///note that carposition must be in patch space
///returns distance from left side of the track
float GetHorizontalDistanceAlongPatch(const BEZIER & patch, MATHVECTOR <float, 3> carposition)
{
MATHVECTOR <float, 3> leftside = (patch.GetPoint(0,0) + patch.GetPoint(3,0))*0.5;
MATHVECTOR <float, 3> rightside = (patch.GetPoint(0,3) + patch.GetPoint(3,3))*0.5;
MATHVECTOR <float, 3> patchwidthvector = rightside - leftside;
return patchwidthvector.Normalize().dot(carposition-leftside);
}
// 3D effects
//--------------------------------------------------------------------------------------------------------------------
void SOUND::Compute3DEffects(std::list <SOUNDSOURCE *> & sources, const MATHVECTOR <float, 3> & listener_pos, const QUATERNION <float> & listener_rot) const
{
for (std::list <SOUNDSOURCE *>::iterator i = sources.begin(); i != sources.end(); ++i)
{
if ((*i)->Get3DEffects())
{
MATHVECTOR <float, 3> relvec = (*i)->GetPosition() - listener_pos;
float len = relvec.Magnitude();
if (len < 0.1)
{
relvec[2] = 0.1;
len = relvec.Magnitude();
}
listener_rot.RotateVector(relvec);
// attenuation
//float cgain = 0.25 / log(100.0) * (log(1000.0) - 1.6 * log(len));
float cgain = log(1000.0 / pow((double)len, 1.3)) / log(100.0);
cgain = std::min(1.f, std::max(0.f, cgain));
// pan
float xcoord = -relvec.Normalize()[0];
float pgain1 = std::max(0.f, -xcoord);
float pgain2 = std::max(0.f, xcoord);
(*i)->SetComputationResults(cgain*(*i)->GetGain()*(1.f-pgain1), cgain*(*i)->GetGain()*(1.f-pgain2));
}
else
{
(*i)->SetComputationResults((*i)->GetGain(), (*i)->GetGain());
}
}
}
void CAMERA_MOUNT::Update(const MATHVECTOR <float, 3> & newpos, const QUATERNION <float> & newdir, float dt)
{
rotation = newdir * offsetrot;
MATHVECTOR <float, 3> pos = offset;
newdir.RotateVector(pos);
pos = pos + newpos;
MATHVECTOR <float, 3> vel = pos - position;
effect = (vel.Magnitude() - 0.02) / 0.04;
if (effect < 0) effect = 0;
else if (effect > 1) effect = 1;
float bumpdiff = randgen.Get();
float power = pow(bumpdiff, 32);
if (power < 0) power = 0;
else if (power > 0.2) power = 0.2;
float veleffect = std::min(pow(vel.Magnitude() * ( 2.0 - stiffness), 3.0), 1.0);
float bumpimpulse = power * 130.0 * veleffect;
float k = 800.0 + stiffness * 800.0 * 4.0;
float c = 2.0 * std::sqrt(k * mass) * 0.35;
MATHVECTOR <float, 3> bumpforce = direction::Up * bumpimpulse;
MATHVECTOR <float, 3> springforce = -displacement * k;
MATHVECTOR <float, 3> damperforce = -velocity * c;
velocity = velocity + (springforce + damperforce + bumpforce) * dt;
displacement = displacement + velocity * dt;
UpdatePosition(pos);
}
void CARDYNAMICS::ApplyForce(const MATHVECTOR<Dbl,3> & force, const MATHVECTOR<Dbl,3> & offset)
{
body.ApplyForce(force, offset);
MATHVECTOR<Dbl,3> fo = offset * force.Magnitude();
cam_body.ApplyForce((force * gPar.camBncFo + fo * gPar.camBncFof) * fBncMass);
//chassis->applyForce(ToBulletVector(force), ToBulletVector(offset));
}
//simple hinge (arc) suspension displacement
MATHVECTOR<Dbl,3> CARDYNAMICS::GetLocalWheelPosition(WHEEL_POSITION wp, Dbl displacement_percent) const
{
//const
const MATHVECTOR<Dbl,3> & wheelext = wheel[wp].GetExtendedPosition();
const MATHVECTOR<Dbl,3> & hinge = suspension[wp].GetHinge();
MATHVECTOR<Dbl,3> relwheelext = wheelext - hinge;
MATHVECTOR<Dbl,3> up(0,0,1);
MATHVECTOR<Dbl,3> rotaxis = up.cross ( relwheelext.Normalize() );
Dbl hingeradius = relwheelext.Magnitude();
Dbl travel = suspension[wp].GetTravel();
//const
Dbl displacement = displacement_percent * travel;
Dbl displacementradians = displacement / hingeradius;
QUATERNION<Dbl> hingerotate;
hingerotate.Rotate ( -displacementradians, rotaxis[0], rotaxis[1], rotaxis[2] );
MATHVECTOR<Dbl,3> localwheelpos = relwheelext;
hingerotate.RotateVector ( localwheelpos );
return localwheelpos + hinge;
}
///trim the patch's width in-place
void TrimPatch(BEZIER & patch, float trimleft_front, float trimright_front, float trimleft_back, float trimright_back)
{
MATHVECTOR <float, 3> frontvector = (patch.GetPoint(0,3) - patch.GetPoint(0,0));
MATHVECTOR <float, 3> backvector = (patch.GetPoint(3,3) - patch.GetPoint(3,0));
float frontwidth = frontvector.Magnitude();
float backwidth = backvector.Magnitude();
if (trimleft_front + trimright_front > frontwidth)
{
float scale = frontwidth/(trimleft_front + trimright_front);
trimleft_front *= scale;
trimright_front *= scale;
}
if (trimleft_back + trimright_back > backwidth)
{
float scale = backwidth/(trimleft_back + trimright_back);
trimleft_back *= scale;
trimright_back *= scale;
}
MATHVECTOR <float, 3> newfl = patch.GetPoint(0,0);
MATHVECTOR <float, 3> newfr = patch.GetPoint(0,3);
MATHVECTOR <float, 3> newbl = patch.GetPoint(3,0);
MATHVECTOR <float, 3> newbr = patch.GetPoint(3,3);
if (frontvector.Magnitude() > 0.001)
{
MATHVECTOR <float, 3> trimdirection_front = frontvector.Normalize();
newfl = patch.GetPoint(0,0) + trimdirection_front*trimleft_front;
newfr = patch.GetPoint(0,3) - trimdirection_front*trimright_front;
}
if (backvector.Magnitude() > 0.001)
{
MATHVECTOR <float, 3> trimdirection_back = backvector.Normalize();
newbl = patch.GetPoint(3,0) + trimdirection_back*trimleft_back;
newbr = patch.GetPoint(3,3) - trimdirection_back*trimright_back;
}
patch.SetFromCorners(newfl, newfr, newbl, newbr);
}
///fix invalid normals (my own fault, i suspect. the DOF converter i wrote may have flipped Y & Z normals)
static bool NeedsNormalSwap(JOEObject & Object)
{
bool need_normal_flip = false;
for (int f = 0; f < Object.info.num_frames; f++)
{
int normal_flip_count = 0;
for (int i = 0; i < Object.info.num_faces; i++)
{
MATHVECTOR <float,3> tri[3];
MATHVECTOR <float,3> norms[3];
for (unsigned int v = 0; v < 3; v++)
{
assert(Object.frames[f].faces[i].vertexIndex[v] < Object.frames[f].num_verts);
assert(Object.frames[f].faces[i].normalIndex[v] < Object.frames[f].num_normals);
tri[v].Set(Object.frames[f].verts[Object.frames[f].faces[i].vertexIndex[v]].vertex);
norms[v].Set(Object.frames[f].normals[Object.frames[f].faces[i].normalIndex[v]].vertex);
}
MATHVECTOR <float,3> norm;
for (unsigned int v = 0; v < 3; v++)
norm = norm + norms[v];
MATHVECTOR <float,3> tnorm = (tri[2] - tri[0]).cross(tri[1] - tri[0]);
if (tnorm.Magnitude() > 0.0001 && norm.Magnitude() > 0.0001)
{
norm = norm.Normalize();
tnorm = tnorm.Normalize();
if (norm.dot(tnorm) < 0.5 && norm.dot(tnorm) > -0.5)
{
normal_flip_count++;
//std::cout << norm.dot(tnorm) << std::endl;
//std::cout << norm << " -- " << tnorm << std::endl;
}
}
}
if (normal_flip_count > Object.info.num_faces/4)
need_normal_flip = true;
}
return need_normal_flip;
}
void AI::analyzeOthers(AI_Car *c, float dt, const std::list <CAR> & othercars)
{
//const float speed = std::max(1.0f,c->car->GetVelocity().Magnitude());
const float half_carlength = 1.25; //in meters
//std::cout << speed << ": " << authority << std::endl;
//const MATHVECTOR <float, 3> steer_right_axis = direction::Right;
const MATHVECTOR <float, 3> throttle_axis = direction::Forward;
#ifdef VISUALIZE_AI_DEBUG
//c->avoidancedraw->ClearLine();
#endif
for (std::list <CAR>::const_iterator i = othercars.begin(); i != othercars.end(); ++i)
{
if (&(*i) != c->car)
{
struct AI_Car::OTHERCARINFO & info = c->othercars[&(*i)];
//find direction of othercar in our frame
MATHVECTOR <float, 3> relative_position = i->GetCenterOfMassPosition() - c->car->GetCenterOfMassPosition();
(-c->car->GetOrientation()).RotateVector(relative_position);
//std::cout << relative_position.dot(throttle_axis) << ", " << relative_position.dot(steer_right_axis) << std::endl;
//only make a move if the other car is within our distance limit
float fore_position = relative_position.dot(throttle_axis);
//float speed_diff = i->GetVelocity().dot(throttle_axis) - c->car->GetVelocity().dot(throttle_axis); //positive if other car is faster
MATHVECTOR <float, 3> myvel = c->car->GetVelocity();
MATHVECTOR <float, 3> othervel = i->GetVelocity();
(-c->car->GetOrientation()).RotateVector(myvel);
(-i->GetOrientation()).RotateVector(othervel);
float speed_diff = othervel.dot(throttle_axis) - myvel.dot(throttle_axis); //positive if other car is faster
//std::cout << speed_diff << std::endl;
//float distancelimit = clamp(distancelimitcoeff*-speed_diff, distancelimitmin, distancelimitmax);
const float fore_position_offset = -half_carlength;
if (fore_position > fore_position_offset)// && fore_position < distancelimit) //only pay attention to cars roughly in front of us
{
//float horizontal_distance = relative_position.dot(steer_right_axis); //fallback method if not on a patch
//float orig_horiz = horizontal_distance;
const BEZIER * othercarpatch = GetCurrentPatch(&(*i));
const BEZIER * mycarpatch = GetCurrentPatch(c->car);
if (othercarpatch && mycarpatch)
{
float my_track_placement = GetHorizontalDistanceAlongPatch(*mycarpatch, TransformToPatchspace(c->car->GetCenterOfMassPosition()));
float their_track_placement = GetHorizontalDistanceAlongPatch(*othercarpatch, TransformToPatchspace(i->GetCenterOfMassPosition()));
float speed_diff_denom = clamp(speed_diff, -100, -0.01);
float eta = (fore_position-fore_position_offset)/-speed_diff_denom;
info.fore_distance = fore_position;
if (!info.active)
info.eta = eta;
else
info.eta = RateLimit(info.eta, eta, 10.f*dt, 10000.f*dt);
float horizontal_distance = their_track_placement - my_track_placement;
//if (!info.active)
info.horizontal_distance = horizontal_distance;
/*else
info.horizontal_distance = RateLimit(info.horizontal_distance, horizontal_distance, spacingdistance*dt, spacingdistance*dt);*/
//std::cout << info.horizontal_distance << ", " << info.eta << std::endl;
info.active = true;
}
else
info.active = false;
//std::cout << orig_horiz << ", " << horizontal_distance << ", " << fore_position << ", " << speed_diff << std::endl;
/*if (!min_horizontal_distance)
min_horizontal_distance = optional <float> (horizontal_distance);
else if (std::abs(min_horizontal_distance.get()) > std::abs(horizontal_distance))
