Degree wrapAngle(Degree angle)
{
if (angle.valueDegrees() < -360.0f)
angle += Degree(360.0f);
if (angle.valueDegrees() > 360.0f)
angle -= Degree(360.0f);
return angle;
}
void SkyManager::update(float duration)
{
if (!mEnabled) return;
const MWWorld::Fallback* fallback=MWBase::Environment::get().getWorld()->getFallback();
if (!mParticle.isNull())
{
for (unsigned int i=0; i<mParticle->mControllers.size(); ++i)
mParticle->mControllers[i].update();
}
updateRain(duration);
// UV Scroll the clouds
mCloudAnimationTimer += duration * mCloudSpeed;
sh::Factory::getInstance().setSharedParameter ("cloudAnimationTimer",
sh::makeProperty<sh::FloatValue>(new sh::FloatValue(mCloudAnimationTimer)));
/// \todo improve this
mMasser->setPhase( static_cast<Moon::Phase>( (int) ((mDay % 32)/4.f)) );
mSecunda->setPhase ( static_cast<Moon::Phase>( (int) ((mDay % 32)/4.f)) );
mSecunda->setColour ( mMoonRed ? fallback->getFallbackColour("Moons_Script_Color") : ColourValue(1,1,1,1));
mMasser->setColour (ColourValue(1,1,1,1));
if (mSunEnabled)
{
// take 1/10 sec for fading the glare effect from invisible to full
if (mGlareFade > mGlare)
{
mGlareFade -= duration*10;
if (mGlareFade < mGlare) mGlareFade = mGlare;
}
else if (mGlareFade < mGlare)
{
mGlareFade += duration*10;
if (mGlareFade > mGlare) mGlareFade = mGlare;
}
// increase the strength of the sun glare effect depending
// on how directly the player is looking at the sun
Vector3 sun = mSunGlare->getPosition();
Vector3 cam = mCamera->getRealDirection();
const Degree angle = sun.angleBetween( cam );
float val = 1- (angle.valueDegrees() / 180.f);
val = (val*val*val*val)*6;
mSunGlare->setSize(val * mGlareFade);
}
mSunGlare->setVisible(mSunEnabled);
mSun->setVisible(mSunEnabled);
mMasser->setVisible(mMasserEnabled);
mSecunda->setVisible(mSecundaEnabled);
// rotate the stars by 360 degrees every 4 days
mAtmosphereNight->roll(Degree(MWBase::Environment::get().getWorld()->getTimeScaleFactor()*duration*360 / (3600*96.f)));
}
void SkyManager::update(float duration)
{
if (!mEnabled) return;
mCamera->getParentSceneNode ()->needUpdate ();
mRootNode->setPosition(mCamera->getDerivedPosition());
// UV Scroll the clouds
mCloudAnimationTimer += duration * mCloudSpeed * (MWBase::Environment::get().getWorld()->getTimeScaleFactor()/30.f);
sh::Factory::getInstance().setSharedParameter ("cloudAnimationTimer",
sh::makeProperty<sh::FloatValue>(new sh::FloatValue(mCloudAnimationTimer)));
/// \todo improve this
mMasser->setPhase( static_cast<Moon::Phase>( (int) ((mDay % 32)/4.f)) );
mSecunda->setPhase ( static_cast<Moon::Phase>( (int) ((mDay % 32)/4.f)) );
mSecunda->setColour ( mMoonRed ? ColourValue(1.0, 0.0784, 0.0784) : ColourValue(1,1,1,1));
mMasser->setColour (ColourValue(1,1,1,1));
if (mSunEnabled)
{
// take 1/10 sec for fading the glare effect from invisible to full
if (mGlareFade > mGlare)
{
mGlareFade -= duration*10;
if (mGlareFade < mGlare) mGlareFade = mGlare;
}
else if (mGlareFade < mGlare)
{
mGlareFade += duration*10;
if (mGlareFade > mGlare) mGlareFade = mGlare;
}
// increase the strength of the sun glare effect depending
// on how directly the player is looking at the sun
Vector3 sun = mSunGlare->getPosition();
sun = Vector3(sun.x, sun.z, -sun.y);
Vector3 cam = mCamera->getRealDirection();
const Degree angle = sun.angleBetween( cam );
float val = 1- (angle.valueDegrees() / 180.f);
val = (val*val*val*val)*2;
mSunGlare->setSize(val * mGlareFade);
}
mSunGlare->setVisible(mSunEnabled);
mSun->setVisible(mSunEnabled);
mMasser->setVisible(mMasserEnabled);
mSecunda->setVisible(mSecundaEnabled);
// rotate the stars by 360 degrees every 4 days
mAtmosphereNight->roll(Degree(MWBase::Environment::get().getWorld()->getTimeScaleFactor()*duration*360 / (3600*96.f)));
}
void SkyManager::update(float duration)
{
if (!mEnabled) return;
// UV Scroll the clouds
mCloudMaterial->getTechnique(0)->getPass(0)->getFragmentProgramParameters()->setNamedConstantFromTime("time", MWBase::Environment::get().getWorld()->getTimeScaleFactor()/30.f);
/// \todo improve this
mMasser->setPhase( static_cast<Moon::Phase>( (int) ((mDay % 32)/4.f)) );
mSecunda->setPhase ( static_cast<Moon::Phase>( (int) ((mDay % 32)/4.f)) );
if (mSunEnabled)
{
// take 1/5 sec for fading the glare effect from invisible to full
if (mGlareFade > mGlare)
{
mGlareFade -= duration*5;
if (mGlareFade < mGlare) mGlareFade = mGlare;
}
else if (mGlareFade < mGlare)
{
mGlareFade += duration*5;
if (mGlareFade > mGlare) mGlareFade = mGlare;
}
// increase the strength of the sun glare effect depending
// on how directly the player is looking at the sun
Vector3 sun = mSunGlare->getPosition();
sun = Vector3(sun.x, sun.z, -sun.y);
Vector3 cam = mCamera->getRealDirection();
const Degree angle = sun.angleBetween( cam );
float val = 1- (angle.valueDegrees() / 180.f);
val = (val*val*val*val)*2;
mSunGlare->setSize(val * mGlareFade);
}
mSunGlare->setVisible(mSunEnabled);
mSun->setVisible(mSunEnabled);
mMasser->setVisible(mMasserEnabled);
mSecunda->setVisible(mSecundaEnabled);
// rotate the stars by 360 degrees every 4 days
mAtmosphereNight->roll(Degree(MWBase::Environment::get().getWorld()->getTimeScaleFactor()*duration*360 / (3600*96.f)));
}
void TreeLoader2D::addTree(Entity *entity, const Vector3 &position, Degree yaw, Real scale, void* userData)
