//*************************************************************************************
//*************************************************************************************
BOOL IsObjectVertexInValidPosition(EERIE_3DOBJ * obj, long kk, long flags, long source)
{
EERIEPOLY * back_ep = CheckInPolyPrecis(obj->pbox->vert[kk].pos.x,
obj->pbox->vert[kk].pos.y,
obj->pbox->vert[kk].pos.z);
if (!back_ep)
{
EERIE_3D posi;
Vector_Copy(&posi, &obj->pbox->vert[kk].pos);
posi.y -= 30.f;
CUR_COLLISION_MATERIAL = MATERIAL_STONE;
return FALSE;
}
if (!(flags & 1))
{
EERIE_SPHERE sphere;
EERIE_3D * pos = &obj->pbox->vert[kk].pos;
sphere.origin.x = pos->x;
sphere.origin.y = pos->y;
sphere.origin.z = pos->z;
sphere.radius = 8.f;
if (ARX_INTERACTIVE_CheckCollision(obj, kk, source))
{
CUR_COLLISION_MATERIAL = 11;
return FALSE;
}
}
return TRUE;
}
/**
* Eliminate the columns corresponding to a list of eliminated parameters.
* @param M the constraints matrix whose columns are to be removed
* @param nbVars an offset to be added to the ranks of the variables to be
* removed
* @param elimParms the list of ranks of the variables to be removed
* @param newM (output) the matrix without the removed columns
*/
void Constraints_removeElimCols(Matrix * M, unsigned int nbVars,
unsigned int *elimParms, Matrix ** newM) {
unsigned int i, j, k;
if (elimParms[0]==0) {
Matrix_clone(M, newM);
return;
}
if ((*newM)==NULL) {
(*newM) = Matrix_Alloc(M->NbRows, M->NbColumns - elimParms[0]);
}
else {
assert ((*newM)->NbColumns==M->NbColumns - elimParms[0]);
}
for (i=0; i< M->NbRows; i++) {
value_assign((*newM)->p[i][0], M->p[i][0]); /* kind of cstr */
k=0;
Vector_Copy(&(M->p[i][1]), &((*newM)->p[i][1]), nbVars);
for (j=0; j< M->NbColumns-2-nbVars; j++) {
if (j!=elimParms[k+1]) {
value_assign((*newM)->p[i][j-k+nbVars+1], M->p[i][j+nbVars+1]);
}
else {
k++;
}
}
value_assign((*newM)->p[i][(*newM)->NbColumns-1],
M->p[i][M->NbColumns-1]); /* cst part */
}
} /* Constraints_removeElimCols */
///
//Initializes a new force state
//
//Parameters:
// state: A pointer to the state to initialize as a force state
// force: A pointer to a vector to copy as the force this state will apply
// radius: A pointer to a vector to copy as the radius this state will apply the force at
void State_Force_Initialize(State* state, Vector* force, Vector* radius)
{
struct State_Force_Members* members = (struct State_Force_Members*)malloc(sizeof(struct State_Force_Members));
state->members = (State_Members)members;
members->force = Vector_Allocate();
Vector_Initialize(members->force, 3);
Vector_Copy(members->force, force);
members->radius = Vector_Allocate();
Vector_Initialize(members->radius, 3);
Vector_Copy(members->radius, radius);
state->State_Members_Free = State_Force_Free;
state->State_Update = State_Force_Update;
}
static Matrix *Polyhedron2standard_form(Polyhedron *P, Matrix **T)
{
int i, j;
int rows;
unsigned dim = P->Dimension;
Matrix *M2;
Matrix *H, *U;
Matrix M;
assert(P->NbEq == 0);
Polyhedron_Remove_Positivity_Constraint(P);
for (i = 0; i < P->NbConstraints; ++i)
assert(value_zero_p(P->Constraint[i][1+dim]));
Polyhedron_Matrix_View(P, &M, P->NbConstraints);
H = standard_constraints(&M, 0, &rows, &U);
*T = homogenize(U);
Matrix_Free(U);
M2 = Matrix_Alloc(rows, 2+dim+rows);
for (i = dim; i < H->NbRows; ++i) {
Vector_Copy(H->p[i], M2->p[i-dim]+1, dim);
value_set_si(M2->p[i-dim][1+i], -1);
}
for (i = 0, j = H->NbRows-dim; i < dim; ++i) {
if (First_Non_Zero(H->p[i], i) == -1)
continue;
Vector_Oppose(H->p[i], M2->p[j]+1, dim);
value_set_si(M2->p[j][1+j+dim], 1);
++j;
}
Matrix_Free(H);
return M2;
}
///
//Allows the parkour controller to vertically wallrun
//
//Parameters:
// obj: A pointer to the object attached to the parkourController state
// state: The parkourController state updating the object
static void State_ParkourController_VerticalWallrun(GObject* obj, State* state)
{
//Get the members of this state
struct State_ParkourController_Members* members = (struct State_ParkourController_Members*)state->members;
Vector impulse;
Vector_INIT_ON_STACK(impulse, 3);
impulse.components[1] = members->jumpMag;
RigidBody_ApplyImpulse(obj->body, &impulse, &Vector_ZERO);
//Cap max upward speed
if(obj->body->velocity->components[1] > members->maxVelocity)
{
obj->body->velocity->components[1] = members->maxVelocity;
}
if(obj->body->velocity->components[0] != 0.0f || obj->body->velocity->components[2])
{
Vector_Copy(&impulse, &Vector_ZERO);
impulse.components[0] -= obj->body->velocity->components[0];
impulse.components[2] -= obj->body->velocity->components[2];
RigidBody_ApplyImpulse(obj->body, &impulse, &Vector_ZERO);
}
}
//-----------------------------------------------------------------------------
void CMagicMissile::Create(EERIE_3D aeSrc, EERIE_3D angles)
{
int i;
EERIE_3D s, e;
SetDuration(ulDuration);
SetAngle(angles.b);
Vector_Copy(&this->angles, &angles);
eCurPos.x = eSrc.x = aeSrc.x;
eCurPos.y = eSrc.y = aeSrc.y;
eCurPos.z = eSrc.z = aeSrc.z;
fSize = 1;
bDone = true;
s.x = eSrc.x;
s.y = eSrc.y;
s.z = eSrc.z;
e.x = eSrc.x;
e.y = eSrc.y;
e.z = eSrc.z;
i = 0;
i = 40;
e.x -= fBetaRadSin * 50 * i;
e.y += sin(DEG2RAD(MAKEANGLE(this->angles.a))) * 50 * i;
e.z += fBetaRadCos * 50 * i;
pathways[0].sx = eSrc.x;
pathways[0].sy = eSrc.y;
pathways[0].sz = eSrc.z;
pathways[5].sx = e.x;
pathways[5].sy = e.y;
pathways[5].sz = e.z;
Split(pathways, 0, 5, 50, 0.5f);
for (i = 0; i < 6; i++)
{
if (pathways[i].sy >= eSrc.y + 150)
{
pathways[i].sy = eSrc.y + 150;
}
}
fTrail = 0;
iLength = 50;
fOneOnLength = 1.0f / (float) iLength;
iBezierPrecision = BEZIERPrecision;
fOneOnBezierPrecision = 1.0f / (float) iBezierPrecision;
bExplo = false;
bMove = true;
ARX_SOUND_PlaySFX(SND_SPELL_MM_CREATE, &eCurPos);
ARX_SOUND_PlaySFX(SND_SPELL_MM_LAUNCH, &eCurPos);
snd_loop = ARX_SOUND_PlaySFX(SND_SPELL_MM_LOOP, &eCurPos, 1.0F, ARX_SOUND_PLAY_LOOPED);
}
static Polyhedron *partition2polyhedron(Matrix *A,
struct barvinok_options *options)
{
int i;
unsigned nvar, nparam;
