//------------------------------------------------------------------------
void CVehicleMovementHelicopter::Reset()
{
CVehicleMovementBase::Reset();
m_damageActual = 0.0f;
ResetActions();
m_enginePower = 0.0f;
m_EnginePerformance = 1.0f;
m_rpmScale = 100.0f;
m_isEnginePowered = false;
m_actionPitch = 0.0f;
m_actionRoll = 0.0f;
m_actionYaw = 0.0f;
m_CurrentSpeed = 0.0f;
m_CurrentVel = ZERO;
m_steeringDamage = ZERO;
m_pNoise = &m_defaultNoise;
m_pVehicle->GetGameObject()->EnableUpdateSlot(m_pVehicle, IVehicle::eVUS_EnginePowered);
if(m_HoverAnim)
m_HoverAnim->Reset();
SetAnimationSpeed(eVMA_Engine, (m_enginePower / m_enginePowerMax));
m_arcade.Reset(m_pVehicle, m_pEntity);
}
//------------------------------------------------------------------------
void CVehicleMovementHelicopter::StopDriving()
{
CVehicleMovementBase::StopDriving();
ResetActions();
m_engineStartup += m_engineWarmupDelay;
m_isEnginePowered = false;
}
//------------------------------------------------------------------------
void CVehicleMovementHelicopter::StopEngine()
{
if(m_enginePower > 0.0f)
{
m_isEngineGoingOff = true;
}
CVehicleMovementBase::StopEngine();
ResetActions();
m_playerControls.Reset();
m_engineStartup += m_engineWarmupDelay;
}
//------------------------------------------------------------------------
bool CVehicleMovementHelicopter::Init(IVehicle* pVehicle, const CVehicleParams& table)
{
if (!CVehicleMovementBase::Init(pVehicle, table))
return false;
// Initialise the arcade physics, handling helper
if (CVehicleParams handlingParams = table.findChild("HandlingArcade"))
if (!m_arcade.Init(pVehicle, handlingParams))
return false;
MOVEMENT_VALUE("engineWarmupDelay", m_engineWarmupDelay);
MOVEMENT_VALUE("enginePowerMax", m_enginePowerMax);
MOVEMENT_VALUE("yawPerRoll", m_yawPerRoll);
MOVEMENT_VALUE("maxSpeed", m_maxSpeed);
MOVEMENT_VALUE("maxPitchAngle", m_maxPitchAngle);
MOVEMENT_VALUE("maxRollAngle", m_maxRollAngle);
MOVEMENT_VALUE("rollDamping", m_rollDamping);
if(table.haveAttr("extendMoveTarget"))
{
table.getAttr("extendMoveTarget", m_bExtendMoveTarget);
}
table.getAttr("applyNoiseAsVelocity", m_bApplyNoiseAsVelocity);
if(CVehicleParams noiseParams = table.findChild("MovementNoise"))
{
InitMovementNoise(noiseParams, m_defaultNoise);
}
// high-level controller
Ang3 angles = m_pEntity->GetWorldAngles();
m_enginePower = 0.0f;
if (table.haveAttr("rotorPartName"))
m_pRotorPart = m_pVehicle->GetPart(table.getAttr("rotorPartName"));
m_isEngineGoingOff = true;
m_isEnginePowered = false;
ResetActions();
m_pVehicle->GetGameObject()->EnableUpdateSlot(m_pVehicle, IVehicle::eVUS_EnginePowered);
return true;
}
//------------------------------------------------------------------------
void CVehicleMovementHelicopter::Reset()
{
CVehicleMovementBase::Reset();
m_playerControls.Reset();
m_isEnginePowered = false;
m_steeringDamage = 0.0f;
m_damageActual = 0.0f;
m_turbulence = 0.0f;
ResetActions();
m_powerPID.Reset();
m_liftPID.Reset();
m_yawPID.Reset();
// high-level controller
Ang3 angles = m_pEntity->GetWorldAngles();
m_desiredDir = angles.z;
m_desiredHeight = m_pEntity->GetWorldPos().z;
m_lastDir = m_desiredDir;
m_enginePower = 0.0f;
m_isTouchingGround = false;
m_timeOnTheGround = 50.0f;
m_desiredPitch = 0.0f;
m_desiredRoll = 0.0f;
m_engineForce = 0.0f;
m_noHoveringTimer = 0.0f;
m_xyHelp = 0.0f;
m_liftPitchAngle = 0.0f;
