Changeset 9792 for code/branches/radarDreiD/src/libraries

Timestamp:

Nov 18, 2013, 4:22:09 PM (11 years ago)

Author:

wroennin

Message:

Math.cc: new function isObjectHigherThanShipOnMap, separated coordinatetransformation into a seperate function; Math.h: updated with new functions; HUDRadar.cc: added zOrder for rendering on screen; radar3D_test.oxw: canged spawn direction to 0,0,0

Location:

code/branches/radarDreiD/src/libraries/util

Files:

• Math.cc (modified) (3 diffs)
• Math.h (modified) (1 diff)

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

@@ -204 +204 @@
             Examples:
              -
-        */
+    */
     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)
     {
@@ -222 +222 @@
                         }
 
-
+        // perform a coordinate transformation to get distance in relation of the position of the ship
+        orxonox::Vector3 distanceShip = getTransformedVector(distance, mydirection, myorthonormal, myside);
+
+        // calculate 2D vector on the map (with angle between x/z - plain and line of sight)
+        float xcoordinate = distanceShip.z; // z; cause x direction on screen is to the right side
+        float ycoordinate = distanceShip.x*sin(mapangle)+distanceShip.y*cos(mapangle);
+        return orxonox::Vector2(xcoordinate , ycoordinate);
+    }
+
+    /**
+               @brief Gets if a object is over the x/z - plain on map
+               @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
+               @return If distancevector to the other object has a positive y-coordinate
+
+               Examples:
+                Returns true if object is over x/z - plain
+                Returns false if object is below x/z -plain
+    */
+    bool isObjectHigherThanShipOnMap(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition, const float mapangle)
+    {
+        // Orxonox Vectors: x_direction you are looking, y_direction points up, z_direction points to the right
+        orxonox::Vector3 distance = otherposition - myposition;
+
+        // new coordinate system:       x_axsis:        mydirection             (points front)
+        //                                                      y_axsis:        myorthonormal   (points up)
+        //                                                      z_axsis:        myside                  (points right)
+
+        orxonox::Vector3 myside = mydirection.crossProduct(myorthonormal); // get vector from Ship to object
+
+
+        // perform a coordinate transformation to get distance in relation of the position of the ship
+        orxonox::Vector3 distanceShip = getTransformedVector(distance, mydirection, myorthonormal, myside);
+
+        if(distanceShip.y >= 0)
+                return true;
+        else
+                return false;
+    }
+
+
+    /**
+                @brief Gets the new vector after a coordinate transformation
+                @param distance Vector which will be transformed
+                @param mydirection New x basevector
+                @param myorthonormal New y basevector
+                @param otherposition New z basevector
+                @return direction in the new coordinates
+
+                x is vector in old coordinates
+                y is vector in old coordinates
+                T is transform matrix with:
+                        T = (t1 , t2 , t3)
+                        t1 = mydirection
+                        t2 = myorthonormal
+                        t3 = myside
+
+                y = T^(-1)*x
+            */
+    orxonox::Vector3 getTransformedVector(const orxonox::Vector3& distance, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& myside)
+    {
         // inverse of the transform matrix
         float determinant = +mydirection.x * (myorthonormal.y*myside.z - myside.y*myorthonormal.z)
@@ -250 +313 @@
         distanceShip.z = xinvtransform.z * distance.x + yinvtransform.z * distance.y + zinvtransform.z * distance.z;
 
-        // cap vector for map if its to long
-        //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();
-
-
-        // project vector for the rotated 3DMap on screen
-        //float xcoordinate = distance.z;
-        //float ycoordinate = distance.y;
-
-        float xcoordinate = distanceShip.z; // z; cause z direction is to the side
-        float ycoordinate = distanceShip.x*sin(mapangle)+distanceShip.y*cos(mapangle);// -; cause on screen y coordinate points down
-        return orxonox::Vector2(xcoordinate , ycoordinate);
-    }
-
+        return distanceShip;
+    }
 
     /**

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

@@ -93 +93 @@
     _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& myorthonormal, const orxonox::Vector3& otherposition, const float mapangle, const float detectionlimit);
+    _UtilExport bool isObjectHigherThanShipOnMap(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition, const float mapangle);
+    _UtilExport orxonox::Vector3 getTransformedVector(const orxonox::Vector3& distance, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& myside);
     _UtilExport orxonox::Vector3 getPredictedPosition(const orxonox::Vector3& myposition, float projectilespeed, const orxonox::Vector3& targetposition, const orxonox::Vector3& targetvelocity);