Environment::Environment(Ogre::SceneManager* sceneManager, btDynamicsWorld& world, std::istream& level) :
_sceneManager(sceneManager),
_world(world),
_DebugDrawers(),
DebugAI(-1)
{
for(int i = 0; i < 5; ++i)
{
_DebugDrawers.push_back(std::unique_ptr<DebugDrawer>(new DebugDrawer(sceneManager, 0.5)));
}
boost::posix_time::ptime t1 = boost::posix_time::microsec_clock::universal_time();
while (!level.eof())
{
std::string MeshName;
std::string Orientation;
float x, y, z;
level >> MeshName >> x >> y >> z >> Orientation;
if (MeshName.compare("") && (MeshName[0] != '#'))
{
std::cout << "mesh " << MeshName << " at (" << x << "," << y << "," << z << "), " << Orientation << std::endl;
orientation_t o;
if (!Orientation.compare("N"))
o = North;
else if (!Orientation.compare("S"))
o = South;
else if (!Orientation.compare("E"))
o = East;
else if (!Orientation.compare("W"))
o = West;
else
{
std::stringstream str;
str << "Invalid orientation (" << Orientation << ")";
throw std::invalid_argument(str.str());
}
Ogre::Entity * Entity = _sceneManager->createEntity(MeshName);
Entity->setCastShadows(false);
_blocks.push_back(Block(Entity, o, Ogre::Vector3(x,y,z)));
}
}
boost::posix_time::ptime t2 = boost::posix_time::microsec_clock::universal_time();
Ogre::StaticGeometry *sg = _sceneManager->createStaticGeometry("environment");
boost::posix_time::ptime t3 = boost::posix_time::microsec_clock::universal_time();
_NavMesh.AgentHeight = 1.8;
_NavMesh.AgentRadius = 0.8;
_NavMesh.AgentMaxSlope = M_PI / 4;
_NavMesh.AgentMaxClimb = 0.5;
_NavMesh.CellHeight = 0.2;
_NavMesh.CellSize = 0.2;
_NavMesh.QueryExtent = Ogre::Vector3(10, 10, 10);
//for(auto const & block : _blocks)
BOOST_FOREACH(auto const & block, _blocks)
{
sg->addEntity(block._entity, block._position, getQuaternion(block._orientation));
OgreConverter converter(*block._entity);
Ogre::Matrix4 transform = getMatrix4(block._orientation, block._position);
converter.AddToTriMesh(transform, _TriMesh);
converter.AddToHeightField(transform, _NavMesh);
}
void RotationMatrix::rotate(const Quaternion& rotate)
{
setFromMatrix4(
getMatrix4().getPremultipliedBy(Matrix4::getRotationQuantised(rotate))
);
}
