void Spaceman::updateAction(const vector<GravObject*> *g_objs) {
switch (_action) {
case Action::STILL: {
_action = Action::RUNNING;
break;
}
case Action::RUNNING: {
if (_on_planet_region == -1) {
// FIXME
// float speed = ((_facing == RIGHT) ? _running_speed : -_running_speed)/((_on_planet->getWidth()/150)*2);
// Point2D pt = Math::rotatePtAroundPt(_on_planet->getCentre(), getCentre(), speed);
//
// setX(pt.getX() - (getWidth()/2));
// setY(pt.getY() - (getHeight()/2));
}
else {
if (_facing == RIGHT) {
setX(getX() + (_running_speed*_running_unit_vector.getX()));
setY(getY() + (_running_speed*_running_unit_vector.getY()));
}
else {
setX(getX() + (_running_speed*-_running_unit_vector.getX()));
setY(getY() + (_running_speed*-_running_unit_vector.getY()));
}
}
break;
}
case Action::FLYING:
case Action::LANDING: {
// Convert angle to anti-clockwise direction
float angle = Math::normalizeAngle(180 - getRotAngle(), 0, 360);
// Thrust up
Physics::genInitVel(*this, angle, PLAYER_THRUST_MIN_INIT_V, PLAYER_THRUST_MAX_INIT_V, PLAYER_THRUST_OFFSET);
resetTime(Game::getElapsedTime());
_trail.buildTrail(_base.getX(),
_base.getY(),
360 - getRotAngle(),
_colour_theme);
break;
}
}
// Animate
if (_frame < 29)
_frame++;
else
_frame = 0;
}
void Spaceman::draw(PlayerRenderer* rend, TextureHandler *tex) {
// Render
rend->render(getVerticeData(),
Colour::getColour(_colour_theme),
TextureHandler::calcTexVerticesFromSpritesheet(1925, 2760, 5, 6, _frame, (_facing != RIGHT)),
tex->getTex(TEX_SPACEMAN),
getRotAngle(),
GL_TRIANGLE_STRIP);
}
void RigidBody::processBodyRot_() {
if(!body_) {
return;
}
float rx = getRotX();
float ry = getRotY();
float rz = getRotZ();
float ra = getRotAngle();
// Stop setting invalid rotations that crash bullet...
if(rx == 0.0 && ry == 0.0 && rz == 0.0) {
rx = 1.0;
}
btTransform xform;
xform = getBody().getWorldTransform();
xform.setRotation(btQuaternion (btVector3(rx, ry, rz), ra*(PI/180)));
//((btPairCachingGhostObject*)body_)->setWorldTransform (xform);
body_->setWorldTransform (xform);
}
void cSphere::render(float rotAngle)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glEnable(GL_TEXTURE_2D);
glEnable(GL_NORMALIZE);
glEnable(GL_COLOR_MATERIAL);
glBindTexture(GL_TEXTURE_2D, m_TextureID);
glTranslatef(m_Position.x, m_Position.y, m_Position.z);
glRotatef(90.0f, 1.0f, 0.0f, 0.0f); // Rotate Sphere to take account of gluSphere caps
glRotatef(getRotAngle(), 0, 0, 1); // Rotation is now on z rather than Y to make sphere spin
gluSphere(quad, sRadius, sSlices, sStacks);
glDisable(GL_NORMALIZE);
glDisable(GL_COLOR_MATERIAL);
glDisable(GL_TEXTURE_2D);
glPopMatrix();
}
task main()
{
initializeRobot();
// waitForStart();
ClearTimer(T1);
ClearTimer(T2);
while (true) {
getJoyValues();
DriveUpdate();
//dangerous
//motor[Mtr_ParaLift] = armjy1;
//motor[Mtr_RingSlider] = armjy2;
//if(armButton4) putPullSliderAllOut();
//if(armButton2) putPullSliderAllIn();
//if(armButton3) adjustPullSlider(-1.0);
//if(armButton1) adjustPullSlider(1.0);
//slider control on arm right joystick
//pulling forward backward
if(abs(armjy2)>0) {
f_pullTarget+=0.002*armjy2;
putPullSliderTo(f_pullTarget);
B_adjustingPull=true;
}
else {
f_pullTarget=getPullSliderPosition();
B_adjustingPull=false;
}
if(abs(armjx2)>0) {
f_rotTarget+=0.002*armjx2;
putRotServoTo(f_rotTarget);
B_adjustingRot=true;
}
else {
f_rotTarget=getRotAngle();
B_adjustingRot=false;
}
//arm control of ringslider
//would be better with encoder!
motor[Mtr_RingSlider] = armjy1;
//driver control of parallel lifter and emergency
if(driveButton9) globalAbort();//!!!!!!!!!!!!!!
///////////////////////////////////////////////////////
if(driveButton4) { B_liftTargetSet=true; f_targetHeight=36.0; }
if(driveButton3) { B_liftTargetSet=true; f_targetHeight=18.0; }
if(driveButton2) { B_liftTargetSet=true; f_targetHeight=0.0; }
if(driveButton1) { B_liftTargetSet=false; }
//actual control of lift motors is here
if(B_liftTargetSet){
if(PL_set_height_target(f_targetHeight)==0){
B_liftTargetSet=false; //reached target
};
}
else{
if(driveTopHat==0) motor[Mtr_ParaLift]= 100;
if(driveTopHat==4) motor[Mtr_ParaLift]=-100;
if(driveTopHat==-1) motor[Mtr_ParaLift]= 0;
}
}
}
