//近似计算两坐标间的直线距离
// 为使得计算结果准确，需保证本函数两个入参坐标的连线，要么与坐标轴平行，要么与坐标轴呈45度角
// 原因:本游戏的角色移动，只有八个方向，每两个临近方向的夹角是45度角；
// 任何角色的移动路径，必须保证其中的坐标点均是拐点；以方便服务端做近视计算
//
//@param pos1 坐标1
//@param pos2 坐标2
//@param direct 返回的方向
//@return >=0 两坐标的直线距离 <0 失败
double Creature::CalcPosDistance( ArchvPosition &pos1, ArchvPosition &pos2, Byte & direct )
{
UInt32 absX = abs(pos1.X-pos2.X);
UInt32 absY = abs(pos1.Y-pos2.Y);
//计算方向
direct = CalcDirect( pos1, pos2 );
//计算两点间距离
if( absX > 0 && absY > 0 )
return 1.41421 * absX;
return (absX+absY);
}
// Set actual values of wheels (steer/drive velocity/position) (Istwerte)
void UndercarriageCtrlGeom::SetActualWheelValues(std::vector<double> vdVelGearDriveRadS, std::vector<double> vdVelGearSteerRadS, std::vector<double> vdDltAngGearDriveRad, std::vector<double> vdAngGearSteerRad)
{
//LOG_OUT("Set Wheel Position to Controller");
m_vdVelGearDriveRadS = vdVelGearDriveRadS;
m_vdVelGearSteerRadS = vdVelGearSteerRadS;
m_vdDltAngGearDriveRad = vdDltAngGearDriveRad;
m_vdAngGearSteerRad = vdAngGearSteerRad;
// calc exact Wheel Positions (taking into account lever arm)
CalcExWheelPos();
// Peform calculation of direct kinematics (approx.) based on corrected Wheel Positions
CalcDirect();
}
