int pSim::Update()
{
#ifdef VERBOSE
update_log << "Update no contact" << endl;
#endif
#ifdef TIMING_CHECK
update_start_time = MPI_Wtime();
#endif
#ifdef PSIM_TEST
max_condition_number = -1.0;
max_sigma_ratio = -1.0;
max_condition_number_joint = 0;
max_sigma_ratio_joint = 0;
condition_numbers.resize(n_dof);
sigma_ratios.resize(n_dof);
condition_numbers.zero();
sigma_ratios.zero();
total_gamma_error = 0.0;
#endif
/**** assembly ****/
// position-dependent variables
update_position();
#if 1
if(do_connect)
{
//
// do collision computation if needed
//
update_collision();
// don't forget to recompute link velocities
CalcVelocity();
do_connect = false;
}
#endif
// velocity-dependent variables
update_velocity();
#ifdef TIMING_CHECK
cerr << "[" << rank << "] disassembly t = " << MPI_Wtime()-update_start_time << endl;
#endif
/**** disassembly ****/
disassembly();
#ifdef PSIM_TEST
cerr << "--- max condition number = " << max_condition_number << " at " << max_condition_number_joint->name << endl;
cerr << "--- max sigma ratio = " << max_sigma_ratio << " at " << max_sigma_ratio_joint->name << endl;
cerr << "--- total_gamma_error = " << total_gamma_error << endl;
// cerr << "condition_numbers = " << tran(condition_numbers) << endl;
// cerr << "sigma_ratios = " << tran(sigma_ratios) << endl;
#endif
#ifdef USE_MPI
// scatter results
scatter_acc();
#endif
return 0;
}
void GameObject::Update(float deltaTime) {
this->m_vForward = CalcForwardVector(this->Pitch(), this->Yaw());
this-> m_vRight = CalcRightVector(this->Pitch(), this->Yaw());
this->m_vUp = CalcUpVector(this->Pitch(), this->Yaw());
this->m_vCameraForward = CalcForwardVector(this->CameraPitch(), this->CameraYaw());
this->m_vCameraRight = CalcRightVector(this->CameraPitch(), this->CameraYaw());
this->m_vCameraUp = CalcUpVector(this->CameraPitch(), this->CameraYaw());
CalcVelocity();
}
Vector2 ObstacleAvoidance::CalcVelocity()
{
Vector2 leftRay = mActor->GetVelocity();
Vector2 rightRay = mActor->GetVelocity();
// We have a second to avoid obstacle
float distance = mActor->GetVelocity().Length() * 1.0f;
VehiclePtr leftObstacle = mActor->RayQuery(leftRay, distance);
VehiclePtr rightObstacle = mActor->RayQuery(rightRay, distance);
if (leftObstacle && rightObstacle)
{
// We have 2 obstacles and should ovoid both of them
Vector2 lAvoidance = CalcVelocity(leftObstacle);
Vector2 rAvoidance = CalcVelocity(rightObstacle);
float lSDistance = (leftObstacle->GetPosition() - mActor->GetPosition()).LengthSquared();
float rSDistance = (rightObstacle->GetPosition() - mActor->GetPosition()).LengthSquared();
float k = lSDistance / rSDistance;
Vector2 result = k * lAvoidance + (1.0f - k) * rAvoidance;
return result;
}
else if (leftObstacle)
{
// We have only left obstacle
return CalcVelocity(leftObstacle);
}
else if (rightObstacle)
{
// We have only right obstacle
return CalcVelocity(rightObstacle);
}
else
{
// We have no obstacles
return Vector2(0.0f, 0.0f);
}
}
void CLBullet::Moving(float v_max)
{
CalcVelocity(v_max);
}
void obj_AI_Bubble::Update()
{
if(volume < 0)
SetAlive(false);
/*
-Find out which bubble is closest (an AI bubble or player bubble)
Find out if it is bigger than the other
if it is bigger -> move away
else if it is smaller -> move towards it
*/
float S;
float ox;
