def tick(self, time):
if abs(self.angular_velocity) > 0.001:
q = Quaternion.new_rotate_axis(abs(self.angular_velocity) * time,
self.angular_velocity.normalized())
else:
q = Quaternion()
self.rotation *= q
self.rotation = Quaternion.new_rotate_axis(*self.rotation.get_angle_axis())
self.position += self.velocity * time + (self.game.gravity * time ** 2) / 2
self.velocity += self.game.gravity * time
self.check_ground(time)
def adjust_rotation(self, center, height):
probe_len = 1#self.probe_len
# y, z, x
heading, attitude, bank = self.rotation.get_euler()
height_x = self.game.terrain.get_height_at(center + Vector2(probe_len, 0))
heading = -safe_asin((height_x - height) / probe_len)
height_y = self.game.terrain.get_height_at(center + Vector2(0, probe_len))
bank = safe_asin((height_y - height) / probe_len)
# TODO: use angular_velocity instead
d_rotation = Quaternion.new_rotate_euler(heading, 0, bank)
d_rotation *= Quaternion.new_rotate_euler(0, attitude, 0)
self.rotation = d_rotation
def create_static_object(self, player_name, name, pos=None):
# for debugging
player = self.get_player(player_name)
model = g3d.model.read(loader=self.loader, name=name).clone()
obj = Object(self, model)
obj.owner = player
obj.position = pos or Vector3(120, 135 + self._static_num * 30, 210)
obj.rotation = Quaternion.new_rotate_axis(0, Vector3(0, 0, 1))
model.root.scale = 10
self._static_num += 1
self.add_object(obj)
def __init__(self, game, model):
self.game = game
self.ident = random_string()
self.model = model
self.model.root.scale = self.model_scale
self.owner = None
self.is_on_ground = False
self.position = Vector3()
self.velocity = Vector3()
self.rotation = Quaternion()
self.angular_velocity = Vector3()
self.motor = (0, 0)
class Object(object):
model_scale = 0.2
probe_len = 0.1
def __init__(self, game, model):
self.game = game
self.ident = random_string()
self.model = model
self.model.root.scale = self.model_scale
self.owner = None
self.is_on_ground = False
self.position = Vector3()
self.velocity = Vector3()
self.rotation = Quaternion()
self.angular_velocity = Vector3()
self.motor = (0, 0)
def tick(self, time):
if abs(self.angular_velocity) > 0.001:
q = Quaternion.new_rotate_axis(abs(self.angular_velocity) * time,
self.angular_velocity.normalized())
else:
q = Quaternion()
self.rotation *= q
self.rotation = Quaternion.new_rotate_axis(*self.rotation.get_angle_axis())
self.position += self.velocity * time + (self.game.gravity * time ** 2) / 2
self.velocity += self.game.gravity * time
self.check_ground(time)
def calc_motor(self, time):
f0, f1 = self.motor
f = (f0 + f1) * self.motor_force # net force
m = (f1 - f0) * self.motor_force * self.motor_radius # torque
self.velocity += self.rotation * Vector3(f / self.mass * time, 0, 0)
j = self.mass # moment of intertia
self.angular_velocity += (m / j * time) * Vector3(0, 0, 1)
def check_ground(self, time):
center = Vector2(self.position.x, self.position.y)
height = self.game.terrain.get_height_at(center)
if self.position.z <= height:
self.is_on_ground = True
self.position.z = height
self.calc_motor(time)
#self.adjust_rotation(center, height)
#self.rotate_velocity(center, height)
self.apply_friction(time)
else:
self.is_on_ground = False
def adjust_rotation(self, center, height):
probe_len = 1#self.probe_len
# y, z, x
heading, attitude, bank = self.rotation.get_euler()
height_x = self.game.terrain.get_height_at(center + Vector2(probe_len, 0))
heading = -safe_asin((height_x - height) / probe_len)
height_y = self.game.terrain.get_height_at(center + Vector2(0, probe_len))
bank = safe_asin((height_y - height) / probe_len)
# TODO: use angular_velocity instead
d_rotation = Quaternion.new_rotate_euler(heading, 0, bank)
d_rotation *= Quaternion.new_rotate_euler(0, attitude, 0)
self.rotation = d_rotation
def rotate_velocity(self, center, height):
''' Make sure that velocity is not pointed underground. '''
velocity_projection = Vector2(self.velocity.x, self.velocity.y)
if abs(velocity_projection) < 0.001:
return
velocity_projection = velocity_projection.normalized()
height_v = self.game.terrain.get_height_at(center + velocity_projection)
ground_vector = Vector3(velocity_projection.x,
velocity_projection.y,
height_v - height).normalized()
velocity_angle = Vector3.angle_between(ground_vector, self.velocity)
if velocity_angle < 0:
self.velocity = abs(self.velocity) * self.ground_vector
def apply_friction(self, time):
kinetic_friction = \
self.game.terrain.get_kinetic_friction(self.position, self.velocity) * time
if kinetic_friction > abs(self.velocity):
self.velocity = Vector3(0, 0, 0)
else:
self.velocity -= (self.velocity.normalized() * kinetic_friction)
angular_friction = \
self.game.terrain.get_angular_friction(self.position,
self.angular_velocity) * time
if abs(self.angular_velocity) < angular_friction:
self.angular_velocity = Vector3()
else:
self.angular_velocity -= self.angular_velocity.normalized() * angular_friction
def get_rotation_quaternion(dir):
angle = (dir - 0.5) / 2 * pi
return Quaternion.new_rotate_axis(angle, Vector3(0, 0, 1))