{
//First convert the coordinate to PagedGeometry's local system
#ifdef PAGEDGEOMETRY_ALTERNATE_COORDSYSTEM
Vector3 pos = geom->_convertToLocal(position);
#else
Vector3 pos = position;
#endif
//Check that the tree is within bounds (DEBUG)
#ifdef _DEBUG
const Real smallVal = 0.01f;
if (pos.x < actualBounds.left-smallVal || pos.x > actualBounds.right+smallVal || pos.z < actualBounds.top-smallVal || pos.z > actualBounds.bottom+smallVal)
OGRE_EXCEPT(Exception::ERR_INVALIDPARAMS, "Tree position is out of bounds", "TreeLoader::addTree()");
if (scale < minimumScale || scale > maximumScale)
OGRE_EXCEPT(Exception::ERR_INVALIDPARAMS, "Tree scale out of range", "TreeLoader::addTree()");
#endif
//If the tree is slightly out of bounds (due to imprecise coordinate conversion), fix it
if (pos.x < actualBounds.left)
pos.x = actualBounds.left;
else if (pos.x > actualBounds.right)
pos.x = actualBounds.right;
if (pos.z < actualBounds.top)
pos.z = actualBounds.top;
else if (pos.z > actualBounds.bottom)
pos.z = actualBounds.bottom;
Real x = pos.x;
Real z = pos.z;
//Find the appropriate page grid for the entity
PageGridListIterator i;
i = pageGridList.find(entity);
std::vector<TreeDef> *pageGrid;
if (i != pageGridList.end()) {
//If it exists, get the page grid
pageGrid = i->second;
} else {
//If it does not exist, create a new page grid
pageGrid = new std::vector<TreeDef>[pageGridX * pageGridZ];
//Register the new page grid in the pageGridList for later retrieval
pageGridList.insert(PageGridListValue(entity, pageGrid));
}
//Calculate the gridbounds-relative position of the tree
Real xrel = x - gridBounds.left;
Real zrel = z - gridBounds.top;
//Get the appropriate grid element based on the new tree's position
int pageX = Math::Floor(xrel / pageSize);
int pageZ = Math::Floor(zrel / pageSize);
std::vector<TreeDef> &treeList = _getGridPage(pageGrid, pageX, pageZ);
//Create the new tree
TreeDef tree;
tree.xPos = 65535 * (xrel - (pageX * pageSize)) / pageSize;
tree.zPos = 65535 * (zrel - (pageZ * pageSize)) / pageSize;
tree.rotation = 255 * (yaw.valueDegrees() / 360.0f);
tree.scale = 255 * ((scale - minimumScale) / maximumScale);
#ifdef PAGEDGEOMETRY_USER_DATA
tree.userData = userData;
#endif
//Add it to the tree list
treeList.push_back(tree);
//Rebuild geometry if necessary
geom->reloadGeometryPage(Vector3(x, 0, z));
}
void Turboprop::updateForces(float dt, int doUpdate)
{
if (doUpdate)
{
//tropospheric model valid up to 11.000m (33.000ft)
float altitude=nodes[noderef].AbsPosition.y;
//float sea_level_temperature=273.15+15.0; //in Kelvin
float sea_level_pressure=101325; //in Pa
//float airtemperature=sea_level_temperature-altitude*0.0065; //in Kelvin
float airpressure=sea_level_pressure*pow(1.0-0.0065*altitude/288.15, 5.24947); //in Pa
airdensity=airpressure*0.0000120896;//1.225 at sea level
#ifdef USE_OPENAL
//sound update
SoundScriptManager::getSingleton().modulate(trucknum, mod_id, rpm);
#endif //OPENAL
}
timer+=dt;
//evaluate the rotation speed
float velacc=0;
for (int i=0; i<numblades; i++) velacc+=(nodes[nodep[i]].Velocity-nodes[noderef].Velocity).length();
rpm=(velacc/numblades) * RAD_PER_SEC_TO_RPM / radius;
//check for broken prop
Vector3 avg=Vector3::ZERO;
for (int i=0; i<numblades; i++) avg+=nodes[nodep[i]].RelPosition;
avg=avg/numblades;
if ((avg-nodes[noderef].RelPosition).length()>0.4)
{
failed=true;
}
//evaluate engine power
float enginepower=0; //in kilo-Watt
float warmupfactor=1.0;
if (warmup)
{
warmupfactor=(timer-warmupstart)/warmuptime;
if (warmupfactor>=1.0) warmup=false;
}
float revpenalty=1.0;
if (reverse) revpenalty=0.5;
if (!failed && ignition) enginepower=(0.0575+throtle*revpenalty*0.9425)*fullpower*warmupfactor;
//the magic formula
float enginecouple=0.0; //in N.m
if (rpm>10.0) enginecouple=9549.3*enginepower/rpm;
else enginecouple=9549.3*enginepower/10.0;
indicated_torque=enginecouple;
if (torquenode!=-1)
{
Vector3 along=nodes[noderef].RelPosition-nodes[nodeback].RelPosition;
Plane ppl=Plane(along, 0);
Vector3 orth=ppl.projectVector(nodes[noderef].RelPosition)-ppl.projectVector(nodes[torquenode].RelPosition);
Vector3 cdir=orth.crossProduct(along);
cdir.normalise();
nodes[torquenode].Forces+=(enginecouple/torquedist)*cdir;
}
float tipforce=(enginecouple/radius)/numblades;
//okay, now we know the contribution from the engine
//pitch
if (fixed_pitch>0) pitch=fixed_pitch; else
{
if (!reverse)
{
if (throtle<0.01)
{
//beta range
if (pitch>0 && rpm<regspeed*1.4) pitch-=pitchspeed*dt;
if (rpm>regspeed*1.4) pitch+=pitchspeed*dt;
}
else
{
float dpitch=rpm-regspeed;
if (dpitch>pitchspeed) dpitch=pitchspeed;
if (dpitch<-pitchspeed) dpitch=-pitchspeed;
if (!(dpitch<0 && pitch<0) && !(dpitch>0 && pitch>45)) pitch+=dpitch*dt;
}
} else
{
if (rpm<regspeed*1.1)
{
if (pitch<-4.0) pitch+=pitchspeed*dt;
else pitch-=pitchspeed*dt;
}
if (rpm>regspeed*1.11)
{
pitch-=pitchspeed*dt;
}
}
}
if (!failed)
{
axis=nodes[noderef].RelPosition-nodes[nodeback].RelPosition;
axis.normalise();
}
//estimate amount of energy
float estrotenergy=0.5*numblades*nodes[nodep[0]].mass*radius*radius*(rpm/RAD_PER_SEC_TO_RPM)*(rpm/RAD_PER_SEC_TO_RPM);
//for each blade
float totthrust=0;
float tottorque=0;
for (int i=0; i<numblades; i++)
{
if (!failed && ignition)
{
Vector3 totaltipforce=Vector3::ZERO;
