void Actor::setRot(const Math::Angle &pitchParam, const Math::Angle &yawParam, const Math::Angle &rollParam) {
_pitch = pitchParam;
setYaw(yawParam);
_moveYaw = _yaw;
_roll = rollParam;
_turning = false;
}
/*
* Searches for the area with the most features visible between a given angle to the left and to the right.
* @param[in] angle The maximum angle it will turn to the left and the right (in rad).
* @param[in] speed Scale factor of the speed.
* @param[in] deleteData If true, all old data of the odometer will be deleted beforehand.
* @return The yaw value where the most features have been found.
* */
double searchMaxFeatures(double angle, double speed = 1.0, bool deleteData = true)
{
double yaw, pitch, roll, yawBegin;
odometer_.getBasis().getEulerYPR(yaw, pitch, roll);
yawBegin = yaw;
turnByAngle(angle, speed, deleteData);
// Memorize at which node it started
int nodeIdxBegin = odometer_.nodes_.size() - 1;
turnByAngle(-2 * angle, speed, false);
int nodeIdxEnd = odometer_.nodes_.size() - 1;
// Turn back so the robot has the same orientation as in the beginning
setYaw(yawBegin, speed, false);
// Now search for the node with the most features and store its yaw
unsigned int maxFeatures = 0, maxIndex;
for (unsigned int i = nodeIdxBegin; i <= nodeIdxEnd; ++i)
{
if (odometer_.nodes_[i].stereoPoints_l_.size() > maxFeatures)
{
maxFeatures = odometer_.nodes_[i].stereoPoints_l_.size();
maxIndex = i;
}
}
// Get yaw
odometer_.transforms_[maxIndex].getBasis().getEulerYPR(yaw, pitch, roll);
return yaw;
}
void GameObject::setDirection(const Ogre::Vector3 direction)
{
Ogre::Radian r = initialForward.angleBetween(direction);
Ogre::Vector3 initialRight = initialForward.crossProduct(Ogre::Vector3::UNIT_Y);
if (initialRight.dotProduct(direction) > 0.f)
r *= -1;
setYaw(r);
}
void Navigator_Dcm::updateFast(float dt) {
if (_board->getMode() != AP_Board::MODE_LIVE)
return;
setTimeStamp(micros()); // if running in live mode, record new time stamp
// use range finder if attached and close to the ground
if (_rangeFinderDown != NULL && _rangeFinderDown->distance <= 695) {
setAlt(_rangeFinderDown->distance);
// otherwise if you have a baro attached, use it
} else if (_board->baro) {
/**
* The altitued is read off the barometer by implementing the following formula:
* altitude (in m) = 44330*(1-(p/po)^(1/5.255)),
* where, po is pressure in Pa at sea level (101325 Pa).
* See http://www.sparkfun.com/tutorials/253 or type this formula
* in a search engine for more information.
* altInt contains the altitude in meters.
*
* pressure input is in pascals
* temp input is in deg C *10
*/
_board->baro->Read(); // Get new data from absolute pressure sensor
float reference = 44330 * (1.0 - (pow(_groundPressure.get()/101325.0,0.190295)));
setAlt(_baroLowPass.update((44330 * (1.0 - (pow((_board->baro->Press/101325.0),0.190295)))) - reference,dt));
//_board->debug->printf_P(PSTR("Ground Pressure %f\tAltitude = %f\tGround Temperature = %f\tPress = %ld\tTemp = %d\n"),_groundPressure.get(),getAlt(),_groundTemperature.get(),_board->baro->Press,_board->baro->Temp);
// last resort, use gps altitude
} else if (_board->gps && _board->gps->fix) {
setAlt_intM(_board->gps->altitude * 10); // gps in cm, intM in mm
}
// update dcm calculations and navigator data
//
_dcm.update_DCM_fast();
setRoll(_dcm.roll);
setPitch(_dcm.pitch);
setYaw(_dcm.yaw);
setRollRate(_dcm.get_gyro().x);
setPitchRate(_dcm.get_gyro().y);
setYawRate(_dcm.get_gyro().z);
setXAccel(_dcm.get_accel().x);
setYAccel(_dcm.get_accel().y);
setZAccel(_dcm.get_accel().z);
/*
* accel/gyro debug
*/
/*
Vector3f accel = _board->imu->get_accel();
Vector3f gyro = _board->imu->get_gyro();
Serial.printf_P(PSTR("accel: %f %f %f gyro: %f %f %f\n"),
accel.x,accel.y,accel.z,gyro.x,gyro.y,gyro.z);
*/
}
void Camera::rotateCamera(const Ogre::Vector3 &rot, bool adjust)
{
if (adjust) {
setYaw(getYaw() + rot.z);
setPitch(getPitch() + rot.x);
} else {
setYaw(rot.z);
setPitch(rot.x);
}
Ogre::Quaternion xr(Ogre::Radian(getPitch() + Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_X);
if (!mVanity.enabled && !mPreviewMode) {
mCamera->getParentNode()->setOrientation(xr);
} else {
Ogre::Quaternion zr(Ogre::Radian(getYaw()), Ogre::Vector3::UNIT_Z);
mCamera->getParentNode()->setOrientation(zr * xr);
}
}
void Camera::rotateCamera(float pitch, float yaw, bool adjust)
{
if (adjust)
{
pitch += getPitch();
yaw += getYaw();
}
setYaw(yaw);
setPitch(pitch);
}
/*
* Callback function of destination subscriber.
* Sets dest_ to received pose.
* @param[in] dest Pointer to received pose.
