Idk what to do with EPA.
To salve the problem with infinite cycle in EPA, I added iteration counter.master
parent
a30b6d6059
commit
eba88a178a
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@ -110,11 +110,13 @@ void Player::previousWeapon() {
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}
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void Player::fire() {
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if(attached("camera") != nullptr) {
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auto damagedPlayers = _weapons[_selectedWeapon]->fire(_rayCastFunction, attached("camera")->position(), attached("camera")->lookAt());
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for(auto& damagedPlayer : damagedPlayers) {
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sf::Uint16 targetId = std::stoi(damagedPlayer.first.substr(7));
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sf::Uint16 targetId = std::stoi(damagedPlayer.first.substr(6));
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_damagePlayerCallBack(targetId, damagedPlayer.second);
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}
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}
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}
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void Player::reload() {
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2
Player.h
2
Player.h
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@ -54,7 +54,7 @@ public:
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loadObj("obj/cube.obj", "", Vec3D{0.5, 1.9, 0.5});
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setAcceleration(Vec3D{0, -_g, 0});
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setCollision(true);
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setVisible(false);
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//setVisible(false);
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setColor({240, 168, 168});
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_changeWeaponSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/change_weapon.ogg"));
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@ -45,7 +45,7 @@ void PlayerController::update() {
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Keyboard::isKeyPressed(sf::Keyboard::S));
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std::shared_ptr<Object> camera = _player->attached("camera");
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if(_inRunning) {
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if(camera != nullptr && _inRunning) {
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if (!Timeline::isInAnimList("camera_hor_oscil")) {
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Timeline::animate("camera_hor_oscil", new ATranslate(camera, -camera->left() / 6, 0.3,Animation::LoopOut::None, Animation::InterpolationType::cos));
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Timeline::animate("camera_hor_oscil", new AWait(0));
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@ -61,7 +61,7 @@ void PlayerController::update() {
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Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Vec3D{0, 1.8, 0}, 0.3, Animation::LoopOut::None, Animation::InterpolationType::cos));
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}
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} else if(inRunning_old && !_inRunning) {
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} else if(camera != nullptr && inRunning_old && !_inRunning) {
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Timeline::deleteAnimationList("camera_hor_oscil");
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Timeline::deleteAnimationList("camera_vert_oscil");
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Timeline::deleteAnimationList("camera_init");
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@ -141,6 +141,9 @@ void PlayerController::update() {
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_player->setHeadAngle(_player->headAngle() + rotationLeft);
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_player->rotateWeaponsRelativePoint(_player->position() + Vec3D{0, 1.8, 0}, _player->left(), rotationLeft);
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if(camera != nullptr)
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camera->rotateLeft(_player->headAngle() - camera->angleLeftUpLookAt().x());
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if (_keyboard->isKeyTapped(sf::Keyboard::Right) || _keyboard->isKeyTapped(sf::Keyboard::E)) {
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_player->nextWeapon();
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}
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@ -136,8 +136,6 @@ void Shooter::update() {
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screen->setTitle("Shooter");
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playerController->update();
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mouse->setMouseInCenter();
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camera->rotateLeft(player->headAngle() - camera->angleLeftUpLookAt().x());
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} else {
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mainMenu.update();
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}
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@ -229,7 +227,7 @@ void Shooter::spawnPlayer(sf::Uint16 id) {
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}
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void Shooter::removePlayer(sf::Uint16 id) {
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std::string name = "Enemy_" + std::to_string(id);
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std::string name = std::to_string(id) + "_Enemy";
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world->removeBody(name);
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world->removeBody(name + "_head");
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world->removeBody(name + "_eye1");
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@ -9,10 +9,10 @@ using namespace std;
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int main() {
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Shooter game;
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//game.create(1280, 720, "Shooter");
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game.create(1280, 720, "Shooter");
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//game.create(1920, 1080, "Shooter", true, {255, 255, 255}, sf::Style::Fullscreen);
