void
CameraDirector::Chase(double seconds)
{
double step = 1;
if (requested_mode == MODE_COCKPIT)
step = transition;
else if (requested_mode == MODE_CHASE)
step = 1 - transition;
camera.Clone(ship->Cam());
Point velocity = camera.vpn();
if (ship->Velocity().length() > 10) {
velocity = ship->Velocity();
velocity.Normalize();
velocity *= 0.25;
velocity += camera.vpn() * 2;
velocity.Normalize();
}
Point chase = ship->ChaseLocation();
Point bridge = ship->BridgeLocation();
Point cpos = camera.Pos() +
camera.vrt() * bridge.x * (1-step) +
camera.vpn() * bridge.y * (1-step) +
camera.vup() * bridge.z * (1-step) +
velocity * chase.y * step +
camera.vup() * chase.z * step;
camera.MoveTo(cpos);
}
Matrix& Matrix::ComputeAxisMatrix(Point& axis, float angle)
{
MakeIdentity();
float length = axis.Magnitude();
// Normalize the z basis vector3
axis /= length;
// Get the dot product, and calculate the projection of the z basis
// vector3 onto the up vector3. The projection is the y basis vector3.
float dotProduct = Point(0, 1, 0) | axis;
Point Up = Point(0, 1, 0) - dotProduct * axis;
// This is to prevent bogus view matrix (up view vector3 equals to axis)
if (Up.Magnitude() < 1e-6f) {
Up = Point(0, 0, 1);
}
else {
// Normalize the y basis vector3
Up /= length;
Up.Normalize();
}
// The x basis vector3 is found simply with the cross product of the y
// and z basis vectors
Point Right = Up ^ axis;
SetCol( 0, Right );
SetCol( 1, Up );
SetCol( 2, axis );
Transpose();
return *this;
}
void
QuantumFlash::UpdateVerts(const Point& cam_pos)
{
if (length < radius) {
length += radius/80;
width += 1;
}
for (int i = 0; i < npolys; i++) {
Matrix& m = beams[i];
m.Yaw(0.05);
Point vpn = Point(m(2,0), m(2,1), m(2,2));
Point head = loc;
Point tail = loc - vpn * length;
Point vtail = tail - head;
Point vcam = cam_pos - loc;
Point vtmp = vcam.cross(vtail);
vtmp.Normalize();
Point vlat = vtmp * -width;
verts->loc[4*i+0] = head + vlat;
verts->loc[4*i+1] = tail + vlat * 8;
verts->loc[4*i+2] = tail - vlat * 8;
verts->loc[4*i+3] = head - vlat;
DWORD color = D3DCOLOR_RGBA((BYTE) (255*shade), (BYTE) (255*shade), (BYTE) (255*shade), 255);
for (int n = 0; n < 4; n++) {
verts->diffuse[4*i+n] = color;
}
}
}
bool Triangle::IntersectSphere(const Point& center, const double radius) const
{
Point p[3], e[3];
p[0] = p0 - center;
p[1] = p1 - center;
p[2] = p2 - center;
double radius2 = radius*radius;
for(int i=0; i<3; i++)
if( p[i].Norm2() < radius2)
return true;
// This is the buggy part
for(int i=0; i<3; i++)
{
e[i] = p[i] - p[(i+1)%3];
double n2 = e[i].Norm2();
double d = (p[i] | e[i]);
if(d > 0 && -d < n2 && p[i].Norm2() - d*d/n2 < radius2 )
return true;
}
Point n = e[0]^e[1];
n = n.Normalize();
double d = (p[0]|n);
if( abs(d) >= radius)
return false;
n = d*n;
int sign01 = SignMask(e[0]^(p[0] - n));
int sign12 = SignMask(e[1]^(p[1] - n));
int sign20 = SignMask(e[2]^(p[2] - n));
return (sign01 & sign12 & sign20) != 0;
}
// GetSecondAngleAxis looks for the axis defined by the pointer finger
// And the left base
bool GloveType::GetBothAxes(int i) {
if (!GetFirstAxis(i)) return false;
if (axis_points2_.size() == 2) {
// Check the first Axis validity
if (base_left_->current_ == 0 || base_right_->current_ == 0) {
return false;
}
/*check second axis*/
Point u;
if (fore_->current_ == 0) {
return false;
} else {
u = fore_->Sub(*base_left_);
}
Point v = fore_->Sub(*base_left_);
axis2_ = u.Sub(v.Normalize().Times(u.Dot(v))).Normalize();
// Now find the normal component
return true;
} else {
if (base_left_->current_ == 0 || fore_->current_ == 0) return false;
axis_points2_.push_back(fore_);
axis_points2_.push_back(base_left_);
Point v = fore_->Sub(*base_left_);
axis2_ = v.Sub(axis1_.Times(v.Dot(axis1_))).Normalize();
