mirror of https://github.com/AxioDL/metaforce.git
Finish CSteeringBehaviors
This commit is contained in:
Jack Andersen
parent
5c3cfb519c
commit
cc4a895818
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@ -11,7 +11,7 @@ struct Parasite : IScriptObject
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AT_DECL_DNA_YAML
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AT_DECL_DNAV
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String<-1> name;
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Value<atUint32> unknown1;
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Value<atUint32> flavor;
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Value<atVec3f> location;
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Value<atVec3f> orientation;
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Value<atVec3f> scale;
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@ -16,9 +16,9 @@ zeus::CVector3f CSteeringBehaviors::Flee(const CPhysicsActor& actor,
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}
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zeus::CVector3f CSteeringBehaviors::Seek(const CPhysicsActor& actor,
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const zeus::CVector3f& v0) const
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const zeus::CVector3f& target) const
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{
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zeus::CVector3f posDiff = actor.GetTranslation() - v0;
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zeus::CVector3f posDiff = target - actor.GetTranslation();
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if (posDiff.canBeNormalized())
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return posDiff.normalized();
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@ -42,7 +42,10 @@ zeus::CVector3f CSteeringBehaviors::Arrival(const CPhysicsActor& actor,
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zeus::CVector3f CSteeringBehaviors::Pursuit(const CPhysicsActor& actor,
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const zeus::CVector3f& v0, const zeus::CVector3f& v1) const
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{
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return {};
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zeus::CVector3f target;
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if (!ProjectLinearIntersection(actor.GetTranslation(), actor.GetVelocity().magnitude(), v0, v1, target))
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target = v1 * 1.f + v0;
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return CSteeringBehaviors::Seek(actor, target);
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}
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zeus::CVector3f CSteeringBehaviors::Separation(const CPhysicsActor& actor,
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@ -96,64 +99,305 @@ zeus::CVector3f CSteeringBehaviors::Cohesion(const CPhysicsActor& actor,
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return cohesion;
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}
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zeus::CVector3f CSteeringBehaviors::Flee2D(const CPhysicsActor& actor,
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zeus::CVector2f CSteeringBehaviors::Flee2D(const CPhysicsActor& actor,
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const zeus::CVector2f& v0) const
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{
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return {};
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zeus::CVector2f diffVec = actor.GetTranslation().toVec2f() - v0;
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if (diffVec.magSquared() > FLT_EPSILON)
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return diffVec.normalized();
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else
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return actor.GetTransform().basis[1].toVec2f();
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}
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zeus::CVector3f CSteeringBehaviors::Arrival2D(const CPhysicsActor& actor,
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zeus::CVector2f CSteeringBehaviors::Arrival2D(const CPhysicsActor& actor,
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const zeus::CVector2f& v0, float f1) const
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{
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zeus::CVector2f diffVec = v0 - actor.GetTranslation().toVec2f();
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if (diffVec.magSquared() > FLT_EPSILON)
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return diffVec.normalized();
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else
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return {};
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}
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bool CSteeringBehaviors::SolveQuadratic(float f30, float f31, float f3, float f4, float& out1, float& out2)
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bool CSteeringBehaviors::SolveQuadratic(float a, float b, float c, float& xPos, float& xNeg)
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{
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float f1 = f31 * f31 - 4.f * f30 * f3;
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if (f1 > FLT_EPSILON && std::fabs(f1) < FLT_EPSILON)
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float numSq = b * b - 4.f * a * c;
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if (numSq < FLT_EPSILON || std::fabs(a) < FLT_EPSILON)
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return false;
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out1 = -f31 + std::sqrt(f1) / 2.f * f30;
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out2 = -f31 - std::sqrt(f1) / 2.f * f30;
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numSq = std::sqrt(numSq);
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float denom = 2.f * a;
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xPos = (-b + numSq) / denom;
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xNeg = (-b - numSq) / denom;
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return true;
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}
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bool CSteeringBehaviors::SolveCubic(
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const rstl::reserved_vector<float, 4>& in, rstl::reserved_vector<float, 4>& out)
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{
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return false;
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if (in[3] != 0.f)
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{
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float f3 = 3.f * in[3];
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float f31 = in[2] / f3;
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float f4 = in[1] / f3 - f31 * f31;
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float f0 = (f31 * f4 - in[0]) / in[3];
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float f1 = 2.f * f31 * f31;
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f3 = f4 * f4 * f4;
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float f24 = -0.5f * (f31 * f1 - f0);
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f1 = f24 * f24 + f3;
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if (f1 < 0.f)
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{
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float f25 = std::acos(zeus::clamp(-1.f, f24 / std::sqrt(-f3), 1.f));
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f24 = 2.f * std::pow(-f3, 0.166667f);
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for (float f23 = 0.f; f23 < 2.01f; f23 += 1.f)
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out.push_back(std::cos((2.f * f23 * M_PIF + f25) / 3.f) * f24 - f31);
