void System::ROTATE_FRAGMENT(double degree_amount, VECTOR direction,int Gr, VECTOR center){
/**
\param[in] degree_amount The magnitude of rotation, in degrees
\param[in] direction The vector definining the axis of rotation. The magnitude of this vector does not matter.
\param[in] Gr The ID (not index!) of the group/fragment to be rotated
\param[in] center The vector defining the center of the rotating coordinate system
Simplest manipulation
Rotates the fragment with the fragment ID "int Gr" on amount of "double amount"
around the axis given by "VECTOR direction" around the given center
*/
int v = get_fragment_index_by_fragment_id(Gr);
VECTOR dir; dir = center - Fragments[v].Group_RB.rb_cm;
double amount = dir.length();
// Translate the fragment's center of mass to the "center" point
TRANSLATE_FRAGMENT(amount, dir,Gr);
// Rotate the fragment around new center of mass
ROTATE_FRAGMENT(degree_amount, direction, Gr);
// Translate the fragment's center of mass back to the original position
TRANSLATE_FRAGMENT(-amount, dir,Gr);
}
/*
--------------------------------------------------------------------------------------------------
- check collision with stairs
--------------------------------------------------------------------------------------------------
*/
bool PlanesPhysicHandler::ColisionWithStair(const AABB & actorBB, const VECTOR &Speed, VECTOR &ModifiedSpeed)
{
float moveX = Speed.x;
float moveZ = Speed.z;
// calculate norm of speed
VECTOR speedNorm = Speed.unit();
float startX = (actorBB.P.x+actorBB.E.x)/2.0f;
float startZ = (actorBB.P.z+actorBB.E.z)/2.0f;
std::vector<StairPlane>::const_iterator it = _stairs.begin();
std::vector<StairPlane>::const_iterator end = _stairs.end();
// for each stairs
for(int i=0; it != end; ++it, ++i)
{
// project point to plane and check if we cross it
float DotProduct=speedNorm.dot(it->Normal);
// Determine If Ray Parallel To Plane
if (abs(DotProduct) > 0.000001f)
{
// Find Distance To Collision Point
float l2=(it->Normal.dot(it->C1-VECTOR(startX, actorBB.P.y, startZ)))/DotProduct;
// Test If Collision Behind Start or after end
if (l2 > 0 && l2 < Speed.length())
{
float collionsX = startX + (speedNorm.x * l2);
float collionsZ = startZ + (speedNorm.z * l2);
if((collionsX >= it->minX) && (collionsX <= it->maxX))
{
if((collionsZ >= it->minZ) && (collionsZ <= it->maxZ))
{
VECTOR spmY(Speed.x, 0, Speed.z);
VECTOR Vt(it->Normal.dot(spmY)*it->Normal);
VECTOR Vn(spmY - Vt);
ModifiedSpeed = Vn;
return true;
}
}
}
}
}
return false;
}
