Ogre::Vector3 plane_segment_intersection(const Ogre::Vector3& P1, const Ogre::Vector3& P2, const Ogre::Vector3& P3, const Ogre::Vector3& L1, const Ogre::Vector3& L2)
{
Ogre::Vector3 T(P2 - P1);
Ogre::Vector3 N = T.crossProduct(P3 - P1);
Ogre::Vector3 result = L1 + (N.dotProduct(P1 - L1) / N.dotProduct(L2 - L1)) * (L2 - L1);
return result;
}
void FPSViewController::setPropertiesFromCamera( Ogre::Camera* source_camera )
{
Ogre::Quaternion quat = source_camera->getOrientation() * ROBOT_TO_CAMERA_ROTATION.Inverse();
float yaw = quat.getRoll( false ).valueRadians(); // OGRE camera frame looks along -Z, so they call rotation around Z "roll".
float pitch = quat.getYaw( false ).valueRadians(); // OGRE camera frame has +Y as "up", so they call rotation around Y "yaw".
Ogre::Vector3 direction = quat * Ogre::Vector3::NEGATIVE_UNIT_Z;
if ( direction.dotProduct( Ogre::Vector3::NEGATIVE_UNIT_Z ) < 0 )
{
if ( pitch > Ogre::Math::HALF_PI )
{
pitch -= Ogre::Math::PI;
}
else if ( pitch < -Ogre::Math::HALF_PI )
{
pitch += Ogre::Math::PI;
}
yaw = -yaw;
if ( direction.dotProduct( Ogre::Vector3::UNIT_X ) < 0 )
{
yaw -= Ogre::Math::PI;
}
else
{
yaw += Ogre::Math::PI;
}
}
pitch_property_->setFloat( pitch );
yaw_property_->setFloat( mapAngleTo0_2Pi( yaw ));
position_property_->setVector( source_camera->getPosition() );
}
bool InteractiveMarkerControl::intersectSomeYzPlane( const Ogre::Ray& mouse_ray,
const Ogre::Vector3& point_on_plane,
const Ogre::Quaternion& plane_orientation,
Ogre::Vector3& intersection_3d,
Ogre::Vector2& intersection_2d,
float& ray_t )
{
Ogre::Vector3 normal = plane_orientation * control_orientation_.xAxis();
Ogre::Vector3 axis_1 = plane_orientation * control_orientation_.yAxis();
Ogre::Vector3 axis_2 = plane_orientation * control_orientation_.zAxis();
Ogre::Plane plane(normal, point_on_plane);
Ogre::Vector2 origin_2d(point_on_plane.dotProduct(axis_1), point_on_plane.dotProduct(axis_2));
std::pair<bool, Ogre::Real> intersection = mouse_ray.intersects(plane);
if (intersection.first)
{
intersection_3d = mouse_ray.getPoint(intersection.second);
intersection_2d = Ogre::Vector2(intersection_3d.dotProduct(axis_1), intersection_3d.dotProduct(axis_2));
intersection_2d -= origin_2d;
ray_t = intersection.second;
return true;
}
ray_t = 0;
return false;
}
bool PhysicsEngine::PerformRaySphereCollisionTest(const Ogre::FrameEvent &fe, PhysicsEntity *ray, PhysicsEntity *sphere)
{
Ogre::Vector3 rayDirection = ray->getDerivedOrientation() * Ogre::Vector3::NEGATIVE_UNIT_Z;
Ogre::Vector3 rayPosition = ray->getDerivedPosition();
float ab2 = rayDirection.dotProduct(rayDirection);
Ogre::Vector3 p = sphere->getDerivedPosition();
Ogre::Vector3 ap = p - rayPosition;
float ap_dot_dir = ap.dotProduct(rayDirection);
float t = ap_dot_dir / ab2;
if (t < 0.0f) t = 0.0f;
Ogre::Vector3 q = rayPosition + rayDirection * t;
Ogre::Vector3 pq = q - p;
float radius = sphere->GetRadius();
float r2 = radius * radius;
if (pq.dotProduct(pq) < r2)
{
ray->Collide(fe, sphere);
if (ray->GetBodyType() == ENTITY_BODY_RAY)
{
// sphere only detects collisions with physical rays
sphere->Collide(fe, ray);
}
return true;
}
return false;
}
void FPSCamera::setOrientation( float x, float y, float z, float w )
{
Ogre::Quaternion quat( w, x, y, z );