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if (out[1] < out[0])
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std::swap(out[1], out[0]);
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if (out[2] < out[1])
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std::swap(out[2], out[1]);
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if (out[1] < out[0])
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std::swap(out[1], out[0]);
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}
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else
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{
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float f30 = std::sqrt(f1);
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float f25 = std::pow(std::fabs(f24 + f30), 0.333333f);
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f1 = std::pow(std::fabs(f24 - f30), 0.333333f);
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f1 = (f24 - f30) > 0.f ? f1 : -f1;
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f25 = (f24 - f30) > 0.f ? f25 : -f25;
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out.push_back(f25 + f1 - f31);
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}
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for (float& f : out)
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{
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float f8 = (2.f * in[2] + 3.f * f * in[3]) * f + in[1];
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if (f8 != 0.f)
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f -= (((f * in[3] + in[2]) * f + in[1]) * f + in[0]) / f8;
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}
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}
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else if (in[2] != 0.f)
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{
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float f23 = 0.5f * in[1] / in[2];
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float f1 = f23 * f23 - (in[1] / in[2]);
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if (f1 >= 0.f)
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{
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f1 = std::sqrt(f1);
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out.push_back(-f23 - f1);
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out.push_back(-f23 + f1);
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}
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}
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else if (in[1] != 0.f)
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{
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out.push_back(-in[0] / in[1]);
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}
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return out.size() != 0;
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}
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bool CSteeringBehaviors::SolveQuartic(
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const rstl::reserved_vector<float, 5>& in, rstl::reserved_vector<float, 4>& out)
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{
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if (in[4] == 0.f)
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{
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rstl::reserved_vector<float, 4> newIn;
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newIn.push_back(in[0]);
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newIn.push_back(in[1]);
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newIn.push_back(in[2]);
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newIn.push_back(in[3]);
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return SolveCubic(newIn, out);
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}
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else
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{
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rstl::reserved_vector<float, 4> newIn;
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float f30 = in[3] / (4.f * in[4]);
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float f2 = in[1] / in[4];
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float f29 = f30 * (8.f * f30 * f30 - 2.f * in[2] / in[4]) + f2;
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float f31 = -6.f * f30 * f30 + (in[2] / in[4]);
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float f28 = f30 * (f30 * (-3.f * f30 * f30 + (in[2] / in[4])) - f2) + (in[0] / in[4]);
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newIn.push_back(4.f * f28 * f31 - f29 * f29);
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newIn.push_back(-8.f * f28);
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newIn.push_back(-4.f * f31);
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newIn.push_back(8.f);
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rstl::reserved_vector<float, 4> newOut;
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if (SolveCubic(newIn, newOut))
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{
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float f26 = 2.f * newOut.back() - f31;
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f31 = std::sqrt(f26);
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float f1;
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if (f31 == 0.f)
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{
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f1 = newOut.back() * newOut.back() - f28;
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if (f1 < 0.f)
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return false;
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f1 = std::sqrt(f1);
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}
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else
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{
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f1 = f29 / (2.f * f31);
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}
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float f1b = f26 - (newOut.back() + f1) * 4.f;
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f26 = f26 - (newOut.back() - f1) * 4.f;
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if (f1b >= 0.f)
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{
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f1b = std::sqrt(f1b);
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out.push_back((f31 - f1b) * 0.5f - f30);
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out.push_back((f31 + f1b) * 0.5f - f30);
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}
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if (f26 >= 0.f)
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{
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f1b = std::sqrt(f26);
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out.push_back((-f31 - f1b) * 0.5f - f30);
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out.push_back((-f31 + f1b) * 0.5f - f30);
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}
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for (float& f : out)
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{
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float f10 = ((3.f * in[3] + 4.f * f * in[4]) * f + 2.f * in[2]) * f + in[1];
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if (f10 != 0.f)
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f -= ((((f * in[4] + in[3]) * f + in[2]) * f + in[1]) * f + in[0]) / f10;
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}
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if (out.size() > 2)
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{
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if (out[2] < out[0])
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std::swap(out[2], out[0]);
