float AI_Car_Experimental::RayCastDistance( MATHVECTOR <float, 3> direction, float max_length){
btVector3 pos = car->GetCarDynamics().GetPosition();
btVector3 dir = car->GetCarDynamics().LocalToWorld(ToBulletVector(direction));
dir -= pos;
COLLISION_CONTACT contact;
car->GetDynamicsWorld()->castRay(
pos,
dir,
max_length,
&car->GetCarDynamics().getCollisionObject(),
contact
);
float depth = contact.GetDepth();
float dist = std::min(max_length, depth);
#ifdef VISUALIZE_AI_DEBUG
MATHVECTOR<float, 3> pos_start(ToMathVector<float>(pos));
MATHVECTOR<float, 3> pos_end = pos_start + (ToMathVector<float>(dir) * dist);
AddLinePoint(raycastshape, pos_start);
AddLinePoint(raycastshape, pos_end);
#endif
return dist;
}
void FollowCamera::update(Real time, const PosInfo& posIn, PosInfo* posOut, COLLISION_WORLD* world, bool bounce)
{
if (!ca || !posOut) return;
/// input from car posInfoIn
Vector3 posGoal = posIn.pos;
Quaternion orientGoal = posIn.rot;
/// output saved back to car posInfoOut
Quaternion camRotFinal;
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;
first = iFirst < 2; ///par few first frames after reset
if (iFirst < 10) // after reset
{
++iFirst;
mDistReduce = 0.f;
mATilt = 0.f;
}
/// Camera Tilt from terrain/road slope under car
//-------------------------------------------------------------------------------------------
const float // params . . .
Rdist = 1.f, // dist from car to ray (front or back)
HupCar = 1.5f, // car up dir dist - for pipes - so pos stays inside pipe
Habove = 1.5f, // up axis dist, above car - for very high terrain angles
HMaxDepth = 12.f; // how far down can the ray goes
const static Radian r0(0.f),
angMin = Degree(10.f), // below this angle, tilt has no effect - terrain bumps
maxDiff = Degree(1.4f); // max diff of tilt - no sudden jumps
const float smoothSpeed = 14.f; // how fast to apply tilt change
bool bUseTilt = ca->mType == CAM_ExtAng || ca->mType == CAM_Follow;
Radian tilt(0.f);
if (pSet->cam_tilt && bUseTilt)
{
// car pos
Vector3 carUp = posIn.pos - HupCar * posIn.carY;
MATHVECTOR<float,3> pos(carUp.x, -carUp.z, carUp.y + Habove); // to vdr/blt
const static MATHVECTOR<float,3> dir(0,0,-1); // cast rays down
// car rot, yaw angle
Quaternion q = posIn.rot * Quaternion(Degree(90),Vector3(0,1,0));
float angCarY = q.getYaw().valueRadians() + PI_d/2.f;
float ax = cosf(angCarY)*Rdist, ay = sinf(angCarY)*Rdist;
//LogO("pos: "+fToStr(pos[0],2,4)+" "+fToStr(pos[1],2,4)+" a: "+fToStr(angCarY,2,4)+" dir: "+fToStr(ax,2,4)+" "+fToStr(ay,2,4));
// cast 2 rays - 2 times, average 2 angles
COLLISION_CONTACT ct0,ct1,ct20,ct21;
MATHVECTOR<float,3> ofs(ax*0.5f,ay*0.5f,0),ofs2(ax,ay,0);
world->CastRay(pos+ofs, dir, HMaxDepth,chassis, ct0, 0,0, true, true);
world->CastRay(pos-ofs, dir, HMaxDepth,chassis, ct1, 0,0, true, true);
world->CastRay(pos+ofs2,dir, HMaxDepth,chassis, ct20, 0,0, true, true);
world->CastRay(pos-ofs2,dir, HMaxDepth,chassis, ct21, 0,0, true, true);
#ifdef CAM_TILT_DBG
MATHVECTOR<float,3> v;
v = pos+ofs;
posHit[0] = Vector3(v[0],v[2]- ct0.GetDepth(), -v[1]);
v = pos-ofs;
posHit[1] = Vector3(v[0],v[2]- ct1.GetDepth(), -v[1]);
v = pos+ofs2;
posHit[2] = Vector3(v[0],v[2]- ct20.GetDepth(),-v[1]);
v = pos-ofs2;
posHit[3] = Vector3(v[0],v[2]- ct21.GetDepth(),-v[1]);
#endif
if (ct0.GetColObj() && ct1.GetColObj() && ct20.GetColObj() && ct21.GetColObj() )
tilt = (GetAngle(Rdist, ct1.GetDepth() - ct0.GetDepth()) +
GetAngle(2.f*Rdist, ct21.GetDepth() - ct20.GetDepth())) * 0.5f;
//else LogO(String("no hit: ")+(ct0.col?"1":"0")+(ct1.col?" 1":" 0"));
//if (tilt < angMin && tilt > -angMin) tilt = 0.f;
