void CGravControllerPoint::AttachEntity( CBasePlayer *pPlayer, CBaseEntity *pEntity, IPhysicsObject *pPhys, short physicsbone, const Vector &vGrabPosition )
{
m_attachedEntity = pEntity;
m_attachedPhysicsBone = physicsbone;
pPhys->WorldToLocal( &m_localPosition, vGrabPosition );
m_worldPosition = vGrabPosition;
pPhys->GetDamping( NULL, &m_saveDamping );
m_saveMass = pPhys->GetMass();
float damping = 2;
pPhys->SetDamping( NULL, &damping );
pPhys->SetMass( 50000 );
m_controller = physenv->CreateMotionController( this );
m_controller->AttachObject( pPhys, true );
Vector position;
QAngle angles;
pPhys->GetPosition( &position, &angles );
SetTargetPosition( vGrabPosition, angles );
m_targetRotation = TransformAnglesToPlayerSpace( angles, pPlayer );
#ifdef ARGG
// adnan
// we need to grab the preferred/non preferred carry angles here for the rotatedcarryangles
m_vecRotatedCarryAngles = m_targetRotation;
// end adnan
#endif
}
bool SeekObject::SeekUpdateMoton(){
auto PtrSeek = GetComponent<SeekSteering>();
PtrSeek->SetTargetPosition(GetPlayerPosition());
if (GetPlayerLength() <= m_StateChangeSize){
return true;
}
return false;
}
bool SeekObject::ArriveUpdateMoton(){
auto PtrArrive = GetComponent<ArriveSteering>();
PtrArrive->SetTargetPosition(GetPlayerPosition());
if (GetPlayerLength() > m_StateChangeSize){
//プレイヤーとの距離が一定以上ならtrue
return true;
}
return false;
}
/*
================
hhCameraInterpolator::UpdateTarget
================
*/
void hhCameraInterpolator::UpdateTarget( const idVec3& idealPos, const idMat3& idealAxis, float eyeOffset, int interpFlags ) {
if( !positionInfo.end.Compare(idealPos, VECTOR_EPSILON) ) {
SetTargetPosition( idealPos, interpFlags );
}
if( !idealAxis[2].Compare(GetIdealUpVector(), VECTOR_EPSILON) ) {
SetTargetAxis( idealAxis, interpFlags );
}
if( hhMath::Fabs(eyeOffset - hhMath::Fabs(eyeOffsetInfo.end)) >= VECTOR_EPSILON ) {
SetTargetEyeOffset( eyeOffset, interpFlags );
}
}
void CSoldierBase::Command(Sint32 n)
{
switch( n ){
case enSoldierCommandFuttobi:
//吹っ飛びダウン
m_sWalkType = enWalkTypeEscape;
SetTargetPosition(9600*100);
ChangeMoveType( enMoveTypeFlyDown );
SetFuttobi(180);
SetEnd();
break;
}
}
void CGrabController::AttachEntity( CBaseEntity *pEntity, IPhysicsObject *pPhys, const Vector &position, const QAngle &rotation )
{
pPhys->GetDamping( NULL, &m_saveRotDamping );
float damping = 10;
pPhys->SetDamping( NULL, &damping );
m_controller = physenv->CreateMotionController( this );
m_controller->AttachObject( pPhys );
m_controller->SetPriority( IPhysicsMotionController::HIGH_PRIORITY );
pPhys->Wake();
PhysSetGameFlags( pPhys, FVPHYSICS_PLAYER_HELD );
SetTargetPosition( position, rotation );
m_attachedEntity = pEntity;
m_flLoadWeight = pPhys->GetMass();
}
void CGravControllerPoint::AttachEntity( CBaseEntity *pEntity, IPhysicsObject *pPhys, const Vector &position )
{
m_attachedEntity = pEntity;
pPhys->WorldToLocal( &m_localPosition, position );
m_worldPosition = position;
pPhys->GetDamping( NULL, &m_saveDamping );
float damping = 2;
pPhys->SetDamping( NULL, &damping );
m_controller = physenv->CreateMotionController( this );
m_controller->AttachObject( pPhys, true );
m_controller->SetPriority( IPhysicsMotionController::HIGH_PRIORITY );
SetTargetPosition( position );
m_maxAcceleration = phys_gunforce.GetFloat() * pPhys->GetInvMass();
m_targetRotation = pEntity->GetAbsAngles();
float torque = phys_guntorque.GetFloat();
m_maxAngularAcceleration = torque * pPhys->GetInvInertia();
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// adnan
// want to add an angles modifier key
