304 lines
13 KiB
C
304 lines
13 KiB
C
|
//========= Copyright Valve Corporation, All rights reserved. ============//
|
||
|
|
//
|
||
|
|
// Purpose:
|
||
|
|
//
|
||
|
|
//=============================================================================//
|
||
|
|
|
||
|
|
#ifndef PHYSICS_AIRBOAT_H
|
||
|
|
#define PHYSICS_AIRBOAT_H
|
||
|
|
#ifdef _WIN32
|
||
|
|
#pragma once
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#include "ivp_controller.hxx"
|
||
|
|
#include "ivp_car_system.hxx"
|
||
|
|
|
||
|
|
|
||
|
|
class IPhysicsObject;
|
||
|
|
class IVP_Ray_Solver_Template;
|
||
|
|
class IVP_Ray_Hit;
|
||
|
|
class IVP_Event_Sim;
|
||
|
|
|
||
|
|
|
||
|
|
#define IVP_RAYCAST_AIRBOAT_MAX_WHEELS 4
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
class IVP_Raycast_Airboat_Wheel
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
// static section
|
||
|
|
IVP_U_Float_Point hp_cs; // hard point core system projected on y plane
|
||
|
|
IVP_U_Float_Point raycast_start_cs; // ray cast start position
|
||
|
|
IVP_U_Float_Point raycast_dir_cs;
|
||
|
|
IVP_FLOAT raycast_length;
|
||
|
|
|
||
|
|
IVP_U_Float_Point spring_direction_cs; // spring direction in core-space
|
||
|
|
IVP_FLOAT distance_orig_hp_to_hp; // distance hp is moved by projecting it onto the y - plane
|
||
|
|
IVP_FLOAT spring_len; // == pretension + distance_orig_hp_to_hp
|
||
|
|
IVP_FLOAT spring_constant; // shock at wheel spring constant
|
||
|
|
IVP_FLOAT spring_damp_relax; // shock at wheel spring dampening during relaxation
|
||
|
|
IVP_FLOAT spring_damp_compress; // shock at wheel spring dampening during compression
|
||
|
|
|
||
|
|
IVP_FLOAT max_rotation_speed; // max rotational speed of the wheel
|
||
|
|
|
||
|
|
IVP_FLOAT wheel_radius; // wheel radius
|
||
|
|
IVP_FLOAT inv_wheel_radius; // inverse wheel radius
|
||
|
|
IVP_FLOAT friction_of_wheel; // wheel friction
|
||
|
|
|
||
|
|
// dynamic section
|
||
|
|
IVP_FLOAT torque; // torque applied to wheel
|
||
|
|
IVP_BOOL wheel_is_fixed; // eg. handbrake (fixed = stationary)
|
||
|
|
IVP_U_Float_Point axis_direction_cs; // axle direction in core-space
|
||
|
|
IVP_FLOAT angle_wheel; // wheel angle
|
||
|
|
IVP_FLOAT wheel_angular_velocity; // angular velocity of wheel
|
||
|
|
|
||
|
|
// out
|
||
|
|
IVP_U_Float_Point surface_speed_of_wheel_on_ground_ws; // actual speed in world-space
|
||
|
|
IVP_FLOAT pressure; // force from gravity, mass of car, stabilizers, etc. on wheel
|
||
|
|
IVP_FLOAT raycast_dist; // raycast distance to impact for wheel
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
class IVP_Raycast_Airboat_Impact
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
IVP_FLOAT friction_value; // combined (multiply) frictional value of impact surface and wheel
|
||
|
|
IVP_FLOAT stabilizer_force; // force on wheel due to axle stabilization
|
||
|
|
IVP_Real_Object *moveable_object_hit_by_ray; // moveable physics object hit by raycast
|
||
|
|
|
||
|
|
IVP_U_Float_Point raycast_dir_ws; // raycast direction in world-space
|
||
|
|
IVP_U_Float_Point spring_direction_ws; // spring direction (raycast for impact direction) in world-space
|
||
|
|
IVP_U_Float_Point surface_speed_wheel_ws; // wheel speed in world-space
|
||
|
|
IVP_U_Float_Point projected_surface_speed_wheel_ws; // ???
|
||
|
|
IVP_U_Float_Point axis_direction_ws; // axle direction in world-space
|
||
|
|
IVP_U_Float_Point projected_axis_direction_ws; // ???
|
||
|
|
|
||
|
|
IVP_FLOAT forces_needed_to_drive_straight; // forces need to keep the vehicle driving straight (attempt and directional wheel friction)
|
||
|
|
IVP_FLOAT inv_normal_dot_dir; // ???
