//--------------------------- WorldTransform -----------------------------
//
// given a std::vector of 2D vectors, a position, orientation and scale,
// this function transforms the 2D vectors into the object's world space
//------------------------------------------------------------------------
public static List <Vector2D> WorldTransform(List <Vector2D> points,
Vector2D pos,
Vector2D forward,
Vector2D side,
Vector2D scale)
{
//copy the original vertices into the buffer about to be transformed
List <Vector2D> TranVector2Ds = points;
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
//scale
if ((scale.X != 1.0) || (scale.Y != 1.0))
{
matTransform.Scale(scale.X, scale.Y);
}
//rotate
matTransform.Rotate(forward, side);
//and translate
matTransform.Translate(pos.X, pos.Y);
//now transform the object's vertices
matTransform.TransformVector2Ds(TranVector2Ds);
return(TranVector2Ds);
}
//-------------------------- Vec2DRotateAroundOrigin --------------------------
//
// rotates a vector ang rads around the origin
//-----------------------------------------------------------------------------
public static void Vec2DRotateAroundOrigin(Vector2D v, double ang)
{
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
//rotate
matTransform.Rotate(ang);
//now transform the object's vertices
matTransform.TransformVector2D(v);
}
//--------------------- VectorToWorldSpace --------------------------------
//
// Transforms a vector from the agent's local space into world space
//------------------------------------------------------------------------
public static Vector2D VectorToWorldSpace(Vector2D vec,
Vector2D AgentHeading,
Vector2D AgentSide)
{
//make a copy of the point
Vector2D TransVec = new Vector2D(vec.X, vec.Y);;
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
//rotate
matTransform.Rotate(AgentHeading, AgentSide);
//now transform the vertices
matTransform.TransformVector2D(TransVec);
return(TransVec);
}
//--------------------- VectorToLocalSpace --------------------------------
//
//------------------------------------------------------------------------
public static Vector2D VectorToLocalSpace(Vector2D vec,
Vector2D AgentHeading,
Vector2D AgentSide)
{
//make a copy of the point
Vector2D TransPoint = new Vector2D(vec.X, vec.Y);
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
//create the transformation matrix
matTransform._11(AgentHeading.X); matTransform._12(AgentSide.X);
matTransform._21(AgentHeading.Y); matTransform._22(AgentSide.Y);
//now transform the vertices
matTransform.TransformVector2D(TransPoint);
return(TransPoint);
}
//--------------------- PointToWorldSpace --------------------------------
//
// Transforms a point from the agent's local space into world space
//------------------------------------------------------------------------
public static Vector2D PointToWorldSpace(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();
//rotate
matTransform.Rotate(AgentHeading, AgentSide);
//and translate
matTransform.Translate(AgentPosition.X, AgentPosition.Y);
//now transform the vertices
matTransform.TransformVector2D(TransPoint);
return(TransPoint);
}
//--------------------- PointToLocalSpace --------------------------------
//
//------------------------------------------------------------------------
public static 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);
}
//-------------------------- Vec2DRotateAroundOrigin --------------------------
//
// rotates a vector ang rads around the origin
//-----------------------------------------------------------------------------
public static void Vec2DRotateAroundOrigin(Vector2D v, double ang)
{
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
//rotate
matTransform.Rotate(ang);
//now transform the object's vertices
matTransform.TransformVector2D( v);
}
//--------------------------- RotateHeadingToFacePosition ---------------------
//
// given a target position, this method rotates the entity's heading and
// side vectors by an amount not greater than m_dMaxTurnRate until it
// directly faces the target.
//
// returns true when the heading is facing in the desired direction
//-----------------------------------------------------------------------------
public bool RotateHeadingToFacePosition(Vector2D target)
{
Vector2D toTarget = Vector2D.Vec2DNormalize(target - m_vPos);
//first determine the angle between the heading vector and the target
double angle = Math.Acos(m_vHeading.Dot(toTarget));
//return true if the player is facing the target
if (angle < 0.00001) return true;
//clamp the amount to turn to the max turn rate
if (angle > m_dMaxTurnRate) angle = m_dMaxTurnRate;
//The next few lines use a rotation matrix to rotate the player's heading
//vector accordingly
C2DMatrix RotationMatrix = new C2DMatrix();
//notice how the direction of rotation has to be determined when creating
//the rotation matrix
RotationMatrix.Rotate(angle * m_vHeading.Sign(toTarget));
RotationMatrix.TransformVector2D(m_vHeading);
RotationMatrix.TransformVector2D(m_vVelocity);
//finally recreate m_vSide
m_vSide = m_vHeading.Perp();
return false;
}
//--------------------- VectorToLocalSpace --------------------------------
//
//------------------------------------------------------------------------
public static Vector2D VectorToLocalSpace(Vector2D vec,
Vector2D AgentHeading,
Vector2D AgentSide)
{
//make a copy of the point
Vector2D TransPoint = new Vector2D(vec.X, vec.Y);
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
//create the transformation matrix
matTransform._11(AgentHeading.X); matTransform._12(AgentSide.X);
matTransform._21(AgentHeading.Y); matTransform._22(AgentSide.Y);
//now transform the vertices
matTransform.TransformVector2D( TransPoint);
return TransPoint;
}
//--------------------- PointToLocalSpace --------------------------------
//
//------------------------------------------------------------------------
public static 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;
}
//--------------------- VectorToWorldSpace --------------------------------
//
// Transforms a vector from the agent's local space into world space
//------------------------------------------------------------------------
public static Vector2D VectorToWorldSpace(Vector2D vec,
Vector2D AgentHeading,
Vector2D AgentSide)
{
//make a copy of the point
Vector2D TransVec = new Vector2D(vec.X, vec.Y); ;
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
//rotate
matTransform.Rotate(AgentHeading, AgentSide);
//now transform the vertices
matTransform.TransformVector2D( TransVec);
return TransVec;
}
//--------------------- PointToWorldSpace --------------------------------
//
// Transforms a point from the agent's local space into world space
//------------------------------------------------------------------------
public static Vector2D PointToWorldSpace(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();
//rotate
matTransform.Rotate(AgentHeading, AgentSide);
//and translate
matTransform.Translate(AgentPosition.X, AgentPosition.Y);
//now transform the vertices
matTransform.TransformVector2D(TransPoint);
return TransPoint;
}
//--------------------------- WorldTransform -----------------------------
//
// given a std::vector of 2D vectors, a position and orientation
// this function transforms the 2D vectors into the object's world space
//------------------------------------------------------------------------
public static List<Vector2D> WorldTransform(List<Vector2D> points,
Vector2D pos,
Vector2D forward,
Vector2D side)
{
//copy the original vertices into the buffer about to be transformed
List<Vector2D> TranVector2Ds = points;
//create a transformation matrix
C2DMatrix matTransform = new C2DMatrix();
//rotate
matTransform.Rotate(forward, side);
//and translate
matTransform.Translate(pos.X, pos.Y);
//now transform the object's vertices
matTransform.TransformVector2Ds( TranVector2Ds);
return TranVector2Ds;
}
