CFVec2 CSteeringAgent::GetAdjustedWhisker(const CFVec2& _krvWhisker) const
{
CFVec2 vAdjustedWhisker = _krvWhisker;
vAdjustedWhisker.RotateZ(m_krCat.GetHeadingRadians());
return vAdjustedWhisker;
}
CFVec2 CSteeringAgent::GetWhiskerBearingEffect() const
{
CBlackboard& rBlackboard = CBlackboard::GetInstance();
bool bRotationApplied = false;
FLOAT32 fTotalRotation = 0.0f;
FLOAT32 fRotation = Math::PI / 2.0f; // 90 degrees
for (unsigned int uiIndex = 0 ; uiIndex < SIDE_WHISKER_COUNT; uiIndex++)
{
FLOAT32 fWhiskerTime =
rBlackboard.GetClosestWallIntersectionTime(GetAbsoluteWhiskerStart(m_vWhiskersLeft[uiIndex]),
GetAdjustedWhisker(m_vWhiskersLeft[uiIndex]));
if (fWhiskerTime != -1.0f)
{
fTotalRotation += fRotation;
bRotationApplied = true;
}
fWhiskerTime =
rBlackboard.GetClosestWallIntersectionTime(GetAbsoluteWhiskerStart(m_vWhiskersRight[uiIndex]),
GetAdjustedWhisker(m_vWhiskersRight[uiIndex]));
if (fWhiskerTime != -1.0f)
{
fTotalRotation -= fRotation;
bRotationApplied = true;
}
fRotation /= 5.0f; // TODO MAGIC
}
if (bRotationApplied)
{
// If the rotation was cancelled out (accounting for rounding errors).
if (abs(fTotalRotation) < 0.0001f)
{
// The whiskers are intersecting on both sides so chances are we're heading straight for something and we
// need to turn. Clockwise 90 degrees sounds good...
fTotalRotation += Math::PI / 2.0f;
}
CFVec2 vWhiskerBearingEffect = m_krCat.GetHeadingVector();
vWhiskerBearingEffect.Normalise();
vWhiskerBearingEffect.RotateZ(fTotalRotation);
return vWhiskerBearingEffect;
}
return fv2EMPTY;
}
void
CMole::ComputeWallForce(CFVec2& _vrRepelForce)
{
for (unsigned int i = 0; i < MAX_WHISKER; ++ i)
{
CFVec2 vLineRepelForce;
CWall* pClosestWall = 0;
float fImpactTime = 0;
bool bIntersected = FindWiskerClosestWall(static_cast<EWhisker>(i), pClosestWall, fImpactTime);
if (bIntersected)
{
// Time radio
float fTimeRatio = 1.0f - (fImpactTime / 1.0f);
fTimeRatio *= 1.8f;
if (fTimeRatio > 1.0f)
{
fTimeRatio = 1.0f;
}
CFVec2 vPointDisplacement(pClosestWall->GetStartPoint());
vPointDisplacement -= pClosestWall->GetEndPoint();
// Line direction
CFVec2 vLineDirection(vPointDisplacement);
vLineDirection.Normalise();
// Get Normal
CFVec2 vLineNormal(pClosestWall->GetNormal());
vLineNormal.Normalise();
CFVec2 vStart = pClosestWall->GetStartPoint();
CFVec2 vEnd = pClosestWall->GetEndPoint();
// Which side is the cat on
float fPerpendicularDot = (vEnd.X() - vStart.X()) * (m_vPosition.Y() - vStart.Y()) - (vEnd.Y() - vStart.Y()) * (m_vPosition.X() - vStart.X());
bool bOnNormalSide = (fPerpendicularDot > 0);
// Cat going against the normal
if (bOnNormalSide)
{
// Cat has to be on normal side
vLineRepelForce = vLineNormal;
vLineRepelForce.RotateZ(fDegsToRad(180.0f));
}
// Cat going towards normal
else
{
// Cat has to be not on normal side
vLineRepelForce = vLineNormal;
}
// Scale based on collision time
//vLineRepelForce *= 1.25f;
vLineRepelForce *= fTimeRatio;
_vrRepelForce += vLineRepelForce;
m_pWhiskers[i].SetColour(0xFFFF0000);
}
}
}
