IMotionEvent::simresult_e CPhysicsNPCSolver::Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject,
float deltaTime, Vector &linear, AngularImpulse &angular )
{
if ( IsIntersecting() )
{
const float PUSH_SPEED = 150.0f;
if ( pObject->GetGameFlags() & FVPHYSICS_PLAYER_HELD )
{
CBasePlayer *pPlayer = UTIL_GetLocalPlayer();
if ( pPlayer )
{
pPlayer->ForceDropOfCarriedPhysObjects( m_hEntity );
}
}
ResetCancelTime();
angular.Init();
linear.Init();
// Don't push on vehicles because they won't move
if ( pObject->GetGameFlags() & FVPHYSICS_MULTIOBJECT_ENTITY )
{
if ( m_hEntity->GetServerVehicle() )
return SIM_NOTHING;
}
Vector origin, vel;
pObject->GetPosition( &origin, NULL );
pObject->GetVelocity( &vel, NULL );
Vector dir = origin - m_hNPC->GetAbsOrigin();
dir.z = dir.z > 0 ? 0.1f : -0.1f;
VectorNormalize(dir);
AngularImpulse angVel;
angVel.Init();
// NOTE: Iterate this object's contact points
// if it can't move in this direction, try sliding along the plane/crease
Vector pushImpulse;
PhysComputeSlideDirection( pObject, dir * PUSH_SPEED, angVel, &pushImpulse, NULL, 0 );
dir = pushImpulse;
VectorNormalize(dir);
if ( DotProduct( vel, dir ) < PUSH_SPEED * 0.5f )
{
linear = pushImpulse;
if ( pObject->GetContactPoint(NULL,NULL) )
{
linear.z += GetCurrentGravity();
}
}
return SIM_GLOBAL_ACCELERATION;
}
return SIM_NOTHING;
}
//-----------------------------------------------------------------------------
// Purpose: Returns the magnitude of the entity's angular velocity.
//-----------------------------------------------------------------------------
float CPointAngularVelocitySensor::SampleAngularVelocity(CBaseEntity *pEntity)
{
if (pEntity->GetMoveType() == MOVETYPE_VPHYSICS)
{
IPhysicsObject *pPhys = pEntity->VPhysicsGetObject();
if (pPhys != NULL)
{
Vector vecVelocity;
AngularImpulse vecAngVelocity;
pPhys->GetVelocity(&vecVelocity, &vecAngVelocity);
QAngle angles;
pPhys->GetPosition( NULL, &angles );
float dt = gpGlobals->curtime - GetLastThink();
if ( dt == 0 )
dt = 0.1;
// HACKHACK: We don't expect a real 'delta' orientation here, just enough of an error estimate to tell if this thing
// is trying to move, but failing.
QAngle delta = angles - m_lastOrientation;
if ( ( delta.Length() / dt ) < ( vecAngVelocity.Length() * 0.01 ) )
{
return 0.0f;
}
m_lastOrientation = angles;
if ( m_bUseHelper == false )
{
return vecAngVelocity.Length();
}
else
{
Vector vLine = m_vecAxis - GetAbsOrigin();
VectorNormalize( vLine );
Vector vecWorldAngVelocity;
pPhys->LocalToWorldVector( &vecWorldAngVelocity, vecAngVelocity );
float flDot = DotProduct( vecWorldAngVelocity, vLine );
return flDot;
}
}
}
else
{
QAngle vecAngVel = pEntity->GetLocalAngularVelocity();
float flMax = MAX(fabs(vecAngVel[PITCH]), fabs(vecAngVel[YAW]));
return MAX(flMax, fabs(vecAngVel[ROLL]));
}
return 0;
}
IMotionEvent::simresult_e CGrabController::Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular )
{
game_shadowcontrol_params_t shadowParams = m_shadow;
if ( InContactWithHeavyObject( pObject, GetLoadWeight() ) )
{
m_contactAmount = Approach( 0.1f, m_contactAmount, deltaTime*2.0f );
}
else
{
m_contactAmount = Approach( 1.0f, m_contactAmount, deltaTime*2.0f );
}
