public Vector2D( Vector2D rhs )
{
this.x = rhs.x;
this.y = rhs.y;
}
public GameObject()
{
pos = new Vector2D( 0.0F, 0.0F );
vel = new Vector2D( 0.0F, 0.0F );
rad = 3;
speed = 1;
hops = 3;
touching = false;
color = new byte[3];
coords = new Box2D();
}
public Box2D()
{
min = new Vector2D();
max = new Vector2D();
}
private void UpdatePhysics()
{
// Update time passed
long timeStamp = clock.ElapsedMilliseconds;
long timePassed = timeStamp - lastTick;
lastTick = timeStamp;
// Check if player will collide
float minDist = -1.0F;
int width = (int)player.coords.Width();
int height = (int)player.coords.Height();
Vector2D disp = new Vector2D();
Vector2D n = new Vector2D( player.vel.y, -player.vel.x ).Normalized();
Vector2D relPos = new Vector2D( player.pos - player.coords.min );
if ( autoThresh )
objThresh = AutoThresh( ref grays );
for ( int y = 0; y < height; ++y )
{
for ( int x = 0; x < width; ++x )
{
if ( player.window[y * width + x] < objThresh )
{
// Get distance from direction line
float distP = Math.Abs( n * new Vector2D( (float)x - relPos.x, (float)y - relPos.y ) );
if ( distP <= player.rad )
{
float dist = new Vector2D( relPos.x - x, relPos.y - y ).Mag();
if ( minDist == -1.0F || dist < minDist )
minDist = dist;
}
}
}
}
// if no collision
if ( minDist == -1.0F )
{
player.pos += player.vel;
if ( player.touching )
{
player.vel = new Vector2D();
}
}
// if collision
else
{
player.touching = true;
player.pos += ( minDist * ( 20F / 1000F ) * player.vel );
player.vel = new Vector2D();
}
// Update velocity if falling
if ( !player.touching )
player.vel.y += ( gravity * (float)timePassed / 1000.0F );
}
private void UpdateGraphics()
{
// Image from webcam
int width = fromCam.Width;
int height = fromCam.Height;
// Lock bitmap
BitmapData data = fromCam.LockBits( new Rectangle( 0, 0, width, height ),
ImageLockMode.ReadOnly,
PixelFormat.Format32bppRgb );
int stride = data.Stride;
int step = stride / width;
int nBytes = stride * height;
IntPtr ptr = data.Scan0;
byte[] rgbs = new byte[nBytes];
Marshal.Copy( ptr, rgbs, 0, nBytes );
grays = new byte[width * height];
// Histogram stretch
HistStretch( ref rgbs, width, height, step, stride );
// Specify region checked by physics
GetRegionBounds( ref player.coords.min, ref player.coords.max );
Vector2D min = new Vector2D( player.coords.min );
Vector2D max = new Vector2D( player.coords.max );
player.window = new byte[(int)player.coords.Width() * (int)player.coords.Height()];
int regionIndex = 0;
int radSqrd = player.rad * player.rad;
for ( int y = 0; y < height; ++y )
{
for ( int xs = 0; xs < stride; xs += step )
{
int index = y * stride + xs;
int x = xs / step;
int gray = ( (int)rgbs[index + 2] + (int)rgbs[index + 1] + (int)rgbs[index] ) / 3;
grays[y * width + x] = (byte)gray;
// Fill physics update region
if ( x >= min.x && x <= max.x && y >= min.y && y <= max.y )
player.window[regionIndex++] = (byte)( gray );
// Draw player
int xTrans = x - player.pos.XInt();
int yTrans = y - player.pos.YInt();
if ( xTrans * xTrans + yTrans * yTrans <= radSqrd )
{
rgbs[index + 2] = player.color[2];
rgbs[index + 1] = player.color[1];
rgbs[index + 0] = player.color[0];
}
}
}
disp = new Bitmap( width, height );
BitmapData dispData = disp.LockBits( new Rectangle( 0, 0, width, height ),
ImageLockMode.WriteOnly,
PixelFormat.Format32bppRgb );
ptr = dispData.Scan0;
Marshal.Copy( rgbs, 0, ptr, nBytes );
// Unlock bitmap
fromCam.UnlockBits( data );
disp.UnlockBits( dispData );
}
private void GetRegionBounds( ref Vector2D min, ref Vector2D max )
{
if ( player.vel.x >= 0 )
{
min.x = player.pos.x - (float)player.rad;
max.x = player.pos.x + player.vel.x + (float)player.rad;
}
else
{
min.x = player.pos.x + player.vel.x - (float)player.rad;
max.x = player.pos.x + (float)player.rad;
}
if ( player.vel.y >= 0 )
{
min.y = player.pos.y - (float)player.rad;
max.y = player.pos.y + player.vel.y + (float)player.rad;
}
else
{
min.y = player.pos.y + player.vel.y - (float)player.rad;
max.y = player.pos.y + (float)player.rad;
}
min.x = (float)Math.Floor( min.x );
min.y = (float)Math.Floor( min.y );
max.x = (float)Math.Ceiling( max.x );
max.y = (float)Math.Ceiling( max.y );
}