Exemplo n.º 1
0
bool Box::isInterior(const Vector3d &point) const
{
	const bool xIsInterior = ( minX < point.getX() && point.getX() < maxX );
	const bool yIsInterior = ( minY < point.getY() && point.getY() < maxY );
	const bool zIsInterior = ( minZ < point.getZ() && point.getZ() < maxZ );
	return xIsInterior && yIsInterior && zIsInterior;
}
Exemplo n.º 2
0
float Vector3d::inverseVectorDistanceSquared(Vector3d v1, Vector3d v2){
     Vector3d tmpVector(v1.getX() - v2.getX(),
                        v1.getY() - v2.getY(),
                        v1.getZ() - v2.getZ());
    return(tmpVector.getX() * tmpVector.getX() +
           tmpVector.getY() * tmpVector.getY() +
           tmpVector.getZ() * tmpVector.getZ());
}
Exemplo n.º 3
0
Box::Box(const Vector3d& pointX, const Vector3d& pointY) :
	maxX( (pointX.getX() > pointY.getX() ) ? pointX.getX() : pointY.getX() ),
	minX( (pointX.getX() < pointY.getX() ) ? pointX.getX() : pointY.getX() ),
	maxY( (pointX.getY() > pointY.getY() ) ? pointX.getY() : pointY.getY() ),
	minY( (pointX.getY() < pointY.getY() ) ? pointX.getY() : pointY.getY() ),
	maxZ( (pointX.getZ() > pointY.getZ() ) ? pointX.getZ() : pointY.getZ() ),
	minZ( (pointX.getZ() < pointY.getZ() ) ? pointX.getZ() : pointY.getZ() )
{}
Exemplo n.º 4
0
// Sphere Plane Collision - returns true if collsion exists - takes Point3d params
bool Collision::SpherePlane(Vector3d& centerSphere, float radiusSphere,
                            Vector3d planeNormal, Point3d p1, Point3d p2, Point3d p3, Point3d p4){
    float dist1 = 0.0;
    float dist2 = 0.0;
    // this checks for the collsion on both sides of the plane
    if(RayPlane(planeNormal.getX(), planeNormal.getY(), planeNormal.getZ(), p1.getX(), p1.getY(), p1.getZ(),
                centerSphere.getX(), centerSphere.getY(), centerSphere.getZ(), -planeNormal.getX(), -planeNormal.getY(), -planeNormal.getZ(),
                p1, p2, p3, p4, &dist1) || RayPlane(-planeNormal.getX(), -planeNormal.getY(), -planeNormal.getZ(), p1.getX(), p1.getY(), p1.getZ(),
                centerSphere.getX(), centerSphere.getY(), centerSphere.getZ(), planeNormal.getX(), planeNormal.getY(), planeNormal.getZ(),
                p1, p2, p3, p4, &dist2)){
        if(dist1 > radiusSphere || dist2 > radiusSphere){ // if either distance is > the radiusSphere....no collision
            return false;
        }
        // indicates that we are on the side where dist1 has been determined to be > 0
        // the else is the other side of the plane. This calculates the point as well
        // as the new location of the sphere
        if(dist1 > 0 ){
            centerSphere.setX(centerSphere.getX() + planeNormal.getX() * (radiusSphere - dist1));
            centerSphere.setY(centerSphere.getY() + planeNormal.getY() * (radiusSphere - dist1));
            centerSphere.setZ(centerSphere.getZ() + planeNormal.getZ() * (radiusSphere - dist1));
        }else{
            centerSphere.setX(centerSphere.getX() + planeNormal.getX() * (radiusSphere - dist2));
            centerSphere.setY(centerSphere.getY() + planeNormal.getY() * (radiusSphere - dist2));
            centerSphere.setZ(centerSphere.getZ() + planeNormal.getZ() * (radiusSphere - dist2));
        }
        return true;
    }
    return false;
}
Exemplo n.º 5
0
void Physics::ballVelocityFunc(cpBody* ipBody, cpVect iGravity,
  cpFloat iDamping, cpFloat iDt)
{
  cpBodyUpdateVelocity(ipBody, iGravity, iDamping, iDt);
  double kw = 150; //vitesse maximal angulaire qui peut induire une deviation
  //influence angulaire normalisé
  double nw = min(kw, fabs(ipBody->w)) / kw;
  double kv = 60;
  double nv = min(kv, cpvlength(ipBody->v)) / kv;
  double d = 0.03; //magnitude maximale du vecteur de déviation
  //trouvons le vecteur laterale a la velocity
  Vector3d lat = 
    Vector3d(ipBody->v.x, ipBody->v.y, 0.0) ^ Vector3d(0.0, 0.0, 1.0);
  lat.normalise();
  cpVect cpLat = cpv((cpFloat)lat.getX(), (cpFloat)lat.getY());
  cpLat = ipBody->w <= 0 ? cpLat : cpvmult(cpLat, -1.0);
  ipBody->v = cpvadd(ipBody->v, cpvmult(cpLat, nw * d));
  
