int SOSetSymMotionPoint( int symmtype, CMotionPoint* srcmp, CMotionPoint* dstmp, int deginvflag )
{
CMotionPoint tempmp;
tempmp = *srcmp;
D3DXQUATERNION symmxq;
symmxq.w = tempmp.m_q.w;
symmxq.x = tempmp.m_q.x;
symmxq.y = tempmp.m_q.y;
symmxq.z = tempmp.m_q.z;
D3DXVECTOR3 symmaxis;
float symmangle;
D3DXQuaternionToAxisAngle( &symmxq, &symmaxis, &symmangle );
if( deginvflag != 0 ){
symmangle *= -1.0f;//!!!
}
switch( symmtype ){
case SYMMTYPE_XP:
case SYMMTYPE_XM:
case SYMMTYPE_X:
symmaxis.x *= -1.0f;
tempmp.m_mvx *= -1.0f;
break;
case SYMMTYPE_YP:
case SYMMTYPE_YM:
case SYMMTYPE_Y:
symmaxis.y *= -1.0f;
tempmp.m_mvy *= -1.0f;
break;
case SYMMTYPE_ZP:
case SYMMTYPE_ZM:
case SYMMTYPE_Z:
symmaxis.z *= -1.0f;
tempmp.m_mvz *= -1.0f;
break;
default:
DbgOut( "SymmOpe : SetSymMotionPoint : symmtype error !!!\n" );
_ASSERT( 0 );
return 1;
break;
}
D3DXQUATERNION newxq;
D3DXQuaternionRotationAxis( &newxq, &symmaxis, symmangle );
tempmp.m_q.w = newxq.w;
tempmp.m_q.x = newxq.x;
tempmp.m_q.y = newxq.y;
tempmp.m_q.z = newxq.z;
*dstmp = tempmp;
return 0;
}
bool Application::OnUpdate()
{
lcTime::Get()->Update();
m_pKeyboard->Update();
m_pMouse->Update();
lcCamera::FreeLookCamera(m_pCamera,1.0f,1.0f);
m_pCamera->Update();
if(lcKeyboard::IsKeyDown(KEY_ESCAPE))
return 0;
D3DXMATRIX outMat;
D3DXQUATERNION invQuat;
m_pScene->SetTranslate(g_kRootPosition);
D3DXQUATERNION tempq;
D3DXVECTOR3 tempAxis;
float tempAngle;
D3DXQuaternionToAxisAngle(&g_kRootRotation, &tempAxis, &tempAngle);
tempAxis = -tempAxis;
D3DXQuaternionRotationAxis(&tempq, &tempAxis, tempAngle);
D3DXMatrixRotationQuaternion(&outMat,&tempq);
m_pScene->SetRotate(outMat);
if(g_bWireframe)
{
g_pkBox->SetPrimativeTopology(D3D11_PRIMITIVE_TOPOLOGY_LINESTRIP);
}
else
{
g_pkBox->SetPrimativeTopology(D3D11_PRIMITIVE_TOPOLOGY_TRIANGLELIST);
}
lcRenderer::GetDeviceContext()->PSSetSamplers(0,1,&CubeSampleState);
m_pScene->Update();
return m_pWindow->Tick();
}
int CRps::CalcSymPose( TSELEM* tsptr, CModel* srcmodel, CTraQ* traq,
CQuaternion* newqptr, D3DXVECTOR3* newtraptr, D3DXVECTOR3* neweulptr, D3DXVECTOR3 befeul )
{
int ret;
CQuaternion tmpq = traq->m_q;
D3DXVECTOR3 tmptra = traq->m_tra;
D3DXVECTOR3 tmpeul = traq->m_cureul;
D3DXQUATERNION symmxq;
symmxq.w = tmpq.w;
symmxq.x = tmpq.x;
symmxq.y = tmpq.y;
symmxq.z = tmpq.z;
D3DXVECTOR3 symmaxis;
float symmangle;
D3DXQuaternionToAxisAngle( &symmxq, &symmaxis, &symmangle );
symmangle *= -1.0f;//!!!
