void FixedPointCSTest_Matrix2()
{
//MoveObject obj = new MoveObject();
//F64Vec2 pos = F64Vec2.Zero;
//F64Vec2 heading = F64Vec2.Right; //1,0
//F64Vec2 side = F64Vec2.Up; //0,1
F64Matrix3x3 m = new F64Matrix3x3();
//F64Vec2 point = F64Vec2.FromFloat(2, 3);
//F64Vec2 point2 = m.PointToLocalSpace(point,
// heading,
// side,
// pos);
//Debug.LogError(point2.X.Float + " " + point2.Y.Float);
MoveObject obj = new MoveObject();
obj.SetPos(F64Vec3.Zero);
obj.SetDir(new F64Vec3(1, 0, 0));
//var f = F64Vec3.RotateY(obj.forward, new FixMath.F64(-90));
//Debug.LogError(obj.forward + " " + F64Vec3.Normalize(f).ToUnityVector3());
F64Vec3 check = new F64Vec3(2, 0, 3);
var r3 = F64Vec3.PointToLocalSpace2D(check, obj.forward, obj.left, obj.GetPos());
//Debug.LogError(check2.X.Float + " " + check2.Y.Float);
Debug.LogError(r3);
}
void TestFCS_P2()
{
Vector3 av = new Vector3(100, 0, 20);
MoveObject obj = new MoveObject();
obj.SetPos(F64Vec3.Zero);
obj.SetDir(new F64Vec3(0, 0, 1));
obj.moveData.detectionLen = new F64(5);
obj.moveData.detectionWidth = new F64(0.8);
GameObjectGetter tankGetter = ResHelper.LoadGameObject("prefabs/tank");
GameObject tankGo = tankGetter.Get();
tankGo.transform.position = obj.GetPos().ToUnityVector3();
tankGo.transform.forward = obj.GetDir().ToUnityVector3();
GameObject.Instantiate <GameObject>(tankGo);
for (int i = 0; i < 3; i++)
{
F64Vec3 newDir = F64Vec3.RotateY(obj.GetDir(), new F64(30));
obj.SetDir(F64Vec3.Normalize(newDir));
obj.SetPos(obj.GetPos() + (newDir * new F64(5)));
tankGo.transform.position = obj.GetPos().ToUnityVector3();
tankGo.transform.forward = obj.GetDir().ToUnityVector3();
GameObject.Instantiate <GameObject>(tankGo);
}
Debug.LogError("Tank " + obj.GetPos() + " " + obj.GetPos().ToUnityVector3());
F64Vec3 localAv = F64Vec3.PointToLocalSpace2D(F64Vec3.FromUnityVector3(av),
obj.forward, obj.left, obj.GetPos());
F64Matrix3x3 m = new F64Matrix3x3();
F64Vec2 worldAv = m.PointToWorldSpace(new F64Vec2(localAv.X, localAv.Z),
new F64Vec2(obj.forward.X, obj.forward.Z),
new F64Vec2(obj.left.X, obj.left.Z),
new F64Vec2(obj.GetPos().X, obj.GetPos().Z));
F64Vec3 worldAv3 = new F64Vec3(worldAv.X, F64.Zero, worldAv.Y);
Debug.LogError("worldAv " + worldAv + " " + worldAv3.ToUnityVector3());
F64Vec3 nworldAv3 = F64Vec3.PointToWorldSpace2D(localAv, obj.forward, obj.left, obj.GetPos());
Debug.LogError("nworldAv3 " + nworldAv3 + " " + nworldAv3.ToUnityVector3());
}
void FixedPointCSTest_Matrix()
{
//MoveObject obj = new MoveObject();
F64Vec2 pos = F64Vec2.Zero;
F64Vec2 heading = F64Vec2.Right; //1,0
F64Vec2 side = F64Vec2.Up; //0,1
F64Matrix3x3 m = new F64Matrix3x3();
F64Vec2 point = F64Vec2.FromFloat(2, 3);
F64Vec2 point2 = m.PointToLocalSpace(point,
heading,
side,
pos);
Debug.LogError(point2.X.Float + " " + point2.Y.Float);
F64Vec3 forward = new F64Vec3(1, 0, 0);
F64Vec3 right = F64Vec3.RotateY(forward, new FixMath.F64(90));
Debug.LogError(forward.ToUnityVector3() + " " + F64Vec3.Normalize(right).ToUnityVector3());
Debug.LogError(F64Vec3.Normalize(F64Vec3.Cross(forward, right)).ToUnityVector3());
