actor.lisp

   1
   2
   3 (in-package :lambdamundo)
   4
   5 (defparameter *actors* (make-array 0 :adjustable t :fill-pointer 0))
   6
   7 (def-tuple-class actor
   8     (:tuples
   9      ((location :type vertex3d)
  10       (velocity :type vector3d)
  11       (orientation :type quaternion)
  12       (w-velocity :type vector3d))
  13      :slots
  14      ((dv :type single-float :initform 0.0 :accessor dv-of)
  15       (dw :type single-float :initform 0.0 :accessor dw-of))))
  16
  17
  18 (defmethod initialize-instance :after ((self actor) &rest args)
  19   (declare (ignore args))
  20   (setf (aref (orientation-of% self) 3) 1.0)
  21   (vector-push-extend self *actors*))
  22
  23 (def-tuple-op angular-velocity
  24   ((vector vector3d (vx vy vz))
  25    (quat quaternion (qx qy qz qw)))
  26   "Calculate dq/dt as a quat from an angular velocity"
  27   (:return quaternion
  28            (quaternion-scale
  29             (quaternion-product
  30              (vector3d-quaternion vector)
  31              quat)  0.5)))
  32
  33 (defmethod update-position ((a actor))
  34   ;; update position
  35   (setf (location-of a)
  36         (vector3d-vertex3d
  37          (vector3d-sum
  38           (vertex3d-vector3d (location-of a))
  39                              (velocity-of a)))))
  40
  41 (defmethod update-dv ((a actor))
  42   ;; update velocity
  43   (setf (velocity-of a)
  44          (vector3d-scale
  45           (velocity-of a)
  46           (dv-of a))))
  47
  48 (defmethod update-dw ((a actor))
  49   ;; update angluar velocity
  50   (setf (w-velocity-of a)
  51         (vector3d-scale (w-velocity-of a) (dw-of a))))
  52
  53 (defmethod update-orientation ((a actor))
  54   ;; update orientation
  55   (setf (orientation-of a)
  56         (quaternion-unitize
  57          (quaternion-sum
  58           (orientation-of a)
  59           (angular-velocity
  60            (w-velocity-of a)
  61            (orientation-of a))))))
  62
  63
  64
  65 (defmethod update ((a actor))
  66   (update-dv a)
  67   (update-dw a)
  68   (update-position a)
  69   (update-orientation a))
  70
  71
  72 (defmethod up-of ((a actor))
  73   "Return a tuple vector representing the up axis of the camera."
  74   (quaternion-transform-vector3d
  75    (vector3d* 0.0 1.0 0.0)
  76    (orientation-of a)))
  77
  78 (defmethod direction-of ((a actor))
  79   "Return a tuple vector representing the z axis of the camera."
  80   (quaternion-transform-vector3d
  81    (vector3d* 0.0 0.0 1.0)
  82    (orientation-of a)))
  83
  84 (defmethod cross-of ((a actor))
  85   "Return a tuple vector representing the x axis of the camera."
  86   (quaternion-transform-vector3d
  87    (vector3d* 1.0 0.0 0.0)
  88    (orientation-of a)))