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// Cyphesis Online RPG Server and AI Engine
// Copyright (C) 2005 Alistair Riddoch
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software Foundation,
// Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
// $Id: Motion.cpp,v 1.23 2008-01-07 14:29:42 alriddoch Exp $
#include "Motion.h"
#include "rulesets/Entity.h"
#include "physics/Vector3D.h"
#include "physics/Collision.h"
#include "common/compose.hpp"
#include "common/debug.h"
#include "common/const.h"
#include "common/log.h"
#include <iostream>
static const bool debug_flag = false;
Motion::Motion(Entity & body) : m_entity(body), m_serialno(0),
m_collision(false)
{
}
Motion::~Motion()
{
}
void Motion::setMode(const std::string & mode)
{
m_mode = mode;
// FIXME Re-configure stuff, and possible schedule an update?
}
void Motion::adjustPostion()
{
}
Operation * Motion::genUpdateOperation()
{
return 0;
}
Operation * Motion::genMoveOperation()
{
return 0;
}
float Motion::checkCollisions()
{
// Check to see whether a collision is going to occur from now until the
// the next tick in consts::move_tick seconds
float coll_time = consts::move_tick;
debug( std::cout << "checking " << m_entity.getId()
<< m_entity.m_location.pos()
<< m_entity.m_location.velocity() << " in "
<< m_entity.m_location.m_loc->getId()
<< " against"; );
m_collEntity = NULL;
m_collLocChange = false;
m_collision = false;
// Check against everything within the current container
assert(m_entity.m_location.m_loc != 0);
assert(m_entity.m_location.m_loc->m_contains != 0);
LocatedEntitySet::const_iterator I = m_entity.m_location.m_loc->m_contains->begin();
LocatedEntitySet::const_iterator Iend = m_entity.m_location.m_loc->m_contains->end();
for (; I != Iend; ++I) {
// Don't check for collisions with ourselves
if ((*I) == &m_entity) { continue; }
const Location & other_location = (*I)->m_location;
if (!other_location.bBox().isValid() || !other_location.isSolid()) {
continue;
}
debug( std::cout << " " << (*I)->getId(); );
Vector3D normal;
float t = consts::move_tick + 1;
if (!predictCollision(m_entity.m_location, other_location, t, normal) || (t < 0)) {
continue;
}
debug( std::cout << (*I)->getId() << other_location.pos() << other_location.velocity(); );
debug( std::cout << "[" << t << "]"; );
if (t <= coll_time) {
m_collEntity = *I;
m_collNormal = normal;
coll_time = t;
}
}
debug( std::cout << std::endl << std::flush; );
if (m_collEntity == NULL) {
// Check whethe we are moving out of parents bounding box
// If ref has no bounding box, or itself has no ref, then we can't
// Move out of it.
const Location & parent_location = m_entity.m_location.m_loc->m_location;
if (!parent_location.bBox().isValid() || (parent_location.m_loc == 0)) {
return consts::move_tick;
}
// float t = m_entity.m_location.timeToExit(parent_location);
float t = 0;
predictEmergence(m_entity.m_location, parent_location, t);
// if (t == 0) { return; }
// if (t < 0) { t = 0; }
if (t > consts::move_tick) { return consts::move_tick; }
coll_time = t;
debug(std::cout << "Collision with parent bounding box in "
<< coll_time << std::endl << std::flush;);
m_collEntity = m_entity.m_location.m_loc;
m_collLocChange = true;
} else if (!m_collEntity->m_location.isSimple()) {
debug(std::cout << "Collision with complex object" << std::endl
<< std::flush;);
// Non solid container - check for collision with its contents.
const Location & lc2 = m_collEntity->m_location;
Location rloc(m_entity.m_location);
rloc.m_loc = m_collEntity;
if (lc2.orientation().isValid()) {
rloc.m_pos = m_entity.m_location.m_pos.toLocalCoords(lc2.pos(), lc2.orientation());
} else {
static const Quaternion identity(1, 0, 0, 0);
rloc.m_pos = m_entity.m_location.m_pos.toLocalCoords(lc2.pos(), identity);
}
float coll_time_2 = consts::move_tick;
// rloc is now m_entity.m_location of character with loc set to m_collEntity
if (m_collEntity->m_contains != 0) {
I = m_collEntity->m_contains->begin();
Iend = m_collEntity->m_contains->end();
for (; I != Iend; ++I) {
const Location & other_location = (*I)->m_location;
if (!other_location.bBox().isValid()) { continue; }
Vector3D normal;
float t = consts::move_tick + 1;
if (!predictCollision(rloc, other_location, t, normal) ||
t < 0) {
continue;
}
if (t <= coll_time_2) {
coll_time_2 = t;
}
// What to do with the normal?
