void CPlayerController::Update(const Vector &position, const Vector &velocity, float secondsToArrival, bool onground, IPhysicsObject *ground) {
btVector3 bullTargetPosition, bullMaxVelocity;
ConvertPosToBull(position, bullTargetPosition);
ConvertPosToBull(velocity, bullMaxVelocity);
// If the targets haven't changed, abort.
if (bullMaxVelocity.distance2(m_maxVelocity) < FLT_EPSILON && bullTargetPosition.distance2(m_targetPosition) < FLT_EPSILON) {
return;
}
m_targetPosition = bullTargetPosition;
m_maxVelocity = bullMaxVelocity;
m_enable = true;
// FYI: The onground stuff includes any props we may be standing on as well as the world.
// The ground is valid only if it's significantly heavier than our object ("Rideable physics" > our mass * 2)
m_onground = onground;
if (velocity.LengthSqr() <= 0.001f) {
m_enable = false;
ground = NULL;
} else {
MaxSpeed(velocity);
}
m_secondsToArrival = secondsToArrival;
m_pGround = (CPhysicsObject *)ground;
m_ticksSinceUpdate = 0;
}
void ConvertMatrixToBull(const matrix3x4_t& hl, btTransform& transform)
{
Vector forward, left, up, pos;
forward.x = hl[0][0];
forward.y = hl[1][0];
forward.z = hl[2][0];
left.x = hl[0][1];
left.y = hl[1][1];
left.z = hl[2][1];
up.x = hl[0][2];
up.y = hl[1][2];
up.z = hl[2][2];
pos.x = hl[0][3];
pos.y = hl[1][3];
pos.z = hl[2][3];
btVector3 bullForward, bullLeft, bullUp, origin;
ConvertDirectionToBull(forward, bullForward);
ConvertDirectionToBull(-left, bullLeft);
ConvertDirectionToBull(up, bullUp);
ConvertPosToBull(pos, origin);
transform.setBasis(btMatrix3x3(bullForward.x(), bullUp.x(), bullLeft.x(), bullForward.y(), bullUp.y(), bullLeft.y(), bullForward.z(), bullUp.z(), bullLeft.z()));
transform.setOrigin(origin);
}
void CPhysicsEnvironment::SetGravity(const Vector &gravityVector) {
btVector3 temp;
ConvertPosToBull(gravityVector, temp);
m_pBulletEnvironment->setGravity(temp);
m_softBodyWorldInfo.m_gravity = temp;
}
void CShadowController::MaxSpeed(float maxSpeed, float maxAngularSpeed) {
btRigidBody* body = btRigidBody::upcast(m_pObject->GetObject());
btVector3 bullSpeed;
ConvertPosToBull(maxSpeed, bullSpeed);
btVector3 available = bullSpeed;
m_currentSpeed = bullSpeed;
float length = bullSpeed.length();
bullSpeed.normalize();
float dot = bullSpeed.dot(body->getLinearVelocity());
if (dot > 0) {
bullSpeed *= dot * length;
available -= bullSpeed;
}
m_shadow.maxSpeed = available.absolute();
btVector3 bullAngular;
ConvertAngularImpulseToBull(maxAngularSpeed, bullAngular);
btVector3 availableAngular;
float lengthAngular = bullAngular.length();
bullAngular.normalize();
float dotAngular = bullAngular.dot(body->getAngularVelocity());
if (dotAngular > 0) {
bullAngular *= dotAngular * lengthAngular;
availableAngular -= bullAngular;
}
m_shadow.maxAngular = availableAngular.absolute();
}
CPhysicsObject* CreatePhysicsSphere(CPhysicsEnvironment *pEnvironment, float radius, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams, bool isStatic) {
btSphereShape* shape = new btSphereShape(ConvertDistanceToBull(radius));
btVector3 vector;
btMatrix3x3 matrix;
ConvertPosToBull(position, vector);
ConvertRotationToBull(angles, matrix);
btTransform transform(matrix, vector);
float mass = pParams->mass;
if (isStatic) mass = 0;
btMotionState* motionstate = new btMassCenterMotionState(transform);
btRigidBody::btRigidBodyConstructionInfo info(mass,motionstate,shape);
btRigidBody* body = new btRigidBody(info);
if (mass > 0)
pEnvironment->GetBulletEnvironment()->addRigidBody(body);