if (tilt < r0 && tilt >-angMin) {
Radian d = tilt-angMin;
tilt = std::min(r0, tilt + d*d*5.f);
}
if (tilt > r0 && tilt < angMin) {
Radian d =-angMin-tilt;
tilt = std::max(r0, tilt - d*d*5.f);
}
//LogO("a "+fToStr(angCarY,3,5)+" d "+fToStr(ct0.GetDepth(),3,5)+" "+fToStr(ct1.GetDepth(),3,5)+" t "+fToStr(tilt.valueDegrees(),3,5));
}
// smooth tilt angle
mATilt += std::min(maxDiff, std::max(-maxDiff, tilt - mATilt)) * time * smoothSpeed;
//-------------------------------------------------------------------------------------------
if (ca->mType == CAM_Car) /* 3 Car - car pos & rot full */
{
camPosFinal = goalLook;
camRotFinal = orient;
posOut->camPos = camPosFinal; // save result in out posInfo
posOut->camRot = camRotFinal;
return;
}
if (ca->mType == CAM_Follow) ofs = ca->mOffset;
Vector3 pos,goalPos;
pos = camPosFinal - ofs;
goalPos = posGoal;
Vector3 xyz;
if (ca->mType != CAM_Arena)
{
Real x,y,z,xz; // pitch & yaw to direction vector
Real ap = bUseTilt ? (ca->mPitch.valueRadians() + mATilt.valueRadians()) : 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;
}
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(0.002f, 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
}
#endif
Quaternion qy = Quaternion(ca->mYaw,Vector3(0,1,0));
goalPos += qq * (xyz + ca->mOffset);
camPosFinal = goalPos;
camRotFinal = qq * qy * Quaternion(Degree(-ca->mPitch - mATilt), 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 = camPosFinal; //read last state (smooth)
Pos += (goalPos - Pos) * dtmul;
mAPitch += (ca->mPitch - mAPitch) * dtmul;
mAYaw += (ca->mYaw - mAYaw) * dtmul;
if (first) {
Pos = goalPos;
mAPitch = ca->mPitch;
mAYaw = ca->mYaw;
}
camPosFinal = Pos;
camRotFinal = Quaternion(Degree(mAYaw),Vector3(0,1,0)) * Quaternion(Degree(mAPitch),Vector3(1,0,0));
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;
camPosFinal = pos + ofs;
goalLook = posGoal + ofs;
if (first) {
mLook = goalLook;
}
addLook = (goalLook - mLook) * dtmul;//Rot;
mLook += addLook;
}
}
//camLookFinal = mLook;
if (!manualOrient) // CAM_Free or CAM_Follow
{
Vector3 zdir = camPosFinal - mLook;
zdir.normalise();
Vector3 xVec = Vector3::UNIT_Y.crossProduct(zdir);
xVec.normalise();
Vector3 yVec = zdir.crossProduct(xVec);
yVec.normalise();
Quaternion q;
q.FromAxes(xVec, yVec, zdir);
camRotFinal = q;
}
// cast ray from car to camera, reduce dist if hit
//-------------------------------------------------------------------------------------------
Vector3 pp = camPosFinal;
if (bounce)
pp += posIn.camOfs * ca->mOfsMul
* gPar.camBncScale * pSet->cam_bnc_mul;
Vector3 p = posGoal;
p.y += 1.f; //up
//Vector3 d = camRotFinal * Vector3::UNIT_Z; d.normalise();
Vector3 d = pp - p;
d.normalise();
if (!first && ca->mType != CAM_Arena)
{
MATHVECTOR<float,3> pos1(p.x,-p.z,p.y), dir(d.x,-d.z,d.y); //dir = dir.Normalize();
COLLISION_CONTACT ct;
float maxLen = (p - pp).length(); //cam near
world->CastRay(pos1, dir, maxLen,chassis, ct, 0,0, true, true, true/*+*/);
//dbgLen = -maxLen;
if (ct.GetColObj())
{
float len = ct.GetDepth(); //dbgLen = len;
len -= 0.2f + ct.GetNormal()[2]; ///par normal up, flat terrain, move closer
if (len < maxLen)
{
Real dist = maxLen - len;
if (dist > mDistReduce)
mDistReduce = dist;
}
}
}
// save result in out posInfo
posOut->camPos = mDistReduce > 0.0001f ? (pp - d * mDistReduce) : pp;
posOut->camRot = camRotFinal;
// smooth, back to normal dist
if (mDistReduce > 0.f)
mDistReduce -= time * 10.f;
}
bool DynamicsWorld::castRay(
const btVector3 & origin,
const btVector3 & direction,
const btScalar length,
const btCollisionObject * caster,
COLLISION_CONTACT & contact) const
{
