        side.normalise() ;
        Ogre::Vector3 forward = speed ;
        forward.normalise() ;
        Ogre::Vector3 up = forward.crossProduct(side) ;
        up.normalise() ;
        
        return Ogre::Quaternion(side,up,forward) ;
      }

float Vector3::angle2D(const Vector3 &v)
{
    float dp, angPI ;

    dp = dot2D(v); //dot product
    if(dp >= 1.0) dp = 1.0f;
    if(dp <=-1.0) dp =-1.0f;

    angPI = (float)acos(dp);

    //determina a posicao relativa do vetor
    return angPI * side(v);
}

bool BoardController::moveFigure(int from, int to)
{
    if(!m_logic_controller.isMoveAllowed(from, to) || from == to)
        return false;
    auto victim  =  figureAt(to);
    auto victim_type  = victim->type();
    auto victim_color = victim->side();

    Transition t(from, to, victim_color, victim_type);
    _moveFigure(from, to);
    emit figureMoved(t);
    return true;
}

void UmlRelation::write_ends(FileOut & out) {
  // note : it is the first side
 
  out.indent();
  out << "\t<memberEnd";
  out.idref(this);
  out << "/>\n";
  
  UmlRelation * other = side(FALSE);
  
  out.indent();
  if (other != 0) {
    out << "\t<memberEnd";
    out.idref(other);
    out << "/>\n";
  }
  else {
    out << "\t<ownedEnd xmi:type=\"uml:Property\"";
    out.id_prefix(this, "REVERSE_");
    if (_assoc_class != 0)
      out.ref(_assoc_class, "association");
    else
      out.ref(this, "association", "ASSOC_");
    out << " visibility=\"" << ((_vis_prefix) ? "vis_private\"" : "private\"");
    out.ref(parent(), "type");
    out << " aggregation=\"";
    if (_gen_eclipse)
      out << "none";
    else {
      switch (relationKind()) {
      case anAggregation:
      case aDirectionalAggregation:
	out << "shared";
	break;
      case anAggregationByValue:
      case aDirectionalAggregationByValue:
	out << "composite";
	break;
      default:
	out << "none";
      }
    }
    out << "\" isNavigable=\"false\"/>\n";

    out.indent();
    out << "\t<memberEnd ";
    out.idref_prefix(this, "REVERSE_");
    out << "/>\n";
  }

}

/* main loop */
int
main(void)
{
	input_line = (char *)malloc(6 * sizeof(char));

	led_setperm();

	set_time = 200000;

	while (strncmp(input_line, "quit", 4) != 0)
	{
		input_line = readline("Led Control> ");

		/* I know instruction parsing is really lame :/ */
		if (!strncmp(input_line, "help", 4))
			help();
		if (!strncmp(input_line, "ledon", 5))
			ledon();
		if (!strncmp(input_line, "ledoff", 6))
			ledoff();
		if (!strncmp(input_line, "settime", 7))
			settime();
		if (!strncmp(input_line, "volume", 6))
			volume();
		if (!strncmp(input_line, "bin", 3))
			bin();
		if (!strncmp(input_line, "slide", 5))
			slide();
		if (!strncmp(input_line, "blink", 5))
			blink();
		if (!strncmp(input_line, "bislide", 7))
			bislide();
		if (!strncmp(input_line, "biblink", 7))
			biblink();
		if (!strncmp(input_line, "grow", 4))
			grow();
		if (!strncmp(input_line, "center", 6))
			center();
		if (!strncmp(input_line, "side", 4))
			side();
		if (!strncmp(input_line, "biside", 6))
			biside();
		if (!strncmp(input_line, "demo", 4))
			demo();
	}

	led_off_all();

	exit(0);
}

	//-----------------------------------------------------------------------------
	// xxx perhaps this should be a call to a general purpose annotation for
	// xxx "local xxx axis aligned box in XZ plane" -- same code in in
	// xxx CaptureTheFlag.cpp
	void Pedestrian::annotateAvoidObstacle( const float minDistanceToCollision )
	{
		const osVector3 boxSide = side() * radius();
		const osVector3 boxFront = forward() * minDistanceToCollision;
		const osVector3 FR = position() + boxFront - boxSide;
		const osVector3 FL = position() + boxFront + boxSide;
		const osVector3 BR = position()            - boxSide;
		const osVector3 BL = position()            + boxSide;
		const Color white( 1,1,1 );
		annotationLine( FR, FL, white );
		annotationLine( FL, BL, white );
		annotationLine( BL, BR, white );
		annotationLine( BR, FR, white );
	}

