void CCharacterControllerEnemy::Update(void)
{
float fTrackTexCoordOffsetMoveFactor = 0.2f;
m_vRotation.y = CMathHelper::Instance()->Get_WrapAngle(m_vRotation.y, 0.0f, 360.0f);
switch (m_eState)
{
case E_AI_STATE_NONE:
std::cout<<"[CCharacterControllerEnemy::Update]"<<"state -> AI_STATE_NONE"<<std::endl;
m_pChassis->StartExhaustEmitt(false);
m_pChassis->StartDirtEmitt(false);
break;
case E_AI_STATE_STAND:
{
m_pChassis->StartExhaustEmitt(false);
m_pChassis->StartDirtEmitt(false);
std::cout<<"[CCharacterControllerEnemy::Update]"<<"state -> E_AI_STATE_STAND"<<std::endl;
}
break;
case E_AI_STATE_MOVE:
{
float fMoveSpeed = GameSDBStorage::Instance()->Get_UserMoveSpeed(m_eFullSetType);
glm::vec2 vPoint_01 = glm::vec2(m_vPosition.x, m_vPosition.z);
glm::vec2 vPoint_02 = glm::vec2(m_vMovePoint.x, m_vMovePoint.z);
if(glm::distance(vPoint_01, vPoint_02) < 1.0f)
{
m_eState = E_AI_STATE_NONE;
break;
}
float fAngleFromSeekerToTarget = CMathHelper::Instance()->Get_RotationBetweenPoints(m_vMovePoint, m_vPosition) + 180.0f;
//glm::degrees(CMathHelper::Instance()->Get_RotationBetweenPointsDot(vPoint_01, vPoint_02));
fAngleFromSeekerToTarget = CMathHelper::Instance()->Get_WrapAngle(fAngleFromSeekerToTarget, 0.0f, 360.0f);
if(m_eStreerMode == E_AI_STEER_MODE_LEFT)
{
if(fabsf(fAngleFromSeekerToTarget - m_vRotation.y) > 45.0f)
{
m_pNavigationHelper->MoveLeft();
m_pTrack->Move_LeftTrack(-fTrackTexCoordOffsetMoveFactor);
m_pTrack->Move_RightTrack(fTrackTexCoordOffsetMoveFactor);
}
else
{
if(fabs(fAngleFromSeekerToTarget - m_vRotation.y) > 1.0f)
{
m_pNavigationHelper->MoveLeft();
}
//MoveForward();
if(m_pBox2dBody != NULL)
{
b2Vec2 vForce = b2Vec2(0.0f, 0.0f);
vForce.x += sinf(glm::radians(m_vRotation.y)) * fMoveSpeed;
vForce.y += cosf(glm::radians(m_vRotation.y)) * fMoveSpeed;
m_pBox2dBody->SetAwake(true);
m_pBox2dBody->SetLinearVelocity(vForce);
}
m_pTrack->Move_LeftTrack(-fTrackTexCoordOffsetMoveFactor);
m_pTrack->Move_RightTrack(-fTrackTexCoordOffsetMoveFactor);
}
}
else if(m_eStreerMode == E_AI_STEER_MODE_RIGHT)
{
if(fabsf(fAngleFromSeekerToTarget - m_vRotation.y) > 45.0f)
{
m_pNavigationHelper->MoveRight();
m_pTrack->Move_LeftTrack(-fTrackTexCoordOffsetMoveFactor);
m_pTrack->Move_RightTrack(fTrackTexCoordOffsetMoveFactor);
}
else
{
if(fabs(fAngleFromSeekerToTarget - m_vRotation.y) > 1.0f)
{
m_pNavigationHelper->MoveRight();
}
//MoveForward();
if(m_pBox2dBody != NULL)
{
b2Vec2 vForce = b2Vec2(0.0f, 0.0f);
vForce.x += sinf(glm::radians(m_vRotation.y)) * fMoveSpeed;
vForce.y += cosf(glm::radians(m_vRotation.y)) * fMoveSpeed;
m_pBox2dBody->SetAwake(true);
m_pBox2dBody->SetLinearVelocity(vForce);
}
m_pTrack->Move_LeftTrack(-fTrackTexCoordOffsetMoveFactor);
