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Update soccer_world.cpp (#4875)

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* Update soccer_world.cpp

edited getRescueTransform function in soccer_world.cpp so that the rescue bird places the kart towards the ball in soccer, as requested by many players.
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Snoker101 2023-06-20 02:50:44 +02:00 committed by GitHub
parent 0d22d03104
commit 747cd8f128
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1 changed files with 24 additions and 0 deletions
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src/modes/soccer_world.cpp
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@ -963,6 +963,30 @@ btTransform SoccerWorld::getRescueTransform(unsigned int rescue_pos) const
pos.setOrigin(xyz);
btQuaternion q1 = shortestArcQuat(Vec3(0.0f, 1.0f, 0.0f), normal);
pos.setRotation(q1);
// Get the ball initial position (at the moment of hitting the rescue button)
Vec3 ball_position_0 = getBallPosition();
// Get the ball Linear Velocity
Vec3 ball_velocity = m_ball_body->getLinearVelocity();
// Calculate the new ball position after 1.1 s (after the rescue animation is over) assuming the ball to be moving in URM
Vec3 ball_position = ball_velocity*1.1 + ball_position_0;
// Calculate the direction vector from the kart to the ball
Vec3 direction = (ball_position - xyz).normalized();
// Calculate the angle between the kart's forward direction and the direction vector
float angle = atan2f(direction.getX(), direction.getZ());
// Create a quaternion representing the rotation around the Y axis
btQuaternion q2(btVector3(0.0f, 1.0f, 0.0f), angle);
// Combine the two rotations and normalize the result
btQuaternion combined_rotation = q1 * q2;
combined_rotation.normalize();
pos.setRotation(combined_rotation);
return pos;
} // getRescueTransform