void CDynamics2DDifferentialSteeringControl::SetWheelVelocity(Real f_left_wheel,
Real f_right_wheel) {
/*
* THE DIFFERENTIAL STEERING SYSTEM
*
* check http://rossum.sourceforge.net/papers/DiffSteer/
* for details
*
* Equations:
*
* w = (Vr - Vl) / b
* v = [ ((Vr + Vl) / 2) cos(a),
* ((Vr + Vl) / 2) sin(a) ]
*
* where:
* a = body orientation
* w = body angular velocity
* v = body center linear velocity
* Vr = right wheel velocity
* Vl = left wheel velocity
* b = length of wheel axis
*/
SetAngularVelocity((f_right_wheel - f_left_wheel) / m_fInterwheelDistance);
Real fVelocity = (f_right_wheel + f_left_wheel) * 0.5f;
CVector2 cVelocity(fVelocity * ::cos(m_ptControlledBody->a),
fVelocity * ::sin(m_ptControlledBody->a));
SetLinearVelocity(cVelocity);
}
//Aボタンハンドラ
void Player::OnPushA() {
auto Ptr = GetComponent<Transform>();
if (Ptr->GetPosition().y > 0.125f) {
return;
}
auto PtrPs = GetComponent<PsSphereBody>();
auto Velo = PtrPs->GetLinearVelocity();
Velo += Vec3(0, 4.0f, 0.0);
PtrPs->SetLinearVelocity(Velo);
}
//-----------------------------------------------------------------------------
// SetLinearVelocity
//-----------------------------------------------------------------------------
void CPhysicObj::SetLinearVelocity (const NxVec3& vVelocity)
{
assert( m_bActivated );
int nNumParts = GetNumParts();
for (int i = 0; i < nNumParts; i++)
{
SetLinearVelocity (vVelocity, i);
}
}
bool csBulletRigidBody::Disable ()
{
SetLinearVelocity (csVector3 (0.0f));
SetAngularVelocity (csVector3 (0.0f));
if (btBody)
{
btBody->setInterpolationWorldTransform (btBody->getWorldTransform());
btBody->setActivationState (ISLAND_SLEEPING);
return true;
}
return false;
}
void Pipe2::MakePipeBody(cocos2d::Layer *layer, b2World *world, cocos2d::Rect rect){
auto Pipe = Sprite::create("pipe.png", rect);
Pipe->setPosition(rect.getMidX(),rect.getMidY());
layer->addChild(Pipe);
//Pipe->setScale(0.5);
b2BodyDef PipeBodyDef;
PipeBodyDef.type = b2_kinematicBody; //gravitity is not for pipes
PipeBodyDef.position.Set(rect.getMidX()/SCALE_RATIO, rect.getMidY()/SCALE_RATIO);
PipeBodyDef.userData = Pipe;
auto PipeBody = world->CreateBody(&PipeBodyDef);
float a = Pipe->getContentSize().width;//*0.7;
float b = Pipe->getContentSize().height;//*0.9;
float sizeX = a/(2*SCALE_RATIO);
float sizeY = b/(2*SCALE_RATIO);
b2PolygonShape polygon;
polygon.SetAsBox(sizeX, sizeY); //a 4x2 rectangle !!может округлять в большую сторону; ORIGINY слишком большой OrigiinX маленький(
//polygon.SetAsBox(1, sizeY);
b2FixtureDef PipeShapeDef;
PipeShapeDef.shape = &polygon;
PipeShapeDef.density = 0;
PipeShapeDef.friction = 0;
PipeShapeDef.restitution = 0;
PipeBody->CreateFixture(&PipeShapeDef);
PipeBody->SetLinearVelocity( b2Vec2(-3,0));
}
//更新
void Player::OnUpdate() {
auto Vec = GetMoveVector();
auto PtrPs = GetComponent<PsSphereBody>();
auto Velo = PtrPs->GetLinearVelocity();
Velo.x = Vec.x * 5.0f;
Velo.z = Vec.z * 5.0f;
PtrPs->SetLinearVelocity(Velo);
//コントローラの取得
auto CntlVec = App::GetApp()->GetInputDevice().GetControlerVec();
if (CntlVec[0].bConnected) {
//Aボタン
if (CntlVec[0].wPressedButtons & XINPUT_GAMEPAD_A) {
OnPushA();
}
//Xボタン
else if (CntlVec[0].wPressedButtons & XINPUT_GAMEPAD_X) {
OnPushX();
}
}
}
void RigidBody::AddBodyToWorld()
{
if (!physicsWorld_)
return;
URHO3D_PROFILE(AddBodyToWorld);
if (mass_ < 0.0f)
mass_ = 0.0f;
if (body_)
RemoveBodyFromWorld();
else
{
// Correct inertia will be calculated below
btVector3 localInertia(0.0f, 0.0f, 0.0f);
body_ = new btRigidBody(mass_, this, shiftedCompoundShape_, localInertia);
body_->setUserPointer(this);
// Check for existence of the SmoothedTransform component, which should be created by now in network client mode.