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game.create(2048, 1152, "Shooter");
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//game.create(2048, 1152, "Shooter");
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//game.create(3072, 1920, "Shooter", true, {255, 255, 255}, sf::Style::Fullscreen);
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return 0;
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@ -41,6 +41,7 @@ public:
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// Rotate body around normalised vector 'v' by 'r' radians relative val 'point4D'
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void rotateRelativePoint(const Vec3D& point4D, const Vec3D& v, double r) override;
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void scale(const Vec3D& s) override;
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[[nodiscard]] int size() const { return _tris.size()*3; }
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[[nodiscard]] sf::Color color() const { return _color; }
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void setColor(const sf::Color& c);
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@ -122,7 +122,7 @@ void Object::rotateToAngle(const Vec3D &v) {
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std::shared_ptr<Object> Object::attached(const std::string &name) {
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if(_attachedObjects.count(name) == 0)
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Log::log("Object::attached: object '" + name + "' does not exist.");
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return nullptr;
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return _attachedObjects.find(name)->second;
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}
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@ -66,5 +66,5 @@ Point4D Point4D::normalized() const {
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if(vecAbs > Consts::EPS)
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return Point4D(*this)/abs();
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else
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return Point4D(0);
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return Point4D(1);
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}
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@ -30,6 +30,7 @@ public:
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[[nodiscard]] sf::Color color() const { return _color; }
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[[nodiscard]] double distance(const Vec3D& vec) const { return norm().dot(Vec3D(_points[0]) - vec); }
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};
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@ -68,7 +68,7 @@ Vec3D Vec3D::normalized() const {
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if(vecAbs > Consts::EPS)
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return Vec3D(*this)/abs();
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else
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return Vec3D(0);
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return Vec3D(1);
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}
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double Vec3D::dot(const Vec3D& vec) const {
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@ -101,6 +101,6 @@ void World::projectObjectsInCamera(std::shared_ptr<Camera> camera) {
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std::shared_ptr<RigidBody> World::body(const string &name) {
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if(_objects.count(name) == 0)
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Log::log("World::body: mesh '" + name + "' does not exist.");
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return nullptr;
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return _objects.find(name)->second;
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}
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@ -8,27 +8,31 @@
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#include "../utils/Time.h"
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#include <iostream>
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#include <cmath>
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#include <fstream>
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Vec3D RigidBody::_findFurthestPoint(const Vec3D& direction) {
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std::unique_ptr<Vec3D> maxPoint = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
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auto maxDistance = -std::numeric_limits<double>::max();
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std::shared_ptr<Vec3D> maxPoint = std::make_shared<Vec3D>(Vec3D{0, 0, 0});
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double maxDistance = -std::numeric_limits<double>::max();
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for(auto& tri : triangles()){
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for(int i = 0; i < 3; i++){
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Vec3D point = Vec3D(tri[i] + position().makePoint4D());
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Vec3D point = Vec3D(tri[i]) + position();
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double distance = point.dot(direction);
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double distance = point.dot(direction.normalized());
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if(distance > maxDistance) {
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maxDistance = distance;
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maxPoint = std::make_unique<Vec3D>(point);
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maxPoint = std::make_shared<Vec3D>(point);
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}
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}
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}
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return *maxPoint;
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}
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Vec3D RigidBody::_support(std::shared_ptr<RigidBody> obj, const Vec3D& direction) {
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Vec3D p1 = _findFurthestPoint(direction);
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Vec3D p2 = obj->_findFurthestPoint(-direction);
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Vec3D res = p1 - p2;
