/**
* Private internal method
*
* Calculates the hit for a single spot of the sensor on a single Point.
*
*/
void GroundSensor::hitSingle(int x, int y, const QPointF &hitPoint, smReal weight)
{
smReal hitValue = 0;
QPointF sensorPosition = realWorldPosition(x,y);
QLineF distance(hitPoint,sensorPosition);
smReal weightedDistance = weight * smMath::normalCurve(distance.length());
int pos = matrixPosition(x,y);
matrix[pos] += scaleHit(weightedDistance);
if (matrix[pos] > maxVal)
matrix[pos] = maxVal;
}
/**
* Draws a rappresentation of the sensor with the painter
*/
void GroundSensor::draw(QPainter& p)
{
p.save();
p.setPen(Qt::transparent);
QColor color = QColor(255,255,255,255);
color.setHsl(0,0,255);
//color.setAlphaF(0.2);
smReal pointDimX = paddingX/5;
smReal pointDimY = paddingY/5;
for (int x=0; x<cols; x++) {
for (int y=0; y<rows; y++) {
smReal weight = matrix[matrixPosition(x,y)];
color.setHsv(0,weight,255);
p.setBrush(color);
QPointF center = realWorldPosition(x,y);
p.drawEllipse(center,pointDimX,pointDimY);
}
}
p.restore();
}
void Star::updateForCamera(const Camera* camera)
{
m_v3f_pos_VS = matrixPosition(camera->getZeroViewMatrix() * glm::mat4(camera->getInvPosMatrix() * m_position->getMatrix()));
}