m_pTrack->Move_RightTrack(-fTrackTexCoordOffsetMoveFactor);
}
}
m_pChassis->StartExhaustEmitt(true);
m_pChassis->StartDirtEmitt(true);
}
break;
default:
break;
}
if(m_pBox2dBody != NULL)
{
m_pBox2dBody->SetTransform(m_pBox2dBody->GetPosition(), glm::radians(m_vRotation.y));
}
m_pTrack->Update();
m_pTower->Update();
m_pChassis->Update();
//Shoot();
glm::vec3 vTargetPoint;
if(m_pTarget != NULL)
{
vTargetPoint = m_pTarget->Get_Position();
}
else
{
vTargetPoint = m_vMovePoint;
}
//m_fTowerRotationY = CMathHelper::Instance()->Get_RotationBetweenPoints(m_vPosition, vTargetPoint);
m_vRotation.y = CMathHelper::Instance()->Get_RotationBetweenPoints(m_vPosition, vTargetPoint);
/*glm::vec3 vStepPosition = m_vPosition;
vStepPosition.x += sinf(glm::radians(m_vRotation.y)) * m_fMoveSpeed;
vStepPosition.z += cosf(glm::radians(m_vRotation.y)) * m_fMoveSpeed;
m_fTowerRotationY = CMathHelper::Instance()->Get_RotationBetweenPointsDot(m_vPosition - vStepPosition, m_vPosition - vTargetPoint);
*/
Set_Position(m_vPosition);
_SmoothRotation();
Set_Rotation(m_vRotation);
}
void CCharacterControllerPlayer::Update(void)
{
float fTrackTexCoordOffsetMoveFactor = 0.2f;
float fTrackTexCoordOffsetSteerFactor = 0.1f;
ICamera* pCamera = CSceneMgr::Instance()->Get_Camera();
switch (m_eMoveState)
{
case ICharacterController::E_CHARACTER_CONTROLLER_MOVE_STATE_NONE:
if(pCamera->Get_FovY() > k_CAMERA_FOV_Y_STATE_NONE)
{
pCamera->Set_FovY(pCamera->Get_FovY() - k_CAMERA_FOV_Y_DELTA_STATE_NONE);
}
m_pChassis->StartExhaustEmitt(false);
m_pChassis->StartDirtEmitt(false);
break;
case ICharacterController::E_CHARACTER_CONTROLLER_MOVE_STATE_FORWARD:
//MoveForward();
m_pTrack->Move_LeftTrack(-fTrackTexCoordOffsetMoveFactor);
m_pTrack->Move_RightTrack(-fTrackTexCoordOffsetMoveFactor);
if(pCamera->Get_FovY() < k_CAMERA_FOV_Y_STATE_FORWARD)
{
pCamera->Set_FovY(pCamera->Get_FovY() + k_CAMERA_FOV_Y_DELTA_STATE_FORWARD);
}
m_pChassis->StartExhaustEmitt(true);
m_pChassis->StartDirtEmitt(true);
break;
case ICharacterController::E_CHARACTER_CONTROLLER_MOVE_STATE_BACKWARD:
//MoveBackward();
m_pTrack->Move_LeftTrack(fTrackTexCoordOffsetMoveFactor);
m_pTrack->Move_RightTrack(fTrackTexCoordOffsetMoveFactor);
if(pCamera->Get_FovY() > k_CAMERA_FOV_Y_STATE_BACKWARD)
{
pCamera->Set_FovY(pCamera->Get_FovY() - k_CAMERA_FOV_Y_DELTA_STATE_BACKWARD);
}
m_pChassis->StartExhaustEmitt(true);
m_pChassis->StartDirtEmitt(true);
break;
default:
break;
}
switch (m_eSteerState)
{
case ICharacterController::E_CHARACTER_CONTROLLER_STEER_STATE_NONE:
break;
case ICharacterController::E_CHARACTER_CONTROLLER_STEER_STATE_LEFT:
m_pNavigationHelper->SteerRight();
