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Rover.cpp
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Rover.cpp
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//
// Created by musiek on 27.05.2021.
//
#include <gtc/matrix_transform.hpp>
#include "Rover.h"
void Rover::draw(Shader &shader) {
// be sure to activate shader when setting uniforms/drawing objects
shader.use();
shader.setVec3("objectColor", color);
shader.setVec3("lightColor", lightColor);
// world transformation
glm::mat4 modelMat = glm::mat4(1.0f);
modelMat = glm::translate(modelMat, position);
modelMat = glm::rotate(modelMat, glm::radians(rotation.y), glm::vec3(0,1,0));
modelMat = glm::rotate(modelMat, glm::radians(rotation.x), glm::vec3(1,0,0));
modelMat = glm::rotate(modelMat, glm::radians(rotation.z), glm::vec3(0,0,1));
modelMat = glm::scale(modelMat, glm::vec3(1,1,1));
shader.setMat4("model", modelMat);
model.draw(shader);
}
Rover::Rover(const glm::vec3 &position, const float &velocity, const glm::vec3 &color,
const glm::vec3 &lightColor, glm::vec3 rotation, string path, HeightMap* heightMap, float radius) : position(position),
velocity(velocity),
color(color),
lightColor(lightColor),
rotation(rotation), model(path),
heightMap(heightMap),
hitbox(radius, &this->position){
// Uncomment to auto radius hitbox
// this->hitbox.radius = hitbox.approximateRadius(&model);
leftTrackPos = model.getOrigin("Left_Middle_Wheel_Cylinder.001") + position;
rightTrackPos = model.getOrigin("Right_Middle_Wheel_Cylinder.007") + position;
this->position.x = (leftTrackPos.x + rightTrackPos.x) / 2;
this->position.y = (leftTrackPos.y + rightTrackPos.y) / 2;
this->position.z = (leftTrackPos.z + rightTrackPos.z) / 2;
front = glm::vec3(-1,0,0);
distBetweenWheelsX = (model.getOrigin("Left_Back_Wheel_Cylinder.008") - model.getOrigin("Left_Middle_Wheel_Cylinder.001")).x;
distBetweenWheelsZ =(model.getOrigin("Left_Middle_Wheel_Cylinder.001") - model.getOrigin("Right_Middle_Wheel_Cylinder.007")).z;
}
const glm::vec3 &Rover::getPosition() const {
return position;
}
void Rover::setPosition(const glm::vec3 &position) {
Rover::position = position;
}
const float &Rover::getVelocity() const {
return velocity;
}
void Rover::setVelocity(const float velocity) {
Rover::velocity = velocity;
}
const glm::vec3 &Rover::getColor() const {
return color;
}
void Rover::setColor(const glm::vec3 &color) {
Rover::color = color;
}
const glm::vec3 &Rover::getLightColor() const {
return lightColor;
}
void Rover::setLightColor(const glm::vec3 &lightColor) {
Rover::lightColor = lightColor;
}
const glm::vec3 &Rover::getRotation() const {
return rotation;
}
void Rover::setRotation(const glm::vec3 &rotation) {
Rover::rotation = rotation;
}
const Model &Rover::getModel() const {
return model;
}
void Rover::setModel(const Model &model) {
Rover::model = model;
}
void Rover::updatePos() {
if (checkCollisions()) {
leftVelocity = -leftVelocity;
rightVelocity = -rightVelocity;
}
if (leftVelocity != 0 || rightVelocity != 0) {
glm::vec3 leftTrackVector = front * leftVelocity;
glm::vec3 rightTrackVector = front * rightVelocity;
glm::vec3 rightVec = glm::cross(front, glm::vec3(0,1,0));
leftTrackPos = -rightVec * (distBetweenWheelsZ / 2) + position;
rightTrackPos = rightVec * (distBetweenWheelsZ / 2) + position;
leftTrackPos += leftTrackVector;
rightTrackPos += rightTrackVector;
glm::vec3 diffVector;
if (leftVelocity > rightVelocity) {
diffVector = leftTrackPos - rightTrackPos;
front = glm::cross(diffVector, glm::vec3(0,1,0));
front = glm::normalize(front);
} else if (leftVelocity < rightVelocity) {
diffVector = rightTrackPos - leftTrackPos;
front = - glm::cross(diffVector, glm::vec3(0,1,0));
front = glm::normalize(front);
}
// Calculate new position
this->position.x = (leftTrackPos.x + rightTrackPos.x) / 2;
this->position.y = (leftTrackPos.y + rightTrackPos.y) / 2;
this->position.z = (leftTrackPos.z + rightTrackPos.z) / 2;