yaw_ = quat.getYaw( false ).valueRadians();
pitch_ = quat.getPitch( false ).valueRadians();
Ogre::Vector3 direction = quat * Ogre::Vector3::NEGATIVE_UNIT_Z;
if ( direction.dotProduct( Ogre::Vector3::NEGATIVE_UNIT_Z ) < 0 )
{
if ( pitch_ > Ogre::Math::HALF_PI )
{
pitch_ = -Ogre::Math::HALF_PI + (pitch_ - Ogre::Math::HALF_PI);
}
else if ( pitch_ < -Ogre::Math::HALF_PI )
{
pitch_ = Ogre::Math::HALF_PI - (-pitch_ - Ogre::Math::HALF_PI);
}
yaw_ = -yaw_;
if ( direction.dotProduct( Ogre::Vector3::UNIT_X ) < 0 )
{
yaw_ -= Ogre::Math::PI;
}
else
{
yaw_ += Ogre::Math::PI;
}
}
normalizePitch();
normalizeYaw();
update();
}
Ogre::Vector3 ParticleChain::computeFrictionDamping(const Ogre::Vector3 &normal, const Ogre::Vector3 &velocity)
{
int minAxis = 0;
if (normal.y*normal.y < normal.x*normal.x) minAxis = 1;
Ogre::Vector3 axis(0, 0, 0);
axis[minAxis] = 1;
Ogre::Vector3 u = normal.crossProduct(axis);
Ogre::Vector3 v = u.crossProduct(normal);
return mFriction * (velocity.dotProduct(u) * u + velocity.dotProduct(v) * v);
}
void
Agent::updateLocomote(Ogre::Real deltaTime)
{
//This is the update locomotion from the previous assignment
// Set idle animation
if (mDirection == Ogre::Vector3::ZERO)
{
if (nextLocation())
{
Ogre::Vector3 src = mBodyNode->getOrientation() * Ogre::Vector3::UNIT_Z;
if ((1.0f + src.dotProduct(mDirection)) < 0.0001f)
{
mBodyNode->yaw(Ogre::Degree(180));
}
else
{
Ogre::Quaternion quat = src.getRotationTo(mDirection);
mBodyNode->rotate(quat);
}
setBaseAnimation(ANIM_RUN_BASE);
setTopAnimation(ANIM_RUN_TOP);
}
}
else
{
Ogre::Real move = mWalkSpeed * deltaTime;
mDistance -= move;
if (mDistance <= 0.0f)
{
mBodyNode->setPosition(mDestination);
mDirection = Ogre::Vector3::ZERO;
if (!nextLocation())
{
setBaseAnimation(ANIM_IDLE_BASE);
setTopAnimation(ANIM_IDLE_TOP);
}
else
{
Ogre::Vector3 src = mBodyNode->getOrientation() * Ogre::Vector3::UNIT_Z;
if ((1.0f + src.dotProduct(mDirection)) < 0.0001f)
{
mBodyNode->yaw(Ogre::Degree(180));
}
else
{
Ogre::Quaternion quat = src.getRotationTo(mDirection);
mBodyNode->rotate(quat);
}
}
}
else { mBodyNode->translate(mDirection * move); }
}
}
void AnimalThirdPersonControler::alignAnimalToCamera(double i_timeSinceLastFrame)
{
if (!(m_pAnimal != nullptr && m_pCamera != nullptr))
return;
// Find new orientation of avatar
Ogre::Vector3 camY = m_pCamera->getDirection();
Ogre::Vector3 aniX = m_pAnimal->m_pNode->getOrientation().xAxis();
Ogre::Vector3 aniY = m_pAnimal->m_pNode->getOrientation().yAxis();
Ogre::Vector3 newAniX = camY.dotProduct(aniX) * aniX + camY.dotProduct(aniY) * aniY;
if (newAniX.isZeroLength())
return;
newAniX.normalise();
m_pAnimal->turn(newAniX, i_timeSinceLastFrame);
}
bool PhysicsEngine::PerformSphereSphereCollisionTest(const Ogre::FrameEvent &fe, PhysicsEntity *sphere1, PhysicsEntity *sphere2)
{
float overlapMagnitude = (sphere1->GetRadius() + sphere2->GetRadius()) - sphere1->getPosition().distance(sphere2->getPosition());
if (overlapMagnitude >= 0.0f)
{
Ogre::Vector3 d = sphere2->getPosition() - sphere1->getPosition();
Ogre::Vector3 relativeVelocity = d * (d.dotProduct(sphere1->GetVelocity() - sphere2->GetVelocity()) / d.squaredLength());
Ogre::Vector3 impulse1 = (((sphere2->GetRestitution() + 1.0f) * relativeVelocity) /
((1 / sphere1->GetMass()) + (1 / sphere2->GetMass())));
