void singleObjectTracker::predict(trackingObjectFeature &of){
of.Circularity=this->feature->Circularity;
of.Convexity=this->feature->Convexity;
of.Inertia=feature->Inertia;
of.onBoundary=feature->onBoundary;
of.pos=KF.GetPrediction();
Rect_t r=feature->rect;
Point_t dif=(2*of.pos-(r.br()+r.tl()));
dif.x*=0.5f;
dif.y*=0.5f;
Point_t tl=r.tl()+dif;
of.rect=Rect_t(tl.x,tl.y,r.width,r.height);
of.radius=feature->radius;
of.size=feature->size;
}
void singleObjectTracker::MissUpdate(int frameNum)
{
KF.GetPrediction();
prediction = KF.Update(Point_t(0,0),false);
if(AvoidUpdate){
AvoidUpdate=false;
return;
}
status=MISSING_STATUS;
vec_status.push_back(status);
frames.push_back(frameNum);
skipped_frames++;
Rect_t lastRect=rects.back();
Point_t diff=prediction-feature->pos;
// may out of image range!
rects.push_back(Rect_t(lastRect.x+diff.x,lastRect.y+diff.y,lastRect.width,lastRect.height));
trace.push_back(prediction);
lifetime++;
// lastSeePos=of.pos;
assert(lifetime==1+frameNum-frames[0]);
assert(lifetime==(catch_frames+skipped_frames));
}
#include "Bullet.h"
static Physic_Info BulletInfo = {Rect_t(0, 0, 4, 4), 3.14f/2};
Bullet::Bullet(Vec2 place, float angle, Bullet_Info* info) :
Entity_Base(place, info)
{
m_textureID = 3;
m_velocity = 5000;
Vec2 vel = Vec2(-m_velocity * sin(angle), m_velocity * cos(angle));
m_body->setLinearVelocity(vel);
m_body->setAngle(angle + 3.14f);
}
Rect_t singleObjectTracker::GetPredictRect()
{
Rect_t lastRect=rects.back();
Point_t diff=prediction-feature->pos;
return Rect_t(lastRect.x+diff.x,lastRect.y+diff.y,lastRect.width,lastRect.height);
}