m_relaxTimer = 0.0f;
m_velDamp = 0.0f;
SetAnimationSpeed(eVMA_Engine, (m_enginePower / m_enginePowerMax));
}
void CVehicleMovementHelicopter::ProcessAI(const float deltaTime)
{
FUNCTION_PROFILER( GetISystem(), PROFILE_GAME );
CryAutoCriticalSection lk(m_lock);
SVehiclePhysicsStatus* physStatus = &m_physStatus[k_physicsThread];
if (m_arcade.m_handling.maxSpeedForward>0.f) // Use the new handling code
{
//ResetActions();
m_movementAction.Clear();
m_movementAction.isAI = true;
SVehiclePhysicsHelicopterProcessAIParams params;
params.pPhysStatus = physStatus;
params.pInputAction = &m_inputAction;
params.pAiRequest = &m_aiRequest;
params.dt = deltaTime;
params.aiRequiredVel = m_CurrentVel;
params.aiCurrentSpeed = m_CurrentSpeed;
params.aiYawResponseScalar = m_yawResponseScalar;
m_yawResponseScalar = 1.f;
// Use helper class to process the AI input
// It will return a requested velocity, and change the input
m_arcade.ProcessAI(params);
// Get the output velocity
m_CurrentVel = params.aiRequiredVel;
m_CurrentSpeed = params.aiCurrentSpeed;
return;
}
////////////////////// OLD DEPRECATED CODE :( //////////////////////////////////
m_movementAction.Clear();
ResetActions();
// Our current state
const Vec3 worldPos = physStatus->pos;
const Matrix33 worldMat( physStatus->q);
const Matrix33 localMat( physStatus->q.GetInverted());
const Ang3 worldAngles = Ang3::GetAnglesXYZ(worldMat);
const Ang3 localAngles = Ang3::GetAnglesXYZ(localMat);
const Vec3 currentVel = physStatus->v;
const Vec3 currentVel2D(currentVel.x, currentVel.y, 0.0f);
m_CurrentSpeed = m_CurrentVel.len(); //currentVel.len();
float currentSpeed2d = currentVel2D.len();
// +ve direction mean rotation anti-clocwise about the z axis - 0 means along y
float currentDir = worldAngles.z;
// to avoid singularity
const Vec3 vWorldDir = worldMat.GetRow(1);
const Vec3 vSideWays = worldMat.GetRow(0);
const Vec3 vWorldDir2D = Vec3( vWorldDir.x, vWorldDir.y, 0.0f ).GetNormalizedSafe();
// Our inputs
float desiredSpeed = m_aiRequest.HasDesiredSpeed() ? m_aiRequest.GetDesiredSpeed() : 0.0f;
Limit(desiredSpeed, -m_maxSpeed, m_maxSpeed);
const Vec3 desiredMoveDir = m_aiRequest.HasMoveTarget() ? (m_aiRequest.GetMoveTarget() - worldPos).GetNormalizedSafe() : vWorldDir;
Vec3 desiredMoveDir2D = Vec3(desiredMoveDir.x, desiredMoveDir.y, 0.0f);
desiredMoveDir2D = desiredMoveDir2D.GetNormalizedSafe(desiredMoveDir2D);
const Vec3 desiredVel = desiredMoveDir * desiredSpeed;
const Vec3 desiredVel2D(desiredVel.x, desiredVel.y, 0.0f);
Vec3 desiredLookDir(desiredMoveDir);
if (m_aiRequest.HasDesiredBodyDirectionAtTarget())
{
desiredLookDir = m_aiRequest.GetDesiredBodyDirectionAtTarget().GetNormalizedSafe(desiredMoveDir);
}
else if (m_aiRequest.HasLookTarget())
{
desiredLookDir = (m_aiRequest.GetLookTarget() - worldPos).GetNormalizedSafe(desiredMoveDir);
}
//const Vec3 desiredLookDir = m_aiRequest.HasLookTarget() ? (m_aiRequest.GetLookTarget() - worldPos).GetNormalizedSafe() : desiredMoveDir;
const Vec3 desiredLookDir2D = Vec3(desiredLookDir.x, desiredLookDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D);
Vec3 prediction = m_aiRequest.HasBodyTarget() ? m_aiRequest.GetBodyTarget() : ZERO;
prediction = (prediction.IsEquivalent(ZERO)) ? desiredMoveDir2D : prediction - worldPos;
prediction.z = 0.0f;
float speedLimit = prediction.GetLength2D();
