1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
|
#pragma once
class CGeneral
{
public:
static float GetATanOfXY(float x, float y){
if(x == 0.0f && y == 0.0f)
return 0.0f;
float xabs = Abs(x);
float yabs = Abs(y);
if(xabs < yabs){
if(y > 0.0f){
if(x > 0.0f)
return 0.5f*PI - Atan2(x / y, 1.0f);
else
return 0.5f*PI + Atan2(-x / y, 1.0f);
}else{
if(x > 0.0f)
return 1.5f*PI + Atan2(x / -y, 1.0f);
else
return 1.5f*PI - Atan2(-x / -y, 1.0f);
}
}else{
if(y > 0.0f){
if(x > 0.0f)
return Atan2(y / x, 1.0f);
else
return PI - Atan2(y / -x, 1.0f);
}else{
if(x > 0.0f)
return 2.0f*PI - Atan2(-y / x, 1.0f);
else
return PI + Atan2(-y / -x, 1.0f);
}
}
}
static float LimitAngle(float angle)
{
float result = angle;
while (result >= 180.0f) {
result -= 2 * 180.0f;
}
while (result < -180.0f) {
result += 2 * 180.0f;
}
return result;
}
static float LimitRadianAngle(float angle)
{
float result;
if (angle < -25.0f)
result = -25.0f;
else if (angle > 25.0f)
result = 25.0f;
else
result = angle;
while (result >= PI) {
result -= 2 * PI;
}
while (result < -PI) {
result += 2 * PI;
}
return result;
}
// Returns an angle such that x2/y2 looks at x1/y1 with its forward vector if rotated by that angle
static float GetRadianAngleBetweenPoints(float x1, float y1, float x2, float y2)
{
float x = x2 - x1;
float y = y2 - y1;
if (y == 0.0f)
y = 0.0001f;
if (x > 0.0f) {
if (y > 0.0f)
return PI - Atan2(x / y, 1.0f);
else
return -Atan2(x / y, 1.0f);
} else {
if (y > 0.0f)
return -(PI + Atan2(x / y, 1.0f));
else
return -Atan2(x / y, 1.0f);
}
}
// should return direction in 0-8 range. fits perfectly to peds' path directions.
static int CGeneral::GetNodeHeadingFromVector(float x, float y)
{
float angle = CGeneral::GetRadianAngleBetweenPoints(x, y, 0.0f, 0.0f);
if (angle < 0.0f)
angle += TWOPI;
angle = DEGTORAD(22.5f) + TWOPI - angle;
if (angle >= TWOPI)
angle -= TWOPI;
return (int)floorf(angle / DEGTORAD(45.0f));
}
// not too sure about all these...
static uint16 GetRandomNumber(void)
{ return myrand() & MYRAND_MAX; }
// Probably don't want to ever reach high
static float GetRandomNumberInRange(float low, float high)
{ return low + (high - low)*(GetRandomNumber()/float(MYRAND_MAX + 1)); }
static int32 GetRandomNumberInRange(int32 low, int32 high)
{ return low + (high - low)*(GetRandomNumber()/float(MYRAND_MAX + 1)); }
};
|