Matrix *M;
Polyhedron *P;
nvar = A->NbColumns;
nparam = A->NbRows;
M = Matrix_Alloc(nvar + nparam, 1 + nvar + nparam + 1);
assert(M);
for (i = 0; i < nparam; ++i) {
Vector_Copy(A->p[i], M->p[i] + 1, nvar);
value_set_si(M->p[i][1 + nvar + i], -1);
}
for (i = 0; i < nvar; ++i) {
value_set_si(M->p[nparam + i][0], 1);
value_set_si(M->p[nparam + i][1 + i], 1);
}
P = Constraints2Polyhedron(M, options->MaxRays);
Matrix_Free(M);
return P;
}
///
//Lets the runner jump off of a wall
// obj: A pointer to the object
// state: A pointer to the runner controller state which is allowing the object to wall jump
void State_RunnerController_WallJump(GObject* obj, State* state)
{
//Get the members of this state
struct State_RunnerController_Members* members = (struct State_RunnerController_Members*)state->members;
Vector impulse;
Vector_INIT_ON_STACK(impulse, 3);
Vector_Copy(&impulse, members->wallNormal);
Vector_Scale(&impulse, members->jumpMag * 2);
RigidBody_ApplyImpulse(obj->body, &impulse, &Vector_ZERO);
Vector_Copy(&impulse, &Vector_E2);
Vector_Scale(&impulse, members->jumpMag);
RigidBody_ApplyImpulse(obj->body, &impulse, &Vector_ZERO);
}
/* Return
* T 0
* 0 1
*/
static Matrix *homogenize(Matrix *T)
{
int i;
Matrix *H = Matrix_Alloc(T->NbRows+1, T->NbColumns+1);
for (i = 0; i < T->NbRows; ++i)
Vector_Copy(T->p[i], H->p[i], T->NbColumns);
value_set_si(H->p[T->NbRows][T->NbColumns], 1);
return H;
}
//*************************************************************************************
//*************************************************************************************
BOOL IsObjectVertexCollidingPoly(EERIE_3DOBJ * obj, EERIEPOLY * ep, long k, long * validd)
{
EERIE_3D pol[3];
Vector_Copy(&pol[0], (EERIE_3D *)&ep->v[0]);
Vector_Copy(&pol[1], (EERIE_3D *)&ep->v[1]);
Vector_Copy(&pol[2], (EERIE_3D *)&ep->v[2]);
float mul = 1.3f;
pol[0].x = (pol[0].x - ep->center.x) * mul + ep->center.x;
pol[0].y = (pol[0].y - ep->center.y) * mul + ep->center.y;
pol[0].z = (pol[0].z - ep->center.z) * mul + ep->center.z;
if (ep->type & POLY_QUAD)
{
if (IsObjectVertexCollidingTriangle(obj, (EERIE_3D *)&pol, k, validd)) return TRUE;
Vector_Copy(&pol[0], (EERIE_3D *)&ep->v[2]);
Vector_Copy(&pol[1], (EERIE_3D *)&ep->v[3]);
Vector_Copy(&pol[2], (EERIE_3D *)&ep->v[0]);
if (IsObjectVertexCollidingTriangle(obj, (EERIE_3D *)&pol, k, validd)) return TRUE;
return FALSE;
}
if (IsObjectVertexCollidingTriangle(obj, (EERIE_3D *)&pol, k, validd)) return TRUE;
return FALSE;
}
//*************************************************************************************
//*************************************************************************************
void ARX_FOGS_RenderAll(LPDIRECT3DDEVICE7 m_pd3dDevice)
{
EERIE_3D angle;
Vector_Init(&angle);
SETALPHABLEND(m_pd3dDevice, FALSE);
for (long i = 0; i < MAX_FOG; i++)
{
if (fogs[i].exist)
{
if (fogobj)
DrawEERIEInter(m_pd3dDevice, fogobj, &angle, &fogs[i].pos, NULL);
Vector_Copy(&fogs[i].bboxmin, &BBOXMIN);
Vector_Copy(&fogs[i].bboxmax, &BBOXMAX);
if (fogs[i].special & FOG_DIRECTIONAL)
{
EERIE_3D orgn, dest;
orgn.x = fogs[i].pos.x;
orgn.y = fogs[i].pos.y;
orgn.z = fogs[i].pos.z;
dest.x = orgn.x + fogs[i].move.x * 50.f;
dest.y = orgn.y + fogs[i].move.y * 50.f;
dest.z = orgn.z + fogs[i].move.z * 50.f;
EERIEDraw3DLine(m_pd3dDevice, &orgn, &dest, EERIECOLOR_WHITE);
}
if (fogs[i].selected)
{
EERIEDraw2DLine(m_pd3dDevice, fogs[i].bboxmin.x, fogs[i].bboxmin.y, fogs[i].bboxmax.x, fogs[i].bboxmin.y, 0.01f, EERIECOLOR_YELLOW);
EERIEDraw2DLine(m_pd3dDevice, fogs[i].bboxmax.x, fogs[i].bboxmin.y, fogs[i].bboxmax.x, fogs[i].bboxmax.y, 0.01f, EERIECOLOR_YELLOW);
EERIEDraw2DLine(m_pd3dDevice, fogs[i].bboxmax.x, fogs[i].bboxmax.y, fogs[i].bboxmin.x, fogs[i].bboxmax.y, 0.01f, EERIECOLOR_YELLOW);
EERIEDraw2DLine(m_pd3dDevice, fogs[i].bboxmin.x, fogs[i].bboxmax.y, fogs[i].bboxmin.x, fogs[i].bboxmin.y, 0.01f, EERIECOLOR_YELLOW);
}
}
}
}
///
//Lets the ParkourController vault over a wall
//
//Parameters:
// obj: A pointer to the object attached to the ParkourController state
// state:
void State_ParkourController_WallVault(GObject* obj, State* state)
{
//Get the members of this state
struct State_ParkourController_Members* members = (struct State_ParkourController_Members*)state->members;
Vector impulse;
Vector_INIT_ON_STACK(impulse, 3);
Vector_Copy(&impulse, members->wallNormal);
Vector_Scale(&impulse, -members->maxVelocity);
RigidBody_ApplyImpulse(obj->body, &impulse, &Vector_ZERO);
}
struct trace *Trace_HullTrace(struct trace *trace, struct hull *hull, vec3_t start, vec3_t end)
{
int check;
struct trace_local tl;
struct trace *lt;
if (hull == NULL)
return NULL;
if (trace == NULL)
lt = calloc(1, sizeof(*lt));
else
{
lt = trace;
memset(trace, 0, sizeof(*trace));
}
if (lt == NULL)
return NULL;
memset(&tl, 0, sizeof(*&tl));
tl.trace = lt;
lt->fraction = 1;
lt->startsolid = false;
Vector_Copy(lt->endpos, end);
tl.hull = hull;
check = Trace_RecursiveHullTrace(&tl, hull->firstclipnode, 0, 1, start, end);
if (check == TR_SOLID)
{
lt->startsolid = lt->allsolid = true;
Vector_Copy(lt->endpos, start);
}
return lt;
}
///
//Lets the runner vault off of a wall
// obj: A pointer to the object
// state: A pointer to the runner controller state which is allowing the object to wall vault
void State_RunnerController_WallVault(GObject* obj, State* state)
{
//Get the members of this state
struct State_RunnerController_Members* members = (struct State_RunnerController_Members*)state->members;
Vector impulse;
Vector_INIT_ON_STACK(impulse, 3);
Vector_Copy(&impulse, members->wallNormal);
float mag = obj->body->velocity->components[1];
Vector_Scale(&impulse, -mag * 1.0f);
RigidBody_ApplyImpulse(obj->body, &impulse, &Vector_ZERO);
Vector_Copy(&impulse, &Vector_E2);
obj->body->velocity->components[1] = 0;
Vector_Scale(&impulse, members->jumpMag);
RigidBody_ApplyImpulse(obj->body, &impulse, &Vector_ZERO);
}
///
//Initializes the scene within the engine.
//This must be done after all engine components are initialized.