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return p1 - p2;
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}
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@ -44,8 +48,8 @@ NextSimplex RigidBody::_nextSimplex(const Simplex &points) {
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}
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NextSimplex RigidBody::_lineCase(const Simplex& points) {
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std::unique_ptr<Simplex> newPoints = std::make_unique<Simplex>(points);
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std::unique_ptr<Vec3D> newDirection;
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std::shared_ptr<Simplex> newPoints = std::make_shared<Simplex>(points);
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std::shared_ptr<Vec3D> newDirection;
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Vec3D a = points[0];
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Vec3D b = points[1];
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@ -54,18 +58,18 @@ NextSimplex RigidBody::_lineCase(const Simplex& points) {
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Vec3D ao = - a;
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if (ab.dot(ao) > 0) {
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newDirection = std::make_unique<Vec3D>(ab.cross(ao).cross(ab));
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newDirection = std::make_shared<Vec3D>(ab.cross(ao).cross(ab));
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} else {
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newPoints = std::make_unique<Simplex>(Simplex{a});
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newDirection = std::make_unique<Vec3D>(ao);
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newPoints = std::make_shared<Simplex>(Simplex{a});
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newDirection = std::make_shared<Vec3D>(ao);
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}
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return NextSimplex{*newPoints, *newDirection, false};
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}
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NextSimplex RigidBody::_triangleCase(const Simplex &points) {
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std::unique_ptr<Simplex> newPoints = std::make_unique<Simplex>(points);
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std::unique_ptr<Vec3D> newDirection;
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std::shared_ptr<Simplex> newPoints = std::make_shared<Simplex>(points);
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std::shared_ptr<Vec3D> newDirection;
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Vec3D a = points[0];
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Vec3D b = points[1];
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@ -79,8 +83,8 @@ NextSimplex RigidBody::_triangleCase(const Simplex &points) {
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if (abc.cross(ac).dot(ao) > 0) {
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if (ac.dot(ao) > 0) {
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newPoints = std::make_unique<Simplex>(Simplex{ a, c });
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newDirection = std::make_unique<Vec3D>(ac.cross(ao).cross(ac));
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newPoints = std::make_shared<Simplex>(Simplex{ a, c });
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newDirection = std::make_shared<Vec3D>(ac.cross(ao).cross(ac));
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}
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else {
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return _lineCase(Simplex { a, b });
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@ -91,10 +95,10 @@ NextSimplex RigidBody::_triangleCase(const Simplex &points) {
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}
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else {
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if (abc.dot(ao) > 0) {
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newDirection = std::make_unique<Vec3D>(abc);
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newDirection = std::make_shared<Vec3D>(abc);
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} else {
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newPoints = std::make_unique<Simplex>(Simplex{ a, c, b });
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newDirection = std::make_unique<Vec3D>(-abc);
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newPoints = std::make_shared<Simplex>(Simplex{ a, c, b });
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newDirection = std::make_shared<Vec3D>(-abc);
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}
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}
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}
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@ -135,17 +139,17 @@ NextSimplex RigidBody::_tetrahedronCase(const Simplex &points) {
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std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody> obj) {
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// Get initial support point in any direction
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std::unique_ptr<Vec3D> support = std::make_unique<Vec3D>(_support(obj, Vec3D{1, 0, 0}));
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std::shared_ptr<Vec3D> support = std::make_shared<Vec3D>(_support(obj, Vec3D{1, 0, 0}));
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// Simplex is an array of points, max count is 4
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std::unique_ptr<Simplex> points = std::make_unique<Simplex>();
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std::shared_ptr<Simplex> points = std::make_shared<Simplex>();
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points->push_front(*support);
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// New direction is towards the origin
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std::unique_ptr<Vec3D> direction = std::make_unique<Vec3D>(-*support);
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std::shared_ptr<Vec3D> direction = std::make_shared<Vec3D>(-*support);
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while (true) {
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support = std::make_unique<Vec3D>(_support(obj, *direction));
