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Timestamp:
Dec 16, 2013, 2:00:00 PM (11 years ago)
Author:
smerkli
Message:

Merged branch radarDreiD into presentationbranch

Location:
code/branches/presentationHS13
Files:
3 edited

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  • code/branches/presentationHS13

  • code/branches/presentationHS13/src/libraries/util/Math.cc

    r8400 r9904  
    2323 *      Fabian 'x3n' Landau
    2424 *   Co-authors:
    25  *      ...
     25 *      Wolfgang Roenninger
    2626 *
    2727 */
     
    147147
    148148    /**
    149         @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).
     149        @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).
    150150        @param myposition My position
    151151        @param mydirection My viewing direction
     
    189189        else
    190190            return orxonox::Vector2( -sin_value * radius, cos_value * radius);
     191    }
     192
     193
     194    /**
     195            @brief Gets the 2D project vector for the 3D Radar .
     196            @param myposition My position
     197            @param mydirection My viewing direction
     198            @param myorthonormal My orthonormalvector (pointing upwards through my head)
     199            @param otherposition The position of the other object
     200            @param mapangle The angle between line of sight on screen and the 3Dmap-x/z-plain in radian
     201            @param detectionlimit The limit in which objects are shown on the map
     202            @return The viewing direction
     203    */
     204    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)
     205    {
     206        // Orxonox Vectors: x_direction you are looking, y_direction points up, z_direction points to the right
     207        orxonox::Vector3 distance = otherposition - myposition; // get vector from Ship to object
     208
     209        // new coordinate system:       x_axsis:        mydirection             (points front)
     210        //                                                      y_axsis:        myorthonormal   (points up)
     211        //                                                      z_axsis:        myside                  (points right)
     212
     213        orxonox::Vector3 myside = mydirection.crossProduct(myorthonormal); // get 3. base vector
     214
     215        distance = 4*distance / detectionlimit; // shrink vector on map
     216        if(distance.length() > 1.0f) // if object would wander outside of the map
     217                {
     218                distance = distance / distance.length();
     219                        }
     220
     221        // perform a coordinate transformation to get distance in relation of the position of the ship
     222        orxonox::Vector3 distanceShip = getTransformedVector(distance, mydirection, myorthonormal, myside);
     223
     224        // calculate 2D vector on the map (with angle between x/z - plain and line of sight)
     225        float xcoordinate = distanceShip.z; // z; cause x direction on screen is to the right side
     226        float ycoordinate = distanceShip.x*sin(mapangle)+distanceShip.y*cos(mapangle);
     227        return orxonox::Vector2(xcoordinate , ycoordinate);
     228    }
     229
     230    /**
     231               @brief Gets if a object is over the x/z - plain on map
     232               @param myposition My position
     233               @param mydirection My viewing direction
     234               @param myorthonormal My orthonormalvector (pointing upwards through my head)
     235               @param otherposition The position of the other object
     236               @param mapangle The angle you look on the 3Dmap in radian
     237               @return If distancevector to the other object has a positive y-coordinate
     238
     239               Examples:
     240                Returns true if object is over x/z - plain
     241                Returns false if object is below x/z -plain
     242    */
     243    bool isObjectHigherThanShipOnMap(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition, const float mapangle)
     244    {
     245        // Orxonox Vectors: x_direction you are looking, y_direction points up, z_direction points to the right
     246        orxonox::Vector3 distance = otherposition - myposition;
     247
     248        // new coordinate system:       x_axsis:        mydirection             (points front)
     249        //                                                      y_axsis:        myorthonormal   (points up)
     250        //                                                      z_axsis:        myside                  (points right)
     251
     252        orxonox::Vector3 myside = mydirection.crossProduct(myorthonormal); // get vector from Ship to object
     253
     254
     255        // perform a coordinate transformation to get distance in relation of the position of the ship
     256        orxonox::Vector3 distanceShip = getTransformedVector(distance, mydirection, myorthonormal, myside);
     257
     258        if(distanceShip.y >= 0)
     259                return true;
     260        else
     261                return false;
     262    }
     263
     264    /**
     265                   @brief A value between 0 and 10, in order how other object is in front or in back
     266                   @param myposition My position
     267                   @param mydirection My viewing direction
     268                   @param myorthonormal My orthonormalvector (pointing upwards through my head)
     269                   @param otherposition The position of the other object