* */
void destCallback(const geometry_msgs::Pose::ConstPtr& dest)
{
double destX = dest->position.x;
double destY = dest->position.y;
double currX = odometer_.getOrigin().getX();
double currY = odometer_.getOrigin().getY();
// Look towards destination
lookTowards(destX, destY);
// Search for area with most features between +-30 degrees
double bestYaw = searchMaxFeatures(0.5, 0.8);
double distance = getDistance(destX, destY);
// If distance is further than 1m, go halfway first
if (distance > 1.0)
{
// Get distance to destination and angle to the area with most features to plan path
double yaw, pitch, roll, alpha;
odometer_.getBasis().getEulerYPR(yaw, pitch, roll);
alpha = bestYaw - yaw;
// Get stopover point
tf::Vector3 vec(destX - currX, destY - currY, 0.0);
vec = vec.rotate(tf::Vector3(0, 0, 1), alpha);
vec *= 0.5/cos(alpha);
double midX = currX + vec.getX();
double midY = currY + vec.getY();
// Turn to area with most features and move to the point in mid distance
setYaw(bestYaw);
goTo(midX, midY);
// Run sBA to optimize Pose
odometer_.runSBA(50, false);
// Recursively repeat until distance < 1m
destCallback(dest);
}
else
{
setYaw(bestYaw);
// Move to destination
goTo(destX, destY);
// Try to optimize pose again and correct position
odometer_.runSBA(50, false);
goTo(destX, destY);
}
}
void RoboState::odomCallback(const nav_msgs::Odometry::ConstPtr& msg)
{
// set odometry
setXodom(msg->pose.pose.position.x);
setYodom(msg->pose.pose.position.y);
// convert from quaternions to angles
tf::Quaternion q(msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.orientation.z,msg->pose.pose.orientation.w);
tf::Matrix3x3 m(q);
double roll, pitch, tempYaw;
m.getRPY(roll, pitch, tempYaw);
tempYaw*=ANGLE_CONVERT;
// determine whether to send positive or negative angles
bool isTempYawNeg = (tempYaw < 0);
// we always want a positive yaw value (for consistency)
if(getY() >= 0){
if(isTempYawNeg)
setYaw(360+tempYaw);
else
setYaw(tempYaw);
}
// we always want a negative yaw value (for consistency)
else{
if(isTempYawNeg)
setYaw(tempYaw);
else
setYaw(-360+tempYaw);
}
//spams you
/*
// we do not want to get spammed with messages about yaw.
ROS_INFO("The yaw was %f", getYaw());
if(getY() >= 0)
ROS_INFO("The yaw is supposed to be positive.");
else
ROS_INFO("The yaw is supposed to be negative.");
}
*/
}
// Manage physics from this loop
// Please don't alter the Ogre scene manager directly. Instead use the designated methods (setPositionX, setPositionY, setPositionZ, setRoll, setPitch, setYaw, animate)
void loop(Ogre::SceneManager* smgr){
int dir = 1;
int timeStep = 10;
while(true){
// If the message array has any elements, the render loop is applying changes from physics loop
// If so, abort this timestep
if((*::message).size() == 1){
continue;
}
Sleep(timeStep);
Ogre::SceneManager::MovableObjectIterator iterator = smgr->getMovableObjectIterator("Entity");
while(iterator.hasMoreElements()){
// If the message array has any elements, the render loop is applying changes from physics loop
// If so, abort this timestep
if((*::message).size() == 1){
continue;
}
Ogre::Entity* entity = static_cast<Ogre::Entity*>(iterator.getNext());
// <>< <>< Make the cute fishy swim <>< <><
// This only moves fish
if(entity->hasAnimationState("swim")){
Ogre::SceneNode* sceneNode = entity->getParentSceneNode();
// Update position
Ogre::Vector3 pos = sceneNode->getPosition();
if(pos.x > 120){
dir = -1;
setYaw(entity, 180);
}
if(pos.x < -120){
dir = 1;
setYaw(entity, 180);
}
setPositionX(entity, sceneNode->getPosition().x + dir);
animate(entity, "swim");
}
}
}
}
void Player::deSerialize(std::istream &is, std::string playername)
{
Settings args;
for(;;)
{
if(is.eof())
throw SerializationError
(("Player::deSerialize(): PlayerArgsEnd of player \"" + playername + "\" not found").c_str());
std::string line;
std::getline(is, line);
std::string trimmedline = trim(line);
if(trimmedline == "PlayerArgsEnd")
break;
args.parseConfigLine(line);
}
//args.getS32("version"); // Version field value not used
std::string name = args.get("name");
updateName(name.c_str());
setPitch(args.getFloat("pitch"));
setYaw(args.getFloat("yaw"));
setPosition(args.getV3F("position"));
try{
hp = args.getS32("hp");
}catch(SettingNotFoundException &e){
hp = 20;
}
try{
m_breath = args.getS32("breath");
}catch(SettingNotFoundException &e){
m_breath = 11;
}
inventory.deSerialize(is);
if(inventory.getList("craftpreview") == NULL)
{
// Convert players without craftpreview
inventory.addList("craftpreview", 1);
bool craftresult_is_preview = true;
if(args.exists("craftresult_is_preview"))
craftresult_is_preview = args.getBool("craftresult_is_preview");
if(craftresult_is_preview)
{
// Clear craftresult
inventory.getList("craftresult")->changeItem(0, ItemStack());
}
}
// Set m_last_*
checkModified();
}
void Camera::lookAt(QVector3D lookPos)
{
// Reconstruct pitch/yaw from the look direction