if(speedLimit > 0.0f)
{
prediction *= 1.0f / speedLimit;
}
Vec3 tempDir = currentVel2D.IsEquivalent(ZERO) ? localMat.GetRow(1) : currentVel2D;
tempDir.z = 0.0f;
tempDir.NormalizeFast();
float dotProd = tempDir.dot(prediction);
Limit(dotProd, FLT_EPSILON, 1.0f);
float accel = m_enginePowerMax * min(2.0f, 1.0f / dotProd); // * dotProd;
if (!m_aiRequest.HasDesiredBodyDirectionAtTarget())
{
dotProd *= dotProd;
dotProd *= dotProd;
float tempf = min(max(speedLimit * speedLimit, 2.0f), m_maxSpeed * dotProd);
Limit(desiredSpeed, -tempf, tempf);
}
else if (dotProd < 0.0125f)
{
Limit(desiredSpeed, -m_maxSpeed * 0.25f, m_maxSpeed * 0.25f);
}
float posNeg = (float)__fsel(desiredSpeed - m_CurrentSpeed, 1.0f, -5.0f);
if (desiredVel2D.GetLengthSquared() > FLT_EPSILON)
{
m_CurrentSpeed = m_CurrentSpeed + posNeg * accel * deltaTime;
}
else
{
m_CurrentSpeed = m_CurrentSpeed + posNeg * accel * deltaTime;
}
if (posNeg > 0.0f && m_CurrentSpeed > desiredSpeed)
{
m_CurrentSpeed = desiredSpeed;
}
else if (posNeg < 0.0f && m_CurrentSpeed < desiredSpeed)
{
m_CurrentSpeed = desiredSpeed;
}
// ---------------------------- Rotation ----------------------------
float desiredDir = (desiredLookDir2D.GetLengthSquared() > 0.0f) ? atan2f(-desiredLookDir2D.x, desiredLookDir2D.y) : atan2f(-vWorldDir2D.x, vWorldDir2D.y);
while (currentDir < desiredDir - gf_PI)
currentDir += 2.0f * gf_PI;
while (currentDir > desiredDir + gf_PI)
currentDir -= 2.0f * gf_PI;
// ---------------------------- Yaw ----------------------------
Ang3 dirDiff(0.0f, 0.0f, desiredDir - currentDir);
dirDiff.RangePI();
float absDiff = fabsf(dirDiff.z);
float rotSpeed = (float)__fsel(dirDiff.z, m_yawPerRoll, -m_yawPerRoll);
m_actionYaw = m_actionYaw + deltaTime * (rotSpeed - m_actionYaw);
float temp = fabsf(m_actionYaw);
float multiplier = ((absDiff / (temp + 0.001f)) + 1.0f) * 0.5f;
m_actionYaw *= (float)__fsel(absDiff - temp, 1.0f, multiplier);
// ---------------------------- Yaw ------------------------------
m_CurrentVel = desiredMoveDir * m_CurrentSpeed;
// ---------------------------- Pitch ----------------------------
if (m_CurrentVel.GetLengthSquared2D() > 0.1f)
{
CalculatePitch(worldAngles, desiredMoveDir, currentSpeed2d, desiredSpeed, deltaTime);
}
else
{
Quat rot;
rot.SetRotationVDir(desiredLookDir, 0.0f);
float desiredXRot = Ang3::GetAnglesXYZ(rot).x + m_steeringDamage.x;
m_actionPitch = worldAngles.x + (desiredXRot - worldAngles.x) * deltaTime/* * 10.0f*/;
Limit(m_actionPitch, -m_maxPitchAngle * 2.0f, m_maxPitchAngle * 2.0f);
}
// ---------------------------- Roll ----------------------------
float rollSpeed = GetRollSpeed();
rollSpeed *= deltaTime;
rollSpeed = (float)__fsel(absDiff - rollSpeed, rollSpeed, absDiff);
float roll =(float) __fsel(dirDiff.z, -rollSpeed, rollSpeed);
float speedPerUnit = 1.5f;
float desiredRollSpeed = absDiff * speedPerUnit * (float)__fsel(dirDiff.z, 1.0f, -1.0f);
desiredRollSpeed = -m_actionYaw * 2.5f;
desiredRollSpeed += m_steeringDamage.y;
m_actionRoll = m_actionRoll + deltaTime * (desiredRollSpeed - m_actionRoll);
Limit(m_actionRoll, -m_maxRollAngle + m_steeringDamage.y, m_maxRollAngle - m_steeringDamage.y);
m_actionRoll *= m_rollDamping;
// ---------------------------- Roll ----------------------------
// ---------------------------- Convert and apply ----------------------------