//  //faire decroitre la rotation angulaire
//  if(abs(ipBody->w) >= 20.0)
//    ipBody->w += iDt * 20.0 * ipBody->w >= 0.0 ? -1 : 1;

//  cout << "dt: " << iDt << endl;
//  cout << "Angular velocity: " << ipBody->w << endl;
//  cout << "velocity: " << cpvlength(ipBody->v) << endl;
//  cout << "velocity vect: " << ipBody->v.x << " " << ipBody->v.y << endl;
//  cout << "velocity lat: " << cpLat.x << " " << cpLat.y << endl;
//  cout << "Influence angulaire normalisé: " << nw << endl;
//  cout << "Influence vitesse normalisé: " << nv << endl;
//  cout << "Influence sur la déviation: " << nw * nv << endl << endl;
}
Exemplo n.º 6
0
/**
	this method returns a vector that is the current vector, rotated by an angle alpha (in radians) around the axis given as parameter.
	IT IS ASSUMED THAT THE VECTOR PASSED IN IS A UNIT VECTOR!!!
*/
Vector3d Vector3d::rotate(double alpha, const Vector3d &axis){
	//ok... this is fairly hard - check the red book for details.
	double xP = axis.getX();
	double yP = axis.getY();
	double zP = axis.getZ();
	double cosa = cos(alpha);
	double sina = sin(alpha);

	double s[3][3] = {{0,			-zP,		yP},
					{zP,			0,			-xP},
					{-yP,			xP,			0}};
	double UUT[3][3]	= {	{xP*xP,		xP*yP,		xP*zP},
						{yP*xP,		yP*yP,		yP*zP},
						{zP*xP,		zP*yP,		zP*zP}};
	double I[3][3] = {{1,0,0},{0,1,0},{0,0,1}};
	double R[3][3] = {{0,0,0},{0,0,0},{0,0,0}};

	for (int i=0;i<3;i++)
		for (int j = 0;j<3;j++)
			R[i][j] = UUT[i][j] + cosa*(I[i][j] - UUT[i][j]) + sina*s[i][j];

	//now that we finally have the transformation matrix set up, we can rotate the vector
	Vector3d result;

	result.setX(R[0][0]*x + R[0][1]*y + R[0][2]*z);
	result.setY(R[1][0]*x + R[1][1]*y + R[1][2]*z);
	result.setZ(R[2][0]*x + R[2][1]*y + R[2][2]*z);

	return result;
}
Exemplo n.º 7
0
Ellipsoid<T>::Ellipsoid(const Vector3d<T>& center, const Vector3d<T>& radii) :
	IPrimitive3d<T>(center),
	radii( radii )
{
	assert(radii.getX() > T{ 0 });
	assert(radii.getY() > T{ 0 });
	assert(radii.getZ() > T{ 0 });
}
Exemplo n.º 8
0
Quaternion<T>::Quaternion(const Vector3d<T>& axis, const T angle) :
	x(axis.getX() * sin(angle * 0.5f)),
	y(axis.getY() * sin(angle * 0.5f)),
	z(axis.getZ() * sin(angle * 0.5f)),
	w(cos(angle * 0.5f))
{
	assert(axis.isNormalized());
}
Exemplo n.º 9
0
void GameWindow::addCollision(const Vector3d& p, const Vector3d& n)
{
  Collision* c = 0;
  for(unsigned int i = 0; i < cMaxCollisions; ++i)
    if(mCollisions[i]->isDone())
    { c = mCollisions[i]; break; }