min_horizontal_distance = optional <float> (horizontal_distance);*/
}
else
info.active = false;
/*#ifdef VISUALIZE_AI_DEBUG
if (info.active)
{
c->avoidancedraw->AddLinePoint(c->car->GetCenterOfMassPosition());
MATHVECTOR <float, 3> feeler1(speed*info.eta,0,0);
c->car->GetOrientation().RotateVector(feeler1);
MATHVECTOR <float, 3> feeler2(0,-info.horizontal_distance,0);
c->car->GetOrientation().RotateVector(feeler2);
c->avoidancedraw->AddLinePoint(c->car->GetCenterOfMassPosition()+feeler1+feeler2);
c->avoidancedraw->AddLinePoint(c->car->GetCenterOfMassPosition());
}
#endif*/
}
}
}
void MODEL_JOE03::ReadData ( FILE * m_FilePointer, const JOEPACK * pack, JOEObject & Object )
{
int num_frames = Object.info.num_frames;
int num_faces = Object.info.num_faces;
Object.frames.resize(num_frames);
for ( int i = 0; i < num_frames; i++ )
{
Object.frames[i].faces.resize(num_faces);
BinaryRead ( &Object.frames[i].faces[0], sizeof ( JOEFace ), num_faces, m_FilePointer, pack );
CorrectEndian ( Object.frames[i].faces );
BinaryRead ( &Object.frames[i].num_verts, sizeof ( int ), 1, m_FilePointer, pack );
Object.frames[i].num_verts = ENDIAN_SWAP_32 ( Object.frames[i].num_verts );
BinaryRead ( &Object.frames[i].num_texcoords, sizeof ( int ), 1, m_FilePointer, pack );
Object.frames[i].num_texcoords = ENDIAN_SWAP_32 ( Object.frames[i].num_texcoords );
BinaryRead ( &Object.frames[i].num_normals, sizeof ( int ), 1, m_FilePointer, pack );
Object.frames[i].num_normals = ENDIAN_SWAP_32 ( Object.frames[i].num_normals );
Object.frames[i].verts.resize(Object.frames[i].num_verts);
Object.frames[i].normals.resize(Object.frames[i].num_normals);
Object.frames[i].texcoords.resize(Object.frames[i].num_texcoords);
BinaryRead ( &Object.frames[i].verts[0], sizeof ( JOEVertex ), Object.frames[i].num_verts, m_FilePointer, pack );
CorrectEndian ( Object.frames[i].verts );
BinaryRead ( &Object.frames[i].normals[0], sizeof ( JOEVertex ), Object.frames[i].num_normals, m_FilePointer, pack );
CorrectEndian ( Object.frames[i].normals );
BinaryRead ( &Object.frames[i].texcoords[0], sizeof ( JOETexCoord ), Object.frames[i].num_texcoords, m_FilePointer, pack );
CorrectEndian ( Object.frames[i].texcoords );
}
//cout << "!!! loading " << modelpath << endl;
//go do scaling
for (int i = 0; i < num_frames; i++)
{
for ( int v = 0; v < Object.frames[i].num_verts; v++ )
{
MATHVECTOR <float, 3> temp;
temp.Set ( Object.frames[i].verts[v].vertex );
temp = temp * MODEL_SCALE;
for (int n = 0; n < 3; n++)
Object.frames[i].verts[v].vertex[n] = temp[n];
}
}
if (NeedsNormalSwap(Object))
{
for (int i = 0; i < num_frames; i++)
{
for ( int v = 0; v < Object.frames[i].num_normals; v++ )
{
std::swap(Object.frames[i].normals[v].vertex[1],
Object.frames[i].normals[v].vertex[2]);
Object.frames[i].normals[v].vertex[1] = -Object.frames[i].normals[v].vertex[1];
}
}
//std::cout << "!!! swapped normals !!!" << std::endl;
}
//assert(!NeedsNormalFlip(pObject));
/*//make sure vertex ordering is consistent with normals
for (i = 0; i < Object.info.num_faces; i++)
{
short vi[3];
VERTEX tri[3];
VERTEX norms[3];
for (unsigned int v = 0; v < 3; v++)
{
vi[v] = GetFace(i)[v];
tri[v].Set(GetVert(vi[v]));
norms[v].Set(GetNorm(GetNormIdx(i)[v]));
}
VERTEX norm;
for (unsigned int v = 0; v < 3; v++)
norm = norm + norms[v];
norm = norm.normalize();
VERTEX tnorm = (tri[2] - tri[0]).cross(tri[1] - tri[0]);
if (norm.dot(tnorm) > 0)
{
short tvi = Object.frames[0].faces[i].vertexIndex[1];
Object.frames[0].faces[i].vertexIndex[1] = Object.frames[0].faces[i].vertexIndex[2];
Object.frames[0].faces[i].vertexIndex[2] = tvi;
tvi = Object.frames[0].faces[i].normalIndex[1];
Object.frames[0].faces[i].normalIndex[1] = Object.frames[0].faces[i].normalIndex[2];
Object.frames[0].faces[i].normalIndex[2] = tvi;
tvi = Object.frames[0].faces[i].textureIndex[1];
Object.frames[0].faces[i].textureIndex[1] = Object.frames[0].faces[i].textureIndex[2];
Object.frames[0].faces[i].textureIndex[2] = tvi;
}
}*/
//build unique vertices
//cout << "building unique vertices...." << endl;
int frame(0);
typedef size_t size_type;
vector <VERT_ENTRY> vert_master ((size_type)(Object.frames[frame].num_verts));
vert_master.reserve(Object.frames[frame].num_verts*2);
vector <int> v_faces((size_type)(Object.info.num_faces*3));
for (int i = 0; i < Object.info.num_faces; i++)
{
for (int v = 0; v < 3; v++)
{
VERT_ENTRY & ve = vert_master[Object.frames[frame].faces[i].vertexIndex[v]];
if (ve.original_index == -1) //first entry
{
ve.original_index = Object.frames[frame].faces[i].vertexIndex[v];
ve.norm_index = Object.frames[frame].faces[i].normalIndex[v];
ve.tex_index = Object.frames[frame].faces[i].textureIndex[v];
//if (ve.tex_index < 0)
assert(ve.tex_index >= 0);
v_faces[i*3+v] = Object.frames[frame].faces[i].vertexIndex[v];
//cout << "(first) face " << i << " vert " << v << " index: " << v_faces[i*3+v] << endl;
//cout << "first entry: " << ve.original_index << "," << ve.norm_index << "," << ve.tex_index << endl;
}
else
{
//see if we match the pre-existing entry
if (ve.norm_index == Object.frames[frame].faces[i].normalIndex[v] &&
ve.tex_index == Object.frames[frame].faces[i].textureIndex[v])
{
v_faces[i*3+v] = Object.frames[frame].faces[i].vertexIndex[v];
assert(ve.tex_index >= 0);
//cout << "(matched) face " << i << " vert " << v << " index: " << v_faces[i*3+v] << endl;
//cout << "matched entry: " << ve.original_index << "," << ve.norm_index << "," << ve.tex_index << endl;
}
else
{
//create a new entry
vert_master.push_back(VERT_ENTRY());
vert_master.back().original_index = Object.frames[frame].faces[i].vertexIndex[v];
vert_master.back().norm_index = Object.frames[frame].faces[i].normalIndex[v];
vert_master.back().tex_index = Object.frames[frame].faces[i].textureIndex[v];
assert(vert_master.back().tex_index >= 0);
v_faces[i*3+v] = vert_master.size()-1;
//cout << "(new) face " << i << " vert " << v << " index: " << v_faces[i*3+v] << endl;
//cout << "new entry: " << vert_master.back().original_index << "," << vert_master.back().norm_index << "," << vert_master.back().tex_index << " (" << ve.original_index << "," << ve.norm_index << "," << ve.tex_index << ")" << endl;
}
}
}
}
/*for (int i = 0; i < vert_master.size(); i++)
{
if (vert_master[i].original_index < 0)
std::cout << i << ", " << Object.frames[frame].num_verts << ", " << vert_master.size() << std::endl;
assert(vert_master[i].original_index >= 0);
}*/
float newvertnum = vert_master.size();
/*std::cout << modelpath << " (" << Object.info.num_faces << ") used to have " << Object.frames[frame].num_verts << " vertices, " <<
Object.frames[frame].num_normals << " normals, " << Object.frames[frame].num_texcoords
<< " tex coords, now it has " << newvertnum << " combo verts (combo indices)" << std::endl;*/
//now, fill up the vertices, normals, and texcoords
vector <float> v_vertices((size_type)(newvertnum*3));
vector <float> v_texcoords((size_type)(newvertnum*2));
vector <float> v_normals((size_type)(newvertnum*3));
for (int i = 0; i < newvertnum; ++i)
{
if (vert_master[i].original_index >= 0)
{
for (int d = 0; d < 3; d++)
v_vertices[i*3+d] = Object.frames[frame].verts[vert_master[i].original_index].vertex[d];
for (int d = 0; d < 3; d++)
v_normals[i*3+d] = Object.frames[frame].normals[vert_master[i].norm_index].vertex[d];
//std::cout << i << ", " << vert_master[i].tex_index << ", " << vert_master.size() << ", " << Object.frames[frame].num_texcoords << std::endl;
//assert(vert_master[i].tex_index >= 0);
//assert(vert_master[i].tex_index < Object.frames[frame].num_texcoords);
if (vert_master[i].tex_index < Object.frames[frame].num_texcoords)
{
v_texcoords[i*2+0] = Object.frames[frame].texcoords[vert_master[i].tex_index].u;
v_texcoords[i*2+1] = Object.frames[frame].texcoords[vert_master[i].tex_index].v;
}
else
{
v_texcoords[i*2+0] = 0;
v_texcoords[i*2+1] = 0;
}
}
}
/*for (int i = 0; i < newvertnum; i++)
cout << v_vertices[i*3] << "," << v_vertices[i*3+1] << "," << v_vertices[i*3+2] << endl;*/
//assign to our mesh
m_mesh.SetFaces(&v_faces[0], v_faces.size());
m_mesh.SetVertices(&v_vertices[0], v_vertices.size());
m_mesh.SetNormals(&v_normals[0], v_normals.size());
m_mesh.SetTexCoordSets(1);
m_mesh.SetTexCoords(0, &v_texcoords[0], v_texcoords.size());
}
bool BEZIER::IntersectQuadrilateralF(const MATHVECTOR<float,3> & orig, const MATHVECTOR<float,3> & dir,
const MATHVECTOR<float,3> & v_00, const MATHVECTOR<float,3> & v_10,
const MATHVECTOR<float,3> & v_11, const MATHVECTOR<float,3> & v_01,
float &t, float &u, float &v) const
{
const float EPSILON = 0.000001;
// Reject rays that are parallel to Q, and rays that intersect the plane
// of Q either on the left of the line V00V01 or below the line V00V10.
MATHVECTOR<float,3> E_01 = v_10 - v_00;
MATHVECTOR<float,3> E_03 = v_01 - v_00;
MATHVECTOR<float,3> P = dir.cross(E_03);
float det = E_01.dot(P);
if (std::abs(det) < EPSILON) return false;
MATHVECTOR<float,3> T = orig - v_00;
float alpha = T.dot(P) / det;
if (alpha < 0.0) return false;
MATHVECTOR<float,3> Q = T.cross(E_01);
float beta = dir.dot(Q) / det;
if (beta < 0.0) return false;
if (alpha + beta > 1.0)
{
// Reject rays that that intersect the plane of Q either on
// the right of the line V11V10 or above the line V11V00.
MATHVECTOR<float,3> E_23 = v_01 - v_11;
MATHVECTOR<float,3> E_21 = v_10 - v_11;
MATHVECTOR<float,3> P_prime = dir.cross(E_21);
float det_prime = E_23.dot(P_prime);
if (std::abs(det_prime) < EPSILON) return false;
MATHVECTOR<float,3> T_prime = orig - v_11;
float alpha_prime = T_prime.dot(P_prime) / det_prime;
if (alpha_prime < 0.0) return false;
MATHVECTOR<float,3> Q_prime = T_prime.cross(E_23);
float beta_prime = dir.dot(Q_prime) / det_prime;
if (beta_prime < 0.0) return false;
}
// Compute the ray parameter of the intersection point, and
// reject the ray if it does not hit Q.
t = E_03.dot(Q) / det;
if (t < 0.0) return false;
// Compute the barycentric coordinates of the fourth vertex.