Ang3 angles(m_actionPitch, m_actionRoll, worldAngles.z + deltaTime * m_actionYaw);
pe_params_pos paramPos;
paramPos.q.SetRotationXYZ(angles);
paramPos.q.Normalize();
IPhysicalEntity * pPhysicalEntity = GetPhysics();
pPhysicalEntity->SetParams(¶mPos, 1);
pe_action_set_velocity vel;
vel.v = m_CurrentVel + m_netPosAdjust;
pPhysicalEntity->Action(&vel, 1);
// ---------------------------- Convert and apply ----------------------------
m_rpmScale = max(0.2f, cry_fabsf(m_CurrentSpeed / m_maxSpeed));
}
//------------------------------------------------------------------------
bool CVehicleMovementHelicopter::Init(IVehicle *pVehicle, const CVehicleParams &table)
{
if(!CVehicleMovementBase::Init(pVehicle, table))
assert(0);
MOVEMENT_VALUE("engineWarmupDelay", m_engineWarmupDelay);
// heli abilities
MOVEMENT_VALUE("altitudeMax", m_altitudeMax);
MOVEMENT_VALUE("rotorDiskTiltScale", m_rotorDiskTiltScale);
MOVEMENT_VALUE("pitchResponsiveness", m_pitchResponsiveness);
MOVEMENT_VALUE("rollResponsiveness", m_rollResponsiveness);
MOVEMENT_VALUE("yawResponsiveness", m_yawResponsiveness);
MOVEMENT_VALUE("enginePowerMax", m_enginePowerMax);
MOVEMENT_VALUE("rotationDamping", m_rotationDamping);
MOVEMENT_VALUE("yawPerRoll", m_yawPerRoll);
// high-level controller abilities
MOVEMENT_VALUE("maxYawRate", m_maxYawRate);
MOVEMENT_VALUE("maxFwdSpeed", m_maxFwdSpeed);
MOVEMENT_VALUE("maxLeftSpeed", m_maxLeftSpeed);
MOVEMENT_VALUE("maxUpSpeed", m_maxUpSpeed);
MOVEMENT_VALUE("basicSpeedFraction", m_basicSpeedFraction);
MOVEMENT_VALUE("yawDecreaseWithSpeed", m_yawDecreaseWithSpeed);
MOVEMENT_VALUE("tiltPerVelDifference", m_tiltPerVelDifference);
MOVEMENT_VALUE("maxTiltAngle", m_maxTiltAngle);
MOVEMENT_VALUE("extraRollForTurn", m_extraRollForTurn);
MOVEMENT_VALUE("rollForTurnForce", m_rollForTurnForce);
MOVEMENT_VALUE("yawPerRoll", m_yawPerRoll);
MOVEMENT_VALUE("pitchActionPerTilt", m_pitchActionPerTilt);
MOVEMENT_VALUE("pitchInputConst", m_pitchInputConst);
MOVEMENT_VALUE("powerInputConst", m_powerInputConst);
MOVEMENT_VALUE("powerInputDamping", m_powerInputDamping);
MOVEMENT_VALUE("relaxForce", m_relaxForce);
MOVEMENT_VALUE("yawInputConst", m_yawInputConst);
MOVEMENT_VALUE("yawInputDamping", m_yawInputDamping);
MOVEMENT_VALUE("maxRollAngle", m_maxRollAngle);
MOVEMENT_VALUE("velDamping", m_velDamp);
// Initialise the power PID.
m_powerPID.Reset();
m_powerPID.m_kP = 0.2f;
m_powerPID.m_kD = 0.01f;
m_powerPID.m_kI = 0.0001f;
m_maxSpeed = 40.f; // empirically determined
m_liftPID.Reset();
m_yawPID.Reset();
m_liftPID.m_kP = 0.66f;
m_liftPID.m_kD = 0.2f;
m_liftPID.m_kI = 0.0f;
m_yawPID.m_kP = -0.03f;
m_yawPID.m_kI = 0.0f;
m_yawPID.m_kD = 0.0f;
// high-level controller
Ang3 angles = m_pEntity->GetWorldAngles();
m_desiredDir = angles.z;
m_desiredHeight = m_pEntity->GetWorldPos().z;
m_lastDir = m_desiredDir;
m_enginePower = 0.0f;
m_isTouchingGround = false;
m_timeOnTheGround = 50.0f;
if(table.haveAttr("rotorPartName"))
m_pRotorPart = m_pVehicle->GetPart(table.getAttr("rotorPartName"));
else
m_pRotorPart = NULL;
m_desiredPitch = 0.0f;
ResetActions();
m_playerDampingBase = 0.1f;
m_playerDampingRotation = 0.15f;
m_playerDimLowInput = 0.25f;
m_playerRotationMult.x = 60.0f;
m_playerRotationMult.y = 60.0f;
m_playerRotationMult.z = 10.0f;
m_strafeForce = 1.0f;
m_engineUpDir.Set(0.0f, 0.0f, 1.0f);
m_boostMult = 2.00f;
ICVar *pSensitivVar = gEnv->pConsole->GetCVar("cl_sensitivity");
