void CExactPositioningTrigger::Update( float frameTime, Vec3 userPos, Quat userOrient, bool allowTriggering )
{
if (m_state == eS_Invalid)
return;
CRY_ASSERT(m_pos.IsValid());
CRY_ASSERT(m_userPos.IsValid());
CRY_ASSERT(m_orient.IsValid());
CRY_ASSERT(m_userOrient.IsValid());
CRY_ASSERT(m_posSize.IsValid());
CRY_ASSERT(NumberValid(m_cosOrientTolerance));
CRY_ASSERT(NumberValid(frameTime));
CRY_ASSERT(userPos.IsValid());
CRY_ASSERT(userOrient.IsValid());
m_userPos = userPos;
m_userOrient = userOrient;
if (m_state == eS_Initializing)
m_state = eS_Before;
Plane threshold;
threshold.SetPlane( m_orient.GetColumn1(), m_pos );
if (threshold.DistFromPlane(userPos) >= 0.0f)
{
if (m_sideTime < 0.0f)
m_sideTime = 0.0f;
else
m_sideTime += frameTime;
}
else
{
if (m_sideTime > 0.0f)
m_sideTime = 0.0f;
else
m_sideTime -= frameTime;
}
Vec3 curDir = userOrient.GetColumn1();
Vec3 wantDir = m_orient.GetColumn1();
if (m_state == eS_Before)
{
OBB triggerBox;
triggerBox.SetOBB( Matrix33(m_orient), m_posSize+Vec3(0.5f,0.5f,0), ZERO );
if (Overlap::Point_OBB(m_userPos, m_pos, triggerBox))
m_state = eS_Optimizing;
}
if ((m_state == eS_Optimizing) && allowTriggering)
{
#ifdef INCLUDE_EXACTPOS_DEBUGGING
bool debug = (CAnimationGraphCVars::Get().m_debugExactPos != 0);
CPersistantDebug* pPD = CCryAction::GetCryAction()->GetPersistantDebug();
#endif
Vec3 bump(0.0f, 0.0f, 0.1f);
Vec3 posDistanceError = m_userPos - m_pos;
if ( posDistanceError.z > -1.0f && posDistanceError.z < 1.0f )
posDistanceError.z = 0;
Vec3 orientFwd = m_orient.GetColumn1(); orientFwd.z = 0.0f; orientFwd.Normalize();
Vec3 rotAnimMovementWanted = orientFwd * m_animMovementLength;
Vec3 userFwd = m_userOrient.GetColumn1(); userFwd.z = 0.0f; userFwd.Normalize();
Vec3 rotAnimMovementUser = userFwd * m_animMovementLength;
float cosRotError = orientFwd.Dot( userFwd );
float rotError = CLAMP(m_cosOrientTolerance - cosRotError, 0.0f, 1.0f);
//Vec3 rotDistanceError = rotAnimMovementUser - rotAnimMovementWanted;
float fwdDistance = fabsf(orientFwd.Dot( posDistanceError ));
float sideDistance = max( 0.0f, sqrtf( MAX(0,posDistanceError.GetLengthSquared2D() - sqr(fwdDistance)) ) - m_width );
float deltaFwd = m_oldFwdDir < fwdDistance ? fwdDistance - m_oldFwdDir : 0.0f;
m_oldFwdDir = fwdDistance;
fwdDistance += deltaFwd * 0.5f;
deltaFwd = max(0.1f, deltaFwd);
f32 distanceError = sqrtf(sqr(fwdDistance) + sqr(sideDistance)); // posDistanceError.len() * m_distanceErrorFactor;
f32 temp = 1.0f-sqr(1.0f-rotError*rotError);
temp = max(temp,0.0f); //never do a sqrtf with a negative value
f32 orientError = sqrtf(temp) * m_animMovementLength; // rotDistanceError.len();
f32 totalDistanceError = distanceError + orientError;
if (((m_distanceError * 1.05f) < distanceError) && ((m_orientError * 1.05f) < orientError) && (totalDistanceError < deltaFwd) ||
(totalDistanceError < deltaFwd*0.5f))
{ // found local minimum in distance error, force triggering.