|
||
|
|
|
||
|
|
// Impact information.
|
||
|
|
IVP_BOOL bImpact; // Had an impact?
|
||
|
|
IVP_BOOL bImpactWater; // Impact with water?
|
||
|
|
IVP_BOOL bInWater; // Point in water?
|
||
|
|
IVP_U_Point vecImpactPointWS; // Impact point in world-space.
|
||
|
|
IVP_U_Float_Point vecImpactNormalWS; // Impact normal in world-space.
|
||
|
|
IVP_FLOAT flDepth; // Distance to water surface.
|
||
|
|
IVP_FLOAT flFriction; // Friction at impact point.
|
||
|
|
IVP_FLOAT flDampening; // Dampening at surface.
|
||
|
|
int nSurfaceProps; // Surface property!
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
class IVP_Raycast_Airboat_Axle
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
IVP_FLOAT stabilizer_constant; // axle (for wheels) stabilizer constant
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
class IVP_Controller_Raycast_Airboat_Vector_of_Cores_1: public IVP_U_Vector<IVP_Core>
|
||
|
|
{
|
||
|
|
void *elem_buffer[1];
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
IVP_Controller_Raycast_Airboat_Vector_of_Cores_1();
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
class CPhysics_Airboat : public IVP_Car_System, protected IVP_Controller_Dependent
|
||
|
|
{
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
CPhysics_Airboat( IVP_Environment *env, const IVP_Template_Car_System *t, IPhysicsGameTrace *pGameTrace );
|
||
|
|
virtual ~CPhysics_Airboat();
|
||
|
|
|
||
|
|
void update_wheel_positions( void ) {}
|
||
|
|
void SetWheelFriction( int iWheel, float flFriction );
|
||
|
|
|
||
|
|
IPhysicsObject *GetWheel( int index );
|
||
|
|
|
||
|
|
virtual const char *get_controller_name() { return "sys:airboat"; }
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
void InitAirboat( const IVP_Template_Car_System *pCarSystem );
|
||
|
|
float GetWaterDepth( Ray_t *pGameRay, IPhysicsObject *pPhysAirboat );
|
||
|
|
|
||
|
|
// Purpose: Deconstructor
|
||
|
|
void PerformFrictionNotification( float flEliminatedEnergy, float dt, int nSurfaceProp, IPhysicsCollisionData *pCollisionData );
|
||
|
|
|
||
|
|
void do_raycasts_gameside( int nRaycastCount, IVP_Ray_Solver_Template *pRays, IVP_Raycast_Airboat_Impact *pImpacts );
|
||
|
|
void pre_raycasts_gameside( int nRaycastCount, IVP_Ray_Solver_Template *pRays, Ray_t *pGameRays, IVP_Raycast_Airboat_Impact *pImpacts );
|
||
|
|
|
||
|
|
IVP_Real_Object *m_pWheels[IVP_RAYCAST_AIRBOAT_MAX_WHEELS];
|
||
|
|
IPhysicsGameTrace *m_pGameTrace;
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
// Steering
|
||
|
|
void do_steering_wheel(IVP_POS_WHEEL wheel_pos, IVP_FLOAT s_angle); // called by do_steering()
|
||
|
|
|
||
|
|
// Car Adjustment
|
||
|
|
void change_spring_constant(IVP_POS_WHEEL pos, IVP_FLOAT spring_constant); // [Newton/meter]
|
||
|
|
void change_spring_dampening(IVP_POS_WHEEL pos, IVP_FLOAT spring_dampening); // when spring is relaxing spring
|
||
|
|
void change_spring_dampening_compression(IVP_POS_WHEEL pos, IVP_FLOAT spring_dampening); // [Newton/meter] for compressing spring
|
||
|
|
void change_max_body_force(IVP_POS_WHEEL , IVP_FLOAT mforce) {}
|
||
|
|
void change_spring_pre_tension(IVP_POS_WHEEL pos, IVP_FLOAT pre_tension_length);
|
||
|
|
void change_spring_length(IVP_POS_WHEEL pos, IVP_FLOAT spring_length);
|
||
|
|
|
||
|
|
void change_stabilizer_constant(IVP_POS_AXIS pos, IVP_FLOAT stabi_constant); // [Newton/meter]
|
||
|
