void Inventory::useActiveItemSecondary(World& world, Unit& unit) {
WorldItem* item = this->wieldedItems[this->active_item];
if(item == 0) {
} else {
item->onSecondaryActivate(world, unit);
}
}
void Inventory::reloadAction(World& world, Unit& unit) {
WorldItem* item = this->wieldedItems[this->active_item];
if(item == 0) {
} else {
item->onReload(world, unit);
}
}
void Inventory::useActiveItemPrimary(World& world, Unit& unit) {
if(unit["HEALTH"] > 0) {
WorldItem* item = this->wieldedItems[this->active_item];
if(item == 0) {
} else {
item->onActivate(world, unit);
}
}
}
bool BodyItemImpl::onSelfCollisionDetectionPropertyChanged(bool on)
{
if(on != isSelfCollisionDetectionEnabled){
isSelfCollisionDetectionEnabled = on;
WorldItem* worldItem = self->findOwnerItem<WorldItem>();
if(worldItem){
worldItem->updateCollisionDetector();
}
return true;
}
return false;
}
void InventoryRenderer::draw(const Inventory& inventory) {
glEnable(GL_TEXTURE_2D);
glDisable(GL_DEPTH_TEST);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glEnable(GL_BLEND);
TextureHandler::getSingleton().bindTexture(0, "item_texture");
drawArmorItem(inventory, inventory.HEAD_SLOT, 0.0f, +0.19f, 0.07f * 0.5f, 0.10f * 0.5f);
drawArmorItem(inventory, inventory.TORSO_SLOT, 0.0f, 0.02f, 0.14f * 0.5f, 0.22f * 0.5f);
drawArmorItem(inventory, inventory.LEGS_SLOT, 0.0f, -0.21f, 0.15f * 0.5f, 0.24f * 0.5f);
drawArmorItem(inventory, inventory.BELT_SLOT, 0.0f, -0.07f, 0.1f * 0.5f, 0.1f * 0.5f);
drawArmorItem(inventory, inventory.ARMS_SLOT, +0.135f, +0.08f, 0.15f * 0.5f, 0.13f * 0.5f);
drawArmorItem(inventory, inventory.ARMS_SLOT, -0.135f, +0.08f, 0.15f * 0.5f, 0.13f * 0.5f, +1);
drawArmorItem(inventory, inventory.AMULET_SLOT, 0.0f, +0.08f, 0.1f * 0.5f, 0.1f * 0.5f);
drawWeaponItem(inventory, 6, 6);
drawWeaponItem(inventory, 7, 6);
drawWeaponItem(inventory, 8, 7);
drawWeaponItem(inventory, 9, 7);
drawWeaponItem(inventory, 10, 7);
//drawWeaponItem(inventory, inventory.getItemSlot(10), 7);
//drawWeaponItem(inventory, inventory.getItemSlot(11), 7);
// draw the name of the active item.
{
WorldItem* activeItem = inventory.getItemActive();
if(activeItem != 0) {
std::vector<std::string> details;
activeItem->getDetails(details);
for(size_t i = 0; i<details.size(); ++i)
this->textRenderer.drawString(details[i], -0.9f, -0.035f * i, 1.1f);
}
}
glDisable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glDisable(GL_TEXTURE_2D);
}
void BodyItemImpl::createPenetrationBlocker(Link* link, bool excludeSelfCollisions, PenetrationBlockerPtr& blocker)
{
WorldItem* worldItem = self->findOwnerItem<WorldItem>();
if(worldItem){
blocker = boost::make_shared<PenetrationBlocker>(worldItem->collisionDetector()->clone(), link);
const ItemList<BodyItem>& bodyItems = worldItem->bodyItems();
for(int i=0; i < bodyItems.size(); ++i){
BodyItem* bodyItem = bodyItems.get(i);
if(bodyItem != self && bodyItem->body()->isStaticModel()){
blocker->addOpponentLink(bodyItem->body()->rootLink());
}
}
blocker->setDepth(kinematicsBar->penetrationBlockDepth());
blocker->start();
}
}
int KinematicFaultCheckerImpl::checkFaults
(BodyItem* bodyItem, BodyMotionItem* motionItem, std::ostream& os,
bool checkPosition, bool checkVelocity, bool checkCollision, dynamic_bitset<> linkSelection,
double beginningTime, double endingTime)
{
numFaults = 0;
BodyPtr body = bodyItem->body();
BodyMotionPtr motion = motionItem->motion();
MultiValueSeqPtr qseq = motion->jointPosSeq();;
MultiSE3SeqPtr pseq = motion->linkPosSeq();
