Example usage for com.badlogic.gdx.math Vector3 isZero

Introduction

In this page you can find the example usage for com.badlogic.gdx.math Vector3 isZero.

Prototype

@Override
    public boolean isZero(final float margin) 

Source Link

Usage

From source file:com.badlogic.gdx.ai.tests.steer.bullet.SteeringBulletEntity.java

License:Apache License

protected void applySteering(SteeringAcceleration<Vector3> steering, float deltaTime) {
    boolean anyAccelerations = false;

    // Update position and linear velocity
    if (!steeringOutput.linear.isZero()) {
        body.applyCentralForce(steeringOutput.linear.scl(deltaTime));
        anyAccelerations = true;//from   w  ww. ja va 2 s  .co  m
    }

    // Update orientation and angular velocity
    if (isIndependentFacing()) {
        if (steeringOutput.angular != 0) {
            body.applyTorque(tmpVector3.set(0, steeringOutput.angular * deltaTime, 0));
            anyAccelerations = true;
        }
    } else {
        // If we haven't got any velocity, then we can do nothing.
        Vector3 linVel = getLinearVelocity();
        if (!linVel.isZero(MathUtils.FLOAT_ROUNDING_ERROR)) {
            // 
            // TODO: Commented out!!!
            // Looks like the code below creates troubles in combination with the applyCentralForce above
            // Maybe we should be more consistent by only applying forces or setting velocities.
            //
            //            float newOrientation = vectorToAngle(linVel);
            //            Vector3 angVel = body.getAngularVelocity();
            //            angVel.y = (newOrientation - oldOrientation) % MathUtils.PI2;
            //            if (angVel.y > MathUtils.PI) angVel.y -= MathUtils.PI2;
            //            angVel.y /= deltaTime;
            //            body.setAngularVelocity(angVel);
            //            anyAccelerations = true;
            //            oldOrientation = newOrientation;
        }
    }
    if (anyAccelerations) {
        body.activate();

        // TODO:
        // Looks like truncating speeds here after applying forces doesn't work as expected.
        // We should likely cap speeds form inside an InternalTickCallback, see
        // http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Simulation_Tick_Callbacks

        // Cap the linear speed
        Vector3 velocity = body.getLinearVelocity();
        float currentSpeedSquare = velocity.len2();
        float maxLinearSpeed = getMaxLinearSpeed();
        if (currentSpeedSquare > maxLinearSpeed * maxLinearSpeed) {
            body.setLinearVelocity(velocity.scl(maxLinearSpeed / (float) Math.sqrt(currentSpeedSquare)));
        }

        // Cap the angular speed
        Vector3 angVelocity = body.getAngularVelocity();
        if (angVelocity.y > getMaxAngularSpeed()) {
            angVelocity.y = getMaxAngularSpeed();
            body.setAngularVelocity(angVelocity);
        }
    }
}

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