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Ignore:
Timestamp:
Sep 12, 2010, 12:47:30 AM (14 years ago)
Author:
rgrieder
Message:

Basic stuff up and running for the Qt sandbox.
No GUI support yet.

File:
1 edited

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  • sandbox_qt/src/libraries/util/Math.cc

    r7401 r7421  
    3434#include "Math.h"
    3535
    36 #include <OgrePlane.h>
    37 
    38 #include "MathConvert.h"
    39 #include "SubString.h"
    40 // Do not remove this include, it avoids linker errors.
    41 #include "mbool.h"
    42 
    4336namespace orxonox
    4437{
    45 #if OGRE_VERSION < 0x010603
    46     /**
    47         @brief Function for writing a Radian to a stream.
    48     */
    49     std::ostream& operator<<(std::ostream& out, const orxonox::Radian& radian)
    50     {
    51         out << radian.valueRadians();
    52         return out;
    53     }
    54 
    55     /**
    56         @brief Function for writing a Degree to a stream.
    57     */
    58     std::ostream& operator<<(std::ostream& out, const orxonox::Degree& degree)
    59     {
    60         out << degree.valueDegrees();
    61         return out;
    62     }
    63 #endif
    64 
    65     /**
    66         @brief Function for reading a Radian from a stream.
    67     */
    68     std::istream& operator>>(std::istream& in, orxonox::Radian& radian)
    69     {
    70         float temp;
    71         in >> temp;
    72         radian = temp;
    73         return in;
    74     }
    75 
    76     /**
    77         @brief Function for reading a Degree from a stream.
    78     */
    79     std::istream& operator>>(std::istream& in, orxonox::Degree& degree)
    80     {
    81         float temp;
    82         in >> temp;
    83         degree = temp;
    84         return in;
    85     }
    86 
    87 
    88     /**
    89         @brief Gets the angle between my viewing direction and the direction to the position of the other object.
    90         @param myposition My position
    91         @param mydirection My viewing direction
    92         @param otherposition The position of the other object
    93         @return The angle in radian
    94 
    95         Examples:
    96          - If the other object is exactly in front of me, the function returns 0.
    97          - If the other object is exactly behind me, the function returns pi.
    98          - If the other object is exactly right/left to me (or above/below), the function returns pi/2.
    99     */
    100     float getAngle(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& otherposition)
    101     {
    102         orxonox::Vector3 distance = otherposition - myposition;
    103         float distancelength = distance.length();
    104         if (distancelength == 0)
    105             return 0;
    106         else
    107             return acos(clamp<float>(mydirection.dotProduct(distance) / distancelength, -1, 1));
    108     }
    109 
    110     /**
    111         @brief Gets the 2D viewing direction (up/down, left/right) to the position of the other object.
    112         @param myposition My position
    113         @param mydirection My viewing direction
    114         @param myorthonormal My orthonormalvector (pointing upwards through my head)
    115         @param otherposition The position of the other object
    116         @return The viewing direction
    117 
    118         Examples:
    119          - If the other object is exactly in front of me, the function returns <tt>Vector2(0, 0)</tt>.
    120          - If the other object is exactly at my left, the function returns <tt>Vector2(-1, 0)</tt>.
    121          - If the other object is exactly at my right, the function returns <tt>Vector2(1, 0)</tt>.
    122          - If the other object is only a bit at my right, the function still returns <tt>Vector2(1, 0)</tt>.
    123          - If the other object is exactly above me, the function returns <tt>Vector2(0, 1)</tt>.
    124     */
    125     orxonox::Vector2 get2DViewdirection(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition)
    126     {
    127         orxonox::Vector3 distance = otherposition - myposition;
    128 
    129         // project difference vector on our plane
    130         orxonox::Vector3 projection = Ogre::Plane(mydirection, myposition).projectVector(distance);
    131 
    132         float projectionlength = projection.length();
    133         if (projectionlength == 0)
    134         {
    135             if (myposition.dotProduct(otherposition) >= 0)
    136                 return orxonox::Vector2(0, 0);
    137             else
    138                 return orxonox::Vector2(0, 1);
    139         }
    140 
    141         float cos_value = clamp<float>(myorthonormal.dotProduct(projection) / projectionlength, -1, 1);
    142         float sin_value = sqrt( 1 - cos_value*cos_value );
    143 
    144         if ((mydirection.crossProduct(myorthonormal)).dotProduct(distance) > 0)
    145             return orxonox::Vector2( sin_value, cos_value );
    146         else
    147             return orxonox::Vector2( -sin_value, cos_value );
    148     }
    149 
    150     /**
    151         @brief Gets the 2D viewing direction (up/down, left/right) to the position of the other object, multiplied with the viewing distance to the object (0° = 0, 180° = 1).
