string PhysicsController::run(string myState, float time_since_last_tick)
{
string game_state_request = " ";
for(vector<Entity*>::size_type i = 0; i != controlled_entities.size(); i++)
{
if(controlled_entities[i]->getGameState()==myState)
{
if(controlled_entities[i]->getActive())
{
//PULL THE MOVING OBJECTS INFORMATION
PhysicsComponent* physics = (PhysicsComponent*)controlled_entities[i]->getComponent("Physics");
PositionComponent* position = (PositionComponent*)controlled_entities[i]->getComponent("Position");
//PULLING ALL THE MASS AND FORCE INFORMATION
float total_mass = 0 + physics->getMass();
float total_translation [2] = {0,0};
float moment_of_inertia = 0 + physics->getMass();
float total_torque = 0;
if( controlled_entities[i]->checkIfHasComponent("Collection"))
{
CollectionComponent* collection = (CollectionComponent*) controlled_entities[i]->getComponent("Collection");
vector<Entity*> attached_entities = collection->getAttachedEntities();
//Cycling through attached entities
for(vector<Entity*>::size_type p = 0; p != attached_entities.size(); p++)
{
Entity* attached_entity = attached_entities[p];
TetheredComponent* tethered = (TetheredComponent*) attached_entity->getComponent("Tethered");
PhysicsComponent* attached_physics = (PhysicsComponent*) attached_entity->getComponent("Physics");
PositionComponent* attached_position = (PositionComponent*) attached_entity->getComponent("Position");
RocketComponent* rocket = (RocketComponent*) attached_entity->getComponent("Rocket");
float radian_from_center_mass = tethered->getDirectionRadian();
float radian_to_center_mass = radian_from_center_mass + 3.1415926;
float t = attached_position->getAngle() - radian_to_center_mass ;
tethered->setT(t);
//Translational
vector<float> attached_vector_forces = attached_physics->getNetTranslationalForce();
total_translation[0] += attached_vector_forces[0];
total_translation[1] += attached_vector_forces[1];
total_mass+= attached_physics->getMass();
//Angular
float attached_net_angular_force = attached_physics->getNetAngularForce();
total_torque += attached_net_angular_force;
float distance = tethered->getDistance();
moment_of_inertia += attached_physics->getMass()*(distance*distance);
}
}
//Apparently on forces that have a distance can spin it
//So after we've pulled all the angular forces we can find the angular acceleration
//and then you use torque = I*a
physics->setAngularAcceleration(total_torque/moment_of_inertia);
//PLANAR MOVEMENT
//We already have the tethered objects' forces so now we need the forces affectin the main object itself
vector<float> vector_forces = physics->getNetTranslationalForce();
total_translation[0] += vector_forces[0];
total_translation[1] += vector_forces[1];
//Calculating the net acceleration net forces and net mass
physics->setAccelerationX(total_translation[0]/total_mass);
physics->setAccelerationY(total_translation[1]/total_mass);
//Determine its new velocity
physics->setVelocityX(physics->getVelocity()[0]+physics->getAcceleration()[0]*time_since_last_tick);
physics->setVelocityY(physics->getVelocity()[1]+physics->getAcceleration()[1]*time_since_last_tick);
//Determine its new position if its not tethered to something
if( !controlled_entities[i]->checkIfHasComponent("Tethered"))
{
position->setX(position->getPosition()[0]+physics->getVelocity()[0]*time_since_last_tick);
position->setY(position->getPosition()[1]+physics->getVelocity()[1]*time_since_last_tick);
}
//ANGULAR MOVEMENT
// Both tethered and collected entities get this because a tethered can be rotating on its own
// on top of being rotated by the collectors movement.
// On it's own, a tethered object cannot have an angular acceleration, it must be machine assisted.
physics->setAngularVelocity(physics->getAngularVelocity()+physics->getAngularAcceleration()*time_since_last_tick);
position->setAngle(position->getAngle()+physics->getAngularVelocity()*time_since_last_tick);
//To make sure the tethered objects get moved we make sure the collector handles them we he is passed into this controller
if( controlled_entities[i]->checkIfHasComponent("Collection"))
{
CollectionComponent* collection = (CollectionComponent*) controlled_entities[i]->getComponent("Collection");
vector<Entity*> attached_entities = collection->getAttachedEntities();
//Go throuhg all the attached entities and update their tethered position wiht the new positon of the collector
for(vector<Entity*>::size_type p = 0; p != attached_entities.size(); p++)
{
Entity* attached_entity = attached_entities[p];
TetheredComponent* tethered = (TetheredComponent*) attached_entity->getComponent("Tethered");
PhysicsComponent* attached_physics = (PhysicsComponent*) attached_entity->getComponent("Physics");
PositionComponent* attached_position = (PositionComponent*) attached_entity->getComponent("Position");
////Determine its new position
//As the object spins so will all the tethered objects
tethered->setDirectionRadian( tethered->getDirectionRadian() + physics->getAngularVelocity()*time_since_last_tick);
float radian_from_center_mass = tethered->getDirectionRadian();
float radian_to_center_mass = radian_from_center_mass + 3.1415926;
attached_position->setAngle(radian_to_center_mass + tethered->getT());
//Need to update the angle of the rocket as the main ship spins
//Set the tethered object to the new position in the new direction
attached_position->setX( position->getPosition()[0] + cos(tethered->getDirectionRadian())*tethered->getDistance());
attached_position->setY( position->getPosition()[1] + sin(tethered->getDirectionRadian())*tethered->getDistance());
}
}
position->calculateBucketPosition(BUCKET_WIDTH);
}
}
}
return game_state_request;
}
