void Wall::Init(float x, float y, float z, int numOfBricks, int brickTexture, Terrain * terrain)
{
SetPosition(TVector(x,y,z));
for(int j = 0; j < sqrt(numOfBricks); j++ )
{
for(int i = 0; i < sqrt(numOfBricks); i++)
{
Brick *brick = new Brick();
bricks.push_back(brick);
brick->setTexture(brickTexture);
brick->setTerrain(terrain);
brick->setPosition(TVector(x, y + brick->height * j, z + brick->length * i ));
brick->setDirection(TVector(
float((rand()%50)-26.0f)*10.0f, // Random Speed On X Axis
float((rand()%50)-25.0f)*10.0f, // Random Speed On Y Axis
float((rand()%50)-25.0f)*10.0f // Random Speed On Z Axis
));
brick->setGravity(TVector(
0.0f, // Set Horizontal Pull To Zero
-0.8f, // Set Vertical Pull Downward
0.0f // Set Pull On Z Axis To Zero
));
}
}
}
void CPDRigid<T, D>::m_step()
{
T N_P = _P1.sum();
TVector mu_x = _data.transpose() * _PT1 / N_P;
TVector mu_y = _model.transpose() * _P1 / N_P;
TMatrixD X_hat = _data - TMatrix(TVector(_N).setOnes() * mu_x.transpose());
TMatrixD Y_hat = _model - TMatrix(TVector(_M).setOnes() * mu_y.transpose());
TMatrix A = (_PX-_P1*mu_x.transpose()).transpose() *
(_model - TMatrix(TVector(_M).setOnes() * mu_y.transpose()));
Eigen::JacobiSVD<TMatrix> svd(A, Eigen::ComputeThinU | Eigen::ComputeThinV);
TMatrix U = svd.matrixU();
TMatrix V = svd.matrixV();
T det_uv = TMatrix(U*V.transpose()).determinant();
TVector C(D);
C.setIdentity();
C(D-1) = det_uv;
_paras._R = U * C.asDiagonal() * V.transpose();
T s_upper = TMatrix(A.transpose()*_paras._R).trace();
T s_lower = TMatrix(Y_hat.transpose()*_P1.asDiagonal()*Y_hat).trace();
_paras._s = s_upper / s_lower;
_paras._t = mu_x - _paras._s * _paras._R * mu_y;
T tr_f = TMatrix(X_hat.transpose()*_PT1.asDiagonal()*X_hat).trace();
T tr_b = TMatrix(A.transpose()*_paras._R).trace();
_paras._sigma2 = (tr_f - _paras._s * tr_b) / (N_P * D);
}
TScalar TWood::wood (const TScalar ktX,
const TScalar ktY,
const TScalar ktZ,
const TScalar ktRINGSCALE,
const TScalar ktGRAINFACTOR) const
{
TVector tQ;
TScalar tT;
TScalar tR;
TScalar tS;
tT = ktZ / ktRINGSCALE;
tQ = TVector (ktX * 8.0, ktY * 8.0, ktZ);
tT += tNoise.noise (tQ) / 16.0;
tQ = TVector (ktX, tT, ktY + 12.93);
tR = ktRINGSCALE * tNoise.noise (tQ);
tR -= tfloor (tR);
tR = 0.2 + 0.8 * smoothstep (0.2, 0.55, tR) * (1.0 - smoothstep (0.75, 0.8, tR));
tQ = TVector (ktX * 128.0 + 5.0, ktZ * 8.0 - 3.0, ktY * 128.0 + 1);
tS = ktGRAINFACTOR * (1.3 - tNoise.noise (tQ)) + (1.0 - ktGRAINFACTOR);
return tR * tS * tS;
} /* wood */
// ----------------------------------------------------------------------
// CRainfall::ResetParticle
// Implementation of CParticleEngine::ResetParticle(GLint)
// ----------------------------------------------------------------------
//
void CRainfall::ResetParticle(GLint aIndex)
{
TParticle & Particle = iParticles[aIndex];
Particle.iPosition = TVector( iWidth * (Random() - 0.5f), 0, iDepth * (Random() - 0.5f)) + iPosition;
Particle.iVelocity = TVector( 0, randrange( -40.f, -20.f, iSeed ), 0);
}
CollisionBox::CollisionBox()
{
totalTimeLife = 0;
remainTimeLife =0;
xNormal = TVector(1.0, 0.0, 0.0);
yNormal = TVector(0.0, 1.0, 0.0);
zNormal = TVector(0.0, 0.0, 1.0);
angleWithX = 0.0;
life = false;
}
TVector CCharacter::GetGlobalGravity() const