float oy;
GameObject *closestBubble = GameObjectManager::GetInstance().GetClosestBubble(x,y,GetInstanceID(),shotBubbles);
//It checks for volume/75 so it doesn't fly towards a bubble en when it shoots it is smaller
if(closestBubble!=NULL)
{
if(volume-(volume/75) > closestBubble->GetVolume())
{
hasFoundDirection = true;
//std::cout << "Towards\n";
ox = closestBubble->GetX();
oy = closestBubble->GetY();
S = sqrt( ((ox)-(x))*((ox)-(x)) + ((oy) - (y))*((oy)-(y)) );
if(y < oy)
destinationDirection=acos((ox-x)/S) + PI;
else
destinationDirection=PI - acos((ox-x)/S) + 2*PI;
}
else if(volume <= closestBubble->GetVolume() && closestBubble->GetVolume() > volume/70)
{
hasFoundDirection = true;
//std::cout << "Away\n";
ox = closestBubble->GetX();
oy = closestBubble->GetY();
S = sqrt( (ox-x)*(ox-x) + (oy-y)*(oy-y) );
if(y < oy)
destinationDirection=acos((ox-x)/S);
else
destinationDirection=PI - acos((ox-x)/S) + PI;
}
}
//Shoot a bubble once in 0.5 - 2 seconds
if(hasFoundDirection && GameObjectManager::GetInstance().IsPlaying())
{
if(--shootCount <= 0)
{
AudioManager::GetInstance().PlaySoundEffect(rand()%3+1);
shootCount = rand()%100+60;
float otherVolume = volume/75;
float otherRadius = CalcRadius(otherVolume);
float otherVelX = cos(destinationDirection)*5;
float otherVelY = sin(destinationDirection)*5;
float otherEnergyVelX = CalcEnergyKinetic(otherVelX, otherVolume);
float otherEnergyVelY = CalcEnergyKinetic(otherVelY, otherVolume);
//Change velocity based on the kinetic energy created by shooting the other bubble away
if(otherVelX >= 0)
velX -= CalcVelocity(otherEnergyVelX, volume);
else
velX += CalcVelocity(otherEnergyVelX, volume);
if(otherVelY >0)
velY -= CalcVelocity(otherEnergyVelY, volume);
else
velY += CalcVelocity(otherEnergyVelY, volume);
//Create the bubble (using some of the info calculated earlier in this if statement)
obj_Bubble *shotBubble = GameObjectManager::GetInstance().CreateBubble(x + (radius+otherRadius)*cos(destinationDirection),
y + (radius+otherRadius)*sin(destinationDirection), otherVelX + velX, otherVelY + velY, otherVolume);
shotBubbles.push_back(shotBubble->GetInstanceID());
//Change volume of the player's bubble
volume -= otherVolume;
}
}
if(--removeBubbleFromShotBubblesCount<=0)
{
removeBubbleFromShotBubblesCount=300;
if(shotBubbles.size()>0)
shotBubbles.erase(shotBubbles.begin());
}
x+=velX;
y+=velY;
if(x<radius)
{
velX = -(velX);
x=radius;
}
else if(x>_LEVEL_WIDTH - radius)
{
velX = -(velX);
x = _LEVEL_WIDTH - radius;
}
if(y<radius)
{
velY = -(velY);
y=radius;
}
else if(y>_LEVEL_HEIGHT - radius)
{
velY = -(velY);
y = _LEVEL_HEIGHT - radius;
}
if(volume != volumePrevious)
{
radius = CalcRadius(volume);
circumference = CalcCircumference(radius);
/*float energyVelX = CalcEnergyKinetic(velX, volumePrevious);
float energyVelY = CalcEnergyKinetic(velY, volumePrevious);
if(velX >= 0)
velX = CalcVelocity(energyVelX,volume);
else
velX = -CalcVelocity(energyVelX,volume);
if(velY >= 0)
velY = CalcVelocity(energyVelY,volume);
else
velY = -CalcVelocity(energyVelY,volume);
*/
}
if(GameObjectManager::GetInstance().TimesBiggerThanPlayer(volume)>1)
{
r+=3;
g-=3;
if(r>50)
r=50;
if(g<0)
g=0;
}
else
{
g+=3;
r-=3;
if(g>50)
g=50;
if(r<0)
r=0;
}
volumePrevious = volume;
hasFoundDirection = false;
}