// These do not depend on the ray, and can be precomputed
// and stored with the quadrilateral.
float alpha_11, beta_11;
MATHVECTOR<float,3> E_02 = v_11 - v_00;
MATHVECTOR<float,3> n = E_01.cross(E_03);
if ((std::abs(n[0]) >= std::abs(n[1]))
&& (std::abs(n[0]) >= std::abs(n[2])))
{
alpha_11 = ((E_02[1] * E_03[2]) - (E_02[2] * E_03[1])) / n[0];
beta_11 = ((E_01[1] * E_02[2]) - (E_01[2] * E_02[1])) / n[0];
}
else if ((std::abs(n[1]) >= std::abs(n[0]))
&& (std::abs(n[1]) >= std::abs(n[2])))
{
alpha_11 = ((E_02[2] * E_03[0]) - (E_02[0] * E_03[2])) / n[1];
beta_11 = ((E_01[2] * E_02[0]) - (E_01[0] * E_02[2])) / n[1];
}
else
{
alpha_11 = ((E_02[0] * E_03[1]) - (E_02[1] * E_03[0])) / n[2];
beta_11 = ((E_01[0] * E_02[1]) - (E_01[1] * E_02[0])) / n[2];
}
// Compute the bilinear coordinates of the intersection point.
if (std::abs(alpha_11 - (1.0)) < EPSILON)
{
// Q is a trapezium.
u = alpha;
if (std::abs(beta_11 - (1.0)) < EPSILON) v = beta; // Q is a parallelogram.
else v = beta / ((u * (beta_11 - (1.0))) + (1.0)); // Q is a trapezium.
}
else if (std::abs(beta_11 - (1.0)) < EPSILON)
{
// Q is a trapezium.
v = beta;
if ( ((v * (alpha_11 - (1.0))) + (1.0)) == 0 )
{
return false;
}
u = alpha / ((v * (alpha_11 - (1.0))) + (1.0));
}
else
{
float A = (1.0) - beta_11;
float B = (alpha * (beta_11 - (1.0)))
- (beta * (alpha_11 - (1.0))) - (1.0);
float C = alpha;
float D = (B * B) - ((4.0) * A * C);
if (D < 0) return false;
float Q = (-0.5) * (B + ((B < (0.0) ? (-1.0) : (1.0))
* std::sqrt(D)));
u = Q / A;
if ((u < (0.0)) || (u > (1.0))) u = C / Q;
v = beta / ((u * (beta_11 - (1.0))) + (1.0));
}
return true;
}
//-----------------------------------------------------------------------------------
void CAR::GraphsNewVals(double dt) // CAR
{
size_t gsi = pApp->graphs.size();
bool tireEdit = false;
// RANGE gui sld ..
//const Dbl fMAX = 9000.0, max_y = 80.0, max_x = 1.0;
//const Dbl fMAX = 7000.0, max_y = 180.0, max_x = 12.0, pow_x = 1.0;
//const Dbl fMAX = 7000.0, max_y = 5080.0, max_x = 502.0, pow_x = 5.5;
Dbl fMAX = pSet->te_yf, max_y = pSet->te_xfy, max_x = pSet->te_xfx, pow_x = pSet->te_xf_pow;
if (pApp->scn->sc->asphalt) max_y *= 0.5;
switch (pApp->pSet->graphs_type)
{
case Gh_BulletHit: /// bullet hit force,normvel, sndnum,scrap,screech
if (gsi >= 6)
{
const CARDYNAMICS& cd = dynamics;
pApp->graphs[0]->AddVal(std::min(1.f, cd.fHitForce * 2.f));
pApp->graphs[1]->AddVal(std::min(1.f, cd.fHitForce2));
pApp->graphs[2]->AddVal(std::min(1.f, cd.fHitForce3));
pApp->graphs[3]->AddVal(std::min(1.f, cd.fCarScrap));
pApp->graphs[4]->AddVal(std::min(1.f, cd.fCarScreech));
pApp->graphs[5]->AddVal(cd.fHitDmgA);
}
break;
case Gh_CarAccelG: /// car accel x,y,z
if (gsi >= 3)
{
MATHVECTOR<Dbl,3> v = dynamics.body.GetForce();
(-dynamics.Orientation()).RotateVector(v);
float m = dynamics.body.GetMass();
//LogO("mass: "+fToStr(m,1,5)+" x: "+fToStr(v[0]/m,2,4)+" y: "+fToStr(v[1]/m,2,4)+" z: "+fToStr(v[2]/m,2,4));
for (int i=0; i < 3; ++i)
pApp->graphs[i]->AddVal( std::max(0.f, std::min(1.f, float(
v[i]/m *0.63f /9.81f/3.f + (i==2 ? 0.f : 0.5f) ) )));
} break;
case Gh_CamBounce: /// cam bounce x,y,z
if (gsi >= 3)
{
const MATHVECTOR<Dbl,3> v = dynamics.cam_body.GetPosition();
for (int i=0; i < 3; ++i)
pApp->graphs[i]->AddVal( std::max(0.f, std::min(1.f,
(float)v[i] * 3.f + 0.5f)));
} break;
case Gh_TireSlips: /// tire slide,slip
if (gsi >= 8)
for (int i=0; i < 4; ++i)
{
pApp->graphs[i]->AddVal(negPow(dynamics.wheel[i].slips.slideratio, 0.2) * 0.12f +0.5f);
//pApp->graphs[i]->AddVal(dynamics.wheel[i].slips.slide * 0.1f +0.5f);
pApp->graphs[i+4]->AddVal(dynamics.wheel[i].slips.slipratio * 0.1f +0.5f);
} break;
case Gh_Suspension: /// suspension
if (gsi >= 8)
for (int i=0; i < 4; ++i)
{
const CARSUSPENSION& susp = dynamics.GetSuspension((WHEEL_POSITION)i);
pApp->graphs[i+4]->AddVal( dynamics.hover ?
susp.GetVelocity() * 0.2f +0.5f : negPow(susp.GetVelocity(), 0.5) * 0.2f +0.5f);
pApp->graphs[i]->AddVal(susp.GetDisplacementPercent());
} break;
case Gh_TorqueCurve: /// torque curves, gears
//. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
{ static int ii = 0; ++ii; // skip upd cntr
if (ii >= 1/*! 10*/ && gsi >= 6*2)
{ ii = 0;
const CARDYNAMICS& d = dynamics;
const Dbl fin = d.diff_center.GetFinalDrive();
const Dbl r = 1.0 / (2 * PI_d * d.wheel[0].GetRadius());
String s0=" ratio\n", s1="rpmLow\n", s2="velMax\n"; // text legend
for (int i=0; i < 6; ++i)
{
int g = i+1;
bool bValid = i < d.transmission.GetForwardGears();
bool bCur = (g == GetGear()) && d.clutch.IsLocked();
const Dbl gr = bValid ? d.transmission.GetGearRatio(g) : 0.01, grfin = gr * fin;
Dbl engRpm = d.engine.GetRPM();
Dbl downRpm = i>0 ? d.DownshiftRPM(g) : d.engine.GetStartRPM();
Dbl rmax = d.engine.GetRpmMax(),
rmin = d.engine.GetStartRPM(), rng = rmax-rmin;
Dbl rpmOld = 0;
// graph ------
for (int x = 0; x < 512; ++x)
{
// 100 kmh = 28 car.m/s = 15 wh.rps = 102 eng.rps = 6100 eng.rpm
// / 3.6 /1.95 (2*PI*r) *6.87 ratio = (3.9 * 1.76) 3rd gear
Dbl xx = x/511.0; // 0..1
Dbl vel = xx * 250.0 / 3.6; // 250 kmh max, in m/s
Dbl whrps = vel * r; // wheel revs per sec
Dbl rpm = whrps * grfin * 60.0; // engine rpm
Dbl tq = gr * d.engine.GetTorqueCurve(1.0, rpm);
if (rpm > rmax) tq = 0.0; if (rpm < rmin) tq = 0.0; // lines down ||
Dbl v = tq / 2400.0; // 2400 max
if (bCur && engRpm > rpmOld && engRpm <= rpm) // cur rpm mark ^
v = 1.0;
pApp->graphs[i]->AddVal(v); // torque
if (i>0)
{ v = rpm < downRpm //downRpm > rpmOld && downRpm <= rpm
? 0.0 : std::max(0.0, std::min(1.0, (rpm-rmin)/rng )); // rpm range
pApp->graphs[i+6]->AddVal(v); }
rpmOld = rpm;
}
pApp->graphs[i]->SetUpdate();
if (i>0)
pApp->graphs[i+6]->SetUpdate();
// text ------
if (bValid)
{
Dbl velMax = 3.6 * d.engine.GetRpmMax() / (grfin * 60.0) / r;
if (!bValid) velMax = 0;
s0 += toStr(g)+": "+fToStr(gr,3,5)+"\n";
s1 += fToStr(downRpm,0,4)+"\n";
s2 += fToStr(velMax,0,3)+"\n";
}
}
s0 += " final\n "+fToStr(fin,3,5);
pApp->graphs[0]->UpdTitle(s0); pApp->graphs[1]->UpdTitle(s1); pApp->graphs[2]->UpdTitle(s2);
} } break;
case Gh_Engine: /// engine torque, power
{ static int ii = 0; ++ii; // skip upd cntr
if (ii >= 10 && gsi >= 2)
{ ii = 0;
const CARENGINE& eng = dynamics.engine;
float maxTrq = 0.f, maxPwr = 0.f;
int rpmMaxTq = 0, rpmMaxPwr = 0;
float rmin = eng.GetStartRPM(), rmax = eng.GetRpmMax(), rng = rmax - rmin;
for (int x = 0; x < 512; ++x)
{
float r = x/512.f * rng + rmin;
float tq = eng.GetTorqueCurve(1.0, r);
float pwr = tq * 2.0 * PI_d * r / 60.0 * 0.001 * 1.341; //kW // 1kW = 1.341 bhp
if (tq > maxTrq) { maxTrq = tq; rpmMaxTq = r; }
if (pwr > maxPwr) { maxPwr = pwr; rpmMaxPwr = r; }
pApp->graphs[0]->AddVal( tq / 600.0 );
pApp->graphs[1]->AddVal( pwr / 600.0 );
}
pApp->graphs[0]->SetUpdate();
pApp->graphs[1]->SetUpdate();
//pApp->graphs[0]->UpdTitle(ss);
} } break;
case Gh_Clutch: /// clutch,rpm,gears
if (gsi >= 4)
{
const CARENGINE& eng = dynamics.engine;
const CARCLUTCH& clu = dynamics.clutch;
pApp->graphs[0]->AddVal(eng.GetRPM() / 7500.0);
#if 0
MATHVECTOR<Dbl,3> vel = dynamics.GetVelocity(), vx(1,0,0);
dynamics.Orientation().RotateVector(vx);
Dbl d = vel.dot(vx),
velCar = vel.Magnitude() * (d >= 0.0 ? 1 : -1), velWh = dynamics.GetSpeedMPS();
//pApp->graphs[1]->AddVal(velCar * 0.02f));
//pApp->graphs[2]->AddVal(velWh * 0.02f);
if (velWh < 1.1f && velWh > -1.1f)
d = 1.f;
else
d = fabs(velCar >= velWh ? velCar/velWh : velWh/velCar);
pApp->graphs[2]->AddVal(/*std::min(1.f, std::max(1.f,*/ d * 0.5f);
#else
pApp->graphs[1]->AddVal(clu.GetClutch() * 0.3f + 0.15f);
pApp->graphs[2]->AddVal(clu.IsLocked() ? 0.15f : 0.f);
#endif
pApp->graphs[3]->AddVal(GetGear() / 6.f);
} break;
case Gh_Diffs: /// differentials
if (gsi >= 6)
for (int i=0; i < 3*2; ++i)
{
CARDIFFERENTIAL* diff;
switch (i%3)
{
case 0: diff = &dynamics.diff_front; break;
case 1: diff = &dynamics.diff_rear; break;
case 2: diff = &dynamics.diff_center; break;
}
Dbl d;
if (i/3==0) {
d = diff->GetSide1Speed() - diff->GetSide2Speed();
d = negPow(d, 0.4)*0.07 + 0.5; } // blue
else {
d = diff->GetSide1Torque() - diff->GetSide2Torque();
d = d*0.0004 + 0.5; } // orange
pApp->graphs[i]->AddVal(d);
} break;
case Gh_TireEdit: /// tire pacejka
//. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
{ static int ii = 0; ++ii; // skip upd cntr
const int im = pApp->iUpdTireGr > 0 ? 2 : 8; // faster when editing val
if (ii >= im && gsi >= TireNG*2)
