//------------------ isSecondInFOVOfFirst -------------------------------------
//
// returns true if the target position is in the field of view of the entity
// positioned at posFirst facing in facingFirst
//-----------------------------------------------------------------------------
public static bool isSecondInFOVOfFirst(Vector2D posFirst,
Vector2D facingFirst,
Vector2D posSecond,
double fov)
{
Vector2D toTarget = Vec2DNormalize(posSecond - posFirst);
return facingFirst.Dot(toTarget) >= Math.Cos(fov / 2.0);
}
private Vector2D PointToLocalSpace(Vector2D point, Vector2D AgentHeading, Vector2D AgentSide, Vector2D AgentPosition)
{
//make a copy of the point
Vector2D TransPoint = new Vector2D(point.X, point.Y);
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
double Tx = -AgentPosition.Dot(AgentHeading);
double Ty = -AgentPosition.Dot(AgentSide);
//create the transformation matrix
matTransform._11(AgentHeading.X); matTransform._12(AgentSide.X);
matTransform._21(AgentHeading.Y); matTransform._22(AgentSide.Y);
matTransform._31(Tx); matTransform._32(Ty);
//now transform the vertices
matTransform.TransformVector2D(TransPoint);
return TransPoint;
}