/**
* @brief CoordinateTransform::init_clkwise_mat
根据顺时针航向角求转换矩阵
* @param heading_angle
* @return
*/
cv::Mat CoordinateTransform::init_clkwise_mat(double heading_angle){
clkwise_mat_ = cv::Mat::zeros(2,2,CV_64FC1);
clkwise_mat_.at<double>(0,0) = cos(AngleToRadian(heading_angle));
clkwise_mat_.at<double>(0,1) = sin(AngleToRadian(heading_angle));
clkwise_mat_.at<double>(1,0) = -sin(AngleToRadian(heading_angle));
clkwise_mat_.at<double>(1,1) = cos(AngleToRadian(heading_angle));
return clkwise_mat_;
}
CPoint CCoordinate::GetRotatedPoint(const CPoint& ptOrg, int distance, int angle)
{
CPoint ptRtd;
double sina = sin(AngleToRadian(angle));
double cosa = cos(AngleToRadian(angle));
double xx = distance * cosa;
double yy = distance * sina;
ptRtd.x = ptOrg.x + static_cast<int>(xx);
ptRtd.y = ptOrg.y + static_cast<int>(yy);
return ptRtd;
}
bool W_Cannon::Fire(int mnplt)
{
//应该发送一个事件给Battlefield，让其生成一个炮弹
//低级一点的就是用传入一个指向Battlefield的指针来操作（这样总觉得Robot类与Battlefield类紧耦合了又)
if(General_Fire(mnplt))
{
double p=inaccuracy*(Random0_1()-0.5);//偏移角度
//double r=AnglePlus(AnglePlus(rotation,engineRotation),p);//角度
double r=AnglePlus(rotation,p);
double a=AngleToRadian(r);//弧度
bullettypename bt = (bullettypename)type;
//bullettypename bt = BT_Cannonball;
//if(type == WT_Apollo)
//{
// bt = BT_ApolloBall;
//}
pDispatcher->DispatchEvent(ID,pBattlefield->GetID(),
Add_Bullet,
new B_Cannonball(circle.r*cos(a)+circle.x,circle.r*sin(a)+circle.y,r,pRobot->GetBattlefieldID(),bt) );
pRobot->GetAchievementData().Add_Fire();
return true;
}
return false;
}
int DirectXDraw9::DrawRegularPolygon( double cx, double cy, unsigned int n, int drawnum, double r, double rad, unsigned long color )
{
double arad;
// CreatePolygon( pvmax-3, n + 1, D3DPT_TRIANGLEFAN );
// CreatePolygon( pvmax, n, D3DPT_TRIANGLEFAN );
unsigned int i;
// drawnum;
if ( rpv && rpvmax < n + 2 )
{
free( rpv );
rpv = NULL;
}
if ( rpv == NULL )
{
rpvmax = n + 2;
rpv = ( struct CUSTOMVERTEX * )calloc( rpvmax, sizeof( struct CUSTOMVERTEX ) );
}
// 中央座標
// SetPolygonVertex( pvmax-3, cx, cy, 0.5, color );
rpv[ 0 ].x = (float)cx;
rpv[ 0 ].y = (float)cy;
rpv[ 0 ].z = 0.5f;
rpv[ 0 ].color = color;
#ifdef USERHW
rpv[ 0 ].rhw = 1.0f;
#endif
rpv[ 0 ].u = 0.0f;
rpv[ 0 ].v = 0.0f;
arad = AngleToRadian( 360.0 / (double)n );
for ( i = 0; i <= n; ++i )
{
//SetPolygonVertex( pvmax, cx + cos( arad * n ) * r, cy + sin( arad * n ) * r, 0.5, color );
rpv[ i + 1 ].x = (float)( cx + cos( rad + arad * i ) * r );
rpv[ i + 1 ].y = (float)( cy + sin( rad + arad * i ) * r );
rpv[ i + 1 ].z = 0.5f;
rpv[ i + 1 ].color = color;
#ifdef USERHW
rpv[ i + 1 ].rhw = 1.0f;
#endif
rpv[ i + 1 ].u = 0.0f;
rpv[ i + 1 ].v = 0.0f;
}
// return DrawPolygonVertex( pvmax );
D3DDev->SetTexture( 0, NULL );
D3DDev->SetFVF( MIKAN_CUSTOMVERTEX_2D/*D3DFVF_XYZRHW | D3DFVF_DIFFUSE | D3DFVF_TEX1*/ );
if ( FAILED( D3DDev->DrawPrimitiveUP( D3DPT_TRIANGLEFAN, drawnum, rpv, sizeof( CUSTOMVERTEX ) ) ) )
{
return -1;
}
//DX_FREE( cv );
return 0;
}
void Clipping(const VertexBuffer& vertexBuffer, const Camera& camera, OUTPUT VertexBuffer& output)
{
std::vector<VertexList*>::const_iterator bufferIt = vertexBuffer.lists.begin();
std::vector<VertexList*>::const_iterator bufferItEnd = vertexBuffer.lists.end();
for(; bufferIt != bufferItEnd; bufferIt++) {
