Changeset 9740 for code/branches/radarDreiD/src/libraries/util

Timestamp:

Nov 4, 2013, 3:17:32 PM (11 years ago)

Author:

wroennin

Message:

HUDRadar:function call get3DProjection updated; Math.cc: get3DProjection new transform matrix; Math.h updated

Location:

code/branches/radarDreiD/src/libraries/util

Files:

• Math.cc (modified) (2 diffs)
• Math.h (modified) (1 diff)

code/branches/radarDreiD/src/libraries/util/Math.cc

@@ -196 +196 @@
             @param myposition My position
             @param mydirection My viewing direction
+            @param myorthonormal My orthonormalvector (pointing upwards through my head)
             @param otherposition The position of the other object
             @param mapangle The angle you look on the 3Dmap
@@ -204 +205 @@
              -
         */
-    orxonox::Vector2 get3DProjection(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& otherposition, const float mapangle, const float detectionlimit)
+    orxonox::Vector2 get3DProjection(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition, const float mapangle, const float detectionlimit)
     {
         //
         orxonox::Vector3 distance = otherposition - myposition;
 
-        // project difference vector on our plane
-        orxonox::Vector3 projection = Ogre::Plane(mydirection, myposition).projectVector(distance);
-
-        //float projectionlength = projection.length();
-
-        // project vector for the rotated 3DMap
-        float xcoordinate = projection.y/(2*detectionlimit);
-        float ycoordinate = (projection.x*sin(mapangle)+projection.z*cos(mapangle))/(2*detectionlimit);
+        // new coordinate system base y_coordinate
+        orxonox::Vector3 myside = -mydirection.crossProduct(myorthonormal);
+
+        // inverse of the transform matrix
+        float determinant = +mydirection.x * (myside.y*myorthonormal.z - myorthonormal.y*myside.z)
+                                                -mydirection.y * (myside.x*myorthonormal.z - myside.z*myorthonormal.x)
+                                                +mydirection.z * (myside.x*myorthonormal.y - myside.y*myorthonormal.x);
+        float invdet = 1/determinant;
+        orxonox::Vector3 xinvtransform;
+        orxonox::Vector3 yinvtransform;
+        orxonox::Vector3 zinvtransform;
+
+        xinvtransform.x =  (myside.y      * myorthonormal.z - myorthonormal.y * myside.z       )*invdet;
+        xinvtransform.y = -(mydirection.y * myorthonormal.z - mydirection.z   * myorthonormal.y)*invdet;
+        xinvtransform.z =  (mydirection.y * myside.z        - mydirection.z   * myside.y       )*invdet;
+        yinvtransform.x = -(myside.x      * myorthonormal.z - myside.z        * myorthonormal.x)*invdet;
+        yinvtransform.y =  (mydirection.x * myorthonormal.z - mydirection.z   * myorthonormal.x)*invdet;
+        yinvtransform.z = -(mydirection.x * myside.z        - myside.x        * mydirection.z  )*invdet;
+        zinvtransform.x =  (myside.x      * myorthonormal.y - myorthonormal.x * myside.y       )*invdet;
+        zinvtransform.y = -(mydirection.x * myorthonormal.y - myorthonormal.x * mydirection.y  )*invdet;
+        zinvtransform.z =  (mydirection.x * myside.y        - myside.x        * mydirection.x  )*invdet;
+
+        // coordinate transformation
+        distance.x = (xinvtransform.x + yinvtransform.x + zinvtransform.x) * distance.x;
+        distance.y = (xinvtransform.y + yinvtransform.y + zinvtransform.y) * distance.y;
+        distance.z = (xinvtransform.z + yinvtransform.z + zinvtransform.z) * distance.z;
+
+        // project vector for the rotated 3DMap on screen
+        float xcoordinate = distance.y/(2*detectionlimit);
+        float ycoordinate = (distance.x*sin(mapangle)+distance.z*cos(mapangle))/(2*detectionlimit);
         return orxonox::Vector2(xcoordinate , ycoordinate);
     }

code/branches/radarDreiD/src/libraries/util/Math.h

@@ -92 +92 @@
     _UtilExport orxonox::Vector2 get2DViewdirection(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition);
     _UtilExport orxonox::Vector2 get2DViewcoordinates(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition);
-    _UtilExport orxonox::Vector2 get3DProjection(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& otherposition, const float mapangle, const float detectionlimit);
+    _UtilExport orxonox::Vector2 get3DProjection(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition, const float mapangle, const float detectionlimit);
     _UtilExport orxonox::Vector3 getPredictedPosition(const orxonox::Vector3& myposition, float projectilespeed, const orxonox::Vector3& targetposition, const orxonox::Vector3& targetvelocity);