int currentDirection() {
// int head = (int)round(currentHeading() / (M_PI / 2));
// if (head == 4) {
// head = 0;
// }
// printf("\n\n\n%i\n\n\n", (int)round(currentHeading() / (M_PI / 2)));
return (int)round(currentHeading() / (M_PI / 2));
}
void turnToDirection(int turnDirection) {
adjustAngle();
int currentDir;
currentDir = currentDirection();
double target = (currentDir + turnDirection) * M_PI / 2;
while(fabs(currentHeading() - target) > turnThreshold) {
if(fabs(currentHeading() - target) < slowThreshold) {
if(currentHeading() > target) {
set_motors(-5,5);
}
if(currentHeading() < target) {
set_motors(5,-5);
}
} else {
if(currentHeading() > target) {
set_motors(-15,15);
}
if(currentHeading() < target) {
set_motors(15,-15);
}
}
calcPos();
}
set_motors(0,0);
adjustAngle();
usleep(10000);
}
void turn90()
{
while( fabs(currentHeading() - (M_PI/2.0)) > turnThreshold)
{
if(fabs(currentHeading() - (M_PI/2.0)) < slowThreshold)
{
if(currentHeading() > (M_PI/2.0))
{
set_motors(-1,1);
}
if(currentHeading() < (M_PI/2.0))
{
set_motors(1,-1);
}
}
else
{
if(currentHeading() > (M_PI/2.0))
{
set_motors(-15,15);
}
if(currentHeading() < (M_PI/2.0))
{
set_motors(15,-15);
}
}
calcPos();
}
set_motors(0,0);
printf("Target : %f\n", M_PI/2.0);
}
void CharacterGame::update(long elapsedTime)
{
Vector2 direction;
if (_gamepad->getButtonState(0) == Gamepad::BUTTON_PRESSED)
{
// Jump while the gamepad button is being pressed
jump();
}
if (_gamepad->isJoystickActive(0))
{
// Get joystick direction
direction = _gamepad->getJoystickState(0);
}
else
{
// Construct direction vector from keyboard input
if (_keyFlags & NORTH)
direction.y = 1;
else if (_keyFlags & SOUTH)
direction.y = -1;
if (_keyFlags & EAST)
direction.x = 1;
else if (_keyFlags & WEST)
direction.x = -1;
direction.normalize();
if ((_keyFlags & RUNNING) == 0)
direction *= 0.5f;
}
// Update character animation and velocity
if (direction.isZero())
{
play("idle", true);
_character->setVelocity(Vector3::zero());
}
else
{
bool running = (direction.lengthSquared() > 0.75f);
float speed = running ? RUN_SPEED : WALK_SPEED;
play(running ? "running" : "walking", true, 1.0f);
// Orient the character relative to the camera so he faces the direction we want to move.
const Matrix& cameraMatrix = _scene->getActiveCamera()->getNode()->getWorldMatrix();
Vector3 cameraRight, cameraForward;
cameraMatrix.getRightVector(&cameraRight);
cameraMatrix.getForwardVector(&cameraForward);
// Get the current forward vector for the mesh node (negate it since the character was modelled facing +z)
Vector3 currentHeading(-_characterMeshNode->getForwardVectorWorld());
// Construct a new forward vector for the mesh node
Vector3 newHeading(cameraForward * direction.y + cameraRight * direction.x);
// Compute the rotation amount based on the difference between the current and new vectors
float angle = atan2f(newHeading.x, newHeading.z) - atan2f(currentHeading.x, currentHeading.z);
if (angle > MATH_PI)
angle -= MATH_PIX2;
else if (angle < -MATH_PI)
angle += MATH_PIX2;
angle *= (float)elapsedTime * 0.001f * MATH_PIX2;
_characterMeshNode->rotate(Vector3::unitY(), angle);
// Update the character's velocity
Vector3 velocity = -_characterMeshNode->getForwardVectorWorld();
velocity.normalize();
velocity *= speed;
_character->setVelocity(velocity);
}
// Adjust camera to avoid it from being obstructed by walls and objects in the scene.
adjustCamera(elapsedTime);
// Project the character's shadow node onto the surface directly below him.
PhysicsController::HitResult hitResult;
Vector3 v = _character->getNode()->getTranslationWorld();
if (getPhysicsController()->rayTest(Ray(Vector3(v.x, v.y + 1.0f, v.z), Vector3(0, -1, 0)), 100.0f, &hitResult))
_characterShadowNode->setTranslation(Vector3(hitResult.point.x, hitResult.point.y + 0.1f, hitResult.point.z));
}