{
if (GetGroundEntity())
return TVector();
return BaseClass::GetGlobalGravity();
}
TVector CCharacterCamera::GetThirdPersonCameraPosition()
{
CCharacter* pCharacter = m_hCharacter;
if (!pCharacter)
return TVector(10, 0, 0);
TVector vecEyeHeight = pCharacter->GetUpVector() * pCharacter->EyeHeight();
TMatrix mView = TMatrix(pCharacter->GetThirdPersonCameraAngles(), TVector());
TVector vecThird = pCharacter->GetGlobalTransform().GetTranslation() + vecEyeHeight;
vecThird -= Vector(mView.GetForwardVector()) * m_flBack;
vecThird += Vector(mView.GetUpVector()) * m_flUp;
vecThird += Vector(mView.GetLeftVector()) * m_flSide;
return vecThird;
}
TVector CCamera::GetCameraPosition()
{
if (m_bFreeMode)
return m_vecFreeCamera;
return TVector(30, 30, 30);
}
TVector CCamera::GetCameraTarget()
{
if (m_bFreeMode)
return m_vecFreeCamera + AngleVector(m_angFreeCamera);
return TVector(0,0,0);
}
void AirPlane::changeVelocityDirection(float newAngleWithX)
{
this->angleWithX = newAngleWithX;
float radAngle = M_PI*angleWithX/180.0;
collisionBox.updateCollisionBoxAngle(angleWithX);
this->velocity = TVector(velocityMag*cos(radAngle), 0.0, -velocityMag*sin(radAngle));
collisionBox.updateCollisionBoxAngle(angleWithX);
}
/* initialize variables */
void InitVars() {
int i;
/* create outer cylinder */
cyl1._Position = TVector(0,0,0);
cyl1._Axis = TVector(0,0,1);
cyl1._Radius = board_r - ball_r;
/* Set initial positions and velocities of balls */
ball_count = 3;
ball_vel[0] = veloc;
ball_pos[0] = TVector(-2,-1,ball_r);
ball_vel[1] = veloc;
ball_pos[1] = TVector(1,2,ball_r);
ball_vel[2] = veloc;
ball_pos[2] = TVector(2,-2,ball_r);
}
TVector CCharacterCamera::GetThirdPersonCameraDirection()
{
CCharacter* pCharacter = m_hCharacter;
if (!pCharacter)
return TVector();
return AngleVector(pCharacter->GetThirdPersonCameraAngles());
}
void AirPlane::startMove(TVector initPosition, float velocityMag, float angleWithX)
{
this->angleWithX = angleWithX;
this->velocityMag = velocityMag;
float radAngle = M_PI*angleWithX/180.0;
collisionBox.setTimeLife(2);
AutoWarObject::startMove(initPosition, TVector(velocityMag*cos(radAngle), 0.0, -velocityMag*sin(radAngle)));
collisionBox.updateCollisionBoxAngle(angleWithX);
}
BOOL ProcessKeys()
{
if (keys[VK_LEFT] && paddle.position.X() > -1*PLANE_POS+PADDLE_LENGTH)
{
paddle.position += TVector(-2,0,0);
paddle.point[0] = TVector(paddle.position.X()-PADDLE_LENGTH,paddle.position.Y()-PADDLE_HEIGHT,0);
paddle.point[1] = TVector(paddle.position.X()+PADDLE_LENGTH,paddle.position.Y()-PADDLE_HEIGHT,0);
paddle.point[2] = TVector(paddle.position.X()+PADDLE_LENGTH,paddle.position.Y()+PADDLE_HEIGHT,0);
paddle.point[3] = TVector(paddle.position.X()-PADDLE_LENGTH,paddle.position.Y()+PADDLE_HEIGHT,0);
}
if (keys[VK_RIGHT]&& paddle.position.X() < PLANE_POS-PADDLE_LENGTH)
{
paddle.position += TVector(2,0,0);
paddle.point[0] = TVector(paddle.position.X()-PADDLE_LENGTH,paddle.position.Y()-PADDLE_HEIGHT,0);
paddle.point[1] = TVector(paddle.position.X()+PADDLE_LENGTH,paddle.position.Y()-PADDLE_HEIGHT,0);
paddle.point[2] = TVector(paddle.position.X()+PADDLE_LENGTH,paddle.position.Y()+PADDLE_HEIGHT,0);
paddle.point[3] = TVector(paddle.position.X()-PADDLE_LENGTH,paddle.position.Y()+PADDLE_HEIGHT,0);