{ ii = 0; pApp->iUpdTireGr = 0;
const CARTIRE* tire = dynamics.GetTire(FRONT_LEFT);
Dbl* ft = new Dbl[TireLenG];
Dbl fmin, fmax, frng, maxF;
const bool common = 1; // common range for all
const bool cust = 1;
/// Fy lateral --
for (int i=0; i < TireNG; ++i)
{
bool comi = common || i == 0;
if (comi)
{ fmin = FLT_MAX; fmax = FLT_MIN; frng = 0.0; }
for (int x=0; x < TireLenG; ++x)
{ Dbl x0 = Dbl(x) / TireLenG; //Dbl yy = max_y * 2.0 * (x-LEN*0.5) / LEN;
Dbl yy = max_y * pow(x0, pow_x);
Dbl n = (TireNG-1-i+1) * 0.65;
Dbl fy = !pApp->iTireLoad ? tire->Pacejka_Fy(yy, n, 0, 1.0, maxF) // normF
: tire->Pacejka_Fy(yy, 3, n-2, 1.0, maxF); // camber
ft[x] = fy;
if (comi) // get min, max
{ if (fy < fmin) fmin = fy;
if (fy > fmax) fmax = fy; }
}
if (comi) // get range
frng = 1.0 / (fmax - fmin);
if (cust)
{ fmax = fMAX; fmin = 0.0; frng = 1.0 / (fmax - fmin); }
for (int x = 0; x < TireLenG; ++x)
pApp->graphs[i]->AddVal( (ft[x] - fmin) * frng );
pApp->graphs[i]->SetUpdate();
if (i==0)
pApp->graphs[i]->UpdTitle("Fy Lateral--\n"
"max y "+fToStr((float)fmax,0,1)+" x "+fToStr(max_y,0,1)+"\n");
}
/// Fx long |
for (int i=0; i < TireNG; ++i)
{
bool comi = common || i == 0;
if (comi)
{ fmin = FLT_MAX; fmax = FLT_MIN; frng = 0.0; }
for (int x=0; x < TireLenG; ++x)
{ Dbl x0 = Dbl(x) / TireLenG;
Dbl xx = max_x * pow(x0, pow_x);
Dbl n = (TireNG-1-i+1) * 0.65;
Dbl fx = pApp->iEdTire != 2 ? tire->Pacejka_Fx(xx, n, 1.0, maxF) // normF
: (!pApp->iTireLoad ? tire->Pacejka_Mz(xx, 0, n, 0.0, 1.0, maxF) // align- norm
: tire->Pacejka_Mz(0, xx, n, 0.0, 1.0, maxF)); // align- camber
ft[x] = fx;
if (comi) // get min, max
{ if (fx < fmin) fmin = fx;
if (fx > fmax) fmax = fx; }
}
if (comi) // get range
frng = 1.0 / (fmax - fmin);
if (cust)
{ fmax = fMAX; fmin = 0.0; frng = 1.0 / (fmax - fmin); }
for (int x = 0; x < TireLenG; ++x)
pApp->graphs[i+TireNG]->AddVal( (ft[x] - fmin) * frng );
pApp->graphs[i+TireNG]->SetUpdate();
if (i==0)
pApp->graphs[i+TireNG]->UpdTitle("Fx Longit |\n"
"max y "+fToStr((float)fmax,0,1)+" x "+fToStr(max_x,0,1)+"\n");
}
delete[]ft;
}
} tireEdit = true;
break;
case Gh_Tires4Edit: /// all tires pacejka vis, edit
//. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
{ static int ii = 0; ++ii; // skip upd cntr
const int im = 1; //pApp->iUpdTireGr > 0 ? 2 : 8; // faster when editing val
if (ii >= im && gsi >= TireNG*2)
{ ii = 0; pApp->iUpdTireGr = 0;
Dbl* ft = new Dbl[TireLenG];
Dbl fmin, fmax, frng, maxF;
const bool common = 1; // common range for all
const bool cust = 1;
/// Fy lateral -- ........
for (int i=0; i < TireNG; ++i)
{
WHEEL_POSITION wp = (WHEEL_POSITION)i;
const CARTIRE* tire = dynamics.GetTire(wp);
const CARWHEEL& wh = dynamics.GetWheel(wp);
const CARWHEEL::SlideSlip& t = wh.slips;
bool comi = common || i == 0;
if (comi)
{ fmin = FLT_MAX; fmax = FLT_MIN; frng = 0.0; }
Dbl yyo=0;
for (int x=0; x < TireLenG; ++x)
{ Dbl x0 = Dbl(x) / TireLenG;
Dbl yy = max_y * pow(x0, pow_x);
Dbl fy = fabs(t.fy_ar * tire->Pacejka_Fy(yy, t.Fz, t.gamma, t.frict, maxF));
if (t.fy_rar > yyo && t.fy_rar <= yy)
fy = 0.0; // cur mark |
yyo = yy;
ft[x] = fy;
if (comi) // get min, max
{ if (fy < fmin) fmin = fy;
if (fy > fmax) fmax = fy; }
}
if (comi) // get range
frng = 1.0 / (fmax - fmin);
if (cust)
{ fmax = fMAX; fmin = 0.0; frng = 1.0 / (fmax - fmin); }
for (int x = 0; x < TireLenG; ++x)
pApp->graphs[i]->AddVal( (ft[x] - fmin) * frng );
pApp->graphs[i]->SetUpdate();
if (i==0)
pApp->graphs[i]->UpdTitle("Fy Lateral -- "
/*"max y "+fToStr((float)fmax,0,1)+" x "+fToStr(max_y,0,1)+"\n"/**/);
}
/// Fx long | ........
for (int i=0; i < TireNG; ++i)
{
WHEEL_POSITION wp = (WHEEL_POSITION)i;
const CARTIRE* tire = dynamics.GetTire(wp);
const CARWHEEL& wh = dynamics.GetWheel(wp);
const CARWHEEL::SlideSlip& t = wh.slips;
bool comi = common || i == 0;
if (comi)
{ fmin = FLT_MAX; fmax = FLT_MIN; frng = 0.0; }
Dbl xxo=0;
for (int x=0; x < TireLenG; ++x)
{ Dbl x0 = Dbl(x) / TireLenG;
Dbl xx = max_x * pow(x0, pow_x);
Dbl fx = fabs(t.fx_sr * tire->Pacejka_Fx(xx, t.Fz, t.frict, maxF));
if (t.fx_rsr > xxo && t.fx_rsr <= xx)
fx = 0.0; // cur mark |
xxo = xx;
ft[x] = fx;
if (comi) // get min, max
{ if (fx < fmin) fmin = fx;
if (fx > fmax) fmax = fx; }
}
if (comi) // get range
frng = 1.0 / (fmax - fmin);
if (cust)
{ fmax = fMAX; fmin = 0.0; frng = 1.0 / (fmax - fmin); }
for (int x = 0; x < TireLenG; ++x)
pApp->graphs[i+TireNG]->AddVal( (ft[x] - fmin) * frng );
pApp->graphs[i+TireNG]->SetUpdate();
if (i==0)
pApp->graphs[i+TireNG]->UpdTitle("Fx Longit | "
/*"max y "+fToStr((float)fmax,0,1)+" x "+fToStr(max_x,0,1)+"\n"/**/);
}
delete[]ft;
}
} tireEdit = true;
break;
}
if (tireEdit)
{ const CGui* g = pApp->gui;
const CARTIRE* tire = dynamics.GetTire(FRONT_LEFT);
String ss,sd;
if (pApp->iEdTire == 0)
{
ss += "#A0F0FF--Lateral--\n"; sd += g->sCommon;
for (int i=0; i < tire->lateral.size(); ++i)
{
float f = tire->lateral[i];
char p = f > 100 ? 0 : (f > 10 ? 1 : (f > 1 ? 2 : 3));
bool cur = (i == pApp->iCurLat);
ss += cur ? "#A0EEFF" : "#E0FFFF";
ss += g->csLateral[i][0] +" "+ fToStr(f, p,5);
ss += cur ? " <\n" : "\n";
sd += g->csLateral[i][1] +"\n";
}
ss += "\n#C0F0F0alpha hat\n";
int z = (int)tire->alpha_hat.size()-1;
ss += " "+fToStr( tire->alpha_hat[0], 3,5) + "\n";
ss += " "+fToStr( tire->alpha_hat[z/2], 3,5) + "\n";
ss += " "+fToStr( tire->alpha_hat[z], 3,5) + "\n";
}
else if (pApp->iEdTire == 1)
{
ss += "#FFFF70| Longit |\n"; sd += g->sCommon;
for (int i=0; i < tire->longitudinal.size(); ++i)
{
float f = tire->longitudinal[i];
char p = f > 100 ? 0 : (f > 10 ? 1 : (f > 1 ? 2 : 3));
bool cur = (i == pApp->iCurLong);
ss += cur ? "#FFE090" : "#FFFFD0";
ss += g->csLongit[i][0] +" "+ fToStr(f, p,5);
ss += cur ? " <\n" : "\n";
sd += g->csLongit[i][1] +"\n";
}
ss += "\n#F0F0C0sigma hat\n";
int z = (int)tire->sigma_hat.size()-1;
ss += " "+fToStr( tire->sigma_hat[0], 3,5) + "\n";
ss += " "+fToStr( tire->sigma_hat[z/2], 3,5) + "\n";
ss += " "+fToStr( tire->sigma_hat[z], 3,5) + "\n";
}
pApp->graphs[gsi-2]->UpdTitle(ss);
pApp->graphs[gsi-1]->UpdTitle(sd);
}
}
void CarModel::LoadConfig(const std::string & pathCar)
{
Defaults();
/// load -----
CONFIGFILE cf;
if (!cf.Load(pathCar))
{ LogO("!! CarModel: Can't load .car "+pathCar); return; }
//- custom interior model offset
cf.GetParam("model_ofs.interior-x", interiorOffset[0]);
cf.GetParam("model_ofs.interior-y", interiorOffset[1]);
cf.GetParam("model_ofs.interior-z", interiorOffset[2]);
cf.GetParam("model_ofs.rot_fix", bRotFix);
//~ boost offset
cf.GetParam("model_ofs.boost-x", boostOffset[0]);
cf.GetParam("model_ofs.boost-y", boostOffset[1]);
cf.GetParam("model_ofs.boost-z", boostOffset[2]);
cf.GetParam("model_ofs.boost-size-z", boostSizeZ);
cf.GetParam("model_ofs.boost-name", sBoostParName);
// thruster spaceship hover
cf.GetParam("model_ofs.thrust-x", thrusterOfs[0]);
cf.GetParam("model_ofs.thrust-y", thrusterOfs[1]);
cf.GetParam("model_ofs.thrust-z", thrusterOfs[2]);
cf.GetParam("model_ofs.thrust-size-z", thrusterSizeZ);
cf.GetParam("model_ofs.thrust-name", sThrusterPar);
//~ brake flares
float pos[3]; bool ok=true; int i=0;
while (ok)
{ ok = cf.GetParam("flares.brake-pos"+toStr(i), pos); ++i;
if (ok) brakePos.push_back(bRotFix ? Vector3(-pos[0],pos[2],pos[1]) : Vector3(-pos[1],-pos[2],pos[0]));
}
cf.GetParam("flares.brake-color", pos);
brakeClr = ColourValue(pos[0],pos[1],pos[2]);
cf.GetParam("flares.brake-size", brakeSize);
//- custom exhaust pos for boost particles
if (cf.GetParam("model_ofs.exhaust-x", exhaustPos[0]))
{
manualExhaustPos = true;
cf.GetParam("model_ofs.exhaust-y", exhaustPos[1]);
cf.GetParam("model_ofs.exhaust-z", exhaustPos[2]);
}else
manualExhaustPos = false;
if (!cf.GetParam("model_ofs.exhaust-mirror-second", has2exhausts))
has2exhausts = false;
//- load cameras pos
cf.GetParam("driver.view-position", pos, pGame->error_output);
driver_view[0]=pos[1]; driver_view[1]=-pos[0]; driver_view[2]=pos[2];
cf.GetParam("driver.hood-position", pos, pGame->error_output);
hood_view[0]=pos[1]; hood_view[1]=-pos[0]; hood_view[2]=pos[2];
// tire params
WHEEL_POSITION leftside = FRONT_LEFT, rightside = FRONT_RIGHT;
float value;
bool both = cf.GetParam("tire-both.radius", value);
std::string posstr = both ? "both" : "front";
for (int p = 0; p < 2; ++p)
{
if (p == 1)
{
leftside = REAR_LEFT;
rightside = REAR_RIGHT;
if (!both) posstr = "rear";
}
float radius;
cf.GetParam("tire-"+posstr+".radius", radius, pGame->error_output);