//span vector, left to right
Vector3 spanv=(nodes[nodep[i]].RelPosition-nodes[noderef].RelPosition);
spanv.normalise();
//chord vector, front to back
Vector3 refchordv=-axis.crossProduct(spanv);
//grab this for propulsive forces
Vector3 tipf=-refchordv;
totaltipforce+=(tipforce-rpm/10.0)*tipf; //add a bit of mechanical friction
//for each blade segment (there are 6 elements)
for (int j=0; j<5; j++) //outer to inner, the 6th blade element is ignored
{
//proportion
float proport=((float)j+0.5)/6.0;
//evaluate wind direction
Vector3 wind=-(nodes[nodep[i]].Velocity*(1.0-proport)+nodes[noderef].Velocity*proport);
float wspeed=wind.length();
Vector3 liftv=spanv.crossProduct(-wind);
liftv.normalise();
//rotate according to pitch
Vector3 chordv=Quaternion(Degree(pitch+twistmap[j]-7.0), spanv)*refchordv;
//wing normal
Vector3 normv=chordv.crossProduct(spanv);
//calculate angle of attack
Vector3 pwind=Plane(Vector3::ZERO, normv, chordv).projectVector(wind);
Vector3 dumb;
Degree daoa;
chordv.getRotationTo(pwind).ToAngleAxis(daoa, dumb);
float aoa=daoa.valueDegrees();
float raoa=daoa.valueRadians();
if (dumb.dotProduct(spanv)>0) {aoa=-aoa; raoa=-raoa;};
//get airfoil data
float cz, cx, cm;
airfoil->getparams(aoa, 1.0, 0.0, &cz, &cx, &cm);
//surface computation
float s=radius*bladewidth/6.0;
//drag
//wforce=(8.0*cx+cx*cx/(3.14159*radius/0.4))*0.5*airdensity*wspeed*s*wind;
Vector3 eforce=(4.0*cx+cx*cx/(3.14159*radius/bladewidth))*0.5*airdensity*wspeed*s*wind;
//lift
float lift=cz*0.5*airdensity*wspeed*wspeed*s;
eforce+=lift*liftv;
totthrust+=eforce.dotProduct(axis);
//apply forces
nodes[noderef].Forces+=eforce*proport;
totaltipforce+=eforce*(1.0-proport);
// if (i==0) sprintf(debug, "rend %.4i%%, wind %.3i kts, aoa %.3i, power %.5ihp, thrust %.6ilbf, torque %.6ilbft, pitch %.3i, propwash %.3i kts", (int)(100.0*wforce.dotProduct(axis)*numblades*nodes[noderef].Velocity.length()/(rpm*0.10471976*2.0*3.14159*enginecouple)), (int)(wspeed*1.9438), (int)aoa, (int)(enginepower*1.34), (int)(wforce.dotProduct(axis)*numblades*0.2248), (int)(enginecouple/1.35582), (int)pitch, (int)(propwash*1.9438));
// if (i==0) sprintf(debug, "lfx=%f lfy=%f lfz=%f vx=%f vy=%f vz=%f cx=%f cz=%f lift=%f", liftv.x, liftv.y, liftv.z, wind.x, wind.y, wind.z, cx, cz, lift);
}
tottorque+=tipf.dotProduct(totaltipforce)*radius;
//correct amount of energy
float correctfactor=0;
if (rpm>100) correctfactor=(rotenergy-estrotenergy)/(numblades*radius*dt*rpm/RAD_PER_SEC_TO_RPM);
if (correctfactor>1000.0) correctfactor=1000.0;
if (correctfactor<-1000.0) correctfactor=-1000.0;
nodes[nodep[i]].Forces+=totaltipforce+correctfactor*tipf;
}
else
{
//failed case
//add drag
Vector3 wind=-nodes[nodep[i]].Velocity;
// determine nodes speed and divide by engines speed (with some magic numbers for tuning) to keep it rotating longer when shutoff in flight and stop after a while when plane is stopped (on the ground)
float wspeed= (wind.length()/15.0f) / (nodes[noderef].Velocity.length()/2.0f);
nodes[nodep[i]].Forces+=airdensity*wspeed*wind;
}
}
//compute the next energy level
rotenergy+=(double)tottorque*dt*rpm/RAD_PER_SEC_TO_RPM;
// sprintf(debug, "pitch %i thrust %i totenergy=%i apparentenergy=%i", (int)pitch, (int)totthrust, (int)rotenergy, (int)estrotenergy);
//prop wash
float speed=nodes[noderef].Velocity.length();
float thrsign=1.0;
if (totthrust<0) {thrsign=-0.1; totthrust=-totthrust;};
if (!failed) propwash=thrsign*sqrt(totthrust/(0.5*airdensity*proparea)+speed*speed)-speed; else propwash=0;
if (propwash<0) propwash=0;
}
void FlexAirfoil::updateForces()
{
if(!airfoil) return;
if (broken) return;
// if (innan) {LOG("STEP "+TOSTRING(innan)+" "+TOSTRING(nblu));innan++;}
//evaluate wind direction
Vector3 wind=-(nodes[nfld].Velocity+nodes[nfrd].Velocity)/2.0;
//add wash
int i;
for (i=0; i<free_wash; i++)
wind-=(0.5*washpropratio[i]*aeroengines[washpropnum[i]]->getpropwash())*aeroengines[washpropnum[i]]->getAxis();
float wspeed=wind.length();
//chord vector, front to back
Vector3 chordv=((nodes[nbld].RelPosition-nodes[nfld].RelPosition)+(nodes[nbrd].RelPosition-nodes[nfrd].RelPosition))/2.0;
float chord=chordv.length();
//span vector, left to right
Vector3 spanv=((nodes[nfrd].RelPosition-nodes[nfld].RelPosition)+(nodes[nbrd].RelPosition-nodes[nbld].RelPosition))/2.0;
float span=spanv.length();
//lift vector
//if (_isnan(spanv.x) || _isnan(spanv.y) || _isnan(spanv.z)) LOG("spanv is NaN "+TOSTRING(nblu));
//if (_isnan(wind.x) || _isnan(wind.y) || _isnan(wind.z)) LOG("wind is NaN "+TOSTRING(nblu));
Vector3 liftv=spanv.crossProduct(-wind);
//if (_isnan(liftv.x) || _isnan(liftv.y) || _isnan(liftv.z)) LOG("liftv0 is NaN "+TOSTRING(nblu));
//if (_isnan(liftv.x) || _isnan(liftv.y) || _isnan(liftv.z)) LOG("liftv1 is NaN "+TOSTRING(nblu));
//wing normal
float s=span*chord;
Vector3 normv=chordv.crossProduct(spanv);
normv.normalise();
//calculate angle of attack
Vector3 pwind;
pwind=Plane(Vector3::ZERO, normv, chordv).projectVector(-wind);
Vector3 dumb;
Degree daoa;
chordv.getRotationTo(-pwind).ToAngleAxis(daoa, dumb);
aoa=daoa.valueDegrees();
float raoa=daoa.valueRadians();
if (dumb.dotProduct(spanv)>0) {aoa=-aoa; raoa=-raoa;};
//if (_isnan(aoa)) LOG("aoa is NaN "+TOSTRING(nblu));
//get airfoil data
float cz, cx, cm;
if (isstabilator)
