func (r *Receiver) Simulate(time loop.GameTime) {
dt := time.Delta.Seconds()
r.Car.Simulate(r.UIState.Controls, dt)
r.SetCarTransform(dt)
c := r.Data.Car.WorldTransform().Mul4x1(glm.Vec4d{0, 0, 0, 1})
p := glm.Vec4d{0, 0, 1, 0}.Mul(r.UIState.CameraDistance)
rotation := r.UIState.Orientation.Conjugate().Mat4()
t := glm.Translate3Dd(-p[0], -p[1], -p[2])
r.Data.Cameraview = t.Mul4(rotation).Mul4(glm.Translate3Dd(-c[0], -c[1], -c[2]))
}
func (r *Receiver) SetCarTransform(dt float64) {
p := r.Car.Center
up := glm.Vec3d{0, 0, 1}
front := glm.Vec4d{0, 1, 0, 0}
// u := glm.Vec3d{r.Car.Direction[0],r.Car.Direction[1],r.Car.Direction[2]}
rot := RotationBetweenNormals(front, r.Car.Direction)
m := glm.Translate3Dd(p[0], p[1], p[2]).Mul4(rot)
r.Data.Car.Transform = m
fwav := r.Car.FrontWheelAngularDeviation
rwav := r.Car.RearWheelAngularDeviation
fr := glm.HomogRotate3DXd(-fwav * 180 / math.Pi)
rr := glm.HomogRotate3DXd(-rwav * 180 / math.Pi)
wheel, ok := r.Data.Car.FindModelWithName("Wheel_BackLeft")
if ok {
wheel.Transform = wheel.BaseTransform.Mul4(rr)
}
wheel, ok = r.Data.Car.FindModelWithName("Wheel_BackRight")
if ok {
wheel.Transform = wheel.BaseTransform.Mul4(rr)
}
wheel, ok = r.Data.Car.FindModelWithName("Wheel_FrontLeft")
ft := glm.HomogRotate3Dd(-r.Car.FrontWheelO, up)
if ok {
wheel.Transform = wheel.BaseTransform.Mul4(ft).Mul4(fr)
}
wheel, ok = r.Data.Car.FindModelWithName("Wheel_FrontRight")
if ok {
wheel.Transform = wheel.BaseTransform.Mul4(ft).Mul4(fr)
}
}
func NodeTransform(node *collada.Node) glm.Mat4d {
transform := glm.Ident4d()
for _, matrix := range node.Matrix {
v := matrix.F()
transform = transform.Mul4(glm.Mat4d{
v[0], v[1], v[2], v[3],
v[4], v[5], v[6], v[7],
v[8], v[9], v[10], v[11],
v[12], v[13], v[14], v[15],
}.Transpose())
}
for _, translate := range node.Translate {
v := translate.F()
transform = transform.Mul4(glm.Translate3Dd(v[0], v[1], v[2]))
}
for _, rotation := range node.Rotate {
v := rotation.F()
transform = transform.Mul4(glm.HomogRotate3Dd(v[3]*math.Pi/180, glm.Vec3d{v[0], v[1], v[2]}))
}
for _, scale := range node.Scale {
v := scale.F()
transform = transform.Mul4(glm.Scale3Dd(v[0], v[1], v[2]))
}
return transform
}
func (r *Receiver) Simulate(gameTime gameloop.GameTime) {
r.SimulationTime = gameTime
deltaT := gameTime.Delta.Seconds()
if !r.UIState.Impulse.ApproxEqual(glm.Vec4d{}) {
regulatedImpulse := r.UIState.Impulse.Normalize().Mul(r.Constants.PlayerImpulseMomentumLimit)
viewAdjustedImpulse := gtk.ToHomogVec4D(r.Player.OrientationH.Rotate(gtk.ToVec3D(regulatedImpulse)))
r.Player.Velocity = r.Player.Velocity.Add(viewAdjustedImpulse)
r.UIState.Impulse = glm.Vec4d{}
}
aggregateVelocity := r.Player.Velocity
if !r.UIState.Movement.ApproxEqual(glm.Vec4d{}) {
regulatedMovement := r.UIState.Movement.Normalize().Mul(r.Constants.PlayerMovementLimit)
viewAdjustedMovement := gtk.ToHomogVec4D(r.Player.OrientationH.Rotate(gtk.ToVec3D(regulatedMovement)))
aggregateVelocity = aggregateVelocity.Add(viewAdjustedMovement)
}
dp := aggregateVelocity.Mul(deltaT)
for _, p := range r.Portals {
portalview := p.Portalview
pos := portalview.Mul4x1(r.Player.Position)
v := portalview.Mul4x1(dp)
if pos[2] < 0 && v[2] > 0 {
t := -pos[2] / v[2]
hit := pos.Add(v.Mul(t))
if math.Abs(float64(hit[0])) <= 1 &&
math.Abs(float64(hit[1])) <= 1 &&
t > 0 && t <= 1 {
// fmt.Println("crossed portal", i, pos)
ti := p.Transform.Inv()
r.Player.Transform(ti)
dp = ti.Mul4x1(dp)
r.Data.Inception = r.Data.Inception.Mul4(p.Transform)
break
}
}
}
p0 := r.Player.Position
r.Player.Position = p0.Add(dp)
//apply gravity if player is off the ground (ys==0)
if r.Player.Position[1] > 1 {
r.Player.Velocity[1] = r.Player.Velocity[1] + r.Constants.Gravity*deltaT
} else {
r.Player.Velocity[1] = 0
if p0[1] >= 1 {
r.Player.Position[1] = 1
}
}
p := r.Player.Position
translate := glm.Translate3Dd(-p[0], -p[1], -p[2])
rotation := r.Player.Orientation.Conjugate().Mat4()
r.Data.Cameraview = rotation.Mul4(translate)
}
func PortalTransform(a, b Quad) (glm.Mat4d, glm.Mat4d, glm.Mat4d, glm.Mat4d) {
zn := glm.Vec4d{0, 0, 1, 0}
xn := glm.Vec4d{1, 0, 0, 0}
translateAZ := glm.Translate3Dd(-a.Center[0], -a.Center[1], -a.Center[2])
rotationAZ := RotationBetweenNormals(a.Normal, zn)
rotationAXZ := RotationBetweenNormals(rotationAZ.Mul4x1(a.PlaneV), xn)
scaleAZ := glm.Scale3Dd(1.0/a.Scale[0], 1.0/a.Scale[1], 1.0/a.Scale[2])
AZ := scaleAZ.Mul4(rotationAXZ).Mul4(rotationAZ).Mul4(translateAZ)
ZA := AZ.Inv()
translateBZ := glm.Translate3Dd(-b.Center[0], -b.Center[1], -b.Center[2])
rotationBZ := RotationBetweenNormals(b.Normal, zn)
rotationBXZ := RotationBetweenNormals(rotationBZ.Mul4x1(b.PlaneV), xn)
scaleBZ := glm.Scale3Dd(1.0/b.Scale[0], 1.0/b.Scale[1], 1.0/b.Scale[2])
BZ := scaleBZ.Mul4(rotationBXZ).Mul4(rotationBZ).Mul4(translateBZ)
ZB := BZ.Inv()
AB := ZB.Mul4(AZ)
BA := ZA.Mul4(BZ)
return AB, BA, AZ, BZ
}
func Translate(v glm.Vec4d) glm.Mat4d {
return glm.Translate3Dd(v[0], v[1], v[2])
}