// Return orientation of the polygon by checking orientation of the left bottom corner of the polygon
// using exact arithmetics. The input polygon must not contain duplicate points
// (or at least the left bottom corner point must not have duplicates).
static inline bool is_ccw(const Polygon &poly)
{
// The polygon shall be at least a triangle.
assert(poly.points.size() >= 3);
if (poly.points.size() < 3)
return true;
// 1) Find the lowest lexicographical point.
unsigned int imin = 0;
for (unsigned int i = 1; i < poly.points.size(); ++ i) {
const Point &pmin = poly.points[imin];
const Point &p = poly.points[i];
if (p(0) < pmin(0) || (p(0) == pmin(0) && p(1) < pmin(1)))
imin = i;
}
// 2) Detect the orientation of the corner imin.
size_t iPrev = ((imin == 0) ? poly.points.size() : imin) - 1;
size_t iNext = ((imin + 1 == poly.points.size()) ? 0 : imin + 1);
Orientation o = orient(poly.points[iPrev], poly.points[imin], poly.points[iNext]);
// The lowest bottom point must not be collinear if the polygon does not contain duplicate points
// or overlapping segments.
assert(o != ORIENTATION_COLINEAR);
return o == ORIENTATION_CCW;
}
bool PointGrid::ptInPolygon(const geometry_msgs::Point32& pt, const vector<geometry_msgs::Point>& poly){
if(poly.size() < 3)
return false;
//a point is in a polygon iff the orientation of the point
//with respect to sides of the polygon is the same for every
//side of the polygon
bool all_left = false;
bool all_right = false;
for(unsigned int i = 0; i < poly.size() - 1; ++i){
//if pt left of a->b
if(orient(poly[i], poly[i + 1], pt) > 0){
if(all_right)
return false;
all_left = true;
}
//if pt right of a->b
else{
if(all_left)
return false;
all_right = true;
}
}
//also need to check the last point with the first point
if(orient(poly[poly.size() - 1], poly[0], pt) > 0){
if(all_right)
return false;
}
else{
if(all_left)
return false;
}
return true;
}
void tft_t::bmp(bool e)
{
if (e)
_setOrient(orient() + BMPLandscape);
else
_setOrient(orient());
}
LeaderNode::LeaderNode() {
// Allocate space for data structures within this object.
allocate();
// TODO: Make this job to run specified later during runtime. For now this is
// just a work around for testing.
job_exec = "./job_layer";
// Set tag counter to 0;
next_job_num = 0;
// Keep the system up until told otherwise.
shutdown = false;
// Update the stdin_delay time.
get_timestamp(&stdin_delay);
// Set initial number of swing nodes to zero.
num_swing_nodes = 0;
// Determine where this node is in the system.
orient();
// TODO: REMOVE THIS (just for testing)
create_test_job();
// Handle all requests sent to this cache node.
handle_requests();
}
LeaderNode::LeaderNode(const std::string& job_name) {
// Job to run
job_exec = job_name;
// Set tag counter to 0;
next_job_num = 0;
// Keep the system up until told otherwise.
shutdown = false;
// Update the stdin_delay time.
get_timestamp(&stdin_delay);
// Set initial number of swing nodes to zero.
num_swing_nodes = 0;
// Determine where this node is in the system.
orient();
// Allocate space for data structures within this object.
allocate();
// TODO: REMOVE THIS (just for testing)
create_test_job();
// Handle all requests sent to this cache node.
handle_requests();
}
/*
* Functions to draw keypoints and matches.
