eaac399a09
git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@1326 178a84e3-b1eb-0310-8ba1-8eac791a3b58
100 lines
4.0 KiB
C++
100 lines
4.0 KiB
C++
// $Id: homing.cpp 1284 2007-11-08 12:31:54Z hikerstk $
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//
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// SuperTuxKart - a fun racing game with go-kart
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// Copyright (C) 2007 Joerg Henrichs
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License
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// as published by the Free Software Foundation; either version 2
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// of the License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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#include "homing.hpp"
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#include "constants.hpp"
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float Homing::m_st_max_distance;
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float Homing::m_st_max_turn_angle;
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// -----------------------------------------------------------------------------
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Homing::Homing (Kart *kart) : Flyable(kart, COLLECT_HOMING)
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{
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m_mass = 0.0f; // a kinematik object must have mass=0, otherwise warnings
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// will be printed during bullet collision handling.
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btVector3 offset(0.0f,
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kart->getKartLength()+2.0f*m_extend.getY(),
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0.3f );
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// The cylinder needs to be rotated by 90 degrees to face in the right direction:
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m_initial_velocity = btVector3(0.0f, m_speed, 0.0f);
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createPhysics(offset, m_initial_velocity);
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m_body->setCollisionFlags(m_body->getCollisionFlags() |
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btCollisionObject::CF_KINEMATIC_OBJECT );
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m_body->setActivationState(DISABLE_DEACTIVATION);
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} // Homing
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// -----------------------------------------------------------------------------
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void Homing::init(const lisp::Lisp* lisp, ssgEntity *homing)
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{
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Flyable::init(lisp, homing, COLLECT_HOMING);
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m_st_max_turn_angle = 15.0f;
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m_st_max_distance = 20.0f;
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lisp->get("max-distance", m_st_max_distance );
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lisp->get("max-turn-angle", m_st_max_turn_angle);
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} // init
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// -----------------------------------------------------------------------------
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btCollisionShape *Homing::createShape()
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{
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return new btCylinderShape(0.5f*m_extend);
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} // createShape
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// -----------------------------------------------------------------------------
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void Homing::update(float dt)
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{
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Flyable::update(dt);
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const Kart *kart=0;
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btVector3 direction;
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float minDistance;
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getClosestKart(&kart, &minDistance, &direction);
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btTransform my_trans;
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getTrans(&my_trans);
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if(minDistance<m_st_max_distance) // move homing towards kart
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{
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btTransform target;
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kart->getTrans(&target);
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getTrans(&my_trans);
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float steer=steerTowards(my_trans, target.getOrigin());
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if(fabsf(steer)>90.0f) steer=0.0f;
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if(steer<-m_st_max_turn_angle) steer = -m_st_max_turn_angle;
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if(steer> m_st_max_turn_angle) steer = m_st_max_turn_angle;
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btMatrix3x3 steerMatrix(btQuaternion(0.0f,0.0f,DEGREE_TO_RAD(steer)));
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my_trans.setBasis(my_trans.getBasis()*steerMatrix);
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} // minDistance<m_st_max_distance
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btVector3 v =my_trans.getBasis()*m_initial_velocity;
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my_trans.setOrigin(my_trans.getOrigin()+dt*v);
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setTrans(my_trans);
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} // update
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// -----------------------------------------------------------------------------
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float Homing::steerTowards(btTransform& trans, btVector3& target)
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{
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btMatrix3x3 m(trans.getBasis());
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btVector3 forwards(0.f,1.f,0.0f);
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btVector3 direction=m*forwards;
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float heading = RAD_TO_DEGREE(atan2(direction.getY(),direction.getX()));
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btVector3 pos=trans.getOrigin();
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float angle = RAD_TO_DEGREE(atan2(target.getY()-pos.getY(), target.getX()-pos.getX()));
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angle -=heading;
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if(angle> 180.0f) angle=angle-360.0f;
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if(angle<-180.0f) angle=angle+360.0f;
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return angle;
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} // steerTowards
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