bool CGravControllerPoint::UpdateObject( CBasePlayer *pPlayer, CBaseEntity *pEntity )
{
IPhysicsObject *pPhysics = GetPhysObjFromPhysicsBone( pEntity, m_attachedPhysicsBone );
if ( !pEntity || !pPhysics )
{
return false;
}
#ifdef ARGG
// adnan
// if we've been rotating it, set it to its proper new angles (change m_attachedAnglesPlayerSpace while modifier)
//Pickup_GetRotatedCarryAngles( pEntity, pPlayer, pPlayer->EntityToWorldTransform(), angles );
// added the ... && (mousedx | mousedy) so we dont have to calculate if no mouse movement
// UPDATE: m_vecRotatedCarryAngles has become a temp variable... can be cleaned up by using actual temp vars
#ifdef CLIENT_DLL
if( m_bHasRotatedCarryAngles && (pPlayer->m_pCurrentCommand->mousedx || pPlayer->m_pCurrentCommand->mousedy) )
#else
if( m_bHasRotatedCarryAngles && (pPlayer->GetCurrentCommand()->mousedx || pPlayer->GetCurrentCommand()->mousedy) )
#endif
{
// method II: relative orientation
VMatrix vDeltaRotation, vCurrentRotation, vNewRotation;
MatrixFromAngles( m_targetRotation, vCurrentRotation );
#ifdef CLIENT_DLL
m_vecRotatedCarryAngles[YAW] = pPlayer->m_pCurrentCommand->mousedx*0.05;
m_vecRotatedCarryAngles[PITCH] = pPlayer->m_pCurrentCommand->mousedy*-0.05;
#else
m_vecRotatedCarryAngles[YAW] = pPlayer->GetCurrentCommand()->mousedx*0.05;
m_vecRotatedCarryAngles[PITCH] = pPlayer->GetCurrentCommand()->mousedy*-0.05;
#endif
m_vecRotatedCarryAngles[ROLL] = 0;
MatrixFromAngles( m_vecRotatedCarryAngles, vDeltaRotation );
MatrixMultiply(vDeltaRotation, vCurrentRotation, vNewRotation);
MatrixToAngles( vNewRotation, m_targetRotation );
}
// end adnan
#endif
SetTargetPosition( m_targetPosition, m_targetRotation );
return true;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// adnan
// want to add an angles modifier key
bool CGravControllerPoint::UpdateObject( CBasePlayer *pPlayer, CBaseEntity *pEntity )
{
if ( !pEntity || pPlayer->GetGroundEntity() == pEntity || !pEntity->VPhysicsGetObject() )
{
return false;
}
//Adrian: Oops, our object became motion disabled, let go!
IPhysicsObject *pPhys = pEntity->VPhysicsGetObject();
if ( pPhys && pPhys->IsMoveable() == false )
{
return false;
}
SetTargetPosition( m_targetPosition, m_targetRotation );
return true;
}
void CGravControllerPoint::AttachEntity( CBasePlayer *pPlayer, CBaseEntity *pEntity, IPhysicsObject *pPhys, const Vector &vGrabPosition )
{
m_attachedEntity = pEntity;
pPhys->WorldToLocal( &m_localPosition, vGrabPosition );
m_worldPosition = vGrabPosition;
pPhys->GetDamping( NULL, &m_saveDamping );
m_saveMass = pPhys->GetMass();
float damping = 2;
pPhys->SetDamping( NULL, &damping );
pPhys->SetMass( 50000 );
m_controller = physenv->CreateMotionController( this );
m_controller->AttachObject( pPhys, true );
Vector position;
QAngle angles;
pPhys->GetPosition( &position, &angles );
SetTargetPosition( vGrabPosition, angles );
m_targetRotation = angles;
}
void CGrabController::AttachEntity( CBasePlayer *pPlayer, CBaseEntity *pEntity, IPhysicsObject *pPhys, bool bIsMegaPhysCannon, const Vector &vGrabPosition, bool bUseGrabPosition )
{
// play the impact sound of the object hitting the player
// used as feedback to let the player know he picked up the object
int hitMaterial = pPhys->GetMaterialIndex();
int playerMaterial = pPlayer->VPhysicsGetObject() ? pPlayer->VPhysicsGetObject()->GetMaterialIndex() : hitMaterial;
PhysicsImpactSound( pPlayer, pPhys, CHAN_STATIC, hitMaterial, playerMaterial, 1.0, 64 );
Vector position;
QAngle angles;
pPhys->GetPosition( &position, &angles );
// If it has a preferred orientation, use that instead.
