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@@ -143,14 +143,24 @@ void vtd_pilot::ConvertToObjectArray(std::vector<iv::vtd::rdbdata> &xvectorrdbda
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dimx = xobj.base.geo.dimX;
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dimy = xobj.base.geo.dimY;
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dimz = xobj.base.geo.dimZ;
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+ // std::cout<<" dimx: "<<dimx<<" dimy: "<<dimy<<std::endl;
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double xoff,yoff;
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+ std::cout<<" obj hedad: "<<xobj.base.pos.h<<" our head: "<<mfHeading<<" rel heading: "<<fobjheading<<std::endl;
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for(xoff = (dimx*(-0.5));xoff<=(dimx*0.5);xoff=xoff+0.2)
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{
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for(yoff = (dimy*(-0.5));yoff<=(dimy*0.5);yoff = yoff+0.2)
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{
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double reloffx,reloffy;
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+ if(fabs(fobjheading) < 0.1)
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+ {
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+ for(int m=0;m<1000;m++)
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+ std::cout<<" hello;"<<std::endl;
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+
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+ }
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+ // fobjheading = 0;
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+ // std::cout<<"xoff: "<<xoff<<" yoff: "<<yoff<<std::endl;
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reloffx = xoff*cos(fobjheading) - yoff*sin(fobjheading) + relx;
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- reloffy = yoff*sin(fobjheading) + yoff*sin(fobjheading) + rely;
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+ reloffy = xoff*sin(fobjheading) + yoff*cos(fobjheading) + rely;
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iv::fusion::NomalXYZ *pnormal = pobject->add_nomal_centroid();
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pnormal->set_nomal_x((reloffy)*(-1.0));
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pnormal->set_nomal_y(reloffx);
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@@ -160,7 +170,7 @@ void vtd_pilot::ConvertToObjectArray(std::vector<iv::vtd::rdbdata> &xvectorrdbda
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pobject->set_allocated_dimensions(pdim);
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pobject->set_velocity_linear_x(sqrt(pow(relvx,2)+pow(relvy,2)));
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- std::cout<<" x: "<<relx<<" y: "<<rely<<std::endl;
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+// std::cout<<" x: "<<relx<<" y: "<<rely<<std::endl;
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}
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