void CameraSceneNode::SetLookAtPoint(Vec3 lap)
{
//mOgreSceneNode->lookAt(lap, Ogre::Node::TS_WORLD);
Vec3 z = -(lap - GetPosition()); z.normalise(); // z
Vec3 x = z.crossProduct(Vec3::NEGATIVE_UNIT_Y); x.normalise(); // x
Vec3 y = -x.crossProduct(z); y.normalise(); // y
Ogre::Matrix3 R;
R.FromAxes(x, y, z);
Quat q; q.FromRotationMatrix(R);
mOgreSceneNode->setOrientation(q);
this->SetOrientation(mOgreSceneNode->getOrientation()*this->GetParent()->GetOrientation().Inverse());
}
void
BuildTank::setBadGun(Ogre::Radian theta){
Ogre::Quaternion gunOrientation = mTankGunNode->getOrientation() ;
// convert orientation to a matrix
Ogre::Matrix3 tGunMatrix3;
gunOrientation.ToRotationMatrix( tGunMatrix3 );
Ogre::Vector3 xBasis = Ogre::Vector3(Ogre::Math::Cos(theta),0, - Ogre::Math::Sin(theta));
Ogre::Vector3 yBasis = Ogre::Vector3(0,1,0);
Ogre::Vector3 zBasis = Ogre::Vector3(Ogre::Math::Sin(theta),0,Ogre::Math::Cos(theta));
Ogre::Matrix3 rotate;
rotate.FromAxes(xBasis, yBasis, zBasis);
mGunOrientation = rotate * tGunMatrix3;
mTankGunNode->setOrientation(Ogre::Quaternion(mGunOrientation));
}
void
BuildTank::yawTurret(Ogre::Radian theta)
{
Ogre::Quaternion turretOrientation = mTankTurretNode->getOrientation() ;
// convert orientation to a matrix
Ogre::Matrix3 yawTMatrix3;
turretOrientation.ToRotationMatrix(yawTMatrix3);
Ogre::Vector3 xBasis = Ogre::Vector3(Ogre::Math::Cos(theta),0, - Ogre::Math::Sin(theta));
Ogre::Vector3 yBasis = Ogre::Vector3(0,1,0);
Ogre::Vector3 zBasis = Ogre::Vector3(Ogre::Math::Sin(theta),0,Ogre::Math::Cos(theta));
Ogre::Matrix3 rotate;
rotate.FromAxes(xBasis, yBasis, zBasis);
mTurretOrientation = rotate * yawTMatrix3 ;
mTankTurretNode->setOrientation(Ogre::Quaternion(mTurretOrientation));
}
//Rotate the tank
void
BuildTank::yawTank(Ogre::Radian theta)
{
Ogre::Quaternion orientation = mTankBodyNode->_getDerivedOrientation() ;
// convert orientation to a matrix
Ogre::Matrix3 matrix3;
orientation.ToRotationMatrix( matrix3 );
Ogre::Vector3 xBasis = Ogre::Vector3(Ogre::Math::Cos(theta),0, - Ogre::Math::Sin(theta));
Ogre::Vector3 yBasis = Ogre::Vector3(0,1,0);
Ogre::Vector3 zBasis = Ogre::Vector3(Ogre::Math::Sin(theta),0,Ogre::Math::Cos(theta));
Ogre::Matrix3 rotate;
rotate.FromAxes(xBasis, yBasis, zBasis);
mTankOrientation = rotate * matrix3 ;
mTankBodyNode->setOrientation(Ogre::Quaternion(mTankOrientation));
}