*/
static inline void _drawKeypoint( Mat& img, const KeyPoint& p, const Scalar& color, int flags )
{
Point center( cvRound(p.pt.x * draw_multiplier), cvRound(p.pt.y * draw_multiplier) );
if( flags & DrawMatchesFlags::DRAW_RICH_KEYPOINTS )
{
int radius = cvRound(p.size/2 * draw_multiplier); // KeyPoint::size is a diameter
// draw the circles around keypoints with the keypoints size
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
// draw orientation of the keypoint, if it is applicable
if( p.angle != -1 )
{
float srcAngleRad = p.angle*(float)CV_PI/180.f;
Point orient(cvRound(cos(srcAngleRad)*radius),
cvRound(sin(srcAngleRad)*radius));
line( img, center, center+orient, color, 1, CV_AA, draw_shift_bits );
}
#if 0
else
{
// draw center with R=1
int radius = 1 * draw_multiplier;
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
}
#endif
}
else
{
// draw center with R=3
int radius = 3 * draw_multiplier;
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
}
}
TiXmlElement* TransformComponent::GenerateXml()
{
TiXmlElement* pBaseElement = CB_NEW TiXmlElement(GetName());
// initial transform -> position
TiXmlElement* pPosition = CB_NEW TiXmlElement("Position");
Vec3 pos(m_Transform.GetPosition());
pPosition->SetAttribute("x", ToStr(pos.x).c_str());
pPosition->SetAttribute("y", ToStr(pos.y).c_str());
pPosition->SetAttribute("z", ToStr(pos.z).c_str());
pBaseElement->LinkEndChild(pPosition);
// initial transform -> LookAt
TiXmlElement* pDirection = CB_NEW TiXmlElement("YawPitchRoll");
Vec3 orient(m_Transform.GetYawPitchRoll());
orient.x = RADIANS_TO_DEGREES(orient.x);
orient.y = RADIANS_TO_DEGREES(orient.y);
orient.z = RADIANS_TO_DEGREES(orient.z);
pDirection->SetAttribute("x", ToStr(orient.x).c_str());
pDirection->SetAttribute("y", ToStr(orient.y).c_str());
pDirection->SetAttribute("z", ToStr(orient.z).c_str());
pBaseElement->LinkEndChild(pDirection);
return pBaseElement;
}
Cache::Cache(int *argc_ptr, char ***argv_ptr) {
MPI_ASSERT(argc_ptr != NULL);
MPI_ASSERT(argv_ptr != NULL);
allocate();
orient(argc_ptr, argv_ptr);
}
void moveCar(orientation direction, int distance){
orient(distance);
switch(direction){
case Straight:
driveStraight(distance);
break;
case Right:
turnRight(distance);
driveStraight(distance);
break;
case Left:
turnLeft(distance);
driveStraight(distance);
break;
case Back:
turnRight(distance);
sleep(1);
turnRight(distance);
driveStraight(distance);
break;
default:
motorright.duty = 7.25;
motorleft.duty = 7.25;
break;
}
//bcm2835_close();
return ;
}
TiXmlElement* TransformComponent::VGenerateXml(void)
{
TiXmlElement* pBaseElement = AC_NEW TiXmlElement(VGetName());
// initial transform -> position
TiXmlElement* pPosition = AC_NEW TiXmlElement("Position");
Vec3 pos(m_transform.GetPosition());
pPosition->SetAttribute("x", ToStr(pos.x).c_str());
pPosition->SetAttribute("y", ToStr(pos.y).c_str());
pPosition->SetAttribute("z", ToStr(pos.z).c_str());
pBaseElement->LinkEndChild(pPosition);
// initial transform -> LookAt
TiXmlElement* pDirection = AC_NEW TiXmlElement("YawPitchRoll");
Vec3 orient(m_transform.GetYawPitchRoll());
orient.x = RADIANS_TO_DEGREES(orient.x);