Point y_axis;
y_axis.Init(0, 1, 0);
original_axis2_ = y_axis;
return true;
}
}
Ray(Point P0, Point dir, GLfloat T)
{
p0 = P0;
r = dir.Normalize();
t = T;
vect = p0 + (r * t);
}
void
Trail::UpdateVerts(const Point& cam_pos)
{
if (ntrail < 2) return;
int bright = 255 - dim*ntrail;
Point head = trail[1] + loc;
Point tail = trail[0] + loc;
Point vcam = cam_pos - head;
Point vtmp = vcam.cross(head-tail);
vtmp.Normalize();
Point vlat = vtmp * (width + (0.1 * width * ntrail));
verts->loc[0] = tail - vlat;
verts->loc[1] = tail + vlat;
verts->diffuse[0] = 0;
verts->diffuse[1] = 0;
for (int i = 0; i < ntrail-1; i++) {
bright+=dim;
Point head = trail[i+1] + loc;
Point tail = trail[i] + loc;
Point vcam = cam_pos - head;
Point vtmp = vcam.cross(head-tail);
vtmp.Normalize();
float trail_width = (float) (width + (ntrail-i) * width * 0.1);
if (i == ntrail-2) trail_width = (float) (width * 0.7);
Point vlat = vtmp * trail_width;
verts->loc[2*i+2] = head - vlat;
verts->loc[2*i+3] = head + vlat;
if (bright <= 0) {
verts->diffuse[2*i+2] = 0;
verts->diffuse[2*i+3] = 0;
}
else {
verts->diffuse[2*i+2] = D3DCOLOR_RGBA(bright,bright,bright,bright);
verts->diffuse[2*i+3] = D3DCOLOR_RGBA(bright,bright,bright,bright);
}
}
}
void RotateCamera(int dx, int dy)
{
gDir = gDir.Normalize();
gN = gDir ^ Point(0,1,0);
NxQuat qx(NxPiF32 * dx * 20/ 180.0f, Point(0,1,0));
qx.rotate(gDir);
NxQuat qy(NxPiF32 * dy * 20/ 180.0f, gN);
qy.rotate(gDir);
}
void
Camera::LookAt(const Point& target, const Point& eye, const Point& up)
{
Point zaxis = target - eye; zaxis.Normalize();
Point xaxis = up.cross(zaxis); xaxis.Normalize();
Point yaxis = zaxis.cross(xaxis); yaxis.Normalize();
orientation(0,0) = xaxis.x;
orientation(0,1) = xaxis.y;
orientation(0,2) = xaxis.z;
orientation(1,0) = yaxis.x;
orientation(1,1) = yaxis.y;
orientation(1,2) = yaxis.z;
orientation(2,0) = zaxis.x;
orientation(2,1) = zaxis.y;
orientation(2,2) = zaxis.z;
pos = eye;
}
Matrix4x4& Matrix4x4::SelfShadow(const Point& light)
{
Point Light = light;
Light.Normalize();
Zero();
m[0][0] = Light.x * 0.5f;
m[0][1] = Light.y * 0.5f;
m[0][2] = Light.z * 0.5f;
m[0][3] = 0.5f;
m[3][3] = 1.0f;
return *this;
}
void RotateCamera(int dx, int dy)
{
const Point Up(0.0f, 1.0f, 0.0f);
gDir.Normalize();
gViewY = gDir^Up;
// #### TODO: replicate this using Ice quats
MyQuat qx(NxPiF32 * dx * 20.0f/ 180.0f, Up);
qx.rotate(gDir);
MyQuat qy(NxPiF32 * dy * 20.0f/ 180.0f, gViewY);
qy.rotate(gDir);
}
void MeshOptimize2dOCCSurfaces ::
GetNormalVector(INDEX surfind, const Point<3> & p, Vec<3> & n) const
{
// static int cnt = 0;
// if (cnt++ % 1000 == 0) cout << "GetNV cnt = " << cnt << endl;
Standard_Real u,v;
gp_Pnt pnt(p(0), p(1), p(2));
Handle(Geom_Surface) occface;
occface = BRep_Tool::Surface(TopoDS::Face(geometry.fmap(surfind)));
/*
GeomAPI_ProjectPointOnSurf proj(pnt, occface);
if (proj.NbPoints() < 1)
{
cout << "ERROR: OCCSurface :: GetNormalVector: GeomAPI_ProjectPointOnSurf failed!"
<< endl;
cout << p << endl;
return;
}
proj.LowerDistanceParameters (u, v);
*/
Handle( ShapeAnalysis_Surface ) su = new ShapeAnalysis_Surface( occface );
gp_Pnt2d suval = su->ValueOfUV ( pnt, BRep_Tool::Tolerance( TopoDS::Face(geometry.fmap(surfind)) ) );
suval.Coord( u, v);
pnt = occface->Value( u, v );
gp_Vec du, dv;
occface->D1(u,v,pnt,du,dv);
/*
if (!occface->IsCNu (1) || !occface->IsCNv (1))
(*testout) << "SurfOpt: Differentiation FAIL" << endl;
*/
n = Cross (Vec3d(du.X(), du.Y(), du.Z()),
Vec3d(dv.X(), dv.Y(), dv.Z()));
n.Normalize();
if (geometry.fmap(surfind).Orientation() == TopAbs_REVERSED) n = -1*n;
}
void Triangle::Inflate(float fat_coeff, bool constant_border)
{
// Compute triangle center
Point TriangleCenter;
Center(TriangleCenter);
// Don't normalize?
