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collisions.h
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collisions.h
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#ifndef __COLLISIONS_H__
#define __COLLISIONS_H__
#include <GL/glut.h>
#include "ball.h"
#include "GVector.h"
#include "team.h"
#include "grobjects.h"
#include "mainflags.h"
#define LATOR 0.42
//#define DEBUGROBOTVEL
#define USEVECTOR
extern Ball *B;
double Dist (Point p1, Point p2)
{
double dx = p1.x - p2.x;
double dy = p1.y - p2.y;
if(dx==0.0)
return fabs(dy);
if(dy==0.0)
return fabs(dx);
double r = sqrt( dx*dx + dy*dy);
return r;
}
int choose_segment(Segment* s, int n)
{
int ret=0;
float rif_dist=Dist(B->GetP(), s[ret]);
for(int i=1; i<n; i++)
{
float new_dist=Dist(B->GetP(), s[i]);
if(new_dist<rif_dist)
{
rif_dist=new_dist;
ret=i;
}
}
return ret;
}
void BPCollide(Point _CollP, Point _RPos, GVector _RVel, float _RJog)
{
if(DRAWCOLLPOINT==true)
_CollP.Draw(Gred);
if(Dist(_CollP, B->GetP())<=0.15)
{
/* Velocità del punto di contatto */
GVector CollP(_CollP.x, _CollP.y, Cartesian);
GVector RPos(_RPos.x, _RPos.y, Cartesian);
GVector CollPrelR=CollP-RPos;
GVector PVelTan(_RJog*CollPrelR.GetRo(), CollPrelR.GetTheta()+(M_PI/2.0), Polar);
GVector CollPV=_RVel+PVelTan;
GVector BallV(B->GetV().x, B->GetV().y, Cartesian);
GVector CollPVrelB=CollPV-BallV;
if(DRAWVECTORS==true)
DrawVector(CollP, CollPV);
#ifdef USEVECTOR
/* Velocità della palla */
B->SetV(1.2*CollPVrelB, 0.0);
/*
Segment ortho_seg(B->GetP(), _CollP);
float impact_angle=ortho_seg.GetTheta()-BallV.GetTheta();
if(impact_angle<M_PI/2.0)
{
GVector vortho_after(BallV.GetRo(),impact_angle+M_PI);
GVector vparallel(BallV.GetRo(),ortho_seg.GetTheta()+M_PI/2.0);
GVector BallV_after=BALL_ELASTICITY*vortho_after+vparallel;
if(DRAWVECTORS==true)
{
DrawVector(_CollP, vortho_after, Gyellow );
DrawVector(_CollP, vparallel, Gcyan);
DrawVector(_CollP, BallV_after, Gblack);
}
GVector resultantBV=CollPV+BallV_after;
B->SetV(BALL_ELASTICITY*resultantBV.GetX(),BALL_ELASTICITY*resultantBV.GetY());
}
else
{
GVector resultantBV=CollPV+BallV;
B->SetV(BALL_ELASTICITY*resultantBV.GetX(),BALL_ELASTICITY*resultantBV.GetY());
}
*/
#else
float dx = B->GetP().x - _CollP.x;
float dy = B->GetP().y - _CollP.y;
float dsx = B->GetV().x - CollPV.GetX();
float dsy = B->GetV().y - CollPV.GetY();
float ang_crash = atan2(dsy,dsx);
float ang_diff = atan2(dy,dx);
float ang_rel = ang_diff-_CollP.h;
if(fabs(ang_crash-ang_diff) < 90.0)
{
if(dsx<0.0 && dx>0.0 || dsx>0.0 && dx<0.0 )
B->SetV(Point(-dsx - BALL_ELASTICITY*B->GetV().x,B->GetV().y));
if(dsy<0.0 && dy>0.00 || dsy>0.0 && dy<0.0 )
B->SetV(Point(B->GetV().x, -dsy - BALL_ELASTICITY*B->GetV().y));
//A->RV[i]->LockY(ball);
}
#endif
}
}
void RBCollide(Team* T)
{
bool THERSACOLLISION = false;
Point BPos=B->GetP();
// printf("%s%f\t%f\n","Ball Pos : ", B->GetP().x, B->GetP().y);