btVector3 p = origin + direction * length;
btVector3 n = -direction;
btScalar d = length;
int patch_id = -1;
const BEZIER * b = 0;
const TRACKSURFACE * s = TRACKSURFACE::None();
btCollisionObject * c = 0;
MyRayResultCallback ray(origin, p, caster);
rayTest(origin, p, ray);
// track geometry collision
bool geometryHit = ray.hasHit();
if (geometryHit)
{
p = ray.m_hitPointWorld;
n = ray.m_hitNormalWorld;
d = ray.m_closestHitFraction * length;
c = ray.m_collisionObject;
if (c->isStaticObject())
{
TRACKSURFACE* tsc = static_cast<TRACKSURFACE*>(c->getUserPointer());
const std::vector<TRACKSURFACE> & surfaces = track->GetSurfaces();
if (tsc >= &surfaces[0] && tsc <= &surfaces[surfaces.size()-1])
{
s = tsc;
}
#ifndef EXTBULLET
else if (c->getCollisionShape()->isCompound())
{
TRACKSURFACE* tss = static_cast<TRACKSURFACE*>(ray.m_shape->getUserPointer());
if (tss >= &surfaces[0] && tss <= &surfaces[surfaces.size()-1])
{
s = tss;
}
}
#endif
//std::cerr << "static object without surface" << std::endl;
}
// track bezierpatch collision
if (track)
{
MATHVECTOR<float, 3> bezierspace_raystart(origin[1], origin[2], origin[0]);
MATHVECTOR<float, 3> bezierspace_dir(direction[1], direction[2], direction[0]);
MATHVECTOR<float, 3> colpoint;
MATHVECTOR<float, 3> colnormal;
patch_id = contact.GetPatchId();
if (track->CastRay(bezierspace_raystart, bezierspace_dir, length,
patch_id, colpoint, b, colnormal))
{
p = btVector3(colpoint[2], colpoint[0], colpoint[1]);
n = btVector3(colnormal[2], colnormal[0], colnormal[1]);
d = (colpoint - bezierspace_raystart).Magnitude();
}
}
contact = COLLISION_CONTACT(p, n, d, patch_id, b, s, c);
return true;
}
// should only happen on vehicle rollover
contact = COLLISION_CONTACT(p, n, d, patch_id, b, s, c);
return false;
}
// Ray
//-------------------------------------------------------------------------------------------------------------------------------
bool COLLISION_WORLD::CastRay(
const MATHVECTOR <float, 3> & origin,
const MATHVECTOR <float, 3> & direction,
const float length,
const btCollisionObject * caster,
COLLISION_CONTACT & contact,
int* pOnRoad) const
{
btVector3 from = ToBulletVector(origin);
btVector3 to = ToBulletVector(origin + direction * length);
MyRayResultCallback rayCallback(from, to, caster);
MATHVECTOR <float, 3> p, n; float d;
const TRACKSURFACE * s = TRACKSURFACE::None();
const BEZIER * b = NULL;
btCollisionObject * c = NULL;
// track geometry collision
world->rayTest(from, to, rayCallback);
bool geometryHit = rayCallback.hasHit();
if (geometryHit)
{
p = ToMathVector<float>(rayCallback.m_hitPointWorld);
n = ToMathVector<float>(rayCallback.m_hitNormalWorld);
d = rayCallback.m_closestHitFraction * length;
c = rayCallback.m_collisionObject;
if (c->isStaticObject() /*&& (c->getCollisionFlags() & btCollisionObject::CF_NO_CONTACT_RESPONSE == 0)*/)
{
void * ptr = c->getCollisionShape()->getUserPointer();
if (ptr == (void*)7777) // road
{
s = trackSurface[0];
*pOnRoad = 1;
}
if (ptr == (void*)7788) // pipe
{
s = trackSurface[0];
*pOnRoad = 2;
}
else if (ptr == 0)
{
*pOnRoad = 0;
void * ptr = c->getUserPointer();
if (ptr != NULL)
{
const TRACK_OBJECT * const obj = reinterpret_cast <const TRACK_OBJECT * const> (ptr);
assert(obj);
s = obj->GetSurface();
}
else //track geometry
{
int shapeId = rayCallback.m_shapeId;
//assert(shapeId >= 0 && shapeId < trackSurface.size());
if (shapeId >= trackSurface.size() || shapeId < 0) shapeId = 0; //crash hf-
//if (trackSurface.size() > 0)
s = trackSurface[shapeId];
}
}
}
// track bezierpatch collision
if (track != NULL)
{
MATHVECTOR <float, 3> bezierspace_raystart(origin[1], origin[2], origin[0]);