else
pEnvironment->GetBulletEnvironment()->addRigidBody(body, 2, ~2);
float volume = pParams->volume;
if (volume <= 0) {
volume = 4.0f * radius * radius * radius * M_PI / 3.0f;
}
CPhysicsObject *pObject = new CPhysicsObject();
pObject->Init(pEnvironment, body, materialIndex, volume, 0, 0, NULL);
pObject->SetGameData(pParams->pGameData);
pObject->EnableCollisions(pParams->enableCollisions);
return pObject;
}
void CPhysicsObject::ApplyForceOffset(const Vector& forceVector, const Vector& worldPosition) {
Vector local;
WorldToLocal(&local, worldPosition);
btVector3 force, offset;
ConvertForceImpulseToBull(forceVector, force);
ConvertPosToBull(local, offset);
m_pObject->applyForce(force, offset);
}
void CPhysicsObject::SetPosition(const Vector& worldPosition, const QAngle& angles, bool isTeleport) {
btVector3 pos;
btMatrix3x3 matrix;
ConvertPosToBull(worldPosition, pos);
ConvertRotationToBull(angles, matrix);
btTransform transform(matrix, pos);
((btMassCenterMotionState*)m_pObject->getMotionState())->setGraphicTransform(transform);
}
void CPlayerController::StepUp(float height) {
btVector3 step;
ConvertPosToBull(Vector(0, 0, height), step);
btRigidBody *pObject = m_pObject->GetObject();
btTransform transform = pObject->getWorldTransform();
transform.setOrigin(transform.getOrigin() + step);
pObject->getMotionState()->setWorldTransform(transform);
}
void CPhysicsObject::GetVelocityAtPoint(const Vector &worldPosition, Vector *pVelocity) const {
if (!pVelocity) return;
Vector localPos;
WorldToLocal(&localPos, worldPosition);
btVector3 vec;
ConvertPosToBull(localPos, vec);
ConvertPosToHL(m_pObject->getVelocityInLocalPoint(vec), *pVelocity);
}
void CPhysicsObject::AddVelocity(const Vector* velocity, const AngularImpulse* angularVelocity) {
btVector3 btvelocity, btangular;
if (velocity) {
ConvertPosToBull(*velocity, btvelocity);
m_pObject->setLinearVelocity(m_pObject->getLinearVelocity() + btvelocity);
}
if (angularVelocity) {
ConvertAngularImpulseToBull(*angularVelocity, btangular);
m_pObject->setAngularVelocity(m_pObject->getAngularVelocity() + btangular);
}
}
void CPhysicsObject::SetVelocity(const Vector* velocity, const AngularImpulse* angularVelocity) {
btVector3 vel, angvel;
if (velocity) {
ConvertPosToBull(*velocity, vel);
m_pObject->setLinearVelocity(vel);
}
if (angularVelocity) {
ConvertAngularImpulseToBull(*angularVelocity, angvel);
m_pObject->setAngularVelocity(angvel);
}
}
void ConvertShadowControllerToBull(const hlshadowcontrol_params_t &in, shadowcontrol_params_t &out) {
ConvertPosToBull(in.targetPosition, out.targetPosition);
ConvertRotationToBull(in.targetRotation, out.targetRotation);
out.teleportDistance = ConvertDistanceToBull(in.teleportDistance);
ConvertForceImpulseToBull(in.maxSpeed, out.maxSpeed);
out.maxSpeed = out.maxSpeed.absolute();
ConvertAngularImpulseToBull(in.maxAngular, out.maxAngular);
out.maxAngular = out.maxAngular.absolute();
out.dampFactor = in.dampFactor;
}
void ConvertShadowControllerToBull(const hlshadowcontrol_params_t &in, shadowcontrol_params_t &out) {
ConvertPosToBull(in.targetPosition, out.targetPosition);
ConvertRotationToBull(in.targetRotation, out.targetRotation);
out.teleportDistance = ConvertDistanceToBull(in.teleportDistance);
out.maxSpeed = ConvertDistanceToBull(in.maxSpeed);
out.maxDampSpeed = ConvertDistanceToBull(in.maxDampSpeed);
out.maxAngular = ConvertAngleToBull(in.maxAngular);
out.maxDampAngular = ConvertAngleToBull(in.maxDampAngular);
