void PlayerVehicle::update(const float currentTime, const float elapsedTime)
{
PhysicalThing* pt = mActor->getPhysicalThing();
OgreNewt::Body* body = NULL;
if(pt) pt->_getBody();
if(body)
{
Vector3 position;
Quaternion orientation;
body->getPositionOrientation(position, orientation);
setPosition(Vec3(position.x, position.y, position.z));
// Get the velocity vector
mCurrentVelocity = body->getVelocity();
// enforce speed limit
// newVelocity = newVelocity.truncateLength (maxSpeed ());
// update speed
setSpeed(mCurrentVelocity.length());
Vec3 newVelocity(mCurrentVelocity.x, mCurrentVelocity.y, mCurrentVelocity.z);
// regenerate local space (by default: align vehicle's forward axis with
// new velocity, but this behavior may be overridden by derived classes.)
if (speed() > 0) regenerateOrthonormalBasisUF (newVelocity / speed());
// prevent adding a counter force against gravity
if (mCurrentVelocity.y < 0.0f) mCurrentVelocity.y = 0.0f;
}
mCurrentForce = Ogre::Vector3::ZERO;
}
void PhysicsRagDoll::setPositionOrientation(const Ogre::Vector3& pos, const Ogre::Quaternion &orient)
{
Ogre::Vector3 oldPos = mNode->_getDerivedPosition();
Ogre::Quaternion oldOri = mNode->_getDerivedOrientation();
Ogre::Quaternion oldOriInv = oldOri.Inverse();
for (RagBoneMapIterator it = mRagBonesMap.begin(); it != mRagBonesMap.end(); it++)
{
OgreNewt::Body* body = it->second->getBody();
if (body)
{
Ogre::Vector3 boneOldPos;
Ogre::Quaternion boneOldOri;
body->getPositionOrientation(boneOldPos, boneOldOri);
// get old position and orientation in local space
Ogre::Vector3 boneOldLocalPos = oldOriInv*(boneOldPos - oldPos);
Ogre::Quaternion boneOldLocalOri = oldOriInv*boneOldOri;
// calculate and set new position in orientation
body->setPositionOrientation(pos + orient*boneOldLocalPos, orient*boneOldLocalOri);
body->unFreeze();
}
}
mNode->setPosition(pos);
mNode->setOrientation(orient);
}
void PhysicalObstacle::_update()
{
OgreNewt::Body *body = mPhysicalThing->_getBody();
RlAssert(body, "PhysicalThing has no body yet!");
Vector3 position;
Quaternion orientation;
body->getPositionOrientation(position, orientation);
const OgreNewt::Collision* collision = body->getCollision();
RlAssert(collision, "Body has no collision!");
AxisAlignedBox box = collision->getAABB();
Ogre::Vector3 dims = box.getMaximum() - box.getMinimum();
OpenSteer::BoxObstacle *obstacle = new OpenSteer::BoxObstacle(dims[0], dims[1], dims[2]);
obstacle->setForward(0,0,-1);
obstacle->setPosition(position[0], position[1], position[2]);
//obstacle->setOrientation(orient[0], orient[1], orient[2]);
setObstacle(obstacle);
}