TVector3d CCharShape::AdjustRollvector (const CControl *ctrl, const TVector3d& vel_, const TVector3d& zvec) {
TMatrix<4, 4> rot_mat;
TVector3d vel = ProjectToPlane(zvec, vel_);
vel.Norm();
if (ctrl->is_braking) {
rot_mat = RotateAboutVectorMatrix (vel, ctrl->turn_fact * BRAKING_ROLL_ANGLE);
} else {
rot_mat = RotateAboutVectorMatrix (vel, ctrl->turn_fact * MAX_ROLL_ANGLE);
}
return TransformVector (rot_mat, zvec);
}
TVector3 CCharShape::AdjustRollvector (CControl *ctrl, TVector3 vel, TVector3 zvec) {
TMatrix rot_mat;
vel = ProjectToPlane (zvec, vel);
NormVector (&vel);
if (ctrl->is_braking) {
RotateAboutVectorMatrix (rot_mat, vel, ctrl->turn_fact * BRAKING_ROLL_ANGLE);
} else {
RotateAboutVectorMatrix (rot_mat, vel, ctrl->turn_fact * MAX_ROLL_ANGLE);
}
return TransformVector (rot_mat, zvec);
}
void CCharShape::AdjustOrientation (CControl *ctrl, double dtime,
double dist_from_surface, TVector3 surf_nml) {
TVector3 new_x, new_y, new_z;
TMatrix cob_mat, inv_cob_mat;
TMatrix rot_mat;
TQuaternion new_orient;
double time_constant;
static TVector3 minus_z_vec = { 0, 0, -1};
static TVector3 y_vec = { 0, 1, 0 };
if (dist_from_surface > 0) {
new_y = ScaleVector (1, ctrl->cvel);
NormVector (&new_y);
new_z = ProjectToPlane (new_y, MakeVector(0, -1, 0));
NormVector (&new_z);
new_z = AdjustRollvector (ctrl, ctrl->cvel, new_z);
} else {
new_z = ScaleVector (-1, surf_nml);
new_z = AdjustRollvector (ctrl, ctrl->cvel, new_z);
new_y = ProjectToPlane (surf_nml, ScaleVector (1, ctrl->cvel));
NormVector(&new_y);
}
new_x = CrossProduct (new_y, new_z);
MakeBasismatrix_Inv (cob_mat, inv_cob_mat, new_x, new_y, new_z);
new_orient = MakeQuaternionFromMatrix (cob_mat);
if (!ctrl->orientation_initialized) {
ctrl->orientation_initialized = true;
ctrl->corientation = new_orient;
}
time_constant = dist_from_surface > 0 ? TO_AIR_TIME : TO_TIME;
ctrl->corientation = InterpolateQuaternions (
ctrl->corientation, new_orient,
min (dtime / time_constant, 1.0));
ctrl->plane_nml = RotateVector (ctrl->corientation, minus_z_vec);
ctrl->cdirection = RotateVector (ctrl->corientation, y_vec);
MakeMatrixFromQuaternion (cob_mat, ctrl->corientation);
// Trick rotations
new_y = MakeVector (cob_mat[1][0], cob_mat[1][1], cob_mat[1][2]);
RotateAboutVectorMatrix (rot_mat, new_y, (ctrl->roll_factor * 360));
MultiplyMatrices (cob_mat, rot_mat, cob_mat);
new_x = MakeVector (cob_mat[0][0], cob_mat[0][1], cob_mat[0][2]);
RotateAboutVectorMatrix (rot_mat, new_x, ctrl->flip_factor * 360);
MultiplyMatrices (cob_mat, rot_mat, cob_mat);
TransposeMatrix (cob_mat, inv_cob_mat);
TransformNode (0, cob_mat, inv_cob_mat);
}
void CCharShape::AdjustOrientation (CControl *ctrl, bool eps,
ETR_DOUBLE dist_from_surface, const TVector3d& surf_nml) {
TVector3d new_y, new_z;
static const TVector3d minus_z_vec(0, 0, -1);
static const TVector3d y_vec(0, 1, 0);
if (dist_from_surface > 0) {
new_y = ctrl->cvel;
new_y.Norm();
new_z = ProjectToPlane (new_y, TVector3d(0, -1, 0));
new_z.Norm();
new_z = AdjustRollvector (ctrl, ctrl->cvel, new_z);
} else {
new_z = -1.0 * surf_nml;
new_z = AdjustRollvector (ctrl, ctrl->cvel, new_z);
new_y = ProjectToPlane (surf_nml, ctrl->cvel);
new_y.Norm();
}
TVector3d new_x = CrossProduct (new_y, new_z);
TMatrix<4, 4> cob_mat(new_x, new_y, new_z);
TQuaternion new_orient = MakeQuaternionFromMatrix (cob_mat);
if (!ctrl->orientation_initialized) {
ctrl->orientation_initialized = true;
ctrl->corientation = new_orient;
}
ETR_DOUBLE time_constant = dist_from_surface > 0 ? TO_AIR_TIME : TO_TIME;
float dtime = eps ? EPS : g_game.time_step;
ctrl->corientation = InterpolateQuaternions (
ctrl->corientation, new_orient,
min (dtime / time_constant, 1.0));
ctrl->plane_nml = RotateVector (ctrl->corientation, minus_z_vec);
ctrl->cdirection = RotateVector (ctrl->corientation, y_vec);
cob_mat = MakeMatrixFromQuaternion(ctrl->corientation);
// Trick rotations
new_y = TVector3d (cob_mat[1][0], cob_mat[1][1], cob_mat[1][2]);
TMatrix<4, 4> rot_mat = RotateAboutVectorMatrix(new_y, (ctrl->roll_factor * 360));
cob_mat = rot_mat * cob_mat;
new_x = TVector3d (cob_mat[0][0], cob_mat[0][1], cob_mat[0][2]);
rot_mat = RotateAboutVectorMatrix (new_x, ctrl->flip_factor * 360);
cob_mat = rot_mat * cob_mat;
TransformNode (0, cob_mat, cob_mat.GetTransposed());
}