ivp_core_macros.hxx

hl2 source code. Do not use it illegal.

// Copyright (C) Ipion Software GmbH 1999-2000. All rights reserved.

//IVP_EXPORT_PUBLIC

/********************************************************************************
 *	Name:		ivp_core_macros       	
 *	Description:	inline functions for object core
 ********************************************************************************/

#ifndef WIN32
#	pragma interface
#endif

#ifndef IVP_ANOMALY_MANAGER_INCLUDED
#	include <ivp_anomaly_manager.hxx>
#endif

void IVP_Core::inline_calc_at_quaternion(IVP_Time current_time, IVP_U_Quat *quat) const {
    IVP_DOUBLE d_time = current_time - time_of_last_psi;
    quat->set_interpolate_smoothly( &q_world_f_core_last_psi, &q_world_f_core_next_psi, d_time * i_delta_time );
}

void IVP_Core::inline_calc_at_position(IVP_Time current_time, IVP_U_Point *pos) const {
    IVP_DOUBLE d_time = current_time - time_of_last_psi;
    pos->add_multiple( &pos_world_f_core_last_psi, &delta_world_f_core_psis, d_time );
}


void IVP_Core::clip_velocity(IVP_U_Float_Point *velocity, IVP_U_Float_Point *rotation_vec){
    // perform clipping
    IVP_Anomaly_Limits *al = this->environment->get_anomaly_limits();
    if ( this->spin_clipping){
	if (rotation_vec->k[0] > spin_clipping->k[0]) {
	    rotation_vec->k[0] = spin_clipping->k[0];
	} else if (rotation_vec->k[0] < -spin_clipping->k[0]) {
	    rotation_vec->k[0] = -spin_clipping->k[0];
	}

	if (rotation_vec->k[1] > spin_clipping->k[1]) {
	    rotation_vec->k[1] = spin_clipping->k[1];
	} else if (rotation_vec->k[1] < -spin_clipping->k[1]) {
	    rotation_vec->k[1] = -spin_clipping->k[1]; //@@CB 
	}

	if (rotation_vec->k[2] > spin_clipping->k[2]) {
	    rotation_vec->k[2] = spin_clipping->k[2];
	} else if (rotation_vec->k[2] < -spin_clipping->k[2]) {
	    rotation_vec->k[2] = -spin_clipping->k[2];
	}

    }else{
#ifdef IVP_FAST_WHEELS_ENABLED
      if ( (!this->car_wheel) || (this->max_surface_deviation ) )
#endif
      {
	    IVP_DOUBLE square_rot_speed = rotation_vec->quad_length();

	    IVP_DOUBLE max_rot_speed = al->get_max_angular_velocity_per_psi() * this->environment->get_inv_delta_PSI_time();
	    IVP_DOUBLE quad_max_rot_speed = max_rot_speed * max_rot_speed;

	    if (square_rot_speed > quad_max_rot_speed){
		    IVP_Anomaly_Manager *am = this->environment->get_anomaly_manager();
		    am->max_angular_velocity_exceeded( al, this, rotation_vec);
	    }
      }
    }

    IVP_DOUBLE max_speed = al->get_max_velocity();
    IVP_DOUBLE quad_max_speed = max_speed * max_speed;
    IVP_DOUBLE square_speed     = velocity->quad_length();

    if (square_speed > quad_max_speed){
	IVP_Anomaly_Manager *am = this->environment->get_anomaly_manager();
	am->max_velocity_exceeded( al, this, velocity);
    }

}