}
if (keys[VK_F3])
{
Time += 0.1;
keys[VK_F3] = FALSE;
}
if (keys[VK_F2])
{
if(Time > 0.1)
Time -= 0.1;
keys[VK_F2] = FALSE;
}
if (keys[VK_F11])
{
keys[VK_F11] = FALSE;
KillGLWindow();
fullscreen =! fullscreen;
// Recreate Our OpenGL Window
if (!CreateGLWindow("Arkanoid",640,480,16,fullscreen))
return 0;
}
return 1;
}
int ProcessKeys()
{
if (keys[VK_UP]) pos+=TVector(0,0,-10);
if (keys[VK_UP]) pos+=TVector(0,0,10);
if (keys[VK_LEFT]) camera_rotation+=10;
if (keys[VK_RIGHT]) camera_rotation-=10;
if (keys[VK_ADD])
{
Time+=0.1;
keys[VK_ADD]=FALSE;
}
if (keys[VK_SUBTRACT])
{
Time-=0.1;
keys[VK_SUBTRACT]=FALSE;
}
if (keys[VK_F3])
{
sounds^=1;
keys[VK_F3]=FALSE;
}
if (keys[VK_F2])
{
hook_toball1^=1;
camera_rotation=0;
keys[VK_F2]=FALSE;
}
if (keys[VK_F1]) // Is F1 Being Pressed?
{
keys[VK_F1]=FALSE; // If So Make Key FALSE
KillGLWindow(); // Kill Our Current Window
fullscreen=!fullscreen; // Toggle Fullscreen / Windowed Mode
// Recreate Our OpenGL Window
if (!CreateGLWindow("Magic Room",640,480,16,fullscreen))
{
return 0; // Quit If Window Was Not Created
}
}
return 1;
}
void CPDNRigid<Scalar, Dim>::constructG()
{
G_ = MatrixType<Scalar, Dim>::Matrix::Zero(this->M_, this->M_);
for (size_t i = 0; i < this->M_; i ++)
{
for (size_t j = 0; j < this->M_; j ++)
{
G_(i, j) = exp(-TVector(this->model_.row(i)-this->model_.row(j)).squaredNorm()/(2*paras_.beta_*paras_.beta_));
}
}
}
void CPDNRigid<T, D>::constructG()
{
_G = TMatrix::Zero(_M, _M);
for (size_t i = 0; i < _M; i ++)
{
for (size_t j = 0; j < _M; j ++)
{
_G(i, j) = exp(-TVector(_model.row(i)-_model.row(j)).squaredNorm()/(2*_paras._beta*_paras._beta));
}
}
}
void CPDRigid<T, D>::e_step()
{
if (!_fgt)
{
correspondences();
_P1 = _corres * TVector(_N).setOnes();
_PT1 = _corres.transpose() * TVector(_M).setOnes();
_PX = _corres * _data;
}
else
{
T c = pow((2*M_PI*_paras._sigma2), 0.5*D) * (_w/(1-_w)) * (T(_M)/_N);
TMatrix KT1 = fgt<T, D>(_T, _data, TVector(_M).setOnes(), sqrt(2*_paras._sigma2), _fgt_eps);
TVector a = (TVector(KT1) + c*TVector(_N).setOnes()).cwiseInverse();
TMatrix aX = TMatrix::Zero(_N, D);
for (size_t i = 0; i < D; i ++)
{
aX.col(i) = _data.col(i).cwiseProduct(a);
}
_PT1 = TVector(_N).setOnes() - c * a;
_P1 = fgt<T, D>(_data, _T, a, sqrt(2*_paras._sigma2), _fgt_eps);
_PX = fgt<T, D>(_data, _T, aX, sqrt(2*_paras._sigma2), _fgt_eps);
}
}
void CPDNRigid<Scalar, Dim>::e_step()
{
if (!this->fgt_)
{
correspondences();
this->P1_ = this->corres_ * TVector(this->N_).setOnes();
this->PT1_ = this->corres_.transpose() * TVector(this->M_).setOnes();
this->PX_ = this->corres_ * this->data_;
}
else
{
Scalar c = pow((2*M_PI*paras_.sigma2_), 0.5*Dim) * (this->w_/(1-this->w_)) * (Scalar(this->M_)/this->N_);
TMatrix KT1 = fgt<Scalar, Dim>(this->T_, this->data_, TVector(this->M_).setOnes(), sqrt(2*paras_.sigma2_), this->fgt_eps_);
TVector a = (TVector(KT1) + c*TVector(this->N_).setOnes()).cwiseInverse();
TMatrix aX = MatrixType<Scalar, Dim>::Matrix::Zero(this->N_, Dim);
for (size_t i = 0; i < Dim; i ++)
{
aX.col(i) = this->data_.col(i).cwiseProduct(a);
}
this->PT1_ = TVector(this->N_).setOnes() - c * a;
this->P1_ = fgt<Scalar, Dim>(this->data_, this->T_, a, sqrt(2*paras_.sigma2_), this->fgt_eps_);