m_playerControls.RegisterValue(&m_liftAction, false, 0.0f, "lift");
m_playerControls.RegisterAction(eVAI_MoveUp, CHelicopterPlayerControls::eVM_Positive, &m_liftAction);
m_playerControls.RegisterAction(eVAI_MoveDown, CHelicopterPlayerControls::eVM_Negative, &m_liftAction);
m_playerControls.RegisterValue(&m_turnAction, false, 0.0f, "roll");
m_playerControls.RegisterAction(eVAI_TurnLeft, CHelicopterPlayerControls::eVM_Negative, &m_turnAction);
m_playerControls.RegisterAction(eVAI_TurnRight, CHelicopterPlayerControls::eVM_Positive, &m_turnAction);
m_playerControls.RegisterAction(eVAI_RotateYaw, CHelicopterPlayerControls::eVM_Positive, &m_turnAction, pSensitivVar);
m_playerControls.SetActionMult(eVAI_RotateYaw, m_maxYawRate * 0.65f);
m_playerControls.RegisterValue(&m_desiredRoll, false, gf_PI * 4.0f, "turn");
m_playerControls.RegisterAction(eVAI_RollLeft, CHelicopterPlayerControls::eVM_Negative, &m_desiredRoll);
m_playerControls.RegisterAction(eVAI_RollRight, CHelicopterPlayerControls::eVM_Positive, &m_desiredRoll);
m_playerControls.RegisterAction(eVAI_RotateRoll, CHelicopterPlayerControls::eVM_Positive, &m_desiredRoll, pSensitivVar);
m_playerControls.RegisterValue(&m_desiredPitch, false, 0.0f, "pitch");
m_playerControls.RegisterAction(eVAI_RotatePitch, CHelicopterPlayerControls::eVM_Negative, &m_desiredPitch, pSensitivVar);
m_playerControls.SetActionMult(eVAI_RotatePitch, m_maxYawRate * 0.65f);
m_pInvertPitchVar = gEnv->pConsole->GetCVar("v_invertPitchControl");
m_pAltitudeLimitVar = gEnv->pConsole->GetCVar("v_altitudeLimit");
m_pAltitudeLimitLowerOffsetVar = gEnv->pConsole->GetCVar("v_altitudeLimitLowerOffset");
m_pStabilizeVTOL = gEnv->pConsole->GetCVar("v_stabilizeVTOL");
m_turbulenceMultMax = 0.25f;
return true;
}
//===================================================================
// ProcessAI
// This treats the helicopter as able to move in any horizontal direction
// by tilting in any direction. Yaw control is thus secondary. Throttle
// control is also secondary since it is adjusted to maintain or change
// the height, and the amount needed depends on the tilt.
//===================================================================
//////////////////////////////////////////////////////////////////////////
// NOTE: This function must be thread-safe. Before adding stuff contact MarcoC.
void CVehicleMovementHelicopter::ProcessAI(const float deltaTime)
{
FUNCTION_PROFILER(GetISystem(), PROFILE_GAME);
// it's useless to progress further if the engine has yet to be turned on
if(!m_isEnginePowered)
return;
m_movementAction.Clear();
ResetActions();
// Our current state
const Vec3 worldPos = m_PhysPos.pos;
const Matrix33 worldMat(m_PhysPos.q);
const Ang3 worldAngles = Ang3::GetAnglesXYZ(worldMat);
const Vec3 currentVel = m_PhysDyn.v;
const Vec3 currentVel2D(currentVel.x, currentVel.y, 0.0f);
m_velDamp = 0.15f;
// +ve direction mean rotation anti-clocwise about the z axis - 0 means along y
float currentDir = worldAngles.z;
// to avoid singularity
const Vec3 vWorldDir = worldMat * FORWARD_DIRECTION;
const Vec3 vWorldDir2D = Vec3(vWorldDir.x, vWorldDir.y, 0.0f).GetNormalizedSafe();
// Our inputs
const float desiredSpeed = m_aiRequest.HasDesiredSpeed() ? m_aiRequest.GetDesiredSpeed() : 0.0f;