void InitializeScene(void)
{
///
//Camera controller simulation
GObject* cam = GObject_Allocate();
GObject_Initialize(cam);
State* state = State_Allocate();
cam->body = RigidBody_Allocate();
RigidBody_Initialize(cam->body, cam->frameOfReference, 1.0f);
cam->body->coefficientOfRestitution = 0.1f;
cam->collider = Collider_Allocate();
AABBCollider_Initialize(cam->collider, 2.5f, 3.0f, 2.5f, &Vector_ZERO);
State_ParkourController_Initialize(state, 7.0f, 10.0f, 0.05f, 50.0f, 0.1f);
GObject_AddState(cam,state);
ObjectManager_AddObject(cam);
//Create floor
GObject* block = GObject_Allocate();
GObject_Initialize(block);
block->mesh = AssetManager_LookupMesh("Cube");
block->collider = Collider_Allocate();
AABBCollider_Initialize(block->collider, 2.0f, 2.0f, 2.0f, &Vector_ZERO);
block->body = RigidBody_Allocate();
RigidBody_Initialize(block->body, block->frameOfReference, 0.0f);
block->body->freezeTranslation = block->body->freezeRotation = 1;
block->body->dynamicFriction = block->body->staticFriction = 0.1f;
block->body->rollingResistance = 0.25f;
Vector v;
Vector_INIT_ON_STACK(v, 3);
v.components[0] = v.components[2] = 40.0f;
v.components[1] = 1.0f;
GObject_Scale(block, &v);
Vector_Copy(&v, &Vector_ZERO);
v.components[1] = -10.0f;
GObject_Translate(block, &v);
ObjectManager_AddObject(block);
//Create sphere
block = GObject_Allocate();
GObject_Initialize(block);
block->mesh = AssetManager_LookupMesh("Sphere");
block->material = Material_Allocate();
Material_Initialize(block->material, AssetManager_LookupTexture("Earth"));
//*Matrix_Index(block->material->colorMatrix, 2, 2) = 0.0f;
//*Matrix_Index(block->material->colorMatrix, 1, 1) = 0.0f;
block->collider = Collider_Allocate();
SphereCollider_Initialize(block->collider, 1.0f);
block->body = RigidBody_Allocate();
RigidBody_Initialize(block->body, block->frameOfReference, 0.0f);
block->body->dynamicFriction = block->body->staticFriction = 1.0f;
block->body->coefficientOfRestitution = 0.9f;
Vector_Copy(&v, &Vector_ZERO);
v.components[0] = -3.0f;
v.components[1] = 5.0f;
v.components[2] = -10.0f;
GObject_Translate(block, &v);
Vector_Copy(&v, &Vector_ZERO);
v.components[0] = v.components[1] = v.components[2] = 10.0f;
GObject_Scale(block, &v);
ObjectManager_AddObject(block);
//Set gravity
Vector* gravity = Vector_Allocate();
Vector_Initialize(gravity, 3);
gravity->components[1] = -9.81f;
PhysicsManager_AddGlobalAcceleration(gravity);
}
void right_hermite(Matrix *A,Matrix **Hp,Matrix **Up,Matrix **Qp) {
Matrix *H, *Q, *U;
int i, j, nr, nc, rank;
Value tmp;
/* Computes form: A = QH , UA = H */
nc = A->NbColumns;
nr = A->NbRows;
/* H = A */
*Hp = H = Matrix_Alloc(nr,nc);
if (!H) {
errormsg1("DomRightHermite", "outofmem", "out of memory space");
return;
}
/* Initialize all the 'Value' variables */
value_init(tmp);
Vector_Copy(A->p_Init,H->p_Init,nr*nc);
/* U = I */
if (Up) {
*Up = U = Matrix_Alloc(nr, nr);
if (!U) {
errormsg1("DomRightHermite", "outofmem", "out of memory space");
value_clear(tmp);
return;
}
Vector_Set(U->p_Init,0,nr*nr); /* zero's */
for(i=0;i<nr;i++) /* with diagonal of 1's */
value_set_si(U->p[i][i],1);
}
else
U = (Matrix *)0;
/* Q = I */
/* Actually I compute Q transpose... its easier */
if (Qp) {
*Qp = Q = Matrix_Alloc(nr,nr);
if (!Q) {
errormsg1("DomRightHermite", "outofmem", "out of memory space");
value_clear(tmp);
return;
}
Vector_Set(Q->p_Init,0,nr*nr); /* zero's */
for (i=0;i<nr;i++) /* with diagonal of 1's */
value_set_si(Q->p[i][i],1);
}
else
Q = (Matrix *)0;
rank = hermite(H,U,Q);
/* Q is returned transposed */
/* Transpose Q */
if (Q) {
for (i=0; i<nr; i++) {
for (j=i+1; j<nr; j++) {
value_assign(tmp,Q->p[i][j]);
value_assign(Q->p[i][j],Q->p[j][i] );
value_assign(Q->p[j][i],tmp);
}
}
}
value_clear(tmp);
return;
} /* right_hermite */
///
//Allows the runner controller to wallrun if necessary conditions are met
//
//Parameters:
// obj: A pointer to the object which is running on walls
// state: A pointer to the runner controller state which is allowing the object to wallrun
void State_RunnerController_Wallrun(GObject* obj, State* state)
{
//Get the members of this state
struct State_RunnerController_Members* members = (struct State_RunnerController_Members*)state->members;
//Get the first collision this object is involved in
Collision* first = (Collision*)obj->collider->currentCollisions->head->data;
//If we are not wallrunning yet
if(members->horizontalRunning == 0 && members->verticalRunning == 0)
{
//Make sure this is a wall
if(first->minimumTranslationVector->components[0] != 0.0 || first->minimumTranslationVector->components[2] != 0.0f)
{
//Save the normal
Vector_Copy(members->wallNormal, first->minimumTranslationVector);
if(first->obj1 != obj)
{
Vector_Scale(members->wallNormal, -1.0f);
}
//Determine what kind of wallrun is occurring
//First get the forward vector of the camera
Camera* cam = RenderingManager_GetRenderingBuffer()->camera;
Vector forward;
Vector_INIT_ON_STACK(forward, 3);
Matrix_SliceRow(&forward, cam->rotationMatrix, 2, 0, 3);
//Project the forward vector onto the XY Plane
Vector perp;
Vector_INIT_ON_STACK(perp, 3);
Vector_GetProjection(&perp, &forward, &Vector_E2);
Vector_Decrement(&forward, &perp);
Vector_Normalize(&forward);
//Get dot product of forward vector and collision normal
float dotProd = fabs(Vector_DotProduct(&forward, first->minimumTranslationVector));
//If the dot product is closer to 0 we are horizontal running, else we are vertical running
if(dotProd < 0.75)
{
members->horizontalRunning = 1;
}
else
{
members->verticalRunning = 1;
}
}
}
//If we are horizontal running
if(members->horizontalRunning == 1)
{
printf("Horizontal Wallrunnin\n");
//combat the force of gravity
Vector antiGravity;
Vector_INIT_ON_STACK(antiGravity, 3);
antiGravity.components[1] = 9.81f;
RigidBody_ApplyForce(obj->body, &antiGravity, &Vector_ZERO);
//Zero downward velocity
if(obj->body->velocity->components[1] < 0.0f)
{
Vector_Copy(&antiGravity, &Vector_ZERO);
antiGravity.components[1] = -obj->body->velocity->components[1];
RigidBody_ApplyImpulse(obj->body, &antiGravity, &Vector_ZERO);
}
State_RunnerController_Accelerate(obj, state);
}
else if(members->verticalRunning == 1)
{
printf("Vertical Wallrunnin\n");
//combat the force of gravity
Vector antiGravity;
Vector_INIT_ON_STACK(antiGravity, 3);
Vector_Copy(&antiGravity, &Vector_E2);
//go up!