MoveObject obj = new MoveObject();
obj.SetPos(F64Vec3.Zero);
obj.SetDir(new F64Vec3(1, 0, 0));
var f = F64Vec3.RotateY(obj.forward, new FixMath.F64(90));
Debug.LogError(obj.forward + " " + F64Vec3.Normalize(f).ToUnityVector3());
F64Vec3 check = F64Vec3.FromFloat(2, 0, 3);
//var r = obj.PointToLocalSpace2D(check);
F64Vec2 check2 = m.PointToLocalSpace(new F64Vec2(check.X, check.Z),
new F64Vec2(obj.forward.X, obj.forward.Z),
new F64Vec2(f.X, f.Z),
new F64Vec2(obj.GetPos().X, obj.GetPos().Y));
Debug.LogError(check2.X.Float + " " + check2.Y.Float);
//Debug.LogError(check2.X.Float + " " + check2.Y.Float);
}
void TestTurn()
{
Debug.LogError(new F64(1.3d) + new F64(0.1d));
Debug.LogError(new F64(0d));
MoveObject obj = new MoveObject();
obj.SetPos(F64Vec3.Zero);
obj.SetDir(new F64Vec3(0, 0, 1));
obj.moveData.detectionLen = new F64(5);
obj.moveData.detectionWidth = new F64(0.8);
GameObjectGetter tankGetter = ResHelper.LoadGameObject("prefabs/tank");
GameObject tankGo = tankGetter.Get();
tankGo.transform.position = obj.GetPos().ToUnityVector3();
tankGo.transform.forward = obj.GetDir().ToUnityVector3();
GameObject.Instantiate <GameObject>(tankGo);
for (int i = 0; i < 3; i++)
{
F64Vec3 newDir = F64Vec3.RotateY(obj.GetDir(), new F64(30));
obj.SetDir(F64Vec3.Normalize(newDir));
obj.SetPos(obj.GetPos() + (newDir * new F64(5)));
tankGo.transform.position = obj.GetPos().ToUnityVector3();
tankGo.transform.forward = obj.GetDir().ToUnityVector3();
GameObject.Instantiate <GameObject>(tankGo);
}
Vector3 av = new Vector3(100, 0, 20);
F64Vec3 localAv = F64Vec3.PointToLocalSpace2D(F64Vec3.FromUnityVector3(av),
obj.forward, obj.left, obj.GetPos());
Debug.LogError("world obj=" + obj.GetPos().ToUnityVector3() + "world av=" + av + "loc av " + localAv.ToUnityVector3());
F64Matrix3x3 m = new F64Matrix3x3();
//F64Vec2 localAv2 = localAv.ToF64Vec2();
//F64Vec2 forward2 = obj.forward.ToF64Vec2();
//F64Vec2 left2 = obj.left.ToF64Vec2();
F64Vec2 localAv2 = F64Vec2.FromFloat(88.2f, 13.2f);
F64Vec2 forward2 = F64Vec2.FromFloat(1f, 0f);
F64Vec2 left2 = F64Vec2.FromFloat(0f, 1f);
F64Vec2 worldAv2 = m.VectorToWorldSpace(localAv2, forward2, left2);
F64Vec3 worldAv3 = F64Vec3.FromF64Vec2(worldAv2);
Debug.LogError("m convt to world " + worldAv3.ToUnityVector3() + " " + worldAv3);
GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Sphere);
F64 radius = F64.Half;
F64 foffsetX = F64.One;
F64 foffsetZ = obj.moveData.detectionWidth + radius + new F64(-0.1);
F64Vec3 fcubePos = new F64Vec3(obj.GetPos().X + foffsetX, obj.GetPos().Y, obj.GetPos().Z + foffsetZ);
cube.transform.position = fcubePos.ToUnityVector3();
F64Vec3 flocalCube = F64Vec3.PointToLocalSpace2D(fcubePos,
obj.forward, obj.left, obj.GetPos());
Debug.LogError("world obj=" + obj.GetPos().ToUnityVector3() + "world cube=" + fcubePos + "loc cubePos " + flocalCube.ToUnityVector3());
Debug.LogError("world obj=" + obj.GetPos().ToUnityVector3() + "world cube=" + fcubePos + "loc cubePos " + flocalCube);
fff(obj, fcubePos, F64.Half);
//Mathf.Approximately()
}