const QVector3D lookDir= (lookPos - _position).normalized();
const float theta= acosf(lookDir.y());
const float phi= atan2f(lookDir.z(), lookDir.x());
setPitch(90.0f - (theta * 180.0f / M_PI));
setYaw (90.0f - (phi * 180.0f / M_PI));
}
/**
* update attitude
*
* @param
* void
*
* @return
* void
*
*/
void attitudeUpdate(){
float yrpAttitude[3];
float pryRate[3];
float xyzAcc[3];
float xComponent[3];
float yComponent[3];
float zComponent[3];
float xyzMagnet[3];
#if CHECK_ATTITUDE_UPDATE_LOOP_TIME
struct timeval tv_c;
static struct timeval tv_l;
unsigned long timeDiff=0;
gettimeofday(&tv_c,NULL);
timeDiff=GET_USEC_TIMEDIFF(tv_c,tv_l);
_DEBUG(DEBUG_NORMAL,"attitude update duration=%ld us\n",timeDiff);
UPDATE_LAST_TIME(tv_c,tv_l);
#endif
getYawPitchRollInfo(yrpAttitude, pryRate, xyzAcc, xComponent, yComponent, zComponent,xyzMagnet);
setYaw(yrpAttitude[0]);
setRoll(yrpAttitude[1]);
setPitch(yrpAttitude[2]);
setYawGyro(-pryRate[2]);
setPitchGyro(pryRate[0]);
setRollGyro(-pryRate[1]);
setXAcc(xyzAcc[0]);
setYAcc(xyzAcc[1]);
setZAcc(xyzAcc[2]);
setXGravity(zComponent[0]);
setYGravity(zComponent[1]);
setZGravity(zComponent[2]);
setVerticalAcceleration(deadband((getXAcc() * zComponent[0] + getYAcc() * zComponent[1]
+ getZAcc() * zComponent[2] - 1.f) * 100.f,3.f) );
setXAcceleration(deadband((getXAcc() * xComponent[0] + getYAcc() * xComponent[1]
+ getZAcc() * xComponent[2]) * 100.f,3.f) );
setYAcceleration(deadband((getXAcc() * yComponent[0] + getYAcc() * yComponent[1]
+ getZAcc() * yComponent[2]) * 100.f,3.f) );
_DEBUG(DEBUG_ATTITUDE,
"(%s-%d) ATT: Roll=%3.3f Pitch=%3.3f Yaw=%3.3f\n", __func__,
__LINE__, getRoll(), getPitch(), getYaw());
_DEBUG(DEBUG_GYRO,
"(%s-%d) GYRO: Roll=%3.3f Pitch=%3.3f Yaw=%3.3f\n",
__func__, __LINE__, getRollGyro(), getPitchGyro(),
getYawGyro());
_DEBUG(DEBUG_ACC, "(%s-%d) ACC: x=%3.3f y=%3.3f z=%3.3f\n",
__func__, __LINE__, getXAcc(), getYAcc(), getZAcc());
}
void Collectible::onPrepare( float dt )
{
//update yaw
setYaw(getYaw() + (SPIN_SPEED * dt));
//get bullet representation
btMotionState *ms = getRigidBody()->getMotionState();
btTransform transform = getRigidBody()->getWorldTransform();
//update bullet representation
btQuaternion q = btQuaternion(getYaw(), getPitch(), 0.0f);
transform *= btTransform(q);
ms->setWorldTransform(transform);
}
void Player::deSerialize(std::istream &is, std::string playername)
{
Settings args;
if (!args.parseConfigLines(is, "PlayerArgsEnd")) {
throw SerializationError("PlayerArgsEnd of player " +
playername + " not found!");
}
m_dirty = true;
//args.getS32("version"); // Version field value not used
std::string name = args.get("name");
strlcpy(m_name, name.c_str(), PLAYERNAME_SIZE);
setPitch(args.getFloat("pitch"));
setYaw(args.getFloat("yaw"));
setPosition(args.getV3F("position"));
try{
hp = args.getS32("hp");
}catch(SettingNotFoundException &e) {
hp = PLAYER_MAX_HP;
}
try{
m_breath = args.getS32("breath");
}catch(SettingNotFoundException &e) {
m_breath = PLAYER_MAX_BREATH;
}
inventory.deSerialize(is);
if(inventory.getList("craftpreview") == NULL) {
// Convert players without craftpreview
inventory.addList("craftpreview", 1);
bool craftresult_is_preview = true;
if(args.exists("craftresult_is_preview"))
craftresult_is_preview = args.getBool("craftresult_is_preview");
if(craftresult_is_preview)
{
// Clear craftresult
inventory.getList("craftresult")->changeItem(0, ItemStack());
}
}
}
void Player::deSerialize(std::istream &is)
{
Settings args;
for(;;)
{
if(is.eof())
throw SerializationError
("Player::deSerialize(): PlayerArgsEnd not found");
std::string line;
std::getline(is, line);
std::string trimmedline = trim(line);
if(trimmedline == "PlayerArgsEnd")
break;
args.parseConfigLine(line);
}
//args.getS32("version"); // Version field value not used
std::string name = args.get("name");
updateName(name.c_str());
setPitch(args.getFloat("pitch"));
setYaw(args.getFloat("yaw"));
setPosition(args.getV3F("position"));
try{
craftresult_is_preview = args.getBool("craftresult_is_preview");
}catch(SettingNotFoundException &e){
craftresult_is_preview = true;
}
try{
hp = args.getS32("hp");
}catch(SettingNotFoundException &e){
hp = 20;
}
inventory.deSerialize(is, m_gamedef);
}
void LocalPlayer::applyControl(float dtime)
{
// Clear stuff
swimming_up = false;
// Random constants
f32 walk_acceleration = 4.0 * BS;
f32 walkspeed_max = 4.0 * BS;
setPitch(control.pitch);
setYaw(control.yaw);
v3f move_direction = v3f(0,0,1);
move_direction.rotateXZBy(getYaw());
v3f speed = v3f(0,0,0);
bool free_move = g_settings->getBool("free_move");
bool fast_move = g_settings->getBool("fast_move");
bool continuous_forward = g_settings->getBool("continuous_forward");
if(free_move || is_climbing)
{
v3f speed = getSpeed();
speed.Y = 0;
setSpeed(speed);
}
// Whether superspeed mode is used or not
bool superspeed = false;
// If free movement and fast movement, always move fast
if(free_move && fast_move)
superspeed = true;
