void VPathNode::updateWorldData( void )
{
if ( !mPath )
{
setWorldPosition( getLocalPosition() );
setWorldRotation( getLocalRotation() );
return;
}
// Fetch Path Details.
const MatrixF &pathTransform = mPath->getTransform();
const QuatF &pathRotation( pathTransform );
// Calculate the World Position.
Point3F newPosition = getLocalPosition();
newPosition.convolve( mPath->getScale() );
pathTransform.mulP( newPosition );
// Calculate the new Rotation.
QuatF newRotation;
newRotation.mul( getLocalRotation(), pathRotation );
// Apply.
setWorldPosition( newPosition );
setWorldRotation( newRotation );
}
void Transform::setParent(Transform* transform)
{
if(this->parent != NULL)
{
for(int i = 0; i < this->parent->children.size(); i++)
{
if(this->parent->children.at(i) == this)
{
this->parent->children.erase(this->parent->children.begin() + i);
break;
}
}
}
if(transform != NULL)
{
transform->children.push_back(this);
}
setLocalPosition(getPosition());
setLocalRotation(getRotation());
this->parent = transform;
setPosition(getLocalPosition());
setRotation(getLocalRotation());
}
Math::RigidTransform3d Fem2DLocalization::getElementPose()
{
auto femRepresentation = std::static_pointer_cast<Fem2DRepresentation>(getRepresentation());
auto position = getLocalPosition();
auto femElement = femRepresentation->getFemElement(getLocalPosition().index);
const auto& nodeIds = femElement->getNodeIds();
std::array<Math::Vector3d, 3> nodePositions =
{femRepresentation->getCurrentState()->getPosition(nodeIds[0]),
femRepresentation->getCurrentState()->getPosition(nodeIds[1]),
femRepresentation->getCurrentState()->getPosition(nodeIds[2])};
Math::Vector3d edge, normal, binormal;
edge = (nodePositions[1] - nodePositions[0]).normalized();
normal = (nodePositions[2] - nodePositions[0]).cross(edge).normalized();
binormal = edge.cross(normal);
Math::Matrix33d rotation;
rotation << edge, normal, binormal;
return Math::makeRigidTransform(rotation, (nodePositions[0] + nodePositions[1] + nodePositions[2]) / 3.0);
}
Light::Light(int pType, glm::vec3 pPos, glm::vec3 pDir, glm::vec3 pColor, glm::vec3 pAtt, float pAngle, GameObject* target)
: GameObject("light", pPos), _type(pType), _color(pColor), _attenuation(pAtt), _angle(glm::radians(pAngle))
{
setDirection(pDir);
if(pType == MGE_LIGHT_DIRECTIONAL)
{
_target = target;
_storedOffset = getLocalPosition();
_dirLight = this;
setName("Directional Light");
setWorldRotation(glm::normalize(-_storedOffset));
}
_lightList.Add(this);
}
//////////////////////////////////////////////////////////////////////////
// update
//virtual
void GaRobotComponent::update( BcF32 Tick )
{
if( Health_ <= 0.0f )
{
return;
}
CurrentOpTimer_ -= Tick;
if( CurrentOpTimer_ < 0.0f )
{
CurrentOpTimer_ += CurrentOpTime_;
// Handle robot program.
BcBool ExecutedCode = BcFalse;
if( Program_.size() > 0 )
{
CurrentOp_ = NextOp_;
const auto& Op = Program_[ CurrentOp_ ];
if( Op.State_ == CurrentState_ )
{
auto Condition = ProgramFunctionMap_[ Op.Condition_ ];
if( Condition != nullptr )
{
if( Condition( this, Op.ConditionVar_ ) )
{
auto Operation = ProgramFunctionMap_[ Op.Operation_ ];
if( Operation == nullptr )
{
BcPrintf( "No operation \"%s\"\n", Op.Operation_.c_str() );
}
else
{
auto RetVal = Operation( this, Op.OperationVar_ );
if( RetVal != BcErrorCode )
{
CurrentState_ = RetVal;
}
}
}
}
ExecutedCode = BcTrue;
}
// Advance to next valid op.
if( ExecutedCode )
{
for( BcU32 Idx = 0; Idx < Program_.size(); ++Idx )
{
NextOp_ = ( NextOp_ + 1 ) % Program_.size();
if( Program_[ NextOp_ ].State_ == CurrentState_ )
{
break;
}
}
}
// Did we fail to run code? If so, reset to op 0 and the state of op 0.
if( ExecutedCode == BcFalse )
{
NextOp_ = 0;
CurrentState_ = Program_[ NextOp_ ].State_;
}
}
}
// Grab entity + position.
auto Entity = getParentEntity();
auto LocalPosition = Entity->getLocalPosition();
// Move if we need to move towards our target position.
