void VPathNode::updateWorldData( void )
{
if ( !mPath )
{
setWorldPosition( getLocalPosition() );
setWorldRotation( getLocalRotation() );
return;
}
// Fetch Path Details.
const MatrixF &pathTransform = mPath->getTransform();
const QuatF &pathRotation( pathTransform );
// Calculate the World Position.
Point3F newPosition = getLocalPosition();
newPosition.convolve( mPath->getScale() );
pathTransform.mulP( newPosition );
// Calculate the new Rotation.
QuatF newRotation;
newRotation.mul( getLocalRotation(), pathRotation );
// Apply.
setWorldPosition( newPosition );
setWorldRotation( newRotation );
}
void Transform::setParent(Transform* transform)
{
if(this->parent != NULL)
{
for(int i = 0; i < this->parent->children.size(); i++)
{
if(this->parent->children.at(i) == this)
{
this->parent->children.erase(this->parent->children.begin() + i);
break;
}
}
}
if(transform != NULL)
{
transform->children.push_back(this);
}
setLocalPosition(getPosition());
setLocalRotation(getRotation());
this->parent = transform;
setPosition(getLocalPosition());
setRotation(getLocalRotation());
}
//----------------------------------------------------------------------
void SpaceGameActor::applyForwardImpulse()
{
vec3f impulseInDirOfShip = transformVector( vec3f( 0.0f, IMPULSE_POWER, 0.0f ), getLocalRotation() );
m_vel += vec2f( impulseInDirOfShip.x, impulseInDirOfShip.y );
m_forcesAppliedBitFlags |= APPLY_FORWARD_IMPULSE;
}
//----------------------------------------------------------------------
void SpaceGameActor::applyReverseImpulse()
{
m_forwardImpulse -= 1.0f;
vec3f impulseInDirOfShip = transformVector( vec3f( 0.0f, -IMPULSE_POWER, 0.0f ), getLocalRotation() );
m_vel += vec2f( impulseInDirOfShip.x, impulseInDirOfShip.y );
m_forcesAppliedBitFlags |= APPLY_REVERSE_IMPULSE;
}
vec3 Transform::getGlobalRotation()
{
vec3 out = getLocalRotation();
if (object->parent != nullptr)
{
out += object->parent->getTransform()->getGlobalRotation();
}
return out;
}
//----------------------------------------------------------------------
void SpaceGameActor::update( double deltaTime )
{
Actor::update( deltaTime );
m_wasSpawnedLastFrame = false;
float dt = static_cast< float >( deltaTime );
setRotation( mat3f::createMatrixFromQuaternion( quatf::makeQuaternionFromAxisAngle( MathFuncs<float>::degreesToRadians( m_rotation ), vec3f( 0.0f, 0.0f, 1.0f ) ) ) );
//vec3f impulseInDirOfShip = transformVector( vec3f( 0.0f, IMPULSE_POWER, 0.0f ), getLocalRotation() );
//impulseInDirOfShip *= m_forwardImpulse;
//
//m_vel += vec2f( impulseInDirOfShip.x, impulseInDirOfShip.y );
m_frames[ m_currentFrame ].position += m_vel*dt;
m_vel -= m_vel * m_drag * dt;
//m_forwardImpulse = 0.0f;
m_frames[ m_currentFrame ].position.x = (float)MathFuncs<int>::wrap( (int)m_frames[ m_currentFrame ].position.x, 0, SCREEN_WIDTH );
m_frames[ m_currentFrame ].position.y = (float)MathFuncs<int>::wrap( (int)m_frames[ m_currentFrame ].position.y, 0, SCREEN_HEIGHT );
vec3f tempDir = transformVector( vec3f( 0.0f, 1.0f, 0.0f ), getLocalRotation() );
tempDir.normalize();
m_dir = vec2f( tempDir.x, tempDir.y );
}
/**
* creates a joint between to boxes
* and moves box 2 in the correct possition according to box 1
*/
int Physics::createJoint(int box1, int box2, int scewIn,
int preX, int preY, int preS,
int postX, int postY, int postS,
int dofX, int dofY, int dofZ){
//default value
if(preX==0){preX=50;}
if(preY==0){preY=50;}
if(postX==0){postX=50;}
if(postY==0){postY=50;}
preX=preX%99+1;
preY=preY%99+1;
preS=preS%6;
postX=postX%99+1;
postY=postY%99+1;
postS=postS%6;
scewIn=scewIn%360;
btScalar scew = ((float)scewIn*2.f*PI)/360.f;
//tjek input in debug mode
btAssert(preX>0 && preX<100);
btAssert(preY>0 && preY<100);
btAssert(preS>-1 && preS<6);
btAssert(postX>0 && postX<100);
btAssert(postY>0 && postY<100);
btAssert(postS>-1 && postS<6);
//Get box pointers
btRigidBody* Box1 = (btRigidBody*) m_dynamicsWorld->getCollisionObjectArray().at(box1);
btRigidBody* Box2 = (btRigidBody*) m_dynamicsWorld->getCollisionObjectArray().at(box2);
//Define the local transform on the shapes regarding to the joint.