|
void change_fast_turn_factor( IVP_FLOAT fast_turn_factor_ ); // not implemented for raycasts
|
||
|
|
void change_wheel_torque(IVP_POS_WHEEL pos, IVP_FLOAT torque);
|
||
|
|
IVP_FLOAT get_wheel_torque(IVP_POS_WHEEL wheel_nr);
|
||
|
|
|
||
|
|
void update_throttle( IVP_FLOAT flThrottle );
|
||
|
|
|
||
|
|
void update_body_countertorque() {}
|
||
|
|
|
||
|
|
void change_body_downforce(IVP_FLOAT force); // extra force to keep flipped objects flipped over
|
||
|
|
|
||
|
|
void fix_wheel( IVP_POS_WHEEL, IVP_BOOL stop_wheel ); // stop wheel completely (e.g. handbrake )
|
||
|
|
void change_friction_of_wheel( IVP_POS_WHEEL pos, IVP_FLOAT friction );
|
||
|
|
void set_powerslide( float frontAccel, float rearAccel ) {}
|
||
|
|
|
||
|
|
// Car Info
|
||
|
|
IVP_DOUBLE get_body_speed(IVP_COORDINATE_INDEX idx_z = IVP_INDEX_Z); // km/h in 'z' direction
|
||
|
|
IVP_DOUBLE get_wheel_angular_velocity(IVP_POS_WHEEL);
|
||
|
|
IVP_DOUBLE get_orig_front_wheel_distance();
|
||
|
|
IVP_DOUBLE get_orig_axles_distance();
|
||
|
|
void get_skid_info( IVP_Wheel_Skid_Info *array_of_skid_info_out);
|
||
|
|
|
||
|
|
void get_wheel_position(IVP_U_Point *position_ws_out, IVP_U_Quat *direction_ws_out);
|
||
|
|
|
||
|
|
// Methods: 2nd Level, based on primitives
|
||
|
|
virtual void do_steering(IVP_FLOAT steering_angle_in, bool bAnalog); // default implementation updates this->steering_angle
|
||
|
|
|
||
|
|
//
|
||
|
|
// Booster (the airboat has no booster).
|
||
|
|
//
|
||
|
|
virtual bool IsBoosting(void) { return false; }
|
||
|
|
virtual void set_booster_acceleration( IVP_FLOAT acceleration) {}
|
||
|
|
virtual void activate_booster(IVP_FLOAT thrust, IVP_FLOAT duration, IVP_FLOAT delay) {}
|
||
|
|
virtual void update_booster(IVP_FLOAT delta_time) {}
|
||
|
|
virtual IVP_FLOAT get_booster_delay() { return 0; }
|
||
|
|
virtual IVP_FLOAT get_booster_time_to_go() { return 0; }
|
||
|
|
|
||
|
|
// Debug
|
||
|
|
void SetCarSystemDebugData( const IVP_CarSystemDebugData_t &carSystemDebugData );
|
||
|
|
void GetCarSystemDebugData( IVP_CarSystemDebugData_t &carSystemDebugData );
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
IVP_Core *m_pCore;
|
||
|
|
IVP_U_Float_Point m_vecLocalVelocity;
|
||
|
|
float m_flSpeed;
|
||
|
|
IVP_Real_Object *m_pAirboatBody; // *car_body
|
||
|
|
|
||
|
|
// Wheels/Axles.
|
||
|
|
short n_wheels;
|
||
|
|
short n_axis;
|
||
|
|
short wheels_per_axis;
|
||
|
|
IVP_Raycast_Airboat_Wheel m_aAirboatWheels[IVP_RAYCAST_AIRBOAT_MAX_WHEELS]; // wheel_of_car
|
||
|
|
IVP_Raycast_Airboat_Axle m_aAirboatAxles[IVP_RAYCAST_AIRBOAT_MAX_WHEELS/2]; // axis_of_car
|
||
|
|
|
||
|
|
// Gravity.
|
||
|
|
IVP_FLOAT gravity_y_direction; // +/-1
|
||
|
|
IVP_U_Float_Point normized_gravity_ws;
|
||
|
|
IVP_FLOAT extra_gravity;
|
||
|
|
|
||
|
|
// Orientation.
|
||
|
|
IVP_COORDINATE_INDEX index_x;
|
||
|
|
IVP_COORDINATE_INDEX index_y;
|
||
|
|
IVP_COORDINATE_INDEX index_z;
|
||
|
|
IVP_BOOL is_left_handed;
|
||
|
|
|
||
|
|
// Speed.
|
||
|
|
IVP_FLOAT max_speed;
|
||
|
|
|
||
|
|
//
|
||
|
|
IVP_FLOAT down_force;
|
||
|
|
IVP_FLOAT down_force_vertical_offset;
|
||
|
|
|
||
|
|
// Steering
|
||
|
|
IVP_FLOAT m_SteeringAngle;
|
||
|
|
bool m_bSteeringReversed;
|
||
|
|
bool m_bAnalogSteering;
|
||
|
|
IVP_FLOAT m_flPrevSteeringAngle;
|
||
|
|
IVP_FLOAT m_flSteerTime; // Number of seconds we've steered in this direction.