shadowParams.maxAngular = m_shadow.maxAngular * m_contactAmount * m_contactAmount * m_contactAmount;
m_timeToArrive = pObject->ComputeShadowControl( shadowParams, m_timeToArrive, deltaTime );
// Slide along the current contact points to fix bouncing problems
Vector velocity;
AngularImpulse angVel;
pObject->GetVelocity( &velocity, &angVel );
PhysComputeSlideDirection( pObject, velocity, angVel, &velocity, &angVel, GetLoadWeight() );
pObject->SetVelocityInstantaneous( &velocity, NULL );
linear.Init();
angular.Init();
m_errorTime += deltaTime;
return SIM_LOCAL_ACCELERATION;
}
IMotionEvent::simresult_e CGrabController::Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular )
{
m_timeToArrive = pObject->ComputeShadowControl( m_shadow, m_timeToArrive, deltaTime );
linear.Init();
angular.Init();
m_errorTime += deltaTime;
return SIM_LOCAL_ACCELERATION;
}
void PhysForceClearVelocity( IPhysicsObject *pPhys )
{
IPhysicsFrictionSnapshot *pSnapshot = pPhys->CreateFrictionSnapshot();
// clear the velocity of the rigid body
Vector vel;
AngularImpulse angVel;
vel.Init();
angVel.Init();
pPhys->SetVelocity( &vel, &angVel );
// now clear the "strain" stored in the contact points
while ( pSnapshot->IsValid() )
{
pSnapshot->ClearFrictionForce();
pSnapshot->RecomputeFriction();
pSnapshot->NextFrictionData();
}
pPhys->DestroyFrictionSnapshot( pSnapshot );
}
void CWeaponBaseRifleGrenade::ShootGrenade( void )
{
CDODPlayer *pPlayer = ToDODPlayer( GetOwner() );
if ( !pPlayer )
{
Assert( false );
return;
}
QAngle angThrow = pPlayer->LocalEyeAngles();
Vector vForward, vRight, vUp;
AngleVectors( angThrow, &vForward, &vRight, &vUp );
Vector eyes = pPlayer->GetAbsOrigin() + pPlayer->GetViewOffset();
Vector vecSrc = eyes;
Vector vecThrow = vForward * DOD_RIFLEGRENADE_SPEED;
// raise origin enough so that you can't shoot it straight down through the world
if ( pPlayer->m_Shared.IsProne() )
{
vecSrc.z += 16;
}
SetCollisionGroup( COLLISION_GROUP_WEAPON );
QAngle angles;
VectorAngles( -vecThrow, angles );
// estimate angular velocity based on initial conditions
// uses a constant ang velocity instead of the derivative of the flight path, oh well.
AngularImpulse angImpulse;
angImpulse.Init();
if ( vecThrow.z > 0 )
angImpulse.y = -angles.x / ( sqrt( (-2 * vecThrow.z) / dod_grenadegravity.GetFloat() ));
else
angImpulse.y = -10;
EmitGrenade( vecSrc, angles, vecThrow, angImpulse, pPlayer, RIFLEGRENADE_FUSE_LENGTH );
}
IMotionEvent::simresult_e CGravControllerPoint::Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular )
{
hlshadowcontrol_params_t shadowParams = m_shadow;
#ifndef CLIENT_DLL
m_timeToArrive = pObject->ComputeShadowControl( shadowParams, m_timeToArrive, deltaTime );
#else
m_timeToArrive = pObject->ComputeShadowControl( shadowParams, (TICK_INTERVAL*2), deltaTime );
#endif
linear.Init();
angular.Init();
return SIM_LOCAL_ACCELERATION;
}
//------------------------------------------------------------------------------
// Apply the forces to the entity
//------------------------------------------------------------------------------
IMotionEvent::simresult_e C_EntityDissolve::Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular )
{
linear.Init();
angular.Init();
// Make it zero g
linear.z -= -1.02 * GetCurrentGravity();
Vector vel;