Vector_Scale(&antiGravity, 9.81);
RigidBody_ApplyForce(obj->body, &antiGravity, &Vector_ZERO);
//If we aren't jumping too fast yet
if(Vector_DotProduct(obj->body->velocity, &Vector_E2) < members->maxVelocity)
{
Vector_Copy(&antiGravity, &Vector_E2);
Vector_Scale(&antiGravity, members->acceleration);
RigidBody_ApplyForce(obj->body, &antiGravity, &Vector_ZERO);
}
}
}
int Trace_RecursiveHullTrace(struct trace_local *tl, int num, float p1f, float p2f, const vec3_t p1, const vec3_t p2)
{
struct plane *plane;
float t1, t2, frac, midf;
struct clipnode *node;
int i, nearside, check, oldcheck;
vec3_t mid;
struct hull *hull = tl->hull;
struct trace *trace = tl->trace;
while (1)
{
if (num < 0)
{
tl->leafs_count++;
if (num == CONTENTS_SOLID)
{
if (tl->leafs_count == 1)
trace->startsolid = true;
return TR_SOLID;
}
else
{
if (num == CONTENTS_EMPTY)
trace->inopen = true;
else
trace->inwater = true;
return TR_EMPTY;
}
}
node = hull->clipnodes + num;
plane = hull->planes + node->planenum;
//printf("t_rht: %p %p %i %i %f ", node, plane, node->planenum, plane->type, plane->dist);
//PRINT_VEC(plane->normal);
if (plane->type < 3)
{
t1 = p1[plane->type] - plane->dist;
t2 = p2[plane->type] - plane->dist;
//printf("t_rht 1: t1, t2, plane->dist %f %f %f\n", t1, t2, plane->dist);
}
else
{
t1 = Vector_DotProduct(plane->normal, p1) - plane->dist;
t2 = Vector_DotProduct(plane->normal, p2) - plane->dist;
//printf("t_rht 2: t1, t2, plane->dist %f %f %f\n", t1, t2, plane->dist);
}
if (t1 >= 0 && t2 >= 0)
{
num = node->children[0];
continue;
}
if (t1 < 0 && t2 < 0)
{
num = node->children[1];
continue;
}
frac = t1 / (t1 - t2);
frac = bound(0, frac, 1);
midf = p1f + (p2f - p1f) * frac;
for (i=0; i<3; i++)
mid[i] = p1[i] + frac * (p2[i] - p1[i]);
nearside = (t1 < t2) ? 1 : 0;
//printf("doing trace 1 %f %f\n", frac, midf);
check = Trace_RecursiveHullTrace(tl, node->children[nearside], p1f, midf, p1, mid);
if (check == TR_BLOCKED)
{
return check;
}
if (check == TR_SOLID && (trace->inopen || trace->inwater))
{
return check;
}
oldcheck = check;
//printf("doing trace 2\n");
check = Trace_RecursiveHullTrace(tl, node->children[1 - nearside], midf, p2f, mid, p2);
if (check == TR_EMPTY || check == TR_BLOCKED)
{
return check;
}
if (oldcheck != TR_EMPTY)
{
return check;
}
if (!nearside)
{
Vector_Copy(trace->plane.normal, plane->normal);
trace->plane.dist = plane->dist;
}
else
{
Vector_Negate(trace->plane.normal, plane->normal);
trace->plane.dist = -plane->dist;
}
if (t1 < t2)
frac = (t1 + DIST_EPSILON) / (t1 - t2);
else
frac = (t1 - DIST_EPSILON) / (t1 - t2);
frac = bound(0, frac, 1);
midf = p1f + (p2f - p1f) * frac;
for (i=0; i<3; i++)
mid[i] = p1[i] + frac * (p2[i] - p1[i]);
trace->fraction = midf;
//printf("fraction: %f\n", midf);
Vector_Copy(trace->endpos, mid);
return TR_BLOCKED;
}
#warning maybe return smth else here
return TR_BLOCKED;
}
//-----------------------------------------------------------------------------
float CMagicMissile::Render(LPDIRECT3DDEVICE7 m_pd3dDevice)
{
int i = 0;
EERIE_3D lastpos, newpos;
EERIE_3D v;
EERIE_3D stiteangle;
EERIE_3D stitepos;
EERIE_3D stitescale;
EERIE_RGB stitecolor;
EERIE_3D av;
if (ulCurrentTime >= ulDuration)
{
return 0.f;
}
// Set Appropriate Renderstates -------------------------------------------
SETCULL(m_pd3dDevice, D3DCULL_NONE);
SETZWRITE(m_pd3dDevice, FALSE);
m_pd3dDevice->SetRenderState(D3DRENDERSTATE_SRCBLEND, D3DBLEND_ONE);
m_pd3dDevice->SetRenderState(D3DRENDERSTATE_DESTBLEND, D3DBLEND_ONE);
SETALPHABLEND(m_pd3dDevice, TRUE);
// Set Texture ------------------------------------------------------------
if (tex_mm && tex_mm->m_pddsSurface)
{
if ((spells[spellinstance].caster == 0) && (cur_mr == 3))
SETTC(m_pd3dDevice, NULL);
else
SETTC(m_pd3dDevice, tex_mm);
}
// ------------------------------------------------------------------------
if (bMove)
{
fTrail = (ulCurrentTime * fOneOnDuration) * (iBezierPrecision + 2) * 5;
}
lastpos.x = pathways[0].sx;
lastpos.y = pathways[0].sy;
lastpos.z = pathways[0].sz;
Vector_Copy(&newpos, &lastpos);
for (i = 0; i < 5; i++)
{
int kp = i;
int kpprec = (i > 0) ? kp - 1 : kp ;
int kpsuiv = kp + 1 ;
int kpsuivsuiv = (i < (5 - 2)) ? kpsuiv + 1 : kpsuiv;
for (int toto = 1; toto < iBezierPrecision; toto++)
{
if (fTrail < i * iBezierPrecision + toto) break;
float t = toto * fOneOnBezierPrecision;
float t1 = t;
float t2 = t1 * t1 ;
float t3 = t2 * t1 ;
float f0 = 2.f * t3 - 3.f * t2 + 1.f ;
float f1 = -2.f * t3 + 3.f * t2 ;
float f2 = t3 - 2.f * t2 + t1 ;
float f3 = t3 - t2 ;
float val = pathways[kpsuiv].sx;
float p0 = 0.5f * (val - pathways[kpprec].sx) ;
float p1 = 0.5f * (pathways[kpsuivsuiv].sx - pathways[kp].sx) ;
v.x = f0 * pathways[kp].sx + f1 * val + f2 * p0 + f3 * p1 ;
val = pathways[kpsuiv].sy ;
p0 = 0.5f * (val - pathways[kpprec].sy) ;
p1 = 0.5f * (pathways[kpsuivsuiv].sy - pathways[kp].sy) ;
v.y = f0 * pathways[kp].sy + f1 * val + f2 * p0 + f3 * p1 ;
val = pathways[kpsuiv].sz ;
p0 = 0.5f * (val - pathways[kpprec].sz) ;
p1 = 0.5f * (pathways[kpsuivsuiv].sz - pathways[kp].sz) ;
v.z = f0 * pathways[kp].sz + f1 * val + f2 * p0 + f3 * p1 ;
Vector_Copy(&newpos, &v);
if (!((fTrail - (i * iBezierPrecision + toto)) > iLength))
{
float c;
if (fTrail < iLength)
{
c = 1.0f - ((fTrail - (i * iBezierPrecision + toto)) / fTrail);
}
else
{
c = 1.0f - ((fTrail - (i * iBezierPrecision + toto)) / (float)iLength);
}
float fsize = c;
float alpha = c - 0.2f;
if (alpha < 0.2f) alpha = 0.2f;
c += frand2() * 0.1f;
if (c < 0) c = 0;
else if (c > 1) c = 1;
int color = D3DRGB(c * fColor[0] * alpha, c * fColor[1] * alpha, c * fColor[2] * alpha);
if (fsize < 0.5f)
fsize = fsize * 2 * 3;
else
fsize = (1.0f - fsize + 0.5f) * 2 * (3 * 0.5f);
float fs = fsize * 6 + rnd() * 0.3f;
float fe = fsize * 6 + rnd() * 0.3f;
Draw3DLineTex(m_pd3dDevice, lastpos, newpos, color, fs, fe);
}
EERIE_3D temp_vector;
Vector_Copy(&temp_vector, &lastpos);
Vector_Copy(&lastpos, &newpos);
Vector_Copy(&newpos, &temp_vector);
}
}
av.x = newpos.x - lastpos.x;
av.y = newpos.y - lastpos.y;
av.z = newpos.z - lastpos.z;
float bubu = GetAngle(av.x, av.z, 0, 0);
float bubu1 = GetAngle(av.x, av.y, 0, 0);
Vector_Copy(&stitepos, &lastpos);
stiteangle.b = -RAD2DEG(bubu);
stiteangle.a = 0;
stiteangle.g = -(RAD2DEG(bubu1));
if (av.x < 0)
stiteangle.g -= 90;
if (av.x > 0)
stiteangle.g += 90;
if (stiteangle.g < 0)
stiteangle.g += 360.0f;
if ((spells[spellinstance].caster == 0) && (cur_mr == 3))
{
stitecolor.r = 1.f;
stitecolor.g = 0.f;
stitecolor.b = 0.2f;
}
else
{
stitecolor.r = 0.3f;
stitecolor.g = 0.3f;
stitecolor.b = 0.5f;
}
Vector_Init(&stitescale, 1, 1, 1);
{
if ((smissile))
DrawEERIEObjEx(m_pd3dDevice, smissile, &stiteangle, &stitepos, &stitescale, &stitecolor);
}
Vector_Copy(&eCurPos, &lastpos);
return 1 - 0.5f * rnd();
}
///
//Allows the parkour controller to run up a wall
//
//Parameters:
// obj: A pointer to the object attached to the parkourController state
// state: The parkourController state updating the object
static void State_ParkourController_Wallrun(GObject* obj, State* state)
{
//Get the members of this state
struct State_ParkourController_Members* members = (struct State_ParkourController_Members*)state->members;
//If we are not vertical wallrunning yet
if(members->verticalRunning == 0 && members->horizontalRunning == 0)
{
//Loop through the list of collisions this object was involved in
struct LinkedList_Node* currentNode = obj->collider->currentCollisions->head;
while(currentNode != NULL)
{
//Get the current collision
struct Collision* current = (struct Collision*)currentNode->data;
//Make sure this collision is with a wall
//TODO: Epsilon check!!!