    152         @param myposition My position
    153         @param mydirection My viewing direction
    154         @param myorthonormal My orthonormalvector (pointing upwards through my head)
    155         @param otherposition The position of the other object
    156         @return The viewing direction
    157 
    158         Examples:
    159          - If the other object is exactly in front of me, the function returns <tt>Vector2(0, 0)</tt>.
    160          - If the other object is exactly at my left, the function returns <tt>Vector2(-0.5, 0)</tt>.
    161          - If the other object is exactly at my right, the function returns <tt>Vector2(0.5, 0)</tt>.
    162          - If the other object is only a bit at my right, the function still returns <tt>Vector2(0.01, 0)</tt>.
    163          - If the other object is exactly above me, the function returns <tt>Vector2(0, 0.5)</tt>.
    164     */
    165     orxonox::Vector2 get2DViewcoordinates(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition)
    166     {
    167         orxonox::Vector3 distance = otherposition - myposition;
    168 
    169         // project difference vector on our plane
    170         orxonox::Vector3 projection = Ogre::Plane(mydirection, myposition).projectVector(distance);
    171 
    172         float projectionlength = projection.length();
    173         if (projectionlength == 0)
    174         {
    175             if (myposition.dotProduct(otherposition) >= 0)
    176                 return orxonox::Vector2(0, 0);
    177             else
    178                 return orxonox::Vector2(0, 1);
    179         }
    180         //float angle = acos(clamp<float>(myorthonormal.dotProduct(projection) / projectionlength, -1, 1));
    181 
    182         float cos_value = clamp<float>(myorthonormal.dotProduct(projection) / projectionlength, -1, 1);
    183         float sin_value = sqrt( 1 - cos_value*cos_value );
    184 
    185         float distancelength = distance.length();
    186         if (distancelength == 0) return orxonox::Vector2(0, 0);
    187         float radius = acos(clamp<float>(mydirection.dotProduct(distance) / distancelength, -1, 1)) / math::pi;
    188 
    189         if ((mydirection.crossProduct(myorthonormal)).dotProduct(distance) > 0)
    190             return orxonox::Vector2( sin_value * radius, cos_value * radius);
    191         else
    192             return orxonox::Vector2( -sin_value * radius, cos_value * radius);
    193     }
    194 
    195     /**
    196         @brief Returns the predicted position I have to aim at, if I want to hit a moving target with a moving projectile.
    197         @param myposition My position
    198         @param projectilespeed The speed of my projectile
    199         @param targetposition The position of my target
    200         @param targetvelocity The velocity of my target
    201         @return The predicted position
    202 
    203         The function predicts the position based on a linear velocity of the target. If the target changes speed or direction, the projectile will miss.
    204     */
    205     orxonox::Vector3 getPredictedPosition(const orxonox::Vector3& myposition, float projectilespeed, const orxonox::Vector3& targetposition, const orxonox::Vector3& targetvelocity)
    206     {
    207         float squaredProjectilespeed = projectilespeed * projectilespeed;
    208         orxonox::Vector3 distance = targetposition - myposition;
    209         float a = distance.squaredLength();
    210         float b = 2 * (distance.x + distance.y + distance.z) * (targetvelocity.x + targetvelocity.y + targetvelocity.z);
    211         float c = targetvelocity.squaredLength();
    212 
    213         float temp = 4*squaredProjectilespeed*c + a*a - 4*b*c;
    214         if (temp < 0)
    215             return orxonox::Vector3::ZERO;
    216 
    217         temp = sqrt(temp);
    218         float time = (temp + a) / (2 * (squaredProjectilespeed - b));
    219         return (targetposition + targetvelocity * time);
    220     }
    221 
    22238    /**
    22339        @brief Returns a unique number. This function will never return the same value twice.
