void IVP_Controller_Raycast_Airboat::do_steering_wheel(IVP_POS_WHEEL wheel_nr, IVP_FLOAT s_angle)
{
IVP_Raycast_Airboat_Wheel *wheel = get_wheel(wheel_nr);
wheel->axis_direction_cs.set_to_zero();
wheel->axis_direction_cs.k[ index_x ] = 1.0f;
wheel->axis_direction_cs.rotate( IVP_COORDINATE_INDEX(index_y), s_angle);
}
void CPhysics_Car_System_Raycast_Wheels::update_wheel_positions( void )
{
// Get the car body object.
IVP_Cache_Object *pCacheObject = car_body->get_cache_object();
// Get the core (vehicle) matrix.
IVP_U_Matrix m_core_f_object;
car_body->calc_m_core_f_object( &m_core_f_object );
for ( int iWheel = 0; iWheel < n_wheels; ++iWheel )
{
// Get the current raycast wheel.
IVP_Raycast_Car_Wheel *pRaycastWheel = get_wheel( IVP_POS_WHEEL( iWheel ) );
// Get the position of the wheel in vehicle core space.
IVP_U_Float_Point hp_cs;
hp_cs.add_multiple( &pRaycastWheel->hp_cs, &pRaycastWheel->spring_direction_cs, pRaycastWheel->raycast_dist - pRaycastWheel->wheel_radius );
// Get the position on vehicle object space (inverse transform).
IVP_U_Float_Point hp_os;
m_core_f_object.vimult4( &hp_cs, &hp_os );
// Transform the wheel position from object space into world space.
IVP_U_Point hp_ws;
pCacheObject->transform_position_to_world_coords( &hp_os, &hp_ws );
// Apply rotational component.
IVP_U_Point wheel_cs( &pRaycastWheel->axis_direction_cs );
IVP_U_Point wheel2_cs( 0 ,0 ,0 );
wheel2_cs.k[index_y] = -1.0;
wheel2_cs.rotate( IVP_COORDINATE_INDEX( index_x ), pRaycastWheel->angle_wheel );
IVP_U_Matrix3 m_core_f_wheel;
m_core_f_wheel.init_normized3_col( &wheel_cs, IVP_COORDINATE_INDEX( index_x ), &wheel2_cs );
IVP_U_Matrix3 m_world_f_wheel;
pCacheObject->m_world_f_object.mmult3( &m_core_f_wheel, &m_world_f_wheel ); // bid hack, assumes cs = os (for rotation);
IVP_U_Quat rot_ws;
rot_ws.set_quaternion( &m_world_f_wheel );
m_pWheels[iWheel]->beam_object_to_new_position( &rot_ws, &hp_ws );
}
pCacheObject->remove_reference();
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void IVP_Controller_Raycast_Airboat::DoSimulationTurbine( IVP_Raycast_Airboat_Pontoon_Temp *pTempPontoons,
IVP_Event_Sim *pEventSim, IVP_Core *pAirboatCore )
{
// Get the forward vector in world-space.
IVP_U_Float_Point vecForwardWS;
const IVP_U_Matrix *matWorldFromCore = pAirboatCore->get_m_world_f_core_PSI();
matWorldFromCore->get_col( IVP_COORDINATE_INDEX( index_z ), &vecForwardWS );
// Forward (Front/Back) force
IVP_U_Float_Point vecImpulse;
vecImpulse.set_multiple( &vecForwardWS, m_flThrust * pEventSim->delta_time );
pAirboatCore->center_push_core_multiple_ws( &vecImpulse );
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void IVP_Controller_Raycast_Airboat::DoSimulationSteering( IVP_Raycast_Airboat_Pontoon_Temp *pTempPontoons,
IVP_Core *pAirboatCore, IVP_Event_Sim *pEventSim )
{
IVP_U_Float_Point vecRightWS;
const IVP_U_Matrix *matWorldFromCore = pAirboatCore->get_m_world_f_core_PSI();
matWorldFromCore->get_col( IVP_COORDINATE_INDEX( index_x ), &vecRightWS );
IVP_FLOAT flForceRotational = 0.0f;
// Check for rotation.
if ( fabsf( m_SteeringAngle ) > 0.01 )
{
// Get the steering sign.
IVP_FLOAT flSteeringSign = m_SteeringAngle < 0.0f ? -1.0f : 1.0f;
flForceRotational = IVP_RAYCAST_AIRBOAT_STEERING_RATE * pAirboatCore->get_mass() * pEventSim->i_delta_time;
flForceRotational *= flSteeringSign;
}
// General force that will help get us back to zero rotation.
IVP_FLOAT flRotSpeedSign = pAirboatCore->rot_speed.k[1] < 0.0f ? -1.0f : 1.0f;
IVP_FLOAT flRotationalDrag = -0.5f * IVP_RAYCAST_AIRBOAT_STEERING_RATE * pAirboatCore->get_mass() * pEventSim->i_delta_time;
flRotationalDrag *= flRotSpeedSign;
flForceRotational += flRotationalDrag;
IVP_U_Float_Point vecImpulse;
for ( int iPoint = 0; iPoint < 4; ++iPoint )
{
IVP_Raycast_Airboat_Wheel *pPontoonPoint = get_wheel( IVP_POS_WHEEL( iPoint ) );
IVP_Raycast_Airboat_Pontoon_Temp *pTempPontoonPoint = &pTempPontoons[iPoint];
IVP_FLOAT flPontoonSign = iPoint >= 2 ? -1.0f : 1.0f;
IVP_FLOAT flForceRot = flForceRotational * flPontoonSign;
vecImpulse.set_multiple( &vecRightWS, flForceRot * pEventSim->delta_time );
IVP_U_Float_Point vecPointPosCS, vecPointPosWS;
vecPointPosCS = pPontoonPoint->raycast_start_cs;
matWorldFromCore->vmult3( &vecPointPosCS, &vecPointPosWS );
IVP_U_Point vecPointPositionWS( vecPointPosWS );
pAirboatCore->push_core_ws( &vecPointPositionWS, &vecImpulse );
}
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void IVP_Controller_Raycast_Airboat::DoSimulationTurbine(IVP_Event_Sim *pEventSim)
{
IVP_Core *pAirboatCore = m_pAirboatBody->get_core();
IVP_FLOAT thrust = m_flThrust;
if (m_bAirborneIdle || (m_bAirborne && (thrust < 0.0f)))
thrust *= 0.5f;
IVP_U_Float_Point vecImpulse;
pAirboatCore->get_m_world_f_core_PSI()->get_col(IVP_COORDINATE_INDEX(index_z), &vecImpulse);
IVP_FLOAT flForwardY = vecImpulse.k[1];
if ((flForwardY < -0.5f) && (thrust > 0.0f))
thrust *= 1.0f + flForwardY;
else if ((flForwardY > 0.5f) && (thrust < 0.0f))
thrust *= 1.0f - flForwardY;
vecImpulse.mult(pAirboatCore->get_mass() * thrust * pEventSim->delta_time);
pAirboatCore->center_push_core_multiple_ws(&vecImpulse);
}