if(current->minimumTranslationVector->components[0] != 0.0f || current->minimumTranslationVector->components[2] != 0.0f)
{
//Make a copy of the collision normal in case of manipulation
Vector currentNormal;
Vector_INIT_ON_STACK(currentNormal, 3);
Vector_Copy(¤tNormal, current->minimumTranslationVector);
//Make sure the normal is pointing toward this object
if(current->obj1 != obj)
{
Vector_Scale(¤tNormal, -1.0f);
}
//Next we must determine what kind of wallrun is happening
//Start by getting for forward vector of the camera
Camera* cam = RenderingManager_GetRenderingBuffer()->camera;
Vector forward;
Vector_INIT_ON_STACK(forward, 3);
Matrix_SliceRow(&forward, cam->rotationMatrix, 2, 0, 3);
//Project the forward vector onto the XY plane
Vector perp;
Vector_INIT_ON_STACK(perp, 3);
Vector_GetProjection(&perp, &forward, &Vector_E2);
Vector_Decrement(&forward, &perp);
Vector_Normalize(&forward);
//Get the dot product of the forward vector and collision normal
float dotProduct = Vector_DotProduct(&forward, ¤tNormal);
//If the dot product is closer to 1, we are starting to vertically wallrun
if(dotProduct > 0.75f)
{
members->verticalRunning = 1;
//Vertical wall running always has higher precedence than horizontal wall running
members->horizontalRunning = 0;
//SEt the wall normal of state
Vector_Copy(members->wallNormal, ¤tNormal);
break;
}
else if(dotProduct > 0.0f)
{
members->horizontalRunning = 1;
//Set the wall normal of state
Vector_Copy(members->wallNormal, ¤tNormal);
}
}
currentNode = currentNode->next;
}
}
//If we are vertical wall running
if(members->verticalRunning)
{
State_ParkourController_VerticalWallrun(obj, state);
}
//else If we are horizontal wall running
else if(members->horizontalRunning)
{
State_ParkourController_HorizontalWallrun(obj, state);
}
}
/* Compute integer hull of truncated linear cone C, i.e., of C with
* the origin removed.
* Here, we do this by first computing the Hilbert basis of C
* and then discarding elements from this basis that are rational
* overconvex combinations of other elements in the basis.
*/
Matrix *Cone_Hilbert_Integer_Hull(Polyhedron *C,
struct barvinok_options *options)
{
int i, j, k;
Matrix *hilbert = Cone_Hilbert_Basis(C, options->MaxRays);
Matrix *rays, *hull;
unsigned dim = C->Dimension;
Value tmp;
unsigned MaxRays = options->MaxRays;
/* When checking for redundant points below, we want to
* check if there are any _rational_ solutions.
*/
POL_UNSET(options->MaxRays, POL_INTEGER);
POL_ENSURE_VERTICES(C);
rays = Matrix_Alloc(C->NbRays-1, C->Dimension);
for (i = 0, j = 0; i < C->NbRays; ++i) {
if (value_notzero_p(C->Ray[i][1+C->Dimension]))
continue;
Vector_Copy(C->Ray[i]+1, rays->p[j++], C->Dimension);
}
/* We only sort the pointers into the big Value array */
qsort(rays->p, rays->NbRows, sizeof(Value *), lex_cmp);
qsort(hilbert->p, hilbert->NbRows, sizeof(Value *), lex_cmp);
/* Remove rays from Hilbert basis */
for (i = 0, j = 0, k = 0; i < hilbert->NbRows && j < rays->NbRows; ++i) {
if (Vector_Equal(hilbert->p[i], rays->p[j], C->Dimension))
++j;
else
hilbert->p[k++] = hilbert->p[i];
}
hilbert->NbRows = k;
/* Now remove points that are overconvex combinations of other points */
value_init(tmp);
for (i = 0; hilbert->NbRows > 1 && i < hilbert->NbRows; ++i) {
Matrix *LP;
Vector *obj;
int nray = rays->NbRows;
int npoint = hilbert->NbRows;
enum lp_result result;
LP = Matrix_Alloc(dim + 1 + nray + (npoint-1), 2 + nray + (npoint-1));
for (j = 0; j < dim; ++j) {
for (k = 0; k < nray; ++k)
value_assign(LP->p[j][k+1], rays->p[k][j]);
for (k = 0; k < npoint; ++k) {
if (k == i)
value_oppose(LP->p[j][1+nray+npoint-1], hilbert->p[k][j]);
else
value_assign(LP->p[j][1+nray+k-(k>i)], hilbert->p[k][j]);
}
}
value_set_si(LP->p[dim][0], 1);
for (k = 0; k < nray+npoint-1; ++k)
value_set_si(LP->p[dim][1+k], 1);
value_set_si(LP->p[dim][LP->NbColumns-1], -1);
for (k = 0; k < LP->NbColumns-2; ++k) {
value_set_si(LP->p[dim+1+k][0], 1);
value_set_si(LP->p[dim+1+k][1+k], 1);
}
/* Somewhat arbitrary objective function. */
obj = Vector_Alloc(LP->NbColumns-1);
value_set_si(obj->p[0], 1);
value_set_si(obj->p[obj->Size-1], 1);
result = constraints_opt(LP, obj->p, obj->p[0], lp_min, &tmp,
options);
/* If the LP is not empty, the point can be discarded */
if (result != lp_empty) {
hilbert->NbRows--;
if (i < hilbert->NbRows)
hilbert->p[i] = hilbert->p[hilbert->NbRows];
--i;
}
Matrix_Free(LP);
Vector_Free(obj);
}
value_clear(tmp);
hull = Matrix_Alloc(rays->NbRows + hilbert->NbRows, dim+1);
for (i = 0; i < rays->NbRows; ++i) {
Vector_Copy(rays->p[i], hull->p[i], dim);
value_set_si(hull->p[i][dim], 1);
}
for (i = 0; i < hilbert->NbRows; ++i) {
Vector_Copy(hilbert->p[i], hull->p[rays->NbRows+i], dim);
value_set_si(hull->p[rays->NbRows+i][dim], 1);
}
Matrix_Free(rays);
Matrix_Free(hilbert);
options->MaxRays = MaxRays;
return hull;
}
int main(int argc, char **argv)
{
isl_ctx *ctx;
int i, nbPol, nbVec, nbMat, func, j, n;
Polyhedron *A, *B, *C, *D, *E, *F, *G;
char s[128];
struct barvinok_options *options = barvinok_options_new_with_defaults();
argc = barvinok_options_parse(options, argc, argv, ISL_ARG_ALL);
ctx = isl_ctx_alloc_with_options(&barvinok_options_args, options);
nbPol = nbVec = nbMat = 0;
fgets(s, 128, stdin);
while ((*s=='#') ||
((sscanf(s, "D %d", &nbPol) < 1) &&
(sscanf(s, "V %d", &nbVec) < 1) &&
(sscanf(s, "M %d", &nbMat) < 1)))
fgets(s, 128, stdin);
for (i = 0; i < nbPol; ++i) {
Matrix *M = Matrix_Read();
A = Constraints2Polyhedron(M, options->MaxRays);
Matrix_Free(M);
fgets(s, 128, stdin);
while ((*s=='#') || (sscanf(s, "F %d", &func)<1))
fgets(s, 128, stdin);