orient.y = RADIANS_TO_DEGREES(orient.y);
orient.z = RADIANS_TO_DEGREES(orient.z);
pDirection->SetAttribute("x", ToStr(orient.x).c_str());
pDirection->SetAttribute("y", ToStr(orient.y).c_str());
pDirection->SetAttribute("z", ToStr(orient.z).c_str());
pBaseElement->LinkEndChild(pDirection);
/***
// This is not supported yet
// initial transform -> position
TiXmlElement* pScale = AC_NEW TiXmlElement("Scale");
pPosition->SetAttribute("x", ToStr(m_scale.x).c_str());
pPosition->SetAttribute("y", ToStr(m_scale.y).c_str());
pPosition->SetAttribute("z", ToStr(m_scale.z).c_str());
pBaseElement->LinkEndChild(pScale);
**/
return pBaseElement;
}
void Drive::calculateOrientation(float dtime, Vector3<float> accel,
Vector3<float> gyro) {
Vector3<float> orient(mRoll, mPitch, mYaw);
// -gyro.y because Gyro has opposite direction to Accelerometer in y axis
orient += Vector3<float>(gyro.x * dtime, -gyro.y * dtime, gyro.z * dtime);
if (orient.x > 180.0f) orient.x -= 360.0f;
if (orient.x < -180.0f) orient.x += 360.0f;
if (orient.y > 180.0f) orient.y -= 360.0f;
if (orient.y < -180.0f) orient.y += 360.0f;
if (orient.z > 180.0f) orient.z -= 360.0f;
if (orient.z < -180.0f) orient.z += 360.0f;
float accelroll = atan2(accel.x, -accel.z) * 180.0 / PI;
float accelpitch = atan2(accel.y, -sign(accel.z)
* sqrt(accel.x * accel.x + accel.z * accel.z)) * 180.0 / PI;
float accelmag = magnitude(accel);
float factor = 1.0f - sign(1.0f - accelmag) * (1.0f - accelmag);
if (factor < 0.0f)
factor = 0.0f;
mRoll = orient.x * (1.0f - factor) + accelroll * factor;
mPitch = orient.y * (1.0f - factor) + accelpitch * factor;
mYaw = orient.z;
}
//Towards player, shoot if close, run if low hp
void Enemy::classicAI()
{
Shape* player = getPlayer_();
if (player)
{
b2Vec2 playerPos = player->getPosition();
b2Vec2 ePos = getPosition();
b2Vec2 between = playerPos - ePos;
//In long distance, look
if (between.Length() < 40 || between.Length() < 4.f)
{
orient(between);
}
//In med distance, move towards, shoot at
if (between.Length() < 25 && (getHP() >= verticesMIN_ * hpScale_))
{
if (getArmed())
{
move(between);
orient(between);
if (getWeaponReady())
{
float rotation = atan2f(between.y, between.x);
float adjust = randFloat(-0.4, 0.4);
b2Vec2 newDir(cosf(rotation + adjust), sinf(rotation + adjust));
trigger(between);
}
else release();
}
}
else if (getArmed() && between.Length() < verticesMIN_ * hpScale_)
{
orient(-between);
move(-between);
}
else if (!getArmed() && between.Length() < size_ * 1.5f)
{
orient(-between);
}
else move(b2Vec2_zero);
}
}
void Bond::updateOrientation()
{
Vec a(m_begin->displacedPosition());
Vec b(m_end ->displacedPosition());
Quaternion orient(s_zAxis, b-a);
setPosition(a);
setOrientation(orient);
}
int main(int argc, char *argv[])
{
bool recalculate = FALSE;
int len;
err_t err = NULL;
char *infile;
char *conn_name;
int lineno=0;
struct connection *c1 = NULL;
#ifdef HAVE_EFENCE
EF_PROTECT_FREE=1;
#endif
progname = argv[0];
leak_detective = 1;
if(argc != 3 && argc!=4) {
fprintf(stderr, "Usage: %s [-r] <whackrecord> <conn-name>\n", progname);
exit(10);
}
/* skip argv0 */
argc--; argv++;
if(strcmp(argv[0], "-r")==0) {
recalculate = 1; /* do all crypto */