if((!checkPosition && !checkVelocity && !checkCollision) || body->isStaticModel() || !qseq->getNumFrames()){
return numFaults;
}
BodyState orgKinematicState;
if(USE_DUPLICATED_BODY){
body = body->clone();
} else {
bodyItem->storeKinematicState(orgKinematicState);
}
CollisionDetectorPtr collisionDetector;
WorldItem* worldItem = bodyItem->findOwnerItem<WorldItem>();
if(worldItem){
collisionDetector = worldItem->collisionDetector()->clone();
} else {
int index = CollisionDetector::factoryIndex("AISTCollisionDetector");
if(index >= 0){
collisionDetector = CollisionDetector::create(index);
} else {
collisionDetector = CollisionDetector::create(0);
os << _("A collision detector is not found. Collisions cannot be detected this time.") << endl;
}
}
addBodyToCollisionDetector(*body, *collisionDetector);
collisionDetector->makeReady();
const int numJoints = std::min(body->numJoints(), qseq->numParts());
const int numLinks = std::min(body->numLinks(), pseq->numParts());
frameRate = motion->frameRate();
double stepRatio2 = 2.0 / frameRate;
angleMargin = radian(angleMarginSpin.value());
translationMargin = translationMarginSpin.value();
velocityLimitRatio = velocityLimitRatioSpin.value() / 100.0;
int beginningFrame = std::max(0, (int)(beginningTime * frameRate));
int endingFrame = std::min((motion->numFrames() - 1), (int)lround(endingTime * frameRate));
lastPosFaultFrames.clear();
lastPosFaultFrames.resize(numJoints, std::numeric_limits<int>::min());
lastVelFaultFrames.clear();
lastVelFaultFrames.resize(numJoints, std::numeric_limits<int>::min());
lastCollisionFrames.clear();
if(checkCollision){
Link* root = body->rootLink();
root->p().setZero();
root->R().setIdentity();
}
for(int frame = beginningFrame; frame <= endingFrame; ++frame){
int prevFrame = (frame == beginningFrame) ? beginningFrame : frame - 1;
int nextFrame = (frame == endingFrame) ? endingFrame : frame + 1;
for(int i=0; i < numJoints; ++i){
Link* joint = body->joint(i);
double q = qseq->at(frame, i);
joint->q() = q;
if(joint->index() >= 0 && linkSelection[joint->index()]){
if(checkPosition){
bool fault = false;
if(joint->isRotationalJoint()){
fault = (q > (joint->q_upper() - angleMargin) || q < (joint->q_lower() + angleMargin));
} else if(joint->isSlideJoint()){
fault = (q > (joint->q_upper() - translationMargin) || q < (joint->q_lower() + translationMargin));
}
if(fault){
putJointPositionFault(frame, joint, os);
}
}
if(checkVelocity){
double dq = (qseq->at(nextFrame, i) - qseq->at(prevFrame, i)) / stepRatio2;
joint->dq() = dq;
if(dq > (joint->dq_upper() * velocityLimitRatio) || dq < (joint->dq_lower() * velocityLimitRatio)){
putJointVelocityFault(frame, joint, os);
}
}
}
}
if(checkCollision){
Link* link = body->link(0);
if(!pseq->empty())
{
const SE3& p = pseq->at(frame, 0);
link->p() = p.translation();
link->R() = p.rotation().toRotationMatrix();
}
else
{
link->p() = Vector3d(0., 0., 0.);
link->R() = Matrix3d::Identity();
}
body->calcForwardKinematics();
for(int i=1; i < numLinks; ++i){
link = body->link(i);
if(!pseq->empty())
{
const SE3& p = pseq->at(frame, i);
link->p() = p.translation();
link->R() = p.rotation().toRotationMatrix();
}
}
for(int i=0; i < numLinks; ++i){
link = body->link(i);
collisionDetector->updatePosition(i, link->position());
}
collisionDetector->detectCollisions(
boost::bind(&KinematicFaultCheckerImpl::putSelfCollision, this, body.get(), frame, _1, boost::ref(os)));
}
}
if(!USE_DUPLICATED_BODY){
bodyItem->restoreKinematicState(orgKinematicState);
}
return numFaults;
}