// Normalize => add a constant border, regardless of triangle size
// Don't => add more to big triangles
for(udword i=0;i<3;i++)
{
Point v = mVerts[i] - TriangleCenter;
if(constant_border) v.Normalize();
mVerts[i] += v * fat_coeff;
}
}
bool Triangle::IntersectCylinder(const Point& c0, const Point& c1, const double radius) const
{
// check intersection with the edges
if(SegmentSegmentDistance(p0, p1, c0, c1) < radius)
return true;
if(SegmentSegmentDistance(p1, p2, c0, c1) < radius)
return true;
if(SegmentSegmentDistance(p2, p1, c0, c1) < radius)
return true;
// check intersection with the inner
Point n = ((p0-p1)^(p0-p2)).Normalize();
Point intersect;
double origin = n|p0;
double nC0 = (n|c0) - origin;
double nC1 = (n|c1) - origin;
if(nC0*nC1 > 0)
{
if(abs(nC0) < abs(nC1))
{
if(abs(nC0) > radius)
return false;
intersect = c0 - n*nC0;
}
else
{
if(abs(nC1) > radius)
return false;
intersect = c1 - n*nC1;
}
}
else
{
Point dir = c1 - c0;
intersect = c0 + (nC0/(dir|n))*dir.Normalize();
}
return IntersectPoint(intersect);
}
void
Physical::LinearFrame(double seconds)
{
// deal with lateral thrusters:
if (trans_x) { // side-to-side
Point transvec = cam.vrt();
transvec *= ((trans_x/mass) * seconds);
velocity += transvec;
}
if (trans_y) { // fore-and-aft
Point transvec = cam.vpn();
transvec *= ((trans_y/mass) * seconds);
velocity += transvec;
}
if (trans_z) { // up-and-down
Point transvec = cam.vup();
transvec *= ((trans_z/mass) * seconds) * 2; //**Compensate extra gravity
velocity += transvec;
}
// if gravity applies, attract:
if (primary_mass > 0) {
Point g = primary_loc - cam.Pos();
double r = g.Normalize();
g *= GRAV * primary_mass / (r*r);
velocity += g * seconds;
}
// constant gravity:
else if (g_accel > 0)
velocity += Point(0, -g_accel, 0) * seconds;
// if drag applies, decellerate:
if (drag)
velocity *= exp(-drag * seconds);
}
void
CameraDirector::Target(double seconds)
{
Point target_loc = external_point;
if (external_ship)
target_loc = external_ship->Location();
if (!external_ship || external_ship == ship) {
if (!external_point) {
if (ship->Cockpit())
Virtual(seconds);
else
Orbit(seconds);
return;
}
}
double step = 1;
if (requested_mode == MODE_COCKPIT)
step = transition;
else if (requested_mode == MODE_TARGET)
step = 1 - transition;
if (ship->Cockpit()) {
// internal padlock:
Cockpit(seconds);
camera.Padlock(target_loc, 3*PI/4, PI/8, PI/3);
}
else {
// external padlock:
Point delta = target_loc - ship->Location();
delta.Normalize();
delta *= -5 * ship->Radius() * step;
delta.y += ship->Radius() * step;
camera.MoveTo(ship->Location() + delta);
camera.LookAt(target_loc);
}
}
void MeshOptimize2dOCCSurfaces ::
GetNormalVector(INDEX surfind, const Point<3> & p, PointGeomInfo & geominfo, Vec<3> & n) const
{
gp_Pnt pnt;
gp_Vec du, dv;
Handle(Geom_Surface) occface;
occface = BRep_Tool::Surface(TopoDS::Face(geometry.fmap(surfind)));
occface->D1(geominfo.u,geominfo.v,pnt,du,dv);
n = Cross (Vec<3>(du.X(), du.Y(), du.Z()),
Vec<3>(dv.X(), dv.Y(), dv.Z()));
n.Normalize();
if (geometry.fmap(surfind).Orientation() == TopAbs_REVERSED) n = -1*n;
// GetNormalVector (surfind, p, n);
}
Light(GLfloat x, GLfloat y, GLfloat z,
GLfloat SExponent, GLfloat AExponent, GLfloat theta,
GLfloat xdir, GLfloat ydir, GLfloat zdir,
GLfloat A0, GLfloat A1, GLfloat A2)
{
coordiante.x = x;
coordiante.y = y;
coordiante.z = z;
direction.x = xdir;
direction.y = ydir;
direction.z = zdir;
direction.Normalize();
angle = theta;
angularAttenuationExponent = AExponent;
specularExponent = SExponent;
radialAttenuationA0 = A0;
radialAttenuationA1 = A1;
radialAttenuationA2 = A2;
}
Steer
SteerAI::Flee(const Point& pt)
{
Steer s;
Point point = pt;
point.Normalize();
// approach
if (point.z > 0.0f) {
if (point.x > 0) s.yaw = -1.0f;
else s.yaw = 1.0f;
}
// flee
else {
s.yaw = -point.x;
s.pitch = point.y;
}
return s;
}
void
Bolt::Render(Video* video, DWORD flags)
{
if ((flags & RENDER_ADDITIVE) == 0)
return;
if (visible && !hidden && video && life) {
const Camera* camera = video->GetCamera();
Point head = loc;
Point tail = origin;
Point vtail = tail - head;
Point vcam = camera->Pos() - loc;
Point vtmp = vcam.cross(vtail);
vtmp.Normalize();
Point vlat = vtmp * -width;
Vec3 vnrm = camera->vpn() * -1;
vset.loc[0] = head + vlat;
vset.loc[1] = tail + vlat;
vset.loc[2] = tail - vlat;
vset.loc[3] = head - vlat;
vset.nrm[0] = vnrm;
vset.nrm[1] = vnrm;