Ogre::Vector3 impulse2 = -(((sphere1->GetRestitution() + 1.0f) * relativeVelocity) /
((1 / sphere1->GetMass()) + (1 / sphere2->GetMass())));
//Ogre::Vector3 currentImpulse1 = d * (d.dotProduct(sphere1->GetAppliedForce()) / d.squaredLength());
//Ogre::Vector3 currentImpulse2 = -d * (d.dotProduct(sphere2->GetAppliedForce()) / d.squaredLength());
if (sphere1->GetBodyType() == ENTITY_BODY_SPHERE && sphere2->GetBodyType() == ENTITY_BODY_SPHERE)
{
sphere1->translate(-d.normalisedCopy() * (overlapMagnitude / 2.0f));
sphere2->translate(d.normalisedCopy() * (overlapMagnitude / 2.0f));
sphere2->ApplyForce(impulse1);// + currentImpulse1);
sphere1->ApplyForce(impulse2);// + currentImpulse2);
}
sphere1->Collide(fe, sphere2);
sphere2->Collide(fe, sphere1);
return true;
}
return false;
}
void CharacterController::UpdateAI(float dt)
{
_CurrentPathAge += dt;
//std::cerr << _CurrentPathIndex << " / " << _CurrentPath.size() << "\n";
if (_CurrentPathIndex + 2 <= _CurrentPath.size())
{
Ogre::Vector3 const & a = _CurrentPath[_CurrentPathIndex];
Ogre::Vector3 const & b = _CurrentPath[_CurrentPathIndex+1];
Ogre::Vector3 const & m = GetPosition();
Ogre::Vector3 const ab = b - a;
Ogre::Vector3 const am = m - a;
Ogre::Vector3 const mb = b - m;
Ogre::Vector3 const mb_unit = mb.normalisedCopy();
float remaining = mb.length();
for(size_t i = _CurrentPathIndex + 1; i + 2 <= _CurrentPath.size(); ++i)
{
remaining += _CurrentPath[i].distance(_CurrentPath[i+1]);
}
//std::cerr << "Remaining distance: " << remaining << " m\n";
float lambda = am.dotProduct(ab) / ab.squaredLength();
//const float tau = 0.1;
SetVelocity(_CurrentVelocity * mb_unit);
if (lambda > 1) _CurrentPathIndex++;
/*if (_CurrentPathIndex + 1 == _CurrentPath.size())
SetVelocity(Ogre::Vector3(0.));*/
}
}
void OrientationControlet::injectMousePress(int _absx, int _absy, MyGUI::MouseButton _id)
{
if( _id == MyGUI::MouseButton::Left ){
string name = Game::getSingleton().pickMovableObject( _absx,_absy );
if( name == mName ){
mPick = true;
mMouseX = _absx;
mMouseY = _absy;
InputFilter::getSingleton().setCapture();
/*判断开始时候，控制球是在球的正面还是背面
*/
Game& game = Game::getSingleton();
int sx = game.getScreenWidth();
int sy = game.getScreenHeight();
Ogre::Ray B = game.getCamera()->getCameraToViewportRay(
(Ogre::Real)_absx/(Ogre::Real)sx,
(Ogre::Real)_absy/(Ogre::Real)sy
);
Ogre::Matrix3 m3 = mNode->getLocalAxes();
Ogre::Vector3 axis = m3.GetColumn(2);
if( axis.dotProduct(B.getDirection())>0 )
mNearFar = false;
else
mNearFar = true;
}
}
}
bool DeferredLight::isCameraInsideLight(Ogre::Camera* camera) {
switch (parentLight->getType()) {
case Ogre::Light::LT_DIRECTIONAL:
return false;
case Ogre::Light::LT_POINT: {
Ogre::Real distanceFromLight =
camera->getDerivedPosition().distance(parentLight->getDerivedPosition());
// Small epsilon fix to account for the fact that we aren't a true sphere.
return distanceFromLight <= radius + camera->getNearClipDistance() + 0.1;
}
case Ogre::Light::LT_SPOTLIGHT: {
Ogre::Vector3 lightPos = parentLight->getDerivedPosition();
Ogre::Vector3 lightDir = parentLight->getDerivedDirection();
Ogre::Radian attAngle = parentLight->getSpotlightOuterAngle();
// Extend the analytic cone's radius by the near clip range by moving its tip accordingly.