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support = std::make_shared<Vec3D>(_support(obj, *direction));
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if (support->dot(*direction) <= 0)
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return std::make_pair(false, *points); // no collision
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@ -154,8 +158,8 @@ std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody>
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NextSimplex nextSimplex = _nextSimplex(*points);
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direction = std::make_unique<Vec3D>(nextSimplex.newDirection);
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points = std::make_unique<Simplex>(nextSimplex.newSimplex);
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direction = std::make_shared<Vec3D>(nextSimplex.newDirection);
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points = std::make_shared<Simplex>(nextSimplex.newSimplex);
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if (nextSimplex.finishSearching) {
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if(obj->isCollider())
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@ -175,13 +179,15 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
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1, 3, 2
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};
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// list: vector4(normal, distance), index: min distance
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auto [normals, minFace] = std::move(_getFaceNormals(polytope, faces));
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auto faceNormals = _getFaceNormals(polytope, faces);
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std::vector<std::shared_ptr<FaceNormal>> normals = faceNormals.first;
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size_t minFace = faceNormals.second;
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std::shared_ptr<Vec3D> minNormal{};
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std::shared_ptr<Vec3D> minNormal = std::make_shared<Vec3D>(normals[minFace]->normal);
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double minDistance = std::numeric_limits<double>::max();
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while (minDistance == std::numeric_limits<double>::max()) {
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int iters = 0;
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while (minDistance == std::numeric_limits<double>::max() && iters++ < size() + obj->size()) {
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minNormal = std::make_shared<Vec3D>(normals[minFace]->normal);
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minDistance = normals[minFace]->distance;
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@ -213,39 +219,27 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
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newFaces.push_back(edgeIndex2);
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newFaces.push_back(polytope.size());
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}
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polytope.push_back(support);
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auto [newNormals, newMinFace] = _getFaceNormals(polytope, newFaces);
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faces.insert(faces.end(), newFaces.begin(), newFaces.end());
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if(newNormals.empty())
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break;
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auto newFaceNormals = _getFaceNormals(polytope, faces);
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double oldMinDistance = std::numeric_limits<double>::max();
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for (size_t i = 0; i < normals.size(); i++) {
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if (normals[i]->distance < oldMinDistance) {
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oldMinDistance = normals[i]->distance;
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minFace = i;
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}
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}
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if (newNormals[newMinFace]->distance < oldMinDistance) {
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minFace = newMinFace + normals.size();
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}
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faces .insert(faces .end(), newFaces .begin(), newFaces .end());
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normals.insert(normals.end(), newNormals.begin(), newNormals.end());
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normals = newFaceNormals.first;
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minFace = newFaceNormals.second;
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}
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}
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_collisionNormal = minNormal;
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return CollisionPoint{*minNormal, minDistance + Consts::EPA_EPS, minDistance < std::numeric_limits<double>::max()};
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if(std::abs(minDistance - std::numeric_limits<double>::max()) < Consts::EPS)
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return CollisionPoint{*minNormal, 0};
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return CollisionPoint{*minNormal, minDistance + Consts::EPA_EPS};
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}
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std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> RigidBody::_getFaceNormals(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces) {
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std::vector<std::shared_ptr<FaceNormal>> normals;
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size_t nearestFaceIndex = 0;
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double minDistance = std::numeric_limits<double>::max();
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for (size_t i = 0; i < faces.size(); i += 3) {
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@ -254,17 +248,14 @@ std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> RigidBody::_getFaceN
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Vec3D c = polytope[faces[i + 2]];
