void CRigidBody::HandleSphereToSphereCollision(CCollisionMessage* ColMsg)
{
CVehicle* Car = (CVehicle*)ColMsg->GetEntity();
Vector3f CenterToCenter = *ColMsg->GetCenterToCenter();
// set translate
m_vReflection = CenterToCenter*0.05f;
m_vPosition = m_translate;
m_vDirectionWhenDisturbed = m_vReflection;
// set rotation
if (CenterToCenter.Length() == 0.0f) CenterToCenter = Vector3f(1.0f, 0.0f, 0.0f);
float theta1 = (CenterToCenter.Dot(Car->GetVehicleHeadingWC()))/(CenterToCenter.Length()*Car->GetVehicleHeadingWC().Length());
Vector3f CP = CenterToCenter.Cross(Vector3f(0.0f, 1.0f, 0.0f));
float theta2 = (CP.Dot(Car->GetVehicleHeadingWC()))/(CP.Length()*Car->GetVehicleHeadingWC().Length());
// CLog::GetLog().Write(LOG_DEBUGOVERLAY, 120, "theta1 = %f", theta1);
// CLog::GetLog().Write(LOG_DEBUGOVERLAY, 121, "theta2 = %f", theta2);
float spin;
if (0.0f < theta1 && theta1 < 1.0f) {
// LOWER-LEFT QUADRANT
if (0.0f < theta2 && theta2 < 1.0f) {
spin = theta2;
}
// LOWER-RIGHT QUADRANT
else {
spin = theta2;
}
}
else {
// UPPER-LEFT QUADRANT
if (0.0f < theta2 && theta2 < 1.0f) {
spin = -theta2;
}
// UPPER-RIGHT QUADRANT
else {
spin = -theta2;
}
}
spin *= RIGIDBODY_SPIN_FACTOR;
m_vRotation = Vector3f(0.0f, spin, 0.0f);
// actually set it!
Car->SetVehicleVelocityLC(0.0f);
Car->SetVehiclePositionLC(Vector3f(m_vPosition.X(), m_vPosition.Z(), m_vPosition.Y()));
disturbed = true;
}
void CRigidBody::DeliverCollisionMessage(CCollisionMessage* ColMsg)
{
if (!ColMsg) return;
if (ColMsg->GetCollisionType() == SPHERE_TO_SPHERE) {
HandleSphereToSphereCollision(ColMsg);
return;
}
/****** Deploy to HandlePushCollision() if this is the case ******/
// Push collision not working. Commenting this out for now.
/* if (ColMsg->GetCollisionType() == PUSHED) {
HandlePushCollision(ColMsg);
return;
}
*/
CVehicle* Car = (CVehicle*)ColMsg->GetEntity();
/************** set reflection motion ************/
m_vPosition = m_translate + (*ColMsg->GetReverse())*RIGIDBODY_SPACING_FACTOR;
Vector3f velocityWC;
if (disturbed) {
velocityWC = m_vDirectionWhenDisturbed*80.0f;
}
else {
velocityWC = Car->GetVehicleVelocityWC();
// if reversing, velocityWC will point in opposite direction as actual velocity
if (Car->GetVehicleVelocityLC().X() < 0.0f)
velocityWC *= -1.0f;
}
m_vReflection = velocityWC - 2.0f*(velocityWC.Dot(*ColMsg->GetNormal()))*(*ColMsg->GetNormal());
m_vReflection *= RIGIDBODY_REFLECTION_FACTOR;
m_vDirectionWhenDisturbed = m_vReflection;
Car->SetVehicleVelocityLC(0.0f);
Car->SetVehiclePositionLC(Vector3f(m_vPosition.X(), m_vPosition.Z(), m_vPosition.Y()));
/*************** set angular velocity ******************/
// Compute angle between vehicle heading and plane
Vector3f PlaneEdge = ColMsg->GetPlane()->Edge0();
Vector3f CarHeading = Car->GetVehicleHeadingWC();
float angle = acos(CarHeading.Dot(PlaneEdge)/(PlaneEdge.Length()*CarHeading.Length()));
// spin CW or CCW?
float spin; // magnitude of spin about the y-axis
if (angle > Math<float>::PI/2.0f) { // CCW
spin = Math<float>::PI - angle;
}
else { // CW
spin = -angle;
}
spin *= RIGIDBODY_SPIN_FACTOR;
m_vRotation = Vector3f(0.0f, spin, 0.0f);
/*************** set vectors that are actually used in renderer ************/
/*********************** to the values computed above **********************/
m_translate = m_vPosition;
m_box.Center() = m_vPosition;
m_sphere.Center() = m_vPosition;
Car->GetRotationLC().Z() += spin;
disturbed = true;
/*
CLog::GetLog().Write(LOG_MISC, "\n\n\nreflection = (%f, %f, %f)",
m_vReflection.X(), m_vReflection.Y(), m_vReflection.Z());
CLog::GetLog().Write(LOG_MISC, "direction = (%f, %f, %f)\n\n",
m_vDirectionWhenDisturbed.X(), m_vDirectionWhenDisturbed.Y(), m_vDirectionWhenDisturbed.Z());
*/
}