Ogre::Vector3 clipRangeFix = -lightDir * (camera->getNearClipDistance() / Ogre::Math::Tan(attAngle/2));
lightPos = lightPos + clipRangeFix;
Ogre::Vector3 lightToCamDir = camera->getDerivedPosition() - lightPos;
Ogre::Real distanceFromLight = lightToCamDir.normalise();
Ogre::Real cosAngle = lightToCamDir.dotProduct(lightDir);
Ogre::Radian angle = Ogre::Math::ACos(cosAngle);
// Check whether we will see the cone from our current POV.
return (distanceFromLight <= (parentLight->getAttenuationRange() + clipRangeFix.length()))
&& (angle <= attAngle);
}
default:
return false;
}
}
//--------------------------------------------------------------------------------
bool CMultiSelEditor::_setScale(OgitorsPropertyBase* property, const Ogre::Vector3& val)
{
if(val.x == 0.0f || val.y == 0.0f || val.z == 0.0f)
return false;
Ogre::Vector3 scale;
Ogre::Vector3 diff = val / mNode->getScale();
mNode->setScale(val);
Ogre::Vector3 groupPos = mNode->getPosition();
NameObjectPairList::const_iterator it = mModifyList.begin();
while(it != mModifyList.end())
{
if(!it->second->getLocked())
{
Ogre::Vector3 newpos = it->second->getDerivedPosition() - groupPos;
Ogre::Vector3 AxisX = mNode->getOrientation() * Ogre::Vector3::UNIT_X;
Ogre::Vector3 AxisY = mNode->getOrientation() * Ogre::Vector3::UNIT_Y;
Ogre::Vector3 AxisZ = mNode->getOrientation() * Ogre::Vector3::UNIT_Z;
Ogre::Vector3 vPos1 = (AxisX.dotProduct(newpos) * AxisX);
Ogre::Vector3 vPos2 = (AxisY.dotProduct(newpos) * AxisY);
Ogre::Vector3 vPos3 = (AxisZ.dotProduct(newpos) * AxisZ);
newpos = (vPos1 * diff.x) + (vPos2 * diff.y) + (vPos3 * diff.z) + groupPos;
it->second->setDerivedPosition(newpos);
if(it->second->getProperties()->hasProperty("scale"))
{
it->second->getProperties()->getValue("scale",scale);
scale = it->second->getDerivedOrientation().Inverse() * scale;
scale = mNode->getOrientation() * scale;
scale *= diff;
scale = mNode->getOrientation().Inverse() * scale;
scale = it->second->getDerivedOrientation() * scale;
it->second->getProperties()->setValue("scale", scale);
}
}
it++;
}
return true;
}
void GameObject::setDirection(const Ogre::Vector3 direction)
{
Ogre::Radian r = initialForward.angleBetween(direction);
Ogre::Vector3 initialRight = initialForward.crossProduct(Ogre::Vector3::UNIT_Y);
if (initialRight.dotProduct(direction) > 0.f)
r *= -1;
setYaw(r);
}
//helper function
inline Ogre::Real
intersect(Ogre::Plane* plane,const Ogre::Vector3 &p1, const Ogre::Vector3 &p2)
{
Ogre::Vector3 dir = p2 - p1;
Ogre::Real den = dir.dotProduct(plane->normal);
if(den == 0)
return 1e20f;
return -plane->getDistance(p1) / den;
}
//-----------------------------------------------------------------------------
bool IntermediateTutorial1::frameRenderingQueued(const Ogre::FrameEvent &evt)
{
if (mDirection == Ogre::Vector3::ZERO)
{
if (nextLocation())
{
// Set walking animation
mAnimationState = mEntity->getAnimationState("Walk");
mAnimationState->setLoop(true);
mAnimationState->setEnabled(true);
rotateRobotToDirection();
}
}
else
{
Ogre::Real move = mWalkSpeed * evt.timeSinceLastFrame;
mDistance -= move;
if (mDistance <= 0.0f)
{
mNode->setPosition(mDestination);
mDirection = Ogre::Vector3::ZERO;
// Set animation based on if the robot has another point to walk to.