whRadius[leftside] = radius;
whRadius[rightside] = radius;
float width = 0.2f;
cf.GetParam("tire-"+posstr+".width-trail", width);
whWidth[leftside] = width;
whWidth[rightside] = width;
}
// wheel pos
// for track's ghost or garage view
int version(1);
cf.GetParam("version", version);
for (int i = 0; i < 4; ++i)
{
std::string sPos;
if (i == 0) sPos = "FL";
else if (i == 1) sPos = "FR";
else if (i == 2) sPos = "RL";
else sPos = "RR";
float pos[3];
MATHVECTOR<float,3> vec;
cf.GetParam("wheel-"+sPos+".position", pos, pGame->error_output);
if (version == 2) ConvertV2to1(pos[0],pos[1],pos[2]);
vec.Set(pos[0],pos[1], pos[2]);
whPos[i] = vec;
}
// steer angle
maxangle = 26.f;
cf.GetParam("steering.max-angle", maxangle, pGame->error_output);
maxangle *= pGame->GetSteerRange();
}
void MODEL::GenerateMeshMetrics()
{
float maxv[3] = {0, 0, 0};
float minv[3] = {0, 0, 0};
bool havevals[6];
for ( int n = 0; n < 6; n++ )
havevals[n] = false;
const float * verts;
int vnum;
mesh.GetVertices(verts, vnum);
vnum = vnum / 3;
for ( int v = 0; v < vnum; v++ )
{
MATHVECTOR <float, 3> temp;
temp.Set ( verts + v*3 );
//cout << verts[v*3] << "," << verts[v*3+1] << "," << verts[v*3+2] << endl;
//cache for bbox stuff
for ( int n = 0; n < 3; n++ )
{
if (!havevals[n])
{
maxv[n] = temp[n];
havevals[n] = true;
}
else if (temp[n] > maxv[n])
maxv[n] = temp[n];
if (!havevals[n+3])
{
minv[n] = temp[n];
havevals[n+3] = true;
}
else if (temp[n] < minv[n])
minv[n] = temp[n];
}
float r = temp.Magnitude();
MATHVECTOR <float, 2> tempxz;
tempxz.Set(temp[0], temp[2]);
float rxz = tempxz.Magnitude();
if ( r > radius )
radius = r;
if ( rxz > radiusxz )
radiusxz = rxz;
}
bboxmin.Set(minv[0], minv[1], minv[2]);
bboxmax.Set(maxv[0], maxv[1], maxv[2]);
MATHVECTOR <float, 3> center;
center = (bboxmin + bboxmax)*0.5;
radius = (bboxmin - center).Magnitude();
MATHVECTOR <float, 3> minv_noy = bboxmin;
minv_noy[1] = 0;
center[1] = 0;
radiusxz = (minv_noy - center).Magnitude();
generatedmetrics = true;
}
//-----------------------------------------------------------------------------------
void CAR::GraphsNewVals(double dt) // CAR
{
size_t gsi = pApp->graphs.size();
if (pApp->pSet->graphs_type != Gh_TireEdit)
switch (pApp->pSet->graphs_type)
{
case Gh_BulletHit: /// bullet hit force,normvel, sndnum,scrap,screech
if (gsi >= 6)
{
const CARDYNAMICS& cd = dynamics;
pApp->graphs[0]->AddVal(std::min(1.f, cd.fHitForce * 2.f));
pApp->graphs[1]->AddVal(std::min(1.f, cd.fHitForce2));
pApp->graphs[2]->AddVal(std::min(1.f, cd.fHitForce3));
pApp->graphs[3]->AddVal(std::min(1.f, cd.fCarScrap));
pApp->graphs[4]->AddVal(std::min(1.f, cd.fCarScreech));
pApp->graphs[5]->AddVal(cd.fHitDmgA);
}
break;
case Gh_CarAccelG: /// car accel x,y,z
if (gsi >= 3)
{
MATHVECTOR<Dbl,3> v = dynamics.body.GetForce();
(-dynamics.Orientation()).RotateVector(v);
float m = dynamics.body.GetMass();
//LogO("mass: "+fToStr(m,1,5)+" x: "+fToStr(v[0]/m,2,4)+" y: "+fToStr(v[1]/m,2,4)+" z: "+fToStr(v[2]/m,2,4));
for (int i=0; i < 3; ++i)
pApp->graphs[i]->AddVal( std::max(0.f, std::min(1.f, float(
v[i]/m *0.63f /9.81f/3.f + (i==2 ? 0.f : 0.5f) ) )));
} break;
case Gh_TireSlips: /// tire slide,slip
if (gsi >= 8)
for (int i=0; i < 4; ++i)
{
pApp->graphs[i]->AddVal(negPow(dynamics.wheel[i].slips.slideratio, 0.2) * 0.12f +0.5f);
//pApp->graphs[i]->AddVal(dynamics.wheel[i].slips.slide * 0.1f +0.5f);
pApp->graphs[i+4]->AddVal(dynamics.wheel[i].slips.slipratio * 0.1f +0.5f);
} break;
case Gh_Suspension: /// suspension
if (gsi >= 8)
for (int i=0; i < 4; ++i)
{
const CARSUSPENSION& susp = dynamics.GetSuspension((WHEEL_POSITION)i);
pApp->graphs[i+4]->AddVal(negPow(susp.GetVelocity(), 0.5) * 0.2f +0.5f);
pApp->graphs[i]->AddVal(susp.GetDisplacementPercent());
} break;
case Gh_TorqueCurve: /// torque curves, gears
//. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
{ static int ii = 0; ++ii; // skip upd cntr
if (ii >= 1/*! 10*/ && gsi >= 6*2)
{ ii = 0;
const CARDYNAMICS& d = dynamics;
const Dbl fin = d.diff_center.GetFinalDrive();
const Dbl r = 1.0 / (2 * PI_d * d.wheel[0].GetRadius());
String s0=" ratio\n", s1="rpmLow\n", s2="velMax\n"; // text legend
for (int i=0; i < 6; ++i)
{
int g = i+1;
bool bValid = i < d.transmission.GetForwardGears();
bool bCur = (g == GetGear()) && d.clutch.IsLocked();
const Dbl gr = bValid ? d.transmission.GetGearRatio(g) : 0.01, grfin = gr * fin;
Dbl engRpm = d.engine.GetRPM();
Dbl downRpm = i>0 ? d.DownshiftRPM(g) : d.engine.GetStartRPM();
Dbl rmax = d.engine.GetRpmMax(),
rmin = d.engine.GetStartRPM(), rng = rmax-rmin;
Dbl rpmOld = 0;
// graph ------
for (int x = 0; x < 512; ++x)
{
// 100 kmh = 28 car.m/s = 15 wh.rps = 102 eng.rps = 6100 eng.rpm
// / 3.6 /1.95 (2*PI*r) *6.87 ratio = (3.9 * 1.76) 3rd gear
Dbl xx = x/511.0; // 0..1
Dbl vel = xx * 250.0 / 3.6; // 250 kmh max, in m/s
Dbl whrps = vel * r; // wheel revs per sec
Dbl rpm = whrps * grfin * 60.0; // engine rpm
Dbl tq = gr * d.engine.GetTorqueCurve(1.0, rpm);
if (rpm > rmax) tq = 0.0; if (rpm < rmin) tq = 0.0; // lines down ||
Dbl v = tq / 2400.0; // 2400 max
if (bCur && engRpm > rpmOld && engRpm <= rpm) // cur rpm mark ^
v = 1.0;
pApp->graphs[i]->AddVal(v); // torque
if (i>0)
{ v = rpm < downRpm //downRpm > rpmOld && downRpm <= rpm
? 0.0 : std::max(0.0, std::min(1.0, (rpm-rmin)/rng )); // rpm range
pApp->graphs[i+6]->AddVal(v); }
rpmOld = rpm;
}
pApp->graphs[i]->SetUpdate();
if (i>0)
pApp->graphs[i+6]->SetUpdate();
// text ------
if (bValid)
{
Dbl velMax = 3.6 * d.engine.GetRpmMax() / (grfin * 60.0) / r;
if (!bValid) velMax = 0;
s0 += toStr(g)+": "+fToStr(gr,3,5)+"\n";
s1 += fToStr(downRpm,0,4)+"\n";
s2 += fToStr(velMax,0,3)+"\n";
}
}
s0 += " final\n "+fToStr(fin,3,5);
pApp->graphs[0]->UpdTitle(s0); pApp->graphs[1]->UpdTitle(s1); pApp->graphs[2]->UpdTitle(s2);
} } break;
case Gh_Engine: /// engine torque, power
{ static int ii = 0; ++ii; // skip upd cntr
if (ii >= 10 && gsi >= 2)
{ ii = 0;
const CARENGINE& eng = dynamics.engine;
float maxTrq = 0.f, maxPwr = 0.f;
int rpmMaxTq = 0, rpmMaxPwr = 0;
float rmin = eng.GetStartRPM(), rmax = eng.GetRpmMax(), rng = rmax - rmin;
for (int x = 0; x < 512; ++x)
{
float r = x/512.f * rng + rmin;
float tq = eng.GetTorqueCurve(1.0, r);
float pwr = tq * 2.0 * PI_d * r / 60.0 * 0.001 * 1.341; //kW // 1kW = 1.341 bhp
if (tq > maxTrq) { maxTrq = tq; rpmMaxTq = r; }
if (pwr > maxPwr) { maxPwr = pwr; rpmMaxPwr = r; }
pApp->graphs[0]->AddVal( tq / 600.0 );
pApp->graphs[1]->AddVal( pwr / 600.0 );
}
pApp->graphs[0]->SetUpdate();
pApp->graphs[1]->SetUpdate();
//pApp->graphs[0]->UpdTitle(ss);
} } break;
case Gh_Clutch: /// clutch,rpm,gears
if (gsi >= 4)
{
const CARENGINE& eng = dynamics.engine;
const CARCLUTCH& clu = dynamics.clutch;
pApp->graphs[0]->AddVal(eng.GetRPM() / 7500.0);
#if 0
MATHVECTOR<Dbl,3> vel = dynamics.GetVelocity(), vx(1,0,0);
dynamics.Orientation().RotateVector(vx);
Dbl d = vel.dot(vx),
velCar = vel.Magnitude() * (d >= 0.0 ? 1 : -1), velWh = dynamics.GetSpeedMPS();
//pApp->graphs[1]->AddVal(velCar * 0.02f));
//pApp->graphs[2]->AddVal(velWh * 0.02f);
if (velWh < 1.1f && velWh > -1.1f)
d = 1.f;
else
d = fabs(velCar >= velWh ? velCar/velWh : velWh/velCar);
pApp->graphs[2]->AddVal(/*std::min(1.f, std::max(1.f,*/ d * 0.5f);
#else
pApp->graphs[1]->AddVal(clu.GetClutch() * 0.3f + 0.15f);
pApp->graphs[2]->AddVal(clu.IsLocked() ? 0.15f : 0.f);
#endif
pApp->graphs[3]->AddVal(GetGear() / 6.f);
} break;
case Gh_Diffs: /// differentials
if (gsi >= 6)
for (int i=0; i < 3*2; ++i)
{
CARDIFFERENTIAL* diff;
switch (i%3)
{
case 0: diff = &dynamics.diff_front; break;
case 1: diff = &dynamics.diff_rear; break;
case 2: diff = &dynamics.diff_center; break;
}
Dbl d;
if (i/3==0) {
d = diff->GetSide1Speed() - diff->GetSide2Speed();
d = negPow(d, 0.4)*0.07 + 0.5; } // blue
else {
d = diff->GetSide1Torque() - diff->GetSide2Torque();
d = d*0.0004 + 0.5; } // orange
pApp->graphs[i]->AddVal(d);
} break;
}
else ///Gh_TireEdit: /// tire pacejka
//. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
{ static int ii = 0; ++ii; // skip upd cntr
const int im = pApp->iUpdTireGr > 0 ? 2 : 8; // faster when editing val
if (ii >= im && gsi >= TireNG*2)
{ ii = 0; pApp->iUpdTireGr = 0;
const CARTIRE* tire = dynamics.GetTire(FRONT_LEFT);
Dbl* ft = new Dbl[TireLenG];
Dbl fmin, fmax, frng, maxF;
const bool common = 1; // common range for all
const bool cust = 1;
// RANGE gui sld ..