     270                   @param detectionlimit The limit in which objects are shown on the map
     271                   @return value between 0 and 100
     272    */
     273    int determineMap3DZOrder(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition, const float detectionlimit)
     274    {
     275        orxonox::Vector3 distance = otherposition - myposition; // get vector from Ship to object
     276        orxonox::Vector3 myside = mydirection.crossProduct(myorthonormal);      // get vector to the side
     277
     278        distance = 4*distance / detectionlimit; // shrink vector on map
     279        if(distance.length() > 1.0f) // if object would wander outside of the map
     280        {
     281                distance = distance / distance.length();
     282        }
     283
     284        // perform a coordinate transformation to get distance in relation of the position of the ship
     285        orxonox::Vector3 distanceShip = getTransformedVector(distance, mydirection, myorthonormal, myside);
     286
     287        return (int) 50 - 100*distanceShip.x;
     288    }
     289
     290
     291    /**
     292                @brief Gets the new vector after a coordinate transformation
     293                @param distance Vector which will be transformed
     294                @param mydirection New x basevector
     295                @param myorthonormal New y basevector
     296                @param otherposition New z basevector
     297                @return direction in the new coordinates
     298
     299                x is vector in old coordinates
     300                y is vector in old coordinates
     301                T is transform matrix with:
     302                        T = (t1 , t2 , t3)
     303                        t1 = mydirection
     304                        t2 = myorthonormal
     305                        t3 = myside
     306
     307                y = T^(-1)*x
     308            */
     309    orxonox::Vector3 getTransformedVector(const orxonox::Vector3& distance, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& myside)
     310    {
     311        // inverse of the transform matrix
     312        float determinant = +mydirection.x * (myorthonormal.y*myside.z - myside.y*myorthonormal.z)
     313                                                -mydirection.y * (myorthonormal.x*myside.z - myorthonormal.z*myside.x)
     314                                                +mydirection.z * (myorthonormal.x*myside.y - myorthonormal.y*myside.x);
     315        float invdet = 1/determinant;
     316
     317        // transform matrix
     318        orxonox::Vector3 xinvtransform;
     319        orxonox::Vector3 yinvtransform;
     320        orxonox::Vector3 zinvtransform;
     321
     322        xinvtransform.x = (myorthonormal.y * myside.z        - myside.y        * myorthonormal.z)*invdet;
     323        xinvtransform.y = (mydirection.z   * myside.y        - mydirection.y   * myside.z       )*invdet;
     324        xinvtransform.z = (mydirection.y   * myorthonormal.z - mydirection.z   * myorthonormal.y)*invdet;
     325        yinvtransform.x = (myorthonormal.z * myside.x        - myorthonormal.x * myside.z       )*invdet;
     326        yinvtransform.y = (mydirection.x   * myside.z        - mydirection.z   * myside.x       )*invdet;
     327        yinvtransform.z = (myorthonormal.x * mydirection.z   - mydirection.x   * myorthonormal.z)*invdet;
     328        zinvtransform.x = (myorthonormal.x * myside.y        - myside.x        * myorthonormal.y)*invdet;
     329        zinvtransform.y = (myside.x        * mydirection.y   - mydirection.x   * myside.y       )*invdet;
     330        zinvtransform.z = (mydirection.x   * myorthonormal.y - myorthonormal.x * mydirection.y  )*invdet;
     331
     332        // coordinate transformation
     333        orxonox::Vector3 distanceShip;
     334        distanceShip.x = xinvtransform.x * distance.x + yinvtransform.x * distance.y + zinvtransform.x * distance.z;
     335        distanceShip.y = xinvtransform.y * distance.x + yinvtransform.y * distance.y + zinvtransform.y * distance.z;
     336        distanceShip.z = xinvtransform.z * distance.x + yinvtransform.z * distance.y + zinvtransform.z * distance.z;
     337
     338        return distanceShip;
    191339    }
    192340
  • code/branches/presentationHS13/src/libraries/util/Math.h

    r9550 r9904  
    2323 *      Fabian 'x3n' Landau
    2424 *   Co-authors:
    25  *      ...
     25 *      Wolfgang Roenninger
    2626 *
    2727 */
     
    9292    _UtilExport orxonox::Vector2 get2DViewdirection(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition);
    9393    _UtilExport orxonox::Vector2 get2DViewcoordinates(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition);
     94    _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);
     95    _UtilExport bool isObjectHigherThanShipOnMap(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition, const float mapangle);
     96    _UtilExport int determineMap3DZOrder(const orxonox::Vector3& myposition, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& otherposition, const float detectionlimit);
     97    _UtilExport orxonox::Vector3 getTransformedVector(const orxonox::Vector3& distance, const orxonox::Vector3& mydirection, const orxonox::Vector3& myorthonormal, const orxonox::Vector3& myside);
    9498    _UtilExport orxonox::Vector3 getPredictedPosition(const orxonox::Vector3& myposition, float projectilespeed, const orxonox::Vector3& targetposition, const orxonox::Vector3& targetvelocity);
    9599
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