void LightComponent::init() {
Noto::info("Initializing lighting");
auto& terrain = world(Terrain);
auto& light = world(Light);
MetricsTimer lightInitTimer("Light initialization timer");
AccumVecRange3<VoxelCoord> coordRange(VoxelCoord(100000,100000,100000),VoxelCoord(-1000000,-1000000,-1000000));
terrain.material.foreach([&](MaterialTalea *talea) {
coordRange.apply(talea->position);
});
for (int tz = coordRange.max.z; tz >= coordRange.min.z; tz -= TaleaDim) {
for (int ty = coordRange.min.y; ty <= coordRange.max.y; ty += TaleaDim) {
for (int tx = coordRange.min.x; tx <= coordRange.max.x; tx += TaleaDim) {
LightTalea& lightTal = light.globalLightValues.getTaleaRW(tx,ty,tz);
lightTal.setAll(0);
}
}
}
for (int tz = coordRange.max.z + TaleaDim; tz >= coordRange.min.z - TaleaDim; tz -= TaleaDim) {
for (int ty = coordRange.min.y - TaleaDim; ty <= coordRange.max.y + TaleaDim; ty += TaleaDim) {
for (int tx = coordRange.min.x - TaleaDim; tx <= coordRange.max.x + TaleaDim; tx += TaleaDim) {
initializeLightingTalea(tx,ty,tz,terrain,light);
}
}
}
lightInitTimer.printElapsed();
}
void MotionSystem::randomlyShiftParticle(Particle* particle)
{
// TODO: This should be experimentally determined
boost::uniform_real<float> coordRange(-1.f * xAndYNoise, xAndYNoise);
boost::uniform_real<float> headRange (-1.f * hNoise , hNoise);
boost::variate_generator<boost::mt19937&, boost::uniform_real<float> > coordNoise(rng, coordRange);
boost::variate_generator<boost::mt19937&, boost::uniform_real<float> > headNoise(rng, headRange);
// Determine random noise
messages::RobotLocation noise;
noise.set_x(coordNoise());
noise.set_y(coordNoise());
noise.set_h(NBMath::subPIAngle(headNoise()));
particle->shift(noise);
}