switch(func) {
case 0: {
Value cb, ck;
value_init(cb);
value_init(ck);
fgets(s, 128, stdin);
/* workaround for apparent bug in older gmps */
*strchr(s, '\n') = '\0';
while ((*s=='#') || (value_read(ck, s) != 0)) {
fgets(s, 128, stdin);
/* workaround for apparent bug in older gmps */
*strchr(s, '\n') = '\0';
}
barvinok_count_with_options(A, &cb, options);
if (value_ne(cb, ck))
return -1;
value_clear(cb);
value_clear(ck);
break;
}
case 1:
Polyhedron_Print(stdout, P_VALUE_FMT, A);
B = Polyhedron_Polar(A, options->MaxRays);
Polyhedron_Print(stdout, P_VALUE_FMT, B);
C = Polyhedron_Polar(B, options->MaxRays);
Polyhedron_Print(stdout, P_VALUE_FMT, C);
Polyhedron_Free(C);
Polyhedron_Free(B);
break;
case 2:
Polyhedron_Print(stdout, P_VALUE_FMT, A);
for (j = 0; j < A->NbRays; ++j) {
B = supporting_cone(A, j);
Polyhedron_Print(stdout, P_VALUE_FMT, B);
Polyhedron_Free(B);
}
break;
case 3:
Polyhedron_Print(stdout, P_VALUE_FMT, A);
C = B = NULL;
barvinok_decompose(A,&B,&C);
puts("Pos:");
Polyhedron_Print(stdout, P_VALUE_FMT, B);
puts("Neg:");
Polyhedron_Print(stdout, P_VALUE_FMT, C);
Domain_Free(B);
Domain_Free(C);
break;
case 4: {
Value cm, cb;
struct tms tms_before, tms_between, tms_after;
value_init(cm);
value_init(cb);
Polyhedron_Print(stdout, P_VALUE_FMT, A);
times(&tms_before);
manual_count(A, &cm);
times(&tms_between);
barvinok_count(A, &cb, 100);
times(&tms_after);
printf("manual: ");
value_print(stdout, P_VALUE_FMT, cm);
puts("");
time_diff(&tms_before, &tms_between);
printf("Barvinok: ");
value_print(stdout, P_VALUE_FMT, cb);
puts("");
time_diff(&tms_between, &tms_after);
value_clear(cm);
value_clear(cb);
break;
}
case 5:
Polyhedron_Print(stdout, P_VALUE_FMT, A);
B = triangulate_cone(A, 100);
Polyhedron_Print(stdout, P_VALUE_FMT, B);
check_triangulization(A, B);
Domain_Free(B);
break;
case 6:
Polyhedron_Print(stdout, P_VALUE_FMT, A);
B = remove_equalities(A, options->MaxRays);
Polyhedron_Print(stdout, P_VALUE_FMT, B);
Polyhedron_Free(B);
break;
case 8: {
evalue *EP;
Matrix *M = Matrix_Read();
const char **param_name;
C = Constraints2Polyhedron(M, options->MaxRays);
Matrix_Free(M);
Polyhedron_Print(stdout, P_VALUE_FMT, A);
Polyhedron_Print(stdout, P_VALUE_FMT, C);
EP = barvinok_enumerate_with_options(A, C, options);
param_name = Read_ParamNames(stdin, C->Dimension);
print_evalue(stdout, EP, (const char**)param_name);
evalue_free(EP);
Polyhedron_Free(C);
}
case 9:
Polyhedron_Print(stdout, P_VALUE_FMT, A);
Polyhedron_Polarize(A);
C = B = NULL;
barvinok_decompose(A,&B,&C);
for (D = B; D; D = D->next)
Polyhedron_Polarize(D);
for (D = C; D; D = D->next)
Polyhedron_Polarize(D);
puts("Pos:");
Polyhedron_Print(stdout, P_VALUE_FMT, B);
puts("Neg:");
Polyhedron_Print(stdout, P_VALUE_FMT, C);
Domain_Free(B);
Domain_Free(C);
break;
case 10: {
evalue *EP;
Value cb, ck;
value_init(cb);
value_init(ck);
fgets(s, 128, stdin);
sscanf(s, "%d", &n);
for (j = 0; j < n; ++j) {
Polyhedron *P;
M = Matrix_Read();
P = Constraints2Polyhedron(M, options->MaxRays);
Matrix_Free(M);
A = DomainConcat(P, A);
}
fgets(s, 128, stdin);
/* workaround for apparent bug in older gmps */
*strchr(s, '\n') = '\0';
while ((*s=='#') || (value_read(ck, s) != 0)) {
fgets(s, 128, stdin);
/* workaround for apparent bug in older gmps */
*strchr(s, '\n') = '\0';
}
C = Universe_Polyhedron(0);
EP = barvinok_enumerate_union(A, C, options->MaxRays);
value_set_double(cb, compute_evalue(EP, &ck)+.25);
if (value_ne(cb, ck))
return -1;
Domain_Free(C);
value_clear(cb);
value_clear(ck);
evalue_free(EP);
break;
}
case 11: {
isl_space *dim;
isl_basic_set *bset;
isl_pw_qpolynomial *expected, *computed;
unsigned nparam;
expected = isl_pw_qpolynomial_read_from_file(ctx, stdin);
nparam = isl_pw_qpolynomial_dim(expected, isl_dim_param);
dim = isl_space_set_alloc(ctx, nparam, A->Dimension - nparam);
bset = isl_basic_set_new_from_polylib(A, dim);
computed = isl_basic_set_lattice_width(bset);
computed = isl_pw_qpolynomial_sub(computed, expected);
if (!isl_pw_qpolynomial_is_zero(computed))
return -1;
isl_pw_qpolynomial_free(computed);
break;
}
case 12: {
Vector *sample;
int has_sample;
fgets(s, 128, stdin);
sscanf(s, "%d", &has_sample);
sample = Polyhedron_Sample(A, options);
if (!sample && has_sample)
return -1;
if (sample && !has_sample)
return -1;
if (sample && !in_domain(A, sample->p))
return -1;
Vector_Free(sample);
}
}
Domain_Free(A);
}
for (i = 0; i < nbVec; ++i) {
int ok;
Vector *V = Vector_Read();
Matrix *M = Matrix_Alloc(V->Size, V->Size);
Vector_Copy(V->p, M->p[0], V->Size);
ok = unimodular_complete(M, 1);
assert(ok);
Matrix_Print(stdout, P_VALUE_FMT, M);
Matrix_Free(M);
Vector_Free(V);
}
for (i = 0; i < nbMat; ++i) {
Matrix *U, *V, *S;
Matrix *M = Matrix_Read();
Smith(M, &U, &V, &S);
Matrix_Print(stdout, P_VALUE_FMT, U);
Matrix_Print(stdout, P_VALUE_FMT, V);
Matrix_Print(stdout, P_VALUE_FMT, S);
Matrix_Free(M);
Matrix_Free(U);
Matrix_Free(V);
Matrix_Free(S);
}
isl_ctx_free(ctx);
return 0;
}
/** Removes the equalities that involve only parameters, by eliminating some
* parameters in the polyhedron's constraints and in the context.<p>
* <b>Updates M and Ctxt.</b>
* @param M1 the polyhedron's constraints
* @param Ctxt1 the constraints of the polyhedron's context
* @param renderSpace tells if the returned equalities must be expressed in the
* parameters space (renderSpace=0) or in the combined var/parms space
* (renderSpace = 1)
* @param elimParms the list of parameters that have been removed: an array
* whose 1st element is the number of elements in the list. (returned)
* @return the system of equalities that involve only parameters.