m_pTrack->Move_LeftTrack(-fTrackTexCoordOffsetMoveFactor);
m_pTrack->Move_RightTrack(fTrackTexCoordOffsetSteerFactor);
m_pChassis->StartExhaustEmitt(true);
m_pChassis->StartDirtEmitt(true);
break;
case ICharacterController::E_CHARACTER_CONTROLLER_STEER_STATE_RIGHT:
m_pNavigationHelper->SteerLeft();
m_pTrack->Move_LeftTrack(fTrackTexCoordOffsetSteerFactor);
m_pTrack->Move_RightTrack(-fTrackTexCoordOffsetMoveFactor);
m_pChassis->StartExhaustEmitt(true);
m_pChassis->StartDirtEmitt(true);
break;
default:
break;
}
/*if(fabsf(CSettings::g_fAccellerometer_Y) > 0.1f && fabsf(m_fTowerRotationY + CSettings::g_fAccellerometer_Y * m_fTowerSteerSpeed) < 60.0f)
{
m_fTowerRotationY += CSettings::g_fAccellerometer_Y * m_fTowerSteerSpeed;
}
std::cout<<"[ BODY ANGLE ] :"<<_Get_WrapAngle(m_vRotation.y, 0.0f, 360.0f)<<std::endl;
std::cout<<"[ TOWER ANGLE ] :"<<_Get_WrapAngle(m_fTowerRotationY + m_vRotation.y, 0.0f, 360.0f)<<std::endl;
if(fabsf(_Get_WrapAngle(m_vRotation.y, 0.0f, 360.0f) - _Get_WrapAngle(m_fTowerRotationY + m_vRotation.y, 0.0f, 360.0f)) > 60.0f)
{
if(_Get_WrapAngle(m_vRotation.y, 0.0f, 360.0f) < _Get_WrapAngle((m_fTowerRotationY + m_vRotation.y), 0.0f, 360.0f))
{
m_fTowerRotationY -= m_fSteerSpeed;
SteerLeft();
}
else
{
m_fTowerRotationY += m_fSteerSpeed;
SteerRight();
}
}*/
float fTowerSteerSpeed = GameSDBStorage::Instance()->Get_UserSteerSpeed(m_eFullSetType);
switch (m_eSteerTowerState)
{
case ICharacterController::E_CHARACTER_CONTROLLER_STEER_STATE_TOWER_NONE:
break;
case ICharacterController::E_CHARACTER_CONTROLLER_STEER_STATE_TOWER_RIGHT:
{
if((m_fTowerRotationY + fTowerSteerSpeed) > 60.0f)
{
m_pNavigationHelper->MoveLeft();
}
else
{
m_fTowerRotationY += fTowerSteerSpeed;
}
}
break;
case ICharacterController::E_CHARACTER_CONTROLLER_STEER_STATE_TOWER_LEFT:
{
if((m_fTowerRotationY - fTowerSteerSpeed) < -60.0f)
{
m_pNavigationHelper->MoveRight();
}
else
{
m_fTowerRotationY -= fTowerSteerSpeed;
}
}
break;
default:
break;
}
float fMoveSpeed = GameSDBStorage::Instance()->Get_UserMoveSpeed(m_eFullSetType);
if(m_pBox2dBody != NULL)
{
b2Vec2 vForce = b2Vec2(0.0f, 0.0f);
switch (m_eMoveState)
{
case 1:
{
vForce.x += sinf(glm::radians(m_vRotation.y)) * fMoveSpeed;
vForce.y += cosf(glm::radians(m_vRotation.y)) * fMoveSpeed;
}
break;
case 2:
{
vForce.x -= sinf(glm::radians(m_vRotation.y)) * fMoveSpeed;
vForce.y -= cosf(glm::radians(m_vRotation.y)) * fMoveSpeed;
}
break;
default:
break;
}
m_pBox2dBody->SetAwake(true);
m_pBox2dBody->SetLinearVelocity(vForce);
}
if(m_pBox2dBody != NULL)
{
m_pBox2dBody->SetTransform(m_pBox2dBody->GetPosition(), glm::radians(m_vRotation.y));
}
/*if(m_pBox2dBody != NULL)
{
_UpdateFriction();