const Dbl fMAX = 9000.0, max_y = pApp->sc->asphalt ? 40.0 : 80.0, max_x = 1.0;
/// Fy lateral --
for (int i=0; i < TireNG; ++i)
{
bool comi = common || i == 0;
if (comi)
{ fmin = FLT_MAX; fmax = FLT_MIN; frng = 0.0; }
for (int x=0; x < TireLenG; ++x)
{
//Dbl yy = max_y * 2.0 * (x-LEN*0.5) / LEN;
Dbl yy = max_y * x / TireLenG;
Dbl n = (TireNG-1-i+1) * 0.65;
Dbl fy = !pApp->iTireLoad ? tire->Pacejka_Fy(yy, n, 0, 1.0, maxF) // normF
: tire->Pacejka_Fy(yy, 3, n-2, 1.0, maxF); // camber
ft[x] = fy;
if (comi) // get min, max
{ if (fy < fmin) fmin = fy;
if (fy > fmax) fmax = fy; }
}
if (comi) // get range
frng = 1.0 / (fmax - fmin);
if (cust)
{ fmax = fMAX; fmin = 0.0; frng = 1.0 / (fmax - fmin); }
for (int x = 0; x < TireLenG; ++x)
pApp->graphs[i]->AddVal( (ft[x] - fmin) * frng );
pApp->graphs[i]->SetUpdate();
if (i==0)
pApp->graphs[i]->UpdTitle("Fy Lateral--\n" //#33FF77
//"min: "+fToStr((float)fmin,2,4)+"\n"+
"max y "+fToStr((float)fmax,0,1)+
" x "+fToStr(max_y,0,1)+"\n");
}
/// Fx long |
for (int i=0; i < TireNG; ++i)
{
bool comi = common || i == 0;
if (comi)
{ fmin = FLT_MAX; fmax = FLT_MIN; frng = 0.0; }
for (int x=0; x < TireLenG; ++x)
{
//Dbl xx = max_x * 2.0 * (x-LEN*0.5) / LEN;
Dbl xx = max_x * x / TireLenG;
Dbl n = (TireNG-1-i+1) * 0.65;
Dbl fx = pApp->iEdTire != 2 ? tire->Pacejka_Fx(xx, n, 1.0, maxF) // normF
: (!pApp->iTireLoad ? tire->Pacejka_Mz(xx, 0, n, 0.0, 1.0, maxF) // align- norm
: tire->Pacejka_Mz(0, xx, n, 0.0, 1.0, maxF)); // align- camber
ft[x] = fx;
if (comi) // get min, max
{ if (fx < fmin) fmin = fx;
if (fx > fmax) fmax = fx; }
}
if (comi) // get range
frng = 1.0 / (fmax - fmin);
if (cust)
{ fmax = fMAX; fmin = 0.0; frng = 1.0 / (fmax - fmin); }
for (int x = 0; x < TireLenG; ++x)
pApp->graphs[i+TireNG]->AddVal( (ft[x] - fmin) * frng );
pApp->graphs[i+TireNG]->SetUpdate();
if (i==0)
pApp->graphs[i+TireNG]->UpdTitle("Fx Longit |\n"
//"min: "+fToStr((float)fmin,2,4)+"\n"+
"max y "+fToStr((float)fmax,0,1)+
" x "+fToStr(max_x,0,1)+"\n");
}
delete[]ft;
// update edit values text and descr
///----------------------------------------------------
const static String sLateral[15][2] = {
" a0","#F0FFFFShape factor",
" a1","#C0E0FFLoad infl. on friction coeff",
" a2","#F0FFFFLateral friction coeff at load = 0",
" a3","#F0FFFFMaximum stiffness",
" a4","#F0FFFFLoad at maximum stiffness",
" a5","#C0E0FF-Camber infl. on stiffness",
" a6","Curvature change with load",
" a7","Curvature at load = 0",
" a8","#A0C0D0 -Horiz. shift because of camber",
" a9"," Load infl. on horizontal shift",
" a10"," Horizontal shift at load = 0",
"a111"," -Camber infl. on vertical shift",
"a112"," -Camber infl. on vertical shift",
" a12"," Load infl. on vertical shift",
" a13"," Vertical shift at load = 0" };
const static String sLongit[13][2] = {
" b0","#FFFFF0Shape factor",
" b1","#F0F0A0Load infl. on long. friction coeff",
" b2","#FFFFF0Longit. friction coeff at load = 0",
" b3","#F0F0A0Curvature factor of stiffness",
" b4","#F0F0A0Change of stiffness with load at load = 0",
" b5","#E0C080Change of progressivity/load", //of stiffness
" b6","Curvature change with load^2",
" b7","Curvature change with load",
" b8","Curvature at load = 0",
" b9","#D0D0A0 Load infl. on horizontal shift",
" b10"," Horizontal shift at load = 0",
" b11"," Load infl. on vertical shift",
" b12"," Vertical shift at load = 0" };
const static String sAlign[18][2] = {
" c0","#E0FFE0Shape factor",
" c1","Load infl. of peak value",
" c2","Load infl. of peak value",
" c3","Curvature factor of stiffness",
" c4","Change of stiffness with load at load = 0",
" c5","Change of progressivity/load",
" c6","-Camber infl. on stiffness",
" c7","Curvature change with load",
" c8","Curvature change with load",
" c9","Curvature at load = 0",
"c10","-Camber infl. of stiffness",
"c11"," -Camber infl. on horizontal shift",
"c12"," Load infl. on horizontal shift",
"c13"," Horizontal shift at load = 0",
"c14"," -Camber infl. on vertical shift",
"c15"," -Camber infl. on vertical shift",
"c16"," Load infl. on vertical shift",
"c17"," Vertical shift at load = 0" };
const static String sCommon = "#C8C8F0Pacejka's Magic Formula coeffs\n";
String ss,sd;
if (pApp->iEdTire == 0)
{
ss += "#A0F0FF--Lateral--\n"; sd += sCommon;
for (int i=0; i < tire->lateral.size(); ++i)
{
//ss += (i == pApp->iCurLat) ? "." : " ";
float f = tire->lateral[i];
char p = f > 100 ? 0 : (f > 10 ? 1 : (f > 1 ? 2 : 3));
bool cur = (i == pApp->iCurLat);
ss += cur ? "#A0EEFF" : "#E0FFFF";
ss += sLateral[i][0] +" "+ fToStr(f, p,5);
ss += cur ? " <\n" : "\n";
sd += sLateral[i][1] +"\n";
}
ss += "\n#C0F0F0alpha hat\n";
//for (int a=0; a < tire->alpha_hat.size(); ++a)
// ss += " "+fToStr( tire->alpha_hat[a], 3,5) + "\n";
int z = (int)tire->alpha_hat.size()-1;
ss += " "+fToStr( tire->alpha_hat[0], 3,5) + "\n";
ss += " "+fToStr( tire->alpha_hat[z/2], 3,5) + "\n";
ss += " "+fToStr( tire->alpha_hat[z], 3,5) + "\n";
}
else if (pApp->iEdTire == 1)
{
ss += "#FFFF70| Longit |\n"; sd += sCommon;
for (int i=0; i < tire->longitudinal.size(); ++i)
{
//ss += (i == pApp->iCurLong) ? "." : " ";
float f = tire->longitudinal[i];
char p = f > 100 ? 0 : (f > 10 ? 1 : (f > 1 ? 2 : 3));
bool cur = (i == pApp->iCurLong);
ss += cur ? "#FFE090" : "#FFFFD0";
ss += sLongit[i][0] +" "+ fToStr(f, p,5);
ss += cur ? " <\n" : "\n";
sd += sLongit[i][1] +"\n";
}
ss += "\n#F0F0C0sigma hat\n";
//for (int a=0; a < tire->sigma_hat.size(); ++a)
// ss += " "+fToStr( tire->sigma_hat[a], 3,5) + "\n";
int z = (int)tire->sigma_hat.size()-1;
ss += " "+fToStr( tire->sigma_hat[0], 3,5) + "\n";
ss += " "+fToStr( tire->sigma_hat[z/2], 3,5) + "\n";
ss += " "+fToStr( tire->sigma_hat[z], 3,5) + "\n";
}
else //if (pApp->iEdTire == 2)
{
ss += "#D0FFD0o Align o\n"; sd += sCommon;
for (int i=0; i < tire->aligning.size(); ++i)
{
float f = tire->aligning[i];
char p = f > 100 ? 0 : (f > 10 ? 1 : (f > 1 ? 2 : 3));
bool cur = (i == pApp->iCurAlign);
ss += cur ? "#80FF80" : "#E0FFE0";
ss += sAlign[i][0] +" "+ fToStr(f, p,5);
ss += cur ? " <\n" : "\n";
sd += sAlign[i][1] +"\n";
}
}
pApp->graphs[gsi-2]->UpdTitle(ss);
pApp->graphs[gsi-1]->UpdTitle(sd);
pApp->graphs[2]->UpdTitle(TireVar[pApp->iTireLoad]); //-
}
}
}
void BEZIER::SetFromCorners(const MATHVECTOR<float,3> & fl, const MATHVECTOR<float,3> & fr, const MATHVECTOR<float,3> & bl, const MATHVECTOR<float,3> & br)
{
MATHVECTOR<float,3> temp;
center = fl + fr + bl + br;
center = center*0.25;
radius = 0;
if ((fl - center).Magnitude() > radius)
radius = (fl - center).Magnitude();
if ((fr - center).Magnitude() > radius)
radius = (fr - center).Magnitude();
if ((bl - center).Magnitude() > radius)
radius = (bl - center).Magnitude();
if ((br - center).Magnitude() > radius)
radius = (br - center).Magnitude();
//assign corners
points[0][0] = fl;
points[0][3] = fr;
points[3][3] = br;
points[3][0] = bl;
//calculate intermediate front and back points
temp = fr - fl;
if (temp.Magnitude() < 0.0001)
{
points[0][1] = fl;
points[0][2] = fl;
}
else
{
points[0][1] = fl + temp.Normalize()*(temp.Magnitude()/3.0);
points[0][2] = fl + temp.Normalize()*(2.0*temp.Magnitude()/3.0);
}
temp = br - bl;
if (temp.Magnitude() < 0.0001)
{
points[3][1] = bl;
points[3][2] = bl;
}
else
{
points[3][1] = bl + temp.Normalize()*(temp.Magnitude()/3.0);
points[3][2] = bl + temp.Normalize()*(2.0*temp.Magnitude()/3.0);
}
//calculate intermediate left and right points
int i;
for (i = 0; i < 4; i++)
{
temp = points[3][i] - points[0][i];
if (temp.Magnitude() > 0.0001)
{
points[1][i] = points[0][i] + temp.Normalize()*(temp.Magnitude()/3.0);
points[2][i] = points[0][i] + temp.Normalize()*(2.0*temp.Magnitude()/3.0);
}
else
{
points[1][i] = points[0][i];
points[2][i] = points[0][i];
}
}
//CheckForProblems();
}
//----------------------------------------------------------------------------------------------------------------------------------
/// Load (.car file)
//----------------------------------------------------------------------------------------------------------------------------------
bool CARDYNAMICS::Load(GAME* pGame, CONFIGFILE & c, ostream & error_output)
{
QTimer ti; ti.update(); /// time
//bTerrain = false;
string drive = "RWD";
int version(1);
c.GetParam("version", version);
if (version > 2)
{
error_output << "Unsupported car version: " << version << endl;
return false;
}
float temp_vec3[3];
//load the engine
{
float mass, rpm_limit, inertia, friction,
start_rpm, stall_rpm, fuel_consumption;
MATHVECTOR<double,3> position;
if (!c.GetParam("engine.rpm-limit", rpm_limit, error_output)) return false;
engine.SetRpmMax(rpm_limit);
if (!c.GetParam("engine.inertia", inertia, error_output)) return false;
engine.SetInertia(inertia);
if (!c.GetParam("engine.friction", friction, error_output)) return false;
engine.SetFrictionB(friction);
if (!c.GetParam("engine.start-rpm", start_rpm, error_output)) return false;
engine.SetStartRPM(start_rpm);
if (!c.GetParam("engine.stall-rpm", stall_rpm, error_output)) return false;
engine.SetStallRPM(stall_rpm);
if (!c.GetParam("engine.fuel-consumption", fuel_consumption, error_output)) return false;
engine.SetFuelConsumption(fuel_consumption);
if (!c.GetParam("engine.mass", mass, error_output)) return false;
if (!c.GetParam("engine.position", temp_vec3, error_output)) return false;
if (version == 2) ConvertV2to1(temp_vec3[0],temp_vec3[1],temp_vec3[2]);