  if(c)
  {
    Matrix4d m;
    m.setTranslation(toPoint(p));
    c->setTransformationToGlobal(m);
    double a = atan2(n.getY(), n.getX());
    c->setAngle(a);
    c->setNormal(n);
    c->animate();
  }
}
Exemplo n.º 10
0
Vector3d Matrix::matrixMulVec(const Matrix& mat, const Vector3d& vec){
	Vector3d noTranslate = matrixMulDir(mat,vec);
	return Vector3d(	noTranslate.getX()+mat(0,3),
				noTranslate.getY()+mat(1,3),
				noTranslate.getZ()+mat(2,3));
}
Exemplo n.º 11
0
// subtracts a vector from this one and returns a new one
Vector3d Vector3d::operator - (const Vector3d& vector){
    return (Vector3d(this->getX() - vector.getX(), this->getY() - vector.getY(), this->getZ() - vector.getZ()));
}
Exemplo n.º 12
0
void Vector3d::subtract( Vector3d v ) {
    this->x -= v.getX();
    this->y -= v.getY();
    this->z -= v.getZ();
}
Exemplo n.º 13
0
// gets the area of a triangle using the Heron formula
float Collision::triangleArea(Vector3d p1, Vector3d p2, Vector3d p3){
    // get the length of the triagle's sides....a,b, and c
    float a = sqrt((p2.getX() - p1.getX()) * (p2.getX() - p1.getX()) +
                   (p2.getY() - p1.getY()) * (p2.getY() - p1.getY()) +
                   (p2.getZ() - p1.getZ()) * (p2.getZ() - p1.getZ()));
    float b = sqrt((p3.getX() - p2.getX()) * (p3.getX() - p2.getX()) +
                   (p3.getY() - p2.getY()) * (p3.getY() - p2.getY()) +
                   (p3.getZ() - p2.getZ()) * (p3.getZ() - p2.getZ()));
    float c = sqrt((p3.getX() - p1.getX()) * (p3.getX() - p1.getX()) +
                   (p3.getY() - p1.getY()) * (p3.getY() - p1.getY()) +
                   (p3.getZ() - p1.getZ()) * (p3.getZ() - p1.getZ()));
    // triangle's semi-parameter s
    float s = (a + b + c) / 2;
    return (sqrt(s * ((s - a) * (s - b) * (s - c))));
}
Exemplo n.º 14
0
float getAngleAccelerationZ( float x1, float x2, float x3, const Vector3d& I, const Vector3d& N)
{
	return ( N.getZ() + ( I.getX() - I.getY() ) * x1 * x2 ) / I.getZ() - 10.0f * x3;
}
Exemplo n.º 15
0
bool Move::doOrder(IGObject * ob){
  Vector3d dest = coords->getPosition();
  Fleet* fleet = ((Fleet*)(ob->getObjectBehaviour()));
  unsigned long long distance = dest.getDistance(fleet->getPosition());
  unsigned long long max_speed = 3000000;

  Logger::getLogger()->debug("Moving %lld at %lld speed", distance, max_speed);

  if(distance <= max_speed){
    uint32_t parentid;

    Logger::getLogger()->debug("Object(%d)->Move->doOrder(): Is arriving at [%lld, %lld, %lld] ", 
      ob->getID(), dest.getX(), dest.getY(), dest.getZ());
  
    fleet->setVelocity(Vector3d(0,0,0));
    parentid = ob->getParent();

    // recontainerise if necessary
    int containertype = Game::getGame()->getObjectManager()->getObject(parentid)->getContainerType();
    Game::getGame()->getObjectManager()->doneWithObject(parentid);
  
    if(fleet->getPosition() != dest && containertype >= 1){
      //removeFromParent();
      std::set<unsigned int> oblist = ((MTSecTurn*)(Game::getGame()->getTurnProcess()))->getContainerIds();
      for(std::set<unsigned int>::reverse_iterator itcurr = oblist.rbegin(); itcurr != oblist.rend(); ++itcurr){
        IGObject* testedobject = Game::getGame()->getObjectManager()->getObject(*itcurr);
        
        Position3dObjectParam * pos = dynamic_cast<Position3dObjectParam*>(testedobject->getParameterByType(obpT_Position_3D));
        SizeObjectParam * size = dynamic_cast<SizeObjectParam*>(testedobject->getParameterByType(obpT_Size));
        if(pos == NULL || size == NULL){
          Game::getGame()->getObjectManager()->doneWithObject(*itcurr);
          continue;
        }
        Vector3d pos1 = pos->getPosition();
        uint64_t size1 = size->getSize();
        
        uint64_t diff = dest.getDistance(pos1);
        if(diff <= fleet->getSize() / 2 + size1 / 2){
        