argc--; argv++;
}
tool_init_log();
load_oswcrypto();
init_fake_vendorid();
init_fake_secrets();
init_local_interface();
infile = argv[0];
conn_name = argv[1];
cur_debugging = DBG_CONTROL|DBG_CONTROLMORE;
if(readwhackmsg(infile) == 0) exit(11);
send_packet_setup_pcap("OUTPUT/" TESTNAME ".pcap");
c1 = con_by_name(conn_name, TRUE);
assert(c1 != NULL);
//list_public_keys(FALSE, FALSE);
assert(orient(c1, 500));
show_one_connection(c1, whack_log);
kick_adns_connection_lookup(c1, &c1->spd.that, TRUE);
report_leaks();
tool_close_log();
exit(0);
}
//-----------------------------------------------------------------------
void LLListener::set(LLVector3 pos, LLVector3 vel, LLVector3 up, LLVector3 at)
{
mPosition = pos;
mVelocity = vel;
setPosition(pos);
setVelocity(vel);
orient(up,at);
}
void PoseArrayDisplay::processMessage( const geometry_msgs::PoseArray::ConstPtr& msg )
{
if( !validateFloats( *msg ))
{
setStatus( StatusProperty::Error, "Topic", "Message contained invalid floating point values (nans or infs)" );
return;
}
manual_object_->clear();
Ogre::Vector3 position;
Ogre::Quaternion orientation;
if( !context_->getFrameManager()->getTransform( msg->header, position, orientation ))
{
ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", msg->header.frame_id.c_str(), qPrintable( fixed_frame_ ));
}
scene_node_->setPosition( position );
scene_node_->setOrientation( orientation );
manual_object_->clear();
Ogre::ColourValue color = color_property_->getOgreColor();
float length = length_property_->getFloat();
size_t num_poses = msg->poses.size();
manual_object_->estimateVertexCount( num_poses * 6 );
manual_object_->begin( "BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_LIST );
for( size_t i=0; i < num_poses; ++i )
{
Ogre::Vector3 pos( msg->poses[i].position.x,
msg->poses[i].position.y,
msg->poses[i].position.z );
Ogre::Quaternion orient( msg->poses[i].orientation.w,
msg->poses[i].orientation.x,
msg->poses[i].orientation.y,
msg->poses[i].orientation.z );
// orient here is not normalized, so the scale of the quaternion
// will affect the scale of the arrow.
Ogre::Vector3 vertices[6];
vertices[0] = pos; // back of arrow
vertices[1] = pos + orient * Ogre::Vector3( length, 0, 0 ); // tip of arrow
vertices[2] = vertices[ 1 ];
vertices[3] = pos + orient * Ogre::Vector3( 0.75*length, 0.2*length, 0 );
vertices[4] = vertices[ 1 ];
vertices[5] = pos + orient * Ogre::Vector3( 0.75*length, -0.2*length, 0 );
for( int i = 0; i < 6; ++i )
{
manual_object_->position( vertices[i] );
manual_object_->colour( color );
}
}
manual_object_->end();
context_->queueRender();
}
//Execute reaction
void Enemy::execute(const Reaction& reaction)
{
move(reaction.move);
if (reaction.fire)
fireAt(reaction.look, accuracy_[brainStem_.weapon_training]); //*// Weapon training
else orient(reaction.look);
}
void WOB::draw() const{
glEnable(GL_NORMALIZE);
glEnable(GL_TEXTURE_2D);
glPushMatrix();
orient();
model->drawModel();
glDisable(GL_TEXTURE_2D);
glPopMatrix();
}
puzzle act(const puzzle& cube, Action a ) {
puzzle ret = cube;
switch (a) {
case Action::U :
ret = permutation(ret, 0, 1, 3, 2);
return permutation(ret, 8, 9, 10, 11);