out.dampFactor = in.dampFactor;
}
CPhysicsObject* CreatePhysicsObject(CPhysicsEnvironment *pEnvironment, const CPhysCollide *pCollisionModel, int materialIndex, const Vector &position, const QAngle& angles, objectparams_t *pParams, bool isStatic) {
btCollisionShape* shape = (btCollisionShape*)pCollisionModel;
btVector3 vector;
btMatrix3x3 matrix;
ConvertPosToBull(position, vector);
ConvertRotationToBull(angles, matrix);
btTransform transform(matrix, vector);
PhysicsShapeInfo *shapeInfo = (PhysicsShapeInfo*)shape->getUserPointer();
btTransform masscenter(btMatrix3x3::getIdentity());
if (shapeInfo) masscenter.setOrigin(shapeInfo->massCenter);
float mass = pParams->mass;
if (isStatic) mass = 0;
btVector3 inertia;
shape->calculateLocalInertia(mass, inertia);
btMotionState* motionstate = new btMassCenterMotionState(transform, masscenter);
btRigidBody::btRigidBodyConstructionInfo info(mass,motionstate,shape,inertia);
info.m_linearDamping = pParams->damping;
info.m_angularDamping = pParams->rotdamping;
//info.m_localInertia = btVector3(pParams->inertia, pParams->inertia, pParams->inertia);
btRigidBody* body = new btRigidBody(info);
if (mass > 0)
pEnvironment->GetBulletEnvironment()->addRigidBody(body);
else
pEnvironment->GetBulletEnvironment()->addRigidBody(body, 2, ~2);
CPhysicsObject *pObject = new CPhysicsObject();
pObject->Init(pEnvironment, body, materialIndex, pParams->volume, pParams->dragCoefficient, pParams->dragCoefficient, pParams->massCenterOverride);
pObject->SetGameData(pParams->pGameData);
pObject->EnableCollisions(pParams->enableCollisions);
if (!isStatic && pParams->dragCoefficient != 0.0f) pObject->EnableDrag(true);
/*if (mass > 0)
{
btVector3 mins, maxs;
shape->getAabb(btTransform::getIdentity(), mins, maxs);
float maxradius = min(min(abs(maxs.getX()), abs(maxs.getY())), abs(maxs.getZ()));
float minradius = min(min(abs(mins.getX()), abs(mins.getY())), abs(mins.getZ()));
float radius = min(maxradius,minradius)/2.0f;
body->setCcdMotionThreshold(radius*0.5f);
body->setCcdSweptSphereRadius(0.2f*radius);
}*/
return pObject;
}
void CShadowController::Update(const Vector &position, const QAngle &angles, float timeOffset) {
btVector3 targetPosition = m_shadow.targetPosition;
btQuaternion targetRotation = m_shadow.targetRotation;
ConvertPosToBull(position, m_shadow.targetPosition);
m_secondsToArrival = timeOffset < 0 ? 0 : timeOffset;
ConvertRotationToBull(angles, m_shadow.targetRotation);
m_enable = true;
if (IsEqual(targetPosition, m_shadow.targetPosition) && IsEqual(targetRotation, m_shadow.targetRotation)) return;
m_pObject->Wake();
}
void CPhysicsObject::ApplyForceOffset(const Vector &forceVector, const Vector &worldPosition) {
if (!IsMoveable() || !IsMotionEnabled()) {
return;
}
Wake();
Vector local;
WorldToLocal(&local, worldPosition);
btVector3 force, offset;
ConvertForceImpulseToBull(forceVector, force);
ConvertPosToBull(local, offset);
m_pObject->applyImpulse(force, offset);
Wake();
}
void CPhysicsObject::SetPosition(const Vector &worldPosition, const QAngle &angles, bool isTeleport) {
btVector3 bullPos;
btMatrix3x3 bullAngles;
ConvertPosToBull(worldPosition, bullPos);
ConvertRotationToBull(angles, bullAngles);
btTransform trans(bullAngles, bullPos);
m_pObject->setWorldTransform(trans * ((btMassCenterMotionState *)m_pObject->getMotionState())->m_centerOfMassOffset);
// Assumed this is the behavior of IVP. If you teleport an object, you don't want it to be stupidly frozen in the air.