const VertexList& vertexList = **bufferIt;
bool isInFrustum = false;
std::vector<Vertex>::const_iterator it = vertexList.vertices.begin();
std::vector<Vertex>::const_iterator itEnd = vertexList.vertices.end();
for(; it != itEnd; it++) {
const Vertex& vertex = *it;
float xTest = camera.GetAspectRatio()*vertex.xyz.z;
float halfVFov = camera.GetFov() / 2;
float tanHalfvFov = tan(AngleToRadian(halfVFov));
float yTest = tanHalfvFov*vertex.xyz.z;
if( vertex.xyz.x > -xTest && vertex.xyz.x < xTest &&
vertex.xyz.y > -yTest && vertex.xyz.y < yTest &&
vertex.xyz.z > camera.GetNearClipZ() && vertex.xyz.z < camera.GetFarClipZ()
) {
isInFrustum = true;
break;
}
}
if(isInFrustum) {
VertexList* newVertices = new VertexList;
std::vector<Vertex>::const_iterator it = vertexList.vertices.begin();
std::vector<Vertex>::const_iterator itEnd = vertexList.vertices.end();
for(; it != itEnd; it++) {
const Vertex& vertex = *it;
newVertices->vertices.push_back(vertex);
}
std::vector<int>::const_iterator indexIt = vertexList.indices.begin();
std::vector<int>::const_iterator indexItEnd = vertexList.indices.end();
for(; indexIt != indexItEnd; indexIt++) {
newVertices->indices.push_back(*indexIt);
}
newVertices->pos = vertexList.pos;
output.lists.push_back(newVertices);
}
}
}
/*!
@brief テクスチャを回転描画する(角度)
@par 関数説明
テクスチャを描画する。始点は中央。
@param txnum テクスチャ番号。
@param dx 描画x座標。
@param dy 描画y座標。
@param rx 読み込みx座標。
@param ry 読み込みy座標。
@param w 読み込み幅。
@param h 読み込み高さ。
@param angle 角度。時計回り。
@return 0=成功。
@return 1=テクスチャ番号が不正。
@return 2=テクスチャがない。
@return 3=テクスチャセットに失敗。
@return 4=テクスチャ設定に失敗。
@return 5=頂点ストリームの設定に失敗。
@return 6=レンダリングに失敗。
*/
int DirectXDraw9::DrawTextureRotationAngleC( unsigned int txnum, int dx, int dy, int rx, int ry, int w, int h, double angle, int flag )
{
if ( txnum >= texmax )//if( txnum >= texmax )
{
//テクスチャ番号が不正
return 1;
}
_SetUV( (float)dxtex[ txnum ].width, (float)dxtex[ txnum ].height, rx, ry, w, h, flag );
_SetColor( dxtex[ txnum ].vcolor );
_DrawTextureRotationC( (float)dx, (float)dy, (float)w, (float)h, AngleToRadian( angle ) );
return EndDrawTexture( dxtex[ txnum ].tex );
}
bool E_AFV::Run(int mnplt)
{
//9-6 这里现在似乎没有速度上限？
//装甲车（AFV）
//最正常的游戏中的vehicle, vr正比于当前速度
//acceleration为加速比例，(0,1)
//m>0加速,<=0刹车
double speed=sqrt(vx*vx+vy*vy);
double tempr=AngleToRadian(rotation);
if(mnplt>0)
{
speed*=(acceleration+1);
if(speed>=maxSpeed)
{
speed=maxSpeed;
}
else if(speed<0.1)
{
speed=0.1;
}
vx=speed*cos(tempr);
vy=speed*sin(tempr);
return true;
//pDispatcher->DispatchEvent(GetID(),pRecordManager->GetID(),R_Run,//myid)
}
else
{
//暂未考虑friction，后期版本可考虑地形差异（沙地，柏油，冰面等）
speed*=(1-acceleration);
if(speed<=0.1)
{
speed=0;
}
vx=speed*cos(tempr);
vy=speed*sin(tempr);
return false;
}
}
//テクスチャを回転拡大描画する
int DirectXDraw9::DrawTextureRotateScaleAngleC( unsigned int txnum, int dx, int dy, int rx, int ry, int w, int h, int sw, int sh, double angle, int flag )
{
if ( txnum >= texmax )
{
//テクスチャ番号が不正
return 1;
}
_SetUV( (float)dxtex[ txnum ].width, (float)dxtex[ txnum ].height, rx, ry, w, h, flag );
_SetColor( dxtex[ txnum ].vcolor );
_DrawTextureRotateScale( (float)( sw * 0.5 ), (float)( sh * 0.5 ), (float)dx, (float)dy, AngleToRadian( angle ), (float)sw, (float)sh );
return EndDrawTexture( dxtex[ txnum ].tex );
}