Pickup_GetPreferredCarryAngles( pEntity, pPlayer, pPlayer->EntityToWorldTransform(), angles );
// ComputeMaxSpeed( pEntity, pPhys );
// If we haven't been killed by a grab, we allow the gun to grab the nearest part of a ragdoll
if ( bUseGrabPosition )
{
IPhysicsObject *pChild = GetRagdollChildAtPosition( pEntity, vGrabPosition );
if ( pChild )
{
pPhys = pChild;
}
}
// Carried entities can never block LOS
m_bCarriedEntityBlocksLOS = pEntity->BlocksLOS();
pEntity->SetBlocksLOS( false );
m_controller = physenv->CreateMotionController( this );
m_controller->AttachObject( pPhys, true );
// Don't do this, it's causing trouble with constraint solvers.
//m_controller->SetPriority( IPhysicsMotionController::HIGH_PRIORITY );
pPhys->Wake();
PhysSetGameFlags( pPhys, FVPHYSICS_PLAYER_HELD );
SetTargetPosition( position, angles );
m_attachedEntity = pEntity;
IPhysicsObject *pList[VPHYSICS_MAX_OBJECT_LIST_COUNT];
int count = pEntity->VPhysicsGetObjectList( pList, ARRAYSIZE(pList) );
m_flLoadWeight = 0;
float damping = 10;
float flFactor = count / 7.5f;
if ( flFactor < 1.0f )
{
flFactor = 1.0f;
}
for ( int i = 0; i < count; i++ )
{
float mass = pList[i]->GetMass();
pList[i]->GetDamping( NULL, &m_savedRotDamping[i] );
m_flLoadWeight += mass;
m_savedMass[i] = mass;
// reduce the mass to prevent the player from adding crazy amounts of energy to the system
pList[i]->SetMass( REDUCED_CARRY_MASS / flFactor );
pList[i]->SetDamping( NULL, &damping );
}
// Give extra mass to the phys object we're actually picking up
pPhys->SetMass( REDUCED_CARRY_MASS );
pPhys->EnableDrag( false );
m_errorTime = bIsMegaPhysCannon ? -1.5f : -1.0f; // 1 seconds until error starts accumulating
m_error = 0;
m_contactAmount = 0;
m_attachedAnglesPlayerSpace = TransformAnglesToPlayerSpace( angles, pPlayer );
if ( m_angleAlignment != 0 )
{
m_attachedAnglesPlayerSpace = AlignAngles( m_attachedAnglesPlayerSpace, m_angleAlignment );
}
// Ragdolls don't offset this way
if ( dynamic_cast<CRagdollProp*>(pEntity) )
{
m_attachedPositionObjectSpace.Init();
}
else
{
VectorITransform( pEntity->WorldSpaceCenter(), pEntity->EntityToWorldTransform(), m_attachedPositionObjectSpace );
}
// If it's a prop, see if it has desired carry angles
CPhysicsProp *pProp = dynamic_cast<CPhysicsProp *>(pEntity);
if ( pProp )
{
m_bHasPreferredCarryAngles = pProp->GetPropDataAngles( "preferred_carryangles", m_vecPreferredCarryAngles );
m_flDistanceOffset = pProp->GetCarryDistanceOffset();
}
else
{
m_bHasPreferredCarryAngles = false;
m_flDistanceOffset = 0;
}
m_bAllowObjectOverhead = IsObjectAllowedOverhead( pEntity );
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
bool CGrabController::UpdateObject( CBasePlayer *pPlayer, float flError )
{
CBaseEntity *pEntity = GetAttached();
if ( !pEntity || ComputeError() > flError || pPlayer->GetGroundEntity() == pEntity || !pEntity->VPhysicsGetObject() )
{
return false;
}
//Adrian: Oops, our object became motion disabled, let go!