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if (out[3] < out[1])
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std::swap(out[3], out[1]);
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if (out[1] < out[0])
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std::swap(out[1], out[0]);
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if (out[3] < out[2])
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std::swap(out[3], out[2]);
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if (out[2] < out[1])
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std::swap(out[2], out[1]);
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}
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}
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return out.size() != 0;
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}
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}
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bool CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
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const zeus::CVector3f& v1, const zeus::CVector3f& v2, zeus::CVector3f& v3)
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{
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zeus::CVector3f posDiff = v1 - v0;
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float xPos, xNeg;
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if (SolveQuadratic(v2.magSquared() - f1 * f1,
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posDiff.dot(v2) * 2.f,
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posDiff.magSquared(),
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xPos, xNeg) && xNeg > 0.f)
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{
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v3 = v2 * xNeg + v1;
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return true;
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}
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return false;
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}
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zeus::CVector3f CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
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const zeus::CVector3f& v1, const zeus::CVector3f& v2, zeus::CVector3f& v3)
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{
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return {};
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}
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zeus::CVector3f CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
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bool CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
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const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3, zeus::CVector3f& v4)
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{
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return {};
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rstl::reserved_vector<float, 5> newIn;
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rstl::reserved_vector<float, 4> newOut;
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zeus::CVector3f f7 = v1 - v0;
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newIn.push_back(f7.magSquared());
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newIn.push_back(f7.dot(v2) * 2.f);
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newIn.push_back(f7.dot(v3) + v2.magSquared() - f1 * f1);
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newIn.push_back(v2.dot(v3));
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newIn.push_back(v3.magSquared() * 0.25f);
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bool ret = false;
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if (SolveQuartic(newIn, newOut))
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for (float& f : newOut)
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if (f > 0.f)
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{
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ret = true;
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v4 = v1 + v2 * f + 0.5f * f * f * v3;
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}
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return ret;
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}
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zeus::CVector3f CSteeringBehaviors::ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1,
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bool CSteeringBehaviors::ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1, float f2,
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const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3, zeus::CVector3f& v4)
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{
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return {};
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if (f1 > 0.f)
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{
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if (v2.canBeNormalized())
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{
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zeus::CVector3f _12c = (v1 - v3).toVec2f();
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if (_12c.canBeNormalized())
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{
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zeus::CVector3f f25 = v1;
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zeus::CVector3f f22 = v2;
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float f17 = (f25 - v0).magnitude() / f1 - 0.f;
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float f18 = FLT_MAX;
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zeus::CVector3f _150 = _12c.normalized();
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float f26 = _150.dot(f22);
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float f27 = _150.cross(zeus::CVector3f::skUp).dot(f22);
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for (float f19 = 0.f; f17 < f18 && f19 < 4.f;)
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{
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if (zeus::close_enough(f17, f2) || f17 < 0.f)
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{
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v4 = f25;
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return true;
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}
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f25 += f2 * f22;
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f18 = f17;
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_12c = (f25 - v3).toVec2f();
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if (!_12c.canBeNormalized())
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break;
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zeus::CVector3f _168 = _12c.normalized();
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f22 = _168.cross(zeus::CVector3f::skUp) * f27 + f26 * _168;
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f19 += f2;
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f17 = (f25 - v0).magnitude() / f1 - f19;
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}
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}
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else
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{
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return ProjectLinearIntersection(v0, f1, v1, v2, v4);
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}
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}
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else
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{
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v4 = v1;
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return true;
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}
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}
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return false;
