short orient() {
short angle;
angle = arctan(x,y);
turnAngle(angle);
rotateBasis(-angle);
return angle;
}
/**
* Horizontal distance covered in a turn
*/
double ProjectedKinematics::turnDistance(Position s1, Position s2, double R) {
return turnAngle(s1,s2,R)*R;
}
void CarImpl::update1_60() {
static const float BRAKE_POWER = 0.1f;
static const float ACCEL_POWER = 0.014f;
static const float SPEED_LIMIT = 15.0f;
static const float WHEEL_TURN_SPEED = 1.0f / 10.0f;
static const float TURN_POWER = (2 * CL_PI / 360.0f) * 2.5f;
static const float MOV_ALIGN_POWER = TURN_POWER / 2.0f;
static const float ROT_ALIGN_POWER = TURN_POWER * 0.7f;
static const float AIR_RESITANCE = 0.003f; // per one speed unit
static const float DRIFT_SPEED_REDUCTION_RATE = 0.1f;
// speed limit under what physics angle reduction will be more aggressive
static const float LOWER_SPEED_ANGLE_REDUCTION = 6.0f;
// speed limit under what angle difference will be lower than normal
static const float LOWER_SPEED_ROTATION_REDUCTION = 6.0f;
// speed limit under what turn power will decrease
static const float LOWER_SPEED_TURN_REDUCTION = 2.0f;
// increase the iteration id
// be aware of 32-bit integer limit
if (m_iterId != std::numeric_limits<int32_t>::max()) {
m_iterId++;
} else {
m_iterId = 0;
}
// don't do anything if car is locked
if (m_inputLocked) {
return;
}
const float prevSpeed = m_speed; // for m_phySpeedDelta
// apply inputs to speed
if (m_inputState.brake) {
m_speed -= BRAKE_POWER;
} else if (m_inputState.accel) {
// only if not choking
if (!isChoking()) {
m_chocking = false;
m_speed += (SPEED_LIMIT - m_speed) * ACCEL_POWER;
} else {
m_chocking = true;
}
}
// rotate steering wheels
const float diff = m_inputState.turn - m_phyWheelsTurn;
if (fabs(diff) > WHEEL_TURN_SPEED) {
m_phyWheelsTurn += diff > 0.0f ? WHEEL_TURN_SPEED : -WHEEL_TURN_SPEED;
} else {
m_phyWheelsTurn = m_inputState.turn;
}
const float absSpeed = fabs(m_speed);
// calculate rotations
if (m_phyWheelsTurn != 0.0f) {
// rotate corpse and later physics movement
CL_Angle turnAngle(TURN_POWER * m_phyWheelsTurn, cl_radians);
if (absSpeed <= LOWER_SPEED_TURN_REDUCTION) {
// reduce turn if car speed is too low
turnAngle.set_radians(turnAngle.to_radians() * (absSpeed / LOWER_SPEED_TURN_REDUCTION));
}
if (m_speed > 0.0f) {
m_rotation += turnAngle;
} else {
m_rotation -= turnAngle;
}
// rotate corpse and physics movement
if (absSpeed > LOWER_SPEED_ROTATION_REDUCTION) {
alignRotation(m_phyMoveRot, m_rotation, MOV_ALIGN_POWER);
} else {
alignRotation(m_phyMoveRot, m_rotation, MOV_ALIGN_POWER * ((LOWER_SPEED_ROTATION_REDUCTION + 1.0f) - absSpeed));
}
} else {
// align corpse back to physics movement
alignRotation(m_rotation, m_phyMoveRot, MOV_ALIGN_POWER);
// makes car stop rotating if speed is too low
if (absSpeed > LOWER_SPEED_ANGLE_REDUCTION) {
alignRotation(m_phyMoveRot, m_rotation, ROT_ALIGN_POWER);
} else {
alignRotation(m_phyMoveRot, m_rotation, ROT_ALIGN_POWER * ((LOWER_SPEED_ANGLE_REDUCTION + 1.0f) - absSpeed));
}
// normalize rotations only when equal
if (m_rotation == m_phyMoveRot) {
Workarounds::clAngleNormalize(&m_rotation);
Workarounds::clAngleNormalize(&m_phyMoveRot);
}
}
Workarounds::clAngleNormalize(&m_phyMoveRot);
Workarounds::clAngleNormalize(&m_rotation);
// reduce speed
const CL_Angle diffAngle = m_rotation - m_phyMoveRot;
float diffDegAbs = fabs(diffAngle.to_degrees());
if (diffDegAbs > 0.1f) {
CL_Angle diffAngleNorm = diffAngle;
Workarounds::clAngleNormalize180(&diffAngleNorm);
// 0.0 when going straight, 1.0 when 90 deg, > 1.0 when more than 90 deg
const float angleRate = fabs(1.0f - (fabs(diffAngleNorm.to_degrees()) - 90.0f) / 90.0f);
const float speedReduction = -DRIFT_SPEED_REDUCTION_RATE * angleRate;
if (absSpeed > speedReduction) {
m_speed += m_speed > 0.0f ? speedReduction : -speedReduction;
} else {
m_speed = 0.0f;
}
}
// car cannot travel too quickly
m_speed -= m_speed * AIR_RESITANCE;
// calculate next move vector
const float m_rotationRad = m_phyMoveRot.to_radians();
m_phyMoveVec.x = cos(m_rotationRad);
m_phyMoveVec.y = sin(m_rotationRad);
m_phyMoveVec.normalize();
m_phyMoveVec *= m_speed;
// apply movement (invert y)
m_position.x += m_phyMoveVec.x;
m_position.y += m_phyMoveVec.y;
// set speed delta
m_phySpeedDelta = m_speed - prevSpeed;
#if defined(CLIENT)
#if !defined(NDEBUG)
// print debug information
DebugLayer *dbgl = Gfx::Stage::getDebugLayer();
dbgl->putMessage("speed", cl_format("%1", m_speed));
// if (!m_level) {
// const float resistance = m_level->getResistance(m_position.x, m_position.y);
// dbgl->putMessage("resist", cl_format("%1", resistance));
// }
#endif // NDEBUG
#endif // CLIENT
}