const Vec3 desiredMoveDir = m_aiRequest.HasMoveTarget() ? (m_aiRequest.GetMoveTarget() - worldPos).GetNormalizedSafe() : vWorldDir;
const Vec3 desiredMoveDir2D = Vec3(desiredMoveDir.x, desiredMoveDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D);
const Vec3 desiredVel = desiredMoveDir * desiredSpeed;
const Vec3 desiredVel2D(desiredVel.x, desiredVel.y, 0.0f);
const Vec3 desiredLookDir = m_aiRequest.HasLookTarget() ? (m_aiRequest.GetLookTarget() - worldPos).GetNormalizedSafe() : desiredMoveDir;
const Vec3 desiredLookDir2D = Vec3(desiredLookDir.x, desiredLookDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D);
// Calculate the desired 2D velocity change
Vec3 desiredVelChange2D = desiredVel2D - currentVel2D;
float desiredTiltAngle = m_tiltPerVelDifference * desiredVelChange2D.GetLength();
float powerfactor = desiredSpeed/m_maxSpeed;
if(powerfactor < 1.0f)
powerfactor = 1.0f;
Limit(desiredTiltAngle, -(m_maxTiltAngle*powerfactor), (m_maxTiltAngle*powerfactor));
if(desiredTiltAngle > 0.0001f)
{
const Vec3 desiredWorldTiltAxis = Vec3(-desiredVelChange2D.y, desiredVelChange2D.x, 0.0f).GetNormalizedSafe();
const Vec3 desiredLocalTiltAxis = worldMat.GetTransposed() * desiredWorldTiltAxis;
float desiredPitch = desiredTiltAngle * desiredLocalTiltAxis.x;
float desiredRoll = desiredTiltAngle * desiredLocalTiltAxis.y;
m_actionPitch += m_pitchActionPerTilt * (desiredPitch - worldAngles.x);
m_actionRoll += m_pitchActionPerTilt * (desiredRoll - worldAngles.y);
}
float desiredDir = atan2f(-desiredLookDir2D.x, desiredLookDir2D.y);
while(currentDir < desiredDir - gf_PI)
currentDir += 2.0f * gf_PI;
while(currentDir > desiredDir + gf_PI)
currentDir -= 2.0f * gf_PI;
m_actionYaw = (desiredDir - currentDir) * m_yawInputConst;
m_actionYaw += m_yawInputDamping * (currentDir - m_lastDir) / deltaTime;
m_lastDir = currentDir;
Limit(m_actionPitch, -1.0f, 1.0f);
Limit(m_actionRoll, -1.0f, 1.0f);
Limit(m_actionYaw, -1.0f, 1.0f);
Limit(m_hoveringPower, -1.0f, 1.0f);
float currentHeight = worldPos.z;
if(m_aiRequest.HasMoveTarget())
{
m_hoveringPower = m_powerPID.Update(currentVel.z, desiredVel.z, -1.0f, 1.0f);
m_liftAction = 0.0f;
m_desiredHeight = currentHeight;
}
else
{
// to keep hovering at the same place
m_hoveringPower = m_powerPID.Update(currentVel.z, m_desiredHeight - currentHeight, -1.0f, 1.0f);
m_liftAction = 0.0f;
}
}
void CViewer::Init()
{
m_vMeshes = CORE->GetRenderableObjectsManager()->GetMeshes();
m_vAnimatedModels = CORE->GetRenderableObjectsManager()->GetAnimatedModels();
sort(m_vMeshes.begin(),m_vMeshes.end(),SortRenderableObjectByName);
sort(m_vAnimatedModels.begin(),m_vAnimatedModels.end(),SortRenderableObjectByName);
m_itCurrentMesh = m_vMeshes.begin();
m_itCurrentAnimated = m_vAnimatedModels.begin();
m_pCharacter = 0;
m_fInitialCharacterYaw = 0.0f;
if(m_vAnimatedModels.size() > 0)
{
m_pCharacter = (CRenderableAnimatedInstanceModel*)m_vAnimatedModels[0];
m_fInitialCharacterYaw = m_pCharacter->GetYaw();
//m_pCharacter->GetAnimatedInstanceModel()->ClearCycle(0);
m_iCurrentAnimation = 0;
m_pCharacter->GetAnimatedInstanceModel()->BlendCycle(0,0);
}
m_pTargetObject = new CObject3D();
m_pTargetObject->SetPosition(Vect3f(0.0f,0.0f,0.0f));
m_pObjectCamera = new CShoulderCamera(
0.1f,
100.0f,
55.0f * FLOAT_PI_VALUE/180.0f,
((float)RENDER_MANAGER->GetScreenWidth())/((float)RENDER_MANAGER->GetScreenHeight()),
m_pTargetObject,
2.0f,0.6f,1.5f);
