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);
}
}
}