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std::shared_ptr<Vec3D> normal = std::make_shared<Vec3D>((b - a).cross(c - a).normalized());
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if(normal->sqrAbs() < Consts::EPS)
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continue;
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double distance = normal->dot(a);
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if (distance < 0) {
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if (distance < -Consts::EPS) {
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normal = std::make_unique<Vec3D>(-*normal);
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distance *= -1;
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}
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normal = std::make_shared<Vec3D>(Vec3D{normal->x(), normal->y(), normal->z()});
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normals.emplace_back(std::make_shared<FaceNormal>(FaceNormal{*normal, distance}));
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if (distance < minDistance) {
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@ -316,3 +307,15 @@ void RigidBody::setAcceleration(const Vec3D& acceleration) {
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RigidBody::RigidBody(const Mesh &mesh) : Mesh(mesh) {
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}
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void RigidBody::makeLogObjPolytope(const std::vector<Vec3D> &polytope, const std::vector<size_t> &faces) {
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std::fstream file("polytope_log.obj", std::ios::out);
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for(auto &p : polytope)
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file << "v " << p.x() << " " << p.y() << " " << p.z() << std::endl;
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for(int i = 0; i < faces.size(); i += 3)
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file << "f " << faces[i + 0]+1 << " " << faces[i + 1]+1 << " " << faces[i + 2]+1 << std::endl;
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file.close();
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}
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@ -15,7 +15,6 @@
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struct CollisionPoint {
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const Vec3D normal;
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const double depth;
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const bool hasCollision;
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};
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struct FaceNormal {
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@ -44,6 +43,8 @@ private:
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static std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> _getFaceNormals(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces);
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static std::vector<std::pair<size_t, size_t>> _addIfUniqueEdge(const std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b);
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static void makeLogObjPolytope(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces);
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protected:
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std::unique_ptr<Vec3D> _velocity = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
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std::unique_ptr<Vec3D> _acceleration = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
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@ -6,7 +6,7 @@
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#define ENGINE_SIMPLEX_H
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#include "../Vec3D.h"
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#include <deque>
|
||||
#include <list>
|
||||
|
||||
enum class SimplexType {
|
||||
Zero,
|
||||
|
@ -18,7 +18,7 @@ enum class SimplexType {
|
|||
|
||||
struct Simplex final {
|
||||
private:
|
||||
std::deque<Vec3D> _points{};
|
||||
std::list<Vec3D> _points{};
|
||||
|
||||
public:
|
||||
Simplex() = default;
|
||||
|
@ -37,7 +37,13 @@ public:
|
|||
_points.pop_back();
|
||||
}
|
||||
|
||||
Vec3D operator[](unsigned i) const { return _points[i]; }
|
||||
Vec3D operator[](unsigned i) const {
|
||||
auto it = _points.begin();
|
||||
for(int k=0; k<i; k++)
|
||||
++it;
|
||||
return *it;
|
||||
|
||||
}
|
||||
[[nodiscard]] unsigned size() const { return _points.size(); }
|
||||
|
||||
[[nodiscard]] auto begin() const { return _points.begin(); }
|
||||
|
|
|
@ -6,8 +6,6 @@
|
|||
#include "../utils/Log.h"
|
||||
|
||||
void Solver::solveCollision(std::shared_ptr<RigidBody> obj1, std::shared_ptr<RigidBody> obj2, const CollisionPoint& collision) {
|
||||
if(!collision.hasCollision)
|
||||
return;
|
||||
|
||||
Vec3D obj1_velocity_parallel = collision.normal * obj1->velocity().dot(collision.normal);
|
||||
Vec3D obj1_velocity_perpendicular = obj1->velocity() - obj1_velocity_parallel;
|
||||
|
@ -27,8 +25,9 @@ void Solver::solveCollision(std::shared_ptr<RigidBody> obj1, std::shared_ptr<Rig
|
|||
if(obj1->isCollision() && obj2->isCollision()) {
|
||||
obj1->translate(-collision.normal * collision.depth/2.0);
|
||||
obj2->translate(collision.normal * collision.depth/2.0);
|
||||
} else if(obj1->isCollision())
|
||||
} else if(obj1->isCollision()) {
|
||||
obj1->translate(-collision.normal * collision.depth);
|
||||
}
|
||||
else
|
||||
obj2->translate(collision.normal * collision.depth);
|
||||
}
|
||||
|
|
|
@ -34,7 +34,7 @@ Shotgun::processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, c
|
|||
|
||||
// damage player
|
||||
auto rayCast = rayCastFunction(pos, pos + direction * 1000 + randV);
|
||||
if (rayCast.second.find("Player") != std::string::npos) {
|
||||
if (rayCast.second.find("Enemy") != std::string::npos) {
|
||||
damagedPlayers[rayCast.second] += _damage / (1.0 + (pos - rayCast.first).abs());
|
||||
}
|
||||
|
||||
|
|
|
@ -66,7 +66,7 @@ std::map<std::string, double> Weapon::processFire(std::function<std::pair<Vec3D,
|
|||
|
||||
// damage player
|
||||
auto rayCast = rayCastFunction(pos, pos + direction * 1000 + randV);
|
||||
if(rayCast.second.find("Player") != std::string::npos) {
|
||||
if(rayCast.second.find("Enemy") != std::string::npos) {
|
||||
damagedPlayers[rayCast.second] += _damage/(1.0 + (pos - rayCast.first).abs());
|
||||
}
|
||||
|
||||
|
|
Loading…
Reference in New Issue