m_pObjectModeLight = 0;
//m_pSpotLight = 0;
//m_pObjectModeLight->SetDynamicObjectsOnly(true);
//m_pSpotLight = CORE->GetLightManager()->CreateSpotLight("FreeModeLight",
// Vect3f(-2.15715f,0.0f,-7.32758f),
// Vect3f(-5.4188f,0.0f,3.75613f),
// CColor(Vect3f(1.0f,1.0f,1.0f)),
// 20.0f,
// 80.0f,
// 10.0f,
// 45.0f,
// false );
//m_vOmniColor = Vect3f(1.0f,1.0f,1.0f);
//m_pOmniLight = CORE->GetLightManager()->CreateOmniLight("OmniViewerLight",Vect3f(0.0f),CColor(m_vOmniColor),0.1f,17.0f);
//CSceneEffectManager* l_pSceneEffectManager = CORE->GetSceneEffectManager();
//if(l_pSceneEffectManager)
//{
// l_pSceneEffectManager->SetShadowMapLightCast(m_pSpotLight);
//}
//m_vAmbientLight = CORE->GetLightManager()->GetAmbientLight();
m_bEnableLights = true;
//m_bGuiActive = false;
m_bShowInfo = true;
//m_eNormalRendering = NO_NORMALS;
m_bShowBoxes = false;
m_bShowSpheres = false;
//materials
//m_eLightmapMode = CMaterial::RADIOSITY_NORMAL;
m_fGlowIntensity = 0.0f;
m_fGlowIntensity = 0.0f;
m_fGlossiness = 0.0f;
m_iMode = FREE_MODE;
m_eCurrentMaterialProperty = CViewer::SPECULAR;
//SOUND_MANAGER->PlayMusic("bgm",true);
m_vMouseDelta = 0;
ResetActions();
InitMode();
}
//////////////////////////////////////////////////////////////////////////
// NOTE: This function must be thread-safe. Before adding stuff contact MarcoC.
void CVehicleMovementVTOL::ProcessAI(const float deltaTime)
{
FUNCTION_PROFILER( GetISystem(), PROFILE_GAME );
if (!m_isVTOLMovement)
{
CVehicleMovementHelicopter::ProcessAI(deltaTime);
return;
}
m_velDamp = 0.15f;
const float maxDirChange = 15.0f;
// it's useless to progress further if the engine has yet to be turned on
if (!m_isEnginePowered)
return;
m_movementAction.Clear();
m_movementAction.isAI = true;
ResetActions();
// Our current state
const Vec3 worldPos = m_PhysPos.pos;
const Matrix33 worldMat( m_PhysPos.q);
Ang3 worldAngles = Ang3::GetAnglesXYZ(worldMat);
const Vec3 currentVel = m_PhysDyn.v;
const Vec3 currentVel2D(currentVel.x, currentVel.y, 0.0f);
// +ve direction mean rotation anti-clocwise about the z axis - 0 means along y
float currentDir = worldAngles.z;
// to avoid singularity
const Vec3 vWorldDir = worldMat * FORWARD_DIRECTION;
const Vec3 vWorldDir2D = Vec3( vWorldDir.x, vWorldDir.y, 0.0f ).GetNormalizedSafe();
// Our inputs
const float desiredSpeed = m_aiRequest.HasDesiredSpeed() ? m_aiRequest.GetDesiredSpeed() : 0.0f;
const Vec3 desiredMoveDir = m_aiRequest.HasMoveTarget() ? (m_aiRequest.GetMoveTarget() - worldPos).GetNormalizedSafe() : vWorldDir;
const Vec3 desiredMoveDir2D = Vec3(desiredMoveDir.x, desiredMoveDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D);
const Vec3 desiredVel = desiredMoveDir * desiredSpeed;
const Vec3 desiredVel2D(desiredVel.x, desiredVel.y, 0.0f);
const Vec3 desiredLookDir = m_aiRequest.HasLookTarget() ? (m_aiRequest.GetLookTarget() - worldPos).GetNormalizedSafe() : desiredMoveDir;
const Vec3 desiredLookDir2D = Vec3(desiredLookDir.x, desiredLookDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D);
// Calculate the desired 2D velocity change
Vec3 desiredVelChange2D = desiredVel2D - currentVel2D;
float velChangeLength = desiredVelChange2D.GetLength2D();
bool isLandingMode = false;
if (m_pLandingGears && m_pLandingGears->AreLandingGearsOpen())
isLandingMode = true;
bool isHorizontal = (desiredSpeed >= 5.0f) && (desiredMoveDir.GetLength2D() > desiredMoveDir.z);
