1 package nl.tudelft.pogamut.unreal.agent.module.shooting.util;
2
3 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
4 import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
5 import cz.cuni.amis.pogamut.base3d.worldview.object.Rotation;
6 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentInfo;
7 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player;
8
9 /**
10 * Utilities to determine if a player is facing some location.
11 *
12 * @author mpkorstanje
13 *
14 */
15 public class FacingUtil {
16
17 /**
18 * What angle is considered to be maximum facing angle by default (in
19 * degrees).
20 */
21 public static final double IS_FACING_ANGLE = 6;
22
23 /**
24 * Tells if the player is currently facing input location.
25 *
26 * @param player
27 * the player:
28 *
29 * @param location
30 * input location.
31 * @return True, if the bot is facing input location.
32 */
33 public static boolean isFacing(AgentInfo info, ILocated location) {
34 return isFacing(info, location, IS_FACING_ANGLE);
35 }
36
37 /**
38 * Tells if the agent is currently facing input location.
39 *
40 * @param player
41 * the player:
42 * @param location
43 * input location.
44 * @param angle
45 * specifies maximum angle (in degrees) that will be still
46 * considered as facing angle.
47 * @return True, if the angle between agent facing vector and input location
48 * is smaller or equal to input angle.
49 */
50 public static boolean isFacing(AgentInfo info, ILocated location, double angle) {
51 if (info == null || location == null)
52 return false;
53
54 return isFacing(info.getLocation(), info.getRotation(), location.getLocation(), angle);
55 }
56
57 /**
58 * Tells you if the rotation at the origin is facing the target location.
59 *
60 * @param origin
61 * the location of the object that should be facing
62 * @param rotation
63 * rotation of the object that should be facing
64 * @param target
65 * what it should be facing
66 * @param angle
67 * specifies maximum angle (in degrees) that will be still
68 * considered as facing angle.
69 * @return True, if the angle between direction vector and input location is
70 * smaller or equal to input angle.
71 */
72 public static boolean isFacing(Location origin, Rotation rotation, Location target, double angle) {
73 if (origin == null || rotation == null || target == null)
74 return false;
75
76 Location directionVector = target.sub(origin).getNormalized();
77 Location agentFaceVector = rotation.toLocation().getNormalized();
78
79 if (Math.acos(directionVector.dot(agentFaceVector)) <= Math.toRadians(angle))
80 return true;
81
82 return false;
83
84 }
85
86 /**
87 * Tells if the player is currently facing input location.
88 *
89 * @param player
90 * the player:
91 *
92 * @param location
93 * input location.
94 * @return True, if the bot is facing input location.
95 */
96 public static boolean isFacing(Player player, ILocated location) {
97 return isFacing(player, location, IS_FACING_ANGLE);
98 }
99
100 /**
101 * Tells if the player is currently facing input location.
102 *
103 * @param player
104 * the player:
105 * @param location
106 * input location.
107 * @param angle
108 * specifies maximum angle (in degrees) that will be still
109 * considered as facing angle.
110 * @return True, if the angle between agent facing vector and input location
111 * is smaller or equal to input angle.
112 */
113 public static boolean isFacing(Player player, ILocated location, double angle) {
114 if (player == null || location == null)
115 return false;
116
117 return isFacing(player.getLocation(), player.getRotation(), location.getLocation(), angle);
118 }
119
120 /**
121 * Tells if the player is currently facing input location.
122 *
123 * @param player
124 * the player:
125 *
126 * @param location
127 * input location.
128 * @return True, if the bot is facing input location.
129 */
130 public static boolean isFacing2D(AgentInfo info, ILocated location) {
131 return isFacing2D(info, location, IS_FACING_ANGLE);
132 }
133
134 /**
135 * Tells if the agent is currently facing input location.
136 *
137 * @param player
138 * the player:
139 * @param location
140 * input location.
141 * @param angle
142 * specifies maximum angle (in degrees) that will be still
143 * considered as facing angle.
144 * @return True, if the angle between agent facing vector and input location
145 * is smaller or equal to input angle.
146 */
147 public static boolean isFacing2D(AgentInfo info, ILocated location, double angle) {
148 if (info == null || location == null)
149 return false;
150
151 return isFacing2D(info.getLocation(), info.getRotation(), location.getLocation(), angle);
152 }
153
154 /**
155 * Tells you if the rotation at the origin is facing the target location in
156 * the XY (horizontal) plane.
157 *
158 * @param origin
159 * the location of the object that should be facing
160 * @param rotation
161 * rotation of the object that should be facing
162 * @param target
163 * what it should be facing
164 * @param angle
165 * specifies maximum angle (in degrees) that will be still
166 * considered as facing angle.
167 * @return True, if the angle between direction vector and input location is
168 * smaller or equal to input angle.
169 */
170 public static boolean isFacing2D(Location origin, Rotation rotation, Location target, double angle) {
171 if (origin == null || rotation == null || target == null)
172 return false;
173
174 Location directionVector = target.sub(origin).setZ(0).getNormalized();
175 Location agentFaceVector = rotation.toLocation().setZ(0).getNormalized();
176
177 if (Math.acos(directionVector.dot(agentFaceVector)) <= Math.toRadians(angle))
178 return true;
179
180 return false;
181
182 }
183
184 /**
185 * Tells if the player is currently facing input location.
186 *
187 * @param player
188 * the player:
189 *
190 * @param location
191 * input location.
192 * @return True, if the bot is facing input location.
193 */
194 public static boolean isFacing2D(Player player, ILocated location) {
195 return isFacing2D(player, location, IS_FACING_ANGLE);
196 }
197
198 /**
199 * Tells if the player is currently facing input location.
200 *
201 * @param player
202 * the player:
203 * @param location
204 * input location.
205 * @param angle
206 * specifies maximum angle (in degrees) that will be still
207 * considered as facing angle.
208 * @return True, if the angle between agent facing vector and input location
209 * is smaller or equal to input angle.
210 */
211 public static boolean isFacing2D(Player player, ILocated location, double angle) {
212 if (player == null || location == null)
213 return false;
214
215 return isFacing2D(player.getLocation(), player.getRotation(), location.getLocation(), angle);
216 }
217
218 }