Changeset 9749 for code/branches/radarDreiD/src/libraries

Timestamp:

Nov 4, 2013, 4:32:43 PM (11 years ago)

Author:

wroennin

Message:

Math.cc:get3DProjection: transformation changed

File:

• code/branches/radarDreiD/src/libraries/util/Math.cc (modified) (3 diffs)

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

@@ -211 +211 @@
 
         // new coordinate system base y_coordinate
-        orxonox::Vector3 myside = -mydirection.crossProduct(myorthonormal);
+        orxonox::Vector3 myside = mydirection.crossProduct(-myorthonormal);
 
         // inverse of the transform matrix
@@ -218 +218 @@
                                                 +mydirection.z * (myside.x*myorthonormal.y - myside.y*myorthonormal.x);
         float invdet = 1/determinant;
+
+        // transform matrix
         orxonox::Vector3 xinvtransform;
         orxonox::Vector3 yinvtransform;
         orxonox::Vector3 zinvtransform;
 
-        xinvtransform.x =  (myside.y      * myorthonormal.z - myorthonormal.y * myside.z       )*invdet;
-        yinvtransform.x = -(mydirection.y * myorthonormal.z - mydirection.z   * myorthonormal.y)*invdet;
-        zinvtransform.x =  (mydirection.y * myside.z        - mydirection.z   * myside.y       )*invdet;
-        xinvtransform.y = -(myside.x      * myorthonormal.z - myside.z        * myorthonormal.x)*invdet;
-        yinvtransform.y =  (mydirection.x * myorthonormal.z - mydirection.z   * myorthonormal.x)*invdet;
-        zinvtransform.y = -(mydirection.x * myside.z        - myside.x        * mydirection.z  )*invdet;
-        xinvtransform.z =  (myside.x      * myorthonormal.y - myorthonormal.x * myside.y       )*invdet;
-        yinvtransform.z = -(mydirection.x * myorthonormal.y - myorthonormal.x * mydirection.y  )*invdet;
-        zinvtransform.z =  (mydirection.x * myside.y        - myside.x        * mydirection.x  )*invdet;
+        xinvtransform.x = (myside.y        * myorthonormal.z - myorthonormal.y * myside.z       )*invdet;
+        xinvtransform.y = (mydirection.z   * myorthonormal.y - mydirection.y   * myorthonormal.z)*invdet;
+        xinvtransform.z = (mydirection.y   * myside.z        - mydirection.z   * myside.y       )*invdet;
+        yinvtransform.x = (myside.z        * myorthonormal.x - myside.x        * myorthonormal.z)*invdet;
+        yinvtransform.y = (mydirection.x   * myorthonormal.z - mydirection.z   * myorthonormal.x)*invdet;
+        yinvtransform.z = (myside.x        * mydirection.z   - mydirection.x   * myside.z       )*invdet;
+        zinvtransform.x = (myside.x        * myorthonormal.y - myorthonormal.x * myside.y       )*invdet;
+        zinvtransform.y = (myorthonormal.x * mydirection.y   - mydirection.x   * myorthonormal.y)*invdet;
+        zinvtransform.z = (mydirection.x   * myside.y        - myside.x        * mydirection.y  )*invdet;
 
         // coordinate transformation
@@ -238 +240 @@
 
         // cap vector for map
-        distance.x = clamp<float>(distance.x, -detectionlimit/5, detectionlimit/5);
-        distance.y = clamp<float>(distance.y, -detectionlimit/5, detectionlimit/5);
-        distance.z = clamp<float>(distance.z, -detectionlimit/5, detectionlimit/5);
-        float distancelength = distance.length();
-        distance = distance / distancelength;
+        //distance.x = clamp<float>(distance.x, -detectionlimit/5, detectionlimit/5);
+        //distance.y = clamp<float>(distance.y, -detectionlimit/5, detectionlimit/5);
+        //distance.z = clamp<float>(distance.z, -detectionlimit/5, detectionlimit/5);
+        //float distancelength = distance.length();
+        distance = 5 * distance / detectionlimit;
 
         // project vector for the rotated 3DMap on screen
-        float xcoordinate = distance.y;
+        float xcoordinate = -distance.y; // -; cause in room myside points to the left, on screen x to the right
         float ycoordinate = (distance.x*sin(mapangle)+distance.z*cos(mapangle));
         return orxonox::Vector2(xcoordinate , ycoordinate);