btTransform localBox1, localBox2;
localBox1.setIdentity();
localBox2.setIdentity();
//box1
btVector3 halfside1 = ((btBoxShape*)Box1->getCollisionShape())->getHalfExtentsWithMargin();
btVector3 center1 =Box1->getWorldTransform().getOrigin();
btQuaternion rotation1 =Box1->getWorldTransform().getRotation();
btVector3 connection1 = getLocalJointPosition(preX,preY,preS,&halfside1);
//translate joint
localBox1.setOrigin(connection1);
localBox1.setRotation(rotation1.inverse());
//box2
btVector3 halfside2 = ((btBoxShape*)Box2->getCollisionShape())->getHalfExtentsWithMargin();
btVector3 connection2 = getLocalJointPosition(postX,postY,postS,&halfside2);
btQuaternion rotation2 = getLocalRotation(preS, postS,scew,box1);
rotation2*=rotation1;
btVector3 center2 = center1+rotate(&connection1,&rotation1.inverse())-rotate(&connection2,&rotation2);
//rotate and translate box
btTransform trans2;
trans2.setIdentity();
//trans2.setRotation(rotation2);
trans2.setRotation(rotation2.inverse());
trans2.setOrigin(center2);
Box2->setCenterOfMassTransform(trans2);
btDefaultMotionState* myMotionState = (btDefaultMotionState*)((Box2)->getMotionState());
myMotionState->setWorldTransform(Box2->getWorldTransform());
//rotate and translate joint
localBox2.setRotation(rotation2);
localBox2.setOrigin(connection2);
//setup contraint/joint
btGeneric6DofConstraint* gen6C;
//int DOFx = dofX %1; int DOFy = dofY %1; int DOFz = dofZ %1;
int DOFx = dofX %170; int DOFy = dofY %170; int DOFz = dofZ %170;
// int DOFx = dofX %170+10; int DOFy = dofY%170+10; int DOFz = dofZ %170+10;
float DOFxR = ((float)DOFx*2.f*PI)/360.f; float DOFyR = ((float)DOFy*2.f*PI)/360.f; float DOFzR = ((float)DOFz*2.f*PI)/360.f;
// printf("%f %f %f\n", DOFxR,DOFyR,DOFzR);
UserPointerStruct* theStruct = new UserPointerStruct();
btScalar mass1=1/Box1->getInvMass();
btScalar mass2=1/Box2->getInvMass();
gen6C = new btGeneric6DofConstraint(*Box1,*Box2,localBox1,localBox2,true);
gen6C->setLimit(0,0,0);//dist to other box can be set as (0,dist,dist)
gen6C->setLimit(1,0,0);
gen6C->setLimit(2,0,0);
gen6C->setAngularLowerLimit(btVector3(-DOFxR/2,-DOFyR/2,-DOFzR/2));
gen6C->setAngularUpperLimit(btVector3(DOFxR/2,DOFyR/2,DOFzR/2));
sensors.push_back(0);
sensors.push_back(0);
sensors.push_back(0);
theStruct->sensorIndex=sensors.size()-3;
float crossSection =getCrossSectionGen6d(preS, &halfside1,preX,preY,postS,&halfside2,postX,postY);
theStruct->CrossSectionalStrength=crossSection*muscleStregnth;
gen6C->setUserConstraintPtr(theStruct);
gen6C->setBreakingImpulseThreshold(tensileStrength*crossSection);
m_dynamicsWorld->addConstraint(gen6C,true);
int returnVal = currentJointIndex;
currentJointIndex++;
return returnVal;
}
//-------------------------------------------
void Camera::update( double deltaTime )
{
Node::update( deltaTime );
m_dir = transformVector( vec3f( 0.0f, 0.0f, -1.0f ), getLocalRotation() );
}
