void OBB::SetUpValue()
{
/* V1 V4 */
/* -------- */
/* | . | */
/* -------- */
/* V2 V3 */
// update mHalfextend
static Matrix Tran;
static Matrix InvRot;
static Matrix InvTran;
static Vector3 scale;
mRotation = cphysics->gameObject->transform->GetGlobalRotationMatrix();
Tran = cphysics->gameObject->transform->mTranslation;
Tran.m03 += cphysics->GetOffSetX();
Tran.m13 += cphysics->GetOffSetY();
InvRot = mRotation.Inverted();
InvTran = Tran.Inverted();
mWorld = Tran * mRotation;
mInvWorld = InvRot * InvTran;
scale = cphysics->gameObject->transform->scale;
float scalex = cphysics->mWidthScale;
float scaley = cphysics->mHeightScale;
mHalfextend[0].x = abs(scale.x) * 0.5f * scalex;
mHalfextend[1].y = abs(scale.y) * 0.5f * scaley;
// update center
mCenter = cphysics->GetPosition();
// update axis
Vector AxisX(1.0f,0,0,0);
Vector AxisY(0,1.0f,0,0);
static Vector newAxisX;
static Vector newAxisY;
newAxisX = mRotation * AxisX;
newAxisY = mRotation * AxisY;
newAxisX.Normalize();
newAxisY.Normalize();
mAxis[0] = newAxisX;
mAxis[1] = newAxisY;
// update four points
float halfX = GetHalfExtendX().x;
float halfY = GetHalfExtendY().y;
mPoints[0] = mCenter - mAxis[0] * halfX + mAxis[1] * halfY;
mPoints[1] = mCenter - mAxis[0] * halfX - mAxis[1] * halfY;
mPoints[2] = mCenter + mAxis[0] * halfX - mAxis[1] * halfY;
mPoints[3] = mCenter + mAxis[0] * halfX + mAxis[1] * halfY;
}
Matrix4x4 Frame::GetTransformationMatrix(const Date& t, const Frame& ref) const
{
Matrix4x4 transform = Matrix4x4::Zero;
Vector3 x = AxisX(t, ref);
Vector3 y = AxisY(t, ref);
Vector3 z = AxisZ(t, ref);
for(int row = 0; row < 3; row++)
{
transform.Set(row, 0, x[row]);
transform.Set(row, 1, y[row]);
transform.Set(row, 2, z[row]);
}
transform.Set(3, 3, 1.0);
return transform;
}
// 武器の移動(ブレード)
void CWeapon::Move() {
//ブレード左手に持たせる
if (blade_hand_chang==left_hand) {
CModelBone* b = Owner->GetBone(L"L_kobusi_Joint");
//順手持ち
if (blade_hold == blade_hold_normal) {
Rotation = RotationY(0.0f)*RotationX(-0.25f)*RotationY(-0.02f)*b->Rotation;
Position = b->Position + CVector(-0.05f, -0.3f, 0.12f)*b->Rotation;
}
//逆手持ち
if (blade_hold == blade_hold_reverse) {
Rotation = RotationY(-0.025f)*RotationX(-0.23f)*RotationY(-0.5f)*b->Rotation;
Position = b->Position + CVector(-0.05f, -0.3f, 0.12f)*b->Rotation;
}
}
//ブレード右手に持たせる
if (blade_hand_chang==right_hand) {
CModelBone* b = Owner->GetBone(L"R_kobusi_Joint");
//順手持ち
if (blade_hold == blade_hold_normal) {
Rotation = RotationY(0.0f)*RotationX(-0.25f)*RotationY(-0.02f)*b->Rotation;
Position = b->Position + CVector(-0.05f, -0.3f, 0.12f)*b->Rotation;
}
}
if (blade == blade_on) {
//ブレード出現
Color = CColor(1, 1, 1, 1.0f);
}
if (blade == blade_off) {
//ブレード出現
Color = CColor(1, 1, 1, 0.0f);
}
//ブレード光
EmissiveColor = CColor(1, 1, 1, 1);
//--------当たり判定-------------------------------------------------------------------------------------------------------
//クリア条件にになっていない
if (clear == clear_off) {
//ブレード出現中
if (blade == blade_on) {
//メカペン
CMover *HIT_ENEMY = NULL;
CMover *HIT_ENEMY3 = NULL;
EnemyList.Apply([&](CMover* e) {
CHit hit;
if (e->BladeHitState == 1) {
if (ENEMY_BLADE_HIT == 0 && hit.SegmentAndModel(Position, Position - AxisY() * 13.8f, e, e->Model)) { //中心・半径・ポインタ・アローモデル
HIT_ENEMY = e;
ENEMY_BLADE_HIT = 1;
}
if (ENEMY_BLADE_HIT == 1 && HIT_ENEMY) {
New<CEffect_zan_position>(CVector(HIT_ENEMY->Position.X, HIT_ENEMY->Position.Y, HIT_ENEMY->Position.Z));