case Action::D :
ret = permutation(ret, 7, 6, 4, 5);
return permutation(ret, 18, 17, 16, 19);
case Action::L :
ret = orient(ret, a);
ret = flip_edges(ret, {11, 15, 19, 12});
ret = permutation(ret, 11, 15, 19, 12);
return permutation(ret, 0, 2, 6, 4);
case Action::R :
ret = orient(ret, a);
ret = flip_edges(ret, {14, 9, 13, 17});
ret = permutation(ret, 14, 9, 13, 17);
return permutation(ret, 3, 1, 5, 7);
case Action::F :
ret = orient(ret, a);
ret = flip_edges(ret, {10, 14, 18, 15});
ret = permutation(ret, 10, 14, 18, 15);
return permutation(ret, 3, 7, 6, 2);
case Action::B :
ret = orient(ret, a);
ret = flip_edges(ret, {13, 8, 12, 16});
ret = permutation(ret, 13, 8, 12, 16);
return permutation(ret, 1, 0, 4, 5);
case Action::Ur :
return act(act(act(ret, Action::U), Action::U), Action::U);
case Action::Dr :
return act(act(act(ret, Action::D), Action::D), Action::D);
case Action::Lr :
return act(act(act(ret, Action::L), Action::L), Action::L);
case Action::Rr :
return act(act(act(ret, Action::R), Action::R), Action::R);
case Action::Fr :
return act(act(act(ret, Action::F), Action::F), Action::F);
case Action::Br :
return act(act(act(ret, Action::B), Action::B), Action::B);
}
}
static inline Sign point_is_in_half_plane(
const vec2& p, const vec2& q1, const vec2& q2,
bool invert
) {
Sign result = orient(q1, q2, p) ;
if(invert) {
result = opposite(result) ;
}
return result ;
}
int
gams::platforms::BasePlatform::pose(const pose::Pose & target,
const pose::PoseBounds &bounds)
{
int move_status = move(pose::Position(target), bounds);
int orient_status = orient(pose::Orientation(target), bounds);
if (move_status == 0 || orient_status == 0)
return 0;
if (move_status == 2 && orient_status == 2)
return 2;
return 1;
}
//Flocking together
void Enemy::flockTest()
{
b2Vec2 sum(0, 0);
b2Vec2 fire(0, 0);
int count = 0;
for (Enemy* v : swarm_)
{
if (v != this && v->getVertices() == vertices_)
{
b2Vec2 between = v->getPosition() - getPosition();
float dist = between.Length();
if (dist <= 5.f) {
sum += LenardJonesPotential(v, count);
}
}
}
Shape* player = getPlayer_();
if (player)
{
if ((player->getPosition() - getPosition()).Length() < visRange_[3])
{
//swarmTarget_ = player;
//sum += LenardJonesPotential(player, count);
//fire = FiringPotential(player);
}
}
//get average
if (count > 0)
{
sum.x /= static_cast<float>(count);
sum.y /= static_cast<float>(count);
orient(sum);
move(sum);
if (getArmed())
{
if (getWeaponReady())
{
trigger(fire);
}
else release();
if ((weapon_->getBar() / weapon_->getBarMAX()) <= 0.1f)
{
reup();
}
}
}
}
Coordinate Formation::hullCentroidCalc(Coordinate points[], int numPoints){//centroid calculator
int hullNum = 0;
if(numPoints==3){
centroid.x = (points[0].x + points[1].x + points[2].x)/3;
centroid.y = (points[0].y + points[1].y + points[2].y)/3;
}
else
{
int tempRes[4];
for (int i = 0; i<4; i++) {
tempRes[i] = -1;
}
int leftPoint = 0;
for (int i = 1; i<4; i++) {
if (points[i].x<points[leftPoint].x)
leftPoint = i;
}
int a = leftPoint;
int b = 0;
int ct = 1;
while (b != leftPoint || ct == 1)//changed to the ct method instead of the do-while loop
{
b = (a + 1) % 4;
for (int w = 0; w<4; w++) {
