static fhRenderMatrix RB_CreatePointLightViewMatrix( const idRenderLightLocal* lightDef, int side )
{
static const idMat3 sides[6] = {
idMat3( //+x
1, 0, 0,
0, 1, 0,
0, 0, 1),
idMat3( //-x
-1, 0, 0,
0, 1, 0,
0, 0, -1),
idMat3( //+y
0, 1, 0,
-1, 0, 0,
0, 0, 1),
idMat3( //-y
0, -1, 0,
1, 0, 0,
0, 0, 1 ),
idMat3( //z
0, 0, 1,
0, 1, 0,
-1, 0, 0 ),
idMat3( //-z
0, 0, -1,
0, 1, 0,
1, 0, 0 )
};
const idVec3 origin = lightDef->globalLightOrigin;
const idMat3 axis = sides[side] * lightDef->parms.axis;
fhRenderMatrix viewerMatrix;
viewerMatrix[0] = axis[0][0];
viewerMatrix[4] = axis[0][1];
viewerMatrix[8] = axis[0][2];
viewerMatrix[12] = -origin[0] * viewerMatrix[0] + -origin[1] * viewerMatrix[4] + -origin[2] * viewerMatrix[8];
viewerMatrix[1] = axis[1][0];
viewerMatrix[5] = axis[1][1];
viewerMatrix[9] = axis[1][2];
viewerMatrix[13] = -origin[0] * viewerMatrix[1] + -origin[1] * viewerMatrix[5] + -origin[2] * viewerMatrix[9];
viewerMatrix[2] = axis[2][0];
viewerMatrix[6] = axis[2][1];
viewerMatrix[10] = axis[2][2];
viewerMatrix[14] = -origin[0] * viewerMatrix[2] + -origin[1] * viewerMatrix[6] + -origin[2] * viewerMatrix[10];
viewerMatrix[3] = 0;
viewerMatrix[7] = 0;
viewerMatrix[11] = 0;
viewerMatrix[15] = 1;
return fhRenderMatrix::FlipMatrix() * viewerMatrix;
}
/*
================
sdDeliveryVehicle::Magog_DoMove
================
*/
void sdDeliveryVehicle::Magog_DoMove( const idVec3& aheadPointIdeal, const idVec3& aheadPointDir, const idVec3& endPoint, float itemRotation, float maxYawScale, bool orientToEnd, bool clampRoll, bool slowNearEnd, float pathSpeed ) {
float frameTime = MS2SEC( gameLocal.msec );
idVec3 aheadPoint = aheadPointIdeal;
const idVec3& origin = GetPhysics()->GetOrigin();
const idVec3& velocity = GetPhysics()->GetLinearVelocity();
const idMat3& axis = GetPhysics()->GetAxis();
const idAngles angles = axis.ToAngles();
const idVec3& angVel = GetPhysics()->GetAngularVelocity();
const idVec3& currentFwd = axis[ 0 ];
const idVec3& currentRight = axis[ 1 ];
const idVec3& currentUp = axis[ 2 ];
float rollVel = angVel * currentFwd;
float pitchVel = angVel * currentRight;
float yawVel = angVel * currentUp;
// find the current height of the vehicle
idVec3 futureContribution = velocity * 1.0f;
futureContribution.z = 0.0f;
float futureContributionLength = futureContribution.Length();
if ( futureContributionLength > 2000.0f ) {
futureContribution = futureContribution * ( 2000.0f / futureContributionLength );
}
idVec3 futureSpot = origin + futureContribution;
futureSpot.z -= HOVER_DOWNCAST_LENGTH;
trace_t trace;
gameLocal.clip.TraceBounds( CLIP_DEBUG_PARMS trace, origin, futureSpot, GetPhysics()->GetBounds(), axis, MASK_SOLID | MASK_OPAQUE, this );
futureSpot = trace.endpos;
// shift the ahead point based on the trace
float currentHeight = origin.z - futureSpot.z;
if ( currentHeight < HOVER_DOWNCAST_LENGTH ) {
aheadPoint.z = origin.z - currentHeight + HOVER_HEIGHT_AIM;
} else {
aheadPoint.z = origin.z - HOVER_DOWNCAST_LENGTH + HOVER_HEIGHT_AIM;
}
// sys.debugCircle( g_colorRed, origin, '0 0 1', 16, 8, 0 );
// sys.debugArrow( g_colorRed, origin, futureSpot, 256, 0 );
