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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using Microsoft.Xna.Framework;
namespace Brains.Framework.Locomotion
{
/// <summary>
/// Need to rename this class.
/// </summary>
public class LocomotionController
{
private float _speed=0;
private Vector2 _velocity=Vector2.Zero;
/// <summary>
/// Gets or sets the maximum speed the agent can travel at
/// </summary>
public float MaxSpeed
{
get; set;
}
/// <summary>
/// Gets or sets the maximum amount an Agent can rotate per second
/// </summary>
/// <remarks>Value is in radians</remarks>
public float MaxRotation
{
get; set;
}
/// <summary>
/// Gets or sets the owning Agent
/// </summary>
public Agent Owner
{
get; set;
}
/// <summary>
/// Gets the current speed of the Agent
/// </summary>
public float Speed
{
get { return _speed; }
}
/// <summary>
/// Gets the velocity as a Vector2 of the Agent
/// </summary>
public Vector2 Velocity
{
get { return _velocity; }
}
/// <summary>
/// Gets or sets the value of wether the Agent will move
/// </summary>
public bool Stationary
{
get; set;
}
/// <summary>
/// Initializes a new instance of LocomotionController
/// </summary>
public LocomotionController()
{
}
/// <summary>
/// The Update method is called every update of an Agent.
/// </summary>
/// <param name="gameTime"></param>
public virtual void Update(GameTime gameTime)
{
if (Stationary)
return;
float desiredChangeRaw = Vector2.Dot(Owner.Orientation, Owner.DesiredOrientation);
float desiredChange = (float)Math.Acos(desiredChangeRaw);
float timeFactor = gameTime.GetElapsed();
if (timeFactor == 0.0f)
return;
if (desiredChange > MaxRotation * timeFactor)
{
// determine if we rotating clock or counter-clock wise,
// then aply maxRotation only
//create vector perpendicular to the desired direction;
Vector3 _perpendicular = new Vector3();
Vector3 _up = new Vector3(0, 0, 1);
Vector3 _des = Owner.DesiredOrientation.ToVector3();
if (_des != Vector3.Zero)
_des.Normalize();
Vector3.Cross(ref _des, ref _up, out _perpendicular);
bool clockWise = (Vector3.Dot(Owner.Orientation.ToVector3(), _perpendicular) >= 0.0f);
Matrix rotation = Matrix.Identity;
if (clockWise)
Matrix.CreateRotationZ(MaxRotation * timeFactor, out rotation);
else
Matrix.CreateRotationZ(-MaxRotation * timeFactor, out rotation);
_des = Vector3.Transform(Owner.Orientation.ToVector3(), rotation);
if (_des != Vector3.Zero)
_des.Normalize();
Owner.Orientation = _des.ToVector2();
}
else
{
Owner.Orientation = Owner.DesiredOrientation;
}
if (desiredChangeRaw < 0.0f)
desiredChangeRaw = 0.0f;
if (MaxSpeed > 0)
{
_speed = (1 + desiredChangeRaw) * 0.5f * MaxSpeed;
_velocity = Owner.Orientation * _speed;
Owner.Position += _velocity * timeFactor;
}
else
_speed = MaxSpeed;
}
}
} |
