void RigidBody::AdvanceTransformation(float dT)
{
Vector3 newPosition = GetPosition() + GetVelocity()*dT;
float angularSpeed = GetAngularVelocity().length();
Vector3 axis = GetAngularVelocity().normalisedCopy();
Quaternion newOrientation = Quaternion(angularSpeed * dT, axis) * GetOrientation();
newOrientation.normalise();
m_transformation.makeTransform(newPosition, Vector3::UNIT_SCALE, newOrientation);
}
const PODVector<unsigned char>& RigidBody::GetNetAngularVelocityAttr() const
{
float maxVelocity = physicsWorld_ ? physicsWorld_->GetMaxNetworkAngularVelocity() : DEFAULT_MAX_NETWORK_ANGULAR_VELOCITY;
attrBuffer_.Clear();
attrBuffer_.WritePackedVector3(GetAngularVelocity(), maxVelocity);
return attrBuffer_.GetBuffer();
}
bool csBulletRigidBody::RemoveBulletObject ()
{
if (insideWorld)
{
if (anchorCount > 0)
{
csFPrintf (stderr, "csBulletRigidBody: Please remove the soft body attached with this body first.\n");
return false;
}
for (size_t i = 0; i < joints.GetSize (); i++)
sector->RemoveJoint (joints[i]);
linearVelocity = GetLinearVelocity ();
angularVelocity = GetAngularVelocity ();
sector->bulletWorld->removeRigidBody (btBody);
delete btBody;
btBody = NULL;
btObject = NULL;
insideWorld = false;
csBulletRigidBody* rb = dynamic_cast<csBulletRigidBody*> (objectCopy);
if (objectCopy)
rb->sector->RemoveRigidBody (rb);
rb = dynamic_cast<csBulletRigidBody*> (objectOrigin);
if (objectOrigin)
rb->objectCopy = NULL;
objectCopy = NULL;
objectOrigin = NULL;
return true;
}
return false;
}
void RigidBody::ApplyImpulse(Vector3 const& impulse, Vector3 const& point)
{
if(HasInfiniteMass()) return;
Vector3 deltaVelocity = impulse * GetInverseMass();
SetVelocity(GetVelocity() + deltaVelocity);
Vector3 deltaOmega = GetInverseInertialTensor() * (point-GetPosition()).crossProduct(impulse);
SetAngularVelocity(GetAngularVelocity() + deltaOmega);
}
std::string palRevoluteLink::toString() const
{
std::ostringstream oss;
oss << palLink::toString()
<< "[angle=" << GetAngle()
<< ",limits=(" << m_fLowerLimit << "," << m_fUpperLimit << ")"
<< ",omega=" << GetAngularVelocity()
<< ",axis=" << GetAxis()
<< "]";
return oss.str();
}
/*
================
idPhysics_Base::DrawVelocity
================
*/
void idPhysics_Base::DrawVelocity( int id, float linearScale, float angularScale ) const
{
idVec3 dir, org, vec, start, end;
idMat3 axis;
float length, a;
dir = GetLinearVelocity( id );
dir *= linearScale;
if( dir.LengthSqr() > Square( 0.1f ) )
{
dir = dir.Truncate( 10.0f );
org = GetOrigin( id );
gameRenderWorld->DebugArrow( colorRed, org, org + dir, 1 );
}
dir = GetAngularVelocity( id );
length = dir.Normalize();
length *= angularScale;
if( length > 0.1f )
{
if( length < 60.0f )
{
length = 60.0f;
}
else if( length > 360.0f )
{
length = 360.0f;
}
axis = GetAxis( id );
vec = axis[2];
if( idMath::Fabs( dir * vec ) > 0.99f )
{
vec = axis[0];
}
vec -= vec * dir * vec;
vec.Normalize();
vec *= 4.0f;
start = org + vec;
for( a = 20.0f; a < length; a += 20.0f )
{
end = org + idRotation( vec3_origin, dir, -a ).ToMat3() * vec;
gameRenderWorld->DebugLine( colorBlue, start, end, 1 );
start = end;
}
end = org + idRotation( vec3_origin, dir, -length ).ToMat3() * vec;
gameRenderWorld->DebugArrow( colorBlue, start, end, 1 );
}
}
void Ship::GetServerUpdateMessage(ServerShipUpdate& message) const
{
const std::hash<std::string> player_hash_fn;
message.ship_id = player_hash_fn(GetName());
Vector3f vec = GetPosition();
message.position[0] = vec[0];
message.position[1] = vec[1];
message.position[2] = vec[2];
vec = GetVelocity();
message.velocity[0] = vec[0];
message.velocity[1] = vec[1];
message.velocity[2] = vec[2];
message.orientation = fmodf(GetOrientation(), 360.0f);
message.angularVelocity = GetAngularVelocity();
message.health = health;
message.shield = shield;
}
bool RigidBody::ApplyQueuedImpulses()
{
if(HasInfiniteMass()) return false;
bool significant = (m_queuedDeltaVelocity.squaredLength() > 1e-8 || m_queuedDeltaAngularVelocity.squaredLength() > 1e-8);
if(significant)
{
SetVelocity(GetVelocity() + m_queuedDeltaVelocity);
SetAngularVelocity(GetAngularVelocity() + m_queuedDeltaAngularVelocity);
}
m_queuedDeltaVelocity = Vector3::ZERO;
m_queuedDeltaAngularVelocity = Vector3::ZERO;
return significant;
}
// Update the player
void _Player::Update(float FrameTime) {
_Object::Update(FrameTime);
// Update audio
const btVector3 &Position = GetPosition();
Sound->SetPosition(Position[0], Position[1], Position[2]);
// Update light
if(Light) {
Light->setPosition(vector3df(Position[0], Position[1], Position[2]));
}
// Get pitch for player idle sound
float Pitch = GetAngularVelocity().length();
if(Pitch < 3.0f)
Pitch = 3.0f;
else if(Pitch > 22.0f)
Pitch = 22.0f;
Pitch -= 3.0f;
Pitch /= 30.0f;
Pitch += 1.5f;
Sound->SetPitch(Pitch);
// Update jump timer
if(JumpTimer > 0.0f) {
JumpTimer -= FrameTime;
if(JumpTimer < 0.0f)
JumpTimer = 0.0f;
if(TouchingGround) {
RigidBody->activate();
RigidBody->applyCentralImpulse(btVector3(0.0f, JUMP_POWER, 0.0f));
JumpTimer = 0.0f;
}
}
}
Ogre::Vector3 RigidBody::GetVelocityAtPoint(Vector3 const& p) const
{
Vector3 v = p-GetPosition();
return GetAngularVelocity().crossProduct(v) + GetVelocity();
}