vset.nrm[2] = vnrm;
vset.nrm[3] = vnrm;
ColorValue white((float) shade, (float) shade, (float) shade);
mtl.Ka = white;
mtl.Kd = white;
mtl.Ks = Color::Black;
mtl.Ke = white;
video->DrawPolys(1, &poly);
}
}
bool
Scene::IsLightObscured(const Point& obj_pos, const Point& light_pos, double obj_radius, Point* impact_point) const
{
Point dir = light_pos - obj_pos;
double len = dir.Normalize();
Scene* pThis = (Scene*) this; // cast-away const
Graphic* g = 0;
bool obscured = false;
ListIter<Graphic> g_iter = pThis->graphics;
while (++g_iter && !obscured) {
g = g_iter.value();
if (g->CastsShadow() && !g->Hidden() && !g->IsInfinite()) {
double gdist = (g->Location() - obj_pos).length();
if (gdist > 0.1 && // different than object being obscured
g->Radius() > obj_radius && // larger than object being obscured
(g->Radius()*400)/gdist > 10) { // projects to a resonable size
Point delta = (g->Location() - light_pos);
if (delta.length() > g->Radius() / 100) { // not the object that is emitting the light
Point impact;
obscured = g->CheckRayIntersection(obj_pos, dir, len, impact, false) ? true : false;
if (impact_point)
*impact_point = impact;
}
}
else if (obj_radius < 0 && gdist < 0.1) { // special case for camera (needed for cockpits)
Point delta = (g->Location() - light_pos);
if (delta.length() > g->Radius() / 100) { // not the object that is emitting the light
Point impact;
obscured = g->CheckRayIntersection(obj_pos, dir, len, impact, false) ? true : false;
}
}
}
}
g_iter.attach(pThis->foreground);
while (++g_iter && !obscured) {
g = g_iter.value();
if (g->CastsShadow() && !g->Hidden()) {
double gdist = (g->Location() - obj_pos).length();
if (gdist > 0.1 && // different than object being obscured
g->Radius() > obj_radius && // larger than object being obscured
(g->Radius()*400)/gdist > 10) { // projects to a resonable size
Point delta = (g->Location() - light_pos);
if (delta.length() > g->Radius() / 100) { // not the object that is emitting the light
Point impact;
obscured = g->CheckRayIntersection(obj_pos, dir, len, impact, false) ? true : false;
if (impact_point)
*impact_point = impact;
}
}
else if (obj_radius < 0 && gdist < 0.1) { // special case for camera (needed for cockpits)
Point delta = (g->Location() - light_pos);
if (delta.length() > g->Radius() / 100) { // not the object that is emitting the light
Point impact;
obscured = g->CheckRayIntersection(obj_pos, dir, len, impact, false) ? true : false;
}
}
}
}
return obscured;
}
// Vector normalization can handle a Near-Zero Magnitude
TEST_F(PointTest, NormNearZeroMag) {
Point p = NearZeroMag_;
p = p.Normalize();
EXPECT_FALSE(p.Equals(ZeroMag_)) << "Normalize near 0 vector == 0 vector";
ASSERT_EQ(p.Magnitude(), 1) << "Normalize near 0 vector: Mag != 1";
}
// Normalization Tests
// Vector normalization can handle a Zero Magnitude
TEST_F(PointTest, NormZeroMag) {
Point p = ZeroMag_;
p = p.Normalize();
ASSERT_TRUE(p.Equals(ZeroMag_)) << "Normalize 0 vector != 0 vector";
ASSERT_EQ(p.Magnitude(), 0) << "Normalize 0 vector: Mag != 0";
}
void
StarshipAI::ThrottleControl()
{
// signifies this ship is a dead hulk:
if (ship && ship->Design()->auto_roll < 0) {
return;
}
// station keeping:
if (distance < 0) {
old_throttle = 0;
throttle = 0;
ship->SetThrottle(0);
if (ship->GetFLCS())
ship->GetFLCS()->FullStop();
return;
}
// normal throttle processing:
double ship_speed = ship->Velocity() * ship->Heading();
double brakes = 0;
Ship* ward = ship->GetWard();
Ship* s_threat = 0;
if (threat && threat->Class() >= ship->Class())
s_threat = threat;
if (target || s_threat) { // target pursuit, or retreat
throttle = 100;
if (target && distance < 50e3) {
double closing_speed = ship_speed;
if (target) {
Point delta = target->Location() - ship->Location();
delta.Normalize();
closing_speed = ship->Velocity() * delta;
}
if (closing_speed > 300) {
throttle = 30;
brakes = 0.25;
}
}
throttle *= (1 - accumulator.brake);
if (throttle < 1 && ship->GetFLCS() != 0)
ship->GetFLCS()->FullStop();
}
else if (ward) { // escort, match speed of ward
double zone = ship->Radius() * 3;
double ws = ward->Velocity().length();
double ss = ship_speed;
if (distance < 1e3)
throttle = old_throttle;
if (distance > zone*3)
throttle = 100;
else if (distance > zone) {
if((ss - ws) > 300) {
throttle = 0;
brakes = 0.5;
}
else if((ss - ws) < 250)
throttle = ward->Throttle() + 20;
else throttle = 0;
}
