void
OpenSteer::SimpleVehicle::applyBrakingForce (const float rate, const float deltaTime)
{
const float rawBraking = speed () * rate;
const float clipBraking = ((rawBraking < maxForce ()) ?
rawBraking :
maxForce ());
setSpeed (speed () - (clipBraking * deltaTime));
}
// Will be called from subclasses, as is virtual function
//----------------------------------------------------------------------------------------------------------------------
void Muscle::toXml(ci::XmlTree& muscle)
{
// XMLTree muscle provided by subclass //ci::XmlTree muscle("Muscle", "");
muscle.setAttribute("Name", getName());
muscle.setAttribute("IsFlexor", isFlexor());
muscle.setAttribute("IsMono", isMonoArticulate());
ci::XmlTree attach("Attachment","");
attach.setAttribute("Origin", getOrigin());
attach.setAttribute("Insertion", getInsertion());
muscle.push_back(attach);
double Fmax = getForceMax();
ci::XmlTree maxForce("MaxIsoForce", toString(Fmax));
muscle.push_back(maxForce);
double Vmax = getVelocityMax();
ci::XmlTree maxVel("MaxVelocity", toString(Vmax));
muscle.push_back(maxVel);
ci::XmlTree length("Length","");
length.setAttribute("Optimal", getOptimalLength());
length.setAttribute("Min", m_lengthMin);
length.setAttribute("Max", m_lengthMax);
muscle.push_back(length);
ci::XmlTree hillParams("HillParameters","");
hillParams.setAttribute("Shortening", m_hillSh);
hillParams.setAttribute("Lengthening", m_hillLn);
hillParams.setAttribute("Asymptote", m_hillMax);
hillParams.setAttribute("Slope", m_hillSlope);
muscle.push_back(hillParams);
}
// reset state
void LowSpeedTurn::reset(){
// reset vehicle state
SimpleVehicle::reset();
// speed along Forward direction.
speed(startSpeed);
// initial position along X axis
position(startX, 0, 0);
// steering force clip magnitude
maxForce(0.3f);
// velocity clip magnitude
maxSpeed(1.5f);
// for next instance: step starting location
startX += 2;
// for next instance: step speed
startSpeed += 0.15f;
// 15 seconds and 150 points along the trail
setTrailParameters(15, 150);
clearTrailHistory(); // prevent long streaks due to teleportation
// load the mesh
Mesh = getMesh_VehicleDisk();
Box = Mesh.getBoundingbox();
setScale(irr::core::vector3df(2.0, 1.0, 2.0));
// disable lighting
Material.Lighting = false;
}
void
OpenSteer::SimpleVehicle::annotationVelocityAcceleration (float maxLengthA,
float maxLengthV)
{
const float desat = 0.4f;
const float aScale = maxLengthA / maxForce ();
const float vScale = maxLengthV / maxSpeed ();
const Vec3& p = position();
const Vec3 aColor (desat, desat, 1); // bluish
const Vec3 vColor ( 1, desat, 1); // pinkish
annotationLine (p, p + (velocity () * vScale), vColor);
annotationLine (p, p + (_smoothedAcceleration * aScale), aColor);
}
void
OpenSteer::SimpleVehicle::applySteeringForce (const Vec3& force,
const float elapsedTime)
{
const Vec3 adjustedForce = adjustRawSteeringForce (force, elapsedTime);
// enforce limit on magnitude of steering force
const Vec3 clippedForce = adjustedForce.truncateLength (maxForce ());
// compute acceleration and velocity
Vec3 newAcceleration = (clippedForce / mass());
Vec3 newVelocity = velocity();
// damp out abrupt changes and oscillations in steering acceleration
// (rate is proportional to time step, then clipped into useful range)
if (elapsedTime > 0)
{
const float smoothRate = clip (9 * elapsedTime, 0.15f, 0.4f);
blendIntoAccumulator (smoothRate,
newAcceleration,
_smoothedAcceleration);
}
// Euler integrate (per frame) acceleration into velocity
newVelocity += _smoothedAcceleration * elapsedTime;
// enforce speed limit
newVelocity = newVelocity.truncateLength (maxSpeed ());
// update Speed
setSpeed (newVelocity.length());
// Euler integrate (per frame) velocity into position
setPosition (position() + (newVelocity * elapsedTime));
// regenerate local space (by default: align vehicle's forward axis with
// new velocity, but this behavior may be overridden by derived classes.)
regenerateLocalSpace (newVelocity, elapsedTime);
// maintain path curvature information
measurePathCurvature (elapsedTime);
// running average of recent positions
blendIntoAccumulator (elapsedTime * 0.06f, // QQQ
position (),
_smoothedPosition);
}