    … …  
    22844        return aNumber++;
    22945    }
    230 
    231 
    232     //////////////////////////
    233     // Conversion functions //
    234     //////////////////////////
    235 
    236     // std::string to Vector2
    237     bool ConverterFallback<std::string, orxonox::Vector2>::convert(orxonox::Vector2* output, const std::string& input)
    238     {
    239         size_t opening_parenthesis, closing_parenthesis = input.find('}');
    240         if ((opening_parenthesis = input.find('{')) == std::string::npos)
    241             opening_parenthesis = 0;
    242         else
    243             opening_parenthesis++;
    244 
    245         SubString tokens(input.substr(opening_parenthesis, closing_parenthesis - opening_parenthesis),
    246                          ",", SubString::WhiteSpaces, false, '\\', true, '"', true, '\0', '\0', true, '\0');
    247         if (tokens.size() >= 2)
    248         {
    249             if (!convertValue(&(output->x), tokens[0]))
    250                 return false;
    251             if (!convertValue(&(output->y), tokens[1]))
    252                 return false;
    253 
    254             return true;
    255         }
    256         return false;
    257     }
    258 
    259     // std::string to Vector3
    260     bool ConverterFallback<std::string, orxonox::Vector3>::convert(orxonox::Vector3* output, const std::string& input)
    261     {
    262         size_t opening_parenthesis, closing_parenthesis = input.find('}');
    263         if ((opening_parenthesis = input.find('{')) == std::string::npos)
    264             opening_parenthesis = 0;
    265         else
    266             opening_parenthesis++;
    267 
    268         SubString tokens(input.substr(opening_parenthesis, closing_parenthesis - opening_parenthesis),
    269                          ",", SubString::WhiteSpaces, false, '\\', true, '"', true, '\0', '\0', true, '\0');
    270         if (tokens.size() >= 3)
    271         {
    272             if (!convertValue(&(output->x), tokens[0]))
    273                 return false;
    274             if (!convertValue(&(output->y), tokens[1]))
    275                 return false;
    276             if (!convertValue(&(output->z), tokens[2]))
    277                 return false;
    278 
    279             return true;
    280         }
    281         return false;
    282     }
    283 
    284     // std::string to Vector4
    285     bool ConverterFallback<std::string, orxonox::Vector4>::convert(orxonox::Vector4* output, const std::string& input)
    286     {
    287         size_t opening_parenthesis, closing_parenthesis = input.find('}');
    288         if ((opening_parenthesis = input.find('{')) == std::string::npos)
    289             opening_parenthesis = 0;
    290         else
    291             opening_parenthesis++;
    292 
    293         SubString tokens(input.substr(opening_parenthesis, closing_parenthesis - opening_parenthesis),
    294                          ",", SubString::WhiteSpaces, false, '\\', true, '"', true, '\0', '\0', true, '\0');
    295         if (tokens.size() >= 4)
    296         {
    297             if (!convertValue(&(output->x), tokens[0]))
    298                 return false;
    299             if (!convertValue(&(output->y), tokens[1]))
    300                 return false;
    301             if (!convertValue(&(output->z), tokens[2]))
    302                 return false;
    303             if (!convertValue(&(output->w), tokens[3]))
    304                 return false;
    305 
    306             return true;
    307         }
    308         return false;
    309     }
    310 
    311     // std::string to Quaternion
    312     bool ConverterFallback<std::string, orxonox::Quaternion>::convert(orxonox::Quaternion* output, const std::string& input)
    313     {
    314         size_t opening_parenthesis, closing_parenthesis = input.find('}');
    315         if ((opening_parenthesis = input.find('{')) == std::string::npos)
    316             opening_parenthesis = 0;
    317         else
    318             opening_parenthesis++;
    319 
    320         SubString tokens(input.substr(opening_parenthesis, closing_parenthesis - opening_parenthesis), ",", SubString::WhiteSpaces, false, '\\', true, '"', true, '\0', '\0', true, '\0');
    321         if (tokens.size() >= 4)
    322         {
    323             if (!convertValue(&(output->w), tokens[0]))
    324                 return false;
    325             if (!convertValue(&(output->x), tokens[1]))
    326                 return false;
    327             if (!convertValue(&(output->y), tokens[2]))
    328                 return false;
    329             if (!convertValue(&(output->z), tokens[3]))
    330                 return false;
    331 
    332             return true;
    333         }
    334         return false;
    335     }
    336 
    337     // std::string to ColourValue
    338     bool ConverterFallback<std::string, orxonox::ColourValue>::convert(orxonox::ColourValue* output, const std::string& input)
    339     {
    340         size_t opening_parenthesis, closing_parenthesis = input.find('}');
    341         if ((opening_parenthesis = input.find('{')) == std::string::npos)
    342             opening_parenthesis = 0;
    343         else
    344             opening_parenthesis++;
    345 
    346         SubString tokens(input.substr(opening_parenthesis, closing_parenthesis - opening_parenthesis), ",", SubString::WhiteSpaces, false, '\\', true, '"', true, '\0', '\0', true, '\0');
    347         if (tokens.size() >= 3)
    348         {
    349             if (!convertValue(&(output->r), tokens[0]))
    350                 return false;
    351             if (!convertValue(&(output->g), tokens[1]))
    352                 return false;
    353             if (!convertValue(&(output->b), tokens[2]))
    354                 return false;
    355             if (tokens.size() >= 4)
    356             {
    357                 if (!convertValue(&(output->a), tokens[3]))
    358                     return false;
    359             }
    360             else
    361                 output->a = 1.0;
    362 
    363             return true;
    364         }
    365         return false;
    366     }
    36746}
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