airfoil->getparams(aoa-deflection, chordratio, 0, &cz, &cx, &cm);
else
airfoil->getparams(aoa, chordratio, deflection, &cz, &cx, &cm);
//compute surface
//if (_isnan(cz)) LOG("cz is NaN "+TOSTRING(nblu));
//float fs=span*(fabs(thickness*cos(raoa))+fabs(chord*sin(raoa)));
//float ts=span*(fabs(chord*cos(raoa))+fabs(thickness*sin(raoa)));
//tropospheric model valid up to 11.000m (33.000ft)
float altitude=nodes[nfld].AbsPosition.y;
//float sea_level_temperature=273.15+15.0; //in Kelvin (not used)
float sea_level_pressure=101325; //in Pa
//float airtemperature=sea_level_temperature-altitude*0.0065; //in Kelvin (not used)
float airpressure=sea_level_pressure*approx_pow(1.0-0.0065*altitude/288.15, 5.24947); //in Pa
float airdensity=airpressure*0.0000120896;//1.225 at sea level
Vector3 wforce=Vector3::ZERO;
//drag
wforce=(cx*0.5*airdensity*wspeed*s)*wind;
//if (_isnan(wforce.x) || _isnan(wforce.y) || _isnan(wforce.z)) LOG("wforce1 is NaN "+TOSTRING(nblu));
//induced drag
if (useInducedDrag)
{
Vector3 idf=(cx*cx*0.25*airdensity*wspeed*idArea*idArea/(3.14159*idSpan*idSpan))*wind;
//if (_isnan(idf.length())) LOG("idf is NaN "+TOSTRING(nblu));
if (idLeft)
{
nodes[nblu].Forces+=idf;
nodes[nbld].Forces+=idf;
}
else
{
nodes[nbru].Forces+=idf;
nodes[nbrd].Forces+=idf;
}
}
//if (_isnan(wforce.x) || _isnan(wforce.y) || _isnan(wforce.z)) LOG("wforce1a is NaN "+TOSTRING(nblu));
//if (_isnan(cz)) LOG("cz is NaN "+TOSTRING(nblu));
//if (_isnan(wspeed)) LOG("wspeed is NaN "+TOSTRING(nblu));
//if (_isnan(airdensity)) LOG("airdensity is NaN "+TOSTRING(nblu));
//if (_isnan(s)) LOG("s is NaN "+TOSTRING(nblu));
//if (_isnan(liftv.x) || _isnan(liftv.y) || _isnan(liftv.z)) LOG("liftv is NaN "+TOSTRING(nblu));
//lift
wforce+=(cz*0.5*airdensity*wspeed*chord)*liftv;
/*if (_isnan(wforce.x) || _isnan(wforce.y) || _isnan(wforce.z))
{
if (innan==0) innan=1;
LOG("wforce2 is NaN "+TOSTRING(nblu));
}
*/
//moment
float moment=-cm*0.5*airdensity*wspeed*wspeed*s;//*chord;
//apply forces
Vector3 f1=wforce*(liftcoef * 0.75/4.0f)+normv*(liftcoef *moment/(4.0f*0.25f));
Vector3 f2=wforce*(liftcoef *0.25/4.0f)-normv*(liftcoef *moment/(4.0f*0.75f));
//focal at 0.25 chord
nodes[nfld].Forces+=f1;
nodes[nflu].Forces+=f1;
nodes[nfrd].Forces+=f1;
nodes[nfru].Forces+=f1;
nodes[nbld].Forces+=f2;
nodes[nblu].Forces+=f2;
nodes[nbrd].Forces+=f2;
nodes[nbru].Forces+=f2;
// sprintf(debug, "wind %i kts, aoa %i, cz %f, vf %f ", (int)(wspeed*1.9438), (int)aoa, cz, normv.y);
}
void LandVehicleSimulation::UpdateVehicle(Beam* curr_truck, float seconds_since_last_frame)
{
using namespace Ogre;
if (!curr_truck->replaymode)
{
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_LEFT_MIRROR_LEFT))
curr_truck->leftMirrorAngle-=0.001;
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_LEFT_MIRROR_RIGHT))
curr_truck->leftMirrorAngle+=0.001;
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_RIGHT_MIRROR_LEFT))
curr_truck->rightMirrorAngle-=0.001;
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_RIGHT_MIRROR_RIGHT))
curr_truck->rightMirrorAngle+=0.001;
} // end of (!curr_truck->replaymode) block
#ifdef USE_ANGELSCRIPT
if (!curr_truck->replaymode && !curr_truck->vehicle_ai->IsActive())
#else
if (!curr_truck->replaymode)
#endif // USE_ANGELSCRIPT
{
// steering
float tmp_left_digital = RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_STEER_LEFT, false, InputEngine::ET_DIGITAL);
float tmp_right_digital = RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_STEER_RIGHT, false, InputEngine::ET_DIGITAL);
float tmp_left_analog = RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_STEER_LEFT, false, InputEngine::ET_ANALOG);
float tmp_right_analog = RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_STEER_RIGHT, false, InputEngine::ET_ANALOG);
float sum = -std::max(tmp_left_digital,tmp_left_analog)+ std::max(tmp_right_digital,tmp_right_analog);
if (sum < -1) sum = -1;
if (sum > 1) sum = 1;
curr_truck->hydrodircommand = sum;
if ((tmp_left_digital < tmp_left_analog) || (tmp_right_digital < tmp_right_analog))
{
curr_truck->hydroSpeedCoupling = false;
}
else
{
curr_truck->hydroSpeedCoupling = true;
}
if (curr_truck->engine)
{
static bool arcadeControls = BSETTING("ArcadeControls", false);
float accl = RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_ACCELERATE);
float brake = RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_BRAKE);
if (RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_ACCELERATE_MODIFIER_25) ||
RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_ACCELERATE_MODIFIER_50))
{
float acclModifier = 0.0f;
if (RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_ACCELERATE_MODIFIER_25))
{
acclModifier += 0.25f;
}
if (RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_ACCELERATE_MODIFIER_50))
{
acclModifier += 0.50f;
}
accl *= acclModifier;
}
if (RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_BRAKE_MODIFIER_25) ||
RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_BRAKE_MODIFIER_50))
{
float brakeModifier = 0.0f;
if (RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_BRAKE_MODIFIER_25))
{
brakeModifier += 0.25f;
}
if (RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_BRAKE_MODIFIER_50))
{
brakeModifier += 0.50f;
}
brake *= brakeModifier;
}
// arcade controls are only working with auto-clutch!