// Auxiliary button 1 (E)
if(control.aux1)
{
if(free_move)
{
// In free movement mode, aux1 descends
v3f speed = getSpeed();
if(fast_move)
speed.Y = -20*BS;
else
speed.Y = -walkspeed_max;
setSpeed(speed);
}
else if(is_climbing)
{
v3f speed = getSpeed();
speed.Y = -3*BS;
setSpeed(speed);
}
else
{
// If not free movement but fast is allowed, aux1 is
// "Turbo button"
if(fast_move)
superspeed = true;
}
}
if(continuous_forward)
speed += move_direction;
if(control.up)
{
if(continuous_forward)
superspeed = true;
else
speed += move_direction;
}
if(control.down)
{
speed -= move_direction;
}
if(control.left)
{
speed += move_direction.crossProduct(v3f(0,1,0));
}
if(control.right)
{
speed += move_direction.crossProduct(v3f(0,-1,0));
}
if(control.jump)
{
if(free_move)
{
v3f speed = getSpeed();
if(fast_move)
speed.Y = 20*BS;
else
speed.Y = walkspeed_max;
setSpeed(speed);
}
else if(touching_ground)
{
v3f speed = getSpeed();
/*
NOTE: The d value in move() affects jump height by
raising the height at which the jump speed is kept
at its starting value
*/
speed.Y = 6.5*BS;
setSpeed(speed);
}
// Use the oscillating value for getting out of water
// (so that the player doesn't fly on the surface)
else if(in_water)
{
v3f speed = getSpeed();
speed.Y = 1.5*BS;
setSpeed(speed);
swimming_up = true;
}
else if(is_climbing)
{
v3f speed = getSpeed();
speed.Y = 3*BS;
setSpeed(speed);
}
}
// The speed of the player (Y is ignored)
if(superspeed)
speed = speed.normalize() * walkspeed_max * 5.0;
else if(control.sneak)
speed = speed.normalize() * walkspeed_max / 3.0;
else
speed = speed.normalize() * walkspeed_max;
f32 inc = walk_acceleration * BS * dtime;
// Faster acceleration if fast and free movement
if(free_move && fast_move)
inc = walk_acceleration * BS * dtime * 10;
// Accelerate to target speed with maximum increment
accelerate(speed, inc);
}
//-----------------------------------------------------------------------------------------------------------
ObjectPose::ObjectPose(float x, float y, float yaw)
{
setX(x);
setY(y);
setYaw(yaw);
}
void PlayerSAO::setYawAndSend(const float yaw)
{
setYaw(yaw);
m_env->getGameDef()->SendMovePlayer(m_peer_id);
}
void Actor::update(uint frameTime) {
// Snap actor to walkboxes if following them. This might be
// necessary for example after activating/deactivating
// walkboxes, etc.
if (_constrain && !_walking) {
g_grim->getCurrSet()->findClosestSector(_pos, NULL, &_pos);
}
if (_turning) {
float turnAmt = g_grim->getPerSecond(_turnRate) * 5.f;
Math::Angle dyaw = _moveYaw - _yaw;
dyaw.normalize(-180);
// If the actor won't turn because the rate is set to zero then
// have the actor turn all the way to the destination yaw.
// Without this some actors will lock the interface on changing
// scenes, this affects the Bone Wagon in particular.
if (turnAmt == 0 || turnAmt >= fabsf(dyaw.getDegrees())) {
setYaw(_moveYaw);
_turning = false;
} else if (dyaw > 0) {
setYaw(_yaw + turnAmt);
} else {
setYaw(_yaw - turnAmt);
}
_currTurnDir = (dyaw > 0 ? 1 : -1);
}
if (_walking) {
updateWalk();
}
if (_walkChore.isValid()) {
if (_walkedCur) {
if (!_walkChore.isPlaying()) {
_walkChore.playLooping(true);
}
if (_restChore.isPlaying()) {
_restChore.stop(true);
}
} else {
if (_walkedLast && _walkChore.isPlaying()) {
_walkChore.stop(true);
if (!_restChore.isPlaying()) {
_restChore.playLooping(true);
}
}
}
}
if (_leftTurnChore.isValid()) {
if (_walkedCur || _walkedLast)
_currTurnDir = 0;
if (_restChore.isValid()) {
if (_currTurnDir != 0) {
if (getTurnChore(_currTurnDir)->isPlaying() && _restChore.isPlaying()) {
_restChore.stop(true, 500);
}
} else if (_lastTurnDir != 0) {
if (!_walkedCur && getTurnChore(_lastTurnDir)->isPlaying()) {
_restChore.playLooping(true);
}
}
}
if (_lastTurnDir != 0 && _lastTurnDir != _currTurnDir) {
getTurnChore(_lastTurnDir)->stop(true);
}
if (_currTurnDir != 0 && _currTurnDir != _lastTurnDir) {
getTurnChore(_currTurnDir)->playLooping(true, 500);
}
} else {
_currTurnDir = 0;
}
// The rest chore might have been stopped because of a
// StopActorChore(nil). Restart it if so.
if (!_walkedCur && _currTurnDir == 0 && !_restChore.isPlaying()) {
_restChore.playLooping(true);
}
_walkedLast = _walkedCur;
_walkedCur = false;
_lastTurnDir = _currTurnDir;
_currTurnDir = 0;
// Update lip syncing
if (_lipSync) {
int posSound;
// While getPosIn60HzTicks will return "-1" to indicate that the
// sound is no longer playing, it is more appropriate to check first
if (g_grim->getSpeechMode() != GrimEngine::TextOnly && g_sound->getSoundStatus(_talkSoundName.c_str()))
posSound = g_sound->getPosIn60HzTicks(_talkSoundName.c_str());
else
posSound = -1;
if (posSound != -1) {
int anim = _lipSync->getAnim(posSound);
if (_talkAnim != anim) {
if (anim != -1) {
if (_talkChore[anim].isValid()) {
stopMumbleChore();
if (_talkAnim != -1) {
_talkChore[_talkAnim].stop();
}
// Run the stop_talk chore so that it resets the components
// to the right visibility.
