Initial commit
This commit is contained in:
Jakub Skokan
commit
d6c7f1ae87
95 changed files with 31975 additions and 0 deletions
514
src/craft.cpp
Normal file
514
src/craft.cpp
Normal file
|
|
@ -0,0 +1,514 @@
|
|||
#include "SDL_opengl.h"
|
||||
#include <cmath>
|
||||
#include <cstdio>
|
||||
|
||||
#include <AL/al.h>
|
||||
|
||||
#include "antigrav.h"
|
||||
|
||||
CraftState::CraftState() : pos(0.0, 0.0), angle(0.0) { }
|
||||
|
||||
CraftState::CraftState(const Vector2& p, float a)
|
||||
{
|
||||
pos = p;
|
||||
angle = a;
|
||||
}
|
||||
|
||||
const Vector2& CraftState::getPos() const { return pos; }
|
||||
float CraftState::getAngle() const { return angle; }
|
||||
|
||||
CraftState operator+(const CraftState& s1, const CraftState& s2)
|
||||
{
|
||||
return CraftState(s1.getPos() + s2.getPos(), s1.getAngle() + s2.getAngle());
|
||||
}
|
||||
|
||||
CraftState operator*(float f, const CraftState& s2)
|
||||
{
|
||||
return CraftState(f * s2.getPos(), f * s2.getAngle());
|
||||
}
|
||||
|
||||
void CraftState::setPos(const Vector2 &p) { pos = p; }
|
||||
void CraftState::setAngle(float a) { angle = a; }
|
||||
|
||||
float CraftState::getX() const { return pos.getX(); }
|
||||
float CraftState::getY() const { return pos.getY(); }
|
||||
|
||||
|
||||
const float Craft::TURN_RATE = 3.14;
|
||||
const float Craft::TURN_DAMP = 1.0;
|
||||
const float Craft::TURN_BACK = 2.0;
|
||||
|
||||
const float Craft::GRAVITY = -2.0;
|
||||
const float Craft::HOVER_FORCE = 2.0;
|
||||
const float Craft::BOOST = 2.0;
|
||||
const float Craft::DAMP = 0.25;
|
||||
|
||||
const float Craft::HEIGHT = 0.15;
|
||||
const float Craft::WIDTH = 0.5;
|
||||
const float Craft::MASS = 1.0;
|
||||
const float Craft::INERTIA = 1.0 / 12.0 * MASS * (HEIGHT * HEIGHT + WIDTH * WIDTH);
|
||||
|
||||
const float Craft::INVERTED_FORCE_MOD = 0.2;
|
||||
|
||||
const float Craft::BOOST_REFUEL = 0.3;
|
||||
const float Craft::BOOST_FUEL_USE = 1.0;
|
||||
|
||||
const float Craft::MAJOR_AXIS = 0.25;
|
||||
const float Craft::MINOR_AXIS = 0.075;
|
||||
|
||||
const float Craft::BOUNCYNESS = 0.5;
|
||||
const float Craft::LEVEL_BOUNCYNESS = 0.5;
|
||||
|
||||
m3dMesh Craft::mesh;
|
||||
|
||||
Craft::Craft()
|
||||
{
|
||||
// rectangle shaped bounds
|
||||
vertices[0] = Vector2(-.5 * WIDTH, -.5 * HEIGHT);
|
||||
vertices[1] = Vector2(.5 * WIDTH, -.5 * HEIGHT);
|
||||
vertices[2] = Vector2(.5 * WIDTH, .5 * HEIGHT);
|
||||
vertices[3] = Vector2(-.5 * WIDTH, .5 * HEIGHT);
|
||||
|
||||
// diamond shaped bounds
|
||||
/* vertices[0] = Vector2(0.0, -.5 * HEIGHT);
|
||||
vertices[1] = Vector2(.5 * WIDTH, 0.0);
|
||||
vertices[2] = Vector2(0.0, .5 * HEIGHT);
|
||||
vertices[3] = Vector2(-.5 * WIDTH, 0.0);*/
|
||||
|
||||
majorAxis = MAJOR_AXIS;
|
||||
minorAxis = MINOR_AXIS;
|
||||
|
||||
boostFuel = 1.0;
|
||||
ringTimer = 0;
|
||||
}
|
||||
|
||||
template <class T> void Craft::integrateRKN(float x0, T y0, T dy0, float dx, T *y, T *dy)
|
||||
{
|
||||
T k1, k2, k3, k4;
|
||||
T l;
|
||||
|
||||
k1 = 0.5 * dx * derive(x0, y0, dy0);
|
||||
l = 0.5 * dx * (dy0 + 0.5 * k1);
|
||||
k2 = 0.5 * dx * derive(x0 + 0.5 * dx, y0 + l, dy0 + k1);
|
||||
k3 = 0.5 * dx * derive(x0 + 0.5 * dx, y0 + l, dy0 + k2);
|
||||
l = dx * (dy0 + k3);
|
||||
