示例#1
0
 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);
 }
示例#3
0
  /*
  	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);
  }
示例#4
0
    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);
        }
      }
    }