void PlayerVehicle::update(const float currentTime, const float elapsedTime)
{
PhysicalThing* pt = mActor->getPhysicalThing();
OgreNewt::Body* body = NULL;
if(pt) pt->_getBody();
if(body)
{
Vector3 position;
Quaternion orientation;
body->getPositionOrientation(position, orientation);
setPosition(Vec3(position.x, position.y, position.z));
// Get the velocity vector
mCurrentVelocity = body->getVelocity();
// enforce speed limit
// newVelocity = newVelocity.truncateLength (maxSpeed ());
// update speed
setSpeed(mCurrentVelocity.length());
Vec3 newVelocity(mCurrentVelocity.x, mCurrentVelocity.y, mCurrentVelocity.z);
// regenerate local space (by default: align vehicle's forward axis with
// new velocity, but this behavior may be overridden by derived classes.)
if (speed() > 0) regenerateOrthonormalBasisUF (newVelocity / speed());
// prevent adding a counter force against gravity
if (mCurrentVelocity.y < 0.0f) mCurrentVelocity.y = 0.0f;
}
mCurrentForce = Ogre::Vector3::ZERO;
}
void StepRecognitionMovement::calculateForceAndTorque(Vector3 &force, Vector3 &torque, Real timestep)
{
// move to nextTarget
if( mMoveToNextTarget )
{
Real mass;
Vector3 inertia;
OgreNewt::Body *body = mMovingCreature->getCreature()->getActor()->getPhysicalThing()->_getBody();
body->getMassMatrix(mass, inertia);
Vector3 pos = mMovingCreature->getCreature()->getPosition();
Vector3 diff = mNextTarget - pos;
Vector3 vel = body->getVelocity();
force.y = mass*( mLinearSpringK*diff.y - mLinearDampingK*vel.y );
std::ostringstream oss;
oss << "Step-Recognition: diff: " << diff.y << " vel: " << vel.y << " Step force: " << force.y;
oss << " DiffToTarget: " <<
mMovingCreature->getCreature()->getOrientation().Inverse() *
(mNextTarget - mMovingCreature->getCreature()->getPosition());
LOG_MESSAGE(Logger::RULES, oss.str());
}
}
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;
}