C++ idVec3::ToVec2方法代码示例

static int Ballistics( const idVec3 &start, const idVec3 &end, float speed, float gravity, ballistics_t bal[2] ) {
	int n, i;
	float x, y, a, b, c, d, sqrtd, inva, p[2];

	x = ( end.ToVec2() - start.ToVec2() ).Length();
	y = end[2] - start[2];

	a = 4.0f * y * y + 4.0f * x * x;
	b = -4.0f * speed * speed - 4.0f * y * gravity;
	c = gravity * gravity;

	d = b * b - 4.0f * a * c;
	if ( d <= 0.0f || a == 0.0f ) {
		return 0;
	}
	sqrtd = idMath::Sqrt( d );
	inva = 0.5f / a;
	p[0] = ( - b + sqrtd ) * inva;
	p[1] = ( - b - sqrtd ) * inva;
	n = 0;
	for ( i = 0; i < 2; i++ ) {
		if ( p[i] <= 0.0f ) {
			continue;
		}
		d = idMath::Sqrt( p[i] );
		bal[n].angle = atan2( 0.5f * ( 2.0f * y * p[i] - gravity ) / d, d * x );
		bal[n].time = x / ( cos( bal[n].angle ) * speed );
		bal[n].angle = idMath::AngleNormalize180( RAD2DEG( bal[n].angle ) );
		n++;
	}

	return n;
}

/*
============
idAI::FindPathAroundObstacles

  Finds a path around dynamic obstacles using a path tree with clockwise and counter clockwise edge walks.
============
*/
bool idAI::FindPathAroundObstacles( const idPhysics *physics, const idAAS *aas, const idEntity *ignore, const idVec3 &startPos, const idVec3 &seekPos, obstaclePath_t &path ) {
	int numObstacles, areaNum, insideObstacle;
	obstacle_t obstacles[MAX_OBSTACLES];
	idBounds clipBounds;
	idBounds bounds;
	pathNode_t *root;
	bool pathToGoalExists;
	path.seekPos = seekPos;
	path.firstObstacle = NULL;
	path.startPosOutsideObstacles = startPos;
	path.startPosObstacle = NULL;
	path.seekPosOutsideObstacles = seekPos;
	path.seekPosObstacle = NULL;
	if( !aas ) {
		return true;
	}
	bounds[1] = aas->GetSettings()->boundingBoxes[0][1];
	bounds[0] = -bounds[1];
	bounds[1].z = 32.0f;
	// get the AAS area number and a valid point inside that area
	areaNum = aas->PointReachableAreaNum( path.startPosOutsideObstacles, bounds, ( AREA_REACHABLE_WALK | AREA_REACHABLE_FLY ) );
	aas->PushPointIntoAreaNum( areaNum, path.startPosOutsideObstacles );
	// get all the nearby obstacles
	numObstacles = GetObstacles( physics, aas, ignore, areaNum, path.startPosOutsideObstacles, path.seekPosOutsideObstacles, obstacles, MAX_OBSTACLES, clipBounds );
	// get a source position outside the obstacles
	GetPointOutsideObstacles( obstacles, numObstacles, path.startPosOutsideObstacles.ToVec2(), &insideObstacle, NULL );
	if( insideObstacle != -1 ) {
		path.startPosObstacle = obstacles[insideObstacle].entity;
	}
	// get a goal position outside the obstacles
	GetPointOutsideObstacles( obstacles, numObstacles, path.seekPosOutsideObstacles.ToVec2(), &insideObstacle, NULL );
	if( insideObstacle != -1 ) {
		path.seekPosObstacle = obstacles[insideObstacle].entity;
	}
	// if start and destination are pushed to the same point, we don't have a path around the obstacle
	if( ( path.seekPosOutsideObstacles.ToVec2() - path.startPosOutsideObstacles.ToVec2() ).LengthSqr() < Square( 1.0f ) ) {
		if( ( seekPos.ToVec2() - startPos.ToVec2() ).LengthSqr() > Square( 2.0f ) ) {
			return false;
		}
	}
	// build a path tree
	root = BuildPathTree( obstacles, numObstacles, clipBounds, path.startPosOutsideObstacles.ToVec2(), path.seekPosOutsideObstacles.ToVec2(), path );
	// draw the path tree
	if( ai_showObstacleAvoidance.GetBool() ) {
		DrawPathTree( root, physics->GetOrigin().z );
	}
	// prune the tree
	PrunePathTree( root, path.seekPosOutsideObstacles.ToVec2() );
	// find the optimal path
	pathToGoalExists = FindOptimalPath( root, obstacles, numObstacles, physics->GetOrigin().z, physics->GetLinearVelocity(), path.seekPos );
	// free the tree
	FreePathTree_r( root );
	return pathToGoalExists;
}