// sys.debugCircle( g_colorRed, futureSpot, '0 0 1', 16, 8, 0 );
// sys.debugCircle( '0 1 0', aheadPoint, '0 0 1', 256.0f, 16, 0 );
idVec3 point;
float lookaheadFactor;
{
// generate a cubic spline between the two points
idVec3 x0 = origin;
idVec3 x1 = aheadPoint;
idVec3 dx0 = velocity * 3.0f; // maintaining our current velocity is more important
idVec3 dx1 = aheadPointDir * pathSpeed * 1.0f; // than matching the destination vector
// calculate coefficients
idVec3 D = x0;
idVec3 C = dx0;
idVec3 B = 3*x1 - dx1 - 2*C - 3*D;
idVec3 A = x1 - B - C - D;
float distanceLeft = ( endPoint - origin ).Length();
lookaheadFactor = ( distanceLeft / 6096.0f ) * 0.5f;
lookaheadFactor = idMath::ClampFloat( 0.2f, 0.5f, lookaheadFactor );
if ( !slowNearEnd ) {
lookaheadFactor = 0.5f;
}
point = ( A * lookaheadFactor + B )*lookaheadFactor*lookaheadFactor + C*lookaheadFactor + D;
}
//
// Follower logic
//
idVec3 delta = point - origin;
idVec3 aheadDelta = aheadPoint - origin;
idVec3 newVelocity = vec3_origin;
//
// Z axis
//
// figure out what Z velocity is needed to get where we want to go within a frame
float Zvel = aheadDelta.z / frameTime;
Zvel = idMath::ClampFloat( -maxZVel, maxZVel, Zvel );
// figure out what Z acceleration is neccessary
float ZAccel = ( Zvel - velocity.z ) / frameTime;
ZAccel = idMath::ClampFloat( -maxZAccel, maxZAccel, ZAccel );
// chop the Z acceleration when its nearing the end - helps to avoid settling issues
if ( lookaheadFactor < 0.5f ) {
ZAccel *= idMath::Sqrt( lookaheadFactor * 2.0f );
}
Zvel = velocity.z + ZAccel * frameTime;
// rapidly prevent acceleration downwards when its below the target
if ( aheadDelta.z > 0.0f && Zvel < 0.0f ) {
Zvel *= 0.9f;
}
//
// X & Y
//
// ignore Z
delta.z = 0.0f;
aheadDelta.z = 0.0f;
idVec3 flatVelocity = velocity;
flatVelocity.z = 0.0f;
float distance = delta.Length();
idVec3 direction;
if ( distance > idMath::FLT_EPSILON ) {
direction = delta / distance;
} else {
direction = vec3_origin;
}
// figure out how fast it needs to go to get there in time
float vel = distance / 0.5f;
vel = idMath::ClampFloat( -pathSpeed, pathSpeed, vel );
idVec3 vecVel = vel * direction;
// figure out what acceleration is neccessary
idVec3 velDelta = vecVel - flatVelocity;
idVec3 velDeltaDir = velDelta;
float velDeltaLength = velDeltaDir.Normalize();
float accel = velDeltaLength / frameTime;
accel = idMath::ClampFloat( -600.0f, 600.0f, accel );
idVec3 vecAccel = accel * frameTime * velDeltaDir;
newVelocity = flatVelocity + vecAccel;
newVelocity.z = Zvel;
//
// Angles
//
idVec3 velDir = velocity;
float velLength = velDir.Normalize();
// calculate what acceleration we are undergoing
idVec3 velAccel = ( newVelocity - velocity ) / frameTime;
// calculate a component due to air resistance
float speed = InchesToMetres( velLength );
float rho = 1.2f;
float sideArea = InchesToMetres( 650.0f ) * InchesToMetres( 650.0f );
float Cd = 0.6f;
float dragForceMagnitude = MetresToInches( 0.5 * Cd * sideArea * rho * speed * speed );
// assume mass is 10,000 -> I know this works nicely
idVec3 dragAccel = ( dragForceMagnitude / 10000.f ) * velDir;
idVec3 desiredAccel = velAccel + dragAccel;
