fix turn behaviour

diff --git a/src/creature/Situation.hpp b/src/creature/Situation.hpp
index 6b2bac0500f4dcc958040ce4fd8192693af51365..c94d2d5c615bdb60a40349160899d87a0e494397 100644 (file)
--- a/src/creature/Situation.hpp
+++ b/src/creature/Situation.hpp
@@ -33,13 +33,10 @@ public:
                glm::dvec3 vel;
                // acceleration
                glm::dvec3 acc;
-               // orientation adjust
-               glm::dvec3 turn;
                Derivative(
                        const glm::dvec3 &vel = glm::dvec3(0.0),
-                       const glm::dvec3 &acc = glm::dvec3(0.0),
-                       const glm::dvec3 &turn = glm::dvec3(0.0))
-               : vel(vel), acc(acc), turn(turn) { }
+                       const glm::dvec3 &acc = glm::dvec3(0.0))
+               : vel(vel), acc(acc) { }
        };
 
 public:
@@ -70,6 +67,7 @@ public:
        bool Moving() const noexcept { return glm::length2(state.vel) < 0.00000001; }
        void Move(const glm::dvec3 &dp) noexcept;
 
+       void Heading(const glm::dvec3 &h) noexcept { state.dir = h; }
        const glm::dvec3 &Heading() const noexcept { return state.dir; }
 
        void SetPlanetSurface(world::Planet &, int srf, const glm::dvec3 &pos) noexcept;

diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp
index 74d5751bce5f9f413a9f111cbdd17e8a42862807..690f6fb7fe1608db0045952cce5c648e60ca1dcb 100644 (file)
--- a/src/creature/creature.cpp
+++ b/src/creature/creature.cpp
@@ -12,6 +12,7 @@
 #include "IngestNeed.hpp"
 #include "Need.hpp"
 #include "../app/Assets.hpp"
+#include "../math/const.hpp"
 #include "../world/Body.hpp"
 #include "../world/Planet.hpp"
 #include "../world/Simulation.hpp"
@@ -170,14 +171,23 @@ 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.turn + 2.0 * (b.turn + c.turn) + d.turn)
+                       (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
                );
                state.pos += f.vel * dt;
                state.vel += f.acc * dt;
-               constexpr double turn_speed = 10.0;
-               // TODO: this is crap
-               state.dir = glm::normalize(state.dir + f.turn * turn_speed * dt);
+               if (length2(state.vel) > 0.000001) {
+                       glm::dvec3 nvel(normalize(state.vel));
+                       double ang = angle(nvel, state.dir);
+                       double turn_rate = PI * dt;
+                       if (ang < turn_rate) {
+                               state.dir = normalize(state.vel);
+                       } else if (std::abs(ang - PI) < 0.001) {
+                               state.dir = rotate(state.dir, turn_rate, world::Planet::SurfaceNormal(situation.Surface()));
+                       } else {
+                               state.dir = rotate(state.dir, turn_rate, normalize(cross(state.dir, nvel)));
+                       }
+               }
+
                situation.SetState(state);
        }
 
@@ -215,11 +225,9 @@ 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;
-       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
+               steering.Acceleration(s)
        };
 }
 
@@ -227,9 +235,10 @@ glm::dmat4 Creature::LocalTransform() noexcept {
        // TODO: surface transform
        const double half_size = size * 0.5;
        const glm::dvec3 &pos = situation.Position();
+       const glm::dmat3 srf(world::Planet::SurfaceOrientation(situation.Surface()));
        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::rotate(glm::orientedAngle(-srf[2], situation.Heading(), srf[1]), srf[1])
+               * glm::dmat4(srf)
                * glm::scale(glm::dvec3(half_size, half_size, half_size));
 }
 
@@ -324,6 +333,7 @@ void Creature::Draw(graphics::Viewport &viewport) {
 void Spawn(Creature &c, world::Planet &p) {
        p.AddCreature(&c);
        c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
+       c.GetSituation().Heading(-world::Planet::SurfaceOrientation(0)[2]);
 
        // probe surrounding area for common resources
        int start = p.SideLength() / 2 - 2;