public boolean isInView(PVector vect) { PVector z = getZAxis(); PVector v1 = PVector.sub(vect, getTranslation()); float dotP = PVector.dot(v1, z) / (z.mag() * v1.mag()); if ((acos(dotP) * 180 / PI) <= fov) { return true; } return false; }
// A function to rotate a vector public void rotateVector(PVector v, float theta) { float m = v.mag(); float a = v.heading2D(); a += theta; v.x = m * PApplet.cos(a); v.y = m * PApplet.sin(a); }
/* Perform Simulation */ public void simulate(float dt) { // Accelerate angular speed float requiredSpeed = targetAngularSpeed - angularSpeed; float angularAccel = requiredSpeed / dt; angularAccel = PApplet.constrain(angularAccel, -maxAngularAccel, maxAngularAccel); // Limit Angular speed angularSpeed += angularAccel * dt; angularSpeed = PApplet.constrain(angularSpeed, -maxAngularSpeed, maxAngularSpeed); // Orientation Simulation orientation += angularSpeed * dt; // Position simulation PVector worldRequiredSpeed = targetSpeed.get(); worldRequiredSpeed.rotate(orientation); worldRequiredSpeed.sub(speed); // PVector worldRequiredSpeed = worldTargetSpeed.get(); float dSpeed = worldRequiredSpeed.mag(); float dAcell = dSpeed / dt; float dForce = Math.min(dAcell * getMass(), motorForce); worldRequiredSpeed.normalize(); worldRequiredSpeed.mult(dForce); force.add(worldRequiredSpeed); super.simulate(dt); }
public void checkThirtyDegreeRule( ArrayList<Cam> cameras, ArrayList<Character> characters, int selectedIdx) { if (cameras == null || cameras.isEmpty()) { println("No cameras in the scene!"); } if (characters.size() != 2) { println("Only two characters supported for now"); // TODO (sanjeet): Hack! Fix this once more characters are allowed } Cam selectedCamera = cameras.get(selectedIdx); // TODO The characters.get results in a runtime error because there aren't currently any // characters allocated in the input file. Character ch1 = characters.get(0); Character ch2 = characters.get(1); // Obtaining (x,y,z) for characters and selected camera PVector ch1Location = ch1.getTranslation(); PVector ch2Location = ch2.getTranslation(); PVector selectedCameraLocation = selectedCamera.getTranslation(); PVector cameraPoint = new PVector(); cameraPoint.add(selectedCameraLocation); for (int i = 0; i < 100; i++) { cameraPoint.add(selectedCamera.getZAxis()); } PVector intersection = getTwoLinesIntersection( new PVector(ch1Location.x, ch1Location.z), new PVector(ch2Location.x, ch2Location.z), new PVector(selectedCameraLocation.x, selectedCameraLocation.z), new PVector(cameraPoint.x, cameraPoint.z)); PVector diff = PVector.sub(selectedCameraLocation, intersection); diff.normalize(); FloatBuffer fb = selectedCamera.modelViewMatrix; float[] mat = fb.array(); float[] fbMatrix = new float[mat.length]; for (int i = 0; i < fbMatrix.length; i++) { fbMatrix[i] = mat[i]; } fbMatrix[0] = -diff.x; fbMatrix[1] = diff.y; fbMatrix[2] = -diff.z; fbMatrix[9] = diff.x; fbMatrix[10] = diff.y; fbMatrix[11] = diff.z; fbMatrix[13] = intersection.x; fbMatrix[14] = intersection.y; fbMatrix[15] = intersection.z; PMatrix3D matrix = new PMatrix3D(); matrix.set(fbMatrix); matrix.transpose(); pushMatrix(); applyMatrix(matrix); rotateY(radians(30)); line(0, 0, 0, 0, 0, 1000); rotateY(radians(-2 * 30)); line(0, 0, 0, 0, 0, 1000); popMatrix(); for (int i = 0; i < cameras.size(); i++) { if (i == selectedIdx) { continue; } if (!cameras.get(i).isInView(ch1Location) && !cameras.get(i).isInView(ch2Location)) { continue; } PVector currCamLocation = cameras.get(i).getTranslation(); PVector vect1 = PVector.sub(currCamLocation, intersection); PVector vect2 = PVector.sub(selectedCameraLocation, intersection); float dotP = vect1.dot(vect2) / (vect1.mag() * vect2.mag()); if (acos(dotP) <= PI / 6) { cameras.get(i).setColor(255, 0, 0); } else { cameras.get(i).setColor(0, 0, 255); } } }