vector<Point> findPoly(int vertices, vector<Point> points) {
double angle = (2 * M_PI) / ((double)vertices);
double dist = radius(points);
Point center = polyCenter(points);
Point offset = center + Point(0, 2 * dist);
vector<Point> result;
vector<Point> polygon;
Point first = rotateAround(center, offset, - (0.5 * angle));
polygon.push_back(first);
for (int i = 0; i < vertices - 1; i++) {
Point p = rotateAround(center, first, angle * (i+1));
polygon.push_back(p);
}
return correlate(polygon, points);
}
//----------------------------------------
void ofNode::rotateAroundRad(float radians, const glm::vec3& axis, const glm::vec3& point) {
rotateAround(glm::angleAxis(radians, axis), point);
}
//----------------------------------------
void ofNode::rotateAroundDeg(float degrees, const glm::vec3& axis, const glm::vec3& point) {
rotateAround(glm::angleAxis(ofDegToRad(degrees), axis), point);
}
//----------------------------------------
void ofNode::rotateAround(float degrees, const ofVec3f& axis, const ofVec3f& point) {
rotateAround(ofQuaternion(degrees, axis), point);
}
void loop(){
//solarFlareBegin = api.getTime() + game.getNextFlare();
//if(((api.getTime() - 15) == solarFlareBegin)&&(game.getMemoryFilled() > 0)){
// state = 3;
//}
if(api.getTime() % 60 == 0){
//resets when POIs reset.
state = 0;
}
switch (state) {
case 0:
//DEBUG(("state0"));
api.getMyZRState(me);
game.getPOILoc(pic1, 0);
game.getPOILoc(pic2, 1);
if(distance(me,pic1) < distance(me,pic2)){
target[0]= pic1[0];
target[1]= pic1[1];
target[2]= pic1[2];
POI = 0;
}
else{
target[0]= pic2[0];
target[1]= pic2[1];
target[2]= pic2[2];
POI = 1;
}
state = 1;
break;
case 1:
api.getMyZRState(me);
nearest_out(out, target[0], target[1],0.33);
if(!myAlignLine(POI)){
mathVecSubtract(vectorBetween,target,me,3);
mathVecNormalize(vectorBetween,3);
api.setAttitudeTarget(vectorBetween);
angle = rotateAround(me,0.4,angle);
}
else if(distance(me,out)> 0.02){
mathVecSubtract(vectorBetween,target,me,3);
mathVecNormalize(vectorBetween,3);
api.setAttitudeTarget(vectorBetween);
api.setPositionTarget(out);
}
else{
for (int i = 0; i < 12; i++){
temp[i] = me[i];
}
DEBUG(("Temp"));
state = 2;
}
break;
case 2:
api.setPositionTarget(temp);
mathVecSubtract(vectorBetween,target,me,3);
mathVecNormalize(vectorBetween,3);
api.setAttitudeTarget(vectorBetween);
game.takePic(POI);
total_pics = game.getMemoryFilled();
if(total_pics==2){
DEBUG(("full\n"));
state = 3;
nearest_out(out, me[0], me[1],.58);
}
else if(total_pics == 1){
if(POI == 0){
target[0]= pic2[0];
target[1]= pic2[1];
target[2]= pic2[2];
}
else{
target[0]= pic1[0];
target[1]= pic1[1];
target[2]= pic1[2];
}
state = 1;
nearest_out(out, target[0], target[1],0.5);
}
break;
case 3:
api.getMyZRState(me);
if(distance(me,out)> 0.05){
api.setPositionTarget(out);
}
else{
game.uploadPic();
if(POI==0){
target[0]=pic2[0];
target[1]=pic2[1];
target[2]=pic2[2];
POI = 1;
}
else{
target[0]=pic1[0];
target[1]=pic1[1];
target[2]=pic1[2];
POI = 0;
}
state = 1;
}
break;
case 4:
DEBUG(("Case4\n"));
api.getMyZRState(me);
angle = rotateAround(me,0.35,angle);
break;
}
}
void Vector2::rotateAround(float angle, Vector2 vec)
{
rotateAround(angle, vec.x, vec.y);
}
