void ControlledTank::RotateHeadingByRadian(double radian, int sign)
{
//Clamp the amount to turn to the max turn rate.
if (radian > mMaxTurnRate)
radian = mMaxTurnRate;
else if(radian < -mMaxTurnRate)
radian = -mMaxTurnRate;
//IncrementTankRotationAngle(RadsToDegs(radian));
mRotationAngle += RadsToDegs(radian)*sign;
//Usee a rotation matrix to rotate the player's heading
C2DMatrix RotationMatrix;
//Calculate the direction of rotation.
RotationMatrix.Rotate(radian * sign);
//Get the new heading.
RotationMatrix.TransformVector2Ds(mHeading);
//cout << "RotateHeadingByRadian -- Heading x = " << mHeading.x << " y = " << mHeading.y << endl;
//Get the new velocity.
RotationMatrix.TransformVector2Ds(mVelocity);
//Side vector must always be perpendicular to the heading.
mSide = mHeading.Perp();
}
void B020612E_Steering::Vec2DRotateAroundOrigin(Vector2D& v, double ang)
{
//create a transformation matrix
C2DMatrix mat;
//rotate
mat.Rotate(ang);
//now transform the object's vertices
mat.TransformVector2Ds(v);
}
Vector2D B020612E_Steering::VectorToWorldSpace(const Vector2D &vec, const Vector2D &AgentHeading, const Vector2D &AgentSide)
{
//make a copy of the point
Vector2D TransVec = vec;
//create a transformation matrix
C2DMatrix matTransform;
//rotate
matTransform.Rotate(AgentHeading, AgentSide);
//now transform the vertices
matTransform.TransformVector2Ds(TransVec);
return TransVec;
}
void BaseTank::RotateManByRadian(double radian, int sign)
{
//Clamp the amount to turn to the max turn rate.
if (radian > mMaxTurnRate)
radian = mMaxTurnRate;
else if(radian < -mMaxTurnRate)
radian = -mMaxTurnRate;
IncrementManRotationAngle(RadsToDegs(radian*sign));
//Usee a rotation matrix to rotate the player's heading
C2DMatrix RotationMatrix;
//Calculate the direction of rotation.
RotationMatrix.Rotate(radian * sign);
//Get the new fire direction.
RotationMatrix.TransformVector2Ds(mManFireDirection);
}
Vector2D B020612E_Steering::PointToWorldSpace(const Vector2D &point, const Vector2D &AgentHeading, const Vector2D &AgentSide, const Vector2D &AgentPosition)
{
//make a copy of the point
Vector2D TransPoint = point;
//create a transformation matrix
C2DMatrix matTransform;
//rotate
matTransform.Rotate(AgentHeading, AgentSide);
//and translate
matTransform.Translate(AgentPosition.x, AgentPosition.y);
//now transform the vertices
matTransform.TransformVector2Ds(TransPoint);
return TransPoint;
}
Vector2D B020612E_Steering::PointToLocalSpace(const Vector2D &point, Vector2D &AgentHeading, Vector2D &AgentSide, Vector2D &AgentPosition)
{
//make a copy of the point
Vector2D TransPoint = point;
//create a transformation matrix
C2DMatrix matTransform;
double Tx = -AgentPosition.Dot(AgentHeading);
double Ty = -AgentPosition.Dot(AgentSide);
//create the transformation matrix
matTransform._11(AgentHeading.x); matTransform._12(AgentSide.x);
matTransform._21(AgentHeading.y); matTransform._22(AgentSide.y);
matTransform._31(Tx); matTransform._32(Ty);
//now transform the vertices
matTransform.TransformVector2Ds(TransPoint);
return TransPoint;
}
//------------------ RotateFacingTowardPosition -------------------------------
//
// given a target position, this method rotates the bot's facing vector
// by an amount not greater than m_dMaxTurnRate until it
// directly faces the target.
//
// returns true when the heading is facing in the desired direction
//----------------------------------------------------------------------------
bool Raven_Bot::RotateFacingTowardPosition(Vector2D target)
{
Vector2D toTarget = Vec2DNormalize(target - m_vPosition);
double dot = m_vFacing.Dot(toTarget);
//clamp to rectify any rounding errors
Clamp(dot, -1, 1);
//determine the angle between the heading vector and the target
double angle = acos(dot);
//return true if the bot's facing is within WeaponAimTolerance degs of
//facing the target
const double WeaponAimTolerance = 0.01; //2 degs approx
if (angle < WeaponAimTolerance)
{
m_vFacing = toTarget;
return true;
}
//clamp the amount to turn to the max turn rate
if (angle > m_dMaxTurnRate) angle = m_dMaxTurnRate;
//The next few lines use a rotation matrix to rotate the player's facing
//vector accordingly
C2DMatrix RotationMatrix;
//notice how the direction of rotation has to be determined when creating
//the rotation matrix
RotationMatrix.Rotate(angle * m_vFacing.Sign(toTarget));
RotationMatrix.TransformVector2Ds(m_vFacing);
return false;
}