// If it exists, subscribe to its change events
smoothedTransform_ = GetComponent<SmoothedTransform>();
if (smoothedTransform_)
{
SubscribeToEvent(smoothedTransform_, E_TARGETPOSITION, URHO3D_HANDLER(RigidBody, HandleTargetPosition));
SubscribeToEvent(smoothedTransform_, E_TARGETROTATION, URHO3D_HANDLER(RigidBody, HandleTargetRotation));
}
// Check if CollisionShapes already exist in the node and add them to the compound shape.
// Do not update mass yet, but do it once all shapes have been added
PODVector<CollisionShape*> shapes;
node_->GetComponents<CollisionShape>(shapes);
for (PODVector<CollisionShape*>::Iterator i = shapes.Begin(); i != shapes.End(); ++i)
(*i)->NotifyRigidBody(false);
// Check if this node contains Constraint components that were waiting for the rigid body to be created, and signal them
// to create themselves now
PODVector<Constraint*> constraints;
node_->GetComponents<Constraint>(constraints);
for (PODVector<Constraint*>::Iterator i = constraints.Begin(); i != constraints.End(); ++i)
(*i)->CreateConstraint();
}
UpdateMass();
UpdateGravity();
int flags = body_->getCollisionFlags();
if (trigger_)
flags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
else
flags &= ~btCollisionObject::CF_NO_CONTACT_RESPONSE;
if (kinematic_)
flags |= btCollisionObject::CF_KINEMATIC_OBJECT;
else
flags &= ~btCollisionObject::CF_KINEMATIC_OBJECT;
body_->setCollisionFlags(flags);
body_->forceActivationState(kinematic_ ? DISABLE_DEACTIVATION : ISLAND_SLEEPING);
if (!IsEnabledEffective())
return;
btDiscreteDynamicsWorld* world = physicsWorld_->GetWorld();
world->addRigidBody(body_, (short)collisionLayer_, (short)collisionMask_);
inWorld_ = true;
readdBody_ = false;
if (mass_ > 0.0f)
Activate();
else
{
SetLinearVelocity(Vector3::ZERO);
SetAngularVelocity(Vector3::ZERO);
}
}
void plPXPhysicalControllerCore::SetVelocities(const hsVector3& linearVel, float angVel)
{
SetLinearVelocity(linearVel);
SetAngularVelocity(angVel);
}
void CommandMoveLeft::update(float dt) {
if (!_block)
return;
auto body1 = _block->getBody();
if (!body1) {
stopBlock();
return;
}
auto body2 = _block->getAttachedBody();
if (!body2) {
stopBlock();
return;
}
float32 offset = ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::MOVEOFFSET);
float32 blockSizeInMeters = _blockSize.width / ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D);
if (body1->GetFixtureList()->GetFilterData().categoryBits == Block::blockFlags::PASSIVE
|| body2->GetFixtureList()->GetFilterData().categoryBits == Block::blockFlags::PASSIVE)
stopBlock();
if (body1->GetFixtureList()->GetFilterData().categoryBits == Block::blockFlags::NEED_TO_STOP
|| body2->GetFixtureList()->GetFilterData().categoryBits == Block::blockFlags::NEED_TO_STOP) {
Vec2 posOnField = _block->getPosOnField();
Sprite *sprite1 = (Sprite*)body1->GetUserData();
Sprite *sprite2 = (Sprite*)body2->GetUserData();
Size size = sprite1->getContentSize();
b2Filter filter;
if (GameField::getBlock({ posOnField.x - 1, posOnField.y })){
stopBlock();
filter = body1->GetFixtureList()->GetFilterData();
filter.categoryBits = Block::blockFlags::ACTIVE;
body1->GetFixtureList()->SetFilterData(filter);
filter = body2->GetFixtureList()->GetFilterData();
filter.categoryBits = Block::blockFlags::ACTIVE;
body2->GetFixtureList()->SetFilterData(filter);
body1->SetTransform(_positionOldFirst, 0);
body2->SetTransform(_positionOldSecond, 0);
sprite1->setPosition({ (body1->GetPosition().x
* ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D)) - size.width / 2
, (body1->GetPosition().y
* ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D)) - size.height / 2 });
sprite2->setPosition({ (body2->GetPosition().x
* ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D)) - size.width / 2
, (body2->GetPosition().y
* ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D)) - size.height / 2 });
SimpleUI *simpleUI = MainGameScene::getUI();
UserInput *input = (UserInput*)simpleUI->getChildrenByName(UserInput::name());