stopTalking();
_talkAnim = anim;
_talkChore[_talkAnim].play();
} else if (_mumbleChore.isValid() && !_mumbleChore.isPlaying()) {
_mumbleChore.playLooping();
_talkAnim = -1;
}
} else {
stopMumbleChore();
if (_talkAnim != -1)
_talkChore[_talkAnim].stop();
_talkAnim = 0;
stopTalking();
}
}
}
}
frameTime = (uint)(frameTime * _timeScale);
for (Common::List<Costume *>::iterator i = _costumeStack.begin(); i != _costumeStack.end(); ++i) {
Costume *c = *i;
c->setPosRotate(_pos, _pitch, _yaw, _roll);
int marker = c->update(frameTime);
if (marker > 0) {
costumeMarkerCallback(marker);
}
}
for (Common::List<Costume *>::iterator i = _costumeStack.begin(); i != _costumeStack.end(); ++i) {
Costume *c = *i;
c->animate();
}
for (Common::List<Costume *>::iterator i = _costumeStack.begin(); i != _costumeStack.end(); ++i) {
Costume *c = *i;
c->moveHead(_lookingMode, _lookAtVector);
}
}
void Server::handleCommand_PlayerPos(NetworkPacket* pkt) {
const auto peer_id = pkt->getPeerId();
auto & packet = *(pkt->packet);
auto player = m_env->getPlayer(pkt->getPeerId());
if (!player) {
m_con.DisconnectPeer(pkt->getPeerId());
return;
}
auto playersao = player->getPlayerSAO();
if (!playersao) {
m_con.DisconnectPeer(pkt->getPeerId());
return;
}
// If player is dead we don't care of this packet
if (player->hp != 0 && playersao->m_ms_from_last_respawn > 1000)
player->setPosition(packet[TOSERVER_PLAYERPOS_POSITION].as<v3f>());
player->setSpeed(packet[TOSERVER_PLAYERPOS_SPEED].as<v3f>());
player->setPitch(modulo360f(packet[TOSERVER_PLAYERPOS_PITCH].as<f32>()));
player->setYaw(modulo360f(packet[TOSERVER_PLAYERPOS_YAW].as<f32>()));
u32 keyPressed = packet[TOSERVER_PLAYERPOS_KEY_PRESSED].as<u32>();
player->keyPressed = keyPressed;
{
std::lock_guard<Mutex> lock(player->control_mutex);
player->control.up = (bool)(keyPressed & 1);
player->control.down = (bool)(keyPressed & 2);
player->control.left = (bool)(keyPressed & 4);
player->control.right = (bool)(keyPressed & 8);
player->control.jump = (bool)(keyPressed & 16);
player->control.aux1 = (bool)(keyPressed & 32);
player->control.sneak = (bool)(keyPressed & 64);
player->control.LMB = (bool)(keyPressed & 128);
player->control.RMB = (bool)(keyPressed & 256);
}
auto old_pos = playersao->m_last_good_position;
if(playersao->checkMovementCheat()) {
// Call callbacks
m_script->on_cheat(playersao, "moved_too_fast");
SendMovePlayer(peer_id);
} else if (playersao->m_ms_from_last_respawn > 3000) {
auto dist = (old_pos / BS).getDistanceFrom(playersao->m_last_good_position / BS);
if (dist)
stat.add("move", playersao->getPlayer()->getName(), dist);
}
if (playersao->m_ms_from_last_respawn > 2000) {
auto obj = playersao; // copypasted from server step:
auto uptime = m_uptime.get();
if (!obj->m_uptime_last) // not very good place, but minimum modifications
obj->m_uptime_last = uptime - 0.1;
if (uptime - obj->m_uptime_last > 0.5) {
obj->step(uptime - obj->m_uptime_last, true); //todo: maybe limit count per time
obj->m_uptime_last = uptime;
}
}
/*infostream<<"Server::ProcessData(): Moved player "<<peer_id<<" to "
<<"("<<position.X<<","<<position.Y<<","<<position.Z<<")"
<<" pitch="<<pitch<<" yaw="<<yaw<<std::endl;*/
}
void Viewport::keyPressEvent(QKeyEvent *event)
{
switch (event->key())
{
case Qt::Key_Up:
if (event->modifiers() & Qt::ShiftModifier)
/* move camera z-down */
if (event->modifiers() & Qt::AltModifier) pan(QVector3D(0, 0, -1 / (8 * log(scale))));
/* camera zoom in */
else setScale(scale * 1.1);
/* move camera y-down */
else if (event->modifiers() & Qt::AltModifier) pan(QVector3D(0, -1 / (8 * log(scale)), 0));
/* rotate camera up */
else setPitch(fmin(0, fmin(M_PI, pitch + M_PI/16)));
break;
case Qt::Key_Down:
if (event->modifiers() & Qt::ShiftModifier)
/* move camera z-up */
if (event->modifiers() & Qt::AltModifier) pan(QVector3D(0, 0, 1 / (8 * log(scale))));
/* camera zoom out */
else setScale(scale * 0.9);
/* move camera y-up */
else if (event->modifiers() & Qt::AltModifier) pan(QVector3D(0, 1 / (8 * log(scale)), 0));
/* rotate camera down */
else setPitch(fmin(0, fmax(-M_PI, pitch - M_PI/16)));
break;
case Qt::Key_Right:
/* move camera left */
if (event->modifiers() & Qt::AltModifier) pan(QVector3D(-1 / (8 * log(scale)), 0, 0));
/* move camera counter-clockwise */
else setYaw(fmod(yaw - M_PI / (8 * log(scale)), 2*M_PI));
break;
case Qt::Key_Left:
/* move camera right */
if (event->modifiers() & Qt::AltModifier) pan(QVector3D(1 / (8 * log(scale)), 0, 0));
/* move camera clockwise */
else setYaw(fmod(yaw + M_PI / (8 * log(scale)), 2*M_PI));
break;
/* hierarchical add menu */
case Qt::Key_A:
if (event->modifiers() & Qt::ShiftModifier)
{
QObject* w = this;
while (!dynamic_cast<MainWindow*>(w))
w = w->parent();
Q_ASSERT(w);
QMenu* m = new QMenu(static_cast<MainWindow*>(w));
static_cast<MainWindow*>(w)->populateMenu(m, false, this);
m->exec(QCursor::pos());
delete m;
}
break;