// Change this if behavior of IVP is different!
if (isTeleport)
m_pObject->activate();
}
void CPlayerController::MaxSpeed(const Vector &maxVelocity) {
btVector3 bullVel;
ConvertPosToBull(maxVelocity, bullVel);
btVector3 available = bullVel;
float length = bullVel.length();
bullVel.normalize();
float dot = bullVel.dot(m_linVelocity);
if (dot > 0) {
bullVel *= dot * length;
available -= bullVel;
}
m_maxSpeed = available.absolute();
}
CPhysicsObject *CreatePhysicsObject(CPhysicsEnvironment *pEnvironment, const CPhysCollide *pCollisionModel, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams, bool isStatic) {
if (!pCollisionModel) return NULL;
// Some checks
Assert(position.IsValid() && angles.IsValid());
btCollisionShape *pShape = (btCollisionShape *)pCollisionModel->GetCollisionShape();
btTransform massCenterTrans = btTransform::getIdentity();
massCenterTrans.setOrigin(pCollisionModel->GetMassCenter());
btMassCenterMotionState *pMotionState = new btMassCenterMotionState(massCenterTrans);
btVector3 bullPos;
btMatrix3x3 bullMatrix;
ConvertPosToBull(position, bullPos);
ConvertRotationToBull(angles, bullMatrix);
btTransform initialWordTrans(bullMatrix, bullPos);
pMotionState->setGraphicTransform(initialWordTrans);
// Grab some parameters
btScalar mass = 0.f;
btVector3 inertia(0, 0, 0);
btVector3 inertiaCoeff(1, 1, 1);
if (pParams && !isStatic) {
mass = pParams->mass;
// TODO: Grab massCenterOverride and set it up correctly.
// Don't allow the inertia coefficient to be less than 0!
if (pParams->inertia >= 0)
inertiaCoeff.setValue(pParams->inertia, pParams->inertia, pParams->inertia);
pShape->calculateLocalInertia(mass, inertia);
//inertia = pCollisionModel->GetRotationInertia();
//inertia *= inertiaCoeff * mass;
}
btRigidBody::btRigidBodyConstructionInfo info(mass, pMotionState, pShape, inertia);
btRigidBody *pBody = new btRigidBody(info);
CPhysicsObject *pObject = new CPhysicsObject();
pObject->Init(pEnvironment, pBody, materialIndex, pParams, isStatic);
return pObject;
}
void CShadowController::MaxSpeed(float maxSpeed, float maxAngularSpeed) {
btRigidBody *body = m_pObject->GetObject();
//----------------
// Linear
//----------------
btVector3 bullSpeed;
ConvertPosToBull(Vector(maxSpeed), bullSpeed);
btVector3 available = bullSpeed;
// m_currentSpeed = bullSpeed;
float length = bullSpeed.length();
bullSpeed.normalize();
float dot = bullSpeed.dot(body->getLinearVelocity());
if (dot > 0) {
bullSpeed *= dot * length;
available -= bullSpeed;
}
// FIXME: This is wrong. Rewrite this later.
m_shadow.maxSpeed = available.length();
//----------------
// Angular
//----------------
btVector3 bullAngular;
ConvertAngularImpulseToBull(Vector(maxAngularSpeed), bullAngular);
btVector3 availableAngular;
float lengthAngular = bullAngular.length();
bullAngular.normalize();
float dotAngular = bullAngular.dot(body->getAngularVelocity());
if (dotAngular > 0) {
bullAngular *= dotAngular * lengthAngular;
availableAngular -= bullAngular;
}
// FIXME: This is wrong. Rewrite this later.
