💿🐜 Antkeeper source code
https://antkeeper.com
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107 lines
3.3 KiB
107 lines
3.3 KiB
/*
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* Copyright (C) 2017-2019 Christopher J. Howard
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*
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* This file is part of Antkeeper Source Code.
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*
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* Antkeeper Source Code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper Source Code 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 Antkeeper Source Code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "locomotion-system.hpp"
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#include "../../triangle-mesh-operations.hpp"
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LocomotionSystem::LocomotionSystem(ComponentManager* componentManager):
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System(componentManager),
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leggedLocomotionGroup(componentManager)
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{
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leggedLocomotionGroup.addGroupObserver(this);
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}
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LocomotionSystem::~LocomotionSystem()
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{}
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void LocomotionSystem::update(float t, float dt)
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{
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auto members = leggedLocomotionGroup.getMembers();
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// Perform legged locomotion
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for (const LeggedLocomotionGroup::Member* member: *members)
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{
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LeggedLocomotionComponent* leggedLocomotion = std::get<0>(member->components);
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SteeringComponent* steering = std::get<1>(member->components);
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TransformComponent* transform = std::get<2>(member->components);
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// Skip entities which are not on a surface
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if (!leggedLocomotion->surface)
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{
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continue;
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}
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// Determine target position
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Vector3 force = steering->force * dt;
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float speed = steering->speed * dt;
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if (speed == 0.0f)
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{
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continue;
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}
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// Calculate direction vector
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Vector3 direction = force * (1.0f / speed);
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std::vector<WrapOperationSegment> segments;
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float wrapDistance = wrap(leggedLocomotion->surface, transform->transform.translation, direction, speed, &segments);
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WrapOperationSegment segment = segments.back();
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Vector3 cartesianStart = cartesian(segment.startPosition,
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segment.triangle->edge->vertex->position,
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segment.triangle->edge->next->vertex->position,
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segment.triangle->edge->previous->vertex->position);
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Vector3 cartesianEnd = cartesian(segment.endPosition,
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segment.triangle->edge->vertex->position,
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segment.triangle->edge->next->vertex->position,
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segment.triangle->edge->previous->vertex->position);
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// Calculate wrap direction of final segment
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Vector3 segmentDirection(0.0f);
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if (cartesianStart != cartesianEnd)
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{
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segmentDirection = glm::normalize(cartesianEnd - cartesianStart);
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}
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// Determine angle between the triangles
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float angle = std::acos(glm::dot(leggedLocomotion->surface->normal, segment.triangle->normal));
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if (std::abs(angle) > glm::radians(35.0f))
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{
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// Transition
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}
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leggedLocomotion->surface = segment.triangle;
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leggedLocomotion->barycentricPosition = segment.endPosition;
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transform->transform.translation = cartesianEnd;
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if (cartesianStart != cartesianEnd)
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{
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transform->transform.rotation = lookRotation(segmentDirection, segment.triangle->normal);
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}
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}
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}
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void LocomotionSystem::memberRegistered(const LeggedLocomotionGroup::Member* member)
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{}
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void LocomotionSystem::memberUnregistered(const LeggedLocomotionGroup::Member* member)
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{}
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