/* ================ idPhysics_Monster::Evaluate ================ */ bool idPhysics_Monster::Evaluate(int timeStepMSec, int endTimeMSec) { idVec3 masterOrigin, oldOrigin; idMat3 masterAxis; float timeStep; timeStep = MS2SEC(timeStepMSec); moveResult = MM_OK; blockingEntity = NULL; oldOrigin = current.origin; // if bound to a master if (masterEntity) { self->GetMasterPosition(masterOrigin, masterAxis); current.origin = masterOrigin + current.localOrigin * masterAxis; clipModel->Link(gameLocal.clip, self, 0, current.origin, clipModel->GetAxis()); current.velocity = (current.origin - oldOrigin) / timeStep; masterDeltaYaw = masterYaw; masterYaw = masterAxis[0].ToYaw(); masterDeltaYaw = masterYaw - masterDeltaYaw; return true; } // if the monster is at rest if (current.atRest >= 0) { return false; } ActivateContactEntities(); // move the monster velocity into the frame of a pusher current.velocity -= current.pushVelocity; clipModel->Unlink(); // check if on the ground idPhysics_Monster::CheckGround(current); // if not on the ground or moving upwards float upspeed; if (gravityNormal != vec3_zero) { upspeed = -(current.velocity * gravityNormal); } else { upspeed = current.velocity.z; } if (fly || (!forceDeltaMove && (!current.onGround || upspeed > 1.0f))) { if (upspeed < 0.0f) { moveResult = MM_FALLING; } else { current.onGround = false; moveResult = MM_OK; } delta = current.velocity * timeStep; if (delta != vec3_origin) { moveResult = idPhysics_Monster::SlideMove(current.origin, current.velocity, delta); delta.Zero(); } if (!fly) { current.velocity += gravityVector * timeStep; } } else { if (useVelocityMove) { delta = current.velocity * timeStep; } else { current.velocity = delta / timeStep; } current.velocity -= (current.velocity * gravityNormal) * gravityNormal; if (delta == vec3_origin) { Rest(); } else { // try moving into the desired direction moveResult = idPhysics_Monster::StepMove(current.origin, current.velocity, delta); delta.Zero(); } } clipModel->Link(gameLocal.clip, self, 0, current.origin, clipModel->GetAxis()); // get all the ground contacts EvaluateContacts(); // move the monster velocity back into the world frame current.velocity += current.pushVelocity; current.pushVelocity.Zero(); if (IsOutsideWorld()) { gameLocal.Warning("clip model outside world bounds for entity '%s' at (%s)", self->name.c_str(), current.origin.ToString(0)); Rest(); } return (current.origin != oldOrigin); }
/* ================ idPhysics_RigidBody::Evaluate Evaluate the impulse based rigid body physics. When a collision occurs an impulse is applied at the moment of impact but the remaining time after the collision is ignored. ================ */ bool idPhysics_RigidBody::Evaluate( int timeStepMSec, int endTimeMSec ) { rigidBodyPState_t next; idAngles angles; trace_t collision; idVec3 impulse; idEntity *ent; idVec3 oldOrigin, masterOrigin; idMat3 oldAxis, masterAxis; float timeStep; bool collided, cameToRest = false; timeStep = MS2SEC( timeStepMSec ); current.lastTimeStep = timeStep; if ( hasMaster ) { oldOrigin = current.i.position; oldAxis = current.i.orientation; self->GetMasterPosition( masterOrigin, masterAxis ); current.i.position = masterOrigin + current.localOrigin * masterAxis; if ( isOrientated ) { current.i.orientation = current.localAxis * masterAxis; } else { current.i.orientation = current.localAxis; } clipModel->Link( gameLocal.clip, self, clipModel->GetId(), current.i.position, current.i.orientation ); current.i.linearMomentum = mass * ( ( current.i.position - oldOrigin ) / timeStep ); current.i.angularMomentum = inertiaTensor * ( ( current.i.orientation * oldAxis.Transpose() ).ToAngularVelocity() / timeStep ); current.externalForce.Zero(); current.externalTorque.Zero(); return ( current.i.position != oldOrigin || current.i.orientation != oldAxis ); } // if the body is at rest if ( current.atRest >= 0 || timeStep <= 0.0f ) { DebugDraw(); return false; } // if putting the body to rest if ( dropToFloor ) { DropToFloorAndRest(); current.externalForce.Zero(); current.externalTorque.Zero(); return true; } #ifdef RB_TIMINGS timer_total.Start(); #endif // move the rigid body velocity into the frame of a pusher // current.i.linearMomentum -= current.pushVelocity.SubVec3( 0 ) * mass; // current.i.angularMomentum -= current.pushVelocity.SubVec3( 1 ) * inertiaTensor; clipModel->Unlink(); next = current; // calculate next position and orientation Integrate( timeStep, next ); #ifdef RB_TIMINGS timer_collision.Start(); #endif // check for collisions from the current to the next state collided = CheckForCollisions( timeStep, next, collision ); #ifdef RB_TIMINGS timer_collision.Stop(); #endif // set the new state current = next; if ( collided ) { // apply collision impulse if ( CollisionImpulse( collision, impulse ) ) { current.atRest = gameLocal.time; } } // update the position of the clip model clipModel->Link( gameLocal.clip, self, clipModel->GetId(), current.i.position, current.i.orientation ); DebugDraw(); if ( !noContact ) { #ifdef RB_TIMINGS timer_collision.Start(); #endif // get contacts EvaluateContacts(); #ifdef RB_TIMINGS timer_collision.Stop(); #endif // check if the body has come to rest if ( TestIfAtRest() ) { // put to rest Rest(); cameToRest = true; } else { // apply contact friction ContactFriction( timeStep ); } } if ( current.atRest < 0 ) { ActivateContactEntities(); } if ( collided ) { // if the rigid body didn't come to rest or the other entity is not at rest ent = gameLocal.entities[collision.c.entityNum]; if ( ent && ( !cameToRest || !ent->IsAtRest() ) ) { // apply impact to other entity ent->ApplyImpulse( self, collision.c.id, collision.c.point, -impulse ); } } // move the rigid body velocity back into the world frame // current.i.linearMomentum += current.pushVelocity.SubVec3( 0 ) * mass; // current.i.angularMomentum += current.pushVelocity.SubVec3( 1 ) * inertiaTensor; current.pushVelocity.Zero(); current.lastTimeStep = timeStep; current.externalForce.Zero(); current.externalTorque.Zero(); if ( IsOutsideWorld() ) { gameLocal.Warning( "rigid body moved outside world bounds for entity '%s' type '%s' at (%s)", self->name.c_str(), self->GetType()->classname, current.i.position.ToString(0) ); Rest(); } #ifdef RB_TIMINGS timer_total.Stop(); if ( rb_showTimings->integer == 1 ) { gameLocal.Printf( "%12s: t %u cd %u\n", self->name.c_str(), timer_total.Milliseconds(), timer_collision.Milliseconds() ); lastTimerReset = 0; } else if ( rb_showTimings->integer == 2 ) { numRigidBodies++; if ( endTimeMSec > lastTimerReset ) { gameLocal.Printf( "rb %d: t %u cd %u\n", numRigidBodies, timer_total.Milliseconds(), timer_collision.Milliseconds() ); } } if ( endTimeMSec > lastTimerReset ) { lastTimerReset = endTimeMSec; numRigidBodies = 0; timer_total.Clear(); timer_collision.Clear(); } #endif return true; }