if (!nextLocation())
{
// Set Idle animation
mAnimationState = mEntity->getAnimationState("Idle");
mAnimationState->setLoop(true);
mAnimationState->setEnabled(true);
}
else
{
// Rotation Code will go here later
Ogre::Vector3 src = mNode->getOrientation() * Ogre::Vector3::UNIT_X;
if ((1.0f + src.dotProduct(mDirection)) < 0.0001f)
{
mNode->yaw(Ogre::Degree(180));
}
else
{
Ogre::Quaternion quat = src.getRotationTo(mDirection);
mNode->rotate(quat);
} // else
}
}
else
{
mNode->translate(mDirection * move);
} // else
} // if
mAnimationState->addTime(evt.timeSinceLastFrame);
return BaseApplication::frameRenderingQueued(evt);
}
void SkyDome::setSunDirection (const Ogre::Vector3& sunDir) {
float elevation = sunDir.dotProduct (Ogre::Vector3::UNIT_Y);
elevation = elevation * 0.5 + 0.5;
Ogre::Pass* pass = mMaterial->getBestTechnique()->getPass(0);
if (mShadersEnabled) {
mParams.sunDirection.set(mParams.vpParams, sunDir.normalisedCopy());
mParams.offset.set(mParams.fpParams, elevation);
} else {
Ogre::TextureUnitState* gradientsTus = pass->getTextureUnitState(0);
gradientsTus->setTextureUScroll (elevation);
}
}
void LandVehicleSimulation::UpdateVehicle(Actor* vehicle, float seconds_since_last_frame)
{
if (vehicle->isBeingReset() || vehicle->ar_physics_paused || vehicle->ar_replay_mode)
return;
#ifdef USE_ANGELSCRIPT
if (vehicle->ar_vehicle_ai && vehicle->ar_vehicle_ai->IsActive())
return;
#endif // USE_ANGELSCRIPT
EngineSim* engine = vehicle->ar_engine;
if (engine && engine->HasStarterContact() &&
engine->GetAutoShiftMode() == SimGearboxMode::AUTO &&
engine->getAutoShift() != EngineSim::NEUTRAL)
{
Ogre::Vector3 dirDiff = vehicle->getDirection();
Ogre::Degree pitchAngle = Ogre::Radian(asin(dirDiff.dotProduct(Ogre::Vector3::UNIT_Y)));
if (std::abs(pitchAngle.valueDegrees()) > 2.0f)
{
if (engine->getAutoShift() > EngineSim::NEUTRAL && vehicle->ar_avg_wheel_speed < +0.02f && pitchAngle.valueDegrees() > 0.0f ||
engine->getAutoShift() < EngineSim::NEUTRAL && vehicle->ar_avg_wheel_speed > -0.02f && pitchAngle.valueDegrees() < 0.0f)
{
// anti roll back in SimGearboxMode::AUTO (DRIVE, TWO, ONE) mode
// anti roll forth in SimGearboxMode::AUTO (REAR) mode
float g = std::abs(App::GetSimTerrain()->getGravity());
float downhill_force = std::abs(sin(pitchAngle.valueRadians()) * vehicle->getTotalMass()) * g;
float engine_force = std::abs(engine->GetTorque()) / vehicle->getAvgPropedWheelRadius();
float ratio = std::max(0.0f, 1.0f - (engine_force / downhill_force));
if (vehicle->ar_avg_wheel_speed * pitchAngle.valueDegrees() > 0.0f)
{
ratio *= sqrt((0.02f - vehicle->ar_avg_wheel_speed) / 0.02f);
}
vehicle->ar_brake = sqrt(ratio);
}
}
else if (vehicle->ar_brake == 0.0f && !vehicle->ar_parking_brake && engine->GetTorque() == 0.0f)
{
float ratio = std::max(0.0f, 0.2f - std::abs(vehicle->ar_avg_wheel_speed)) / 0.2f;
vehicle->ar_brake = ratio;
}
}
if (vehicle->cc_mode)
{
LandVehicleSimulation::UpdateCruiseControl(vehicle, seconds_since_last_frame);
}
if (vehicle->sl_enabled)
{
LandVehicleSimulation::CheckSpeedLimit(vehicle, seconds_since_last_frame);
}
}
void Tank::rotateTank(void){
Ogre::Vector3 src = mTankBodyNode->getOrientation() * Ogre::Vector3::NEGATIVE_UNIT_X;
if ((1.0 + src.dotProduct(mDirection)) < 0.0001)
{
mTankBodyNode->yaw(Ogre::Degree(180));
}
else
{
Ogre::Quaternion quat = src.getRotationTo(mDirection);
mTankBodyNode->rotate(quat);
}
}
void
