/*!
The Creature blueprint has the variable simdata which is updated here.
*/
void BulletCreature::CollectData() {
SimData data = blueprint_.simdata;
data.distance_light += GetDistanceToLight();
data.distance_z = GetCenterOfMass().getZ();
data.max_y = (GetCenterOfMass().getY() > data.max_y) ?
GetCenterOfMass().getY() : data.max_y;
data.accumulated_y += GetCenterOfMass().getY();
data.deviation_x = abs(GetCenterOfMass().getX())+0.0001;
data.accumulated_head_y += GetHeadPosition().getY();
blueprint_.simdata = data;
}
void CompoundBody::ComputeInertia()
{
//http://en.wikipedia.org/wiki/Parallel_axis_theorem
//Uses the parallel axis theorem to compute a combined
//Inertia tensor in world space around the center of mass
//for the entire compound body
//Skew-symmetric matrices are used as a supplement to
//cross products.
AglMatrix inertia = AglMatrix::zeroMatrix();
AglMatrix id = AglMatrix::identityMatrix();
for (unsigned int i = 0; i < mChildren.size(); i++)
{
AglMatrix orientation = mChildren[i]->GetWorld();
orientation[15] = 1;
orientation[14] = 0;
orientation[13] = 0;
orientation[12] = 0;
AglMatrix InertiaWorld = AglMatrix::transpose(orientation) * mChildren[i]->GetLocalInertia() * orientation;
AglVector3 r = mChildren[i]->GetLocalCenterOfMass() - GetCenterOfMass();
//OuterProduct
AglMatrix outer(r.x * r.x, r.x * r.y, r.x * r.z, 0, r.y * r.x, r.y * r.y, r.z * r.x, 0,
r.z * r.x, r.z * r.y, r.z * r.x, 0, 0, 0, 0, 0);
inertia += InertiaWorld + (id*AglVector3::dotProduct(r, r) - outer) * mChildren[i]->GetLocalMass();
}
mInertiaWorld = inertia;
mInverseInertiaWorld = AglMatrix::inverse(mInertiaWorld);
}
void mitk::ConnectomicsNetworkCreator::CreateNewNode( int label, itk::Index<3> index, bool useCoM )
{
// Only create node if it does not exist yet
if( ! ( m_LabelToNodePropertyMap.count( label ) > 0 ) )
{
NetworkNode newNode;
newNode.coordinates.resize( 3 );
if( !useCoM )
{
for( unsigned int loop = 0; loop < newNode.coordinates.size() ; loop++ )
{
newNode.coordinates[ loop ] = index[ loop ] ;
}
}
else
{
std::vector<double> labelCoords = GetCenterOfMass( label );
for( unsigned int loop = 0; loop < newNode.coordinates.size() ; loop++ )
{
newNode.coordinates[ loop ] = labelCoords.at( loop ) ;
}
}
newNode.label = LabelToString( label );
m_LabelToNodePropertyMap.insert( std::pair< ImageLabelType, NetworkNode >( label, newNode ) );
}
}
CvPlot* CvArmyAI::CheckTargetReached(PlayerTypes eEnemy, bool bNavalOp, int iMaxDistance)
{
//check if we're at the target
CvPlot *pTargetPlot = GetGoalPlot();
CvPlot *pCenterOfMass = GetCenterOfMass(NO_DOMAIN);
if(pCenterOfMass && pTargetPlot && plotDistance(*pCenterOfMass,*pTargetPlot) <= iMaxDistance)
return pTargetPlot;
//check early termination if we ran into the enemy
if(GetArmyAIState() == ARMYAISTATE_MOVING_TO_DESTINATION)
{
CvPlot* pEnemyPlot = DetectNearbyEnemy(eEnemy, bNavalOp);
if(pEnemyPlot != NULL)
{
CvCity* pCity = pEnemyPlot->getWorkingCity();
if(pCity != NULL)
{
if (bNavalOp && pCity->isCoastal() && pCity->waterArea()==pTargetPlot->area())
pEnemyPlot = pCity->plot();
if (!bNavalOp && pCity->area()==pTargetPlot->area())
pEnemyPlot = pCity->plot();
if (pEnemyPlot!=GetGoalPlot())
{
if(GC.getLogging() && GC.getAILogging())
{
CvString strMsg;
strMsg.Format("Switching target from %d,%d to closest city at %d,%d", GetGoalX(), GetGoalY(), pEnemyPlot->getX(), pEnemyPlot->getY() );
GET_PLAYER(m_eOwner).getAIOperation(m_iOperationID)->LogOperationSpecialMessage(strMsg);
}
}
return pEnemyPlot;
}
}
}
return NULL;
}