Material::Material(Material_t tag)
    : tag(tag),
      vertexShader(this),
      fragmentShader(this),
      index0AttributeName(this)
{
    mId = Material::MaterialIdCount++;

    mUuid = Math::generateUUID();

    mName = "";

    side() = kFrontSide;

    opacity() = 1.0f;
    transparent() = false;

    blending() = kNormalBlending;

    blendSrc() = kSrcAlphaFactor;
    blendDst() = kOneMinusSrcAlphaFactor;
    blendEquation() = kAddEquation;

    depthTest() = true;
    depthWrite() = true;

    polygonOffset() = false;
    polygonOffsetFactor() = 0;
    polygonOffsetUnits() = 0;

    // mAlphaTest = 0;

    overdraw() = 0; // Overdrawn pixels (typically between 0 and 1) for fixing antialiasing gaps in CanvasRenderer

    visible() = true;

    needsUpdate() = true;

    // By default, bind position to attribute index 0. In WebGL, attribute 0
    // should always be used to avoid potentially expensive emulation.
    index0AttributeName("position");

    linewidth() = 1.0f;
    metal() = false;
    perPixel() = true;
    shading() = kNoShading;
	vertexColors() = kNoColors;
    wireframe() = false;
    wireframeLinewidth() = 1.0f;
}

inline static bool check(long long int &sx, long long int &sy)
{
	printf("P: %lld %lld\n", sx, sy);
	unsigned int f = 0, size = verts - 2, mid;
	while(size > 2)
	{
		mid = (f + size / 2) % verts;
		if(side(std::make_pair(0, 0), fence[f], std::make_pair(sx, sy)) <= 0 &&
			side(std::make_pair(0, 0), fence[(f + size) % verts], std::make_pair(sx, sy)) >= 0)
		{
			f = (f + size) % verts;
			size = verts - size;
			continue;
		}

		if(side(std::make_pair(0, 0), fence[mid], std::make_pair(sx, sy)) < 0)
			f = mid;

		size /= 2;
	}

	printf(">>%u %u\n", f, (f + size)  % verts);
	return side(fence[f], fence[(f + size) % verts], std::make_pair(sx, sy)) >= 0;
}

void Simplex::pivot(int row, int col) {
	float pivot = tab(row, col);
	if(pivot == 0)
		exit(-1);
	for(int i(0); i < tab.cols(); ++i)
		tab(row, i) /= pivot;
	for (int i = 0; i < tab.rows(); ++i) {
		float multip = tab(i, col);
		if(i == row) continue;
		for (int j = 0; j < tab.cols(); ++j) {
			tab(i, j) -= multip * tab(row, j);
		}
	}
	side(row-1) = col;
}

Controller::Controller()
{
	turnProportionalGain = 1.0f; //converts offset from camera to turn duty cycle
	throttleProportionalGain = 10.0f; // converts offset in the y direction to throttle
	sideProportionalGain = 1.0f;
	hover_throttle = 1.54;
	lower_altitude = 0;
  	//initialize all controls to neutral
	turn(1.5);
	forward(1.48);
	side(1.59);
	throttle(1.09);
	isStarted = 0;
	time_lift = 0;
}

void 
OpenSteer::
BoxObstacle::
findIntersectionWithVehiclePath (const AbstractVehicle& vehicle,
                                 PathIntersection& pi) const
{
    // abbreviations
    const float w = width; // dimensions
    const float h = height;
    const float d = depth;
    const Vec3 s = side (); // local space
    const Vec3 u = up ();
    const Vec3 f = forward ();
    const Vec3 p = position ();
    const Vec3 hw = s * (0.5f * width); // offsets for face centers
    const Vec3 hh = u * (0.5f * height);
    const Vec3 hd = f * (0.5f * depth);
    const seenFromState sf = seenFrom ();