Robot::updateLocomote(Ogre::Real deltaTime)
{
if (mDirection == Ogre::Vector3::ZERO)
{
if (this->nextLocation()) // a check to see if there is another destination
{
// Set walking animation
this->setBaseAnimation(ANIM_WALK, true);
this->setTopAnimation(ANIM_WALK, true);
}
}
else
{
Ogre::Real move = mWalkSpeed * deltaTime;
mDistance -= move;
if (mDistance <= 0.0f) // over shooting target
{
this->mBodyNode->setPosition(mDestination);
mDirection = Ogre::Vector3::ZERO;
if (!this->nextLocation()) // a check to see if there is another destination
{
this->setBaseAnimation(ANIM_IDLE, true);
this->setTopAnimation(ANIM_IDLE, true);
}
else
{
Ogre::Vector3 src = this->mBodyNode->getOrientation() * Ogre::Vector3::UNIT_X;
if ((1.0f + src.dotProduct(mDirection)) < 0.0001f)
{
this->mBodyNode->yaw(Ogre::Degree(180));
}
else
{
Ogre::Quaternion quat = src.getRotationTo(mDirection);
this->mBodyNode->rotate(quat);
this->mBodyNode->yaw(Ogre::Degree(angleOffset)); // To correct for models facing different directions
}
}
}
else
{
this->mBodyNode->translate(mDirection * move);
}
}
}
void PlayerCharacter::updateCharDirMoving(Ogre::Vector3* moveDir, unsigned long timeSinceLastFrame, Ogre::Radian &moveDirRotAngle)
{
// TODO: Running backwards goes crazy, turn too fast
// http://www.ogre3d.org/tikiwiki/Intermediate+Tutorial+1&structure=Tutorials
// http://www.ogre3d.org/tikiwiki/Quaternion+and+Rotation+Primer#Q._How_can_I_make_my_objects_rotate_smoothly_You_mentioned_slerp_etc_
if(!moveDir->isZeroLength())
{
Ogre::Vector3 src = this->node->getOrientation() * Ogre::Vector3::UNIT_Z;
if ((1.0f + src.dotProduct(*moveDir)) < 0.0001f)
{
this->node->yaw(Ogre::Degree(180));
}
else
{
Ogre::Quaternion quat = src.getRotationTo(*moveDir);
this->node->rotate(quat);
}
}
/*if(!moveDir->isZeroLength())
{
//Ogre::Vector3 targetDirection = Quaternion(moveDirRotAngle, Vector3::UNIT_Y) * (*moveDir);
Ogre::Vector3 targetDirection = this->node->getOrientation() * *moveDir;
Ogre::Radian rotationDifferenceToLastValue = m_lastTargetDirection.angleBetween(targetDirection);
Radian targetRotation;
if(rotationDifferenceToLastValue > Ogre::Radian(Ogre::Real(0.001)))
{
Quaternion rotationQuat = (Vector3::UNIT_X).getRotationTo(targetDirection, Vector3::UNIT_Y);
Radian targetRotation = rotationQuat.getYaw();
//m_moveRotation.setTargetValueWithAdjustedSmoothtime(targetRotation, true);
m_moveRotation = targetRotation;
}
//m_moveRotation.smoothValue(timeSinceLastFrame);
this->node->setDirection(0,0,-1, Node::TS_WORLD);
this->node->yaw(m_moveRotation);
m_lastTargetDirection = targetDirection;
}*/
}
QColor SparseOccupancyGridArrayDisplay::axisColor(const Ogre::Quaternion& q,
const Ogre::Vector3& p)
{
Ogre::Vector3 zaxis = q.zAxis();
Ogre::Vector3 reference = p.normalisedCopy();
double dot = zaxis.dotProduct(reference);
if (dot < -1) {
dot = -1.0;
}
else if (dot > 1) {
dot = 1.0;
}
double scale = (dot + 1) / 2.0;
return gridColor(scale);
}
Ogre::Vector3 InteractiveMarkerControl::closestPointOnLineToPoint( const Ogre::Vector3& line_start,
const Ogre::Vector3& line_dir,
const Ogre::Vector3& test_point )
{
// Find closest point on projected ray to mouse point
// Math: if P is the start of the ray, v is the direction vector of
// the ray (not normalized), and X is the test point, then the
// closest point on the line to X is given by:
//
// (X-P).v
// P + v * -------
// v.v
// where "." is the dot product.