position.Set(temp_vec3[0],temp_vec3[1],temp_vec3[2]);
engine.SetMass(mass);
engine.SetPosition(position);
AddMassParticle(mass, position);
float mul = 1.f, max_torque = 0;
c.GetParam("engine.torque-val-mul", mul);
float torque_point[3];
string torque_str("engine.torque-curve-00");
vector <pair <double, double> > torques;
int curve_num = 0;
while (c.GetParam(torque_str, torque_point))
{
max_torque = max(max_torque, torque_point[1] * mul);
torques.push_back(pair <float, float> (torque_point[0], torque_point[1] * mul));
curve_num++;
stringstream str;
str << "engine.torque-curve-"; str.width(2); str.fill('0');
str << curve_num;
torque_str = str.str();
}
if (torques.size() <= 1)
{
error_output << "You must define at least 2 torque curve points." << endl;
return false;
}
engine.SetTorqueCurve(rpm_limit, torques);
//load the clutch
{
float mul; //max_torque = sliding * radius * area * max_pressure;
//if (!c.GetParam("clutch.max-torque", max_torque, error_output)) return false;
if (!c.GetParam("clutch.max-torque-mul", mul, error_output)) return false;
clutch.SetMaxTorque(max_torque * mul);
}
// factor for stats -
mul = 1.f;
if (c.GetParam("engine.real-pow-tq-mul", mul))
engine.real_pow_tq_mul = mul;
mul = 1.f;
if (c.GetParam("engine.sound-vol-mul", mul))
engine_vol_mul = mul;
}
//load the transmission
{
float time = 0;
float ratio;
int gears;
c.GetParam("transmission.shift-delay", time);
shift_time = time;
if (!c.GetParam("transmission.gear-ratio-r", ratio, error_output)) return false;
transmission.SetGearRatio(-1, ratio);
if (!c.GetParam("transmission.gears", gears, error_output)) return false;
for (int i = 0; i < gears; i++)
{
stringstream s;
s << "transmission.gear-ratio-" << i+1;
if (!c.GetParam(s.str(), ratio, error_output)) return false;
transmission.SetGearRatio(i+1, ratio);
}
}
//load the differential(s)
string drivetype;
if (!c.GetParam("drive", drivetype, error_output)) return false;
SetDrive(drivetype);
float final_drive, a, a_tq(0), a_tq_dec(0);
/// new 3 sets
if (drivetype == "AWD" &&
c.GetParam("diff-center.final-drive", a))
{
c.GetParam("diff-rear.anti-slip", a, error_output);
c.GetParam("diff-rear.torque", a_tq);
c.GetParam("diff-rear.torque-dec", a_tq_dec);
diff_rear.SetFinalDrive(1.0);
diff_rear.SetAntiSlip(a, a_tq, a_tq_dec);
c.GetParam("diff-front.anti-slip", a, error_output);
c.GetParam("diff-front.torque", a_tq);
c.GetParam("diff-front.torque-dec", a_tq_dec);
diff_front.SetFinalDrive(1.0);
diff_front.SetAntiSlip(a, a_tq, a_tq_dec);
c.GetParam("diff-center.final-drive", final_drive, error_output);
c.GetParam("diff-center.anti-slip", a, error_output);
c.GetParam("diff-center.torque", a_tq);
c.GetParam("diff-center.torque-dec", a_tq_dec);
diff_center.SetFinalDrive(final_drive);
diff_center.SetAntiSlip(a, a_tq, a_tq_dec);
}
else // old 1 for all
{
if (!c.GetParam("differential.final-drive", final_drive, error_output)) return false;
if (!c.GetParam("differential.anti-slip", a, error_output)) return false;
c.GetParam("differential.torque", a_tq);
c.GetParam("differential.torque-dec", a_tq_dec);
if (drivetype == "RWD")
{
diff_rear.SetFinalDrive(final_drive);
diff_rear.SetAntiSlip(a, a_tq, a_tq_dec);
}
else if (drivetype == "FWD")
{
diff_front.SetFinalDrive(final_drive);
diff_front.SetAntiSlip(a, a_tq, a_tq_dec);
}
else if (drivetype == "AWD")
{
diff_rear.SetFinalDrive(1.0);
diff_rear.SetAntiSlip(a, a_tq, a_tq_dec);
diff_front.SetFinalDrive(1.0);
diff_front.SetAntiSlip(a, a_tq, a_tq_dec);
diff_center.SetFinalDrive(final_drive);
diff_center.SetAntiSlip(a, a_tq, a_tq_dec);
}else
{ error_output << "Unknown drive type: " << drive << endl;
return false;
}
}
//load the brake
{
for (int i = 0; i < 2; i++)
{
string pos = "front";
WHEEL_POSITION left = FRONT_LEFT;
WHEEL_POSITION right = FRONT_RIGHT;
if (i == 1)
{
left = REAR_LEFT;
right = REAR_RIGHT;
pos = "rear";
}
float friction, max_pressure, area, bias, radius, handbrake(0);
if (!c.GetParam("brakes-"+pos+".friction", friction, error_output)) return false;
brake[left].SetFriction(friction);
brake[right].SetFriction(friction);
if (!c.GetParam("brakes-"+pos+".area", area, error_output)) return false;
brake[left].SetArea(area);
brake[right].SetArea(area);
if (!c.GetParam("brakes-"+pos+".radius", radius, error_output)) return false;
brake[left].SetRadius(radius);
brake[right].SetRadius(radius);
c.GetParam("brakes-"+pos+".handbrake", handbrake);
brake[left].SetHandbrake(handbrake);
brake[right].SetHandbrake(handbrake);
if (!c.GetParam("brakes-"+pos+".bias", bias, error_output)) return false;
brake[left].SetBias(bias);
brake[right].SetBias(bias);
if (!c.GetParam("brakes-"+pos+".max-pressure", max_pressure, error_output)) return false;
brake[left].SetMaxPressure(max_pressure*bias);
brake[right].SetMaxPressure(max_pressure*bias);
}
}
//load the fuel tank
{
float pos[3];
MATHVECTOR<double,3> position;
float capacity, volume, fuel_density;
if (!c.GetParam("fuel-tank.capacity", capacity, error_output)) return false;
fuel_tank.SetCapacity(capacity);
if (!c.GetParam("fuel-tank.volume", volume, error_output)) return false;
fuel_tank.SetVolume(volume);
if (!c.GetParam("fuel-tank.fuel-density", fuel_density, error_output)) return false;
fuel_tank.SetDensity(fuel_density);
if (!c.GetParam("fuel-tank.position", pos, error_output)) return false;
if (version == 2) ConvertV2to1(pos[0],pos[1],pos[2]);
position.Set(pos[0],pos[1],pos[2]);
fuel_tank.SetPosition(position);
//AddMassParticle(fuel_density*volume, position);
}
//load the suspension
{
for (int i = 0; i < 2; i++)
{
string posstr = "front";
string posshortstr = "F";
WHEEL_POSITION posl = FRONT_LEFT;
WHEEL_POSITION posr = FRONT_RIGHT;
if (i == 1)
{
posstr = "rear";
posshortstr = "R";
posl = REAR_LEFT;
posr = REAR_RIGHT;
}
float spring_constant, bounce, rebound, travel, camber, caster, toe, anti_roll;//, maxcompvel;
float hinge[3];
MATHVECTOR<double,3> tempvec;
if (!c.GetParam("suspension-"+posstr+".spring-constant", spring_constant, error_output)) return false;
suspension[posl].SetSpringConstant(spring_constant);
suspension[posr].SetSpringConstant(spring_constant);
if (!c.GetParam("suspension-"+posstr+".bounce", bounce, error_output)) return false;
suspension[posl].SetBounce(bounce);
suspension[posr].SetBounce(bounce);
if (!c.GetParam("suspension-"+posstr+".rebound", rebound, error_output)) return false;
suspension[posl].SetRebound(rebound);
suspension[posr].SetRebound(rebound);
string file;
if (c.GetParam("suspension-"+posstr+".factors-file", file))
{
int id = pGame->suspS_map[file]-1;
if (id == -1) { id = 0;
error_output << "Can't find suspension spring factors file: " << file << endl; }
suspension[posl].SetSpringFactorPoints(pGame->suspS[id]);
suspension[posr].SetSpringFactorPoints(pGame->suspS[id]);
id = pGame->suspD_map[file]-1;
if (id == -1) { id = 0;
error_output << "Can't find suspension damper factors file: " << file << endl; }
suspension[posl].SetDamperFactorPoints(pGame->suspD[id]);
suspension[posr].SetDamperFactorPoints(pGame->suspD[id]);
}else
{ // factor points
vector <pair <double, double> > damper, spring;
c.GetPoints("suspension-"+posstr, "damper-factor", damper);
suspension[posl].SetDamperFactorPoints(damper);
suspension[posr].SetDamperFactorPoints(damper);
c.GetPoints("suspension-"+posstr, "spring-factor", spring);
suspension[posl].SetSpringFactorPoints(spring);
suspension[posr].SetSpringFactorPoints(spring);
}
if (!c.GetParam("suspension-"+posstr+".travel", travel, error_output)) return false;
suspension[posl].SetTravel(travel);
suspension[posr].SetTravel(travel);
if (!c.GetParam("suspension-"+posstr+".camber", camber, error_output)) return false;
suspension[posl].SetCamber(camber);
suspension[posr].SetCamber(camber);
if (!c.GetParam("suspension-"+posstr+".caster", caster, error_output)) return false;
suspension[posl].SetCaster(caster);
suspension[posr].SetCaster(caster);
if (!c.GetParam("suspension-"+posstr+".toe", toe, error_output)) return false;
suspension[posl].SetToe(toe);
suspension[posr].SetToe(toe);
if (!c.GetParam("suspension-"+posstr+".anti-roll", anti_roll, error_output)) return false;
suspension[posl].SetAntiRollK(anti_roll);
suspension[posr].SetAntiRollK(anti_roll);
if (!c.GetParam("suspension-"+posshortstr+"L.hinge", hinge, error_output)) return false;
//cap hinge to reasonable values
for (int i = 0; i < 3; i++)
{
if (hinge[i] < -100) hinge[i] = -100;
if (hinge[i] > 100) hinge[i] = 100;
}
if (version == 2) ConvertV2to1(hinge[0],hinge[1],hinge[2]);
tempvec.Set(hinge[0],hinge[1], hinge[2]);
suspension[posl].SetHinge(tempvec);
if (!c.GetParam("suspension-"+posshortstr+"R.hinge", hinge, error_output)) return false;
for (int i = 0; i < 3; i++)
{
if (hinge[i] < -100) hinge[i] = -100;
if (hinge[i] > 100) hinge[i] = 100;
}
if (version == 2) ConvertV2to1(hinge[0],hinge[1],hinge[2]);
tempvec.Set(hinge[0],hinge[1], hinge[2]);
suspension[posr].SetHinge(tempvec);
}
}
//load the wheels
{
for (int i = 0; i < 4; i++)
{
string sPos;
WHEEL_POSITION wp;
if (i == 0) { sPos = "FL"; wp = FRONT_LEFT; }
else if (i == 1){ sPos = "FR"; wp = FRONT_RIGHT; }
else if (i == 2){ sPos = "RL"; wp = REAR_LEFT; }
else { sPos = "RR"; wp = REAR_RIGHT; }
float roll_h, mass;
float pos[3];
MATHVECTOR<double,3> vec;
if (!c.GetParam("wheel-"+sPos+".mass", mass, error_output)) return false;
wheel[wp].SetMass(mass);
if (!c.GetParam("wheel-"+sPos+".roll-height", roll_h, error_output)) return false;