else if (distance < -zone*2) {
throttle = old_throttle - 10;
brakes = 1;
}
else if (distance < -zone) {
throttle = old_throttle;
brakes = 1;
}
else {
double ds = ws - ss;
double at = 0;
if (ds > 0)
at = ds * seconds;
else if (ds < 0) {
at = ds * seconds;
brakes = 1;
}
throttle = old_throttle + at;
}
/** double speed = ward->Velocity().length();
throttle = old_throttle;
if (speed == 0) {
double d = (ship->Location() - ward->Location()).length();
if (d > 30e3)
speed = (d - 30e3) / 100;
}
if (speed > 0) {
if (ship_speed > speed) {
throttle = old_throttle - 1;
brakes = 0.2;
}
else if (ship_speed < speed - 10) {
throttle = old_throttle + 1;
}
}
else {
throttle = 0;
brakes = 0.5;
} **/
}
else if (patrol || farcaster) { // seek patrol point
throttle = 100;
if (distance < 10 * ship_speed) {
if (ship->Velocity().length() > 200)
throttle = 5;
else
throttle = 50;
}
}
else if (navpt) { // lead only, get speed from navpt
double speed = navpt->Speed();
throttle = old_throttle;
if (hold) {
throttle = 0;
brakes = 1;
}
else {
if (speed <= 0)
speed = 300;
if (ship_speed > speed) {
if (throttle > 0 && old_throttle > 1)
throttle = old_throttle - 1;
brakes = 0.25;
}
else if (ship_speed < speed - 10) {
throttle = old_throttle + 1;
}
}
}
else if (element_index > 1) { // wingman
Ship* lead = ship->GetElement()->GetShip(1);
double lv = lead->Velocity().length();
double sv = ship_speed;
double dv = lv-sv;
double dt = 0;
if (dv > 0) dt = dv * 1e-2 * seconds;
else if (dv < 0) dt = dv * 1e-2 * seconds;
throttle = old_throttle + dt;
}
else {
throttle = 0;
}
old_throttle = throttle;
ship->SetThrottle(throttle);
if (ship_speed > 1 && brakes > 0)
ship->SetTransY(-brakes * ship->Design()->trans_y);
else if (throttle > 10 && (ship->GetEMCON() < 2 || ship->GetFuelLevel() < 10))
ship->SetTransY(ship->Design()->trans_y);
}
bool
TerrainPatch::BuildDetailLevel(int level)
{
int i, j;
int detail_size = 1 << level;
int ds1 = detail_size+1;
if (detail_size > PATCH_SIZE)
return false;
Model* model = new(__FILE__,__LINE__) Model;
detail_levels[level] = model;
model->SetLuminous(luminous);
model->SetDynamic(true);
const int NUM_STRIPS = 4;
const int NUM_INDICES_TRI = 3;
const int NUM_INDICES_QUAD = 6;
int nverts = ds1*ds1 + ds1*2*NUM_STRIPS;
int npolys = detail_size*detail_size*2;
int strip_len = detail_size;
int total = npolys + strip_len*NUM_STRIPS;
if (water) {
nverts = ds1*ds1;
strip_len = 0;
total = npolys;
}
Surface* s = new(__FILE__,__LINE__) Surface;
VertexSet* vset = 0;
if (s) {
s->SetName("default");
s->CreateVerts(nverts);
s->CreatePolys(total);
s->AddIndices(npolys*NUM_INDICES_TRI + strip_len*NUM_STRIPS*NUM_INDICES_QUAD);
vset = s->GetVertexSet();
if (!water)
vset->CreateAdditionalTexCoords();
ZeroMemory(vset->loc, nverts * sizeof(Vec3));
ZeroMemory(vset->diffuse, nverts * sizeof(DWORD));
ZeroMemory(vset->specular, nverts * sizeof(DWORD));
ZeroMemory(vset->tu, nverts * sizeof(float));
ZeroMemory(vset->tv, nverts * sizeof(float));
if (!water) {
ZeroMemory(vset->tu1, nverts * sizeof(float));
ZeroMemory(vset->tv1, nverts * sizeof(float));
}
ZeroMemory(vset->rw, nverts * sizeof(float));
// initialize vertices
Vec3* pVert = vset->loc;
float* pTu = vset->tu;
float* pTv = vset->tv;
float* pTu1 = vset->tu1;
float* pTv1 = vset->tv1;
DWORD* pSpec = vset->specular;
int dscale = (PATCH_SIZE-1)/detail_size;
double dt = 0.0625 / (ds1-1); // terrain texture scale
double dtt = 2.0000 / (ds1-1); // tile texture scale
double tu0 = (double) rect.x / rect.w / 16.0 + 1.0/16.0;
double tv0 = (double) rect.y / rect.h / 16.0;
// surface verts
for (i = 0; i < ds1; i++) {
for (j = 0; j < ds1; j++) {
*pVert = Vec3((float) (j* scale * dscale - (HALF_PATCH_SIZE*scale)),
(float) (heights[i*dscale*PATCH_SIZE + j*dscale]),
(float) (i* scale * dscale - (HALF_PATCH_SIZE*scale)));
if (level >= 2) {
*pTu++ = (float) (-j*dtt);
*pTv++ = (float) ( i*dtt);
if (level >= 4 && !water) {
*pTu1++ = (float) (-j*dtt*3);
*pTv1++ = (float) ( i*dtt*3);
}
*pSpec++ = BlendValue(pVert->y);
}
else {
*pTu++ = (float) (tu0 - j*dt);
*pTv++ = (float) (tv0 + i*dt);
}
pVert++;
}
}
if (!water) {
// strip 1 & 2 verts
for (i = 0; i < ds1; i += detail_size) {
for (j = 0; j < ds1; j++) {
Vec3 vl = Vec3((float) (j* scale * dscale - (HALF_PATCH_SIZE*scale)),
(float) (heights[i*dscale*PATCH_SIZE + j*dscale]),
(float) (i* scale * dscale - (HALF_PATCH_SIZE*scale)));
*pVert++ = vl;
DWORD blend = 0;
