template<class TimeDuration> Location extrapolate(const TimeDuration&dt)const {
return Location(getPosition()+Vector3<float64>(getVelocity())*(float64)dt,
getAngularSpeed()
? getOrientation()*Quaternion(getAxisOfRotation(),
getAngularSpeed()*(float64)dt)
: getOrientation(),
getVelocity(),
getAxisOfRotation(),
getAngularSpeed());
}
void Walk::onGameLoop() {
if (!_path->hasSteps()) {
// There is no path to the destination
stop();
return;
}
Resources::Floor *floor = StarkGlobal->getCurrent()->getFloor();
// Get the target to walk to
Math::Vector3d currentPosition = _item3D->getPosition3D();
Math::Vector3d target = _path->computeWalkTarget(currentPosition);
// Compute the direction to walk into
Math::Vector3d direction = target - currentPosition;
direction.z() = 0;
direction.normalize();
// Compute the angle with the current character direction
Math::Vector3d currentDirection = _item3D->getDirectionVector();
float directionDeltaAngle = computeAngleBetweenVectorsXYPlane(currentDirection, direction);
// If the angle between the current direction and the new one is too high,
// make the character turn on itself until the angle is low enough
if (ABS(directionDeltaAngle) > getAngularSpeed() + 0.1f) {
_turnDirection = directionDeltaAngle < 0 ? kTurnLeft : kTurnRight;
} else {
_turnDirection = kTurnNone;
}
float distancePerGameloop = computeDistancePerGameLoop();
Math::Vector3d newPosition;
if (_turnDirection == kTurnNone) {
// Compute the new position using the distance per gameloop
if (currentPosition.getDistanceTo(target) > distancePerGameloop) {
newPosition = currentPosition + direction * distancePerGameloop;
} else {
newPosition = target;
}
} else {
// The character does not change position when it is turning
newPosition = currentPosition;
direction = currentDirection;
Math::Matrix3 rot;
rot.buildAroundZ(_turnDirection == kTurnLeft ? -getAngularSpeed() : getAngularSpeed());
rot.transformVector(&direction);
}
// Some scripts expect the character position to be the exact destination
if (newPosition == _destination) {
_reachedDestination = true;
stop();
}
// Update the new position's height according to the floor
int32 newFloorFaceIndex = floor->findFaceContainingPoint(newPosition);
if (newFloorFaceIndex >= 0) {
floor->computePointHeightInFace(newPosition, newFloorFaceIndex);
} else {
warning("Item %s is walking off the floor", _item->getName().c_str());
}
// Update the item's properties
_item3D->setPosition3D(newPosition);
if (direction.getMagnitude() != 0.0) {
_item3D->setDirection(computeAngleBetweenVectorsXYPlane(direction, Math::Vector3d(1.0, 0.0, 0.0)));
}
if (newFloorFaceIndex >= 0) {
// When unable to find the face containing the new position, keep the previous one
// to prevent draw order glitches.
_item3D->setFloorFaceIndex(newFloorFaceIndex);
}
changeItemAnim();
}