short n = T->Getn();
for(short i=0; i<n; i++)
{
Point RPos = T->RV[i]->GetNextPos();
#ifdef DEBUGROBOTVEL
float RJog1;
GVector RVel1;
T->RV[i]->GetVelGlobal(RVel1, RJog1);
RJog1 *= M_PI/180.0;
if(DRAWVECTORS==true)
DrawVector(RPos, RVel1);
#endif
if(Dist (BPos, RPos)<0.5)
{
float RJog;
GVector RVel;
T->RV[i]->GetVelGlobal(RVel, RJog);
RJog *= M_PI/180.0;
float KickVertDist=Dist(Point(0.22, 0.24), Point(0.0, 0.0));
float KickAngle=atan2(0.24, 0.22);
Point P0(RPos.x+LATOR/3.0*cos(RPos.h*M_PI/180.0),
RPos.y+LATOR/3.0*sin(RPos.h*M_PI/180.0));
Point PVSX(RPos.x+LATOR*2.0/3.0*cos((RPos.h+60.0)*M_PI/180.0),
RPos.y+LATOR*2.0/3.0*sin((RPos.h+60.0)*M_PI/180.0));
Point PVDX(RPos.x+LATOR*2.0/3.0*cos((RPos.h-60.0)*M_PI/180.0),
RPos.y+LATOR*2.0/3.0*sin((RPos.h-60.0)*M_PI/180.0));
Point PKSX(RPos.x+KickVertDist*cos(RPos.h*M_PI/180.0+KickAngle),
RPos.y+KickVertDist*sin(RPos.h*M_PI/180.0+KickAngle));
Point PKDX(RPos.x+KickVertDist*cos(RPos.h*M_PI/180.0-KickAngle),
RPos.y+KickVertDist*sin(RPos.h*M_PI/180.0-KickAngle));
Point PBACK(RPos.x+LATOR*2.0/3.0*cos((RPos.h+180.0)*M_PI/180.0),
RPos.y+LATOR*2.0/3.0*sin((RPos.h+180.0)*M_PI/180.0));
Segment KickSX_seg(P0, PKSX);
Segment KickDX_seg(P0, PKDX);
Segment BackSX_seg(PBACK, PVSX);
Segment BackDX_seg(PBACK, PVDX);
int n_seg=4;
Segment seg_vect[]={KickSX_seg, KickDX_seg, BackSX_seg, BackDX_seg};
int chosen_seg=choose_segment(seg_vect, n_seg);
Line segment_line(seg_vect[chosen_seg]);
Line collision_line=segment_line.ortho(BPos);
if(DRAWLINES==true)
{
segment_line.Draw(Gmagenta);
collision_line.Draw(Gmagenta);
}
/* punto intersezione fra la retta per il segmento e la retta
ortogonale al segmento e passante per il centro della palla */
Point cross_point=interception(segment_line, collision_line);
/* punti estremi del segmento */
Point vertex1=seg_vect[chosen_seg].GetP1();
Point vertex2=seg_vect[chosen_seg].GetP2();
/* il punto di collisione sarà il più vicino alla
palla fra i due estremi del segmento e il punto di
intersezione fra le rette viste prima */
Point collision_point=vertex1;
if(Dist(BPos, collision_point) > Dist(BPos, vertex2))
collision_point=vertex2;
if(Dist(BPos, collision_point) > Dist(BPos, cross_point))
/* controlla che il punto intersezione
non stia "dentro" la palla oppure appartenga al segmento */
if((Dist(BPos, cross_point) >= 0.15) ||
point_on_segment(cross_point, seg_vect[chosen_seg]))
collision_point=cross_point;
if(DRAWCOLLPOINT==true)
collision_point.Draw(Gred);
/* controlla che il punto di collisione appartenga al segmento */
if(point_on_segment(collision_point, seg_vect[chosen_seg]))
/* chiama la funzione che calcola le velocità conseguenti all'urto */
BPCollide(collision_point, RPos, RVel, RJog);
/* if(DRAWVECTORS==true)
{
GVector *TraslVel=new GVector(RVel.GetX(), RVel.GetY(),Cartesian);
GVector *V1=new GVector(KickVelTan+TraslVel->GetRo(), (RPos.h+150.0)*M_PI/180.0, Polar);