/*
============
FindOptimalPath

  Returns true if there is a path all the way to the goal.
============
*/
bool FindOptimalPath( const pathNode_t *root, const obstacle_t *obstacles, int numObstacles, const float height, const idVec3 &curDir, idVec3 &seekPos ) {
	int i, numPathPoints, bestNumPathPoints;
	const pathNode_t *node, *lastNode, *bestNode;
	idVec2 optimizedPath[MAX_OBSTACLE_PATH];
	float pathLength, bestPathLength;
	bool pathToGoalExists, optimizedPathCalculated;

	seekPos.Zero();
	seekPos.z = height;

	pathToGoalExists = false;
	optimizedPathCalculated = false;

	bestNode = root;
	bestNumPathPoints = 0;
	bestPathLength = idMath::INFINITY;

	node = root;
	while( node ) {

		pathToGoalExists |= ( node->dist < 0.1f );

		if ( node->dist <= bestNode->dist ) {

			if ( idMath::Fabs( node->dist - bestNode->dist ) < 0.1f ) {

				if ( !optimizedPathCalculated ) {
					bestNumPathPoints = OptimizePath( root, bestNode, obstacles, numObstacles, optimizedPath );
					bestPathLength = PathLength( optimizedPath, bestNumPathPoints, curDir.ToVec2() );
					seekPos.ToVec2() = optimizedPath[1];
				}

				numPathPoints = OptimizePath( root, node, obstacles, numObstacles, optimizedPath );
				pathLength = PathLength( optimizedPath, numPathPoints, curDir.ToVec2() );

				if ( pathLength < bestPathLength ) {
					bestNode = node;
					bestNumPathPoints = numPathPoints;
					bestPathLength = pathLength;
					seekPos.ToVec2() = optimizedPath[1];
				}
				optimizedPathCalculated = true;

			} else {

				bestNode = node;
				optimizedPathCalculated = false;
			}
		}

		if ( node->children[0] ) {
			node = node->children[0];
		} else if ( node->children[1] ) {
			node = node->children[1];
		} else {
			for ( lastNode = node, node = node->parent; node; lastNode = node, node = node->parent ) {
				if ( node->children[1] && node->children[1] != lastNode ) {
					node = node->children[1];
					break;
				}
			}
		}
	}

	if ( !pathToGoalExists ) {
		seekPos.ToVec2() = root->children[0]->pos;
	} else if ( !optimizedPathCalculated ) {
		OptimizePath( root, bestNode, obstacles, numObstacles, optimizedPath );
		seekPos.ToVec2() = optimizedPath[1];
	}

	if ( ai_showObstacleAvoidance.GetBool() ) {
		idVec3 start, end;
		start.z = end.z = height + 4.0f;
		numPathPoints = OptimizePath( root, bestNode, obstacles, numObstacles, optimizedPath );
		for ( i = 0; i < numPathPoints-1; i++ ) {
			start.ToVec2() = optimizedPath[i];
			end.ToVec2() = optimizedPath[i+1];
			gameRenderWorld->DebugArrow( colorCyan, start, end, 1 );
		}
	}

