BulletAutoPilots/Missiles.cpp

# include "Missiles.h"

/*
- Passer le plane pour update
- Faire une fonction de création commune
*/

void updateMissiles( b2World &world, b2Body* target, bool foresee )
{
	// Variables
	Entity* descr( nullptr );
	bool boom(false) ;
	std::vector<b2Body*> dustbin;

    // Force de correction
    b2Vec2 to( target->GetPosition() );
    b2Vec2 force;
    float d;

	// Parcours des entités
	for ( b2Body* b( world.GetBodyList() ); b; b = b->GetNext() )
    {
    	// Description de l'entité
        descr = (Entity*)b->GetUserData().pointer;

        // Skip entités non missile
        if ( descr == 0x0 || descr->id == LAND || descr->id == PLANE )
        	continue ;

        // Anticipation du mouvement de la cible
        if ( foresee )
            to = anticipate( b, target );

        // Trajectoire des missiles
        switch ( descr->id )
        {
        	case INERT :
        	case ANG :
        		break;
            case ARROW :
                force =  to - b->GetPosition();
                force.Normalize();
                force *= 0.0005f ;
                b->ApplyLinearImpulseToCenter( force, true );
                break;
            case CHARGE :
                force =  to - b->GetPosition();
                d = force.Length() + 0.1f;
                force.Normalize();
                force *= 0.0005f / d / d ;
                b->ApplyLinearImpulseToCenter( force, true );
                break;

            default:
                std::cout << "Missile sans protocole de guidage." << std::endl;
                continue ;
                break ;
        }

        // Test de collision
    	boom = false;

		for ( b2ContactEdge* ce( b->GetContactList() ); ce && !boom; ce = ce->next )
			boom = ce->contact->IsTouching() ;

		if ( boom )
			dustbin.push_back(b);
    }

    // Destruction des missiles détruits
    for ( unsigned int k(0); k < dustbin.size(); k++ )
    {
    	delete (Entity*)dustbin[k]->GetUserData().pointer;

    	world.DestroyBody( dustbin[k] );
    	dustbin[k] = nullptr;
    }
}

void createInert( b2Vec2 from, b2Body* target, b2World &world, Identity missile )
{
	// Body
	b2BodyDef bodyDef;
	bodyDef.position = from;
    bodyDef.userData.pointer = (uintptr_t) new Entity( {0.01f, missile} );

    bodyDef.type = b2_dynamicBody;
    bodyDef.linearDamping = 0.01f;
    bodyDef.fixedRotation = true ;
    b2Body* body = world.CreateBody(&bodyDef);

    // Shape
    b2CircleShape dynamicCircle;
    dynamicCircle.m_radius = 0.01f ;
    b2FixtureDef fixtureDef;
    fixtureDef.shape = &dynamicCircle;

    fixtureDef.density = 10.0f;
    fixtureDef.friction = 0.3f;

    body->CreateFixture(&fixtureDef);

    // Force de départ
    b2Vec2 to( target->GetPosition() );
    b2Vec2 force;

    switch ( missile )
    {
    	default :
    		break ;
    	case INERT :
		    force =  to - from;
		    force.Normalize();
		    force *= 0.01f ;
		    body->ApplyLinearImpulseToCenter( force, true );
  			break ;
    	case ANG :
		    force = target->GetLinearVelocity();
		    force *= (to - from).Length();
		    force *= 0.33f ;
		    force += to - from;
		    force.Normalize();
		    force *= 0.01f ;
		    body->ApplyLinearImpulseToCenter( force, true );
    		break;
        case ARROW :
        case CHARGE :
            break;
    }
}

b2Vec2 anticipate( b2Body* missile, b2Body* target )
{
    // Vecteur entre le missile et la cible
    b2Vec2 destination( target->GetPosition() - missile->GetPosition() );
    float distance( destination.Length() );
    destination *= ( 1.0f / distance );

    // Données sur le missile
    b2Vec2 vMissile_vec( missile->GetLinearVelocity() );

    // Vitesse d'approche
    float incoming( b2Dot(vMissile_vec, destination) );
    if ( incoming == 0.0f )
        return target->GetPosition() ;

    // Temps d'approche
    float tau( distance / incoming );

    // Données de la cible
    b2Vec2 vPlane_vec( target->GetLinearVelocity() );

    // Réponse
    b2Vec2 rep( target->GetPosition() + tau * vPlane_vec );

    // Fin du calcul
    return rep;
}