k4 = 0.5 * dx * derive(x0 + dx, y0 + l, dy0 + 2.0 * k3);
|
||||
|
||||
*y = dx * (dy0 + (1.0/3.0) * (k1 + k2 + k3));
|
||||
*dy = dy0 + (1.0/3.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4);
|
||||
}
|
||||
|
||||
CraftState Craft::derive(float t, const CraftState &s, const CraftState &ds)
|
||||
{
|
||||
CraftState result;
|
||||
|
||||
(void)t;
|
||||
|
||||
beam[0] = Vector2(getPos());
|
||||
beam[1] = Vector2(s.getPos().getY() * tan(s.getAngle()), -s.getPos().getY());
|
||||
beam[0] = beam[0] + beam[1].unitVector() * 0.55 * HEIGHT;
|
||||
beam[1] = beam[1] + beam[0] - beam[1].unitVector() * 0.55 * HEIGHT;
|
||||
|
||||
Vector2 temp;
|
||||
if(Game::getInstance().getLevel().intersect(beam[0], beam[1], temp))
|
||||
{
|
||||
beam[1] = temp;
|
||||
}
|
||||
|
||||
bool inverted = false;
|
||||
if(s.getAngle() < -M_PI/2.0 || s.getAngle() > M_PI/2.0) inverted = true;
|
||||
|
||||
Vector2 l = beam[1] - beam[0];
|
||||
float d = l.length();
|
||||
|
||||
int numCraft = -1;
|
||||
for(int i = 0; i < Game::MAX_PLAYERS; i++)
|
||||
{
|
||||
Craft &craft = Game::getInstance().getPlayer(i).getCraft();
|
||||
Vector2 point;
|
||||
|
||||
if(craft.beamIntersect(beam[0], beam[1], point))
|
||||
{
|
||||
float clen = (point - beam[0]).length();
|
||||
if(clen < d)
|
||||
{
|
||||
beam[1] = point;
|
||||
d = clen;
|
||||
numCraft = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
l = beam[1] - beam[0];
|
||||
d = exp(-d + 1) * HOVER_FORCE;
|
||||
|
||||
if(inverted) d *= INVERTED_FORCE_MOD;
|
||||
|
||||
// Boost
|
||||
if(ctrl[CTRL_BOOST] && boostFuel > 0.0 && !inverted) d *= BOOST;
|
||||
|
||||
hoverForce = d;
|
||||
|
||||
Vector2 fce = l.unitVector() * d;
|
||||
if(numCraft != -1) Game::getInstance().getPlayer(numCraft).getCraft().addForce(fce);
|
||||
|
||||
// set velocity vector
|
||||
result.setPos(Vector2(0.0, GRAVITY) - l.unitVector() * d - DAMP * ds.getPos() + force);
|
||||
force = Vector2(0.0,0.0);
|
||||
|
||||
// Turning
|
||||
if(ctrl[CTRL_CCW]) result.setAngle(TURN_RATE);
|
||||
else if(ctrl[CTRL_CW]) result.setAngle(-TURN_RATE);
|
||||
else result.setAngle(-TURN_BACK * s.getAngle() - TURN_DAMP * ds.getAngle());
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
void Craft::update(float dt)
|
||||
{
|
||||
bool boost = false;
|
||||
// boost
|
||||
if(ctrl[CTRL_BOOST])
|
||||
{
|
||||
boostFuel -= BOOST_FUEL_USE * dt;
|
||||
if(boostFuel < 0.0)
|
||||
boostFuel = 0.0;
|
||||
else
|
||||
boost = true;
|
||||
} else
|
||||
{
|
||||
boostFuel += BOOST_REFUEL * dt;
|
||||
if(boostFuel > 1.0) boostFuel = 1.0;
|
||||
}
|
||||
|
||||
ringTimer += dt;
|
||||
if(ringTimer > ((boost)?0.20:0.4)) {
|
||||
if(getAngle() > -M_PI/4.0 && getAngle() < M_PI/4.0 && (beam[1]-beam[0]).length()<3.0) {
|
||||
Vector2 vel((beam[1]-beam[0]).unitVector()*2);
|
||||
Ring::addRing(Ring(getX(),getY(),getAngle(),vel+getVel(),color));
|
||||
ringTimer = 0;
|
||||
}
|
||||
}
|
||||
|
||||
integrateRKN<CraftState>(0.0f, state, dState, dt, &delta, &dState);
|
||||
}
|
||||
|
||||
void Craft::move()
|
||||
{
|
||||
state = state + delta;
|
||||
|
||||
while(state.getAngle() > M_PI) state.setAngle(state.getAngle() - 2.0 * M_PI);
|
||||
while(state.getAngle() < -M_PI) state.setAngle(state.getAngle() + 2.0 * M_PI);
|
||||
}
|
||||
|
||||