//update velocity
leftVelocity *= 0.9;
rightVelocity *= 0.9;
if (leftVelocity < 0.01 && leftVelocity > -0.01)
leftVelocity = 0;
if (rightVelocity < 0.01 && rightVelocity > -0.01)
rightVelocity = 0;
updateRotation();
updateWheelPositions();
float leftFrontHeight = heightMap->getHeight(glm::vec2(leftFrontWheelPos.x, leftFrontWheelPos.z));
float rightFrontHeight = heightMap->getHeight(glm::vec2(rightFrontWheelPos.x, rightFrontWheelPos.z));
float leftBackHeight = heightMap->getHeight(glm::vec2(leftBackWheelPos.x, leftBackWheelPos.z));
float rightBackHeight = heightMap->getHeight(glm::vec2(rightBackWheelPos.x, rightBackWheelPos.z));
position.y = (leftFrontHeight + rightFrontHeight + leftBackHeight + rightBackHeight) / 4;
float leftPitch = rotation.z;
float rightPitch = rotation.z;
if (leftFrontHeight > leftBackHeight)
{
if (position.y < leftFrontHeight)
leftPitch = -glm::degrees(atan((leftFrontHeight - leftBackHeight) / (distBetweenWheelsX * 2)));
else leftPitch = 0.f;
}
else if (leftBackHeight > leftFrontHeight)
{
if (position.y < leftBackHeight)
leftPitch = -glm::degrees(atan((leftFrontHeight - leftBackHeight) / (distBetweenWheelsX * 2)));
else leftPitch = 0.f;
}
else leftPitch = 0.f;
if (rightFrontHeight > rightBackHeight)
{
if (position.y < rightFrontHeight)
rightPitch = -glm::degrees(atan((rightFrontHeight - rightBackHeight) / (distBetweenWheelsX * 2)));
else rightPitch = 0.f;
}
else if (rightBackHeight > rightFrontHeight)
{
if (position.y < rightBackHeight)
rightPitch = -glm::degrees(atan((rightFrontHeight - rightBackHeight) / (distBetweenWheelsX * 2)));
else rightPitch = 0.f;
}
else rightPitch = 0.f;
rotation.z = (leftPitch + rightPitch) / 2;
float frontRoll = rotation.x;
float backRoll = rotation.x;
if (leftFrontHeight > rightFrontHeight)
{
if (position.y < leftFrontHeight)
frontRoll = -glm::degrees(atan((leftFrontHeight - rightFrontHeight) / distBetweenWheelsZ));
else frontRoll = 0.f;
}
else if (rightFrontHeight > leftFrontHeight)
{
if (position.y < rightFrontHeight)
frontRoll = -glm::degrees(atan((leftFrontHeight - rightFrontHeight) / distBetweenWheelsZ));
else frontRoll = 0.f;
}
else frontRoll = 0.f;
if (leftBackHeight > rightBackHeight)
{
if (position.y < leftBackHeight)
backRoll = -glm::degrees(atan((leftBackHeight - rightBackHeight) / distBetweenWheelsZ));
else backRoll = 0.f;
}
else if (rightBackHeight > leftBackHeight)
{
if (position.y < rightBackHeight)
backRoll = -glm::degrees(atan((leftBackHeight - rightBackHeight) / distBetweenWheelsZ));
else backRoll = 0.f;
}
else backRoll = 0.f;
rotation.x = (frontRoll + backRoll) / 2;
if (abs(rotation.x) < 1) rotation.x = 0;
if (abs(rotation.z) < 1) rotation.z = 0;
}
}
float Rover::getLeftVelocity() const {
return leftVelocity;
}
void Rover::setLeftVelocity(float leftVelocity) {
if (abs(leftVelocity) < MAX_SPEED)
Rover::leftVelocity = leftVelocity;
}
float Rover::getRightVelocity() const {
return rightVelocity;
}
void Rover::setRightVelocity(float rightVelocity) {
if (abs(rightVelocity) < MAX_SPEED)
Rover::rightVelocity = rightVelocity;
}
void Rover::updateRotation() {
glm::vec3 orig(-1, 0,0);
if (front.z > 0)
rotation.y = glm::degrees(acos(glm::dot(orig, front) / ( glm::length(orig) * glm::length(front))));
else
rotation.y = glm::degrees(-acos(glm::dot(orig, front) / ( glm::length(orig) * glm::length(front))));
}
void Rover::updateWheelPositions() {
leftFrontWheelPos = leftTrackPos + front * distBetweenWheelsX;
leftBackWheelPos = leftTrackPos - front * distBetweenWheelsX;
rightFrontWheelPos = rightTrackPos + front * distBetweenWheelsX;
rightBackWheelPos = rightTrackPos - front * distBetweenWheelsX;
}
void Rover::addStaticObject(StaticObject *objPtr) {
staticObjects.push_back(objPtr);
}
bool Rover::checkCollisions() {
for (StaticObject* obj : staticObjects) {
if (this->hitbox.collides(&obj->hitbox)) {
// cout << "KOLIZJA" << "\n";
return true;
}
}
return false;
}