desiredAccel *= 0.4f;
desiredAccel.z += MetresToInches( 9.8f );
// ok, so we desire to be looking at the target
idVec3 forwards = endPoint - origin;
forwards.z = 0.0f;
forwards.Normalize();
if ( orientToEnd ) {
idAngles targetAngles = ang_zero;
targetAngles.yaw = idMath::AngleNormalize180( itemRotation );
forwards = targetAngles.ToForward();
}
// figure out the axes corresponding to this orientation
idVec3 up = desiredAccel;
up.Normalize();
idVec3 right = up.Cross( forwards );
right.Normalize();
forwards = right.Cross( up );
forwards.Normalize();
// convert that to an angles
idAngles desiredAngles = ( idMat3( forwards, right, up ) ).ToAngles();
if ( clampRoll ) {
desiredAngles.roll = idMath::ClampFloat( -9.0f, 9.0f, desiredAngles.roll );
} else {
desiredAngles.roll = idMath::ClampFloat( -30.0f, 30.0f, desiredAngles.roll );
}
desiredAngles.pitch = idMath::ClampFloat( -30.0f, 30.0f, desiredAngles.pitch );
// find the diff between that and what we currently have
idAngles diffAngles = ( desiredAngles - angles ).Normalize180();
diffAngles = diffAngles * 0.1f;
diffAngles = diffAngles / frameTime;
diffAngles *= 0.1f;
// translate the old angular velocity back to an angle diff style value
idAngles oldDiffAngles;
oldDiffAngles.pitch = angVel * currentRight;
oldDiffAngles.yaw = angVel * currentUp;
oldDiffAngles.roll = angVel * currentFwd;
// blend the old and the new to soften the quick changes
diffAngles = oldDiffAngles * 0.9f + diffAngles * 0.1f;
// figure out how much we're trying to change by in a single frame
idAngles angleAccel = diffAngles - oldDiffAngles;
float maxAngleAccel = 45.0f * frameTime;
float maxYawAccel = maxAngleAccel * maxYawScale;
angleAccel.pitch = idMath::ClampFloat( -maxAngleAccel, maxAngleAccel, angleAccel.pitch );
angleAccel.yaw = idMath::ClampFloat( -maxYawAccel, maxYawAccel, angleAccel.yaw );
angleAccel.roll = idMath::ClampFloat( -maxAngleAccel, maxAngleAccel, angleAccel.roll );
diffAngles = oldDiffAngles + angleAccel;
idVec3 newAngVel = diffAngles.pitch * currentRight +
diffAngles.yaw * currentUp +
diffAngles.roll * currentFwd;
// HACK: ensure it never gets below the minimum height
if ( currentHeight < HOVER_HEIGHT_MIN ) {
idVec3 newOrigin = origin;
newOrigin.z = origin.z - currentHeight + HOVER_HEIGHT_MIN;
GetPhysics()->SetOrigin( newOrigin );
} else if ( currentHeight < HOVER_HEIGHT_RESCUE ) {
float oldNewVelLength = newVelocity.Length();
float scale = ( HOVER_HEIGHT_RESCUE - currentHeight ) / ( HOVER_HEIGHT_RESCUE - HOVER_HEIGHT_MIN );
scale = idMath::Sqrt( scale );
float rescueVelocity = scale * ( HOVER_HEIGHT_RESCUE - HOVER_HEIGHT_MIN ) / 0.5f;
float rescueAcceleration = ( rescueVelocity - velocity.z ) / frameTime;
rescueAcceleration = idMath::ClampFloat( 0.0f, 1800.0f, rescueAcceleration );
rescueVelocity = velocity.z + rescueAcceleration * frameTime;
if ( rescueVelocity > newVelocity.z ) {
newVelocity.z = rescueVelocity;
}
newVelocity.Normalize();
newVelocity *= oldNewVelLength;
}
GetPhysics()->SetLinearVelocity( newVelocity );
GetPhysics()->SetAxis( angles.ToMat3() );
GetPhysics()->SetAngularVelocity( newAngVel );
}