void Craft::setControl(int control, bool value)
|
||||
{
|
||||
ctrl[control] = value;
|
||||
}
|
||||
|
||||
void Craft::setColor(float r, float g, float b)
|
||||
{
|
||||
color[0] = r;
|
||||
color[1] = g;
|
||||
color[2] = b;
|
||||
}
|
||||
|
||||
void Craft::draw3d()
|
||||
{
|
||||
glPushMatrix();
|
||||
|
||||
glTranslatef(state.getPos().getX(), state.getPos().getY(), 0.0);
|
||||
glRotatef(DEG(state.getAngle()), 0.0, 0.0, 1.0);
|
||||
|
||||
// draw 3d mesh
|
||||
glEnable(GL_TEXTURE_2D);
|
||||
mesh.draw();
|
||||
glDisable(GL_TEXTURE_2D);
|
||||
|
||||
glPopMatrix();
|
||||
|
||||
#if 0
|
||||
// draw beam
|
||||
if(state.getAngle() > -M_PI / 2.0 && state.getAngle() < M_PI / 2.0)
|
||||
{
|
||||
glDisable(GL_LIGHTING);
|
||||
glBegin(GL_LINES);
|
||||
glVertex2fv(beam[0].getData());
|
||||
glVertex2fv(beam[1].getData());
|
||||
glEnd();
|
||||
glEnable(GL_LIGHTING);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void Craft::draw2d()
|
||||
{
|
||||
glPushMatrix();
|
||||
|
||||
glTranslatef(state.getPos().getX(), state.getPos().getY(), 0.0);
|
||||
glRotatef(DEG(state.getAngle()), 0.0, 0.0, 1.0);
|
||||
|
||||
// draw bounding ellipse
|
||||
glBegin(GL_LINE_LOOP);
|
||||
for(int i = 0; i < 16; i++)
|
||||
{
|
||||
glVertex2f(cos((float) i / 16.0 * 2.0 * M_PI) * majorAxis, sin((float) i / 16.0 * 2.0 * M_PI) * minorAxis);
|
||||
}
|
||||
glEnd();
|
||||
|
||||
// draw bounding box
|
||||
glBegin(GL_LINE_LOOP);
|
||||
for(int i = 0; i < 4; i++)
|
||||
{
|
||||
glVertex2fv(vertices[i].getData());
|
||||
}
|
||||
glEnd();
|
||||
|
||||
glPopMatrix();
|
||||
|
||||
// draw beam
|
||||
glBegin(GL_LINES);
|
||||
glVertex2fv(beam[0].getData());
|
||||
glVertex2fv(beam[1].getData());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
bool Craft::collide(Craft &other)
|
||||
{
|
||||
Vector2 normal, point;
|
||||
|
||||
if(!checkCollision(other, point, normal)) return false;
|
||||
handleCollision(other, point, normal);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Craft::checkCollision(const Craft &other, Vector2 &point, Vector2 &normal)
|
||||
{
|
||||
Vector2 myV[4]; // my vertices
|
||||
Vector2 otV[4]; // other's vertices
|
||||
int i;
|
||||
|
||||
for(i = 0; i < 4; i++)
|
||||
{
|
||||
myV[i] = 0.99 * getVertex(i);
|
||||
myV[i].rotate(getAngle() + getDAngle());
|
||||
myV[i] = myV[i] + getPos() + getDPos();
|
||||
|
||||
otV[i] = other.getVertex(i);
|
||||
otV[i].rotate(other.getAngle() + other.getDAngle());
|
||||
otV[i] = otV[i] + other.getPos() + other.getDPos();
|
||||
}
|
||||
|
||||
Vector2 points[2];
|
||||
int num = 0;
|
||||
for(i = 0; i < 4; i++)
|
||||
{
|
||||
for(int j = 0; j < 4; j++)
|
||||
{
|
||||
// check for contact
|
||||
if(!Level::segmentIsect(myV[i], myV[(i+1)%4], otV[j], otV[(j+1)%4], points[num])) continue;
|
||||
|
||||
num++;
|
||||
if(num < 2) continue; // we need 2 contact points
|
||||
|
||||
// collision has occured
|
||||
|
||||
// contact point
|
||||
point = 0.5 * (points[0] + points[1]);
|
||||
|
||||
// normal vector
|
||||
normal = (points[1] - points[0]).normalVector();
|
||||
normal.normalize();
|
||||
|
||||
// check if normal is facing away from this object
|
||||
if((point-getPos()).unitVector() * normal > 0.0)
|
||||
{
|
||||
// it is, flip it!