_UpdateDrive(static_cast<int>(m_eMoveState));
_UpdateTurn(static_cast<int>(m_eSteerState));
}*/
glm::vec3 vTargetDecalPosition = m_pTargetDecal->Get_Position();
vTargetDecalPosition.x = m_vPosition.x + sin(glm::radians(m_fTowerRotationY + m_vRotation.y)) * 6.0f;
vTargetDecalPosition.z = m_vPosition.z + cos(-glm::radians(m_fTowerRotationY + m_vRotation.y)) * 6.0f;
m_pTargetDecal->Set_Position(vTargetDecalPosition);
m_pTrack->Update();
m_pTower->Update();
m_pChassis->Update();
Set_Position(m_vPosition);
_SmoothRotation();
Set_Rotation(m_vRotation);
}
void Run_Static_Test(void * Contact_Addr, void * Contact_DDR)
{
int Cur_servo_pos = 1400;
int Servo_step = 0;
double Cur_angle = 0;
double Angle_step = 0;
int Current_Euler_data[3];
int Prev_Euler_data[3];
Change_Mode(SERVO1, WHEEL, Data_out);
Get_Zero_Pos(Contact_Addr, Contact_DDR);
//printf("Finished Zeroing servo\n");
usleep(1000*30);
Change_Mode(SERVO1, MULTI, Data_out);
usleep(1000*30);
uint8_t Error_array[15];
uint8_t Check_sum = (~(SERVO1 + MX_GOAL_LENGTH + MX_WRITE_DATA + 20)) & 0xFF;
uint8_t Data_packet_2[9] = {MX_START,MX_START,SERVO1,MX_GOAL_LENGTH,MX_WRITE_DATA, 20, 0, 0,Check_sum};
UART_WriteRead(Data_packet_2, sizeof(Data_packet_2), ONE_BYTE_READ, Error_array);
printf("Step Size,Roll,Pitch,Yaw\n");
double i;
int j;
for(i = 0.01; i < 0.5 ; i += 0.03)
{
Get_Orientation(Prev_Euler_data);
Angle_step = i;
for(j = 0; j<3;j++)
{
//printf("Entered second for loop\n");
Cur_angle += Angle_step;
//Find angles in radians
double Cur_angle_rad = Cur_angle * (PI/180);
double Angle_step_rad = Angle_step * (PI/180);
Servo_step = HINGE_DISTANCE * THREADS_PER_INCH * COUNTS_PER_360 * (tan(Cur_angle_rad) - tan(Cur_angle_rad - Angle_step_rad));
Cur_servo_pos += Servo_step;
//printf("Did math\n");
if(Cur_servo_pos > 24000){
printf("It broke :(\n At %lf\n",i);
}
Set_Position(SERVO1, Cur_servo_pos, Data_out);
usleep(3000*1000);
Get_Orientation(Current_Euler_data);
printf("%lf,%lf,%lf,%lf\n",Angle_step, (float)(Current_Euler_data[0] - Prev_Euler_data[0])/(float)16, (float)(Current_Euler_data[1] - Prev_Euler_data[1])/(float)16, (float)(Current_Euler_data[2] - Prev_Euler_data[2])/(float)16);
Prev_Euler_data[0] = Current_Euler_data[0];
Prev_Euler_data[1] = Current_Euler_data[1];
Prev_Euler_data[2] = Current_Euler_data[2];
}
Change_Mode(SERVO1, WHEEL, Data_out);
Get_Zero_Pos(Contact_Addr, Contact_DDR);
//printf("Finished Zeroing servo\n");
usleep(1000*300);
Change_Mode(SERVO1, MULTI, Data_out);
usleep(1000*300);
Cur_servo_pos = 1400;
Cur_angle = 0;
}
}
void CBuilding::OnBox2dPositionChanged(const glm::vec3& _vPosition)
{
Set_Position(glm::vec3(_vPosition.x, m_vPosition.y, _vPosition.z));
}
