void
OpenSteer::SimpleVehicle::regenerateLocalSpaceForBanking (const Vec3& newVelocity,
const float elapsedTime)
{
// the length of this global-upward-pointing vector controls the vehicle's
// tendency to right itself as it is rolled over from turning acceleration
const Vec3 globalUp (0, 0.2f, 0);
// acceleration points toward the center of local path curvature, the
// length determines how much the vehicle will roll while turning
const Vec3 accelUp = _smoothedAcceleration * 0.05f;
// combined banking, sum of UP due to turning and global UP
const Vec3 bankUp = accelUp + globalUp;
// blend bankUp into vehicle's UP basis vector
const float smoothRate = elapsedTime * 3;
Vec3 tempUp = up();
blendIntoAccumulator (smoothRate, bankUp, tempUp);
setUp (tempUp.normalize());
// annotationLine (position(), position() + (globalUp * 4), gWhite); // XXX
// annotationLine (position(), position() + (bankUp * 4), gOrange); // XXX
// annotationLine (position(), position() + (accelUp * 4), gRed); // XXX
// annotationLine (position(), position() + (up () * 1), gYellow); // XXX
// adjust orthonormal basis vectors to be aligned with new velocity
if (speed() > 0) regenerateOrthonormalBasisUF (newVelocity / speed());
}
void
OpenSteer::SimpleVehicle::regenerateLocalSpace (const Vec3& newVelocity,
const float /* elapsedTime */)
{
// adjust orthonormal basis vectors to be aligned with new velocity
if (speed() > 0) regenerateOrthonormalBasisUF (newVelocity / speed());
}
void SteeringVehicle::resetLocalSpace()
{
setForward(mForwardVector);
setSide(localRotateForwardToSide(getForward()));
setUp(Vector3::UNIT_Y);
Vector3 pos = mCreature->getPosition();
setPosition(pos);
Vector3 src = mCreature->getOrientation()*Vector3::NEGATIVE_UNIT_Z;
// regenerate local space(by default: align vehicle's forward axis with
// new velocity, but this behavior may be overridden by derived classes.)
regenerateOrthonormalBasisUF(src);
}
void SteeringVehicle::update(const float currentTime, const float elapsedTime)
{
SimpleVehicle::update(currentTime, elapsedTime);
Vector3 pos = mCreature->getPosition();
setPosition(pos);
OgreNewt::Body* body = mCreature->getActor()->getPhysicalThing()->_getBody();
// Get the velocity vector
mCurrentVelocity = body->getVelocity();
// enforce speed limit
// newVelocity = newVelocity.truncateLength(maxSpeed());
// update speed
setSpeed(mCurrentVelocity.length());
Vector3 newVelocity(mCurrentVelocity);
// regenerate local space(by default: align vehicle's forward axis with
// new velocity, but this behavior may be overridden by derived classes.)
// use future orientation or not??
Quaternion orientation(mController->getYaw(), Ogre::Vector3::UNIT_Y);
Vector3 newUnitForward = orientation*Vector3::NEGATIVE_UNIT_Z;
regenerateOrthonormalBasisUF(newUnitForward);
// only process if mMovingCreature not NULL
if (mController == NULL || mCreature->getQueryFlags() & QUERYFLAG_PLAYER)
{
mCurrentForce = Vector3::ZERO;
return;
}
// calculate the result of the force
Vector3 result = mCurrentForce;// + mCurrentVelocity;
mDebugSteer = mCurrentForce;
// @todo remove this
if (mCreature->getAu() <= 6)
mCreature->modifyAu(20,true);
AbstractMovement* mov_drehen = mController->getMovementFromId(CreatureController::MT_DREHEN);
Real vel_drehen(0);
Radian max_drehen = Degree(0);
if (mov_drehen->calculateBaseVelocity(vel_drehen))
{
max_drehen = Degree(vel_drehen * 360 * elapsedTime);
}
Ogre::Quaternion future_orientation(mController->getYaw(), Ogre::Vector3::UNIT_Y);
Ogre::Vector3 creatureDirection = future_orientation * Ogre::Vector3::NEGATIVE_UNIT_Z;
Radian yaw(0);
creatureDirection.y = result.y = 0;
yaw = creatureDirection.getRotationTo(result, Ogre::Vector3::UNIT_Y).getYaw();
if (yaw > Radian(0) && yaw > max_drehen)
yaw = max_drehen;
if (yaw < Radian(0) && yaw < -max_drehen)
yaw = -max_drehen;
Ogre::Vector3 direction(Ogre::Vector3::ZERO);
Ogre::Vector3 rotation(0,yaw.valueRadians(),0);
CreatureController::MovementType movement = CreatureController::MT_STEHEN;
if (result != Ogre::Vector3::ZERO)
{
direction.z = -1;
movement = CreatureController::MT_GEHEN;
}
mController->setMovement(movement, direction, rotation);
LOG_DEBUG(Logger::AI, "SteeringVehicle: mController->setMovement " +
Ogre::StringConverter::toString(movement) + ", "
+ Ogre::StringConverter::toString(direction) + ", "
+ Ogre::StringConverter::toString(rotation));
mCurrentForce = Ogre::Vector3::ZERO;
}