wheel[wp].SetRollHeight(roll_h);
if (!c.GetParam("wheel-"+sPos+".position", pos, error_output)) return false;
if (version == 2) ConvertV2to1(pos[0],pos[1],pos[2]);
vec.Set(pos[0],pos[1], pos[2]);
wheel[wp].SetExtendedPosition(vec);
AddMassParticle(mass, vec);
}
//load the rotational inertia parameter from the tire section
float front_inertia;
float rear_inertia;
if (c.GetParam("tire-both.rotational-inertia", front_inertia, error_output))
rear_inertia = front_inertia;
else
{ if (!c.GetParam("tire-front.rotational-inertia", front_inertia, error_output)) return false;
if (!c.GetParam("tire-rear.rotational-inertia", rear_inertia, error_output)) return false;
}
wheel[FRONT_LEFT].SetInertia(front_inertia);
wheel[FRONT_RIGHT].SetInertia(front_inertia);
wheel[REAR_LEFT].SetInertia(rear_inertia);
wheel[REAR_RIGHT].SetInertia(rear_inertia);
}
//load the tire parameters
{
WHEEL_POSITION leftside = FRONT_LEFT;
WHEEL_POSITION rightside = FRONT_RIGHT;
float value;
bool both = c.GetParam("tire-both.radius", value);
string posstr = both ? "both" : "front";
for (int p = 0; p < 2; ++p)
{
if (p == 1)
{
leftside = REAR_LEFT;
rightside = REAR_RIGHT;
if (!both) posstr = "rear";
}
float rolling_resistance[3];
if (!c.GetParam("tire-"+posstr+".rolling-resistance", rolling_resistance, error_output)) return false;
wheel[leftside].SetRollingResistance(rolling_resistance[0], rolling_resistance[1]);
wheel[rightside].SetRollingResistance(rolling_resistance[0], rolling_resistance[1]);
float radius;
if (!c.GetParam("tire-"+posstr+".radius", radius, error_output)) return false;
wheel[leftside].SetRadius(radius);
wheel[rightside].SetRadius(radius);
}
}
//load the mass-only particles
{
MATHVECTOR<double,3> position;
float pos[3], mass;
if (c.GetParam("contact-points.mass", mass))
{
int paramnum(0);
string paramname("contact-points.position-00");
stringstream output_supression;
while (c.GetParam(paramname, pos))
{
if (version == 2) ConvertV2to1(pos[0],pos[1],pos[2]);
position.Set(pos[0],pos[1],pos[2]);
AddMassParticle(mass, position);
paramnum++;
stringstream str;
str << "contact-points.position-"; str.width(2); str.fill('0');
str << paramnum;
paramname = str.str();
}
}
string paramname = "particle-00";
int paramnum = 0;
while (c.GetParam(paramname+".mass", mass))
{
if (!c.GetParam(paramname+".position", pos, error_output)) return false;
if (version == 2) ConvertV2to1(pos[0],pos[1],pos[2]);
position.Set(pos[0],pos[1],pos[2]);
AddMassParticle(mass, position);
paramnum++;
stringstream str;
str << "particle-"; str.width(2); str.fill('0');
str << paramnum;
paramname = str.str();
}
}
//load the max steering angle
{
float maxangle = 26.f;
if (!c.GetParam("steering.max-angle", maxangle, error_output)) return false;
SetMaxSteeringAngle( maxangle );
float a = 1.f;
c.GetParam("steering.flip-pow-mul", a); flip_mul = a;
}
///car angular damping -new
{
float a = 0.4f;
c.GetParam("steering.angular-damping", a, error_output);
SetAngDamp(a);
a=0.f; c.GetParam("rot_drag.roll", a); rot_coef[0] = a;
a=0.f; c.GetParam("rot_drag.pitch", a); rot_coef[1] = a;
a=0.f; c.GetParam("rot_drag.yaw", a); rot_coef[2] = a;
a=0.f; c.GetParam("rot_drag.yaw2", a); rot_coef[3] = a;
}
//load the driver
{
float mass;
float pos[3];
MATHVECTOR<double,3> position;
if (!c.GetParam("driver.mass", mass, error_output)) return false;
if (!c.GetParam("driver.position", pos, error_output)) return false;
if (version == 2) ConvertV2to1(pos[0],pos[1],pos[2]);
position.Set(pos[0], pos[1], pos[2]);
AddMassParticle(mass, position);
}
//load the aerodynamics
{
float drag_area, drag_c, lift_area, lift_c, lift_eff;
float pos[3];
MATHVECTOR<double,3> position;
if (!c.GetParam("drag.frontal-area", drag_area, error_output)) return false;
if (!c.GetParam("drag.drag-coefficient", drag_c, error_output)) return false;
if (!c.GetParam("drag.position", pos, error_output)) return false;
if (version == 2) ConvertV2to1(pos[0],pos[1],pos[2]);
position.Set(pos[0], pos[1], pos[2]);
AddAerodynamicDevice(position, drag_area, drag_c, 0,0,0);
for (int i = 0; i < 2; i++)
{
string wingpos = "front";
if (i == 1)
wingpos = "rear";
if (!c.GetParam("wing-"+wingpos+".frontal-area", drag_area, error_output)) return false;
if (!c.GetParam("wing-"+wingpos+".drag-coefficient", drag_c, error_output)) return false;
if (!c.GetParam("wing-"+wingpos+".surface-area", lift_area, error_output)) return false;
if (!c.GetParam("wing-"+wingpos+".lift-coefficient", lift_c, error_output)) return false;
if (!c.GetParam("wing-"+wingpos+".efficiency", lift_eff, error_output)) return false;
if (!c.GetParam("wing-"+wingpos+".position", pos, error_output)) return false;
if (version == 2) ConvertV2to1(pos[0],pos[1],pos[2]);
position.Set(pos[0], pos[1], pos[2]);
AddAerodynamicDevice(position, drag_area, drag_c, lift_area, lift_c, lift_eff);
}
}
UpdateMass();
ti.update(); /// time
float dt = ti.dt * 1000.f;
LogO(Ogre::String(":::: Time car dynamics load: ") + fToStr(dt,0,3) + " ms");
return true;
}
void FollowCamera::update( Real time )
{
if (!mGoalNode || !ca || !mCamera) return;
Vector3 posGoal = mGoalNode ? mGoalNode->getPosition() : Vector3::UNIT_Y;
Quaternion orientGoal = mGoalNode ? mGoalNode->getOrientation() : Quaternion::IDENTITY;
const static Quaternion qO = Quaternion(Degree(180),Vector3::UNIT_Z) * Quaternion(Degree(-90),Vector3::UNIT_Y),
qR = Quaternion(Degree(90),Vector3(0,1,0));
Quaternion orient = orientGoal * qO;
Vector3 ofs = orient * ca->mOffset, goalLook = posGoal + ofs;
if (ca->mType == CAM_Car) /* 3 Car - car pos & rot full */
{
mCamera->setPosition( goalLook );
mCamera->setOrientation( orient );
updInfo(time);
return;
}
if (ca->mType == CAM_Follow) ofs = ca->mOffset;
Vector3 pos,goalPos;
pos = mCamera->getPosition() - ofs;
goalPos = posGoal;
Vector3 xyz;
if (ca->mType != CAM_Arena)
{
Real x,y,z,xz; // pitch & yaw to direction vector
Real ap = ca->mPitch.valueRadians(), ay = ca->mYaw.valueRadians();
y = sin(ap), xz = cos(ap);
x = sin(ay) * xz, z = cos(ay) * xz;
xyz = Vector3(x,y,z); xyz *= ca->mDist;
}
bool manualOrient = false;
switch (ca->mType)
{
case CAM_Arena: /* 2 Arena - free pos & rot */
goalPos = ca->mOffset - ofs;
break;
case CAM_Free: /* 1 Free - free rot, pos from car */
goalPos += xyz;
break;
case CAM_Follow: /* 0 Follow - car rotY & pos from behind car, smooth */
{ Quaternion orient = orientGoal * qR;
orient.FromAngleAxis(orient.getYaw(), Vector3::UNIT_Y);
goalPos += orient * xyz;
} break;
case CAM_ExtAng: /* 4 Extended Angle - car in center, angle smooth */
{ Quaternion orient = orientGoal * qR;
Quaternion ory; ory.FromAngleAxis(orient.getYaw(), Vector3::UNIT_Y);
if (first) { qq = ory; first = false; }
else qq = orient.Slerp(ca->mSpeed * time, qq, ory, true);
// smooth dist from vel
if (0)
{
if (first) { mPosNodeOld = posGoal; }
Real vel = (posGoal - mPosNodeOld).length() / std::max(0.001f, std::min(0.1f, time));
mPosNodeOld = posGoal;
if (first) mVel = 0.f; else
mVel += (vel - mVel) * time * 8.f; // par vel smooth speed
if (!first)
xyz *= 1.f + std::min(100.f, mVel) * 0.01f; // par vel dist factor
}
Quaternion qy = Quaternion(ca->mYaw,Vector3(0,1,0));
goalPos += qq * (xyz + ca->mOffset);
mCamera->setPosition( goalPos );
mCamera->setOrientation( qq * qy * Quaternion(Degree(-ca->mPitch),Vector3(1,0,0)) );
manualOrient = true;
} break;
}
if (!manualOrient) // if !CAM_ExtAng
{
float dtmul = ca->mSpeed == 0 ? 1.0f : ca->mSpeed * time;
if (ca->mType == CAM_Arena)
{
Vector3 Pos(0,0,0), goalPos = ca->mOffset;
Pos = mCamera->getPosition();
Pos += (goalPos - Pos) * dtmul;
static Radian pitch(0), yaw(0);
pitch += (ca->mPitch - pitch) * dtmul; yaw += (ca->mYaw - yaw) * dtmul;
if (first) { Pos = goalPos; pitch = ca->mPitch; yaw = ca->mYaw; first = false; }
mCamera->setPosition( Pos );
mCamera->setOrientation(Quaternion::IDENTITY);
mCamera->pitch(pitch); mCamera->yaw(yaw);
manualOrient = true;
}
else
{
if (first) pos = goalPos;
Vector3 addPos,addLook;
addPos = (goalPos - pos).normalisedCopy() * (goalPos - pos).length() * dtmul;
if (addPos.squaredLength() > (goalPos - pos).squaredLength()) addPos = goalPos - pos;
pos += addPos;
mCamera->setPosition( pos + ofs );
if (mGoalNode) goalLook = posGoal + ofs;
if (first) { mLook = goalLook; first = false; }
addLook = (goalLook - mLook) * dtmul;//Rot;
mLook += addLook;
}
}
/// cast ray from car to camera, to prevent objects blocking the camera's sight
#ifdef CAM_BLT
// update sphere pos
btVector3 carPos = BtOgre::Convert::toBullet(posGoal);
state->setWorldTransform( btTransform(btQuaternion(0,0,0,1), carPos ));
// calculate origin & direction of the ray, convert to vdrift coordinates
MATHVECTOR<float,3> origin;
origin.Set( carPos.x(), carPos.y(), carPos.z() );
MATHVECTOR<float,3> direction;
btVector3 dir = BtOgre::Convert::toBullet(mCamera->getPosition()-posGoal);
direction.Set(dir.x(), dir.y(), dir.z());
Real distance = (mCamera->getPosition()-posGoal ).length();
int pOnRoad;
// shoot our ray
COLLISION_CONTACT contact;
mWorld->CastRay( origin, direction, distance, body, contact, &pOnRoad );
if (contact.col != NULL)
{
LogO("Collision occured");
// collision occured - update cam pos
mCamera->setPosition( BtOgre::Convert::toOgre( btVector3(contact.GetPosition()[0], contact.GetPosition()[1], contact.GetPosition()[2]) ) );
}
#endif
moveAboveTerrain();
if (!manualOrient)
mCamera->lookAt( mLook );
updInfo(time);
}