if (!arcadeControls || curr_truck->engine->getAutoMode() > BeamEngine::SEMIAUTO)
{
// classic mode, realistic
curr_truck->engine->autoSetAcc(accl);
curr_truck->brake = brake * curr_truck->brakeforce;
}
else
{
// start engine
if (curr_truck->engine->hasContact() && !curr_truck->engine->isRunning() && (accl > 0 || brake > 0))
{
curr_truck->engine->start();
}
// arcade controls: hey - people wanted it x| ... <- and it's convenient
if (curr_truck->engine->getGear() >= 0)
{
// neutral or drive forward, everything is as its used to be: brake is brake and accel. is accel.
curr_truck->engine->autoSetAcc(accl);
curr_truck->brake = brake * curr_truck->brakeforce;
}
else
{
// reverse gear, reverse controls: brake is accel. and accel. is brake.
curr_truck->engine->autoSetAcc(brake);
curr_truck->brake = accl * curr_truck->brakeforce;
}
// only when the truck really is not moving anymore
if (fabs(curr_truck->WheelSpeed) <= 1.0f)
{
Vector3 hdir = curr_truck->getDirection();
float velocity = hdir.dotProduct(curr_truck->nodes[0].Velocity);
// switching point, does the user want to drive forward from backward or the other way round? change gears?
if (velocity < 1.0f && brake > 0.5f && accl < 0.5f && curr_truck->engine->getGear() > 0)
{
// we are on the brake, jump to reverse gear
if (curr_truck->engine->getAutoMode() == BeamEngine::AUTOMATIC)
{
curr_truck->engine->autoShiftSet(BeamEngine::REAR);
}
else
{
curr_truck->engine->setGear(-1);
}
} else if (velocity > -1.0f && brake < 0.5f && accl > 0.5f && curr_truck->engine->getGear() < 0)
{
// we are on the gas pedal, jump to first gear when we were in rear gear
if (curr_truck->engine->getAutoMode() == BeamEngine::AUTOMATIC)
{
curr_truck->engine->autoShiftSet(BeamEngine::DRIVE);
}
else
{
curr_truck->engine->setGear(1);
}
}
}
}
// IMI
// gear management -- it might, should be transferred to a standalone function of Beam or RoRFrameListener
if (curr_truck->engine->getAutoMode() == BeamEngine::AUTOMATIC)
{
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_AUTOSHIFT_UP))
{
curr_truck->engine->autoShiftUp();
}
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_AUTOSHIFT_DOWN))
{
curr_truck->engine->autoShiftDown();
}
}
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_TOGGLE_CONTACT))
{
curr_truck->engine->toggleContact();
}
if (RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_STARTER) && curr_truck->engine->hasContact() && !curr_truck->engine->isRunning())
{
// starter
curr_truck->engine->setstarter(1);
#ifdef USE_OPENAL
SoundScriptManager::getSingleton().trigStart(curr_truck, SS_TRIG_STARTER);
#endif // OPENAL
}
else
{
curr_truck->engine->setstarter(0);
#ifdef USE_OPENAL
SoundScriptManager::getSingleton().trigStop(curr_truck, SS_TRIG_STARTER);
#endif // OPENAL
}
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_SWITCH_SHIFT_MODES))
{
// toggle Auto shift
curr_truck->engine->toggleAutoMode();
// force gui update
curr_truck->triggerGUIFeaturesChanged();
#ifdef USE_MYGUI
switch(curr_truck->engine->getAutoMode())
{
case BeamEngine::AUTOMATIC:
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("Automatic shift"), "cog.png", 3000);
RoR::Application::GetGuiManager()->PushNotification("Gearbox Mode:", "Automatic shift");
break;
case BeamEngine::SEMIAUTO:
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("Manual shift - Auto clutch"), "cog.png", 3000);
RoR::Application::GetGuiManager()->PushNotification("Gearbox Mode:", "Manual shift - Auto clutch");
break;
case BeamEngine::MANUAL:
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("Fully Manual: sequential shift"), "cog.png", 3000);
RoR::Application::GetGuiManager()->PushNotification("Gearbox Mode:", "Fully Manual: sequential shift");
break;
case BeamEngine::MANUAL_STICK:
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("Fully manual: stick shift"), "cog.png", 3000);
RoR::Application::GetGuiManager()->PushNotification("Gearbox Mode:", "Fully manual: stick shift");
break;
case BeamEngine::MANUAL_RANGES:
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("Fully Manual: stick shift with ranges"), "cog.png", 3000);
RoR::Application::GetGuiManager()->PushNotification("Gearbox Mode:", "Fully Manual: stick shift with ranges");
break;
}
#endif //USE_MYGUI
}
// joy clutch
float cval = RoR::Application::GetInputEngine()->getEventValue(EV_TRUCK_MANUAL_CLUTCH);
curr_truck->engine->setManualClutch(cval);
int shiftmode = curr_truck->engine->getAutoMode();
if (shiftmode <= BeamEngine::MANUAL) // auto, semi auto and sequential shifting
{
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_SHIFT_UP))
{
curr_truck->engine->shift(1);
}
else if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_SHIFT_DOWN))
{
if (shiftmode > BeamEngine::SEMIAUTO ||
shiftmode == BeamEngine::SEMIAUTO && !arcadeControls ||
shiftmode == BeamEngine::SEMIAUTO && curr_truck->engine->getGear() > 0 ||
shiftmode == BeamEngine::AUTOMATIC)
{
curr_truck->engine->shift(-1);
}
}
else if (shiftmode != BeamEngine::AUTOMATIC && RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_SHIFT_NEUTRAL))
{
curr_truck->engine->shiftTo(0);
}
}
else //if (shiftmode > BeamEngine::MANUAL) // h-shift or h-shift with ranges shifting
{
bool gear_changed = false;
bool found = false;
int curgear = curr_truck->engine->getGear();