this->PX_ = fgt<Scalar, Dim>(this->data_, this->T_, aX, sqrt(2*paras_.sigma2_), this->fgt_eps_);
}
}
TVector &TMatrix33::multiply(const TMatrix33 &m1, const TVector &v, TVector &result) {
result = TVector(
m1._Mx[0][0]*v.X() + m1._Mx[0][1]*v.Y() + m1._Mx[0][2]*v.Z(),
m1._Mx[1][0]*v.X() + m1._Mx[1][1]*v.Y() + m1._Mx[1][2]*v.Z(),
m1._Mx[2][0]*v.X() + m1._Mx[2][1]*v.Y() + m1._Mx[2][2]*v.Z() );
return result;
}
TVector::TVector(const TRay &ray1, const TRay &ray2) {
TVector point1, point2;
if (ray1.adjacentPoints(ray2, point1, point2))
*this = (point1 + point2)*0.5;
else
*this = TVector();
}
void CollisionBox::updateCollisionBoxAngle(float angleWithX)
{
if(life)
{
this->angleWithX = angleWithX;
radAngle = M_PI*angleWithX/180.0;
xNormal = TVector(cos(radAngle), 0.0, -sin(radAngle));
yNormal = TVector(0.0, 1.0, 0.0);
zNormal = TVector(sin(radAngle), 0.0, cos(radAngle));
collisionSquare[0].updateCollisionSquare(yNormal, center + yNormal*yHeight);
collisionSquare[1].updateCollisionSquare(-yNormal, center - yNormal*yHeight);
collisionSquare[2].updateCollisionSquare(-xNormal, center - xNormal*xLong);
collisionSquare[3].updateCollisionSquare(xNormal, center + xNormal*xLong);
collisionSquare[4].updateCollisionSquare(-zNormal, center - zNormal*zWidth);
collisionSquare[5].updateCollisionSquare(zNormal, center + zNormal*zWidth);
}
}
// -----------------------------------------------------------------------------
// CRain::DrawPlane
// Draws the ground plane.
// -----------------------------------------------------------------------------
//
void CRain::DrawPlane()
{
glBindTexture( GL_TEXTURE_2D, iGrassTexture.iID );
glTexParameterf( GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER, GL_NEAREST );
glTexParameterf( GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER, GL_NEAREST );
glLoadIdentity();
T3DModel::MakeWorldViewMatrix(iCamera, TVector(0.0f, 0.0f, 0.0f));
glScalef( 1000, 0, 1000 );
glVertexPointer( 3, GL_BYTE, 0, planeVertices );
glTexCoordPointer( 2, GL_BYTE, 0, planeTextureCoords );
glDrawElements( GL_TRIANGLES, 2 * 3, GL_UNSIGNED_BYTE, planeTriangles );
}
bool const Game::stopped() const {
for (int i = 0; i < 7; i++) {
if (spheres[i]->getVelocity() != TVector(0, 0, 0)) {
return false;
}
}
for (int i = 7; i < 13; i++) {
if (spheres[i]->getVelocity().model() - 0.125 > 0.00001
|| spheres[i]->getVelocity().model() - 0.125 < -0.00001) {
return false;
}
}
return true;
}
void myInit()
{
glActiveTexture(GL_TEXTURE0);
//make the background look like the sky
float blue[4] = {0.5,0.5,1.0,0.0};
glClearColor(0.5, 0.5, 1.0, 0.0);
glShadeModel(GL_SMOOTH);
glEnable(GL_FOG);
glFogfv(GL_FOG_COLOR,blue);
glFogf(GL_FOG_MODE, GL_EXP2);
glFogf(GL_FOG_START, 200);
glFogf(GL_FOG_END, 1000);
glFogf(GL_FOG_DENSITY, gFogDensity);
//initial terrain
myTerrain.initializeTerrain("../Data/Texture/Terrain/sand.tga", "../Data/Texture/Terrain/cactus.tga");
//initial ground collision square
groundCollSquare.setParameters(TVector(0.0, 1.0, 0.0), gCenterPoint);
//initial tank
tankHeightPos = myTerrain.GetHeight(gCenterPoint.X()+100.0, gCenterPoint.Z());
myTank.setParameters("T-90.3DS", "../T-90/",TVector(gCenterPoint.X()-600.0, tankHeightPos + 9.0, gCenterPoint.Z()-20), 0.0, &myTerrain, &collisionBoxArray, &wall);