/* spacebar menu */
case Qt::Key_Space:
break;
default:
QGraphicsView::keyPressEvent(event);
break;
}
}
void LocalPlayer::applyControl(float dtime, ClientEnvironment *env)
{
// Clear stuff
swimming_vertical = false;
setPitch(control.pitch);
setYaw(control.yaw);
// Nullify speed and don't run positioning code if the player is attached
if(isAttached)
{
setSpeed(v3f(0,0,0));
return;
}
v3f move_direction = v3f(0,0,1);
move_direction.rotateXZBy(getYaw());
v3f speedH = v3f(0,0,0); // Horizontal (X, Z)
v3f speedV = v3f(0,0,0); // Vertical (Y)
bool fly_allowed = m_gamedef->checkLocalPrivilege("fly");
bool fast_allowed = m_gamedef->checkLocalPrivilege("fast");
free_move = fly_allowed && g_settings->getBool("free_move");
bool fast_move = fast_allowed && g_settings->getBool("fast_move");
// When aux1_descends is enabled the fast key is used to go down, so fast isn't possible
bool fast_climb = fast_move && control.aux1 && !g_settings->getBool("aux1_descends");
bool continuous_forward = g_settings->getBool("continuous_forward");
bool fast_pressed = false;
bool always_fly_fast = g_settings->getBool("always_fly_fast");
// Whether superspeed mode is used or not
superspeed = false;
if (always_fly_fast && free_move && fast_move)
superspeed = true;
// Old descend control
if(g_settings->getBool("aux1_descends"))
{
// If free movement and fast movement, always move fast
if(free_move && fast_move)
superspeed = true;
// Auxiliary button 1 (E)
if(control.aux1)
{
if(free_move)
{
// In free movement mode, aux1 descends
if(fast_move)
speedV.Y = -movement_speed_fast;
else
speedV.Y = -movement_speed_walk;
}
else if(in_liquid || in_liquid_stable)
{
speedV.Y = -movement_speed_walk;
swimming_vertical = true;
}
else if(is_climbing)
{
speedV.Y = -movement_speed_climb;
}
else
{
// If not free movement but fast is allowed, aux1 is
// "Turbo button"
if(fast_allowed)
superspeed = true;
}
}
}
// New minecraft-like descend control
else
{
// Auxiliary button 1 (E)
if(control.aux1)
{
if(!is_climbing)
{
// aux1 is "Turbo button"
if(fast_allowed)
superspeed = true;
}
if(fast_allowed)
fast_pressed = true;
}
if(control.sneak)
{
if(free_move)
{
// In free movement mode, sneak descends
if (fast_move && (control.aux1 || always_fly_fast))
speedV.Y = -movement_speed_fast;
else
speedV.Y = -movement_speed_walk;
}
else if(in_liquid || in_liquid_stable)
{
if(fast_climb)
speedV.Y = -movement_speed_fast;
else
speedV.Y = -movement_speed_walk;
swimming_vertical = true;
}
else if(is_climbing)
{
if(fast_climb)
speedV.Y = -movement_speed_fast;
else
speedV.Y = -movement_speed_climb;
}
}
}
if (continuous_forward)
speedH += move_direction;
if (control.up) {
if (continuous_forward) {
if (fast_move)
superspeed = true;
} else {
speedH += move_direction;
}
}
if(control.down)
{
speedH -= move_direction;
}
if(control.left)
{
speedH += move_direction.crossProduct(v3f(0,1,0));
}
if(control.right)
{
speedH += move_direction.crossProduct(v3f(0,-1,0));
}
if(control.jump)
{
if (free_move) {
if (g_settings->getBool("aux1_descends") || always_fly_fast) {
if (fast_move)
speedV.Y = movement_speed_fast;
else
speedV.Y = movement_speed_walk;
} else {
if(fast_move && control.aux1)
speedV.Y = movement_speed_fast;
else
speedV.Y = movement_speed_walk;
}
}
else if(m_can_jump)
{
/*
NOTE: The d value in move() affects jump height by
raising the height at which the jump speed is kept
at its starting value
*/
v3f speedJ = getSpeed();
if(speedJ.Y >= -0.5 * BS)
{
speedJ.Y = movement_speed_jump * physics_override_jump;
setSpeed(speedJ);
MtEvent *e = new SimpleTriggerEvent("PlayerJump");
m_gamedef->event()->put(e);
}
}
else if(in_liquid)
{
if(fast_climb)
speedV.Y = movement_speed_fast;
else
speedV.Y = movement_speed_walk;
swimming_vertical = true;
}
else if(is_climbing)
{
if(fast_climb)
speedV.Y = movement_speed_fast;
else
speedV.Y = movement_speed_climb;
}
}
// The speed of the player (Y is ignored)
if(superspeed || (is_climbing && fast_climb) || ((in_liquid || in_liquid_stable) && fast_climb) || fast_pressed)
speedH = speedH.normalize() * movement_speed_fast;
else if(control.sneak && !free_move && !in_liquid && !in_liquid_stable)
speedH = speedH.normalize() * movement_speed_crouch;
else
speedH = speedH.normalize() * movement_speed_walk;
// Acceleration increase
f32 incH = 0; // Horizontal (X, Z)
f32 incV = 0; // Vertical (Y)
if((!touching_ground && !free_move && !is_climbing && !in_liquid) || (!free_move && m_can_jump && control.jump))
{
// Jumping and falling
if(superspeed || (fast_move && control.aux1))
incH = movement_acceleration_fast * BS * dtime;
else
incH = movement_acceleration_air * BS * dtime;
incV = 0; // No vertical acceleration in air
// better air control when falling fast
float speed = m_speed.getLength();
if (!superspeed && speed > movement_speed_fast && (control.down || control.up || control.left || control.right)) {
v3f rotate = move_direction * (speed / (movement_fall_aerodynamics * BS));