if( ( TargetPosition_ - LocalPosition ).magnitudeSquared() > ( TargetDistance_ * TargetDistance_ ) )
{
if( MoveTimer_ <= 0.0f )
{
Velocity_ += ( TargetPosition_ - LocalPosition ).normal() * MaxVelocity_;
}
}
else
{
BcF32 SlowDownTick = BcClamp( Tick * 50.0f, 0.0f, 1.0f );
Velocity_ -= ( Velocity_ * SlowDownTick );
}
// TODO LATER: Do rotation.
if( Velocity_.magnitudeSquared() > 0.1f )
{
auto Angle = std::atan2( Velocity_.z(), Velocity_.x() ) + BcPIDIV2;
MaMat4d RotMat;
RotMat.rotation( MaVec3d( 0.0f, Angle, 0.0f ) );
Base_->setLocalMatrix( RotMat );
}
// TODO LATER: Do rotation.
auto Robots = getRobots( 1 - Team_ );
if( Robots.size() > 0 )
{
auto Robot = Robots[ 0 ];
auto RobotPosition = Robot->getParentEntity()->getLocalPosition();
auto VectorTo = RobotPosition - LocalPosition;
// Push out of away.
if( VectorTo.magnitude() < 3.0f )
{
BcF32 Factor = ( 3.0f - VectorTo.magnitude() ) / 3.0f;
BcF32 InvFactor = 1.0f - Factor;
Velocity_ = ( -( VectorTo.normal() * MaxVelocity_ ) * Factor * 3.0f ) + ( Velocity_ * InvFactor );
}
// Face turret.
auto Angle = std::atan2( VectorTo.z(), VectorTo.x() ) + BcPIDIV2;
MaMat4d RotMat;
RotMat.rotation( MaVec3d( 0.0f, Angle, 0.0f ) );
Turret_->setLocalMatrix( RotMat );
}
LocalPosition += Velocity_ * Tick;
// Slow down velocity.
BcF32 SlowDownTick = BcClamp( Tick * 10.0f, 0.0f, 1.0f );
Velocity_ -= ( Velocity_ * SlowDownTick );
if( Velocity_.magnitude() > MaxVelocity_ )
{
Velocity_ = Velocity_.normal() * MaxVelocity_;
}
// Set local position.
Entity->setLocalPosition( LocalPosition );
// Handle health + energy.
Health_ = BcClamp( Health_, 0.0f, 100.0f );
Energy_ = BcClamp( Energy_ + ( EnergyChargeRate_ * Tick ), 0.0f, 100.0f );
// Weapon timers.
WeaponATimer_ = BcMax( WeaponATimer_ - Tick, -1.0f );
WeaponBTimer_ = BcMax( WeaponBTimer_ - Tick, -1.0f );
MoveTimer_ = BcMax( MoveTimer_ - Tick, -1.0f );
// Health/energy bars.
OsClient* Client = OsCore::pImpl()->getClient( 0 );
BcF32 Width = BcF32( Client->getWidth() ) * 0.5f;
BcF32 Height = BcF32( Client->getHeight() ) * 0.5f;
MaMat4d Projection;
Projection.orthoProjection( -Width, Width, Height, -Height, -1.0f, 1.0f );
Canvas_->pushMatrix( Projection );
Canvas_->setMaterialComponent( Material_ );
auto ScreenPos = View_->getScreenPosition( getParentEntity()->getWorldPosition() );
ScreenPos -= MaVec2d( 0.0f, Height / 8.0f );
auto TLPos = ScreenPos - MaVec2d( Width / 16.0f, Height / 64.0f );
auto BRPos = ScreenPos + MaVec2d( Width / 16.0f, Height / 64.0f );
// Draw background.
Canvas_->drawBox( TLPos, BRPos, RsColour::BLACK, 0 );
// Draw inner bars.
TLPos += MaVec2d( 1.0f, 1.0f );
BRPos -= MaVec2d( 1.0f, 1.0f );
auto HealthTL = MaVec2d(
TLPos.x(),
TLPos.y() );
auto HealthBR = MaVec2d(
TLPos.x() + ( BRPos.x() - TLPos.x() ) * ( Health_ / 100.0f ),
( TLPos.y() + BRPos.y() ) * 0.5f );
auto EnergyTL = MaVec2d(
TLPos.x(),
( TLPos.y() + BRPos.y() ) * 0.5f );
auto EnergyBR = MaVec2d(
TLPos.x() + ( BRPos.x() - TLPos.x() ) * ( Energy_ / 100.0f ),
BRPos.y() );
Canvas_->drawBox( HealthTL, HealthBR, RsColour::GREEN, 0 );
Canvas_->drawBox( EnergyTL, EnergyBR, RsColour::BLUE, 0 );
Canvas_->popMatrix( );
ScnDebugRenderComponent::pImpl()->drawLine(
LocalPosition,
TargetPosition_,
RsColour::WHITE,
0 );
Super::update( Tick );
}
glm::vec4 GetPosition() { return glm::vec4(getLocalPosition(), !_isDirectional); }