|
||||
normal = -normal;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
void Craft::addImpulse(const Vector2 &impulse, const Vector2 &point)
|
||||
{
|
||||
// Limit impulses to 5.0 units
|
||||
Vector2 imp = impulse;
|
||||
if(imp.length() > 5.0) imp = imp.unitVector() * 5.0;
|
||||
|
||||
// Add impulse
|
||||
dState.setPos(dState.getPos() + imp / MASS);
|
||||
dState.setAngle(dState.getAngle() + ((point - getPos()) ^ imp) / INERTIA);
|
||||
|
||||
// reset delta
|
||||
delta.setPos(Vector2(0.0, 0.0));
|
||||
delta.setAngle(0.0);
|
||||
}
|
||||
|
||||
void Craft::handleCollision(Craft &other, const Vector2& point, const Vector2& normal)
|
||||
{
|
||||
Vector2 v1, v2;
|
||||
|
||||
v1 = getVel() + (point - (getPos() + getDPos())).rotate(getOmega());
|
||||
v2 = other.getVel() + (point - (other.getPos() + other.getDPos())).rotate(other.getOmega());
|
||||
|
||||
Vector2 impulse = getImpulse(other, BOUNCYNESS, v1 - v2, point, normal);
|
||||
|
||||
if((v1 - v2) * impulse < 0.0)
|
||||
{
|
||||
addImpulse(impulse, point);
|
||||
other.addImpulse(-impulse, point);
|
||||
} else
|
||||
{
|
||||
}
|
||||
|
||||
// move the crafts away from each other
|
||||
v1 = getVel();
|
||||
v1.normalize();
|
||||
if((other.getPos() - getPos()).unitVector() * v1 > 0.0) v1 = -v1;
|
||||
setPos(getPos() + v1 * 0.03);
|
||||
|
||||
v1 = other.getVel();
|
||||
v1.normalize();
|
||||
if((getPos() - other.getPos()).unitVector() * v1 > 0.0) v1 = -v1;
|
||||
other.setPos(other.getPos() + v1 * 0.03);
|
||||
|
||||
// rotate the crafts away from each other
|
||||
if(((point - getPos()).rotate(getOmega())) * ((point - other.getPos()).rotate(other.getOmega())) > 0.0)
|
||||
{
|
||||
if(getOmega() > 0.0) setAngle(getAngle() - 0.05);
|
||||
else setAngle(getAngle() + 0.05);
|
||||
|
||||
if(other.getOmega() > 0.0) other.setAngle(other.getAngle() - 0.05);
|
||||
else other.setAngle(other.getAngle() + 0.05);
|
||||
} else
|
||||
{
|
||||
if(getOmega() > 0.0) setAngle(getAngle() + 0.05);
|
||||
else setAngle(getAngle() - 0.05);
|
||||
|
||||
if(other.getOmega() > 0.0) other.setAngle(other.getAngle() + 0.05);
|
||||
else other.setAngle(other.getAngle() - 0.05);
|
||||
}
|
||||
}
|
||||
|
||||
Vector2 Craft::getImpulse(Craft &other, float e, const Vector2 &v, const Vector2 &point, const Vector2 &normal)
|
||||
{
|
||||
float c1, c2;
|
||||
float a;
|
||||
|
||||
a = -(1.0 + e) * (v * normal);
|
||||
|
||||
c1 = (point - (getPos() + getDPos())) ^ normal;
|
||||
c1 *= c1;
|
||||
c2 = (point - (other.getPos() + other.getDPos()) ) ^ normal;
|
||||
c2 *= c2;
|
||||
|
||||
a /= (1.0 / MASS) + (1.0 / other.MASS) + (c1 / INERTIA) + (c2 / other.INERTIA);
|
||||
|
||||
return a * normal;
|
||||
}
|
||||
|
||||
bool Craft::levelCollide()
|
||||
{
|
||||
Vector2 point, normal, delta;
|
||||
if(!checkLevelCollision(point, normal, delta)) return false;
|
||||
|
||||
setPos(getPos() - 1.1 * delta);
|
||||
|
||||
|
||||