if (level >= 2) {
blend = BlendValue(vl.y);
*pSpec++ = blend;
*pTu++ = (float) (-j*dtt);
*pTv++ = (float) ( i*dtt);
}
else {
*pTu++ = (float) (tu0 - j*dt);
*pTv++ = (float) (tv0 + i*dt);
}
vl.y = -5000.0f;
*pVert++ = vl;
if (level >= 2) {
*pSpec++ = blend;
*pTu++ = (float) (-j*dtt);
*pTv++ = (float) ( i*dtt);
}
else {
*pTu++ = (float) (tu0 - j*dt);
*pTv++ = (float) (tv0 + i*dt);
}
}
}
// strip 3 & 4 verts
for (j = 0; j < ds1; j += detail_size) {
for (i = 0; i < ds1; i++) {
Vec3 vl = Vec3((float) (j* scale * dscale - (HALF_PATCH_SIZE*scale)),
(float) (heights[i*dscale*PATCH_SIZE + j*dscale]),
(float) (i* scale * dscale - (HALF_PATCH_SIZE*scale)));
*pVert++ = vl;
DWORD blend = 0;
if (level >= 2) {
blend = BlendValue(vl.y);
*pSpec++ = blend;
*pTu++ = (float) (-j*dtt);
*pTv++ = (float) ( i*dtt);
}
else {
*pTu++ = (float) (tu0 - j*dt);
*pTv++ = (float) (tv0 + i*dt);
}
vl.y = -5000.0f;
*pVert++ = vl;
if (level >= 2) {
*pSpec++ = blend;
*pTu++ = (float) (-j*dtt);
*pTv++ = (float) ( i*dtt);
}
else {
*pTu++ = (float) (tu0 - j*dt);
*pTv++ = (float) (tv0 + i*dt);
}
}
}
}
Material* m = materials.first();
// initialize the polys
for (i = 0; i < npolys; i++) {
Poly* p = s->GetPolys() + i;
p->nverts = 3;
p->vertex_set = vset;
p->visible = 1;
p->sortval = 0;
p->material = m;
if (level >= 2 && !water) {
p->material = materials.at(1);
p->sortval = 1;
}
}
for (i = npolys; i < total; i++) {
Poly* p = s->GetPolys() + i;
p->nverts = 4;
p->vertex_set = vset;
p->visible = 1;
p->sortval = 0;
p->material = m;
}
int index = 0;
// build main patch polys:
for (i = 0; i < detail_size; i++) {
for (j = 0; j < detail_size; j++) {
int v[4] = {
(ds1 * (i ) + (j )),
(ds1 * (i ) + (j+1)),
(ds1 * (i+1) + (j )),
(ds1 * (i+1) + (j+1)) };
bisect(vset, v);
// first triangle
Poly* p = s->GetPolys() + index++;
p->verts[0] = v[0];
p->verts[1] = v[1];
p->verts[2] = v[3];
if (level >= 2 && !water) {
int layer = CalcLayer(p) + 1;
p->material = materials.at(layer);
p->sortval = layer;
}
// second triangle
p = s->GetPolys() + index++;
p->verts[0] = v[0];
p->verts[1] = v[3];
p->verts[2] = v[2];
if (level >= 2 && !water) {
int layer = CalcLayer(p) + 1;
p->material = materials.at(layer);
p->sortval = layer;
}
}
}
// build vertical edge strip polys:
if (!water) {
for (i = 0; i < NUM_STRIPS; i++) {
Poly* p = s->GetPolys() + npolys + i*strip_len;
int base_index = ds1*ds1 + ds1*2*i;
for (j = 0; j < strip_len; j++) {
int v = base_index + j * 2;
p->nverts = 4;
if (i == 1 || i == 2) {
p->verts[0] = v;
p->verts[1] = v+2;
p->verts[2] = v+3;
p->verts[3] = v+1;
}
else {
p->verts[0] = v;
p->verts[1] = v+1;
p->verts[2] = v+3;
p->verts[3] = v+2;
}
if (level >= 2) {
int layer = CalcLayer(p) + 1;
p->material = materials.at(layer);
p->sortval = layer;
}
p++;
}
}
}
// update the poly planes:
for (i = 0; i < total; i++) {
Poly* p = s->GetPolys() + i;
Plane& plane = p->plane;
WORD* v = p->verts;
plane = Plane(vset->loc[v[0]] + loc,
vset->loc[v[1]] + loc,
vset->loc[v[2]] + loc);
}
s->Normalize();
// create continguous segments for each material:
// sort the polys by material index:
qsort((void*) s->GetPolys(), s->NumPolys(), sizeof(Poly), mcomp);
// then assign them to cohesive segments:
Segment* segment = 0;
Poly* spolys = s->GetPolys();
for (int n = 0; n < s->NumPolys(); n++) {
if (segment && segment->material == spolys[n].material) {
segment->npolys++;
}
else {
segment = 0;
}
if (!segment) {
segment = new(__FILE__,__LINE__) Segment;
segment->npolys = 1;
segment->polys = &spolys[n];
segment->material = segment->polys->material;
segment->model = model;
s->GetSegments().append(segment);
}
}
Solid::EnableCollision(false);
model->AddSurface(s);
Solid::EnableCollision(true);
// copy vertex normals:
const Vec3B* tnorms = terrain->Normals();
for (i = 0; i < ds1; i++) {
for (j = 0; j < ds1; j++) {
if (water) {
vset->nrm[i*ds1+j] = Point(0,1,0);
}
// blend adjacent normals:
else if (dscale > 1) {
Point normal;
// but don't blend more than 16 normals per vertex:
int step = 1;
if (dscale > 4)
step = dscale / 4;
for (int dy = -dscale/2; dy < dscale/2; dy += step) {
for (int dx = -dscale/2; dx < dscale/2; dx += step) {
int ix = rect.x + (ds1-1-j)*dscale + dx;
int iy = rect.y + i*dscale + dy;
if (ix < 0) ix = 0;
if (ix > terrain_width-1) ix = terrain_width-1;
if (iy < 0) iy = 0;
if (iy > terrain_width-1) iy = terrain_width-1;
Vec3B vbn = tnorms[iy*terrain_width + ix];
