void RigidBody::initValues(float mass, Matrix3 Ibody ,
Vector3 position, Vector3 velocity,
Quaternion rotation , Vector3 angularMomentum ){
setPosition(position);
setRotation(rotation);
setMass(mass);
setIbody(Ibody);
setVelocity(velocity);
setAngularMomentum(angularMomentum);
}
RigidBlock::RigidBlock(float a, float b, float c, float mass,
Vector3 position, Vector3 velocity,
Quaternion rotation, Vector3 angularMomentum){
//Status setzen
setMass(mass);
setPosition(position);
setRotation(rotation);
//Trägheitstensor berechnen
setDimensions(a,b,c);
setVelocity(velocity);
setAngularMomentum(angularMomentum);
//printState();
}
void ClientUnit::simulateUnit()
{
// Apply latest frame inputs just before simulation
Real time = TIME_PER_FRAME;
mScale = mSpeed*time;
mAgressorTime += time;
mTargetTime += time;
mFireTime += time;
mMoveTime += time;
if (mAgressorTime >= TIME_TO_PEACE) {
mAgressor = 0;
}
if (mTargetTime >= TIME_TO_PEACE) {
mTarget = 0;
}
// Motion control
mInput->vMove.x = ((int)mInput->aKey[KEY_LEFT ] - (int)mInput->aKey[KEY_RIGHT ]);
mInput->vMove.y = ((int)mInput->aKey[KEY_UP ] - (int)mInput->aKey[KEY_DOWN ]);
mInput->vMove.z = ((int)mInput->aKey[KEY_FORWARD] - (int)mInput->aKey[KEY_BACKWARD]);
mInput->vRotate.x = -(int)mInput->aAxe[0];
mInput->vRotate.y = (int)mInput->aAxe[1];
// Apply motion control
if (mCtrl != MODE_GHOST) {
if (!maState[0] && mInput->aKey[KEY_FORWARD] || !maState[1] && mInput->aKey[KEY_BACKWARD]) {
this->setLinearVelocity(Vec3(0.0f, 0.0f, 0.0f));
this->setAngularVelocity(Vec3(0.0f, 0.0f, 0.0f));
this->setLinearMomentum(Vec3(0.0f, 0.0f, 0.0f));
this->setAngularMomentum(Vec3(0.0f, 0.0f, 0.0f));
}
if (mInput->aKey[KEY_BREAK]) {
this->setLinearVelocity(Vec3(0.0f, 0.0f, 0.0f));
this->setAngularVelocity(Vec3(0.0f, 0.0f, 0.0f));
this->setLinearMomentum(Vec3(0.0f, 0.0f, 0.0f));
this->setAngularMomentum(Vec3(0.0f, 0.0f, 0.0f));
}
if (!maState[3] && mInput->aKey[KEY_LEFT] || !maState[4] && mInput->aKey[KEY_RIGHT]) {
if (mSaladin->maReferentiel[0]->speed > 10.0f) {
setAngularVelocity(Vec3(0.0f, 0.0f, 0.0f));
setAngularMomentum(Vec3(0.0f, 0.0f, 0.0f));
}
}
if (!maState[2]) {
mMoveTime = 0;
}
mSaladin->simulateRotation(
mInput->vRotate.x*mScale.y,
mInput->vRotate.y*mScale.y
);
mSaladin->simulateTorque(
mInput->aKey[KEY_BREAK], // DIRBRAKE
mInput->vMove.z, // DIRTORQUE
mInput->vMove.x, // DIRSTEER
mSpeed, // speed
mScale, // scaled speed
mDiff // TORQUE DIFFERENTIAL
);
simulateFire(
mInput->aButton[0]
);
if (mInput->aKey[KEY_FORWARD]) {
maState[0] = true;
maState[1] = false;
maState[2] = false;
}
if (mInput->aKey[KEY_BACKWARD]) {
maState[0] = false;
maState[1] = true;
maState[2] = false;
}
if (mInput->aKey[KEY_LEFT] || mInput->aKey[KEY_RIGHT]) {
maState[2] = false;
}
maState[3] = mInput->aKey[KEY_LEFT];
maState[4] = mInput->aKey[KEY_RIGHT];
if (mInput->aKey[KEY_BREAK]) {
maState[0] = true;
maState[1] = false;
maState[2] = true;
maState[3] = false;
maState[4] = false;
}
}
}