void CLocalPlayer::SendOnFootData()
{
RakNet::BitStream PlayerBitStream_send;
PlayerBitStream_send.Write((MessageID)ID_SEND_PLAYER_DATA);
PlayerBitStream_send.Write(NetworkManager->playerid);
PlayerBitStream_send.Write(GetType());
PlayerBitStream_send.Write(GetModel());
PlayerBitStream_send.Write(GetHealth());
PlayerBitStream_send.Write(GetArmour());
PlayerBitStream_send.Write(GetCoords().x);
PlayerBitStream_send.Write(GetCoords().y);
PlayerBitStream_send.Write(GetCoords().z);
PlayerBitStream_send.Write(GetHeading());
PlayerBitStream_send.Write(GetQuaternion().fX);
PlayerBitStream_send.Write(GetQuaternion().fY);
PlayerBitStream_send.Write(GetQuaternion().fZ);
PlayerBitStream_send.Write(GetQuaternion().fW);
PlayerBitStream_send.Write(AI::GET_PED_DESIRED_MOVE_BLEND_RATIO(playerPed));
PlayerBitStream_send.Write(GetVelocity().x);
PlayerBitStream_send.Write(GetVelocity().y);
PlayerBitStream_send.Write(GetVelocity().z);
PlayerBitStream_send.Write(LocalPlayer->GetVehicle());
PlayerBitStream_send.Write(time(0));
NetworkManager->client->Send(&PlayerBitStream_send, MEDIUM_PRIORITY, RELIABLE_ORDERED, 0, RakNet::UNASSIGNED_SYSTEM_ADDRESS, true);
}
float KChainOrientationBodySchema::TryInverseKinematics(const cart_vec_t position){
int i,j;
float cand,rdist=0,tdist=0,k=0.0001; //rotation vs translation weight
CVector3_t stack[MAX_LINKS];
CVector3_t tar,newrod,rod,diff,pos;
CQuat_t q1,q2,q3,q4,rot;
// converting data format
v_copy(position.GetArray(),pos);
q_complete(position.GetArray()+3,rot);
q_inv(rot,q1);
for(i=0;i<nb_joints;i++){
GetQuaternion(i,q2);
q_multiply(q2,q1,q3);
q_copy(q3,q1);
}
for(j=0;j<50;j++){
#ifdef WITH_LAST_LINK
last_link->GetTranslation(rod);
#else
v_clear(rod);
#endif
InverseKinematicsStack(pos,stack);
for(i=nb_joints-1;i>=0;i--){
GetInverseQuaternion(i,q2);
q_multiply(q2,q1,q3); //q1*inv(Ri)
if(IsInverted(i)==-1){
v_copy(stack[i],tar);
Translate(i,rod,newrod); //getting to joint
cand = joints[i]->MinimizePositionAndRotationAngle(tar,newrod,q3,k);
cand = AngleInClosestRange(i,cand);
joints[i]->SetAngle(-cand);// todo to check if it is -
Rotate(i,newrod,rod); // updating "rod"
v_sub(tar,rod,diff);
}
else{
Rotate(i,stack[i+1],tar); //rotating back
cand = joints[i]->MinimizePositionAndRotationAngle(tar,rod,q3,k);
cand = AngleInClosestRange(i,cand);
joints[i]->SetAngle(cand);
Rotate(i,rod,newrod);
Translate(i,newrod,rod);
v_sub(tar,newrod,diff);
}
GetQuaternion(i,q2);
q_multiply(q3,q2,q1);
q_multiply(q2,q3,q4);
rdist = v_length(q4);//rotation distance, only the first 3 components
tdist = v_length(diff);//translation distance
// cout<<"rot "<<rdist<<" pos "<<tdist<<" prod: "<<(1-k)*rdist+k*tdist<<endl;
if(tdist<tol && rdist<rot_tol){return rdist/rot_tol+tdist;}
}
q_multiply(rot,q1,q2);
q_inv(rot,q3);
q_multiply(q2,q3,q1);
}
return rdist/rot_tol + tdist;
}
void SeekObject::Update3(){
auto PtrRigidbody = GetComponent<Rigidbody>();
//回転の更新
//Velocityの値で、回転を変更する
//これで進行方向を向くようになる
auto PtrTransform = GetComponent<Transform>();
Vector3 Velocity = PtrRigidbody->GetVelocity();
if (Velocity.Length() > 0.0f){
Vector3 Temp = Velocity;
Temp.Normalize();
float ToAngle = atan2(Temp.x, Temp.z);
Quaternion Qt;
Qt.RotationRollPitchYaw(0, ToAngle, 0);
Qt.Normalize();
//現在の回転を取得
Quaternion NowQt = PtrTransform->GetQuaternion();
//現在と目標を補間（10分の1）
NowQt.Slerp(NowQt, Qt, 0.1f);
PtrTransform->SetQuaternion(NowQt);
}
//常にyはm_BaseY
auto Pos = PtrTransform->GetPosition();
Pos.y = m_BaseY;
PtrTransform->SetPosition(Pos);
}
//Xボタンハンドラ
