KartPhysics.cc

#include "KartPhysics.hh"
 
#include <egg/math/Quat.hh>
 
namespace Kinoko::Kart {

KartPhysics::KartPhysics(bool isBike) {
    m_pose = EGG::Matrix34f::ident;
    m_dynamics = isBike ? static_cast<KartDynamics *>(EGG::egg_new<KartDynamicsBike>()) :
                          EGG::egg_new<KartDynamics>();
    m_hitboxGroup = EGG::egg_new<CollisionGroup>();
    m_fc = 50.0f; // set immediately after in KartPhysics::Create()
}

KartPhysics::~KartPhysics() {
    EGG::egg_delete(m_dynamics);
    EGG::egg_delete(m_hitboxGroup);
}

void KartPhysics::reset() {
    m_dynamics->init();
    m_hitboxGroup->reset();
    m_decayingStuntRot = EGG::Quatf::ident;
    m_instantaneousStuntRot = EGG::Quatf::ident;
    m_specialRot = EGG::Quatf::ident;
    m_decayingExtraRot = EGG::Quatf::ident;
    m_instantaneousExtraRot = EGG::Quatf::ident;
    m_extraRot = EGG::Quatf::ident;
    m_movingObjVel.setZero();
    m_movingRoadVel.setZero();
    m_pose = EGG::Matrix34f::ident;
    m_xAxis = EGG::Vector3f(m_pose[0, 0], m_pose[1, 0], m_pose[2, 0]);
    m_yAxis = EGG::Vector3f(m_pose[0, 1], m_pose[1, 1], m_pose[2, 1]);
    m_zAxis = EGG::Vector3f(m_pose[0, 2], m_pose[1, 2], m_pose[2, 2]);
    m_pos = m_dynamics->pos();
    m_velocity = m_dynamics->velocity();
}

void KartPhysics::updatePose() {
    m_pose.makeQT(m_dynamics->fullRot(), m_dynamics->pos());
    m_xAxis = EGG::Vector3f(m_pose[0, 0], m_pose[1, 0], m_pose[2, 0]);
    m_yAxis = EGG::Vector3f(m_pose[0, 1], m_pose[1, 1], m_pose[2, 1]);
    m_zAxis = EGG::Vector3f(m_pose[0, 2], m_pose[1, 2], m_pose[2, 2]);
}

void KartPhysics::calc(f32 dt, f32 maxSpeed, const EGG::Vector3f &scale, bool air) {
    m_specialRot = m_instantaneousStuntRot * m_decayingStuntRot;
    m_extraRot = m_instantaneousExtraRot * m_decayingExtraRot;
 
    m_dynamics->setSpecialRot(m_specialRot);
    m_dynamics->setExtraRot(m_extraRot);
    m_dynamics->setScale(scale);
 
    m_dynamics->calc(dt, maxSpeed, air);
 
    m_decayingStuntRot = m_decayingStuntRot.slerpTo(EGG::Quatf::ident, 0.1f);
    m_decayingExtraRot = m_decayingExtraRot.slerpTo(EGG::Quatf::ident, 0.1f);
 
    m_instantaneousStuntRot = EGG::Quatf::ident;
    m_instantaneousExtraRot = EGG::Quatf::ident;
}

void KartPhysics::shiftDecayMovingRoadVel(const EGG::Vector3f &v, f32 maxPullSpeed) {
    m_movingRoadVel += v;
 
    if (m_movingRoadVel.squaredLength() > std::numeric_limits<f32>::epsilon()) {
        f32 speed = std::min(maxPullSpeed, m_movingRoadVel.normalise());
        m_movingRoadVel *= speed;
        m_dynamics->setMovingRoadVel(m_movingRoadVel);
    }
}

KartPhysics *KartPhysics::Create(const KartParam &param) {
    KartPhysics *physics = EGG::egg_new<KartPhysics>(param.isBike());
 
    const BSP &bsp = param.bsp();
 
    physics->set_fc(physics->hitboxGroup()->initHitboxes(bsp.hitboxes));
 
    physics->dynamics()->setBspParams(bsp.angVel0Factor, bsp.cuboids[0], bsp.cuboids[1], false);
 
    return physics;
}
 
} // namespace Kinoko::Kart