	return pathToGoalExists;
}

/*
============
GetObstacles
============
*/
int GetObstacles( const idPhysics *physics, const idAAS *aas, const idEntity *ignore, int areaNum, const idVec3 &startPos, const idVec3 &seekPos, obstacle_t *obstacles, int maxObstacles, idBounds &clipBounds ) {
	int i, j, numListedClipModels, numObstacles, numVerts, clipMask, blockingObstacle, blockingEdgeNum;
	int wallEdges[MAX_AAS_WALL_EDGES], numWallEdges, verts[2], lastVerts[2], nextVerts[2];
	float stepHeight, headHeight, blockingScale, min, max;
	idVec3 seekDelta, silVerts[32], start, end, nextStart, nextEnd;
	idVec2 expBounds[2], edgeDir, edgeNormal, nextEdgeDir, nextEdgeNormal, lastEdgeNormal;
	idVec2 obDelta;
	idPhysics *obPhys;
	idBox box;
	idEntity *obEnt;
	idClipModel *clipModel;
	idClipModel *clipModelList[ MAX_GENTITIES ];

	numObstacles = 0;

	seekDelta = seekPos - startPos;
	expBounds[0] = physics->GetBounds()[0].ToVec2() - idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
	expBounds[1] = physics->GetBounds()[1].ToVec2() + idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );

	physics->GetAbsBounds().AxisProjection( -physics->GetGravityNormal(), stepHeight, headHeight );
	stepHeight += aas->GetSettings()->maxStepHeight;

	// clip bounds for the obstacle search space
	clipBounds[0] = clipBounds[1] = startPos;
	clipBounds.AddPoint( seekPos );
	clipBounds.ExpandSelf( MAX_OBSTACLE_RADIUS );
	clipMask = physics->GetClipMask();

	// find all obstacles touching the clip bounds
	numListedClipModels = gameLocal.clip.ClipModelsTouchingBounds( clipBounds, clipMask, clipModelList, MAX_GENTITIES );

	for ( i = 0; i < numListedClipModels && numObstacles < MAX_OBSTACLES; i++ ) {
		clipModel = clipModelList[i];
		obEnt = clipModel->GetEntity();

		if ( !clipModel->IsTraceModel() ) {
			continue;
		}

		if ( obEnt->IsType( idActor::Type ) ) {
			obPhys = obEnt->GetPhysics();
			// ignore myself, my enemy, and dead bodies
			if ( ( obPhys == physics ) || ( obEnt == ignore ) || ( obEnt->health <= 0 ) ) {
				continue;
			}
			// if the actor is moving
			idVec3 v1 = obPhys->GetLinearVelocity();
			if ( v1.LengthSqr() > Square( 10.0f ) ) {
				idVec3 v2 = physics->GetLinearVelocity();
				if ( v2.LengthSqr() > Square( 10.0f ) ) {
					// if moving in about the same direction
					if ( v1 * v2 > 0.0f ) {
						continue;
					}
				}
			}
		} else if ( obEnt->IsType( idMoveable::Type ) ) {
			// moveables are considered obstacles
		} else {
			// ignore everything else
			continue;
		}

		// check if we can step over the object
		clipModel->GetAbsBounds().AxisProjection( -physics->GetGravityNormal(), min, max );
		if ( max < stepHeight || min > headHeight ) {
			// can step over this one
			continue;
		}

		// project a box containing the obstacle onto the floor plane
		box = idBox( clipModel->GetBounds(), clipModel->GetOrigin(), clipModel->GetAxis() );
		numVerts = box.GetParallelProjectionSilhouetteVerts( physics->GetGravityNormal(), silVerts );

		// create a 2D winding for the obstacle;
		obstacle_t &obstacle = obstacles[numObstacles++];
		obstacle.winding.Clear();
		for ( j = 0; j < numVerts; j++ ) {
			obstacle.winding.AddPoint( silVerts[j].ToVec2() );
		}

		if ( ai_showObstacleAvoidance.GetBool() ) {
			for ( j = 0; j < numVerts; j++ ) {
				silVerts[j].z = startPos.z;
			}
			for ( j = 0; j < numVerts; j++ ) {
				gameRenderWorld->DebugArrow( colorWhite, silVerts[j], silVerts[(j+1)%numVerts], 4 );
			}
		}

		// expand the 2D winding for collision with a 2D box
		obstacle.winding.ExpandForAxialBox( expBounds );
		obstacle.winding.GetBounds( obstacle.bounds );
		obstacle.entity = obEnt;
	}
//.........这里部分代码省略.........

