KartBody.cc

#include "KartBody.hh"
 
#include <egg/math/Math.hh>
 
namespace Kinoko::Kart {

KartBody::KartBody(KartPhysics *physics) : m_physics(physics) {
    m_anAngle = 0.0f;
    m_sinkDepth = 0.0f;
    m_targetSinkDepth = 0.0f;
}

EGG::Matrix34f KartBody::wheelMatrix(u16, const EGG::Matrix34f &bodyMat) {
    return bodyMat;
}

void KartBody::init(const KartParam::KartDisp &kartDisp, const KartParam::BikeDisp &bikeDisp) {
    setParams(kartDisp, bikeDisp);
}

void KartBody::reset() {
    m_physics->reset();
    m_anAngle = 0.0f;
    m_sinkDepth = 0.0f;
    m_targetSinkDepth = 0.0f;
}

void KartBody::calcSinkDepth() {
    m_sinkDepth += (m_targetSinkDepth - m_sinkDepth) * 0.1f;
}

void KartBody::trySetTargetSinkDepth(f32 val) {
    m_targetSinkDepth = std::max(val, m_targetSinkDepth);
}

void KartBody::calcTargetSinkDepth() {
    m_targetSinkDepth = 3.0f * static_cast<f32>(collisionData().intensity);
}

KartBodyKart::KartBodyKart(KartPhysics *physics) : KartBody(physics) {}

KartBodyKart::~KartBodyKart() {
    EGG::egg_delete(m_physics);
}

KartBodyBike::KartBodyBike(KartPhysics *physics) : KartBody(physics) {}

KartBodyBike::~KartBodyBike() {
    EGG::egg_delete(m_physics);
}

EGG::Matrix34f KartBodyBike::wheelMatrix(u16 wheelIdx, const EGG::Matrix34f &bodyMat) {
    if (wheelIdx != 0) {
        return bodyMat;
    }
 
    m_handleRotMat.setBase(3, m_handlePos * scale());
    EGG::Matrix34f tmp = bodyMat.multiplyTo(m_handleRotMat);
 
    EGG::Vector3f yRotation = EGG::Vector3f(0.0f, DEG2RAD * m_anAngle, 0.0f);
    EGG::Matrix34f yRotMatrix;
    yRotMatrix.makeR(yRotation);
 
    return tmp.multiplyTo(yRotMatrix);
}

void KartBodyBike::setParams(const KartParam::KartDisp & /* kartDisp */,
        const KartParam::BikeDisp &bikeDisp) {
    m_handlePos = bikeDisp.m_handlePos;
    m_handleRotMat.makeR(DEG2RAD * bikeDisp.m_handleRot);
}
 
KartBodyQuacker::KartBodyQuacker(KartPhysics *physics) : KartBodyBike(physics) {}
 
KartBodyQuacker::~KartBodyQuacker() = default;

EGG::Matrix34f KartBodyQuacker::wheelMatrix(u16 /* wheelIdx */, const EGG::Matrix34f &bodyMat) {
    return bodyMat;
}
 
} // namespace Kinoko::Kart