HIT_ENEMY->Life -= 50.0f;
ENEMY_BLADE_HIT = 2;
Blade_hit_se();//ブレードヒット効果音
}
if (ENEMY_BLADE_HIT == 2 && !hit.SegmentAndModel(Position, Position - AxisY() * 13.8f, e, e->Model)) { //中心・半径・ポインタ・アローモデル
ENEMY_BLADE_HIT = 3;
}
if (ENEMY_BLADE_HIT == 3) {
ENEMY_TIME++;
if (ENEMY_TIME == 5) {
ENEMY_TIME = 0;
ENEMY_BLADE_HIT = 0;
}
}
}
});
//多脚ロボ
Enemy_takyakuList.Apply([&](CMover* et) {
CHit hit1;
if (et->BladeHitState == 1) {
if (ENEMY_BLADE_HIT2 == 0 && hit1.SegmentAndModel(Position, Position - AxisY() * 13.8f, et, et->Model)) { //中心・半径・ポインタ・アローモデル13.8
HIT_ENEMY = et;
ENEMY_BLADE_HIT2 = 1;
}
if (ENEMY_BLADE_HIT2 == 1 && HIT_ENEMY) {
New<CEffect_zan_position>(CVector(HIT_ENEMY->Position.X, HIT_ENEMY->Position.Y, HIT_ENEMY->Position.Z));
HIT_ENEMY->Life -= 50.0f;
ENEMY_BLADE_HIT2 = 2;
Blade_hit_se();//ブレードヒット効果音
}
if (ENEMY_BLADE_HIT2 == 2 && !hit1.SegmentAndModel(Position, Position - AxisY() * 13.8f, et, et->Model)) { //中心・半径・ポインタ・アローモデル
ENEMY_BLADE_HIT2 = 3;
}
if (ENEMY_BLADE_HIT2 == 3) {
ENEMY_TIME2++;
if (ENEMY_TIME2 == 10) {
ENEMY_TIME2 = 0;
ENEMY_BLADE_HIT2 = 0;
}
}
}
});
//BOSS
Enemy_BossList.Apply([&](CMover* eb) {
CHit hit2;
if (eb->BladeHitState == 1) {
if (ENEMY_BLADE_HIT3 == 0 && hit2.SegmentAndModel(Position, Position - AxisY() * 100.8f, eb, eb->Model)) { //中心・半径・ポインタ・アローモデル13.8
HIT_ENEMY3 = eb;
ENEMY_BLADE_HIT3 = 1;
}
if (ENEMY_BLADE_HIT3 == 1 && HIT_ENEMY3) {
New<CEffect_zan_position>(CVector(HIT_ENEMY3->Position.X, HIT_ENEMY3->Position.Y, HIT_ENEMY3->Position.Z));
HIT_ENEMY3->Life -= 50.0f;
Blade_hit_se();//ブレードヒット効果音
ENEMY_BLADE_HIT3 = 2;
}
if (ENEMY_BLADE_HIT3 == 2 && !hit2.SegmentAndModel(Position, Position - AxisY() * 100.8f, eb, eb->Model)) { //中心・半径・ポインタ・アローモデル
ENEMY_BLADE_HIT3 = 3;
}
if (ENEMY_BLADE_HIT3 == 3) {
ENEMY_TIME3++;
if (ENEMY_TIME3 == 10) {
ENEMY_TIME3 = 0;
ENEMY_BLADE_HIT3 = 0;
}
}
}
});
}
}
}
bool StudentLocalization::stepFindHead(const IntensityImage &image, FeatureMap &features) const {
Histogram AxisY(image, 50, 50, 0, 0, Axis::y);
//determine top of the head
int topHead = -1;
for (int i = 0; i < AxisY.getSize(); ++i) {
if (AxisY.getValue(i) > 2) {
topHead = i;
break;
}
}
if (topHead == -1) {
return false;
}
//determine sides
int lastLeftX = -1;
int lastRightX = -1;
for (int y = topHead; y < image.getHeight(); y += 20) {
Histogram layerX(image, 0, 0, y, (image.getHeight() - y - 20), Axis::x);
//determine leftside of the head
int leftX = -1;
for (int i = 0; i < layerX.getSize(); ++i) {
if (layerX.getValue(i) > 2) {
leftX = i;
break;
}
}
//determine rightside of the head
int rightX = -1;
for (int i = layerX.getSize() - 1; i >= 0 ; --i) {
if (layerX.getValue(i) > 2) {
rightX = i;
break;
}
}
// if not both sides are found skip the rest of the loop
if (leftX == -1 || rightX == -1) {
continue;
}
int currentHeadWidth = rightX - leftX;
int lastHeadWidth = lastRightX - lastLeftX;
if (currentHeadWidth < lastHeadWidth) {
Feature * headUpperBound = new Feature(Feature::FEATURE_HEAD_TOP, Point2D<double>(lastRightX - (currentHeadWidth / 2), topHead));
Feature * headLeftBound = new Feature(Feature::FEATURE_HEAD_LEFT_SIDE, Point2D<double>(lastLeftX, y));
Feature * headRightBound = new Feature(Feature::FEATURE_HEAD_RIGHT_SIDE, Point2D<double>(lastRightX, y));
features.putFeature(*headUpperBound);
features.putFeature(*headLeftBound);
features.putFeature(*headRightBound);
return true;
}
lastLeftX = leftX;
lastRightX = rightX;
}
return false;
}
