void Particle::update(float timeSinceLastUpdate)
{
const Point &position = getPosition();
const Vector3D &velocity = getVelocity();
// decrease lifetime
_lifetime -= timeSinceLastUpdate;
// compute new position
float speed = sqrt( velocity.x*velocity.x + velocity.y*velocity.y + velocity.z*velocity.z );
if ( speed < 0.1 )
{
setVelocity( Vector3D( 0.0, 0.0, 0.0 ) );
}
Point newPosition( position.x + velocity.x * timeSinceLastUpdate,
position.y + velocity.y * timeSinceLastUpdate + 0.5 * GRAVITATIONAL_ACCELARATION * timeSinceLastUpdate * timeSinceLastUpdate,
position.z + velocity.z * timeSinceLastUpdate );
Vector3D newVelocity( velocity.x, velocity.y + GRAVITATIONAL_ACCELARATION * timeSinceLastUpdate, velocity.z );
// reflect and slow down the particle, if it hits the ground
if( newPosition.y < _radius)
{
newVelocity = Vector3D(newVelocity.x * 0.4, -newVelocity.y * 0.4, newVelocity.z * 0.4);
newPosition = Point(newPosition.x, 0.0 + _radius, newPosition.z);
}
// update configuration
setPosition( newPosition );
setVelocity( newVelocity );
}
void HRVOAgent::updateDesideredVelocity()
{
setup();
_HRVOAgent->computeNewVelocity();
CVector2 newVelocity(_HRVOAgent->newVelocity_.x(),_HRVOAgent->newVelocity_.y());
desideredAngle=(newVelocity.Angle()-angle).SignedNormalize();
desideredSpeed=abs(_HRVOAgent->newVelocity_);
}
void PlatformsCharacterRbDemo::moveVerticalPlatform()
{
const hkReal velAplitude = 3.0f;
const hkReal velOmega = 1.0f;
hkVector4 newVelocity; newVelocity = m_verPlatform->getLinearVelocity();
newVelocity(2) = velAplitude*cos(velOmega*m_time);
m_verPlatform->setLinearVelocity(newVelocity);
}
DOUBLE2 MassProjList::HandleCircularCollision(DOUBLE2 otherCirclePos,DOUBLE2 otherCircleVelocity, double radius, double mass)
{
DOUBLE2 velocity(0,0), newVelocity(0,0);
velocity=otherCircleVelocity;
for (int count=0; count < MAX_MASSPROJECTILES; ++count)
{
if (m_MassProjectilePtrArr[count] != nullptr)
{
newVelocity=m_MassProjectilePtrArr[count]->HandleCircularCollision(otherCirclePos,velocity ,radius, mass );
if (newVelocity!=DOUBLE2(0,0))
velocity= newVelocity;
}
}
return velocity;
}
/**
* This function builds up a matrix describing the movement of the
* camera over dTime seconds.
*/
Matrix& CameraControl::calculateDeltaMatrix( float dTime )
{
BW_GUARD;
Matrix m;
deltaMatrix_.setIdentity();
strafeRate_ += strafeRateVel_;
strafeRate_ = strafeRate_ > 0.0f ? strafeRate_ : 0.0f;
if (0) // turning left
{
m.setRotateY( DEG_TO_RAD(60.f*dTime));
deltaMatrix_.postMultiply(m);
}
if (0) // turning right
{
m.setRotateY( -DEG_TO_RAD(60.f*dTime));
deltaMatrix_.postMultiply(m);
}
if (0) // rolling left
{
m.setRotateZ( -DEG_TO_RAD(60.f*dTime));
deltaMatrix_.postMultiply(m);
}
if (0) // rolling right
{
m.setRotateZ( DEG_TO_RAD(60.f*dTime));
deltaMatrix_.postMultiply(m);
}
Vector3 newNudge( xNudge_ + xVel_, yNudge_ + yVel_, zNudge_ + zVel_ );
newNudge *= strafeRate_;
CameraControl::nudge( newNudge );
// Update nudge and velocity.
float halfLife = cameraMass() * 0.1f;
if ( halfLife > 0.0 )
{
float x = nudge().x == 0.0f ?