m_state = eS_Triggered;
m_oldFwdDir = 0.0f;
#ifdef INCLUDE_EXACTPOS_DEBUGGING
if (debug)
{
pPD->Begin("AnimationTrigger LocalMinima Triggered", false);
pPD->AddPlanarDisc(m_pos + bump, 0.0f, m_distanceError, ColorF(0,1,0,0.5), 10.0f);
}
#endif
}
else
{
m_distanceError = m_distanceError > distanceError ? distanceError : m_distanceError * 0.999f; // should timeout in ~2 secs. on 50 FPS
m_orientError = m_orientError > orientError ? orientError : m_orientError - 0.0001f;
#ifdef INCLUDE_EXACTPOS_DEBUGGING
if (debug)
{
pPD->Begin("AnimationTrigger LocalMinima Optimizing", true);
pPD->AddPlanarDisc(m_pos + bump, 0.0f, m_distanceError, ColorF(1,1,0,0.5), 10.0f);
}
#endif
}
#ifdef INCLUDE_EXACTPOS_DEBUGGING
if (debug)
{
pPD->AddLine(m_userPos + bump, m_pos + bump, ColorF(1,0,0,1), 10.0f);
pPD->AddLine(m_userPos + rotAnimMovementUser + bump, m_pos + rotAnimMovementWanted + bump, ColorF(1,0,0,1), 10.0f);
pPD->AddLine(m_pos + bump, m_pos + rotAnimMovementWanted + bump, ColorF(1,0.5,0,1), 10.0f);
pPD->AddLine(m_userPos + bump, m_pos + rotAnimMovementUser + bump, ColorF(1,0.5,0,1), 10.0f);
}
#endif
}
CRY_ASSERT(m_pos.IsValid());
CRY_ASSERT(m_userPos.IsValid());
CRY_ASSERT(m_orient.IsValid());
CRY_ASSERT(m_userOrient.IsValid());
CRY_ASSERT(m_posSize.IsValid());
CRY_ASSERT(NumberValid(m_cosOrientTolerance));
}
void CVehicleSeatActionRotateTurret::DoUpdate(const float frameTime)
{
FUNCTION_PROFILER(GetISystem(), PROFILE_ACTION);
if (gEnv->IsClient() && m_pVehicle->IsProbablyDistant() && !m_pVehicle->GetGameObject()->IsProbablyVisible())
return;
// AI use the aim goal to control their rotation (remote usage too)
if (!m_aimGoal.IsZero())
{
UpdateAimGoal();
}
// now update each rotation type
for (int i = 0; i < eVTRT_NumRotationTypes; ++i)
{
if (m_rotations[i].m_pPart)
{
MaintainPartRotationWorldSpace((EVehicleTurretRotationType)i);
}
}
// Cache the helper position before applying any rotation
IActor* pActor = m_pSeat->GetPassengerActor();
bool checkRotation = (m_rotTestHelpers[0] && m_rotTestHelpers[1] && pActor);
Vec3 oldHelperPos = checkRotation ? m_rotTestHelpers[1]->GetWorldSpaceTranslation() : Vec3(ZERO);
Matrix34 oldMatrices[eVTRT_NumRotationTypes];
for (int i = 0; i < eVTRT_NumRotationTypes; ++i)
{
if (m_rotations[i].m_pPart)
{
oldMatrices[i] = m_rotations[i].m_pPart->GetLocalBaseTM();
UpdatePartRotation((EVehicleTurretRotationType)i, frameTime);
}
}
// Check for turret collisions
if (checkRotation)
{
// need to test the new rotations before applying them. Sweep a sphere between the two helpers and check for collisions...
static IPhysicalEntity* pSkipEntities[10];
int numSkip = m_pVehicle->GetSkipEntities(pSkipEntities, 10);
primitives::sphere sphere;
sphere.center = m_rotTestHelpers[0]->GetWorldSpaceTranslation();
sphere.r = m_rotTestRadius;
geom_contact* pContact = NULL;
Vec3 dir = m_rotTestHelpers[1]->GetWorldSpaceTranslation() - sphere.center;
float hit = gEnv->pPhysicalWorld->PrimitiveWorldIntersection(sphere.type, &sphere, dir, ent_static | ent_terrain | ent_rigid | ent_sleeping_rigid, &pContact, 0, (geom_colltype_player << rwi_colltype_bit) | rwi_stop_at_pierceable, 0, 0, 0, pSkipEntities, numSkip);
if (hit > 0.001f && pContact)
{
// there was a collision. check whether the barrel is moving towards the collision point or not... if not, ignore the collision.
#if ENABLE_VEHICLE_DEBUG
if (VehicleCVars().v_debugdraw > 0)
{
CPersistantDebug* pPD = CCryAction::GetCryAction()->GetPersistantDebug();
pPD->Begin("VehicleCannon", false);
ColorF col(1.0f, 0.0f, 0.0f, 1.0f);
if (pContact && hit > 0.0f)
{
pPD->AddSphere(pContact->pt, 0.1f, col, 30.0f);
}
}
#endif
Vec3 endPos = m_rotTestHelpers[1]->GetWorldSpaceTranslation();
Vec3 moveDir = endPos - oldHelperPos;
Vec3 hitDir = pContact->pt - oldHelperPos;
if (moveDir.Dot(hitDir) > 0.0f)
{
// reset as though the rotation never happened.
for (int i = 0; i < eVTRT_NumRotationTypes; ++i)
{
if (m_rotations[i].m_pPart)
{
CVehiclePartBase* pPart = m_rotations[i].m_pPart;
pPart->SetLocalBaseTM(oldMatrices[i]);
const Matrix34 &worldTM = pPart->GetWorldTM();
m_rotations[i].m_prevWorldQuat = Quat(worldTM);
m_rotations[i].m_orientation.Set(Quat(Matrix33(oldMatrices[i])));
}
}
}
}
}
m_aimGoalPriority = 0;
}
