bool BoundingEllipsoid::intersects (math::Ray &r, bool segment, CollisionResultSet::Info& info) {
math::Matrix4f transform = scale * rotation * translation;
math::Matrix4f invTransform = transform.inverse();
math::Vec3f orig = invTransform * r.getOrig();
math::Vec3f ext = invTransform * r.getExt();
math::Ray tRay (orig, ext);
math::Vec3f mtu;
BoundingSphere bs(math::Vec3f(0, 0, 0), 1);
if (!bs.intersects(tRay, segment, info))
return false;
return false;
}
bool BoundingEllipsoid::intersectsWhere(math::Ray& r, math::Vec3f& near, math::Vec3f& far, CollisionResultSet::Info& info) {
math::Matrix4f transform = scale * rotation * translation;
math::Matrix4f invTransform = transform.inverse();
math::Vec3f orig = invTransform * r.getOrig();
math::Vec3f ext = invTransform * r.getExt();
math::Ray tRay (orig, ext);
math::Vec3f i1, i2;
BoundingSphere bs(math::Vec3f(0, 0, 0), 1);
if (!bs.intersectsWhere(tRay, i1, i2, info))
return false;
near = transform * i1;
far = transform * i2;
return true;
}
bool Surface::_hit(Ray& ray, double t0, double t1, hitRecord& rec) {
if (_trans) {
Ray tRay(apply(_mInv, ray.eye, 1), apply(_mInv, ray.dir, 0), ray.ref, ray.alpha, Ray::VIEW);
Ray::count -= 1;
bool temp = hit(tRay, t0, t1, rec);
if (temp) {
rec.n = apply(_mTrans, rec.n, 0);
rec.n.normalize();
}
return temp;
}
else {
return hit(ray, t0, t1, rec);
}
}
bool SkillGoalie::execute(RobotCommand &rc)
{
if(_rid==-1) return false;
Ray2D ballRay(_wm->ball.pos.loc,AngleDeg(_wm->ball.vel.loc.dir().degree()));
Line2D lineGoal(Vector2D(-3025,-2025),Vector2D(-3025,2025));
Vector2D gdir, gloc;
gdir=Vector2D();
gloc=Vector2D();
int kickerID=-1;
float minDist=9000000,temp;
Vector2D ballContact = ballRay.intersection(lineGoal);
if(_wm->ball.pos.loc.dist2(Vector2D(-3025,175))<=640000 || _wm->ball.pos.loc.dist2(Vector2D(-3025,-175))<=640000 || (_wm->ball.pos.loc.x<=-2225 && _wm->ball.pos.loc.y<=175 && _wm->ball.pos.loc.y>=-175))
{
if(ballContact.y>=-350 && ballContact.y<=350)
{
gloc=_wm->ball.pos.loc+_wm->ball.vel.loc.setLengthVector(90);
}
else
{
gloc=_wm->ball.pos.loc;
gloc.x-=90;
}
gdir.x=1;
gdir.y=0;
}
else
{
if(ballContact.y>=-350 && ballContact.y<=350)
{
gloc=ballContact-_wm->ball.vel.loc.setLengthVector(350);
gdir=-_wm->ball.vel.loc;
}
else
{
for(int i=0; i<PLAYERS_MAX_NUM;i++)
{
if(_wm->oppRobot[i].isValid)
{
temp=_wm->oppRobot[i].pos.loc.dist2(_wm->ball.pos.loc);
if(temp<minDist)
{
minDist=temp;
kickerID=i;
}
}
}
if(kickerID!=-1)
{
if(_wm->oppRobot[kickerID].pos.dir>=-M_PI_2 && _wm->oppRobot[kickerID].pos.dir<=M_PI_2)
{
Vector2D rTarget,rTemp;
Ray2D tRay(_wm->oppRobot[kickerID].pos.loc,AngleDeg(_wm->oppRobot[kickerID].pos.dir*AngleDeg::RAD2DEG));
minDist=100000000;
for(int i=0;i<PLAYERS_MAX_NUM;i++)
{
rTemp=tRay.intersection(Ray2D(_wm->oppRobot[i].pos.loc,AngleDeg(_wm->oppRobot[i].vel.loc.dir().degree())));
temp=_wm->ball.pos.loc.dist2(rTemp);
if(temp<minDist)
{
rTarget=rTemp;
minDist=temp;
}
}
gdir=(rTarget-Vector2D(-3025,0)).setLengthVector(500);
gloc=Vector2D(-3025,0)+gdir;
}
else
{
Vector2D ins;
Line2D l1(_wm->oppRobot[kickerID].pos.loc,AngleDeg(_wm->oppRobot[kickerID].pos.dir*AngleDeg::RAD2DEG));
ins = l1.intersection(lineGoal);
if(ins.y>350)
{
ins.y=350;
}
else if(ins.y<-350)
{
ins.y=-350;
}
ins.x=-3025;
gdir=(_wm->ball.pos.loc-ins).setLengthVector(500);
gloc=gdir+ins;
}
}
else
{
gdir=(_wm->ball.pos.loc-Vector2D(-3025,0)).setLengthVector(500);
gloc=Vector2D(-3025,0)+gdir;
}
}
}
if(gloc.x<-2980)
gloc.x=-2980;
rc.FinalPos.loc=gloc;
rc.TargetPos.loc=gloc;
rc.FinalPos.dir=gdir.dir().radian();
rc.TargetPos.dir=gdir.dir().radian();
rc.Speed=1;
return true;
}
void TBox::SetCollider()
{
TGfxVec2 tRay(m_fRay_W / 2.0f, m_fRay_H / 2.0f);
m_Collider.m_tSpot_LH = TGfxVec2(m_tCenter - tRay);
m_Collider.m_tSpot_RD = TGfxVec2(m_tCenter + tRay);
}