DrawVector(P1, V1);
GVector *V2=new GVector(PostVelTan+TraslVel->GetRo(), (RPos.h-90.0)*M_PI/180.0, Polar);
DrawVector(P2, V2);
GVector *V3=new GVector(KickVelTan+TraslVel->GetRo(), (RPos.h+30.0)*M_PI/180.0, Polar);
DrawVector(P3, V3);
}
*/
}
}
if(THERSACOLLISION)
{
BALL_FREE = false;
}
else
{
BALL_FREE = true;
}
}
void RRCollide(Team *A, Team *B)
{
if (A)
{
short na = A->Getn();
for(int i=0; i<na-1; i++)
{
Point posi = A->RV[i]->GetNextPos();
for(int j=i+1; j<na; j++)
{
Point posj = A->RV[j]->GetNextPos();
float d = Dist(posi, posj);
if(d < RRCOLLISION_DIST)
{
float dx = A->RV[i]->GetP().x - A->RV[j]->GetP().x;
float dy = A->RV[i]->GetP().y - A->RV[j]->GetP().y;
float dsx = A->RV[i]->GetV().x - A->RV[j]->GetV().x;
float dsy = A->RV[i]->GetV().y - A->RV[j]->GetV().y;
float ang_crash = atan2(dsy,dsx);
float ang_diff = atan2(dy,dx);
if( fabs(ang_crash-ang_diff) < 90.0 )
{
A->RV[j]->LockX(i);
A->RV[i]->LockY(j);
A->RV[j]->LockY(i);
}
else
{
A->RV[i]->UnLockX(j);
A->RV[j]->UnLockX(i);
A->RV[i]->UnLockY(j);
A->RV[j]->UnLockY(i);
}
}
else
{
A->RV[i]->UnLockX(j);
A->RV[j]->UnLockX(i);
A->RV[i]->UnLockY(j);
A->RV[j]->UnLockY(i);
}
}
}
}
if (B)
{
short nb = B->Getn();
for(int i=0; i<nb-1; i++)
{
Point posi = B->RV[i]->GetNextPos();
for(int j=i+1; j<nb; j++)
{
Point posj = B->RV[j]->GetNextPos();
float d = Dist(posi, posj);
if(d < RRCOLLISION_DIST)
{
float dx = B->RV[i]->GetP().x - B->RV[j]->GetP().x;
float dy = B->RV[i]->GetP().y - B->RV[j]->GetP().y;
float dsx = B->RV[i]->GetV().x - B->RV[j]->GetV().x;
float dsy = B->RV[i]->GetV().y - B->RV[j]->GetV().y;
float ang_crash = atan2(dsy,dsx);
float ang_diff = atan2(dy,dx);
if( fabs(ang_crash-ang_diff) < 90.0 )
{
B->RV[i]->LockX(j);
B->RV[j]->LockX(i);
B->RV[i]->LockY(j);
B->RV[j]->LockY(i);
}
else
{
B->RV[i]->UnLockX(j);
B->RV[j]->UnLockX(i);
B->RV[i]->UnLockY(j);
B->RV[j]->UnLockY(i);
}
}
else
{
B->RV[i]->UnLockX(j);
B->RV[j]->UnLockX(i);
B->RV[i]->UnLockY(j);
B->RV[j]->UnLockY(i);
}
}
}
}
if (A && B)
{
short na = A->Getn();
short nb = B->Getn();
for(int i=0; i<na; i++)
{
Point posi = A->RV[i]->GetNextPos();
for(int j=0; j<nb; j++)
{
Point posj = B->RV[j]->GetNextPos();
float d = Dist(posi, posj);
if(d < RRCOLLISION_DIST)
{
float dx = A->RV[i]->GetP().x - B->RV[j]->GetP().x;
float dy = A->RV[i]->GetP().y - B->RV[j]->GetP().y;
float dsx = A->RV[i]->GetV().x - B->RV[j]->GetV().x;
float dsy = A->RV[i]->GetV().y - B->RV[j]->GetV().y;
float ang_crash = atan2(dsy,dsx);
float ang_diff = atan2(dy,dx);
if( fabs(ang_crash-ang_diff) < 90.0 )
{
A->RV[i]->LockX(na+j);
B->RV[j]->LockX(nb+i);
A->RV[i]->LockY(na+j);
B->RV[j]->LockY(nb+i);
}
else
{
A->RV[i]->UnLockX(na+j);
B->RV[j]->UnLockX(nb+i);
A->RV[i]->UnLockY(na+j);
B->RV[j]->UnLockY(nb+i);
}
}
else
{
A->RV[i]->UnLockX(na+j);
B->RV[j]->UnLockX(nb+i);
A->RV[i]->UnLockY(na+j);
B->RV[j]->UnLockY(nb+i);
}
}
}
}
}
#endif