void Player::OnPushX() {
auto XAPtr = App::GetApp()->GetXAudio2Manager();
XAPtr->Start(L"cursor");
auto Ptr = GetComponent<Transform>();
Vec3 Pos = Ptr->GetPosition();
Pos.y += 0.3f;
Quat Qt = Ptr->GetQuaternion();
Vec3 Rot = Qt.toRotVec();
float RotY = Rot.y;
Vec3 velo(sin(RotY), 0.05f, cos(RotY));
velo.normalize();
velo *= 20.0f;
auto Group = GetStage()->GetSharedObjectGroup(L"ShellGroup");
for (size_t i = 0; i < Group->size(); i++) {
auto shptr = dynamic_pointer_cast<ShellSphere>(Group->at(i));
if (shptr && !shptr->IsUpdateActive()) {
//空きが見つかった
shptr->Reset(Pos, velo);
return;
}
}
//ここまで来てれば空きがない
GetStage()->AddGameObject<ShellSphere>(Pos, velo);
}
/* 一関節分の読込 */
void PacketParserNeuron::ProcessSegment(const uint8* data, const int32 segmentNo, const int32 index, UMocapPose* pose)
{
int32 num = segmentNo;
uint8 boneIndex = this->BoneIndices[num];
FQuat quat = GetQuaternion(data, index);
pose->BoneRotations[boneIndex] = quat;
}
void CustomDrawBox::Update(){
float ElapsedTime = App::GetApp()->GetElapsedTime();
auto PtrTransform = GetComponent<Transform>();
auto Qt = PtrTransform->GetQuaternion();
Quaternion Span;
Span.RotationRollPitchYawFromVector(Vector3(0, ElapsedTime, 0));
Qt *= Span;
PtrTransform->SetQuaternion(Qt);
}
// SLERP
Matrix Matrix::SLERP (Matrix& m2, float t, bool bRightHanded)
{
Quaternion q1 = GetQuaternion (bRightHanded);
Quaternion q2 = m2.GetQuaternion (bRightHanded);
Quaternion qInterpolated = ::SLERP (q1, q2, t);
Matrix answer (qInterpolated);
answer.SetPos (m2.GetPos());
return answer;
}
const Urho3D::Quaternion ConfigManager::GetQuaternion(const Urho3D::String& section, const Urho3D::String& parameter, const Urho3D::Quaternion& defaultValue)
{
auto value = Get(section, parameter);
if (value.GetType() == Urho3D::VAR_QUATERNION)
return value.GetQuaternion();
if (value.GetType() == Urho3D::VAR_STRING)
return Urho3D::ToQuaternion(value.GetString());
// Parameter doesn't exist, or is a different type
if (_saveDefaultParameters)
{
// Set back to default
Set(section, parameter, defaultValue);
}
return defaultValue;
}
void ParticleSystemLoader::ProcessTransform (TiXmlElement* xmlElem, Emiter* emiter)
{
TiXmlElement* content = xmlElem->FirstChildElement ();
while (content) {
std::string name = content->Value ();
if (name == "Position") {
emiter->GetTransform ()->SetPosition (GetVector (content));
}
else if (name == "Scale") {
emiter->GetTransform ()->SetScale (GetVector (content));
}
else if (name == "Rotation") {
emiter->GetTransform ()->SetRotation (GetQuaternion (content));
}
content = content->NextSiblingElement ();
}
}
//進行方向を向くようにする
void Enemy::RotToHead() {
auto PtrRigidbody = GetComponent<Rigidbody>();
//回転の更新
//Velocityの値で、回転を変更する
//これで進行方向を向くようになる
auto PtrTransform = GetComponent<Transform>();
Vec3 Velocity = PtrRigidbody->GetVelocity();
if (Velocity.length() > 0.0f) {
Vec3 Temp = Velocity;
Temp.normalize();
float ToAngle = atan2(Temp.x, Temp.z);
Quat Qt;
Qt.rotationRollPitchYawFromVector(Vec3(0, ToAngle, 0));
Qt.normalize();
//現在の回転を取得
Quat NowQt = PtrTransform->GetQuaternion();
//現在と目標を補間（10分の1）
NowQt = XMQuaternionSlerp(NowQt, Qt, 0.1f);
PtrTransform->SetQuaternion(NowQt);
}
}
template <> Quaternion Variant::Get<Quaternion>() const
{
return GetQuaternion();
}
template <> const Quaternion& Variant::Get<const Quaternion&>() const
{
return GetQuaternion();
}
void
XmlMapFile::LoadMap()
{
TiXmlNode* node = m_File.RootElement();
if( node == NULL || node->ValueStr() != "map" )
{