IPhysicsObject *pPhys = pEntity->VPhysicsGetObject();
if ( pPhys && pPhys->IsMoveable() == false )
{
return false;
}
Vector forward, right, up;
QAngle playerAngles = pPlayer->EyeAngles();
AngleVectors( playerAngles, &forward, &right, &up );
float pitch = AngleDistance(playerAngles.x,0);
if( !m_bAllowObjectOverhead )
{
playerAngles.x = clamp( pitch, -75, 75 );
}
else
{
playerAngles.x = clamp( pitch, -90, 75 );
}
// Now clamp a sphere of object radius at end to the player's bbox
Vector radial = physcollision->CollideGetExtent( pPhys->GetCollide(), vec3_origin, pEntity->GetAbsAngles(), -forward );
Vector player2d = pPlayer->CollisionProp()->OBBMaxs();
float playerRadius = player2d.Length2D();
float radius = playerRadius + fabs(DotProduct( forward, radial ));
float distance = 24 + ( radius * 2.0f );
// Add the prop's distance offset
distance += m_flDistanceOffset;
Vector start = pPlayer->Weapon_ShootPosition();
Vector end = start + ( forward * distance );
trace_t tr;
CTraceFilterSkipTwoEntities traceFilter( pPlayer, pEntity, COLLISION_GROUP_NONE );
Ray_t ray;
ray.Init( start, end );
enginetrace->TraceRay( ray, MASK_SOLID_BRUSHONLY, &traceFilter, &tr );
if ( tr.fraction < 0.5 )
{
end = start + forward * (radius*0.5f);
}
else if ( tr.fraction <= 1.0f )
{
end = start + forward * ( distance - radius );
}
Vector playerMins, playerMaxs, nearest;
pPlayer->CollisionProp()->WorldSpaceAABB( &playerMins, &playerMaxs );
Vector playerLine = pPlayer->CollisionProp()->WorldSpaceCenter();
CalcClosestPointOnLine( end, playerLine+Vector(0,0,playerMins.z), playerLine+Vector(0,0,playerMaxs.z), nearest, NULL );
if( !m_bAllowObjectOverhead )
{
Vector delta = end - nearest;
float len = VectorNormalize(delta);
if ( len < radius )
{
end = nearest + radius * delta;
}
}
//Show overlays of radius
if ( g_debug_physcannon.GetBool() )
{
NDebugOverlay::Box( end, -Vector( 2,2,2 ), Vector(2,2,2), 0, 255, 0, true, 0 );
NDebugOverlay::Box( GetAttached()->WorldSpaceCenter(),
-Vector( radius, radius, radius),
Vector( radius, radius, radius ),
255, 0, 0,
true,
0.0f );
}
QAngle angles = TransformAnglesFromPlayerSpace( m_attachedAnglesPlayerSpace, pPlayer );
// If it has a preferred orientation, update to ensure we're still oriented correctly.
Pickup_GetPreferredCarryAngles( pEntity, pPlayer, pPlayer->EntityToWorldTransform(), angles );
// We may be holding a prop that has preferred carry angles
if ( m_bHasPreferredCarryAngles )
{
matrix3x4_t tmp;
ComputePlayerMatrix( pPlayer, tmp );
angles = TransformAnglesToWorldSpace( m_vecPreferredCarryAngles, tmp );
}
matrix3x4_t attachedToWorld;
Vector offset;
AngleMatrix( angles, attachedToWorld );
VectorRotate( m_attachedPositionObjectSpace, attachedToWorld, offset );
SetTargetPosition( end - offset, angles );
return true;
}
void SeekObject::ArriveStartMoton(){
auto PtrArrive = GetComponent<ArriveSteering>();
PtrArrive->SetUpdateActive(true);
PtrArrive->SetTargetPosition(GetPlayerPosition());
}
//モーションを実装する関数群
void SeekObject::SeekStartMoton(){
auto PtrSeek = GetComponent<SeekSteering>();
PtrSeek->SetUpdateActive(true);
PtrSeek->SetTargetPosition(GetPlayerPosition());
}
/*! process command
*
* \return A value : braitenberg end mode
* - 0 if success
* - <0 if any error
*/
int process_command ()
{
char Buffer[MAXBUFFERSIZE];
int narg;
int out=0;
string larg[MAX_ARG];
char *bptr;
// receive and interpret commands (wait)
if ( readLine(Buffer) >0 )
{
#ifdef DEBUG
printf("%c length %d |%s|",Buffer[0],strlen(Buffer),Buffer);
#endif
if (strlen(Buffer)>2)
{
/* Process all the args */
bptr = Buffer + 2;
narg=getArgs(bptr,larg);
}
switch(Buffer[0])
{
case 'A':
out=braitenberg(narg,larg);
break;
case 'B':
revisionOS(narg,larg);
break;
case 'C':
configureOS(narg,larg);
break;
case 'D':
SetSpeed(narg,larg);
break;
case 'E':
GetSpeed(narg,larg);
break;
case 'F':
SetTargetProfile(narg,larg);
break;
case 'G':
GetUS(narg,larg);
break;
case 'H':
ConfigPID(narg,larg);
break;
case 'I':
SetEncPosition(narg,larg);
break;
case 'J':
ConfigSpeedProfile(narg,larg);
break;
case 'K':
SetLED(narg,larg);
break;
case 'L':
SetSpeedOpenLoop(narg,larg);
break;
case 'M':
InitMot(narg,larg);
break;
case 'N':
ReadProxSensors(narg,larg);
break;
case 'O':
ReadAmbSensors(narg,larg);
break;
case 'P':
SetTargetPosition(narg,larg);
break;
case 'R':
ReadPos(narg,larg);
break;
case 'V':
batStatus(narg,larg);
break;
case 'X':
BinaryRead(narg,larg);
break;
case 'Z':
tstampRST(narg,larg);
break;
default:
sprintf(Buffer,"%c\r\n",ERROR_CMD_CHAR);
com_send(Buffer, strlen(Buffer));
}
}
return out;
}