symmaxis.x *= -1.0f;
tmptra.x *= -1.0f;
D3DXQUATERNION newxq;
D3DXQuaternionRotationAxis( &newxq, &symmaxis, symmangle );
CQuaternion srcq;
srcq.SetParams( newxq.w, newxq.x, newxq.y, newxq.z );
CQuaternion axisq;
D3DXVECTOR3 cureul;
ret = traq->QtoEul( srcmodel, srcq, befeul, 1, tsptr->jointno, &cureul, &axisq );
_ASSERT( !ret );
newqptr->SetParams( newxq.w, newxq.x, newxq.y, newxq.z );
*newtraptr = tmptra;
*neweulptr = cureul;
return 0;
}
void Tank::Update(Input* input, float time, QuadTree *m_QuadTree){
int deltaX, deltaY;
input->GetMouseDelta(deltaX, deltaY);
m_tankState->SetTime(time);
m_tankState->ApplyForce(D3DXVECTOR3(0.0f, 0.0f, forward));
forward = 0;
m_tankState->SetYaw(turn * time);
yaw -= turn * time;
turn = 0;
D3DXVECTOR3 position = *getTankState()->GetPosition(), vgarbage, normal5;
float height;
m_QuadTree->GetHeightAtPosition(position.x, position.z, height, normal5);
float netforce = -0.00098f;
float y = m_tankState->GetPosition()->y;
if (y-(height+17) < 0) {
netforce -= (y-(height+17)) * 0.000065f;
}
m_tankState->ApplyForce(D3DXVECTOR3(0,netforce,0));
//m_turretState->SetPitch(deltaY*0.01f);*/
//m_turretState->SetYaw(rotation);
D3DXQUATERNION quat = *m_tankState->GetRotation();
D3DXQUATERNION inverse;
D3DXQuaternionInverse(&inverse, &quat);
D3DXQUATERNION temp;
D3DXVECTOR3 output;
float garbage;
temp = quat * D3DXQUATERNION(FRONTRIGHT.x, FRONTRIGHT.y, FRONTRIGHT.z, 0.0f) * inverse;
D3DXQuaternionToAxisAngle(&temp, &output, &garbage);
m_frontRight = *m_tankState->GetPosition() + output;
temp = quat * D3DXQUATERNION(FRONTLEFT.x, FRONTLEFT.y, FRONTLEFT.z, 0.0f) * inverse;
D3DXQuaternionToAxisAngle(&temp, &output, &garbage);
m_frontLeft = *m_tankState->GetPosition() + output;
temp = quat * D3DXQUATERNION(REARLEFT.x, REARLEFT.y, REARLEFT.z, 0.0f) * inverse;
D3DXQuaternionToAxisAngle(&temp, &output, &garbage);
m_rearLeft = *m_tankState->GetPosition() + output;
temp = quat * D3DXQUATERNION(REARRIGHT.x, REARRIGHT.y, REARRIGHT.z, 0.0f) * inverse;
D3DXQuaternionToAxisAngle(&temp, &output, &garbage);
m_rearRight = *m_tankState->GetPosition() + output;
temp = quat * D3DXQUATERNION(CENTER.x, CENTER.y, CENTER.z, 0.0f) * inverse;
D3DXQuaternionToAxisAngle(&temp, &output, &garbage);
m_center = *m_tankState->GetPosition() + output;
// Get the height of the triangle that is directly underneath the given tank position.
//result = m_QuadTree->GetHeightAtPosition(position.x, position.z, height, vgarbage);
//if(result) {
// If there was a triangle under the tank then position the tank just above it by one unit.