input->dropInputEvents();
return;
}
if (!_isUndo) {
body1->SetTransform({ _positionOldFirst.x - blockSizeInMeters, body1->GetPosition().y }, 0);
body2->SetTransform({ _positionOldSecond.x - blockSizeInMeters, body2->GetPosition().y }, 0);
}
else {
body1->SetTransform({ _positionOldFirst.x + blockSizeInMeters, body1->GetPosition().y }, 0);
body2->SetTransform({ _positionOldSecond.x + blockSizeInMeters, body2->GetPosition().y }, 0);
}
sprite1->setPosition({ (body1->GetPosition().x
* ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D)) - size.width / 2
, (body1->GetPosition().y
* ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D)) - size.height / 2 });
sprite2->setPosition({ (body2->GetPosition().x
* ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D)) - size.width / 2
, (body2->GetPosition().y
* ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::SCALE_RATIO_BOX2D)) - size.height / 2 });
stopBlock();
filter = body1->GetFixtureList()->GetFilterData();
filter.categoryBits ^= Block::blockFlags::NEED_TO_STOP;
filter.categoryBits = Block::blockFlags::STOPPED;
body1->GetFixtureList()->SetFilterData(filter);
filter = body2->GetFixtureList()->GetFilterData();
filter.categoryBits ^= Block::blockFlags::NEED_TO_STOP;
filter.categoryBits = Block::blockFlags::STOPPED;
body2->GetFixtureList()->SetFilterData(filter);
body1->SetActive(false);
body1->SetActive(true);
body2->SetActive(false);
body2->SetActive(true);
}
if ((_positionOldFirst.x - body1->GetPosition().x) < blockSizeInMeters
&& !_isUndo
&& _isExecute) {
if ((_positionOldFirst.x - (body1->GetPosition().x - offset)) >= blockSizeInMeters) {
while (offset > 0) {
offset -= ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::MOVEOFFSET) / 100;
if ((_positionOldFirst.x - (body1->GetPosition().x - offset)) < blockSizeInMeters) {
stopBlock();
body1->SetTransform({ body1->GetPosition().x - offset, body1->GetPosition().y }, 0);
body2->SetTransform({ body2->GetPosition().x - offset, body2->GetPosition().y }, 0);
return;
}
}
}
CCASSERT(offset, "offset can't be 0");
if (body1->GetLinearVelocity().x > 0
&& (_positionOldFirst.x - body1->GetPosition().x) < (blockSizeInMeters / 7)) {
stopBlock();
body1->SetTransform(_positionOldFirst, 0);
body2->SetTransform(_positionOldSecond, 0);
return;
}
body1->SetLinearVelocity({ (float32)(body1->GetLinearVelocity().x - offset), body1->GetLinearVelocity().y });
body2->SetLinearVelocity({ (float32)(body2->GetLinearVelocity().x - offset), body2->GetLinearVelocity().y });
_positionOldFirst.y = body1->GetPosition().y;
_positionOldSecond.y = body2->GetPosition().y;
}
else if ((body1->GetPosition().x - _positionOldFirst.x) < blockSizeInMeters
&& _isUndo
&& _isExecute) {
if (((body1->GetPosition().x + offset) - _positionOldFirst.x) >= blockSizeInMeters) {
while (offset > 0) {
offset -= (ConstantsRegistry::getValueForKey(ConstantsRegistry::constants::MOVEOFFSET) / 100) * 10;
if (((body1->GetPosition().x + offset) - _positionOldFirst.x) < blockSizeInMeters) {
stopBlock();
body1->SetTransform({ body1->GetPosition().x + offset, body1->GetPosition().y }, 0);
body2->SetTransform({ body2->GetPosition().x + offset, body2->GetPosition().y }, 0);
return;
}
}
}
CCASSERT(offset, "offset can't be 0");
if (body1->GetLinearVelocity().x < 0
&& (_positionOldFirst.x - body1->GetPosition().x) < (blockSizeInMeters / 7)) {
stopBlock();
body1->SetTransform(_positionOldFirst, 0);
body2->SetTransform(_positionOldSecond, 0);
return;
}
body1->SetLinearVelocity({ (float32)(body1->GetLinearVelocity().x + offset), body1->GetLinearVelocity().y });
body2->SetLinearVelocity({ (float32)(body2->GetLinearVelocity().x + offset), body2->GetLinearVelocity().y });
_positionOldFirst.y = body1->GetPosition().y;
_positionOldSecond.y = body2->GetPosition().y;
}
else
stopBlock();
}
void ICreature::CastEigenToInduced()
{
SetLinearVelocity(LinearVelocity(ZERO, GetTotalLinVelocity()));
SetAngularSpeed(AngularSpeed(ZERO, GetTotalAngSpeed()));
}