    // the box's six rectangular faces
    RectangleObstacle r1 (w, h,  s,  u,  f, p + hd, sf); // front
    RectangleObstacle r2 (w, h, -s,  u, -f, p - hd, sf); // back
    RectangleObstacle r3 (d, h, -f,  u,  s, p + hw, sf); // side
    RectangleObstacle r4 (d, h,  f,  u, -s, p - hw, sf); // other side
    RectangleObstacle r5 (w, d,  s, -f,  u, p + hh, sf); // top
    RectangleObstacle r6 (w, d, -s, -f, -u, p - hh, sf); // bottom

    // group the six RectangleObstacle faces together
    ObstacleGroup faces;
    faces.push_back (&r1);
    faces.push_back (&r2);
    faces.push_back (&r3);
    faces.push_back (&r4);
    faces.push_back (&r5);
    faces.push_back (&r6);

    // find first intersection of vehicle path with group of six faces
    PathIntersection next;
    firstPathIntersectionWithObstacleGroup (vehicle, faces, pi, next);

    // when intersection found, adjust PathIntersection for the box case
    if (pi.intersect)
    {
        pi.obstacle = this;
        pi.steerHint = ((pi.surfacePoint - position ()).normalize () *
                        (pi.vehicleOutside ? 1.0f : -1.0f));
    }
}

int testCreateNewOrderSingle( int count )
{
  int start = GetTickCount();
  for ( int i = 0; i <= count; ++i )
  {
    FIX::ClOrdID clOrdID( "ORDERID" );
    FIX::HandlInst handlInst( '1' );
    FIX::Symbol symbol( "LNUX" );
    FIX::Side side( FIX::Side_BUY );
    FIX::TransactTime transactTime;
    FIX::OrdType ordType( FIX::OrdType_MARKET );
    FIX42::NewOrderSingle( clOrdID, handlInst, symbol, side, transactTime, ordType );
  }

  return GetTickCount() - start;
}

int InsertionSort(int base[], int sz ){
	int i,j;
	int temp;
	int count = 0;
	for(i=1;i<sz;++i){
		temp = base[i];
		for(j = i-1; j>=0 && temp < base[j] ; --j ){
			base[j+1] = base[j];
			 move to right side(+1) element one by one
			++count;
		}
		base[j+1] = temp;
	}
	printf("total count of loop : %d \n", count);
	return 0;
}

void ChessGame::startTurn()
{
	if (m_paused)
		return;

	Chess::Side side(m_board->sideToMove());
	Q_ASSERT(!side.isNull());

	emit humanEnabled(m_player[side]->isHuman());

	Chess::Move move(bookMove(side));
	if (move.isNull())
		m_player[side]->go();
	else
		m_player[side]->makeBookMove(move);
}

bool polygon::contains(vec2d vertex) const
{
	// check to see if we have points
	if(this->vertexes.size() > 0)
	{
		// see if we are more than a point
		if(this->vertexes.size() > 1)
		{
			// see if we are more than an edge
			if(this->vertexes.size() > 2)
			{
				int windCount = 0;
				edge ray(vertex, vertex + vec2d(1, 0));

				for(unsigned int i = 0; i < this->vertexes.size(); i++)
				{
					edge side(this->vertexes[i], this->vertexes[(i + 1) % this->vertexes.size()]);

					if(side.contains(vertex))
						return true;

					if(side.offset().y != 0)
					{
						auto intersect = ray.intersect(side);
						if(side.contains(intersect) && intersect.x >= ray.origin().x)
						{
							windCount += (int)(side.offset().y / abs(side.offset().y));
						}
					}
				}
				return windCount != 0;
			} else
			{
				// we're an edge so compare along edginess
				edge thisEdge(this->vertexes[0], this->vertexes[1]);
				return thisEdge.contains(vertex);
			}
		} else
		{
			// we're a vertex so compare as vertices
			return vertex == this->vertexes[0];
		}
	}  else
	{
		return false;
	}
}

