/// <summary>
/// Rotates the entity to a target direction
/// </summary>
/// <param name="target">The target to be rotated to</param>
/// <returns>Returns true of it faces the target</returns>
public bool RotateHeadingToFacePosition(Vector2D target)
{
Vector2D toTarget = Vector2D.Vec2DNormalize(target - position);
float angle = (float)Math.Acos(heading.Dot(toTarget));
if (angle < 0.1)
{
return(true);
}
if (angle > maxTurnRate)
{
angle = maxTurnRate;
}
C2DMatrix RotationMatrix = new C2DMatrix();
RotationMatrix.Rotate(angle * heading.Sign(toTarget));
RotationMatrix.TransformVector2Ds(ref heading);
RotationMatrix.TransformVector2Ds(ref velocity);
side = heading.Perp();
return(false);
}
public bool RotateHeadingToFacePosition(Vector2D target)
{
Vector2D toTarget = Vector2D.Vec2DNormalize(target - Pos);
double angle = Math.Acos(Heading.Dot(toTarget));
if (angle < 0.2)
{
return(true);
}
if (angle > MaxTurnRate)
{
angle = MaxTurnRate;
}
C2DMatrix RotationMatrix = new C2DMatrix();
RotationMatrix.Rotate((float)angle * Heading.Sign(toTarget));
Vector2D heading = Vector2D.Zero;
Vector2D velocity = Vector2D.Zero;
RotationMatrix.TransformVector2Ds(ref heading);
RotationMatrix.TransformVector2Ds(ref velocity);
Heading = heading;
Velocity = velocity;
Side = Heading.Perp();
return(false);
}
//--------------------------- 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);
}
public static Vector2D PointToWorldSpace(Vector2D point, Vector2D agentHeading, Vector2D agentSide, Vector2D agentPosition)
{
Vector2D transPoint = point;
C2DMatrix matTransform = new C2DMatrix();
matTransform.Rotate(agentHeading, agentSide);
matTransform.Translate(agentPosition.x, agentPosition.y);
matTransform.TransformVector2Ds(ref transPoint);
return(transPoint);
}
public static Vector2D PointToWorldSpace(Vector2D point, Vector2D AgentHeading, Vector2D AgentSide, Vector2D AgentPosition)
{
//make a copy of the point
Vector2D TransPoint = point;
//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.TransformVector2Ds(TransPoint);
return(TransPoint);
}