normal += Point((128-vbn.x)/127.0, (vbn.z-128)/127.0, (vbn.y-128)/127.0);
}
}
normal.Normalize();
vset->nrm[i*ds1+j] = normal;
}
// just copy the one normal:
else {
Vec3B vbn = tnorms[(rect.y + i*dscale)*terrain_width + (rect.x + (ds1-1-j) * dscale)];
Point normal = Point((128-vbn.x)/127.0, (vbn.z-128)/127.0, (vbn.y-128)/127.0);
vset->nrm[i*ds1+j] = normal;
}
}
}
if (!water) {
pVert = &vset->nrm[ds1*ds1];
// strip 1 & 2 verts
for (i = 0; i < ds1; i += detail_size) {
for (j = 0; j < ds1; j++) {
Vec3 vn = vset->nrm[i*ds1 + j];
*pVert++ = vn;
*pVert++ = vn;
}
}
// strip 3 & 4 verts
for (j = 0; j < ds1; j += detail_size) {
for (i = 0; i < ds1; i++) {
Vec3 vn = vset->nrm[i*ds1 + j];
*pVert++ = vn;
*pVert++ = vn;
}
}
}
}
if (level > max_detail)
max_detail = level;
return true;
}
void
StarshipAI::FireControl()
{
// identify unknown contacts:
if (identify) {
if (fabs(ship->GetHelmHeading() - ship->CompassHeading()) < 10*DEGREES) {
Contact* contact = ship->FindContact(target);
if (contact && !contact->ActLock()) {
if (!ship->GetProbe()) {
ship->LaunchProbe();
}
}
}
return;
}
// investigate last known location of enemy ship:
if (rumor && !target && ship->GetProbeLauncher() && !ship->GetProbe()) {
// is rumor in basket?
Point rmr = Transform(rumor->Location());
rmr.Normalize();
double dx = fabs(rmr.x);
double dy = fabs(rmr.y);
if (dx < 10*DEGREES && dy < 10*DEGREES && rmr.z > 0) {
ship->LaunchProbe();
}
}
// Corvettes and Frigates are anti-air platforms. They need to
// target missile threats even when the threat is aimed at another
// friendly ship. Forward facing weapons must be on auto fire,
// while lateral and aft facing weapons are set to point defense.
if (ship->Class() == Ship::CORVETTE || ship->Class() == Ship::FRIGATE) {
ListIter<WeaponGroup> iter = ship->Weapons();
while (++iter) {
WeaponGroup* group = iter.value();
ListIter<Weapon> w_iter = group->GetWeapons();
while (++w_iter) {
Weapon* weapon = w_iter.value();
double az = weapon->GetAzimuth();
if (fabs(az) < 45*DEGREES) {
weapon->SetFiringOrders(Weapon::AUTO);
weapon->SetTarget(target, 0);
}
else {
weapon->SetFiringOrders(Weapon::POINT_DEFENSE);
}
}
}
}
// All other starships are free to engage ship targets. Weapon
// fire control is managed by the type of weapon.
else {
System* subtgt = SelectSubtarget();
ListIter<WeaponGroup> iter = ship->Weapons();
while (++iter) {
WeaponGroup* weapon = iter.value();
if (weapon->GetDesign()->target_type & Ship::DROPSHIPS) { // anti-air weapon?
weapon->SetFiringOrders(Weapon::POINT_DEFENSE);
}
else if (weapon->IsDrone()) { // torpedoes
weapon->SetFiringOrders(Weapon::MANUAL);
weapon->SetTarget(target, 0);
if (target && target->GetRegion() == ship->GetRegion()) {
Point delta = target->Location() - ship->Location();
double range = delta.length();
if (range < weapon->GetDesign()->max_range * 0.9 &&
!AssessTargetPointDefense())
weapon->SetFiringOrders(Weapon::AUTO);
else if (range < weapon->GetDesign()->max_range * 0.5)
weapon->SetFiringOrders(Weapon::AUTO);
}
}
else { // anti-ship weapon
weapon->SetFiringOrders(Weapon::AUTO);
weapon->SetTarget(target, subtgt);
weapon->SetSweep(subtgt ? Weapon::SWEEP_NONE : Weapon::SWEEP_TIGHT);
}
}
}
}
Plane(Point P0, Point Normal, GLfloat *Color, GLfloat *SpecColor):Shape(Color, SpecColor)
{
p0 = P0;
normal = Normal.Normalize();
}
void
Physical::AeroFrame(double s)
{
arcade_velocity = Point();
// if this object is under direction,
// but doesn't need subframe accuracy,
// update the control parameters:
if (dir && !dir->Subframe())
dir->ExecFrame(s);
// decrement life before destroying the frame time:
if (life > 0)
life -= s;
// integrate equations
// using slices no larger
// than sub_frame:
double seconds = s;
while (s > 0.0) {
if (s > sub_frame)
seconds = sub_frame;
else
seconds = s;
// if the director needs subframe accuracy, run it now:
if (dir && dir->Subframe())
dir->ExecFrame(seconds);
AngularFrame(seconds);
// LINEAR MOVEMENT ----------------------------
Point pos = cam.Pos();
// if the object is thrusting,
// accelerate along the camera normal:
if (thrust) {
Point thrustvec = cam.vpn();
thrustvec *= ((thrust/mass) * seconds);
velocity += thrustvec;
}
// AERODYNAMICS ------------------------------
if (lat_thrust)
LinearFrame(seconds);
// if no thrusters, do constant gravity:
else if (g_accel > 0)
velocity += Point(0, -g_accel, 0) * seconds;
// compute alpha, rho, drag, and lift:
