/// <summary>
/// given a List of 2D vectors, a position and orientation
/// this function transforms the 2D vectors into the object's world space
///
/// </summary>
/// <param name="points"></param>
/// <param name="pos"></param>
/// <param name="forward"></param>
/// <param name="side"></param>
/// <returns></returns>
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 = new List<Vector2D>();
// make deep copy of buffer
for (int pointIndex = 0; pointIndex < points.Count; pointIndex++)
{
TranVector2Ds.Add(new Vector2D(points[pointIndex]));
}
//create a transformation matrix
Matrix2D matTransform = new Matrix2D();
//rotate
matTransform.Rotate(forward, side);
//and translate
matTransform.Translate(pos.X, pos.Y);
//now transform the object's vertices
matTransform.TransformVector2Ds(TranVector2Ds);
return TranVector2Ds;
}
/// <summary>
/// given a List of 2D vectors, a position, orientation and scale,
/// this function transforms the 2D vectors into the object's world space
///
/// </summary>
/// <param name="points"></param>
/// <param name="pos"></param>
/// <param name="forward"></param>
/// <param name="side"></param>
/// <param name="scale"></param>
/// <returns></returns>
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 = new List <Vector2D>();
// make deep copy of buffer
for (int pointIndex = 0; pointIndex < points.Count; pointIndex++)
{
TranVector2Ds.Add(new Vector2D(points[pointIndex]));
}
//create a transformation matrix
Matrix2D matTransform = new Matrix2D();
//scale
if ((scale.X != 1.0) || (scale.Y != 1.0))
{
matTransform.Scale((float)scale.X, (float)scale.Y);
}
//rotate
matTransform.Rotate(forward, side);
//matTransform.Rotate(190.0 * (3.14159 / 180));
//and translate
matTransform.Translate(pos.X, pos.Y);
//now transform the object's vertices
matTransform.TransformVector2Ds(TranVector2Ds);
return(TranVector2Ds);
}
public bool RotateHeadingToFacePosition(Vector2D target)
{
Vector2D delta = target - Position;
Vector2D toTarget = Vector2D.Vec2DNormalize(delta);
double dot = _heading.GetDotProduct(toTarget);
//some compilers lose acurracy so the value is clamped to ensure it
//remains valid for the acos
if (dot < -1)
dot = -1;
else if (dot > 1)
dot = 1;
//first determine the angle between the heading vector and the target
double angle = Math.Acos(dot);
//return true if the player is facing the target
if (angle < .00001) return true;
//clamp the amount to turn to the max turn rate
if (angle > _maxTurnRate) angle = _maxTurnRate;
//The next few lines use a rotation matrix to rotate the player's heading
//vector accordingly
Matrix2D rotationMatrix = new Matrix2D();
//notice how the direction of rotation has to be determined when creating
//the rotation matrix
rotationMatrix.Rotate(angle * _heading.Sign(toTarget));
rotationMatrix.TransformVector2Ds(_heading);
rotationMatrix.TransformVector2Ds(_velocity);
//finally recreate m_vSide
_side = _heading.Perp;
return false;
}
public static void DrawVector(Graphics g, Vector2D position, Vector2D lookAt)
{
Matrix2D mat = new Matrix2D();
mat.Translate(position.X, position.Y);
Vector2D lookAtCopy = new Vector2D(position.X + lookAt.X, position.Y + lookAt.Y);
//lookAtCopy *= .5;
//mat.TransformVector2Ds(lookAtCopy);
g.DrawLine(_currentPen, new Point((int)position.X, (int)position.Y), new Point((int)lookAtCopy.X, (int)lookAtCopy.Y));
}
/// <summary>
///
/// </summary>
/// <param name="vec"></param>
/// <param name="AgentHeading"></param>
/// <param name="AgentSide"></param>
/// <returns></returns>
//public static Vector2D VectorToLocalSpace(Vector2D vec,
// Vector2D AgentHeading,
// Vector2D AgentSide)
//{
// //make a copy of the point
// Vector2D TransPoint = new Vector2D(vec);
// //create a transformation matrix
// Matrix2D matTransform = new Matrix2D();
// //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.TransformVector2Ds(TransPoint);
// return TransPoint;
//}
/// <summary>
/// rotates a vector ang rads around the origin
///
/// </summary>
/// <param name="v"></param>
/// <param name="ang"></param>
public static void Vec2DRotateAroundOrigin(Vector2D v, double ang)
{
//create a transformation matrix
Matrix2D mat = new Matrix2D();
//rotate
mat.Rotate(ang);
//now transform the object's vertices
mat.TransformVector2Ds(v);
}
/// <summary>
///
/// </summary>
/// <param name="point"></param>
/// <param name="AgentHeading"></param>
/// <param name="AgentSide"></param>
/// <param name="AgentPosition"></param>
/// <returns></returns>
public static Vector2D PointToLocalSpace(Vector2D point,
Vector2D AgentHeading,
Vector2D AgentSide,
Vector2D AgentPosition)
{
//make a copy of the point
Vector2D TransPoint = new Vector2D(point);
//create a transformation matrix
Matrix2D matTransform = new Matrix2D();
double Tx = -AgentPosition.GetDotProduct(AgentHeading);
double Ty = -AgentPosition.GetDotProduct(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;
//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.TransformVector2Ds(TransPoint);
return TransPoint;
}
/// <summary>
/// Transforms a vector from the agent's local space into world space
///
/// </summary>
/// <param name="vec"></param>
/// <param name="AgentHeading"></param>
/// <param name="AgentSide"></param>
/// <returns></returns>
public static Vector2D VectorToWorldSpace(Vector2D vec,
Vector2D AgentHeading,
Vector2D AgentSide)
{
//make a copy of the point
Vector2D TransVec = new Vector2D(vec);
//create a transformation matrix
Matrix2D matTransform = new Matrix2D();
//rotate
//matTransform.Rotate(AgentHeading, AgentSide);
//now transform the vertices
matTransform.TransformVector2Ds(TransVec);
return TransVec;
}
/// <summary>
/// Transforms a point from the agent's local space into world space
///
/// </summary>
/// <param name="point"></param>
/// <param name="AgentHeading"></param>
/// <param name="AgentSide"></param>
/// <param name="AgentPosition"></param>
/// <returns></returns>
public static Vector2D PointToWorldSpace(Vector2D point,
Vector2D AgentHeading,
Vector2D AgentSide,
Vector2D AgentPosition)
{
//make a copy of the point
Vector2D TransPoint = new Vector2D(point);
//create a transformation matrix
Matrix2D matTransform = new Matrix2D();
//rotate
//matTransform.Rotate(AgentHeading, AgentSide);
//and translate
matTransform.Translate(AgentPosition.X, AgentPosition.Y);
//now transform the vertices
matTransform.TransformVector2Ds(TransPoint);
return TransPoint;
}