if (orient(points[a], points[w], points[b]) == 1) {
b = w;
}
}
tempRes[a] = b;
a = b;
ct++;
}
memset(centArr,0,4);
for (int z = 0; z<4; z++) {
if (tempRes[z] != -1) {
Serial.println(points[z].x);
Serial.println(points[z].y);
centArr[z].x = points[z].x;
centArr[z].y = points[z].y;
hullNum++;
}
}
centroid.x = (centArr[0].x + centArr[1].x + centArr[2].x + centArr[3].x) / 4;
centroid.y = (centArr[0].y + centArr[1].y + centArr[2].y + centArr[3].y) / 4;
}
Serial.println(hullNum);
Serial.println("Centroid:");
Serial.println(centroid.x);
Serial.println(centroid.y);
return centroid;
}
void NavViewPanel::processParticleCloud()
{
cloud_.lock();
new_cloud_ = false;
if ( !cloud_object_ )
{
static int count = 0;
std::stringstream ss;
ss << "NavViewCloud" << count++;
cloud_object_ = scene_manager_->createManualObject( ss.str() );
Ogre::SceneNode* node = root_node_->createChildSceneNode();
node->attachObject( cloud_object_ );
}
cloud_object_->clear();
Ogre::ColourValue color( 1.0f, 0.0f, 0.0f, 1.0f );
int num_particles = cloud_.get_particles_size();
cloud_object_->estimateVertexCount( num_particles * 8 );
cloud_object_->begin( "BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_LIST );
for( int i=0; i < num_particles; ++i)
{
Ogre::Vector3 pos( cloud_.particles[i].x, cloud_.particles[i].y, 0.0f );
Ogre::Quaternion orient( Ogre::Quaternion( Ogre::Radian( cloud_.particles[i].th ), Ogre::Vector3::UNIT_Z ) );
Ogre::Vector3 vertices[8];
vertices[0] = pos;
vertices[1] = pos + orient * Ogre::Vector3(ROBOT_RADIUS, 0.0f, 0.0f);
vertices[2] = vertices[1];
vertices[3] = pos + orient * Ogre::Vector3(0.75*ROBOT_RADIUS, -0.25*ROBOT_RADIUS, 0.0f);
vertices[4] = vertices[3];
vertices[5] = pos + orient * Ogre::Vector3(0.75*ROBOT_RADIUS, 0.25*ROBOT_RADIUS, 0.0f);
vertices[6] = vertices[5];
vertices[7] = pos + orient * Ogre::Vector3(ROBOT_RADIUS, 0.0f, 0.0f);
for ( int i = 0; i < 8; ++i )
{
cloud_object_->position( vertices[i] );
cloud_object_->colour( color );
}
}
cloud_object_->end();
cloud_object_->getParentSceneNode()->setPosition( Ogre::Vector3( 0.0f, 0.0f, CLOUD_DEPTH ) );
cloud_.unlock();
queueRender();
}
int (*
heavens(double zlatdeg, double zlondeg, double clatdeg, double clondeg))(Loc*, double*, double*)
{
struct place center;
struct place zenith;
center.nlat = mkcoord(clatdeg);
center.wlon = mkcoord(clondeg);
zenith.nlat = mkcoord(zlatdeg);
zenith.wlon = mkcoord(zlondeg);
projection = stereographic();
orient(clatdeg, clondeg, rot(center, zenith)*180/PI);
return projection;
}
void Projectile::update(int milliseconds)
{
lifeTime_ -= milliseconds;
if (alive_)
{
//Turn off penetration
if (penetration_ < 0)
{
body_->GetFixtureList()->SetSensor(false);
}
if (lastPen_.z != 0)
{
forceCallback_(b2Vec2(lastPen_.x, lastPen_.y), force_.force, force_.radius, force_.lifeTime, faction_);
lastPen_.z = 0;
}
if (tracking_.radius != 0 && tracking_.speed != 0)
{
track();
}
if (target_.z != 0)
{
b2Vec2 dir = b2Vec2(body_->GetPosition().x - target_.x, body_->GetPosition().y - target_.y);
orient(dir);
}
b2Vec2 vel = body_->GetLinearVelocity();
body_->SetTransform(body_->GetPosition(), atan2f(-vel.x, vel.y));
//std::cout << vel.Length() << std::endl;
if ((bounce_ <= 0 && vel.Length() <= 0) || hp_ <= 0 || lifeTime_ <= 0)
{
alive_ = false;
}
}
//Do our force once before we deactivate
else if (alive_ == false && active_ == true)
{
forceCallback_(body_->GetPosition(), force_.force, force_.radius, force_.lifeTime, faction_);
active_ = false;
}
else active_ = false;
}
void NavViewPanel::incomingPoseArray(const geometry_msgs::PoseArray::ConstPtr& msg)
{
if ( !cloud_object_ )
{
static int count = 0;
std::stringstream ss;
ss << "NavViewCloud" << count++;
cloud_object_ = scene_manager_->createManualObject( ss.str() );
Ogre::SceneNode* node = root_node_->createChildSceneNode();
node->attachObject( cloud_object_ );
}
cloud_object_->clear();
Ogre::ColourValue color( 1.0f, 0.0f, 0.0f, 1.0f );
int num_particles = msg->poses.size();
cloud_object_->estimateVertexCount( num_particles * 8 );
cloud_object_->begin( "BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_LIST );
for( int i=0; i < num_particles; ++i)
{
Ogre::Vector3 pos( msg->poses[i].position.x, msg->poses[i].position.y, msg->poses[i].position.z );
tf::Quaternion orientation;
tf::quaternionMsgToTF(msg->poses[i].orientation, orientation);
double yaw, pitch, roll;
btMatrix3x3(orientation).getEulerYPR(yaw, pitch, roll);
Ogre::Quaternion orient( Ogre::Quaternion( Ogre::Radian( yaw ), Ogre::Vector3::UNIT_Z ) );
Ogre::Vector3 vertices[8];
vertices[0] = pos;
vertices[1] = pos + orient * Ogre::Vector3(ROBOT_RADIUS, 0.0f, 0.0f);
vertices[2] = vertices[1];
vertices[3] = pos + orient * Ogre::Vector3(0.75*ROBOT_RADIUS, -0.25*ROBOT_RADIUS, 0.0f);
vertices[4] = vertices[3];
vertices[5] = pos + orient * Ogre::Vector3(0.75*ROBOT_RADIUS, 0.25*ROBOT_RADIUS, 0.0f);
vertices[6] = vertices[5];
vertices[7] = pos + orient * Ogre::Vector3(ROBOT_RADIUS, 0.0f, 0.0f);
for ( int i = 0; i < 8; ++i )
{
cloud_object_->position( vertices[i] );
cloud_object_->colour( color );
}
}
cloud_object_->end();
cloud_object_->getParentSceneNode()->setPosition( Ogre::Vector3( 0.0f, 0.0f, CLOUD_DEPTH ) );
queueRender();
}
//Behaviour based AI
void Enemy::behavTest()
{
Shape* player = getPlayer_();
if (player)
{
b2Vec2 pos = player->getPosition();
b2Vec2 toward = getPosition() - pos;
float dist = (player->getSize() + size_) * 1.5f;
b2Vec2 vel = player->getBody()->GetLinearVelocity();
b2Vec2 steer = pursue(pos, vel, dist);
move(steer);
orient(-toward);
}
}
void camera_t::apply(float dt) {
// pivot around a particular position i.e. "target"
if (showreel) {
static float radius = 16.72f, height = 5.0f, t = 0;
t += dt / 2;
this->pos = glm::vec3(radius * cos(float(M_PI * 2.0f) + t), height,
radius * sin(float(M_PI * 2.0f) + t));
this->matrix = glm::lookAt(pos, target, glm::vec3(0.0f, 1.0f, 0.0f));
} else // move around freely and unrestricted ...
{
calc_velocity(dt);
if (!gui_enabled)
orient(dt);
}
}
bool polygon_is_convex(const Polygon2d& P) {
Sign s = ZERO ;
for(unsigned int i=0; i<P.size(); i++) {
unsigned int j = ((i+1) % P.size()) ;
unsigned int k = ((j+1) % P.size()) ;
Sign cur_s = orient(P[i],P[j],P[k]) ;
if(s != ZERO && cur_s != ZERO && cur_s != s) {
return false ;
}
if(cur_s != ZERO) {
s = cur_s ;
}
}
return true ;
}