float desiredPitch = 0.0f;
float desiredRoll = 0.0f;
float desiredDir = atan2f(-desiredLookDir2D.x, desiredLookDir2D.y);
while (currentDir < desiredDir - gf_PI)
currentDir += 2.0f * gf_PI;
while (currentDir > desiredDir + gf_PI)
currentDir -= 2.0f * gf_PI;
float diffDir = (desiredDir - currentDir);
m_actionYaw = diffDir * m_yawInputConst;
m_actionYaw += m_yawInputDamping * (currentDir - m_lastDir) / deltaTime;
m_lastDir = currentDir;
if (isHorizontal && !isLandingMode)
{
float desiredFwdSpeed = desiredVelChange2D.GetLength();
desiredFwdSpeed *= min(1.0f, diffDir / DEG2RAD(maxDirChange));
if (!iszero(desiredFwdSpeed))
{
const Vec3 desiredWorldTiltAxis = Vec3(-desiredVelChange2D.y, desiredVelChange2D.x, 0.0f);
const Vec3 desiredLocalTiltAxis = worldMat.GetTransposed() * desiredWorldTiltAxis;
m_forwardAction = m_fwdPID.Update(currentVel.y, desiredLocalTiltAxis.GetLength(), -1.0f, 1.0f);
float desiredTiltAngle = m_tiltPerVelDifference * desiredVelChange2D.GetLength();
Limit(desiredTiltAngle, -m_maxTiltAngle, m_maxTiltAngle);
if (desiredTiltAngle > 0.0001f)
{
const Vec3 desiredWorldTiltAxis2 = Vec3(-desiredVelChange2D.y, desiredVelChange2D.x, 0.0f).GetNormalizedSafe();
const Vec3 desiredLocalTiltAxis2 = worldMat.GetTransposed() * desiredWorldTiltAxis2;
Vec3 vVelLocal = worldMat.GetTransposed() * desiredVel;
vVelLocal.NormalizeSafe();
float dotup = vVelLocal.Dot(Vec3( 0.0f,0.0f,1.0f ) );
float currentSpeed = currentVel.GetLength();
desiredPitch = dotup *currentSpeed / 100.0f;
desiredRoll = desiredTiltAngle * desiredLocalTiltAxis2.y *currentSpeed/30.0f;
}
}
}
else
{
float desiredTiltAngle = m_tiltPerVelDifference * desiredVelChange2D.GetLength();
Limit(desiredTiltAngle, -m_maxTiltAngle, m_maxTiltAngle);
if (desiredTiltAngle > 0.0001f)
{
const Vec3 desiredWorldTiltAxis = Vec3(-desiredVelChange2D.y, desiredVelChange2D.x, 0.0f).GetNormalizedSafe();
const Vec3 desiredLocalTiltAxis = worldMat.GetTransposed() * desiredWorldTiltAxis;
desiredPitch = desiredTiltAngle * desiredLocalTiltAxis.x;
desiredRoll = desiredTiltAngle * desiredLocalTiltAxis.y;
}
}
float currentHeight = m_PhysPos.pos.z;
if ( m_aiRequest.HasMoveTarget() )
{
m_hoveringPower = m_powerPID.Update(currentVel.z, desiredVel.z, -1.0f, 4.0f);
//m_hoveringPower = (m_desiredHeight - currentHeight) * m_powerInputConst;
//m_hoveringPower += m_powerInputDamping * (currentHeight - m_lastHeight) / deltaTime;
if (isHorizontal)
{
if (desiredMoveDir.z > 0.6f || desiredMoveDir.z < -0.85f)
{
desiredPitch = max(-0.5f, min(0.5f, desiredMoveDir.z)) * DEG2RAD(35.0f);
m_forwardAction += abs(desiredMoveDir.z);
}
m_liftAction = min(2.0f, max(m_liftAction, m_hoveringPower * 2.0f));
}
else
{
m_liftAction = 0.0f;
}
}
else
{
// to keep hovering at the same place
m_hoveringPower = m_powerPID.Update(currentVel.z, m_desiredHeight - currentHeight, -1.0f, 1.0f);
m_liftAction = 0.0f;
if (m_pVehicle->GetAltitude() > 10.0f) //TODO: this line is not MTSafe
m_liftAction = m_forwardAction;
}
m_actionPitch += m_pitchActionPerTilt * (desiredPitch - worldAngles.x);
m_actionRoll += m_pitchActionPerTilt * (desiredRoll - worldAngles.y);
Limit(m_actionPitch, -1.0f, 1.0f);
Limit(m_actionRoll, -1.0f, 1.0f);
Limit(m_actionYaw, -1.0f, 1.0f);
if (m_horizontal > 0.0001f)
m_desiredHeight = m_PhysPos.pos.z;
Limit(m_forwardAction, -1.0f, 1.0f);
}