myTank.initTank();
unsigned int brickTexture;
createTexture("../Data/Texture/Brick/brick.bmp", brickTexture);
wall.Init(myTank.getPosition().X() + 50, myTank.getPosition().Y()-8, myTank.getPosition().Z() + 20, NUM_BRICKS, brickTexture, &myTerrain);
}
void CollisionBox::setParameters(TVector center, float angleWithX, float xLong, float yHeight, float zWidth)
{
this->center = center;
this->angleWithX = angleWithX;
this->xLong = xLong;
this->yHeight = yHeight;
this->zWidth = zWidth;
radAngle = M_PI*angleWithX/180.0;
xNormal = TVector(cos(radAngle), 0.0, -sin(radAngle));
yNormal = TVector(0.0, 1.0, 0.0);
zNormal = TVector(sin(radAngle), 0.0, cos(radAngle));
collisionSquare[0].setParameters(yNormal, center + yNormal*yHeight );
collisionSquare[1].setParameters(-yNormal, center - yNormal*yHeight);
collisionSquare[2].setParameters(-xNormal, center - xNormal*xLong);
collisionSquare[3].setParameters(xNormal, center + xNormal*xLong);
collisionSquare[4].setParameters(-zNormal, center - zNormal*zWidth);
collisionSquare[5].setParameters(zNormal, center + zNormal*zWidth);
}
//
// Attempt to process the specification for a vector.
// If there is an error, return true.
//
bool TSubdiv::addVertex (const string& rktVALUE)
{
Byte bMatched;
char acName[256];
float fX, fY, fZ;
bMatched = sscanf (rktVALUE.c_str(), " %255s < %f , %f , %f > ",
acName, &fX, &fY, &fZ);
if ( bMatched != 4 )
return true;
tPoints[acName] = new TSubdivVert (rktVALUE, TVector (fX, fY, fZ));
return false;
} /* addVertex() */
TPolyhedron *TMaze::NewCrystal() // Creates new crystal
{
TPolyhedron *p = new TPolyhedron("Crystal.Dat");
Assert(p);
// New destination coordinate
Dest = Random();
TVector v = Maze.Vector(Dest.CrdX(), Dest.CrdY(), Dest.CrdZ());
*p *=
TPivotScale(0.2, 0.2, 0.2, TVector()) *
TShift(v.CrdX(), v.CrdY(), v.CrdZ());
return p;
}
void CSPCharacter::StandOnNearestPlanet()
{
CPlanet* pPlanet = GetNearestPlanet(FINDPLANET_ANY);
if (!pPlanet)
return;
CScalableVector vecPlanetOrigin = pPlanet->GetGlobalOrigin();
CScalableVector vecCharacterOrigin = GetGlobalOrigin();
CScalableVector vecCharacterDirection = (vecCharacterOrigin - vecPlanetOrigin).Normalized();
SetMoveParent(pPlanet);
TVector vecPoint, vecNormal;
pPlanet->CollideLocal(vecCharacterDirection * (pPlanet->GetRadius()*2.0f), TVector(), vecPoint, vecNormal);
SetLocalOrigin(vecPoint);
}
// -----------------------------------------------------------------------------
// CRain::DrawTree
// Draws a tree.
// -----------------------------------------------------------------------------
//
void CRain::DrawTree(GLfloat aX, GLfloat aZ)
{
glLoadIdentity();
//Turns the tree so that it always faces the camera.
T3DModel::MakeBillboardWorldViewMatrix(iCamera, TVector(aX, 0.0f, aZ));
glScalef( 10, 30, 10 );
glBindTexture( GL_TEXTURE_2D, iTreeTexture.iID );
glTexParameterf( GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER, GL_NEAREST );
glTexParameterf( GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER, GL_NEAREST );
glVertexPointer( 3, GL_BYTE, 0, treeVertices );
glTexCoordPointer( 2, GL_BYTE, 0, treeTextureCoords );
glDrawElements( GL_TRIANGLES, 2 * 3, GL_UNSIGNED_BYTE, treeTriangles );
}
