/** Waits till each kart is resting on the ground
*
* Does simulation steps still all karts reach the ground, i.e. are not
* moving anymore
*/
void World::resetAllKarts()
{
// Reset the physics 'remaining' time to 0 so that the number
// of timesteps is reproducible if doing a physics-based history run
getPhysics()->getPhysicsWorld()->resetLocalTime();
// If track checking is requested, check all rescue positions if
// they are heigh enough.
if(UserConfigParams::m_track_debug)
{
// Loop over all karts, in case that some karts are dfferent
for(unsigned int kart_id=0; kart_id<(unsigned int)m_karts.size(); kart_id++)
{
for(unsigned int rescue_pos=0;
rescue_pos<getNumberOfRescuePositions();
rescue_pos++)
{
btTransform t = getRescueTransform(rescue_pos);
// This will print out warnings if there is no terrain under
// the kart, or the kart is being dropped on a reset texture
moveKartTo(m_karts[kart_id], t);
} // rescue_pos<getNumberOfRescuePositions
// Reset the karts back to the original start position.
// This call is a bit of an overkill, but setting the correct
// transforms, positions, motion state is a bit of a hassle.
m_karts[kart_id]->reset();
} // for kart_id<m_karts.size()
} // if m_track_debug
m_schedule_pause = false;
m_schedule_unpause = false;
//Project karts onto track from above. This will lower each kart so
//that at least one of its wheel will be on the surface of the track
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
Vec3 xyz = (*i)->getXYZ();
//start projection from top of kart
Vec3 up_offset(0, 0.5f * ((*i)->getKartHeight()), 0);
(*i)->setXYZ(xyz+up_offset);
bool kart_over_ground = m_track->findGround(*i);
if (!kart_over_ground)
{
Log::error("World",
"No valid starting position for kart %d on track %s.",
(int)(i-m_karts.begin()), m_track->getIdent().c_str());
if (UserConfigParams::m_artist_debug_mode)
{
Log::warn("World", "Activating fly mode.");
(*i)->flyUp();
continue;
}
else
{
exit(-1);
}
}
}
bool all_finished=false;
// kart->isInRest() is not fully correct, since it only takes the
// velocity in count, which might be close to zero when the kart
// is just hitting the floor, before being pushed up again by
// the suspension. So we just do a longer initial simulation,
// which should be long enough for all karts to be firmly on ground.
for(int i=0; i<60; i++) m_physics->update(1.f/60.f);
// Stil wait will all karts are in rest (and handle the case that a kart
// fell through the ground, which can happen if a kart falls for a long
// time, therefore having a high speed when hitting the ground.
int count = 0;
while(!all_finished)
{
if (count++ > 100)
{
Log::error("World", "Infinite loop waiting for all_finished?");
break;
}
m_physics->update(1.f/60.f);
all_finished=true;
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
if(!(*i)->isInRest())
{
Vec3 normal;
Vec3 hit_point;
const Material *material;
// We can't use (*i)->getXYZ(), since this is only defined
// after update() was called. Instead we have to get the
// real position of the rigid body.
btTransform t;
(*i)->getBody()->getMotionState()->getWorldTransform(t);
// This test can not be done only once before the loop, since
// it can happen that the kart falls through the track later!
Vec3 to = t.getOrigin()+Vec3(0, -10000, 0);
m_track->getTriangleMesh().castRay(t.getOrigin(), to,
&hit_point, &material,
&normal);
if(!material)
{
Log::error("World",
"No valid starting position for kart %d "
"on track %s.",
(int)(i-m_karts.begin()),
m_track->getIdent().c_str());
if (UserConfigParams::m_artist_debug_mode)
{
Log::warn("World", "Activating fly mode.");
(*i)->flyUp();
continue;
}
else
{
exit(-1);
}
}
all_finished=false;
break;
}
}
} // while
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
(*i)->kartIsInRestNow();
}
// Initialise the cameras, now that the correct kart positions are set
for(unsigned int i=0; i<Camera::getNumCameras(); i++)
{
Camera::getCamera(i)->setInitialTransform();
}
} // resetAllKarts
/** Waits till each kart is resting on the ground
*
* Does simulation steps still all karts reach the ground, i.e. are not
* moving anymore
*/
void World::resetAllKarts()
{
// Reset the physics 'remaining' time to 0 so that the number
// of timesteps is reproducible if doing a physics-based history run
getPhysics()->getPhysicsWorld()->resetLocalTime();
// If track checking is requested, check all rescue positions if
// they are heigh enough.
if(race_manager->getMinorMode()!=RaceManager::MINOR_MODE_3_STRIKES &&
UserConfigParams::m_track_debug)
{
Vec3 eps = Vec3(0,1.5f*m_karts[0]->getKartHeight(),0);
for(unsigned int quad=0; quad<QuadGraph::get()->getNumNodes(); quad++)
{
const Quad &q = QuadGraph::get()->getQuadOfNode(quad);
const Vec3 center = q.getCenter();
// We have to test for all karts, since the karts have different
// heights and so things might change from kart to kart.
