void Matrix3DUtils::rotateZ(Matrix3D &m, const float angle, bool local, Vector3D *pivot) {
if (local) {
getDir(m, _vector);
rotateAxis(m, angle, _vector, pivot);
} else {
rotateAxis(m, angle, Z_AXIS, pivot);
}
}
void SpaceObject::matchVelocity(std::string objectName) {
Object *o = ObjectMgr::get().find(objectName);
if (o && objectName != id) {
Vector deltaV = o->getVelocity() - velocity;
if (deltaV.magnitude() > 0.1f) {
Vector thrustDir = deltaV.normalize();
Vector axis = (look % thrustDir).normalize();
if (axis.magnitude() < 0.01f)
axis = up;
float ang = look.angle(thrustDir);
if (ang < 0.01f || fabs(ang - 180.0f) < 0.1f)
axis = up;
if (ang > 0.0001f) {
if (ang > topTurnSpeed * GlobalTime::get().frameSec)
ang = topTurnSpeed * GlobalTime::get().frameSec;
rotateAxis(axis, ang);
}
thrust(100.0f);
}
}
}
void SpaceObject::pointTowards(std::string objectName) {
Object *o = ObjectMgr::get().find(objectName);
if (o && objectName != id) {
Vector delta = o->getPos() - pos;
delta = delta.normalize();
Vector axis = (delta % look).normalize();
//std::cerr<<"youch!!!!\n";
if (axis.magnitude() < 0.01f)
axis = up;
float ang = look.angle(delta);
if (ang < 0.01f || fabs(ang - 180.0f) < 0.1f)
axis = up;
if (ang > 0.0001f
|| (look.normalize() - delta.normalize()).magnitude() > 1.0f) {
if (ang > topTurnSpeed * GlobalTime::get().frameSec)
ang = topTurnSpeed * GlobalTime::get().frameSec;
rotateAxis(axis, ang);
}
}
}
void Object::angularMove() {
Vector dt1 = omega * (GlobalTime::get().frameSec);
Vector dt2 = (omega + dt1 * .5) * (GlobalTime::get().frameSec);
Vector dt3 = (omega + dt2 * .5) * (GlobalTime::get().frameSec);
Vector dt4 = (omega + dt3) * (GlobalTime::get().frameSec);
//pos+=velocity*(GlobalTime::get().frameSec);
Vector incr = (dt1 / 6 + dt2 / 3 + dt3 / 3 + dt4 / 6);
rotateAxis(incr.normalize(), RAD2DEG(incr.magnitude()));
alpha *= 0;
}
//NOTE - NEED TO FIX LIKE WITH STOP AND MATCHVELOCITY
//180* BUG
void SpaceObject::track(std::string objectName) {
Object *o = ObjectMgr::get().find(objectName);
if (o && objectName != id) {
//Vector from your position to object being tracked
Vector delta = o->getPos() - pos;
float seconds = ((-1 * (velocity - o->getVelocity()).magnitude()
+ sqrt(
(velocity - o->getVelocity()).magnitude()
* (velocity - o->getVelocity()).magnitude()
+ 2 * topAccel * delta.magnitude())) / (topAccel));
float seconds2 = ((-1 * (velocity - o->getVelocity()).magnitude()
- sqrt(
(velocity - o->getVelocity()).magnitude()
* (velocity - o->getVelocity()).magnitude()
+ 2 * topAccel * delta.magnitude())) / (topAccel));
if (seconds2 > seconds)
seconds = seconds2;
//float seconds = sqrt((delta.magnitude()*2.0f)/topAccel);
//Distance 1s from now
Vector shootFor = delta + (o->getVelocity() - velocity) * seconds;
shootFor = shootFor.normalize();
Vector axis = (look % shootFor).normalize();
//std::cerr<<"youch!!!!\n";
if (axis.magnitude() < 0.01f)
axis = up;
float ang = look.angle(shootFor);
if (ang < 0.01f || fabs(ang - 180.0f) < 0.1f)
axis = up;
if (ang > 0.0001f) {
if (ang > topTurnSpeed * GlobalTime::get().frameSec)
ang = topTurnSpeed * GlobalTime::get().frameSec;
rotateAxis(axis, ang);
}
thrust(100.0f);
//if(detectCollision(o)) done=true;
}
}
void SpaceObject::stop() {
if (velocity.magnitude()) {
Vector thrustDir = (velocity * -1).normalize();
Vector axis = (look % thrustDir).normalize();
if (axis.magnitude() < 0.01f)
axis = up;
float ang = look.angle(thrustDir);
if (ang < 0.01f || fabs(ang - 180.0f) < 0.1f)
axis = up;
if (ang > 0.0001f) {
if (ang > topTurnSpeed * GlobalTime::get().frameSec)
ang = topTurnSpeed * GlobalTime::get().frameSec;
rotateAxis(axis, ang);
}
applyForce(thrustDir * topAccel * mass * 0.8f);
}
}
Quat VKTS_APIENTRY rotateRz(const float anglez)
{
return rotateAxis(anglez, 0.0f, 0.0f, 1.0f);
}
Quat VKTS_APIENTRY rotateRy(const float angley)
{
return rotateAxis(angley, 0.0f, 1.0f, 0.0f);
}
Quat VKTS_APIENTRY rotateRx(const float anglex)
{
return rotateAxis(anglex, 1.0f, 0.0f, 0.0f);
}