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}
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zeus::CVector3f CSteeringBehaviors::ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1,
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bool CSteeringBehaviors::ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1, float f2,
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const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3,
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const zeus::CVector3f& v4, zeus::CVector3f& v5)
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{
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return {};
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if (f1 > 0.f)
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{
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zeus::CVector3f _12c = (v1 - v4).toVec2f();
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if (v2.canBeNormalized() && _12c.canBeNormalized())
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{
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zeus::CVector3f f24 = v1;
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zeus::CVector3f f21 = v2;
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float f16 = (f24 - v0).magnitude() / f1 - 0.f;
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float f17 = FLT_MAX;
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zeus::CVector3f _150 = _12c.normalized();
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float f25 = _150.dot(f21);
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float f26 = _150.cross(zeus::CVector3f::skUp).dot(f21);
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for (float f18 = 0.f; f16 < f17 && f18 < 4.f;)
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{
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if (zeus::close_enough(f16, f2) || f16 < 0.f)
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{
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v5 = f24;
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return true;
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}
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f24 += f2 * f21;
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f17 = f16;
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f18 += f2;
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f16 = (f24 - v0).magnitude() / f1 - f18;
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_12c = (f24 - v4).toVec2f();
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if (!_12c.canBeNormalized())
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break;
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zeus::CVector3f _168 = _12c.normalized();
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f21 = _168.cross(zeus::CVector3f::skUp) * f26 + f25 * _168;
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}
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}
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else
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{
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return ProjectLinearIntersection(v0, f1, v1, v2, v3, v5);
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}
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}
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return false;
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}
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zeus::CVector3f
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@ -13,7 +13,7 @@ class CSteeringBehaviors
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float x0_ = M_PIF / 2.f;
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public:
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zeus::CVector3f Flee(const CPhysicsActor& actor, const zeus::CVector3f& v0) const;
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zeus::CVector3f Seek(const CPhysicsActor& actor, const zeus::CVector3f& v0) const;
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zeus::CVector3f Seek(const CPhysicsActor& actor, const zeus::CVector3f& target) const;
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zeus::CVector3f Arrival(const CPhysicsActor& actor, const zeus::CVector3f& v0, float f1) const;
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zeus::CVector3f Pursuit(const CPhysicsActor& actor, const zeus::CVector3f& v0, const zeus::CVector3f& v1) const;
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zeus::CVector3f Separation(const CPhysicsActor& actor, const zeus::CVector3f& pos, float separation) const;
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@ -21,20 +21,20 @@ public:
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const CStateManager& mgr) const;
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zeus::CVector3f Cohesion(const CPhysicsActor& actor, rstl::reserved_vector<TUniqueId, 1024>& list,
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float f1, const CStateManager& mgr) const;
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zeus::CVector3f Flee2D(const CPhysicsActor& actor, const zeus::CVector2f& v0) const;
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zeus::CVector3f Arrival2D(const CPhysicsActor& actor, const zeus::CVector2f& v0, float f1) const;
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static bool SolveQuadratic(float, float, float, float, float&, float&);
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zeus::CVector2f Flee2D(const CPhysicsActor& actor, const zeus::CVector2f& v0) const;
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zeus::CVector2f Arrival2D(const CPhysicsActor& actor, const zeus::CVector2f& v0, float f1) const;
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static bool SolveQuadratic(float, float, float, float&, float&);
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static bool SolveCubic(const rstl::reserved_vector<float, 4>& in, rstl::reserved_vector<float, 4>& out);
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static bool SolveQuartic(const rstl::reserved_vector<float, 5>& in, rstl::reserved_vector<float, 4>& out);
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static zeus::CVector3f ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
|
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static bool ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
|
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const zeus::CVector3f& v1, const zeus::CVector3f& v2, zeus::CVector3f& v3);
|
||||
static zeus::CVector3f ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
|
||||
static bool ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
|
||||
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3,
|
||||
zeus::CVector3f& v4);
|
||||
static zeus::CVector3f ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1,
|
||||
static bool ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1, float f2,
|
||||
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3,
|
||||
zeus::CVector3f& v4);
|
||||
static zeus::CVector3f ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1,
|
||||
static bool ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1, float f2,
|
||||
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3,
|
||||
const zeus::CVector3f& v4, zeus::CVector3f& v5);
|
||||
static zeus::CVector3f ProjectOrbitalPosition(const zeus::CVector3f& pos, const zeus::CVector3f& vel,
|
||||
|
|
|
|||
|
|
@ -1002,9 +1002,9 @@ void CParasite::UpdateJumpVelocity()
|
|||
{
|
||||
float f27 = 0.f;
|
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bool isNeg = f31 < 0.f;
|
||||
float out1, out2;
|
||||
if (CSteeringBehaviors::SolveQuadratic(f30, vec.z, -f31, vec2.y, out1, out2))
|
||||
f27 = isNeg ? out1 : out2;
|
||||
float xPos, xNeg;
|
||||
if (CSteeringBehaviors::SolveQuadratic(f30, vec.z, -f31, xPos, xNeg))
|
||||
f27 = isNeg ? xPos : xNeg;
|
||||
|
||||
if (!isNeg)
|
||||
f27 = f27 * f29 / f28;
|
||||
|
|
|
|||
Loading…
Reference in New Issue