face direction

[blobs.git] / src / creature / creature.cpp

diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp
index 456e08102ebbb2d5cd45a7337a7f02ea508dd27f..3066331b13b76db3019a4ca59afe5da44cb2f3b8 100644 (file)
--- a/src/creature/creature.cpp
+++ b/src/creature/creature.cpp
@@ -19,6 +19,7 @@
 #include <algorithm>
 #include <sstream>
 #include <glm/gtx/transform.hpp>
+#include <glm/gtx/vector_angle.hpp>
 
 #include <iostream>
 #include <glm/gtx/io.hpp>
@@ -159,10 +160,13 @@ void Creature::Tick(double dt) {
                Situation::Derivative d(Step(c, dt));
                Situation::Derivative f(
                        (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
-                       (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
+                       (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc),
+                       (1.0 / 6.0) * (a.turn + 2.0 * (b.turn + c.turn) + d.turn)
                );
                state.pos += f.vel * dt;
                state.vel += f.acc * dt;
+               constexpr double turn_speed = 10.0;
+               state.dir = glm::normalize(state.dir + f.turn * turn_speed * dt);
                situation.SetState(state);
        }
 
@@ -182,20 +186,11 @@ void Creature::Tick(double dt) {
        }
        // if active goal can be interrupted, check priorities
        if (goals.size() > 1 && goals[0]->Interruptible()) {
-               Goal *old_top = &*goals[0];
                std::sort(goals.begin(), goals.end(), GoalCompare);
-               Goal *new_top = &*goals[0];
-               if (new_top != old_top) {
-                       std::cout << "[" << int(sim.Time()) << "s] " << name
-                               << " changing goal from " << old_top->Describe()
-                               << " to " << new_top->Describe() << std::endl;
-               }
        }
        goals[0]->Action();
        for (auto goal = goals.begin(); goal != goals.end();) {
                if ((*goal)->Complete()) {
-                       std::cout << "[" << int(sim.Time()) << "s] " << name
-                               << " complete goal: " << (*goal)->Describe() << std::endl;
                        goals.erase(goal);
                } else {
                        ++goal;
@@ -207,7 +202,12 @@ Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt)
        Situation::State s = situation.GetState();
        s.pos += ds.vel * dt;
        s.vel += ds.acc * dt;
-       return { s.vel, steering.Acceleration(s) };
+       s.dir = normalize(s.dir + ds.turn * dt);
+       return {
+               s.vel,
+               steering.Acceleration(s),
+               allzero(s.vel) ? glm::dvec3(0.0) : normalize(s.vel) - s.dir
+       };
 }
 
 glm::dmat4 Creature::LocalTransform() noexcept {
@@ -215,6 +215,8 @@ glm::dmat4 Creature::LocalTransform() noexcept {
        const double half_size = size * 0.5;
        const glm::dvec3 &pos = situation.Position();
        return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
+               * glm::dmat4(world::Planet::SurfaceOrientation(situation.Surface()))
+               * glm::rotate(glm::orientedAngle(glm::dvec3(0.0, 0.0, -1.0), situation.Heading(), glm::dvec3(0.0, 1.0, 0.0)), glm::dvec3(0.0, 1.0, 0.0))
                * glm::scale(glm::dvec3(half_size, half_size, half_size));
 }