void FreeCamera::update(double elapsedTime, uint32_t screenWidth, uint32_t screenHeight)
{
if (m_rotationMode)
{
m_updateTime += elapsedTime;
if (m_updateTime >= 1.0f / 60.0f)
{
vector2 delta = m_currentMousePosition - m_lastMousePosition;
if (fabs(delta.x) > 1e-5 || fabs(delta.y) > 1e-5)
{
float ang = this->m_camera.GetAngleOfView() * 0.5f;
float w = this->m_camera.GetNearPlane() * n_tan(n_deg2rad(ang));
float h = w / this->m_camera.GetAspectRatio();
float ax = n_rad2deg(atan2(w * (2.0f * delta.x / screenWidth), this->m_camera.GetNearPlane()));
float ay = n_rad2deg(atan2(h * (2.0f * delta.y / screenHeight), this->m_camera.GetNearPlane()));
vector2 old_angles = m_angles;
m_angles.x -= float(ax * 100.0 * m_updateTime);
m_angles.y += float(ay * 100.0 * m_updateTime);
if (m_angles.y > 89.9f) m_angles.y = 89.9f;
if (m_angles.y < -89.9) m_angles.y = -89.9f;
if (!old_angles.isequal(m_angles, 0.00001f))
{
quaternion q1;
q1.set_rotate_axis_angle(vector3(0, 1, 0), n_deg2rad(m_angles.x));
quaternion q2;
q2.set_rotate_axis_angle(vector3(1, 0, 0), n_deg2rad(m_angles.y));
m_orientation = q1 * q2;
}
m_lastMousePosition = m_currentMousePosition;
}
m_updateTime -= 1.0f / 60.0f;
}
}
if (m_moveForward)
{
m_position += (m_orientation.z_direction() * m_speed * (float)elapsedTime);
}
if (m_moveBackward)
{
m_position -= (m_orientation.z_direction() * m_speed * (float)elapsedTime);
}
if (m_moveLeft)
{
m_position += (m_orientation.x_direction() * m_speed * (float)elapsedTime);
}
if (m_moveRight)
{
m_position -= (m_orientation.x_direction() * m_speed * (float)elapsedTime);
}
}
// Create the abstract composite for the character entity when the entity
// is "alive" (not in its ragdoll state).
void CCharEntity::CreateDefaultComposite()
{
DefaultComposite = CComposite::Create();
PRigidBody BaseBody = CRigidBody::Create();
BaseBody->Name = "CharEntityBody";
float CapsuleLength = Height - 2.0f * Radius - Hover;
matrix44 UpRight;
UpRight.rotate_x(n_deg2rad(90.0f));
UpRight.translate(vector3(0.0f, Hover + Radius + CapsuleLength * 0.5f, 0.0f));
PShape pShape = (CShape*)PhysicsSrv->CreateCapsuleShape(UpRight,
CMaterialTable::StringToMaterialType("Character"), Radius, CapsuleLength);
BaseBody->BeginShapes(1);
BaseBody->AddShape(pShape);
BaseBody->EndShapes();
DefaultComposite->BeginBodies(1);
DefaultComposite->AddBody(BaseBody);
DefaultComposite->EndBodies();
Ptr<CAMotor> AMotor = CAMotor::Create();
AMotor->SetBodies(BaseBody, NULL);
AMotor->SetNumAxes(2);
AMotor->AxisParams[0].Axis = vector3(1.0f, 0.0f, 0.0f);
AMotor->AxisParams[1].Axis = vector3(0.0f, 0.0f, 1.0f);
AMotor->AxisParams[0].FMax = 100000.0f;
AMotor->AxisParams[1].FMax = 100000.0f;
DefaultComposite->BeginJoints(1);
DefaultComposite->AddJoint(AMotor);
DefaultComposite->EndJoints();
}
void FreeCamera::update(double elapsedTime)
{
if (m_moveForward)
{
m_position += (m_orientation.z_direction() * m_speed * (float)elapsedTime);
}
if (m_moveBackward)
{
m_position -= (m_orientation.z_direction() * m_speed * (float)elapsedTime);
}
if (m_moveLeft)
{
m_position += (m_orientation.x_direction() * m_speed * (float)elapsedTime);
}
if (m_moveRight)
{
m_position -= (m_orientation.x_direction() * m_speed * (float)elapsedTime);
}
if (m_rotationMode)
{
vector2 delta = m_currentMousePosition - m_lastMousePosition;
vector2 old_angles = m_angles;
m_angles.x -= delta.x * 200.0f * (float)elapsedTime;
m_angles.y += delta.y * 200.0f * (float)elapsedTime;
if (m_angles.y > 89.9f) m_angles.y = 89.9f;
if (m_angles.y < -89.9) m_angles.y = -89.9f;
//Logger::toLogWithFormat("angles = (%.2f; %.2f)\n", m_angles.x, m_angles.y);
if (!old_angles.isequal(m_angles, 0.001f))
{
quaternion q1;
q1.set_rotate_axis_angle(vector3(0, 1, 0), n_deg2rad(m_angles.x));
quaternion q2;
q2.set_rotate_axis_angle(vector3(1, 0, 0), n_deg2rad(m_angles.y));
m_orientation = q1 * q2;
}
m_lastMousePosition = m_currentMousePosition;
}
}
void CSensorVision::Init(const CParams& Desc)
{
//CSensor::Init(Desc);
FOV = cosf(n_deg2rad(Desc.Get<int>(CStrID("FOV"), 0)));
Radius = Desc.Get<float>(CStrID("Radius"), 0.f);
}