AngularImpulse angVel;
pObject->GetVelocity( &vel, &angVel );
vel += linear * deltaTime; // account for gravity scale
Vector unitVel = vel;
Vector unitAngVel = angVel;
float speed = VectorNormalize( unitVel );
// float angSpeed = VectorNormalize( unitAngVel );
// float speedScale = 0.0;
// float angSpeedScale = 0.0;
float flLinearLimit = 50;
float flLinearLimitDelta = 40;
if ( speed > flLinearLimit )
{
float flDeltaVel = (flLinearLimit - speed) / deltaTime;
if ( flLinearLimitDelta != 0.0f )
{
float flMaxDeltaVel = -flLinearLimitDelta / deltaTime;
if ( flDeltaVel < flMaxDeltaVel )
{
flDeltaVel = flMaxDeltaVel;
}
}
VectorMA( linear, flDeltaVel, unitVel, linear );
}
return SIM_GLOBAL_ACCELERATION;
}
void CPhysThruster::SetupForces( IPhysicsObject *pPhys, Vector &linear, AngularImpulse &angular )
{
Vector forward;
AngleVectors( GetLocalAngles(), &forward );
forward = forward * m_force;
// multiply the force by mass (it's actually just an acceleration)
if ( m_spawnflags & SF_THRUST_MASS_INDEPENDENT )
{
forward = forward * pPhys->GetMass();
}
EntityMatrix xform;
xform.InitFromEntity( m_attachedObject );
Vector origin = xform.LocalToWorld( m_localOrigin );
forward = xform.LocalToWorldRotation( forward );
// Adjust for the position of the thruster -- apply proper torque)
pPhys->CalculateVelocityOffset( forward, origin, linear, angular );
// Stay in local space always if this flag is set
if ( m_spawnflags & SF_THRUST_LOCAL_ORIENTATION )
{
linear = xform.WorldToLocalRotation( linear );
}
if ( !(m_spawnflags & SF_THRUST_FORCE) )
{
// clear out force
linear.Init();
}
if ( !(m_spawnflags & SF_THRUST_TORQUE) )
{
// clear out torque
angular.Init();
}
}
IMotionEvent::simresult_e CNailGrenadeController::Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular )
{
// Try to get to m_vecDesiredPosition
// Try to orient ourselves to m_angDesiredOrientation
Vector currentPos;
QAngle currentAng;
pObject->GetPosition( ¤tPos, ¤tAng );
Vector vecVel;
AngularImpulse angVel;
pObject->GetVelocity( &vecVel, &angVel );
linear.Init();
angular.Init();
if ( m_bReachedPos )
{
// Lock at this height
if ( vecVel.Length() > 1.0 )
{
AngularImpulse nil( 0,0,0 );
pObject->SetVelocityInstantaneous( &vec3_origin, &nil );
// For now teleport to the proper orientation
currentAng.x = 0;
currentAng.y = 0;
currentAng.z = 0;
pObject->SetPosition( currentPos, currentAng, true );
}
}
else
{
// not at the right height yet, keep moving up
linear.z = 50 * ( m_vecDesiredPosition.z - currentPos.z );
if ( currentPos.z > m_vecDesiredPosition.z )
{
// lock into position
m_bReachedPos = true;
}
// Start rotating in the right direction
// we'll lock angles once we reach proper height to stop the oscillating
matrix3x4_t matrix;
// get the object's local to world transform
pObject->GetPositionMatrix( &matrix );
Vector m_worldGoalAxis(0,0,1);
// Get the alignment axis in object space
Vector currentLocalTargetAxis;
VectorIRotate( m_worldGoalAxis, matrix, currentLocalTargetAxis );
float invDeltaTime = (1/deltaTime);
float m_angularLimit = 10;
angular = ComputeRotSpeedToAlignAxes( m_worldGoalAxis, currentLocalTargetAxis, angVel, 1.0, invDeltaTime * invDeltaTime, m_angularLimit * invDeltaTime );
}
return SIM_GLOBAL_ACCELERATION;
}