// getTankState()->SetPosition(D3DXVECTOR3(position.x,m_tankState->GetPosition()->y, position.z));
//}
int count = 5;
//D3DXVECTOR3 normal1, normal2, normal3, normal4, normal5;
//result = m_QuadTree->GetHeightAtPosition(m_frontRight.x, m_frontRight.z, height, normal1);
//if(!result) {
// normal1 = D3DXVECTOR3(0.0f, 0.0f, 0.0f);
// count--;
//}
//result = m_QuadTree->GetHeightAtPosition(m_frontLeft.x, m_frontLeft.z, height, normal2);
//if(!result) {
// normal2 = D3DXVECTOR3(0.0f, 0.0f, 0.0f);
// count--;
//}
//result = m_QuadTree->GetHeightAtPosition(m_rearRight.x, m_rearRight.z, height, normal3);
//if(!result) {
// normal3 = D3DXVECTOR3(0.0f, 0.0f, 0.0f);
// count--;
//}
//result = m_QuadTree->GetHeightAtPosition(m_rearLeft.x, m_rearLeft.z, height, normal4);
//if(!result) {
// normal4 = D3DXVECTOR3(0.0f, 0.0f, 0.0f);
// count--;
//}
//result = m_QuadTree->GetHeightAtPosition(m_center.x, m_center.z, height, normal5);
//if(!result) {
// normal5 = D3DXVECTOR3(0.0f, 0.0f, 0.0f);
// count--;
//}
D3DXVECTOR3 line3;
if (count > 0)
line3 = normal5;
//line3 = (normal1+normal2+normal3+normal4+normal5)/float(count);
else
line3 = *m_tankState->GetUp();
float angle = acos(D3DXVec3Dot(&line3, m_tankState->GetUp()));// assume normalized vectors /(D3DXVec3Length(&line3)*D3DXVec3Length(m_tankState->getUp())));
angle /= 15.0f;// * time;
//if (angle > 0.015f)
//{
D3DXVECTOR3 cross;
D3DXVec3Cross(&cross, &line3, m_tankState->GetUp());
D3DXVec3Normalize(&cross, &cross);
D3DXQUATERNION quaternion;
D3DXQuaternionRotationAxis(&quaternion, &cross, -angle);
m_tankState->multiplyOrientation(&quaternion);
//}
m_tankState->Update();
D3DXQUATERNION orien;
D3DXVECTOR3 slope, forward, turretProj;
D3DXVec3Cross(&slope, m_tankState->GetUp(), &D3DXVECTOR3(0, 1, 0));
D3DXVec3Normalize(&slope, &slope);
D3DXVec3Cross(&forward, m_tankState->GetUp(), &slope);
D3DXVec3Normalize(&forward, &forward);
D3DXVec3Cross(&turretProj, m_tankState->GetUp(), m_turretState->GetForward());
D3DXVec3Normalize(&turretProj, &turretProj);
D3DXVec3Cross(&turretProj, m_tankState->GetUp(), &turretProj);
D3DXVec3Normalize(&turretProj, &turretProj);
float projangle = acos(abs(D3DXVec3Dot(&turretProj, &forward)));
if (D3DXVec3Dot(&turretProj, &forward) < 0) projangle = float(D3DX_PI - projangle);
float slopeangle = acos(abs(D3DXVec3Dot(&D3DXVECTOR3(0, 1, 0), &forward)));
slopeangle = float(D3DX_PI/2 - slopeangle);
float pitchOffset = (1 - cos(projangle)) * slopeangle;
D3DXQuaternionRotationYawPitchRoll(&orien, yaw, pitch - pitchOffset, 0);
orien = orien * *m_tankState->GetRotation();
m_turretState->SetOrientation(&orien);
m_turretState->Update();
m_Bullet->Update(time);
}
void Quaternion::GetAxisAngle(Vec3& axis, float& angle) const
{
D3DXQuaternionToAxisAngle(this, &axis, &angle);
}
inline void __Quaternion::AxisAngle(__Vector3& vAxisResult, float& fRadianResult)
{
D3DXQuaternionToAxisAngle(this, &vAxisResult, &fRadianResult);
}