int curgearrange = curr_truck->engine->getGearRange();
int gearoffset = std::max(0, curgear - curgearrange * 6);
// one can select range only if in neutral
if (shiftmode==BeamEngine::MANUAL_RANGES && curgear == 0)
{
// maybe this should not be here, but should experiment
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_SHIFT_LOWRANGE) && curgearrange != 0)
{
curr_truck->engine->setGearRange(0);
gear_changed = true;
#ifdef USE_MYGUI
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("Low range selected"), "cog.png", 3000);
#endif //USE_MYGUI
}
else if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_SHIFT_MIDRANGE) && curgearrange != 1 && curr_truck->engine->getNumGearsRanges()>1)
{
curr_truck->engine->setGearRange(1);
gear_changed = true;
#ifdef USE_MYGUI
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("Mid range selected"), "cog.png", 3000);
#endif //USE_MYGUI
}
else if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_SHIFT_HIGHRANGE) && curgearrange != 2 && curr_truck->engine->getNumGearsRanges()>2)
{
curr_truck->engine->setGearRange(2);
gear_changed = true;
#ifdef USE_MYGUI
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("High range selected"), "cog.png", 3000);
#endif // USE_MYGUI
}
}
//zaxxon
if (curgear == -1)
{
gear_changed = !RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_SHIFT_GEAR_REVERSE);
}
else if (curgear > 0 && curgear < 19)
{
if (shiftmode==BeamEngine::MANUAL)
{
gear_changed = !RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_SHIFT_GEAR01 + curgear -1);
} else
{
gear_changed = !RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_SHIFT_GEAR01 + gearoffset-1); // range mode
}
}
if (gear_changed || curgear == 0)
{
if (RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_SHIFT_GEAR_REVERSE))
{
curr_truck->engine->shiftTo(-1);
found = true;
}
else if (RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_SHIFT_NEUTRAL))
{
curr_truck->engine->shiftTo(0);
found = true;
}
else
{
if (shiftmode == BeamEngine::MANUAL_STICK)
{
for (int i=1; i < 19 && !found; i++)
{
if (RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_SHIFT_GEAR01 + i - 1))
{
curr_truck->engine->shiftTo(i);
found = true;
}
}
}
else // BeamEngine::MANUALMANUAL_RANGES
{
for (int i=1; i < 7 && !found; i++)
{
if (RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_SHIFT_GEAR01 + i - 1))
{
curr_truck->engine->shiftTo(i + curgearrange * 6);
found = true;
}
}
}
}
if (!found)
{
curr_truck->engine->shiftTo(0);
}
} // end of if (gear_changed)
} // end of shitmode > BeamEngine::MANUAL
if (curr_truck->engine->hasContact() &&
curr_truck->engine->getAutoMode() == BeamEngine::AUTOMATIC &&
curr_truck->engine->getAutoShift() != BeamEngine::NEUTRAL &&
std::abs(curr_truck->WheelSpeed) < 0.1f)
{
Vector3 dirDiff = curr_truck->getDirection();
Degree pitchAngle = Radian(asin(dirDiff.dotProduct(Vector3::UNIT_Y)));
if (std::abs(pitchAngle.valueDegrees()) > 1.0f)
{
if (curr_truck->engine->getAutoShift() > BeamEngine::NEUTRAL && curr_truck->WheelSpeed < +0.1f && pitchAngle.valueDegrees() > +1.0f ||
curr_truck->engine->getAutoShift() < BeamEngine::NEUTRAL && curr_truck->WheelSpeed > -0.1f && pitchAngle.valueDegrees() < -1.0f)
{
// anti roll back in BeamEngine::AUTOMATIC (DRIVE, TWO, ONE) mode
// anti roll forth in BeamEngine::AUTOMATIC (REAR) mode
float downhill_force = std::abs(sin(pitchAngle.valueRadians()) * curr_truck->getTotalMass());
float engine_force = std::abs(curr_truck->engine->getTorque());
float ratio = std::max(0.0f, 1.0f - (engine_force / downhill_force) / 2.0f);
curr_truck->brake = curr_truck->brakeforce * sqrt(ratio);
}
} else if (brake == 0.0f && accl == 0.0f && curr_truck->parkingbrake == 0)
{
float ratio = std::max(0.0f, 0.1f - std::abs(curr_truck->WheelSpeed)) * 5.0f;
curr_truck->brake = curr_truck->brakeforce * ratio;
}
}
} // end of ->engine
#ifdef USE_OPENAL
if (curr_truck->brake > curr_truck->brakeforce / 6.0f)
{
SoundScriptManager::getSingleton().trigStart(curr_truck, SS_TRIG_BRAKE);
}
else
{
SoundScriptManager::getSingleton().trigStop(curr_truck, SS_TRIG_BRAKE);
}
#endif // USE_OPENAL
} // end of ->replaymode
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_TOGGLE_AXLE_LOCK))
{
// toggle auto shift
if (!curr_truck->getAxleLockCount())
{
#ifdef USE_MYGUI
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("No differential installed on current vehicle!"), "warning.png", 3000);
RoR::Application::GetGuiManager()->PushNotification("Differential:", "No differential installed on current vehicle!");
#endif // USE_MYGUI
}
else
{
curr_truck->toggleAxleLock();
#ifdef USE_MYGUI
RoR::Application::GetConsole()->putMessage(Console::CONSOLE_MSGTYPE_INFO, Console::CONSOLE_SYSTEM_NOTICE, _L("Differentials switched to: ") + curr_truck->getAxleLockName(), "cog.png", 3000);
RoR::Application::GetGuiManager()->PushNotification("Differential:", "Differentials switched to: " + curr_truck->getAxleLockName());
#endif // USE_MYGUI
}
}
#ifdef USE_OPENAL
if (curr_truck->ispolice)
{
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_HORN))
{
SoundScriptManager::getSingleton().trigToggle(curr_truck, SS_TRIG_HORN);
}
}
else
{
if (RoR::Application::GetInputEngine()->getEventBoolValue(EV_TRUCK_HORN) && !curr_truck->replaymode)
{
SoundScriptManager::getSingleton().trigStart(curr_truck, SS_TRIG_HORN);