glBegin(GL_POINTS);
|
||||
glVertex2fv(point.getData());
|
||||
glEnd();
|
||||
|
||||
glColor3f(1,0,0);
|
||||
glBegin(GL_LINES);
|
||||
glVertex2fv(point.getData());
|
||||
glVertex2fv((point + normal).getData());
|
||||
glEnd();
|
||||
glColor3f(1,1,1);
|
||||
|
||||
|
||||
Vector2 px = point - (getPos() + getDPos());
|
||||
Vector2 v = getVel() + px.rotate(getOmega());
|
||||
|
||||
float c1;
|
||||
float a;
|
||||
|
||||
a = -(1.0 + LEVEL_BOUNCYNESS) * (v * normal);
|
||||
c1 = px ^ normal;
|
||||
c1 *= c1;
|
||||
a /= (1.0 / MASS) + (c1 / INERTIA);
|
||||
|
||||
addImpulse(a * normal, point);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Craft::checkLevelCollision(Vector2 &point, Vector2 &normal, Vector2 &delta)
|
||||
{
|
||||
Level &level = Game::getInstance().getLevel();
|
||||
|
||||
return level.ellipseIntersect((getPos() + getDPos()), (getAngle() + getDAngle()), majorAxis, minorAxis, point, normal, delta);
|
||||
}
|
||||
|
||||
int Craft::init()
|
||||
{
|
||||
return mesh.loadFromXML("racer.xml");
|
||||
}
|
||||
|
||||
void Craft::setPos(const Vector2 &p) { state.setPos(p); }
|
||||
void Craft::setVel(const Vector2 &v) { dState.setPos(v); }
|
||||
void Craft::setAngle(float a) { state.setAngle(a); }
|
||||
void Craft::setOmega(float a) { dState.setAngle(a); }
|
||||
|
||||
float Craft::getX() const { return state.getX(); }
|
||||
float Craft::getY() const { return state.getY(); }
|
||||
const Vector2 &Craft::getPos() const { return state.getPos(); }
|
||||
|
||||
float Craft::getVX() const { return dState.getX(); }
|
||||
float Craft::getVY() const { return dState.getY(); }
|
||||
const Vector2 &Craft::getVel() const { return dState.getPos(); }
|
||||
|
||||
float Craft::getDX() const { return delta.getX(); }
|
||||
float Craft::getDY() const { return delta.getY(); }
|
||||
const Vector2 &Craft::getDPos() const { return delta.getPos(); }
|
||||
|
||||
float Craft::getAngle() const { return state.getAngle(); }
|
||||
float Craft::getOmega() const { return dState.getAngle(); }
|
||||
float Craft::getDAngle() const { return delta.getAngle(); }
|
||||
|
||||
const Vector2 &Craft::getVertex(int n) const { return vertices[n]; }
|
||||
|
||||
float Craft::getBoostFuel() const { return boostFuel; }
|
||||
|
||||
float Craft::getHoverForce() const { return hoverForce; }
|
||||
float Craft::getSpeed() const { return dState.getPos().length(); }
|
||||
|
||||
m3dMesh &Craft::getMesh() const { return mesh; }
|
||||
|
||||
bool Craft::beamIntersect(const Vector2& v1, const Vector2& v2, Vector2 &point) const
|
||||
{
|
||||
Vector2 dv(0.5 * WIDTH, 0.0);
|
||||
dv.rotate(getAngle());
|
||||
|
||||
Vector2 p;
|
||||
if(Level::segmentIsect(getPos() + dv, getPos() - dv, v1, v2, p))
|
||||
{
|
||||
point = p;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void Craft::addForce(Vector2 &f)
|
||||
{
|
||||
force = force + f;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue