bool Ball::isCollided(Paddle &paddle) {
const sf::Vector2f polarPos = toPolar(getPosition() - Settings::getScreenCenter());
const float ballRad = ((sf::CircleShape*)shape)->getRadius();
const float closeRad = 0.01 * Settings::getZoneRadius();
if ((polarPos.x + ballRad) > (paddle.getRadius() - closeRad)) {
const float ballRadAngle = toPolar(sf::Vector2f(-ballRad, polarPos.x)).y;
const float closeAngle = 1.0;
const float paddleCenter = paddle.getCenterAngle();
if ( ((polarPos.y + ballRadAngle) > (paddleCenter - paddle.getAngularLength() - closeAngle)) &&
((polarPos.y - ballRadAngle) < (paddleCenter + paddle.getAngularLength() + closeAngle)) ) {
// ball is close to paddle, so bother to do checks
const int NUM_POINTS = ((sf::CircleShape*)shape)->getPointCount();
for (int i = 0; i<NUM_POINTS; i++) {
// check for every point on the circle shape, in global coords
sf::Vector2f localPoint = ((sf::CircleShape*)shape)->getPoint(i);
sf::Transform transform = shape->getTransform();
sf::Vector2f globalPoint = transform.transformPoint(localPoint);
if (paddle.isWithin(globalPoint)) {
return true;
}
}
}
}
return false;
}
void PuzzleApp::update()
{
if (_hands[LEFT]->state != Hand::NORMAL && _hands[RIGHT]->state != Hand::NORMAL)
{
Vec2f diff = _hands[RIGHT]->pos - _hands[LEFT]->pos;
Vec2f polar = toPolar(diff);
console()<<polar.x<<" "<<polar.y<<endl;
float theta = polar.y;//[0, PI_two) clockwise
float sign = 0.0f;
if (theta > Pi)
theta -= Pi;
if (theta < Pi_half)
{
sign = theta*0.5f;
}
else if (theta > Pi_half)
{
theta = Pi - theta;
sign = -theta*0.5f;
}
_rotate = sign;
float loBound = 150;
float hiBound = getWindowWidth();
_scale = lmap(polar.x, loBound, hiBound, minScale, maxScale);
_scale = constrain(_scale, minScale, maxScale);
}
StateMachine::update();
}
void Ball::bounce(float offset, sf::Vector2f polarCollisionPoint) {
// move ball outside paddle, to where it would be if
// bounce happened immediately
sf::Vector2f polarPos = toPolar(getPosition() - Settings::getScreenCenter());
const float ballRad = ((sf::CircleShape*)shape)->getRadius();
const float paddleRad = polarCollisionPoint.x;
sf::Vector2f bouncedPos( 2*paddleRad - polarPos.x - 2 * ballRad,
polarPos.y);
shape->setPosition(toCartesian(bouncedPos) + Settings::getScreenCenter());
// invert direction, then modify according to skew
// factor and offset
sf::Vector2f polarVel = toPolar(velocity);
float angleOfIncidence = polarCollisionPoint.y - polarVel.y;
if (angleOfIncidence > 90) {
angleOfIncidence = angleOfIncidence - 180;
} else if (angleOfIncidence < -90) {
angleOfIncidence = angleOfIncidence + 180;
}
float reflectionAngle = 180 - 2*angleOfIncidence;
float skewReflectionAngle = reflectionAngle + skewFactor * offset;
if ((reflectionAngle <=180 &&skewReflectionAngle < reflectionAngle/2) || (reflectionAngle > 180 && (180 -skewReflectionAngle) > (180 -reflectionAngle/2)) ) {
skewReflectionAngle = reflectionAngle/2;
}
// reflect and skew
polarVel.y -= skewReflectionAngle;
mutex.lock();
velocity = toCartesian(polarVel);
mutex.unlock();
}
bool Ball::hasScored() {
sf::Vector2i center (Settings::getScreenResolution()/2);
mutex.lock();
sf::Vector2f pos = shape->getPosition();
mutex.unlock();
int courtRadius = Settings::getZoneRadius();
float ballRadius = toPolar(sf::Vector2f(pos.x - center.x,
pos.y - center.y)).x;
return ballRadius > courtRadius;
}
bool Sprite::isPointInside( const Vec2f& pt )
{
Vec2f polar = toPolar(pt - _center);
polar.y -= toRadians(_degree);
Vec2f local = fromPolar(polar);
if (local.x > -_size.x/2 && local.x < _size.x/2 &&
local.y > -_size.y/2 && local.y < _size.y/2)
return true;
else
return false;
}
double
StationKeep::getRange(const IMC::EstimatedState* state) const
{
double lat = state->lat;
double lon = state->lon;
Coordinates::toWGS84(*state, lat, lon);
double x;
double y;
WGS84::displacement(lat, lon, 0, m_lat, m_lon, 0, &x, &y);
// dummy variable
double bearing;
double range;
toPolar(x, y, &bearing, &range);
return range;
}