static duk_ret_t RigidBody_GetAngularVelocity(duk_context* ctx)
{
RigidBody* thisObj = GetThisWeakObject<RigidBody>(ctx);
float3 ret = thisObj->GetAngularVelocity();
PushValueObjectCopy<float3>(ctx, ret, float3_ID, float3_Finalizer);
return 1;
}
float World::CalcKE(const RigidBody& rigidBody)
{
float fInvMass = rigidBody.GetInverseMass();
const Matrix3& rkInertia = rigidBody.GetWorldInertia();
const Vector3& rkPos = rigidBody.GetPosition();
const Vector3& rkLinMom = rigidBody.GetLinearMomentum();
const Matrix3& rkROrient = rigidBody.GetROrientation();
const Vector3& rkAngVel = rigidBody.GetAngularVelocity();
return fInvMass*rkLinMom.Dot(rkLinMom) +
rkAngVel.Dot(rkInertia*rkAngVel);
}
void RocketControllerSystem::processEntities(const vector<Entity*>& p_entities)
{
float dt = m_world->getDelta();
float waitUntilActivation = 0.5f;
float rocketMaxAge = 15.0f;
for (unsigned int i = 0; i < p_entities.size(); i++)
{
StandardRocket* rocket = static_cast<StandardRocket*>(p_entities[i]->getComponent(ComponentType::StandardRocket));
if (rocket->m_age == 0)
{
//Align with movement direction
MeshOffsetTransform* meshOffset = static_cast<MeshOffsetTransform*>
( p_entities[i]->getComponent( ComponentType::MeshOffsetTransform) );
PhysicsBody* pb = static_cast<PhysicsBody*>(p_entities[i]->getComponent(ComponentType::PhysicsBody));
PhysicsSystem* ps = static_cast<PhysicsSystem*>(m_world->getSystem(SystemType::PhysicsSystem));
RigidBody* body = static_cast<RigidBody*>(ps->getController()->getBody(pb->m_id));
AglMatrix world = body->GetWorld();
world = meshOffset->offset.inverse()*world;
world = pb->getOffset()*world;
body->setTransform(world);
}
rocket->m_age += dt;
//Check collision
if (rocket->m_age > waitUntilActivation && rocket->m_age <= rocketMaxAge)
{
//Start targeting ships
PhysicsBody* pb = static_cast<PhysicsBody*>(p_entities[i]->getComponent(ComponentType::PhysicsBody));
PhysicsSystem* ps = static_cast<PhysicsSystem*>(m_world->getSystem(SystemType::PhysicsSystem));
RigidBody* body = static_cast<RigidBody*>(ps->getController()->getBody(pb->m_id));
if (rocket->m_target >= 0)
{
ShipManagerSystem* shipManager = static_cast<ShipManagerSystem*>(m_world->getSystem(SystemType::ShipManagerSystem));
Entity* ship = m_world->getEntity(rocket->m_target);
Transform* from = static_cast<Transform*>(p_entities[i]->getComponent(ComponentType::Transform));
Transform* to = static_cast<Transform*>(ship->getComponent(ComponentType::Transform));
//START APPLY IMPULSE
MeshOffsetTransform* meshOffset = static_cast<MeshOffsetTransform*>
( p_entities[i]->getComponent( ComponentType::MeshOffsetTransform) );
AglVector3 imp = to->getTranslation() - from->getTranslation();
float distance = imp.length();
imp.normalize();
AglMatrix world = meshOffset->offset * pb->getOffset().inverse() * body->GetWorld();
AglVector3 rotAxis = AglVector3::crossProduct(imp, -world.GetForward());
rotAxis.normalize();
//Compute fraction of turn power that should be applied
AglVector3 angVel = body->GetAngularVelocity();
float angVelAxis = max(AglVector3::dotProduct(angVel, rotAxis), 0);
float amountToRotate = min(1.0f - AglVector3::dotProduct(imp, world.GetForward()), 1.0f); //0 -> 1
float frac = 1.0f;
if (amountToRotate / angVelAxis < 0.25f)
{
frac = (amountToRotate / angVelAxis) / 0.25f;
}
rotAxis *= m_turnPower * dt * frac;
frac = 1-frac;
AglVector3 impulse = imp*0.25f + world.GetForward();
impulse.normalize();
impulse *= dt*m_enginePower*frac;
ps->getController()->ApplyExternalImpulse(pb->m_id, impulse, rotAxis);
}
else
{
MeshOffsetTransform* meshOffset = static_cast<MeshOffsetTransform*>
( p_entities[i]->getComponent( ComponentType::MeshOffsetTransform) );
AglMatrix world = meshOffset->offset * pb->getOffset().inverse() * body->GetWorld();
AglVector3 impulse = world.GetForward() * m_enginePower * dt;
ps->getController()->ApplyExternalImpulse(pb->m_id, impulse, AglVector3(0, 0, 0));
}
//END APPLY IMPULSE
//Check collision
vector<unsigned int> cols = ps->getController()->CollidesWith(pb->m_id);
bool staticCol = ps->getController()->CollidesWithStaticEnvironment(pb->m_id);
if (cols.size() > 0 || staticCol)
{
explodeRocket(ps, pb, body, p_entities[i]);
}
}// if (rocket->m_age > waitUntilActivation && rocket->m_age <= rocketMaxAge)
else if(rocket->m_age > rocketMaxAge)
{
PhysicsBody* pb = static_cast<PhysicsBody*>(p_entities[i]->getComponent(ComponentType::PhysicsBody));
PhysicsSystem* ps = static_cast<PhysicsSystem*>(m_world->getSystem(SystemType::PhysicsSystem));
RigidBody* body = static_cast<RigidBody*>(ps->getController()->getBody(pb->m_id));
explodeRocket(ps, pb, body, p_entities[i]);
}
}
}