} else
{
SoundScriptManager::getSingleton().trigStop(curr_truck, SS_TRIG_HORN);
}
}
#endif // OPENAL
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_PARKING_BRAKE))
{
curr_truck->parkingbrakeToggle();
}
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_ANTILOCK_BRAKE))
{
if (curr_truck->alb_present && !curr_truck->alb_notoggle)
{
curr_truck->antilockbrakeToggle();
}
}
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_TRACTION_CONTROL))
{
if (!curr_truck->tc_notoggle) curr_truck->tractioncontrolToggle();
}
if (RoR::Application::GetInputEngine()->getEventBoolValueBounce(EV_TRUCK_CRUISE_CONTROL))
{
curr_truck->cruisecontrolToggle();
}
if (curr_truck->cc_mode)
{
LandVehicleSimulation::UpdateCruiseControl(curr_truck, seconds_since_last_frame);
}
LandVehicleSimulation::CheckSpeedLimit(curr_truck, seconds_since_last_frame);
}
tAction TeacherFollowTheLineLineRoom::computeNextAction()
{
// Determine if a change of state is possible
if (state == STATE_FORWARD_1)
{
if (target.x < 0)
{
target.x = m_pMap->properties.get("spot1_x")->toInt();
target.y = m_pMap->properties.get("spot1_y")->toInt();
}
else
{
if ((m_robot_position.x >= target.x - 1) && (m_robot_position.x <= target.x + 1) &&
(m_robot_position.y >= target.y - 1) && (m_robot_position.y <= target.y + 1))
{
target.x = m_pMap->properties.get("spot2_x")->toInt();
target.y = m_pMap->properties.get("spot2_y")->toInt();
state = STATE_FORWARD_2;
}
}
}
else if (state == STATE_FORWARD_2)
{
if ((m_robot_position.x >= target.x - 1) && (m_robot_position.x <= target.x + 1) &&
(m_robot_position.y >= target.y - 1) && (m_robot_position.y <= target.y + 1))
{
target.x = -1;
target.y = -1;
state = STATE_LOOK_FOR_FLAG;
}
}
else if (state == STATE_LOOK_FOR_FLAG)
{
if (!m_detected_targets.empty())
{
target = m_detected_targets[0];
state = STATE_GO_TOWARD_FLAG;
}
}
// Select the action to perform
if (state == STATE_LOOK_FOR_FLAG)
{
if (m_pMap->properties.get("haxis")->toBool())
return ACTION_TURN_RIGHT;
else
return ACTION_TURN_LEFT;
}
else if (target.x >= 0)
{
Degree angle = getAngleToTarget(target);
if (angle.valueDegrees() >= 3.0f)
return ACTION_TURN_RIGHT;
else if (angle.valueDegrees() <= -3.0f)
return ACTION_TURN_LEFT;
else
return ACTION_GO_FORWARD;
}
return ACTION_TURN_LEFT;
}
String toString(Degree val, unsigned short precision,
unsigned short width, char fill, std::ios::fmtflags flags)
{
return toString(val.valueDegrees(), precision, width, fill, flags);
}
void SGModel::updateBone(int64_t time, ObjectPtr skeleton)
{
BonePtr bone = smart_pointer_cast<Bone>(skeleton);
ActionDataPtr actionData = smart_pointer_cast<ActionData>(mCurActionData);
KeyFrameDataPtr kf1, kf2;
// 平移变换数据
Vector3 translation;
auto itrT = actionData->mBonesTranslation.find(bone->getName());
if (itrT != actionData->mBonesTranslation.end())
{
ActionData::KeyFrames &keyframesT = itrT->second;
if (searchKeyframe(keyframesT, time, actionData->mDuration, mCurKeyFrameT, kf1, kf2, mIsLoop))
{
KeyFrameDataTPtr keyframe1 = smart_pointer_cast<KeyFrameDataT>(kf1);
KeyFrameDataTPtr keyframe2 = smart_pointer_cast<KeyFrameDataT>(kf2);
double t = double(time - keyframe1->mTimestamp) / double(keyframe2->mTimestamp - keyframe1->mTimestamp);
Vector3 &base = keyframe1->mTranslation;
translation = (base + (keyframe2->mTranslation - base) * t);
T3D_LOG_INFO("Keyframe #1 T(%f, %f, %f)", keyframe1->mTranslation[0], keyframe1->mTranslation[1], keyframe1->mTranslation[2]);
T3D_LOG_INFO("Keyframe #2 T(%f, %f, %f)", keyframe2->mTranslation[0], keyframe2->mTranslation[1], keyframe2->mTranslation[2]);
T3D_LOG_INFO("Bone : %s [%f], T(%f, %f, %f)", bone->getName().c_str(), t, translation[0], translation[1], translation[2]);
bone->setTranslation(translation);
}
}
// 旋转变换数据
Quaternion orientation;
auto itrR = actionData->mBonesRotation.find(bone->getName());
if (itrR != actionData->mBonesRotation.end())
{
ActionData::KeyFrames &keyframesR = itrR->second;
if (searchKeyframe(keyframesR, time, actionData->mDuration, mCurKeyFrameR, kf1, kf2, mIsLoop))
{
KeyFrameDataRPtr keyframe1 = smart_pointer_cast<KeyFrameDataR>(kf1);
KeyFrameDataRPtr keyframe2 = smart_pointer_cast<KeyFrameDataR>(kf2);
double t = double(time - keyframe1->mTimestamp) / double(keyframe2->mTimestamp - keyframe1->mTimestamp);
orientation.lerp(keyframe1->mOrientation, keyframe2->mOrientation, t/* / 1000*/);
T3D_LOG_INFO("Keyframe #1 R(%f, %f, %f, %f)", keyframe1->mOrientation[0], keyframe1->mOrientation[1], keyframe1->mOrientation[2], keyframe1->mOrientation[3]);
T3D_LOG_INFO("Keyframe #2 R(%f, %f, %f, %f)", keyframe2->mOrientation[0], keyframe2->mOrientation[1], keyframe2->mOrientation[2], keyframe2->mOrientation[3]);
Degree deg;
Vector3 axis;
orientation.toAngleAxis(deg, axis);
T3D_LOG_INFO("Bone : %s [%d], R(%f, %f, %f, %f), deg=%f, Axis(%f, %f, %f)", bone->getName().c_str(), time, orientation[0], orientation[1], orientation[2], orientation[3], deg.valueDegrees(), axis[0], axis[1], axis[2]);
bone->setOrientation(orientation);
}
}
// 缩放变换数据
Vector3 scaling;
auto itrS = actionData->mBonesScaling.find(bone->getName());
if (itrS != actionData->mBonesScaling.end())
{
ActionData::KeyFrames &keyframesS = itrS->second;
if (searchKeyframe(keyframesS, time, actionData->mDuration, mCurKeyFrameS, kf1, kf2, mIsLoop))