*/
Matrix * Constraints_Remove_parm_eqs(Matrix ** M1, Matrix ** Ctxt1,
int renderSpace,
unsigned int ** elimParms) {
int i, j, k, nbEqsParms =0;
int nbEqsM, nbEqsCtxt, allZeros, nbTautoM = 0, nbTautoCtxt = 0;
Matrix * M = (*M1);
Matrix * Ctxt = (*Ctxt1);
int nbVars = M->NbColumns-Ctxt->NbColumns;
Matrix * Eqs;
Matrix * EqsMTmp;
/* 1- build the equality matrix(ces) */
nbEqsM = 0;
for (i=0; i< M->NbRows; i++) {
k = First_Non_Zero(M->p[i], M->NbColumns);
/* if it is a tautology, count it as such */
if (k==-1) {
nbTautoM++;
}
else {
/* if it only involves parameters, count it */
if (k>= nbVars+1) nbEqsM++;
}
}
nbEqsCtxt = 0;
for (i=0; i< Ctxt->NbRows; i++) {
if (value_zero_p(Ctxt->p[i][0])) {
if (First_Non_Zero(Ctxt->p[i], Ctxt->NbColumns)==-1) {
nbTautoCtxt++;
}
else {
nbEqsCtxt ++;
}
}
}
nbEqsParms = nbEqsM + nbEqsCtxt;
/* nothing to do in this case */
if (nbEqsParms+nbTautoM+nbTautoCtxt==0) {
(*elimParms) = (unsigned int*) malloc(sizeof(int));
(*elimParms)[0] = 0;
if (renderSpace==0) {
return Matrix_Alloc(0,Ctxt->NbColumns);
}
else {
return Matrix_Alloc(0,M->NbColumns);
}
}
Eqs= Matrix_Alloc(nbEqsParms, Ctxt->NbColumns);
EqsMTmp= Matrix_Alloc(nbEqsParms, M->NbColumns);
/* copy equalities from the context */
k = 0;
for (i=0; i< Ctxt->NbRows; i++) {
if (value_zero_p(Ctxt->p[i][0])
&& First_Non_Zero(Ctxt->p[i], Ctxt->NbColumns)!=-1) {
Vector_Copy(Ctxt->p[i], Eqs->p[k], Ctxt->NbColumns);
Vector_Copy(Ctxt->p[i]+1, EqsMTmp->p[k]+nbVars+1,
Ctxt->NbColumns-1);
k++;
}
}
for (i=0; i< M->NbRows; i++) {
j=First_Non_Zero(M->p[i], M->NbColumns);
/* copy equalities that involve only parameters from M */
if (j>=nbVars+1) {
Vector_Copy(M->p[i]+nbVars+1, Eqs->p[k]+1, Ctxt->NbColumns-1);
Vector_Copy(M->p[i]+nbVars+1, EqsMTmp->p[k]+nbVars+1,
Ctxt->NbColumns-1);
/* mark these equalities for removal */
value_set_si(M->p[i][0], 2);
k++;
}
/* mark the all-zero equalities for removal */
if (j==-1) {
value_set_si(M->p[i][0], 2);
}
}
/* 2- eliminate parameters until all equalities are used or until we find a
contradiction (overconstrained system) */
(*elimParms) = (unsigned int *) malloc((Eqs->NbRows+1) * sizeof(int));
(*elimParms)[0] = 0;
allZeros = 0;
for (i=0; i< Eqs->NbRows; i++) {
/* find a variable that can be eliminated */
k = First_Non_Zero(Eqs->p[i], Eqs->NbColumns);
if (k!=-1) { /* nothing special to do for tautologies */
/* if there is a contradiction, return empty matrices */
if (k==Eqs->NbColumns-1) {
printf("Contradiction in %dth row of Eqs: ",k);
show_matrix(Eqs);
Matrix_Free(Eqs);
Matrix_Free(EqsMTmp);
(*M1) = Matrix_Alloc(0, M->NbColumns);
Matrix_Free(M);
(*Ctxt1) = Matrix_Alloc(0,Ctxt->NbColumns);
Matrix_Free(Ctxt);
free(*elimParms);
(*elimParms) = (unsigned int *) malloc(sizeof(int));
(*elimParms)[0] = 0;
if (renderSpace==1) {
return Matrix_Alloc(0,(*M1)->NbColumns);
}
else {
return Matrix_Alloc(0,(*Ctxt1)->NbColumns);
}
}
/* if we have something we can eliminate, do it in 3 places:
Eqs, Ctxt, and M */
else {
k--; /* k is the rank of the variable, now */
(*elimParms)[0]++;
(*elimParms)[(*elimParms[0])]=k;
for (j=0; j< Eqs->NbRows; j++) {
if (i!=j) {
eliminate_var_with_constr(Eqs, i, Eqs, j, k);
eliminate_var_with_constr(EqsMTmp, i, EqsMTmp, j, k+nbVars);
}
}
for (j=0; j< Ctxt->NbRows; j++) {
if (value_notzero_p(Ctxt->p[i][0])) {
eliminate_var_with_constr(Eqs, i, Ctxt, j, k);
}
}
for (j=0; j< M->NbRows; j++) {
if (value_cmp_si(M->p[i][0], 2)) {
eliminate_var_with_constr(EqsMTmp, i, M, j, k+nbVars);
}
}
}
}
/* if (k==-1): count the tautologies in Eqs to remove them later */
else {
allZeros++;
}
}
/* elimParms may have been overallocated. Now we know how many parms have
been eliminated so we can reallocate the right amount of memory. */
if (!realloc((*elimParms), ((*elimParms)[0]+1)*sizeof(int))) {
fprintf(stderr, "Constraints_Remove_parm_eqs > cannot realloc()");
}
Matrix_Free(EqsMTmp);
/* 3- remove the "bad" equalities from the input matrices
and copy the equalities involving only parameters */
EqsMTmp = Matrix_Alloc(M->NbRows-nbEqsM-nbTautoM, M->NbColumns);
k=0;
for (i=0; i< M->NbRows; i++) {
if (value_cmp_si(M->p[i][0], 2)) {
Vector_Copy(M->p[i], EqsMTmp->p[k], M->NbColumns);
k++;
}
}
Matrix_Free(M);
(*M1) = EqsMTmp;
EqsMTmp = Matrix_Alloc(Ctxt->NbRows-nbEqsCtxt-nbTautoCtxt, Ctxt->NbColumns);
k=0;
for (i=0; i< Ctxt->NbRows; i++) {
if (value_notzero_p(Ctxt->p[i][0])) {
Vector_Copy(Ctxt->p[i], EqsMTmp->p[k], Ctxt->NbColumns);
k++;
}
}
Matrix_Free(Ctxt);
(*Ctxt1) = EqsMTmp;
if (renderSpace==0) {/* renderSpace=0: equalities in the parameter space */
EqsMTmp = Matrix_Alloc(Eqs->NbRows-allZeros, Eqs->NbColumns);
k=0;
for (i=0; i<Eqs->NbRows; i++) {
if (First_Non_Zero(Eqs->p[i], Eqs->NbColumns)!=-1) {
Vector_Copy(Eqs->p[i], EqsMTmp->p[k], Eqs->NbColumns);
k++;
}
}
}
else {/* renderSpace=1: equalities rendered in the combined space */
EqsMTmp = Matrix_Alloc(Eqs->NbRows-allZeros, (*M1)->NbColumns);
k=0;
for (i=0; i<Eqs->NbRows; i++) {
if (First_Non_Zero(Eqs->p[i], Eqs->NbColumns)!=-1) {
Vector_Copy(Eqs->p[i], &(EqsMTmp->p[k][nbVars]), Eqs->NbColumns);
k++;
}
}
}
Matrix_Free(Eqs);
Eqs = EqsMTmp;
return Eqs;
} /* Constraints_Remove_parm_eqs */
void State_ParkourController_Shoot(GObject* obj, State* state)
{
//Get the members of the state
struct State_ParkourController_Members* members = (struct State_ParkourController_Members*)state->members;
//Get a reference to the camera
Camera* cam = RenderingManager_GetRenderingBuffer()->camera;
if(InputManager_GetInputBuffer().mouseLock)
{
//IF we can shoot again
if(members->shootTimer >= members->shootCooldown)
{
//Get the forward vector of the camera
Vector direction;
Vector_INIT_ON_STACK(direction, 3);
Matrix_SliceRow(&direction, cam->rotationMatrix, 2, 0, 3);
Vector_Scale(&direction, -1.0f);
//Create the bullet object
GObject* bullet = GObject_Allocate();
GObject_Initialize(bullet);
//Set the appearance
bullet->mesh = AssetManager_LookupMesh("Cube");
//bullet->texture = AssetManager_LookupTexture("White");
bullet->material = Material_Allocate();
Material_Initialize(bullet->material, AssetManager_LookupTexture("Jacob"));
//*Matrix_Index(bullet->material->colorMatrix, 1, 1) = 0.0f;
//*Matrix_Index(bullet->material->colorMatrix, 2, 2) = 0.0f;
//Create ridgid body
bullet->body = RigidBody_Allocate();
RigidBody_Initialize(bullet->body, bullet->frameOfReference, 1.0f);
bullet->body->coefficientOfRestitution = 0.2f;
bullet->body->rollingResistance = 0.2f;
bullet->body->staticFriction = 0.4f;
bullet->body->dynamicFriction = 0.2f;
//Create collider
bullet->collider = Collider_Allocate();
ConvexHullCollider_Initialize(bullet->collider);
ConvexHullCollider_MakeRectangularCollider(bullet->collider->data->convexHullData, 2.0f, 2.0f, 2.0f);
//Position bullet
Vector transform;
Vector_INIT_ON_STACK(transform, 3);
Vector_GetScalarProduct(&transform, &direction, 2.8243f);
Vector_Increment(&transform, obj->frameOfReference->position);
GObject_Translate(bullet, &transform);
Vector_Copy(&transform, &Vector_ZERO);
transform.components[2] = 1.0f;
GObject_Rotate(bullet, &transform, 3.14159f);
//Scale bullet
Vector_Copy(&transform, &Vector_ZERO);
transform.components[0] = transform.components[1] = transform.components[2] = 0.5f;
GObject_Scale(bullet, &transform);
//Apply impulse
Vector_Scale(&direction, 25.0f);
RigidBody_ApplyImpulse(bullet->body, &direction, &Vector_ZERO);
//Add the remove state
State* state = State_Allocate();
State_Remove_Initialize(state, 7.0f);
GObject_AddState(bullet, state);
//Add the bullet to the world
