inline Matrix33 horizontal( const Matrix33& src )
{
Matrix33 dest = src;
dest( 1, 1 ) = 1;
dest( 0, 1 ) = 0;
dest( 2, 1 ) = 0;
dest( 1, 0 ) = 0;
dest( 1, 2 ) = 0;
dest.Orthonormalize();
return dest;
}
void CRotatableTurret::Update( float dt )
{
UpdateAimInfo();
Matrix34 init_world_pose
= m_ParentWorldPose * m_MountLocalPose;
// Why calculate on local space?
// - world pose of the turret keeps changes if the owner entity keeps moving.
// Vector3 vTargetDirection = m_vAimDirection;
Vector3 vLocalTTableAxis = m_MountLocalPose.matOrient.GetColumn(1); // y-axis
Vector3 vLocalTargetDir;
init_world_pose.InvTransform( vLocalTargetDir, m_vAimDirection );
Vector3 vLocalTgtDirOnTTable
= vLocalTargetDir - vLocalTTableAxis * Vec3Dot( vLocalTTableAxis, vLocalTargetDir );
Vec3Normalize( vLocalTgtDirOnTTable, vLocalTgtDirOnTTable );
Matrix33 matLocalTargetRotation;
matLocalTargetRotation.SetColumn( 0, Vec3Cross( vLocalTTableAxis, vLocalTgtDirOnTTable ) );
matLocalTargetRotation.SetColumn( 1, vLocalTTableAxis );
matLocalTargetRotation.SetColumn( 2, vLocalTgtDirOnTTable );
matLocalTargetRotation.Orthonormalize();
m_LocalTurnTableOrient.target.FromRotationMatrix( matLocalTargetRotation );
// calc how much the gun tube needs to be elevated (pitch rotation)
float target_pitch = Vec3GetAngleBetween( vLocalTargetDir, vLocalTgtDirOnTTable );
Limit( target_pitch, 0.0f, deg_to_rad(85.0f) );
m_LocalGunTubePitchAngle.target = target_pitch;
// update critical damping
m_LocalGunTubePitchAngle.Update( dt );
m_LocalTurnTableOrient.Update( dt );
// vLocalTTableRightDir = m_LocalTurnTableOrient.current.ToRotationMatrix().GetColumn(0);
// update local poses
Matrix34 local_mount_pose, local_gun_tube_pose;
local_mount_pose = Matrix34( m_MountLocalPose.vPosition, m_LocalTurnTableOrient.current.ToRotationMatrix() );
// local_gun_tube_pose = Matrix34( m_GunLocalPose.vPosition, Matrix33RotationAxis( m_LocalGunTubePitchAngle.current, vLocalTTableRightDir ) );
local_gun_tube_pose = Matrix34( m_GunLocalPose.vPosition, Matrix33RotationAxis( m_LocalGunTubePitchAngle.current, m_GunLocalPose.matOrient.GetColumn(0) ) );
m_MountWorldPose = m_ParentWorldPose * local_mount_pose;
m_GunWorldPose = m_MountWorldPose * local_gun_tube_pose;
}
