physics2.cpp

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/*
 * physics2.cpp
 *
 *  Created on: Jan 5, 2012
 *      Author: sushil
 */

#include <assert.h>
//#include <stdio.h>

#include <OgreVector3.h>
#include <OgreQuaternion.h>

#include <physics.h>
#include <ent.h>
#include <utils.h>
#include "DEBUG.h"

void FastEcslent::Physics2D2::init(){
        entity->desiredSpeed = entity->speed;//kInvalidFloat;
        entity->desiredHeading = entity->heading;//kInvalidFloat;

}

/*void FastEcslent::Physics2D2::printVector(const Ogre::Vector3 &v){
        std::cout << "[" << v.x << ", "  << v.y << ", " << v.z << "]" << std::endl;
}*/

void FastEcslent::Physics2D2::doHelmsman(double dtime){// You have a desired speed and heading, get me new position and orientation

        if (kInvalidFloat == entity->desiredSpeed || kInvalidFloat == entity->desiredHeading)
                return;

        DEBUG(std::cout << "Speed: " << entity->vel.length() << ", Heading: " << -atan2(entity->vel.z, entity->vel.x ) << std::endl;)
        //FastEcslent::Physics2D2::printVector(entity->vel);
//      Ogre::Vector3 desiredVelocity = Ogre::Vector3(cos(-entity->desiredHeading) * entity->desiredSpeed, 0.0f, sin(-entity->desiredHeading) * entity->desiredSpeed);


        if (entity->speed < entity->desiredSpeed) {
                entity->speed += (entity->maxAcceleration * dtime);
        } else if (entity->speed > entity->desiredSpeed) {
                entity->speed -= (entity->maxAcceleration * dtime);
        }

        Ogre::Quaternion desiredRot(Ogre::Radian(entity->desiredHeading), Ogre::Vector3::UNIT_Y);

        //update it all
        entity->rot = Ogre::Quaternion::Slerp(entity->maxRotationalSpeed * dtime, entity->rot, desiredRot, true);
        entity->heading = entity->rot.getYaw().valueRadians();
        entity->yaw     = entity->heading;

        entity->speed = clamp(entity->speed, entity->minSpeed, entity->maxSpeed);

        entity->vel = Ogre::Vector3(cos(-entity->heading) * entity->speed, 0.0f, sin(-entity->heading) * entity->speed);
        //finally update pos
        entity->pos = entity->pos + (entity->vel * dtime);

        DEBUG(std::cout << "Speed: " << entity->speed << ", Heading: " << entity->heading << std::endl <<std::endl;)

}


void FastEcslent::Physics2D2::tick(double dtime){
        doHelmsman(dtime);
}

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