ObjectManager_AddObject(bullet);
//Set shoot timer to 0
members->shootTimer = 0.0f;
}
}
}
//*************************************************************************************
// Checks is a triangle of a physical object is colliding a triangle
//*************************************************************************************
BOOL IsObjectVertexCollidingTriangle(EERIE_3DOBJ * obj, EERIE_3D * verts, long k, long * validd)
{
EERIE_TRI t1, t2;
BOOL ret = FALSE;
memcpy(&t2, verts, sizeof(EERIE_3D) * 3);
PHYSVERT * vert = obj->pbox->vert;
EERIE_3D center;
center.x = (verts[0].x + verts[1].x + verts[2].x) * DIV3;
center.y = (verts[0].y + verts[1].y + verts[2].y) * DIV3;
center.z = (verts[0].z + verts[1].z + verts[2].z) * DIV3;
float rad = EEDistance3D(¢er, &verts[0]);
if (k == -1)
{
long nn = 0;
for (; nn < obj->pbox->nb_physvert; nn++)
{
if (EEDistance3D(¢er, &vert[nn].pos) <= __max(60, rad + 25))
{
nn = 1000;
}
}
if (nn < 1000)
return FALSE;
}
else
{
if (EEDistance3D(¢er, &vert[k].pos) > rad + 25)
return FALSE;
}
//TOP
if ((k == -1) || (k == 1) || (k == 2) || (k == 3))
{
Vector_Copy(&t1.v[0], &vert[1].pos);
Vector_Copy(&t1.v[1], &vert[2].pos);
Vector_Copy(&t1.v[2], &vert[3].pos);
PHYS_COLLIDER = 1;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[1] = 0;
validd[2] = 0;
validd[3] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 1) || (k == 4) || (k == 3))
{
Vector_Copy(&t1.v[0], &vert[3].pos);
Vector_Copy(&t1.v[1], &vert[4].pos);
Vector_Copy(&t1.v[2], &vert[1].pos);
PHYS_COLLIDER = 1;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[1] = 0;
validd[3] = 0;
validd[4] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//BOTTOM
if ((k == -1) || (k == 9) || (k == 10) || (k == 12))
{
Vector_Copy(&t1.v[0], &vert[10].pos);
Vector_Copy(&t1.v[1], &vert[9].pos);
Vector_Copy(&t1.v[2], &vert[11].pos);
PHYS_COLLIDER = 9;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[0] = 0;
validd[10] = 0;
validd[12] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 10) || (k == 11) || (k == 12))
{
Vector_Copy(&t1.v[0], &vert[9].pos);
Vector_Copy(&t1.v[1], &vert[12].pos);
Vector_Copy(&t1.v[2], &vert[11].pos);
PHYS_COLLIDER = 10;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[10] = 0;
validd[11] = 0;
validd[12] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//UP/FRONT
if ((k == -1) || (k == 1) || (k == 4) || (k == 5))
{
Vector_Copy(&t1.v[0], &vert[1].pos);
Vector_Copy(&t1.v[1], &vert[4].pos);
Vector_Copy(&t1.v[2], &vert[5].pos);
PHYS_COLLIDER = 4;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[1] = 0;
validd[4] = 0;
validd[5] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 4) || (k == 5) || (k == 8))
{
Vector_Copy(&t1.v[0], &vert[4].pos);
Vector_Copy(&t1.v[1], &vert[8].pos);
Vector_Copy(&t1.v[2], &vert[5].pos);
PHYS_COLLIDER = 5;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[4] = 0;
validd[5] = 0;
validd[8] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//DOWN/FRONT
if ((k == -1) || (k == 5) || (k == 8) || (k == 9))
{
Vector_Copy(&t1.v[0], &vert[5].pos);
Vector_Copy(&t1.v[1], &vert[8].pos);
Vector_Copy(&t1.v[2], &vert[9].pos);
PHYS_COLLIDER = 8;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[5] = 0;
validd[8] = 0;
validd[9] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 8) || (k == 12) || (k == 9))
{
Vector_Copy(&t1.v[0], &vert[8].pos);
Vector_Copy(&t1.v[1], &vert[12].pos);
Vector_Copy(&t1.v[2], &vert[9].pos);
PHYS_COLLIDER = 12;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[8] = 0;
validd[12] = 0;
validd[9] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//UP/BACK
if ((k == -1) || (k == 3) || (k == 2) || (k == 7))
{
Vector_Copy(&t1.v[0], &vert[3].pos);
Vector_Copy(&t1.v[1], &vert[2].pos);
Vector_Copy(&t1.v[2], &vert[7].pos);
PHYS_COLLIDER = 3;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[3] = 0;
validd[2] = 0;
validd[7] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 2) || (k == 6) || (k == 7))
{
Vector_Copy(&t1.v[0], &vert[2].pos);
Vector_Copy(&t1.v[1], &vert[6].pos);
Vector_Copy(&t1.v[2], &vert[7].pos);
PHYS_COLLIDER = 2;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[2] = 0;
validd[6] = 0;
validd[7] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//DOWN/BACK
if ((k == -1) || (k == 7) || (k == 6) || (k == 11))
{
Vector_Copy(&t1.v[0], &vert[7].pos);
Vector_Copy(&t1.v[1], &vert[6].pos);
Vector_Copy(&t1.v[2], &vert[11].pos);
PHYS_COLLIDER = 7;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[6] = 0;
validd[7] = 0;
validd[11] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 6) || (k == 10) || (k == 11))
{
Vector_Copy(&t1.v[0], &vert[6].pos);
Vector_Copy(&t1.v[1], &vert[10].pos);
Vector_Copy(&t1.v[2], &vert[11].pos);
PHYS_COLLIDER = 6;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[6] = 0;
validd[10] = 0;
validd[11] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//UP/LEFT
if ((k == -1) || (k == 1) || (k == 2) || (k == 6))
{
Vector_Copy(&t1.v[0], &vert[6].pos);
Vector_Copy(&t1.v[1], &vert[2].pos);
Vector_Copy(&t1.v[2], &vert[1].pos);
PHYS_COLLIDER = 2;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[1] = 0;
validd[2] = 0;
validd[6] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 1) || (k == 5) || (k == 6))
{
Vector_Copy(&t1.v[0], &vert[1].pos);
Vector_Copy(&t1.v[1], &vert[5].pos);
Vector_Copy(&t1.v[2], &vert[6].pos);
PHYS_COLLIDER = 5;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[1] = 0;
validd[5] = 0;
validd[6] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//DOWN/LEFT
if ((k == -1) || (k == 10) || (k == 6) || (k == 5))
{
Vector_Copy(&t1.v[0], &vert[10].pos);
Vector_Copy(&t1.v[1], &vert[6].pos);
Vector_Copy(&t1.v[2], &vert[5].pos);
PHYS_COLLIDER = 6;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[10] = 0;
validd[6] = 0;
validd[5] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 5) || (k == 9) || (k == 10))
{
Vector_Copy(&t1.v[0], &vert[5].pos);
Vector_Copy(&t1.v[1], &vert[9].pos);
Vector_Copy(&t1.v[2], &vert[10].pos);
PHYS_COLLIDER = 5;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[5] = 0;
validd[9] = 0;
validd[10] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//UP/RIGHT
if ((k == -1) || (k == 4) || (k == 3) || (k == 7))
{
Vector_Copy(&t1.v[0], &vert[4].pos);
Vector_Copy(&t1.v[1], &vert[3].pos);
Vector_Copy(&t1.v[2], &vert[7].pos);
PHYS_COLLIDER = 4;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[3] = 0;
validd[4] = 0;
validd[7] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 7) || (k == 8) || (k == 4))
{
Vector_Copy(&t1.v[0], &vert[7].pos);
Vector_Copy(&t1.v[1], &vert[8].pos);
Vector_Copy(&t1.v[2], &vert[4].pos);
PHYS_COLLIDER = 7;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[4] = 0;
validd[7] = 0;
validd[8] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
//DOWN/RIGHT
if ((k == -1) || (k == 8) || (k == 7) || (k == 11))
{
Vector_Copy(&t1.v[0], &vert[8].pos);
Vector_Copy(&t1.v[1], &vert[7].pos);
Vector_Copy(&t1.v[2], &vert[11].pos);
PHYS_COLLIDER = 8;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[7] = 0;
validd[8] = 0;
validd[11] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#if FULLTESTS==TRUE
if ((k == -1) || (k == 11) || (k == 12) || (k == 8))
{
Vector_Copy(&t1.v[0], &vert[11].pos);
Vector_Copy(&t1.v[1], &vert[12].pos);
Vector_Copy(&t1.v[2], &vert[8].pos);
PHYS_COLLIDER = 11;
if (Triangles_Intersect(&t1, &t2))
{
if (validd)
{
validd[8] = 0;
validd[11] = 0;
validd[12] = 0;
ret = TRUE;
}
else return TRUE;
}//MAKE_COLL_TEST
}
#endif
return ret;
}