Point vfp = velocity;
double v = vfp.Normalize();
double v_2 = 0;
double rho = GetDensity();
double lift = 0;
if (v > 150) {
v_2 = (v-150) * (v-150);
Point vfp1 = vfp - cam.vrt() * (vfp * cam.vrt());
vfp1.Normalize();
double cos_alpha = vfp1 * cam.vpn();
if (cos_alpha >= 1) {
alpha = 0.0f;
}
else {
alpha = (float) acos(cos_alpha);
}
// if flight path is above nose, alpha is negative:
if (vfp1 * cam.vup() > 0)
alpha = -alpha;
if (alpha <= stall) {
lift = CL * alpha * rho * v_2;
}
else {
lift = CL * (2*stall - alpha) * rho * v_2;
}
// add lift to velocity:
if (_finite(lift))
velocity += cam.vup() * lift * seconds;
else
lift = 0;
// if drag applies, decellerate:
double alpha_2 = alpha*alpha;
double drag_eff = (drag + (CD * alpha_2)) * rho * v_2;
Point vn = velocity;
vn.Normalize();
velocity += vn * -drag_eff * seconds;
}
else {
velocity *= exp(-drag * seconds);
}
// move the position by the (time-frame scaled) velocity:
pos += velocity * seconds;
cam.MoveTo(pos);
s -= seconds;
}
// now update the graphic rep and light sources:
if (rep) {
rep->MoveTo(cam.Pos());
rep->SetOrientation(cam.Orientation());
}
if (light) {
light->MoveTo(cam.Pos());
}
}
// VectorPerpendicularTo finds the vector perpendicular to a line
// line: a vector of two points that define a line in R3
// return: the shortest distance from this point to that line
Point Point::VectorPerpendicularTo(vector<Point> line) {
Point v = line[1].Sub(line[0]);
Point u = this->Sub(line[0]);
return u.Sub(v.Normalize().Times(v.Dot(u)));
}
void dxTriMeshData::Preprocess()
{
#if dTRIMESH_ENABLED
// If this mesh has already been preprocessed, exit
if (UseFlags)
return;
udword numTris = Mesh.GetNbTriangles();
udword numEdges = numTris * 3;
UseFlags = new uint8[numTris];
memset(UseFlags, 0, sizeof(uint8) * numTris);
EdgeRecord* records = new EdgeRecord[numEdges];
// Make a list of every edge in the mesh
const IndexedTriangle* tris = Mesh.GetTris();
const unsigned tristride = Mesh.GetTriStride();
for (unsigned int i = 0; i < numTris; i++)
{
SetupEdge(&records[i*3], 0, i, tris->mVRef);
SetupEdge(&records[i*3+1], 1, i, tris->mVRef);
SetupEdge(&records[i*3+2], 2, i, tris->mVRef);
tris = (const IndexedTriangle*)(((uint8*)tris) + tristride);
}
// Sort the edges, so the ones sharing the same verts are beside each other
qsort(records, numEdges, sizeof(EdgeRecord), EdgeCompare);
// Go through the sorted list of edges and flag all the edges and vertices that we need to use
for (unsigned int i = 0; i < numEdges; i++)
{
EdgeRecord* rec1 = &records[i];
EdgeRecord* rec2 = 0;
if (i < numEdges - 1)
rec2 = &records[i+1];
if (rec2 &&
rec1->VertIdx1 == rec2->VertIdx1 &&
rec1->VertIdx2 == rec2->VertIdx2)
{
VertexPointers vp;
ConversionArea vc;
Mesh.GetTriangle(vp, rec1->TriIdx, vc);
// Get the normal of the first triangle
Point triNorm = (*vp.Vertex[2] - *vp.Vertex[1]) ^ (*vp.Vertex[0] - *vp.Vertex[1]);
triNorm.Normalize();
// Get the vert opposite this edge in the first triangle
Point oppositeVert1 = GetOppositeVert(rec1, vp.Vertex);
// Get the vert opposite this edge in the second triangle
Mesh.GetTriangle(vp, rec2->TriIdx, vc);
Point oppositeVert2 = GetOppositeVert(rec2, vp.Vertex);
float dot = triNorm.Dot((oppositeVert2 - oppositeVert1).Normalize());
// We let the dot threshold for concavity get slightly negative to allow for rounding errors
static const float kConcaveThresh = -0.000001f;
// This is a concave edge, leave it for the next pass
if (dot >= kConcaveThresh)
rec1->Concave = true;
// If this is a convex edge, mark its vertices and edge as used
else
UseFlags[rec1->TriIdx] |= rec1->Vert1Flags | rec1->Vert2Flags | rec1->EdgeFlags;
// Skip the second edge
i++;
}
// This is a boundary edge
else
{
UseFlags[rec1->TriIdx] |= rec1->Vert1Flags | rec1->Vert2Flags | rec1->EdgeFlags;
}
}
// Go through the list once more, and take any edge we marked as concave and
// clear it's vertices flags in any triangles they're used in
for (unsigned int i = 0; i < numEdges; i++)
{
EdgeRecord& er = records[i];
if (er.Concave)
{
for (unsigned int j = 0; j < numEdges; j++)
{
EdgeRecord& curER = records[j];
if (curER.VertIdx1 == er.VertIdx1 ||
curER.VertIdx1 == er.VertIdx2)
UseFlags[curER.TriIdx] &= ~curER.Vert1Flags;
if (curER.VertIdx2 == er.VertIdx1 ||
curER.VertIdx2 == er.VertIdx2)
UseFlags[curER.TriIdx] &= ~curER.Vert2Flags;
}
}
}
delete [] records;
#endif // dTRIMESH_ENABLED
}