private 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;
}
private 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;
}
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;
}