{
KeyFrameDataSPtr keyframe1 = smart_pointer_cast<KeyFrameDataS>(kf1);
KeyFrameDataSPtr keyframe2 = smart_pointer_cast<KeyFrameDataS>(kf2);
double t = double(time - keyframe1->mTimestamp) / double(keyframe2->mTimestamp - keyframe1->mTimestamp);
Vector3 &base = keyframe1->mScaling;
scaling = (base * (keyframe2->mScaling - base) * t);
T3D_LOG_INFO("Keyframe #1 S(%f, %f, %f)", keyframe1->mScaling[0], keyframe1->mScaling[1], keyframe1->mScaling[2]);
T3D_LOG_INFO("Keyframe #2 S(%f, %f, %f)", keyframe2->mScaling[0], keyframe2->mScaling[1], keyframe2->mScaling[2]);
T3D_LOG_INFO("Bone : %s [%f], S(%f, %f, %f)", bone->getName().c_str(), t, scaling[0], scaling[1], scaling[2]);
bone->setScaling(scaling);
}
}
bone->updateBone();
auto itr = bone->getChildren().begin();
while (itr != bone->getChildren().end())
{
updateBone(time, *itr);
++itr;
}
}
bool StepRecognitionMovement::run(Ogre::Real elapsedTime, Ogre::Vector3 direction, Ogre::Vector3 rotation)
{
Vector3 vel = mMovingCreature->getCreature()->getActor()->getPhysicalThing()->getVelocity();
Real velY = vel.y;
vel.y = 0;
// raycast in the direction we should move to
Vector3 globalDir = mMovingCreature->getCreature()->getOrientation() * direction; // the direction in global space
if( globalDir == Vector3::ZERO )
return true;
// the materials that are triggered here
PhysicsMaterialRaycast::MaterialVector materialVector;
materialVector.push_back(PhysicsManager::getSingleton().getMaterialID("character")); // should we perhaps only use level here?
materialVector.push_back(PhysicsManager::getSingleton().getMaterialID("camera"));
// first of all check if we are not standing in front of a wall or sth like this
PhysicalThing *thing = mMovingCreature->getCreature()->getActor()->getPhysicalThing();
Real height = thing->_getBody()->getCollision()->getAABB().getSize().y;
Vector3 start = mMovingCreature->getCreature()->getPosition() + Vector3(0,height/2,0);
Vector3 end = start + globalDir * 0.5;
RaycastInfo info;
info = mRaycast.execute(
PhysicsManager::getSingleton()._getNewtonWorld(),
&materialVector,
start,
end,
true);
if(info.mBody)
{
mMoveToNextTarget = false;
return false;
}
if( !mMoveToNextTarget ) // check if we need to move up for a step
{
Real raylen = vel.length() / 3; // use longer ray, if higher velocity
if ( raylen < 0.5 )
raylen = 0.4;
//std::ostringstream oss;
//oss << "StepRecognition Raylen: " << raylen;
//LOG_MESSAGE(Logger::RULES, oss.str());
// raycasts
Vector3 start = mMovingCreature->getCreature()->getPosition() + Vector3::UNIT_Y * 0.1f;
globalDir.y = 0;
globalDir.normalise();
Vector3 end = start + globalDir*raylen;
bool foundbody = false;
Real foundDistance = 0;
RaycastInfo info;
do
{
info =
mRaycast.execute(
PhysicsManager::getSingleton()._getNewtonWorld(),
&materialVector,
start, end, true);
// do we need to check bodies left and right of this ray? (step width?)
// already found nearer body
if( foundbody )
{
if( info.mBody && (info.mDistance*raylen >= foundDistance*raylen + 0.19) || // step deep enough
!info.mBody )
{
// found a step
mMoveToNextTarget = true;
mNextTarget = start + globalDir*raylen*foundDistance + 0.1 * globalDir;
std::ostringstream oss;
Vector3 stepInLocalCoords = mNextTarget - mMovingCreature->getCreature()->getPosition();
Quaternion ori = mMovingCreature->getCreature()->getOrientation();
stepInLocalCoords = ori.Inverse() * stepInLocalCoords;
oss << "Step-Recognition: Next Step: " << stepInLocalCoords;
LOG_MESSAGE(Logger::RULES, oss.str());
break;
}
}
if( info.mBody )
{
foundbody = true;
foundDistance = info.mDistance;
}
start += Vector3::UNIT_Y * 0.05f;
end += Vector3::UNIT_Y * 0.05f;
}
while( info.mBody && (start - mMovingCreature->getCreature()->getPosition()).y <= 0.5 );
}
// check if the target is still needed
// perform check also to verify found step
if( mMoveToNextTarget )
{
Vector3 diffToTarget = mNextTarget - mMovingCreature->getCreature()->getPosition();
Real diffToTargetY = diffToTarget.y;
diffToTarget.y = 0;
// different direction
Vector3 globalDir = mMovingCreature->getCreature()->getOrientation() * direction; // the direction in global space
globalDir.y = 0;
if( globalDir == Vector3::ZERO )
{
mMoveToNextTarget = false;
LOG_MESSAGE(Logger::RULES, "Testing Step-Recognition: Step direction null");
return false;
}
// target reached
if( diffToTarget.squaredLength() < 0.01)
{
mMoveToNextTarget = false;
LOG_MESSAGE(Logger::RULES, "Testing Step-Recognition: Step reached");
return false;
}
// different direction
Quaternion oriDiff = diffToTarget.getRotationTo(globalDir, Vector3::UNIT_Y);
Degree angleDiff;
Vector3 axis = Vector3::UNIT_Y;
oriDiff.ToAngleAxis(angleDiff, axis);
Real f = angleDiff.valueDegrees();
//std::ostringstream oss;
//oss << "Step-Recognition: angle: " << f << " axis: " << axis;
//LOG_MESSAGE(Logger::RULES, oss.str());
//if( !diffToTarget.directionEquals(globalDir, Degree(15)) )
if( f > 2.0f )
{
mMoveToNextTarget = false;
//LOG_MESSAGE(Logger::RULES, "Testing Step-Recognition: Step direction wrong");
return false;
}
// already above target, but slow velocity
if( diffToTargetY < 0 && fabs(velY) < 0.01 )
{
mMoveToNextTarget = false;
//LOG_MESSAGE(Logger::RULES, "Testing Step-Recognition: slow and abov target-height!");
return false;
}
}
return mMoveToNextTarget;
}