Math::decay( velocity().x, nudge().x, halfLife * 0.3f, dTime ) :
Math::decay( velocity().x, nudge().x, halfLife, dTime );
float y = nudge().y == 0.0f ?
Math::decay( velocity().y, nudge().y, halfLife * 0.3f, dTime ) :
Math::decay( velocity().y, nudge().y, halfLife, dTime );
float z = nudge().z == 0.0f ?
Math::decay( velocity().z, nudge().z, halfLife * 0.3f, dTime ) :
Math::decay( velocity().z, nudge().z, halfLife, dTime );
Vector3 newVelocity( x, y, z );
CameraControl::velocity( newVelocity );
}
else
{
CameraControl::velocity( nudge() );
}
// CameraControl::velocity( nudge() );
// Update position.
m.setTranslate( velocity() * dTime );
deltaMatrix_.postMultiply( m );
return deltaMatrix_;
}
void SteeringVehicle::update(const float currentTime, const float elapsedTime)
{
SimpleVehicle::update(currentTime, elapsedTime);
Vector3 pos = mCreature->getPosition();
setPosition(pos);
OgreNewt::Body* body = mCreature->getActor()->getPhysicalThing()->_getBody();
// Get the velocity vector
mCurrentVelocity = body->getVelocity();
// enforce speed limit
// newVelocity = newVelocity.truncateLength(maxSpeed());
// update speed
setSpeed(mCurrentVelocity.length());
Vector3 newVelocity(mCurrentVelocity);
// regenerate local space(by default: align vehicle's forward axis with
// new velocity, but this behavior may be overridden by derived classes.)
// use future orientation or not??
Quaternion orientation(mController->getYaw(), Ogre::Vector3::UNIT_Y);
Vector3 newUnitForward = orientation*Vector3::NEGATIVE_UNIT_Z;
regenerateOrthonormalBasisUF(newUnitForward);
// only process if mMovingCreature not NULL
if (mController == NULL || mCreature->getQueryFlags() & QUERYFLAG_PLAYER)
{
mCurrentForce = Vector3::ZERO;
return;
}
// calculate the result of the force
Vector3 result = mCurrentForce;// + mCurrentVelocity;
mDebugSteer = mCurrentForce;
// @todo remove this
if (mCreature->getAu() <= 6)
mCreature->modifyAu(20,true);
AbstractMovement* mov_drehen = mController->getMovementFromId(CreatureController::MT_DREHEN);
Real vel_drehen(0);
Radian max_drehen = Degree(0);
if (mov_drehen->calculateBaseVelocity(vel_drehen))
{
max_drehen = Degree(vel_drehen * 360 * elapsedTime);
}
Ogre::Quaternion future_orientation(mController->getYaw(), Ogre::Vector3::UNIT_Y);
Ogre::Vector3 creatureDirection = future_orientation * Ogre::Vector3::NEGATIVE_UNIT_Z;
Radian yaw(0);
creatureDirection.y = result.y = 0;
yaw = creatureDirection.getRotationTo(result, Ogre::Vector3::UNIT_Y).getYaw();
if (yaw > Radian(0) && yaw > max_drehen)
yaw = max_drehen;
if (yaw < Radian(0) && yaw < -max_drehen)
yaw = -max_drehen;
Ogre::Vector3 direction(Ogre::Vector3::ZERO);
Ogre::Vector3 rotation(0,yaw.valueRadians(),0);
CreatureController::MovementType movement = CreatureController::MT_STEHEN;
if (result != Ogre::Vector3::ZERO)
{
direction.z = -1;
movement = CreatureController::MT_GEHEN;
}
mController->setMovement(movement, direction, rotation);
LOG_DEBUG(Logger::AI, "SteeringVehicle: mController->setMovement " +
Ogre::StringConverter::toString(movement) + ", "
+ Ogre::StringConverter::toString(direction) + ", "
+ Ogre::StringConverter::toString(rotation));
mCurrentForce = Ogre::Vector3::ZERO;
}
