void StupidBehaviour::ReactToObstacle()
{
// Turn to face new direction.
// TODO smoothly turn to face new direction
m_pCharacter->RotateY(GetTurnDir());
// If the new direction is blocked, try the opposite direction.
// Otherwise Stupids will be excessively stupid, and backtrack rather than
// going in the available new direction.
// (If both directions are blocked, the call in the next frame will cause
// backtracking.)
if (IsBlocked())
{
m_pCharacter->RotateY(180.0f); // go in the opposite direction.
}
}
Vector4 RPhysics::CalculateInputForce() {
const float accel = 1.25*GetAccelConst();
Vector4 ret(0,0,0);
if(m_pedalState==PRESSED||m_boostLeft>0) {
Vector4 inputDir = GetTurnDir();
ret = inputDir*accel;
float angle = fabs(Angle3(m_player->GetAhead(),m_velocity));
if(angle*0==0)
ret*=(1+angle);
//ret*=2;
//cerr<<"A:"<<angle<<endl;
} else if(m_brakeState==PRESSED) {
Vector4 ahead = m_player->GetAhead();
ret = -ahead*BRAKE_CONSTANT;
}
return ret;
}
void RPhysics::DoPhysics(int deltaTime) {
Vector4 ahead = m_player->GetAhead();
if(Length3(m_velocity)==0) {
m_velocity = MIN_VEL*ahead;
}
Vector4 inputForce = CalculateInputForce();
Vector4 resistance = CalculateResistanceForce();
//cerr<<"input force";
//PrintVector(inputForce);
//cerr<<"resistance force:";
//PrintVector(resistance);
Vector4 turnDir = GetTurnDir();
if(m_boostLeft>0) {
inputForce+=BOOST_AMT*Normalize3(turnDir);
m_boostLeft-=deltaTime;
}
Vector4 totalForce = inputForce+resistance;
for(int i=0;i<m_impulseForces.size();i++) {
totalForce+=m_impulseForces[i];
}
m_impulseForces.clear();
float currSpeed = Length3(m_velocity);
Vector4 newVelocity = m_velocity+deltaTime/1000.0*totalForce;
//cerr<<"new velocity:";
//PrintVector(newVelocity);
float newSpeed = Length3(newVelocity);
Vector4 deltaPos = newVelocity*deltaTime/1000.0;
float distance = Length3(deltaPos);
if(distance>0) {
Vector4 oldUp = m_player->GetUp();
Vector4 oldAhead = m_player->GetAhead();
Vector4 oldDir = newVelocity;
if(currSpeed==0) oldDir = oldAhead;
collision = false;
Vector4 newDir;
if(newSpeed>MIN_VEL)
m_player->Move(distance,deltaPos,newDir);
else
newDir = deltaPos;
if(!collision) {
m_velocity = Normalize3(newDir)*newSpeed;
}
Matrix4 transform = GetOrientTransform(oldDir,oldUp,newDir,m_player->GetUp());
oldAhead(3) = 1;
//cerr<<"orient transform:";
//PrintMatrix(transform);
Vector4 newAhead = transform*oldAhead;
Vector4 desiredAhead = transform*turnDir;
//cerr<<"new ahead:";
//PrintVector(newAhead);
//cerr<<deltaTime<<endl;
Vector4 toSetAhead = Normalize3(8*33.3/deltaTime*newAhead+desiredAhead);
// if(currSpeed==0&&(m_brakeState==PRESSED||m_pedalState==RELEASED)) toSetAhead*=-1;
m_player->SetAhead(toSetAhead);
//}
}
}