LOG_ERROR( m_File.ValueStr() + " is not a valid fields map file! No <map> in root." );
return;
}
node = node->FirstChild();
while( node != NULL )
{
if( node->Type() == TiXmlNode::TINYXML_ELEMENT && node->ValueStr() == "walkmesh" )
{
Ogre::String name( GetString( node, "file_name" ) );
if( !name.empty() )
{
QGears::WalkmeshFileManager::getSingleton();
QGears::WalkmeshFilePtr walkmesh( QGears::WalkmeshFileManager::getSingleton().load( name, "Game" ) );
EntityManager::getSingleton().GetWalkmesh()->load( walkmesh );
}
}
else if( node->Type() == TiXmlNode::TINYXML_ELEMENT && node->ValueStr() == "movement_rotation" )
{
Ogre::Degree rotation = Ogre::Degree( GetFloat( node, "degree", 0 ) );
EntityManager::getSingleton().SetPlayerMoveRotation( Ogre::Radian( rotation ) );
}
else if( node->Type() == TiXmlNode::TINYXML_ELEMENT && node->ValueStr() == "background2d" )
{
Ogre::String name = GetString( node, "file_name" );
if( name != "" )
{
// TODO migrate this code to a Resource and use it's group to load background
QGears::Background2DFilePtr background( QGears::Background2DFileManager::getSingleton().load( name, "Game" ) );
EntityManager::getSingleton().GetBackground2D()->load( background );
}
}
else if( node->Type() == TiXmlNode::TINYXML_ELEMENT && node->ValueStr() == "entity_model" )
{
Ogre::String name = GetString( node, "name" );
if( name == "" )
{
LOG_ERROR( "There is no name specified for <entity_model> tag." );
continue;
}
Ogre::String file_name = GetString( node, "file_name" );
if( file_name == "" )
{
LOG_ERROR( "There is no file_name specified for <entity_model> tag." );
continue;
}
Ogre::Vector3 position( GetVector3( node, "position" ) );
Ogre::Degree direction( Ogre::Degree( GetFloat( node, "direction" ) ) );
Ogre::Vector3 scale( GetVector3( node, "scale", Ogre::Vector3::UNIT_SCALE ) );
Ogre::Quaternion orientation( GetQuaternion( node, "root_orientation" ) );
EntityManager::getSingleton().AddEntity( name, file_name, position, direction, scale, orientation );
}
else if( node->Type() == TiXmlNode::TINYXML_ELEMENT && node->ValueStr() == "entity_trigger" )
{
Ogre::String name = GetString( node, "name" );
if( name == "" )
{
LOG_ERROR( "There is no name specified for <entity_trigger> tag." );
continue;
}
Ogre::Vector3 point1 = GetVector3( node, "point1", Ogre::Vector3::ZERO );
Ogre::Vector3 point2 = GetVector3( node, "point2", Ogre::Vector3::ZERO );
bool enabled = GetBool( node, "enabled", false );
EntityManager::getSingleton().AddEntityTrigger( name, point1, point2, enabled );
}
else if( node->Type() == TiXmlNode::TINYXML_ELEMENT && node->ValueStr() == "entity_point" )
{
Ogre::String name = GetString( node, "name" );
if( name == "" )
{
LOG_ERROR( "There is no name specified for <entity_point> tag." );
continue;
}
Ogre::Vector3 position = GetVector3( node, "position" );
float rotation = GetFloat( node, "rotation" );
EntityManager::getSingleton().AddEntityPoint( name, position, rotation );
}
else if( node->Type() == TiXmlNode::TINYXML_ELEMENT && node->ValueStr() == "entity_script" )
{
Ogre::String name = GetString( node, "name" );
if( name == "" )
{
LOG_ERROR( "There is no name specified for <entity_script> tag." );
continue;
}
EntityManager::getSingleton().AddEntityScript( name );
}
else if( node->Type() == TiXmlNode::TINYXML_ELEMENT && node->ValueStr() == "script" )
{
Ogre::String file_name = GetString( node, "file_name" );
if( file_name != "" )
{
ScriptManager::getSingleton().RunFile( file_name );
}
}
node = node->NextSibling();
}
}