m_shadow.maxAngular = availableAngular.length();
}
// Output passed to ApplyForceCenter/ApplyTorqueCenter
void CPhysicsObject::CalculateForceOffset(const Vector &forceVector, const Vector &worldPosition, Vector *centerForce, AngularImpulse *centerTorque) const {
if (!centerForce && !centerTorque) return;
btVector3 pos, force;
ConvertPosToBull(worldPosition, pos);
ConvertForceImpulseToBull(forceVector, force);
pos = pos - m_pObject->getWorldTransform().getOrigin();
btVector3 cross = pos.cross(force);
if (centerForce) {
ConvertForceImpulseToHL(force, *centerForce);
}
if (centerTorque) {
ConvertAngularImpulseToHL(cross, *centerTorque);
}
}
void CPhysicsDragController::Tick(btScalar dt)
{
for(int i = 0; i < m_ents.Size(); i++)
{
CPhysicsObject * object = (CPhysicsObject *)m_ents[i];
Vector dragLinearFinal(0,0,0);
AngularImpulse dragAngularFinal(0,0,0);
Vector vel;
AngularImpulse ang;
object->GetVelocity(&vel, &ang);
btVector3 bull_vel;
ConvertPosToBull(vel, bull_vel);
float dragForce = -0.5 * object->GetDragInDirection( &bull_vel ) * m_airDensity * dt;
if ( dragForce < -1.0f )
{
dragForce = -1.0f;
}
if ( dragForce < 0 )
{
Vector dragLinearFinal = vel * dragForce;
}
btVector3 bull_angimpulse;
ConvertAngularImpulseToBull(ang, bull_angimpulse);
float angDragForce = -object->GetAngularDragInDirection(&bull_angimpulse) * m_airDensity * dt;
if ( angDragForce < -1.0f )
{
angDragForce = -1.0f;
}
if( angDragForce < 0)
{
dragAngularFinal = ang * angDragForce;
}
object->AddVelocity(&dragLinearFinal, &dragAngularFinal);
}
}
void CPhysicsObject::AddVelocity(const Vector *velocity, const AngularImpulse *angularVelocity) {
if (!velocity && !angularVelocity) return;
if (!IsMoveable() || !IsMotionEnabled()) {
return;
}
Wake();
btVector3 bullvelocity, bullangular;
if (velocity) {
ConvertPosToBull(*velocity, bullvelocity);
m_pObject->setLinearVelocity(m_pObject->getLinearVelocity() + bullvelocity);
}
// Angular velocity is supplied in local space.
if (angularVelocity) {
ConvertAngularImpulseToBull(*angularVelocity, bullangular);
bullangular = m_pObject->getWorldTransform().getBasis() * bullangular;
m_pObject->setAngularVelocity(m_pObject->getAngularVelocity() + bullangular);
}
}
CPhysicsObject *CreatePhysicsSphere(CPhysicsEnvironment *pEnvironment, float radius, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams, bool isStatic) {
if (!pEnvironment) return NULL;
// Some checks
Assert(position.IsValid() && angles.IsValid());
// Conversion unnecessary as this is an exposed function.
btSphereShape *shape = (btSphereShape *)g_PhysicsCollision.SphereToConvex(radius);
btVector3 vector;
btMatrix3x3 matrix;
ConvertPosToBull(position, vector);
ConvertRotationToBull(angles, matrix);
btTransform transform(matrix, vector);
float mass = 0;
float volume = 0;
if (pParams) {
mass = isStatic ? 0 : pParams->mass;
volume = pParams->volume;
if (volume <= 0) {
pParams->volume = (4 / 3) * M_PI * radius * radius * radius;
}
}
btMassCenterMotionState *motionstate = new btMassCenterMotionState();
motionstate->setGraphicTransform(transform);
btRigidBody::btRigidBodyConstructionInfo info(mass, motionstate, shape);
btRigidBody *body = new btRigidBody(info);
CPhysicsObject *pObject = new CPhysicsObject;
pObject->Init(pEnvironment, body, materialIndex, pParams, isStatic, true);
return pObject;
}
// Thrusters call this and pass output to AddVelocity
void CPhysicsObject::CalculateVelocityOffset(const Vector &forceVector, const Vector &worldPosition, Vector *centerVelocity, AngularImpulse *centerAngularVelocity) const {
if (!centerVelocity && !centerAngularVelocity) return;
btVector3 force, pos;
ConvertForceImpulseToBull(forceVector, force);
ConvertPosToBull(worldPosition, pos);
pos = pos - m_pObject->getWorldTransform().getOrigin();
btVector3 cross = pos.cross(force);
// cross.set_pairwise_mult( &cross, core->get_inv_rot_inertia());
// Linear velocity
if (centerVelocity) {
force *= m_pObject->getInvMass();
ConvertForceImpulseToHL(force, *centerVelocity);
}
if (centerAngularVelocity) {
ConvertAngularImpulseToHL(cross, *centerAngularVelocity);
}
}
void CPhysicsObject::GetVelocityAtPoint(const Vector& worldPosition, Vector* pVelocity) const {
btVector3 vec;
ConvertPosToBull(worldPosition, vec);
ConvertPosToHL(m_pObject->getVelocityInLocalPoint(vec), *pVelocity);
}
// FIXME: The API is confusing because we need to add the BT_DISABLE_WORLD_GRAVITY flag to the object
// by calling EnableGravity(false)
void CPhysicsObject::SetLocalGravity(const Vector &gravityVector) {
btVector3 tmp;
ConvertPosToBull(gravityVector, tmp);
m_pObject->setGravity(tmp);
}
