void AnimalThirdPersonControler::orient(int i_xRel, int i_yRel, double i_timeSinceLastFrame)
{
if (!(m_pAnimal != nullptr && m_pCamera != nullptr))
return;
Ogre::Vector3 camPos = m_pCamera->getPosition();
Ogre::Radian angleX(i_xRel * -m_camAngularSpeed);
Ogre::Radian angleY(i_yRel * -m_camAngularSpeed);
Ogre::Vector3 avatarToCamera = m_pCamera->getPosition() - m_pAnimal->m_pNode->getPosition();
// restore lenght
if (avatarToCamera.length() != m_camDistance)
avatarToCamera = avatarToCamera.normalisedCopy() * m_camDistance;
// Do not go to the poles
Ogre::Radian latitude = m_pAnimal->m_pNode->getOrientation().zAxis().angleBetween(avatarToCamera);
if (latitude < Ogre::Radian(Ogre::Math::DegreesToRadians(10.f)) && angleY < Ogre::Radian(0.f))
angleY = Ogre::Radian(0.f);
else if (latitude > Ogre::Radian(Ogre::Math::DegreesToRadians(170.f)) && angleY > Ogre::Radian(0.f))
angleY = Ogre::Radian(0.f);
Ogre::Quaternion orient = Ogre::Quaternion(angleY, m_pCamera->getOrientation().xAxis()) * Ogre::Quaternion(angleX, m_pCamera->getOrientation().yAxis());
Ogre::Vector3 newAvatarToCamera = orient * avatarToCamera;
// Move camera closer if collides with terrain
m_collideCamWithTerrain(newAvatarToCamera);
}
void AsemanSensors::refresh()
{
p->r_vector.x = p->pr_vector.x;
p->r_vector.y = p->pr_vector.y;
p->r_vector.z = p->pr_vector.z;
p->a_vector = rebase(p->pa_vector);
p->g_vector = rebase(p->pg_vector);
return;
const AsemanSensorsResItem & resX0 = analizeItem(p->a_vector.x,p->a_vector.y,p->a_vector.z,false);
const AsemanSensorsResItem & resY0 = analizeItem(p->a_vector.y,p->a_vector.x,p->a_vector.z,false);
const AsemanSensorsResItem & resX1 = analizeItem(p->a_vector.x,p->a_vector.y,p->a_vector.z,true);
const AsemanSensorsResItem & resY1 = analizeItem(p->a_vector.y,p->a_vector.x,p->a_vector.z,true);
AsemanSensorsResItem resX;
if( qAbs(qAbs(90-resX0.beta*180/M_PI)-qAbs(angleY())) < qAbs(qAbs(90-resX1.beta*180/M_PI)-qAbs(angleY())) )
resX = resX0;
else
resX = resX1;
AsemanSensorsResItem resY;
if( qAbs(qAbs(90-resY0.beta*180/M_PI)-qAbs(angleX())) < qAbs(qAbs(90-resY1.beta*180/M_PI)-qAbs(angleX())) )
resY = resY0;
else
resY = resY1;
int rvector_x_sign = angleX()<0? -1 : 1;
int rvector_y_sign = angleY()<0? -1 : 1;
p->r_vector.x = rvector_x_sign*(M_PI/2-resY.beta)*180/M_PI + p->zeroX*M_PI/180;
p->r_vector.y = rvector_y_sign*(M_PI/2-resX.beta)*180/M_PI + p->zeroY*M_PI/180;
p->a_vector.x = resX.newX;
p->a_vector.y = resY.newX;
}