void PieChart3D::paintExternal( QPainter& painter, bool top ) {
  for ( int i = 0; i < myAngles.count() - 2; i+=2 ) {
    QModelIndex index = this->model()->index( i/2, 0 );
    bool isSelected = this->selectionModel()->selectedIndexes().contains( index )
                      || this->currentIndex() == index;
    QColor color( this->model()->data( index, Qt::DecorationRole ).toString() );
    if ( !color.isValid() ) {
      color = Marb::predefinedColor( i/2 );
    }
    painter.save();
    qreal a1 = myAngles[i];
    qreal delta = myAngles[i + 1];
    qreal a2 = a1 + delta;
    if ( a1 < 180 && a2 > 180 ) {
      paintLeft( painter, color );
    }
    if ( top == false ) {
      if ( a1 <= 180 && a2 > 180 ) {
        if ( myRender == Plain ) {
          configureColor( painter, color, 1 );
          qreal delta = 180.0 - a1;
          QPointF offset = splittedOffset( myAngles[i], delta );
          QPainterPath path = itemExternalPart( myAngles[i], delta, mySplitted );
          painter.drawPath( path );
          painter.setPen( Qt::NoPen );
          path = side( 180, offset, isSelected );
          painter.drawPath( path );
        }
        painter.restore();
        continue;
      }
      if ( a1 > 180 || a2 > 180 ) {
        painter.restore();
        continue;
      }
    } else {
      if ( a1 < 180 && a2 < 180 ) {
        painter.restore();
        continue;
      }
    }
    QPainterPath path = itemExternalPart( a1, delta, isSelected );
    configureColor( painter, color, 3 );
    painter.drawPath( path );
    painter.restore();
  }
}

void 
OpenSteer::SimpleVehicle::measurePathCurvature (const float elapsedTime)
{
    if (elapsedTime > 0)
    {
        const Vec3 dP = _lastPosition - position ();
        const Vec3 dF = (_lastForward - forward ()) / dP.length ();
        const Vec3 lateral = dF.perpendicularComponent (forward ());
        const float sign = (lateral.dot (side ()) < 0) ? 1.0f : -1.0f;
        _curvature = lateral.length() * sign;
        blendIntoAccumulator (elapsedTime * 4.0f,
                              _curvature,
                              _smoothedCurvature);
        _lastForward = forward ();
        _lastPosition = position ();
    }
}

void FancyLineEdit::updateMenuLabel()
{
    m_d->m_menuLabel->setPixmap(m_d->m_pixmap);
    const Side s = side();
    switch (s) {
    case Left:
        m_d->m_menuLabel->setAlignment(Qt::AlignVCenter | Qt::AlignLeft);
        m_d->m_menuLabel->setStyleSheet(m_d->m_leftLabelStyleSheet);
        break;
    case Right:
        m_d->m_menuLabel->setAlignment(Qt::AlignVCenter | Qt::AlignRight);
        m_d->m_menuLabel->setStyleSheet(m_d->m_rightLabelStyleSheet);
        break;
    }
    updateStyleSheet(s);
    positionMenuLabel();
}

long testSerializeToStringNewOrderSingle( int count )
{
  FIX::ClOrdID clOrdID( "ORDERID" );
  FIX::HandlInst handlInst( '1' );
  FIX::Symbol symbol( "LNUX" );
  FIX::Side side( FIX::Side_BUY );
  FIX::TransactTime transactTime;
  FIX::OrdType ordType( FIX::OrdType_MARKET );
  FIX42::NewOrderSingle message
  ( clOrdID, handlInst, symbol, side, transactTime, ordType );

  count = count - 1;

  long start = GetTickCount();
  for ( int i = 0; i <= count; ++i )
  {
    message.toString();
  }
  return GetTickCount() - start;
}

  vector<Node> find(const string& query) const {
    vector<Node> result;

    lstring path = query.split("/");
    string name = path.take(0), rule;
    unsigned lo = 0u, hi = ~0u;

    if(name.match("*[*]")) {
      lstring side = name.split<1>("[");
      name = side(0);
      side = side(1).rtrim<1>("]").split<1>("-");
      lo = side(0).empty() ?  0u : numeral(side(0));
      hi = side(1).empty() ? ~0u : numeral(side(1));
    }

    if(name.match("*(*)")) {
      lstring side = name.split<1>("(");
      name = side(0);
      rule = side(1).rtrim<1>(")");
    }

    unsigned position = 0;
    for(auto& node : children) {
      if(node.name.match(name) == false) continue;
      if(node.evaluate(rule) == false) continue;

      bool inrange = position >= lo && position <= hi;
      position++;
      if(inrange == false) continue;

      if(path.size() == 0) result.append(node);
      else {
        auto list = node.find(path.merge("/"));
        for(auto& item : list) result.append(item);
      }
    }

    return result;
  }