}
}
// There is a small possibility that if
// coll_time_2 == coll_time == move_tick, we will miss a collision
if (coll_time_2 - coll_time > consts::move_tick / 10) {
debug( std::cout << "passing into it " << coll_time << ":"
<< coll_time_2 << std::endl << std::flush;);
// We are entering collEntity.
m_collLocChange = true;
}
}
assert(m_collEntity != NULL);
m_collision = true;
debug( std::cout << "COLLISION" << std::endl << std::flush; );
debug( std::cout << "Setting target loc to "
<< m_entity.m_location.pos() << "+"
<< m_entity.m_location.velocity() << "*" << coll_time;);
return coll_time;
}
bool Motion::resolveCollision()
{
Location & location(m_entity.m_location);
bool moving = true;
if (m_collLocChange) {
// We are changing container (LOC)
static const Quaternion identity(Quaternion().identity());
debug(std::cout << "CONTACT " << m_collEntity->getId()
<< std::endl << std::flush;);
if (m_collEntity == location.m_loc) {
// Passing out of current container
debug(std::cout << "OUT"
<< m_collEntity->m_location.pos()
<< std::endl << std::flush;);
const Quaternion & coll_orientation = m_collEntity->m_location.orientation().isValid() ?
m_collEntity->m_location.orientation() :
identity;
location.m_pos = location.m_pos.toParentCoords(m_collEntity->m_location.pos(), coll_orientation);
location.m_orientation *= coll_orientation;
location.m_velocity.rotate(coll_orientation);
m_entity.changeContainer(m_collEntity->m_location.m_loc);
} else if (m_collEntity->m_location.m_loc == location.m_loc) {
// Passing into new container
debug(std::cout << "IN" << std::endl << std::flush;);
const Quaternion & coll_orientation = m_collEntity->m_location.orientation().isValid() ?
m_collEntity->m_location.orientation() :
identity;
location.m_pos = location.m_pos.toLocalCoords(m_collEntity->m_location.pos(), coll_orientation);
assert(location.m_orientation.isValid());
assert(coll_orientation.isValid());
location.m_orientation /= coll_orientation;
location.m_velocity.rotate(coll_orientation.inverse());
m_entity.changeContainer(m_collEntity);
} else {
// Container we are supposed to changing to is wrong.
// Just stop where we currently are. Debugging is required to work out
// why this happens
log(ERROR, String::compose("BAD COLLISION: %1(%2) with "
"%3(%4)%5 when LOC is currently "
"%6(%7)%8.",
m_entity.getId(),
m_entity.getType(),
m_collEntity->getId(),
m_collEntity->getType(),
location.m_pos,
location.m_loc->getId(),
location.m_loc->getType(),
location.m_pos));
// reset();
location.m_velocity = Vector3D(0,0,0);
moving = false;
}
} else {
// We have arrived at our target position and must
// stop, or be deflected
if (location.m_loc != m_collEntity->m_location.m_loc) {
// Race condition
// This occurs if we get asked for a new update before
// the last move has taken effect, so we make the new
// pos exactly as it was when the last collision was
// predicted.
log(ERROR, "NON COLLISION - target does not have common parent");
} else {
// FIXME Generate touch ops
// This code relies on m_collNormal being a unit vector
float vel_square_mag = location.velocity().sqrMag();
location.m_velocity -= m_collNormal * Dot(m_collNormal, location.m_velocity);
if (location.m_velocity.mag() / consts::base_velocity > 0.05) {
m_collEntity = NULL;
location.m_velocity.normalize();
location.m_velocity *= sqrt(vel_square_mag);
} else {
// reset();
location.m_velocity = Vector3D(0,0,0);
moving = false;
}
}
}
clearCollision();
return moving;
}
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