if(control.up) rotate = rotate.crossProduct(v3f(0,1,0));
if(control.down) rotate = rotate.crossProduct(v3f(0,-1,0));
if(control.left) rotate *=-1;
m_speed.rotateYZBy(rotate.X);
m_speed.rotateXZBy(rotate.Y);
m_speed.rotateXYBy(rotate.Z);
m_speed = m_speed.normalize() * speed * (1-speed*0.00001); // 0.998
if (m_speed.Y)
return;
}
}
else if (superspeed || (is_climbing && fast_climb) || ((in_liquid || in_liquid_stable) && fast_climb))
incH = incV = movement_acceleration_fast * BS * dtime;
else
incH = incV = movement_acceleration_default * BS * dtime;
// Accelerate to target speed with maximum increment
INodeDefManager *nodemgr = m_gamedef->ndef();
Map *map = &env->getMap();
v3s16 p = floatToInt(getPosition() - v3f(0,BS/2,0), BS);
float slippery = 0;
try {
slippery = itemgroup_get(nodemgr->get(map->getNode(p)).groups, "slippery");
}
catch (...) {}
accelerateHorizontal(speedH * physics_override_speed, incH * physics_override_speed, slippery);
accelerateVertical(speedV * physics_override_speed, incV * physics_override_speed);
}
Rotate::Rotate(unsigned int order) : Ambisonic(order)
{
setYaw(0.);
}
void LocalPlayer::applyControl(float dtime)
{
// Clear stuff
swimming_up = false;
// Random constants
f32 walk_acceleration = 4.0 * BS;
f32 walkspeed_max = 4.0 * BS;
setPitch(control.pitch);
setYaw(control.yaw);
// Nullify speed and don't run positioning code if the player is attached
if(isAttached)
{
setSpeed(v3f(0,0,0));
return;
}
v3f move_direction = v3f(0,0,1);
move_direction.rotateXZBy(getYaw());
v3f speed = v3f(0,0,0);
bool fly_allowed = m_gamedef->checkLocalPrivilege("fly");
bool fast_allowed = m_gamedef->checkLocalPrivilege("fast");
bool free_move = fly_allowed && g_settings->getBool("free_move");
bool fast_move = fast_allowed && g_settings->getBool("fast_move");
bool continuous_forward = g_settings->getBool("continuous_forward");
if(free_move || is_climbing)
{
v3f speed = getSpeed();
speed.Y = 0;
setSpeed(speed);
}
// Whether superspeed mode is used or not
bool superspeed = false;
// Old descend control
if(g_settings->getBool("aux1_descends"))
{
// If free movement and fast movement, always move fast
if(free_move && fast_move)
superspeed = true;
// Auxiliary button 1 (E)
if(control.aux1)
{
if(free_move)
{
// In free movement mode, aux1 descends
v3f speed = getSpeed();
if(fast_move)
speed.Y = -20*BS;
else
speed.Y = -walkspeed_max;
setSpeed(speed);
}
else if(is_climbing)
{
v3f speed = getSpeed();
speed.Y = -3*BS;
setSpeed(speed);
}
else
{
// If not free movement but fast is allowed, aux1 is
// "Turbo button"
if(fast_move)
superspeed = true;
}
}
}
// New minecraft-like descend control
else
{
// Auxiliary button 1 (E)
if(control.aux1)
{
if(!is_climbing)
{
// aux1 is "Turbo button"
if(fast_move)
superspeed = true;
}
}
if(control.sneak)
{
if(free_move)
{
// In free movement mode, sneak descends
v3f speed = getSpeed();
if(fast_move && control.aux1)
speed.Y = -20*BS;
else
speed.Y = -walkspeed_max;
setSpeed(speed);
}
else if(is_climbing)
{
v3f speed = getSpeed();
speed.Y = -3*BS;
setSpeed(speed);
}
}
}
if(continuous_forward)
speed += move_direction;
if(control.up)
{
if(continuous_forward)
superspeed = true;
else
speed += move_direction;
}
if(control.down)
{
speed -= move_direction;
}
if(control.left)
{
speed += move_direction.crossProduct(v3f(0,1,0));
}
if(control.right)
{
speed += move_direction.crossProduct(v3f(0,-1,0));
}
if(control.jump)
{
if(free_move)
{
v3f speed = getSpeed();
if(g_settings->getBool("aux1_descends"))
{
if(fast_move)
speed.Y = 20*BS;
else
speed.Y = walkspeed_max;
} else {
if(fast_move && control.aux1)
speed.Y = 20*BS;
else
speed.Y = walkspeed_max;
}
setSpeed(speed);
}
else if(m_can_jump)
{
/*
NOTE: The d value in move() affects jump height by
raising the height at which the jump speed is kept
at its starting value
*/
v3f speed = getSpeed();
if(speed.Y >= -0.5*BS)
{
speed.Y = 6.5*BS;
setSpeed(speed);
MtEvent *e = new SimpleTriggerEvent("PlayerJump");
m_gamedef->event()->put(e);
}
}
// Use the oscillating value for getting out of water
// (so that the player doesn't fly on the surface)
else if(in_water)
{
v3f speed = getSpeed();
speed.Y = 1.5*BS;
setSpeed(speed);
swimming_up = true;
}
else if(is_climbing)
{
v3f speed = getSpeed();
speed.Y = 3*BS;
setSpeed(speed);
}
}
// The speed of the player (Y is ignored)
if(superspeed)
speed = speed.normalize() * walkspeed_max * 5.0;
else if(control.sneak && !free_move)
speed = speed.normalize() * walkspeed_max / 3.0;
else
speed = speed.normalize() * walkspeed_max;
f32 inc = walk_acceleration * BS * dtime;
// Faster acceleration if fast and free movement
if(free_move && fast_move && superspeed)
inc = walk_acceleration * BS * dtime * 10;
// Accelerate to target speed with maximum increment
accelerate(speed, inc);
}
void LocalPlayer::applyControl(float dtime)
{
// Clear stuff
swimming_vertical = false;
setPitch(control.pitch);
setYaw(control.yaw);
// Nullify speed and don't run positioning code if the player is attached
if(isAttached)
{
setSpeed(v3f(0,0,0));
return;
}
v3f move_direction = v3f(0,0,1);
move_direction.rotateXZBy(getYaw());
v3f speedH = v3f(0,0,0); // Horizontal (X, Z)
v3f speedV = v3f(0,0,0); // Vertical (Y)
bool fly_allowed = m_gamedef->checkLocalPrivilege("fly");
bool fast_allowed = m_gamedef->checkLocalPrivilege("fast");
bool free_move = fly_allowed && g_settings->getBool("free_move");
bool fast_move = fast_allowed && g_settings->getBool("fast_move");
// When aux1_descends is enabled the fast key is used to go down, so fast isn't possible
bool fast_climb = fast_move && control.aux1 && !g_settings->getBool("aux1_descends");
bool continuous_forward = g_settings->getBool("continuous_forward");
bool always_fly_fast = g_settings->getBool("always_fly_fast");
// Whether superspeed mode is used or not
bool superspeed = false;
if (always_fly_fast && free_move && fast_move)
superspeed = true;
// Old descend control
if(g_settings->getBool("aux1_descends"))
{
// If free movement and fast movement, always move fast
if(free_move && fast_move)
superspeed = true;
// Auxiliary button 1 (E)
if(control.aux1)
{
if(free_move)
{
// In free movement mode, aux1 descends
if(fast_move)
speedV.Y = -movement_speed_fast;
else
speedV.Y = -movement_speed_walk;
}
else if(in_liquid || in_liquid_stable)
{
speedV.Y = -movement_speed_walk;
swimming_vertical = true;
}
else if(is_climbing)
{
speedV.Y = -movement_speed_climb;
}
else
{
// If not free movement but fast is allowed, aux1 is
// "Turbo button"
if(fast_move)
superspeed = true;
}
}
}
// New minecraft-like descend control
else
{
// Auxiliary button 1 (E)
if(control.aux1)
{
if(!is_climbing)
{
// aux1 is "Turbo button"
if(fast_move)
superspeed = true;
}
}
if(control.sneak)
{
if(free_move)
{
// In free movement mode, sneak descends
if (fast_move && (control.aux1 || always_fly_fast))
speedV.Y = -movement_speed_fast;
else
speedV.Y = -movement_speed_walk;
}
else if(in_liquid || in_liquid_stable)
{
if(fast_climb)
speedV.Y = -movement_speed_fast;
else
speedV.Y = -movement_speed_walk;
swimming_vertical = true;
}
else if(is_climbing)
{
if(fast_climb)
speedV.Y = -movement_speed_fast;
else
speedV.Y = -movement_speed_climb;
}
}
}
if (continuous_forward)
speedH += move_direction;
if (control.up) {
if (continuous_forward) {
if (fast_move)
superspeed = true;
} else {
speedH += move_direction;
}
}
if(control.down)
{
speedH -= move_direction;
}
if(control.left)
{
speedH += move_direction.crossProduct(v3f(0,1,0));
}
if(control.right)
{
speedH += move_direction.crossProduct(v3f(0,-1,0));
}
if(control.jump)
{
if (free_move) {
if (g_settings->getBool("aux1_descends") || always_fly_fast) {
if (fast_move)
speedV.Y = movement_speed_fast;
else
speedV.Y = movement_speed_walk;
} else {
if(fast_move && control.aux1)
speedV.Y = movement_speed_fast;
else
speedV.Y = movement_speed_walk;
}
}
else if(m_can_jump)
{
/*
NOTE: The d value in move() affects jump height by
raising the height at which the jump speed is kept
at its starting value
*/
v3f speedJ = getSpeed();
if(speedJ.Y >= -0.5 * BS)
{
speedJ.Y = movement_speed_jump * physics_override_jump;
setSpeed(speedJ);
MtEvent *e = new SimpleTriggerEvent("PlayerJump");
m_gamedef->event()->put(e);
}
}
else if(in_liquid)
{
if(fast_climb)
speedV.Y = movement_speed_fast;
else
speedV.Y = movement_speed_walk;
swimming_vertical = true;
}
else if(is_climbing)
{
if(fast_climb)
speedV.Y = movement_speed_fast;
else
speedV.Y = movement_speed_climb;
}
}
// The speed of the player (Y is ignored)
if(superspeed || (is_climbing && fast_climb) || ((in_liquid || in_liquid_stable) && fast_climb))
speedH = speedH.normalize() * movement_speed_fast;
else if(control.sneak && !free_move && !in_liquid && !in_liquid_stable)
speedH = speedH.normalize() * movement_speed_crouch;
else
speedH = speedH.normalize() * movement_speed_walk;
// Acceleration increase
f32 incH = 0; // Horizontal (X, Z)
f32 incV = 0; // Vertical (Y)
if((!touching_ground && !free_move && !is_climbing && !in_liquid) || (!free_move && m_can_jump && control.jump))
{
// Jumping and falling
if(superspeed || (fast_move && control.aux1))
incH = movement_acceleration_fast * BS * dtime;
else
incH = movement_acceleration_air * BS * dtime;
incV = 0; // No vertical acceleration in air
}
else if (superspeed || (is_climbing && fast_climb) || ((in_liquid || in_liquid_stable) && fast_climb))
incH = incV = movement_acceleration_fast * BS * dtime;
else
incH = incV = movement_acceleration_default * BS * dtime;
// Accelerate to target speed with maximum increment
accelerateHorizontal(speedH * physics_override_speed, incH * physics_override_speed);
accelerateVertical(speedV * physics_override_speed, incV * physics_override_speed);
}
Turn::Turn(Robot *robot, double yaw) : Behavior(robot) {
setYaw(yaw);
}