/*
=====================
idAI::TestTrajectory
=====================
*/
bool idAI::TestTrajectory( const idVec3 &start, const idVec3 &end, float zVel, float gravity, float time, float max_height, const idClipModel *clip, int clipmask, const idEntity *ignore, const idEntity *targetEntity, int drawtime ) {
	int i, numSegments;
	float maxHeight, t, t2;
	idVec3 points[5];
	trace_t trace;
	bool result;

	t = zVel / gravity;
	// maximum height of projectile
	maxHeight = start.z - 0.5f * gravity * ( t * t );
	// time it takes to fall from the top to the end height
	t = idMath::Sqrt( ( maxHeight - end.z ) / ( 0.5f * -gravity ) );

	// start of parabolic
	points[0] = start;

	if ( t < time ) {
		numSegments = 4;
		// point in the middle between top and start
		t2 = ( time - t ) * 0.5f;
		points[1].ToVec2() = start.ToVec2() + (end.ToVec2() - start.ToVec2()) * ( t2 / time );
		points[1].z = start.z + t2 * zVel + 0.5f * gravity * t2 * t2;
		// top of parabolic
		t2 = time - t;
		points[2].ToVec2() = start.ToVec2() + (end.ToVec2() - start.ToVec2()) * ( t2 / time );
		points[2].z = start.z + t2 * zVel + 0.5f * gravity * t2 * t2;
		// point in the middel between top and end
		t2 = time - t * 0.5f;
		points[3].ToVec2() = start.ToVec2() + (end.ToVec2() - start.ToVec2()) * ( t2 / time );
		points[3].z = start.z + t2 * zVel + 0.5f * gravity * t2 * t2;
	} else {
		numSegments = 2;
		// point halfway through
		t2 = time * 0.5f;
		points[1].ToVec2() = start.ToVec2() + ( end.ToVec2() - start.ToVec2() ) * 0.5f;
		points[1].z = start.z + t2 * zVel + 0.5f * gravity * t2 * t2;
	}

	// end of parabolic
	points[numSegments] = end;

	if ( drawtime ) {
		for ( i = 0; i < numSegments; i++ ) {
			gameRenderWorld->DebugLine( colorRed, points[i], points[i+1], drawtime );
		}
	}

	// make sure projectile doesn't go higher than we want it to go
	for ( i = 0; i < numSegments; i++ ) {
		if ( points[i].z > max_height ) {
			// goes higher than we want to allow
			return false;
		}
	}

	result = true;
	for ( i = 0; i < numSegments; i++ ) {
		gameLocal.clip.Translation( trace, points[i], points[i+1], clip, mat3_identity, clipmask, ignore );
		if ( trace.fraction < 1.0f ) {
			if ( gameLocal.GetTraceEntity( trace ) == targetEntity ) {
				result = true;
			} else {
				result = false;
			}
			break;
		}
	}

	if ( drawtime ) {
		if ( clip ) {
			gameRenderWorld->DebugBounds( result ? colorGreen : colorYellow, clip->GetBounds().Expand( 1.0f ), trace.endpos, drawtime );
		} else {
			idBounds bnds( trace.endpos );
			bnds.ExpandSelf( 1.0f );
			gameRenderWorld->DebugBounds( result ? colorGreen : colorYellow, bnds, vec3_zero, drawtime );
		}
	}

	return result;
}

void hhDeathWraithEnergy::CartesianToCylindrical(idVec3 &cartesian, float &radius, float &theta, float &z) {
	radius = cartesian.ToVec2().Length();
	theta = idMath::ATan(cartesian.y, cartesian.x);
	z = cartesian.z;
}