double factor = ( test_point - line_start ).dotProduct( line_dir ) / line_dir.dotProduct( line_dir );
Ogre::Vector3 closest_point = line_start + line_dir * factor;
return closest_point;
}
//-------------------------------------------------------------------------------------
bool
PlayersManager::moving(zappy::Player *p, int i)
{
OPlayer *OPlayer = this->mOPlayers.at(i);
this->speed = Constants::SquareSize /
((Constants::timeUnit / static_cast<Ogre::Real>(time)));
Ogre::SceneNode *node = OPlayer->getSceneNode();
Ogre::Vector3 &direction = OPlayer->getDirection();
Ogre::Real &distance = OPlayer->getDistance();
Ogre::Real move = this->speed * this->tslf;
Ogre::Vector3 destination(p->getX() * Constants::SquareSize, 0, p->getY() * Constants::SquareSize);
Ogre::AnimationState *anim = OPlayer->getEntity()->
getAnimationState(distance <= 0.0f ? "Idle" : "Walk");
anim->setLoop(true);
anim->setEnabled(true);
if (direction == Ogre::Vector3::ZERO)
{
Ogre::Vector3 src = node->getOrientation() * Ogre::Vector3::UNIT_X;
direction = destination - node->getPosition();
distance = direction.normalise();
if ((1.0f + src.dotProduct(direction)) < 0.0001f)
node->yaw(Ogre::Degree(180));
else
node->rotate(src.getRotationTo(direction));
if (distance > Constants::SquareSize)
distance = 0.0f;
}
else
{
distance -= move;
if (distance <= 0.0f)
{
node->setPosition(destination);
direction = Ogre::Vector3::ZERO;
}
else
node->translate(direction * move);
}
if (OPlayer->stateHasChanged())
OPlayer->detachAnim();
anim->addTime(this->tslf);
return true;
}
void Tank::wanderMovement(const float & deltaTime)
{
if(wanderPathCreated)
{
if (mWanderDirection == Ogre::Vector3::ZERO)
{
wanderNextLocation();
}
else
{
Ogre::Real move = mMoveSpd * (deltaTime);
mWanderDistance -= move;
Ogre::Vector3 src = mTankBodyNode->getOrientation() * Ogre::Vector3::NEGATIVE_UNIT_X;
//http://www.ogre3d.org/tikiwiki/tiki-index.php?page=Quaternion+and+Rotation+Primer
//this is used for rotation of the tank
if ((1.0 + src.dotProduct(mWanderDirection)) < 0.0001)
{
mTankBodyNode->yaw(Ogre::Degree(180));
}
else
{
mWanderDirection.y = 0;
Ogre::Quaternion quat = src.getRotationTo(mWanderDirection);
Ogre::Quaternion mOrientSrc = mTankBodyNode->getOrientation();
Ogre::Quaternion mOrientDest = quat * mOrientSrc;
Ogre::Quaternion delta = Ogre::Quaternion::nlerp(deltaTime * 2.0, mOrientSrc, mOrientDest, true);
mTankBodyNode->setOrientation(delta);
}
//for movement
if (mWanderDistance <= 0)
{
mTankBodyNode->setPosition(mWanderDestination);
mWanderDirection = Ogre::Vector3::ZERO;
}
else
{
mTankBodyNode->translate(move * mWanderDirection);
}
}
}
}
Ogre::Vector3 SteeringBehaviors::Pursuit(Character* evader)
{
Ogre::Vector3 ToEvader = evader->GetSceneNode()->getPosition() - mCharacter->GetSceneNode()->getPosition();
double RelativeHeading = mCharacter->GetHeading().dotProduct(evader->GetHeading());
//if evader is in front and moving forward
if((ToEvader.dotProduct(mCharacter->GetHeading())) > 0 && (RelativeHeading < -0.95))
return Seek(evader->GetSceneNode()->getPosition());
//not ahead so look forward
double LookAheadTime = ToEvader.length() / (mCharacter->GetMaxSpeed() + evader->GetMaxSpeed());
Ogre::Vector3 currentVelocity = evader->GetVelocity();
Ogre::Real currentSpeed = currentVelocity.normalise();
Ogre::Vector3 desiredVelocity = Seek(evader->GetSceneNode()->getPosition() + evader->GetHeading() * currentSpeed * LookAheadTime);
desiredVelocity.y = 0;
return desiredVelocity;
}
void BaseNpc::update(double timeSinceLastFrame)
{
mAnimationState->addTime(timeSinceLastFrame);
if (m_pCurrentState) {
m_pCurrentState->Execute(this);
}
if (isMoving == false) {
if (nextLocation(m_pNpcNode)) {
// Set walking animation
mAnimationState = m_pNPC->getAnimationState("Walk");
mAnimationState->setLoop(true);
mAnimationState->setEnabled(true);
isMoving = true;
} else {
// Not moving and no locations in list
}
} else {
Ogre::Real move = mWalkSpeed * timeSinceLastFrame;
mDistance -= move;
if (mDistance <= 0.0f) {
m_pNpcNode->setPosition(mDestination);
mDirection = Ogre::Vector3::ZERO;
// Set animation based on if the robot has another point to walk to.
