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