fan_sensor(phys_sensor_defn const& defn):
m_angle(defn.orientation),
m_count(0)
{
const int SegmentsPerQuadrant = 8;
auto fan_data = boost::any_cast<fan_sensor_data>(defn.type_specific);
const size_t num_segments = (int)std::ceil(SegmentsPerQuadrant * fan_data.field_of_view / (b2_pi / 2));
const size_t max_segments_per_poly = b2_maxPolygonVertices - 2;
const size_t num_polys = num_segments / max_segments_per_poly + (num_segments % max_segments_per_poly > 0 ? 1 : 0);
size_t segment_idx = 0;
for(size_t i = 0; i < num_polys; ++i)
{
std::vector< b2Vec2 > points;
points.emplace_back(b2Vec2{ 0.f, 0.f });
b2Vec2 base(0.f, defn.range);
base = b2Mul(b2Rot(-fan_data.field_of_view / 2), base);
points.emplace_back(b2Mul(b2Rot(fan_data.field_of_view * segment_idx / num_segments), base));
auto end = std::min(segment_idx + max_segments_per_poly, num_segments);
for(; segment_idx < end; ++segment_idx)
{
points.emplace_back(b2Mul(b2Rot(fan_data.field_of_view * (segment_idx + 1) / num_segments), base));
}
b2FixtureDef fd;
b2PolygonShape poly;
transform_points(points, b2Transform(defn.pos, b2Rot(defn.orientation)));
poly.Set(points.data(), points.size());
fd.shape = &poly;
fd.isSensor = true;
//fd.filter
auto fix = defn.body->CreateFixture(&fd);
set_fixture_data(fix, entity_fix_data{
entity_fix_data::Type::Sensor,
entity_fix_data::val_t{ static_cast<contact_based_sensor*>(this) }
});
}
}
// this function returns -1 if two objects has collision
// And otherwise returns the distance
float PlanningProblem::distToObstacle(Station A, const Obstacle &ob, b2Vec2& A_point, b2Vec2& ob_point)
{
b2DistanceProxy state_proxy, ob_proxy;
state_proxy.Set(agent->shape, 0);
ob_proxy.Set(ob.shape, 1);
b2DistanceInput dist_in;
dist_in.proxyA = state_proxy;
dist_in.proxyB = ob_proxy;
dist_in.transformA = b2Transform(A.getPosition().toB2vec2(),
b2Rot(A.getPosition().Teta()));
dist_in.transformB = ob.transform;
b2SimplexCache dist_cache;
dist_cache.count = 0;
b2DistanceOutput dis_out;
b2Distance(&dis_out, &dist_cache, &dist_in);
A_point = dis_out.pointA;
ob_point = dis_out.pointB;
if(hasCollision(A, ob)) {
return -1;
}
return dis_out.distance;
}
bool CoreShape_Imp::GetIsCollidedb2Shapes(CoreShape* shape)
{
auto shape_Imp = CoreShape2DToImp(shape);
for (auto selfShape : GetCollisionShapes())
{
for (auto theirsShape : shape_Imp->GetCollisionShapes())
{
b2Transform identity = b2Transform();
identity.SetIdentity();
bool isOverlap = b2TestOverlap(selfShape, 1, theirsShape, 1, identity, identity);
if (isOverlap)
{
return true;
}
}
}
return false;
}
void Personaje::leermovimiento(int direccion, int id_jugador){
if (this->nro_jugador == id_jugador && seleccionado[id_jugador]){
if (direccion == 3 && body->GetLinearVelocity().x < 0.7){ // para la derecha
dir_imagen = "TPTaller/imagenes/gusanitoderecha.png";
orientacion=1;
this->movio = 1;
this->mover(b2Vec2(2,0));
return;
}
if (direccion == 1 && body->GetLinearVelocity().x > -0.7 ){ // para la izquierda
dir_imagen = "TPTaller/imagenes/gusanitoizquierda.png";
orientacion=-1;
this->movio = 1;
this->mover(b2Vec2(-2,0));
return;
}
b2Vec2 posicion = this->getPosition();
b2CircleShape* over = new b2CircleShape();
over->m_radius = 0.0001;
b2Transform transformOver = b2Transform(posicion+b2Vec2(0,alto/2), b2Rot(0) );
b2World* mundo = body->GetWorld();
bool resultado;
for (b2Body* body_actual = mundo->GetBodyList()->GetNext(); body_actual; body_actual = body_actual->GetNext()){
if (body_actual->GetPosition() == body->GetPosition()) continue;
b2Transform transformada_actual = body_actual->GetTransform();
b2Fixture* fix = body_actual->GetFixtureList();
b2Shape* shape_actual = fix->GetShape();
resultado = b2TestOverlap(shape_actual,0, over , 0, transformada_actual, transformOver);
if (resultado) break;
}
if(over) delete over; over = NULL;
if((direccion == 2 && resultado) || ((direccion == 2) && (body->GetContactList() != NULL))){ // para arriba
this->mover(b2Vec2(0,-3));
this->salto = 1;
return;
}
if ( (direccion == 4 && body->GetLinearVelocity().x <0.7 ) && (body->GetContactList() != NULL) ){ // para arriba a la derecha
this->mover(b2Vec2(2,-3));
this->salto = 1;
// if(body->GetLinearVelocity().y == 0)
// this->mover(b2Vec2(2,-3));
// else
// this->mover(b2Vec2(1,-1));
// return;
}
if ( (direccion == 5 && body->GetLinearVelocity().x >-0.7 ) && (body->GetContactList() != NULL)){ // para arriba a la izq
this->mover(b2Vec2(-2,-3));
this->salto = 1;
// if(body->GetLinearVelocity().y == 0)
// this->mover(b2Vec2(-2,-3));
// else
// this->mover(b2Vec2(-1,-1));
// return;
}
if((direccion == 5) && (body->GetContactList() != NULL)){ // para arriba a la izq
this->mover(b2Vec2(-2,-3));
this->salto = 1;
}
}
}
void b2d_shape_test_point(int id, double sx, double sy, double sa, double px, double py)
{
get_shape(b2dshape, id);
b2dshape->shape->TestPoint(b2Transform(b2Vec2(sx, sy), b2Rot(sa)), b2Vec2(px, py));
}