if (! nextLocation(m_pNpcNode)) {
// Set Idle animation
mAnimationState = m_pNPC->getAnimationState("Idle");
mAnimationState->setLoop(true);
mAnimationState->setEnabled(true);
} else {
Ogre::Vector3 src = m_pNpcNode->getOrientation() * Ogre::Vector3::UNIT_X;
if ((1.0f + src.dotProduct(mDirection)) < 0.0001f) {
m_pNpcNode->yaw(Ogre::Degree(180));
} else {
Ogre::Quaternion quat = src.getRotationTo(mDirection);
m_pNpcNode->rotate(quat);
}
}
} else {
m_pNpcNode->translate(mDirection * move);
}
}
}
void OrbitCamera::calculatePitchYawFromPosition( const Ogre::Vector3& position )
{
float x = position.x - focal_point_.x;
float y = position.y - focal_point_.y;
pitch_ = acos( y / distance_ );
normalizePitch();
float val = x / ( distance_ * sin( pitch_ ) );
yaw_ = acos( val );
Ogre::Vector3 direction = focal_point_ - position;
if ( direction.dotProduct( Ogre::Vector3::NEGATIVE_UNIT_Z ) < 0 )
{
yaw_ = Ogre::Math::TWO_PI - yaw_;
}
}
void OrbitCamera( ::Ogre::Camera* a_pCam, const::Ogre::Sphere& a_subjSphr,
const Ogre::Vector2& a_curTouch, const Ogre::Vector2& a_oldTouch )
{
const ::Ogre::Vector3& center = a_subjSphr.getCenter() ;
const ::Ogre::Vector3& camPos = a_pCam->getPosition() ;
// gets the current looked-at point.
const ::Ogre::Vector3 camDir = a_pCam->getDirection().normalisedCopy() ;
const ::Ogre::Vector3 lookAt = camDir.dotProduct(center - camPos) * camDir + camPos ;
// makes the ray from the subjet's center to the camera.
const ::Ogre::Ray rayToCam( center, (camPos - center).normalisedCopy() ) ;
// makes the tangent plane to the sphere whose normal is toward the camera.
::Ogre::Real fDist = center.distance( camPos ) ;
if( a_subjSphr.getRadius() < fDist )
fDist = a_subjSphr.getRadius() ;
const ::Ogre::Plane touchPlane( rayToCam.getDirection(), fDist ) ;
// gets the touch points on the plane.
::Ogre::Ray ray ;
a_pCam->getCameraToViewportRay( a_curTouch.x, a_curTouch.y, &ray ) ;
const ::Ogre::Vector3 curPoint = ray.getPoint( ray.intersects( touchPlane ).second ) ;
a_pCam->getCameraToViewportRay( a_oldTouch.x, a_oldTouch.y, &ray ) ;
const ::Ogre::Vector3 oldPoint = ray.getPoint( ray.intersects( touchPlane ).second ) ;
// gets the quaternion.
const ::Ogre::Quaternion qtnn = (curPoint - center).getRotationTo( oldPoint - center ) ;
// gets the new camera position.
::Ogre::Vector3 newCamPos = camPos - center ;
newCamPos = qtnn * newCamPos ;
newCamPos += center ;
// gest the new look-at.
::Ogre::Vector3 newLookAt = lookAt - center ;
newLookAt = qtnn * newLookAt ;
newLookAt += center ;
// sets the camera to the new properties.
a_pCam->setPosition( newCamPos ) ;
a_pCam->lookAt( newLookAt ) ;
}
void InteractiveMarkerControl::rotate( Ogre::Ray &mouse_ray )
{
Ogre::Vector3 intersection_3d;
Ogre::Vector2 intersection_2d;
float ray_t;
Ogre::Vector3 rotation_axis = control_frame_orientation_at_mouse_down_ * control_orientation_.xAxis();
// Find rotation_center = 3D point closest to grab_point_ which is
// on the rotation axis, relative to the reference frame.
Ogre::Vector3 rotation_center = closestPointOnLineToPoint( control_frame_node_->getPosition(),
rotation_axis,
grab_point_ );
// Find intersection of mouse_ray with plane centered at rotation_center.
if( intersectSomeYzPlane( mouse_ray, rotation_center, control_frame_orientation_at_mouse_down_,
intersection_3d, intersection_2d, ray_t ))
{
// Find rotation
Ogre::Vector3 grab_rel_center = grab_point_ - rotation_center;
Ogre::Vector3 mouse_rel_center = intersection_3d - rotation_center;
Ogre::Quaternion orientation_change_since_mouse_down =
grab_rel_center.getRotationTo( mouse_rel_center, rotation_axis );
Ogre::Radian rot;
Ogre::Vector3 axis;
orientation_change_since_mouse_down.ToAngleAxis( rot, axis );
// Quaternion::ToAngleAxis() always gives a positive angle. The
// axis it emits (in this case) will either be equal to
// rotation_axis or will be the negative of it. Doing the
// dot-product then gives either 1.0 or -1.0, which is just what
// we need to get the sign for our angle.
Ogre::Radian rotation_since_mouse_down = rot * axis.dotProduct( rotation_axis );
rotation_ = rotation_at_mouse_down_ + rotation_since_mouse_down;
parent_->setPose( parent_->getPosition(),
orientation_change_since_mouse_down * parent_orientation_at_mouse_down_,
name_ );
}
}