for(unsigned int kart_id=0; kart_id<m_karts.size(); kart_id++)
{
AbstractKart *kart = m_karts[kart_id];
kart->setXYZ(center);
btQuaternion heading(btVector3(0.0f, 1.0f, 0.0f),
m_track->getAngle(quad) );
kart->setRotation(heading);
btTransform pos;
pos.setOrigin(center+eps);
pos.setRotation(btQuaternion(btVector3(0.0f, 1.0f, 0.0f),
m_track->getAngle(quad)) );
kart->getBody()->setCenterOfMassTransform(pos);
bool kart_over_ground = m_physics->projectKartDownwards(kart);
if(kart_over_ground)
{
const Vec3 &xyz = kart->getTrans().getOrigin()
+ Vec3(0,0.3f,0);
if(dynamic_cast<Kart*>(kart))
dynamic_cast<Kart*>(kart)->getTerrainInfo()
->update(xyz);
const Material *material = kart->getMaterial();
if(!material || material->isDriveReset())
kart_over_ground = false;
}
if(!kart_over_ground)
{
printf("Kart '%s' not over quad '%d'\n",
kart->getIdent().c_str(), quad);
printf("Center point: %f %f %f\n",
center.getX(), center.getY(), center.getZ());
}
} // for kart_id<m_karts.size()
} // for quad < quad_graph.getNumNodes
for(unsigned int kart_id=0; kart_id<m_karts.size(); kart_id++)
{
// Reset the karts back to the original start position.
// This call is a bit of an overkill, but setting the correct
// transforms, positions, motion state is a bit of a hassle.
m_karts[kart_id]->reset();
}
} // if m_track_debug
m_schedule_pause = false;
m_schedule_unpause = false;
//Project karts onto track from above. This will lower each kart so
//that at least one of its wheel will be on the surface of the track
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
///start projection from top of kart
btVector3 up_offset(0, 0.5f * ((*i)->getKartHeight()), 0);
(*i)->getVehicle()->getRigidBody()->translate (up_offset);
bool kart_over_ground = m_physics->projectKartDownwards(*i);
if (!kart_over_ground)
{
fprintf(stderr,
"ERROR: no valid starting position for kart %d "
"on track %s.\n",
(int)(i-m_karts.begin()), m_track->getIdent().c_str());
if (UserConfigParams::m_artist_debug_mode)
{
fprintf(stderr, "Activating fly mode.\n");
(*i)->flyUp();
continue;
}
else
{
exit(-1);
}
}
}
bool all_finished=false;
// kart->isInRest() is not fully correct, since it only takes the
// velocity in count, which might be close to zero when the kart
// is just hitting the floor, before being pushed up again by
// the suspension. So we just do a longer initial simulation,
// which should be long enough for all karts to be firmly on ground.
for(int i=0; i<60; i++) m_physics->update(1.f/60.f);
// Stil wait will all karts are in rest (and handle the case that a kart
// fell through the ground, which can happen if a kart falls for a long
// time, therefore having a high speed when hitting the ground.
while(!all_finished)
{
m_physics->update(1.f/60.f);
all_finished=true;
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
if(!(*i)->isInRest())
{
Vec3 normal;
Vec3 hit_point;
const Material *material;
// We can't use (*i)->getXYZ(), since this is only defined
// after update() was called. Instead we have to get the
// real position of the rigid body.
btTransform t;
(*i)->getBody()->getMotionState()->getWorldTransform(t);
// This test can not be done only once before the loop, since
// it can happen that the kart falls through the track later!
Vec3 to = t.getOrigin()+Vec3(0, -10000, 0);
m_track->getTriangleMesh().castRay(t.getOrigin(), to,
&hit_point, &material,
&normal);
if(!material)
{
fprintf(stderr,
"ERROR: no valid starting position for "
"kart %d on track %s.\n",
(int)(i-m_karts.begin()),
m_track->getIdent().c_str());
if (UserConfigParams::m_artist_debug_mode)
{
fprintf(stderr, "Activating fly mode.\n");
(*i)->flyUp();
continue;
}
else
{
exit(-1);
}
}
all_finished=false;
break;
}
}
} // while
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
// Now store the current (i.e. in rest) suspension length for each
// kart, so that the karts can visualise the suspension.
(*i)->setSuspensionLength();
// Initialise the camera (if available), now that the correct
// kart position is set
if((*i)->getCamera())
(*i)->getCamera()->setInitialTransform();
// Update the kart transforms with the newly computed position
// after all karts are reset
(*i)->setTrans((*i)->getBody()->getWorldTransform());
}
} // resetAllKarts