|
||
|
|
|
||
|
|
// Thrust.
|
||
|
|
IVP_FLOAT m_flThrust;
|
||
|
|
|
||
|
|
bool m_bAirborne; // Whether we are airborne or not.
|
||
|
|
IVP_FLOAT m_flAirTime; // How long we've been airborne (if we are).
|
||
|
|
bool m_bWeakJump; // Set when we become airborne while going slow.
|
||
|
|
|
||
|
|
// Pitch and roll stabilizers.
|
||
|
|
IVP_FLOAT m_flPitchErrorPrev;
|
||
|
|
IVP_FLOAT m_flRollErrorPrev;
|
||
|
|
|
||
|
|
// Debugging!
|
||
|
|
IVP_CarSystemDebugData_t m_CarSystemDebugData;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
IVP_Raycast_Airboat_Wheel *get_wheel( IVP_POS_WHEEL i );
|
||
|
|
IVP_Raycast_Airboat_Axle *get_axle( IVP_POS_AXIS i );
|
||
|
|
|
||
|
|
virtual void core_is_going_to_be_deleted_event( IVP_Core * );
|
||
|
|
virtual IVP_U_Vector<IVP_Core> *get_associated_controlled_cores( void );
|
||
|
|
|
||
|
|
virtual void do_simulation_controller(IVP_Event_Sim *,IVP_U_Vector<IVP_Core> *core_list);
|
||
|
|
virtual IVP_CONTROLLER_PRIORITY get_controller_priority();
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
// Initialization.
|
||
|
|
void InitRaycastCarEnvironment( IVP_Environment *pEnvironment, const IVP_Template_Car_System *pCarSystemTemplate );
|
||
|
|
void InitRaycastCarBody( const IVP_Template_Car_System *pCarSystemTemplate );
|
||
|
|
void InitRaycastCarWheels( const IVP_Template_Car_System *pCarSystemTemplate );
|
||
|
|
void InitRaycastCarAxes( const IVP_Template_Car_System *pCarSystemTemplate );
|
||
|
|
|
||
|
|
// Raycasts for simulation.
|
||
|
|
void PreRaycasts( IVP_Ray_Solver_Template *pRaySolverTemplates, const IVP_U_Matrix *m_world_f_core, IVP_Raycast_Airboat_Impact *pImpacts );
|
||
|
|
bool PostRaycasts( IVP_Ray_Solver_Template *pRaySolverTemplates, const IVP_U_Matrix *matWorldFromCore, IVP_Raycast_Airboat_Impact *pImpacts );
|
||
|
|
|
||
|
|
// Simulation.
|
||
|
|
void DoSimulationPontoons( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim );
|
||
|
|
void DoSimulationPontoonsGround( IVP_Raycast_Airboat_Wheel *pPontoonPoint, IVP_Raycast_Airboat_Impact *pImpact, IVP_Event_Sim *pEventSim );
|
||
|
|
void DoSimulationPontoonsWater( IVP_Raycast_Airboat_Wheel *pPontoonPoint, IVP_Raycast_Airboat_Impact *pImpact, IVP_Event_Sim *pEventSim );
|
||
|
|
void DoSimulationDrag( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim );
|
||
|
|
void DoSimulationTurbine( IVP_Event_Sim *pEventSim );
|
||
|
|
void DoSimulationSteering( IVP_Event_Sim *pEventSim );
|
||
|
|
void DoSimulationKeepUprightPitch( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim );
|
||
|
|
void DoSimulationKeepUprightRoll( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim );
|
||
|
|
void DoSimulationGravity( IVP_Event_Sim *pEventSim );
|
||
|
|
|
||
|
|
int CountSurfaceContactPoints( IVP_Raycast_Airboat_Impact *pImpacts );
|
||
|
|
void UpdateAirborneState( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim );
|
||
|
|
|
||
|
|
float ComputeFrontPontoonWaveNoise( int nPontoonIndex, float flSpeedRatio );
|
||
|
|
|
||
|
|
void CalcImpactPosition( IVP_Ray_Solver_Template *pRaySolver, IVP_Raycast_Airboat_Wheel *pPontoonPoint,
|
||
|
|
IVP_Raycast_Airboat_Impact *pImpacts );
|
||
|
|
|
||
|
|
IVP_Controller_Raycast_Airboat_Vector_of_Cores_1 vector_of_cores;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // PHYSICS_AIRBOAT_H
|