Box::Box(float x, float y, float z, XMVECTOR position, float mass, bool fixed, XMVECTOR orientation)
{
this->position = position; // its the center position of the box
this->velocity = XMVectorSet(0.f, 0.f, 0.f, 0.f);
length = XMVectorSet(x, y, z, 0.f);
centerOfMass = Point(position, false);
this->transform = XMMatrixTranslationFromVector(this->position);
this->centerOfMass.fixed = fixed;
this->orientation = XMQuaternionRotationRollPitchYawFromVector(orientation);
if (fixed)
{
centerOfMass.mass = 1.0f;
massInverse = 0.0f;
intertiaTensorInverse = XMMATRIX();
}
else
{
centerOfMass.mass = mass;
massInverse = 1.0f / mass;
float prefix = (1.0f / 12.0f) * centerOfMass.mass;
XMMATRIX matrix = XMMATRIX(XMVectorSet(prefix*(y*y + z*z), 0.f, 0.f, 0.f),
XMVectorSet(0.f, prefix * (x*x + z*z), 0.f, 0.f),
XMVectorSet(0.f, 0.f, prefix*(x*x + y*y),0.f),
XMVectorSet(0.f, 0.f, 0.f, 1.f));
intertiaTensorInverse = XMMatrixInverse(&XMMatrixDeterminant(matrix), matrix);
}
XMVECTOR xLength = XMVectorSet(x, 0.f, 0.f, 0.f) / 2;
XMVECTOR yLength = XMVectorSet(0.f, y, 0.f, 0.f) / 2;
XMVECTOR zLength = XMVectorSet(0.f, 0.f, z, 0.f) / 2;
for (int i = 0; i < 8; i++)
{
corners[0] = XMVECTOR();
}
this->angularMomentum = XMVECTOR();
this->angularVelocity = XMVECTOR();
this->torqueAccumulator = XMVECTOR();
corners[0] = -xLength - yLength - zLength;
corners[1] = xLength - yLength - zLength;
corners[2] = -xLength + yLength - zLength;
corners[3] = xLength + yLength - zLength;
corners[4] = -xLength - yLength + zLength;
corners[5] = xLength - yLength + zLength;
corners[6] = -xLength + yLength + zLength;
corners[7] = xLength + yLength + zLength;
}
// Updates the cameras matrices
void CCamera::UpdateViewMatrix()
{
if ((mSetting == ECameraSetting::FirstPerson || mSetting == ECameraSetting::ThirdPerson) && mParent == NULL)
{
mSetting = ECameraSetting::FreeRoam;
}
switch (mSetting)
{
case ECameraSetting::ThirdPerson:
{
// Add first and third person camera angles
mWorldMat = mParent->GetMatrix( false );
mPos.x = mWorldMat._41;
mPos.y = mWorldMat._42;
mPos.z = mWorldMat._43;
MoveLocalX( mOffset.x );
MoveY( mOffset.y );
MoveLocalZ( mOffset.z );
RotateLocalX( D3DXToRadian( 15 ) );
break;
}
case ECameraSetting::FirstPerson:
{
// Add first and third person camera angles
mWorldMat = mParent->GetMatrix( false );
mPos.x = mWorldMat._41;
mPos.y = mWorldMat._42;
mPos.z = mWorldMat._43;
MoveLocalX( mOffset.x );
MoveY( mOffset.y );
MoveLocalZ( mOffset.z );
break;
}
}
if (mSetting != ECameraSetting::BirdsEye)
{
mWorldMat._41 = mPos.x;
mWorldMat._42 = mPos.y;
mWorldMat._43 = mPos.z;
}
// The rendering pipeline actually needs the inverse of the
// camera world matrix - called the view matrix.
XMVECTOR vector = XMVECTOR();
CXMMATRIX world = XMMATRIX( mWorldMat );
mView = XMMatrixInverse( &vector, world );
}
XMVECTOR CSkeletonGroup::CalculateAlignment()
{
// Calculate the avarage velocity
XMVECTOR avgVelocity = XMVECTOR();
for (size_t i = 0; i < m_vSkeletons.size(); i++)
{
CSkeleton* other = reinterpret_cast<CSkeleton*>(m_vSkeletons[i]);
XMFLOAT3 vec = other->GetWorldVelocity();
XMVECTOR otherVelocity = XMLoadFloat3(&vec);
avgVelocity += otherVelocity;
}
avgVelocity /= (float)m_vSkeletons.size();
avgVelocity.m128_f32[1] = 0.0f;
if (XMVector3Length(avgVelocity).m128_f32[0] > 1.0f)
avgVelocity = XMVector3Normalize(avgVelocity);
return avgVelocity * ALIGNMENT_STRENGTH;
}
XMVECTOR CSkeletonGroup::CalculateSeparation(CSkeleton* _current)
{
XMVECTOR mathOutput = XMVECTOR();
// For all skeletons
for (size_t i = 0; i < m_vSkeletons.size(); i++)
{
// Cast the skeleton for future use
CSkeleton* other = reinterpret_cast<CSkeleton*>(m_vSkeletons[i]);
// Convert the positions for math
XMVECTOR mathOtherPos = XMLoadFloat3(other->GetPosition());
XMVECTOR mathCurrentPos = XMLoadFloat3(_current->GetPosition());
// Find the distance between them
XMVECTOR mathFromVector = mathCurrentPos - mathOtherPos;
float fDistance = XMVector3Length(mathFromVector).m128_f32[0];
// If within safe distance
if (fDistance < SEPARATION_DISTANCE)
{
mathFromVector = XMVector3Normalize(mathFromVector);
mathFromVector *= (SEPARATION_DISTANCE - fDistance) / SEPARATION_DISTANCE;
mathOutput += mathFromVector;
}
}
// Rescale the velocity
if (XMVector3Length(mathOutput).m128_f32[0] > 1.0f)
mathOutput = XMVector3Normalize(mathOutput);
// Scale by modifier
return mathOutput * SEPARATION_STRENGTH;
}