          Logger::getLogger()->debug("Container object %d", *itcurr);
          //if(Game::getGame()->getObject(*itcurr)->getType() <= 2){
          //if(*itcurr != id){
          
          if(size1 >= fleet->getSize()){
            if(*itcurr != parentid){
                ob->removeFromParent();
                ob->addToParent(*itcurr);
            }
            Game::getGame()->getObjectManager()->doneWithObject(*itcurr);
            parentid = *itcurr;
            break;
          }
        }
        Game::getGame()->getObjectManager()->doneWithObject(*itcurr);
        //}
      }
      if(parentid == 0){
          ob->removeFromParent();
          ob->addToParent(0);
      }
    }
    
    fleet->setPosition(dest);
    
    Message * msg = new Message();
    msg->setSubject("Move order complete");
    msg->setBody("The fleet '" +  ob->getName() + "' has reached it's destination.");
    msg->addReference(rst_Action_Order, rsorav_Completion);
    msg->addReference(rst_Object, ob->getID());
    msg->addReference(rst_Object, parentid); /* It's parent */
    Game::getGame()->getPlayerManager()->getPlayer(fleet->getOwner())->postToBoard(msg);

    return true;

  }else{
    Vector3d velo = (dest - fleet->getPosition()).makeLength(max_speed);
    Vector3d arriveat = fleet->getPosition()+velo;
    Logger::getLogger()->debug("Move->doOrder(%d): Velocity is [%lld, %lld, %lld] (will arrive at [%lld, %lld, %lld])", 
      ob->getID(), velo.getX(), velo.getY(), velo.getZ(), arriveat.getX(), arriveat.getY(), arriveat.getZ());

    fleet->setVelocity(velo);

    uint32_t parentid = ob->getParent();
    // recontainerise if necessary
    uint32_t containertype = Game::getGame()->getObjectManager()->getObject(parentid)->getContainerType();
    Game::getGame()->getObjectManager()->doneWithObject(parentid);
  
    if(fleet->getPosition() != arriveat && containertype >= 1){
      //removeFromParent();
      std::set<uint32_t> oblist = ((MTSecTurn*)(Game::getGame()->getTurnProcess()))->getContainerIds();
      for(std::set<uint32_t>::reverse_iterator itcurr = oblist.rbegin(); itcurr != oblist.rend(); ++itcurr){
        IGObject* testedobject = Game::getGame()->getObjectManager()->getObject(*itcurr);
        
        Position3dObjectParam * pos = dynamic_cast<Position3dObjectParam*>(testedobject->getParameterByType(obpT_Position_3D));
        SizeObjectParam * size = dynamic_cast<SizeObjectParam*>(testedobject->getParameterByType(obpT_Size));
        if(pos == NULL || size == NULL){
          Game::getGame()->getObjectManager()->doneWithObject(*itcurr);
          continue;
        }
        Vector3d pos1 = pos->getPosition();
        uint64_t size1 = size->getSize();
        
        uint64_t diff = arriveat.getDistance(pos1);
        if(diff <= fleet->getSize() / 2 + size1 / 2){
        
          Logger::getLogger()->debug("Container object %d", *itcurr);
          //if(Game::getGame()->getObject(*itcurr)->getType() <= 2){
          //if(*itcurr != id){
          
          if(size1 >= fleet->getSize()){
            if(*itcurr != parentid){
                ob->removeFromParent();
                ob->addToParent(*itcurr);
            }
            Game::getGame()->getObjectManager()->doneWithObject(*itcurr);
            parentid = *itcurr;
            break;
          }
        }
        Game::getGame()->getObjectManager()->doneWithObject(*itcurr);
        //}
      }
      if(parentid == 0){
          ob->removeFromParent();
          ob->addToParent(0);
      }
    }
    
    fleet->setPosition(arriveat);
    
    return false;
  }
}
Exemplo n.º 16
0
void Wormhole::packExtraData(OutputFrame::Ptr frame) {
   Vector3d end = getEndB();
   frame->packInt64(end.getX());
   frame->packInt64(end.getY());
   frame->packInt64(end.getZ());
}
Exemplo n.º 17
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bool Vector3d::operator == (const Vector3d& vector){
    return (this->x == vector.getX() && this->y == vector.getY() && this->z == vector.getZ());
}
Exemplo n.º 18
0
bool Vector3d::operator != (const Vector3d& vector){
    return (this->x != vector.getX() && this->y != vector.getY() && this->z != vector.getZ());
}
Exemplo n.º 19
0
void Vector3d::add( Vector3d v ) {
    this->x += v.getX();
    this->y += v.getY();
    this->z += v.getZ();
}