/*
================
idPhysics_RigidBody::DropToFloorAndRest
Drops the object straight down to the floor and verifies if the object is at rest on the floor.
================
*/
void idPhysics_RigidBody::DropToFloorAndRest( void ) {
idVec3 down;
trace_t tr;
if( testSolid ) {
testSolid = false;
if( gameLocal.clip.Contents( current.i.position, clipModel, current.i.orientation, clipMask, self ) ) {
gameLocal.DWarning( "rigid body in solid for entity '%s' type '%s' at (%s)",
self->name.c_str(), self->GetType()->classname, current.i.position.ToString( 0 ) );
Rest();
dropToFloor = false;
return;
}
}
// put the body on the floor
down = current.i.position + gravityNormal * 128.0f;
gameLocal.clip.Translation( tr, current.i.position, down, clipModel, current.i.orientation, clipMask, self );
current.i.position = tr.endpos;
clipModel->Link( gameLocal.clip, self, clipModel->GetId(), tr.endpos, current.i.orientation );
// if on the floor already
if( tr.fraction == 0.0f ) {
// test if we are really at rest
EvaluateContacts();
if( !TestIfAtRest() ) {
gameLocal.DWarning( "rigid body not at rest for entity '%s' type '%s' at (%s)",
self->name.c_str(), self->GetType()->classname, current.i.position.ToString( 0 ) );
}
Rest();
dropToFloor = false;
} else if( IsOutsideWorld() ) {
gameLocal.Warning( "rigid body outside world bounds for entity '%s' type '%s' at (%s)",
self->name.c_str(), self->GetType()->classname, current.i.position.ToString( 0 ) );
Rest();
dropToFloor = false;
}
}
bool PhysicalObj::PutOutOfGround()
{
if (IsOutsideWorld(Point2i(0, 0)))
return false;
if (IsInVacuum(Point2i(0, 0)))
return true;
bool left,right,top,bottom;
left = GetWorld().IsInVacuum_left(*this, 0, 0);
right = GetWorld().IsInVacuum_right(*this, 0, 0);
top = GetWorld().IsInVacuum_top(*this, 0, 0);
bottom = GetWorld().IsInVacuum_bottom(*this, 0, 0);
int dx = (int)GetTestRect().GetSizeX() * (right-left);
int dy = (int)GetTestRect().GetSizeY() * (top-bottom);
if (!dx && !dy)
return false; //->Don't know in which direction we should go...
Point2i b(dx, dy);
Double dir = b.ComputeAngle();
return PutOutOfGround(dir);
}
/*
================
rvPhysics_Particle::DropToFloorAndRest
Drops the object straight down to the floor
================
*/
void rvPhysics_Particle::DropToFloorAndRest( void ) {
idVec3 down;
trace_t tr;
if ( testSolid ) {
testSolid = false;
if ( gameLocal.Contents( self, current.origin, clipModel, clipModel->GetAxis(), clipMask, self ) ) {
gameLocal.Warning( "entity in solid '%s' type '%s' at (%s)",
self->name.c_str(), self->GetType()->classname, current.origin.ToString(0) );
PutToRest();
dropToFloor = false;
return;
}
}
// put the body on the floor
down = current.origin + gravityNormal * 128.0f;
// RAVEN BEGIN
// ddynerman: multiple clip worlds
gameLocal.Translation( self, tr, current.origin, down, clipModel, clipModel->GetAxis(), clipMask, self );
// RAVEN END
current.origin = tr.endpos;
// RAVEN BEGIN
// ddynerman: multiple clip worlds
clipModel->Link( self, clipModel->GetId(), tr.endpos, clipModel->GetAxis() );
// RAVEN END
// if on the floor already
if ( tr.fraction == 0.0f ) {
PutToRest();
EvaluateContacts();//Do a final contact check. Items that drop to floor never do this check otherwise
dropToFloor = false;
} else if ( IsOutsideWorld() ) {
gameLocal.Warning( "entity outside world bounds '%s' type '%s' at (%s)",
self->name.c_str(), self->GetType()->classname, current.origin.ToString(0) );
PutToRest();
dropToFloor = false;
}
}
bool PhysicalObj::PutOutOfGround(Double direction, Double max_distance)
{
if (IsOutsideWorld(Point2i(0, 0)))
return false;
if (IsInVacuum(Point2i(0, 0), false))
return true;
Double dx = cos(direction);
Double dy = sin(direction);
// (dx,dy) is a normal vector (cos^2+sin^2==1)
Double step=1;
while (step<max_distance &&
!IsInVacuum(Point2i(dx * step, dy * step), false))
step+=1.0;
if (step<max_distance)
SetXY(Point2i(dx*step + GetX(), dy*step + GetY()));
else
return false; //Can't put the object out of the ground
return true;
}
/*
================
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;
}
/*
================
rvPhysics_Particle::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 rvPhysics_Particle::Evaluate( int timeStepMSec, int endTimeMSec ) {
particlePState_t next;
float timeStep;
float upspeed;
timeStep = MS2SEC( timeStepMSec );
// if bound to a master
if ( hasMaster ) {
idVec3 masterOrigin;
idMat3 masterAxis;
idVec3 oldOrigin;
oldOrigin = current.origin;
self->GetMasterPosition( masterOrigin, masterAxis );
current.origin = masterOrigin + current.localOrigin * masterAxis;
// RAVEN BEGIN
// ddynerman: multiple clip worlds
clipModel->Link( self, clipModel->GetId(), current.origin, current.localAxis * masterAxis );
// RAVEN END
trace_t tr;
gameLocal.Translation( self, tr, oldOrigin, current.origin, clipModel, clipModel->GetAxis(), clipMask, self );
if ( tr.fraction < 1.0f ) {
self->Collide ( tr, current.origin - oldOrigin );
}
DebugDraw();
return true;
}
// 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();
return true;
}
clipModel->Unlink();
// Determine if currently on the ground
CheckGround ( );
// Determine the current upward velocity
if ( gravityNormal != vec3_zero ) {
upspeed = -( current.velocity * gravityNormal );
} else {
upspeed = current.velocity.z;
}
// If not on the ground, or moving upwards, or bouncing and moving toward gravity then do a straight
// forward slide move and gravity.
if ( !current.onGround || upspeed > 1.0f || (bouncyness > 0.0f && upspeed < -PRT_BOUNCESTOP && !current.inWater) ) {
// Force ground off when moving upward
if ( upspeed > 0.0f ) {
current.onGround = false;
}
SlideMove( current.origin, current.velocity, current.velocity * timeStep );
if ( current.onGround && upspeed < PRT_BOUNCESTOP ) {
current.velocity -= ( current.velocity * gravityNormal ) * gravityNormal;
} else {
current.velocity += (gravityVector * timeStep);
}
} else {
idVec3 delta;
// Slow down due to friction
ApplyFriction ( timeStep );
delta = current.velocity * timeStep;
current.velocity -= ( current.velocity * gravityNormal ) * gravityNormal;
if ( delta == vec3_origin ) {
PutToRest( );
} else {
SlideMove( current.origin, current.velocity, delta );
}
}
// update the position of the clip model
// RAVEN BEGIN
// ddynerman: multiple clip worlds
clipModel->Link( self, clipModel->GetId(), current.origin, clipModel->GetAxis() );
// RAVEN END
DebugDraw();
// get all the ground contacts
EvaluateContacts();
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) );
PutToRest();
}
return true;
}