void AITurretShape::_setScanBox()
{
mTransformedScanBox = mScanBox;
MatrixF mat;
getScanTransform(mat);
mat.mul(mTransformedScanBox);
}
void AITurretShape::_performScan()
{
// Only on server
if (isClientObject())
return;
// Are we ready for a scan?
--mTicksToNextScan;
if (mTicksToNextScan > 0)
return;
_cleanupPotentialTargets();
_setScanBox();
// Set up for the scan
getScanTransform(mScanWorkspaceScanMat);
mScanWorkspaceScanWorldMat = mScanWorkspaceScanMat;
mScanWorkspaceScanWorldMat.affineInverse();
disableCollision();
for ( SimSetIterator iter(&mIgnoreObjects); *iter; ++iter )
{
ShapeBase* obj = static_cast<ShapeBase*>( *iter );
obj->disableCollision();
}
gServerContainer.findObjects( mTransformedScanBox, sScanTypeMask, _scanCallback, (void*)this );
for ( SimSetIterator iter(&mIgnoreObjects); *iter; ++iter )
{
ShapeBase* obj = static_cast<ShapeBase*>( *iter );
obj->enableCollision();
}
enableCollision();
if (mPotentialTargets.size() == 0)
{
// No targets in range. Clear out our current target, if necessary.
_lostTarget();
}
else
{
// Sort the targets
comparePoint = getPosition();
dQsort(mPotentialTargets.address(),mPotentialTargets.size(),sizeof(SimObjectList::value_type),_sortCallback);
// Go through the targets in order to find one that is not blocked from view
Point3F start;
mScanWorkspaceScanMat.getColumn(3, &start);
S32 index = 0;
bool los = false;
disableCollision();
for (index=0; index < mPotentialTargets.size(); ++index)
{
ShapeBase* shape = (ShapeBase*)mPotentialTargets[index];
Point3F sightPoint;
los = _testTargetLineOfSight(start, shape, sightPoint);
// Check if we have a clear line of sight
if (los)
break;
}
enableCollision();
// If we found a valid, visible target (no hits between here and there), latch on to it
if (los)
{
_gainedTarget((ShapeBase*)mPotentialTargets[index]);
}
}
// Prepare for next scan period
mTicksToNextScan = mScanTickFrequency;
if (mScanTickFrequencyVariance > 0)
{
mTicksToNextScan += gRandGen.randI(0, mScanTickFrequencyVariance);
}
}
void qtUnwrap(Mapa &m, int i, int j, int ancho){
suma_t suma;
if (ancho == 2){
suma = suma_t(thresshold(0.5,m.getElem(i ,j )-m.getElem((i ),(j+1))),
thresshold(0.5,m.getElem(i ,j+1)-m.getElem((i+1),(j+1))),
thresshold(0.5,m.getElem(i+1,j+1)-m.getElem((i+1),(j ))),
thresshold(0.5,m.getElem(i+1,j )-m.getElem((i ),(j ))));
transformacion_t t = getScanTransform (suma);
// cout << "para [" << i << "," << j << "] suma: " << suma << " t: " << t << endl;
m.setElem( i , j+1, m.getElem(i ,j+1) + t[0] ); // up right
m.setElem( i+1, j , m.getElem(i+1,j ) + t[1] ); // down left
m.setElem( i+1, j+1, m.getElem(i+1,j+1) + t[2] ); // down right
}
else{ /* ancho variable */
int medio = ancho/2;
int *unoDos = (int*)malloc (medio*sizeof(int));
int *dosCuatro = (int*)malloc (medio*sizeof(int));
int *cuatroTres= (int*)malloc (medio*sizeof(int));
int *tresUno = (int*)malloc (medio*sizeof(int));
// define las fronteras
int f1 = medio-1;
int f2 = medio;
for (int e =0; e <medio; e++){
unoDos[e] =thresshold(0.5,m.getElem(i+e ,j+f1)-
m.getElem(i+e,j+f2));
}
for (int e =0; e <medio; e++){
dosCuatro[e] =thresshold(0.5,m.getElem(i+f1,j+f2+e)-
m.getElem(i+f2,j+f2+e));
}
for (int e =0; e <medio; e++){
cuatroTres[e]=thresshold(0.5, m.getElem(i+f2+e,j+f2)-
m.getElem(i+f2+e,j+f1));
}
for (int e =0; e <medio; e++){
tresUno[e] =thresshold(0.5, m.getElem(i+f2 ,j+e)-
m.getElem(i+f1, j+e));
}
suma.setZero();
for (int n= 0; n < medio; n++){
suma[0] += unoDos [n];
suma[1] += dosCuatro [n];
suma[2] += cuatroTres[n];
suma[3] += tresUno [n];
}
suma[0] = thresshold(0.5, (suma[0])/medio);
suma[1] = thresshold(0.5, (suma[1])/medio);
suma[2] = thresshold(0.5, (suma[2])/medio);
suma[3] = thresshold(0.5, (suma[3])/medio);
transformacion_t t = getScanTransform(suma);
cout << "for [" << i << "," << j << "] sum: " <<
suma << " t: " << t << endl;
// aplicar transformación:
for (int a =0; a <medio; a++){
for (int b =0; b <medio; b++){
m.setElem(i+a, j+medio+b, m.getElem(i+a,j+medio+b) + t[0]);
}
}
for (int a =0; a <medio; a++){
for (int b =0; b <medio; b++){
m.setElem(i+medio+a, j+b, m.getElem(i+medio+a,j+b) + t[1]);
}
}
for (int a =0; a <medio; a++){
for (int b =0; b <medio; b++){
m.setElem(i+medio+a, j+medio+b, m.getElem(i+medio+a,j+medio+b) + t[2]);
}
}
free(unoDos);
free(dosCuatro);
free(cuatroTres);
free(tresUno);
}
}