MATHVECTOR <float, 3> bezierspace_dir(direction[1], direction[2], direction[0]);
MATHVECTOR <float, 3> colpoint, colnormal;
const BEZIER * colpatch = NULL;
bool bezierHit = track->CastRay(bezierspace_raystart, bezierspace_dir, length, colpoint, colpatch, colnormal);
if (bezierHit)
{
p = MATHVECTOR <float, 3> (colpoint[2], colpoint[0], colpoint[1]);
n = MATHVECTOR <float, 3> (colnormal[2], colnormal[0], colnormal[1]);
d = (colpoint - bezierspace_raystart).Magnitude();
s = track->GetRoadSurface();
b = colpatch;
c = NULL;
*pOnRoad = 1;
}
}
contact.Set(p, n, d, s, b, c);
return true;
}
// should only happen on vehicle rollover
contact.Set(origin + direction * length, -direction, length, s, b, c);
return false;
}
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);
}
//--------------------------------------------------------------------------------------------------------------------------------
// Ray
///-------------------------------------------------------------------------------------------------------------------------------
bool COLLISION_WORLD::CastRay(
const MATHVECTOR<float,3> & origin,
const MATHVECTOR<float,3> & direction, const float length,
const btCollisionObject * caster,
COLLISION_CONTACT & contact, //out
CARDYNAMICS* cd, int w, //out pCarDyn, nWheel
bool ignoreCars, bool camTilt, bool camDist) const
{
btVector3 from = ToBulletVector(origin);
btVector3 to = ToBulletVector(origin + direction * length);
MyRayResultCallback res(from, to, caster, ignoreCars, camTilt, camDist);
// data to set
MATHVECTOR<float,3> pos, norm; float dist;
const TRACKSURFACE * surf = TRACKSURFACE::None();
btCollisionObject * col = NULL; const BEZIER * bzr = NULL;
world->rayTest(from, to, res);
bool geometryHit = res.hasHit();
if (geometryHit)
{
pos = ToMathVector<float>(res.m_hitPointWorld);
norm = ToMathVector<float>(res.m_hitNormalWorld);
dist = res.m_closestHitFraction * length;
col = res.m_collisionObject;
const TerData& td = pApp->scn->sc->td;
if (col->isStaticObject() /*&& (c->getCollisionFlags() & btCollisionObject::CF_NO_CONTACT_RESPONSE == 0)*/)
{
long long ptrU = (long long)col->getCollisionShape()->getUserPointer(),
su = ptrU & 0xFF00, mtr = ptrU & 0xFF; //void*
/// set surface, basing on shape type -----------------
if (ptrU)
switch (su)
{
case SU_Road: // road
{
int id = td.layerRoad.surfId; // Road[mtr].
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 1; cd->whRoadMtr[w] = mtr; cd->whTerMtr[w] = 0; }
} break;
case SU_Pipe: // pipe
{
int id = td.layerRoad.surfId;
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 2; cd->whRoadMtr[w] = mtr+30; cd->whTerMtr[w] = 0; }
} break;
case SU_Terrain: // Terrain get surface from blendmap mtr
{
int t = pApp->blendMapSize;
float tws = td.fTerWorldSize;
int mx = (pos[0] + 0.5*tws)/tws*t; mx = std::max(0,std::min(t-1, mx));
int my = (pos[1] + 0.5*tws)/tws*t; my = std::max(0,std::min(t-1, t-1-my));
int mtr = pApp->blendMtr[my*t + mx];
int id = td.layersAll[td.layers[mtr]].surfId;
surf = &pApp->pGame->surfaces[id];
if (cd) // mtr 0 = not on terrain
{ cd->iWhOnRoad[w] = 0; cd->whRoadMtr[w] = 60; cd->whTerMtr[w] = mtr + 1; }
} break;
//case SU_RoadWall: //case SU_RoadColumn:
//case SU_Vegetation: case SU_Border:
//case SU_ObjectStatic: //case SU_ObjectDynamic:
default:
{
int id = td.layerRoad.surfId;
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 0; cd->whRoadMtr[w] = 80; cd->whTerMtr[w] = 0; }
} break;
}
else //if (ptrU == 0)
{
int id = td.layersAll[0].surfId; //0 only 1st
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 0; cd->whRoadMtr[w] = 0; cd->whTerMtr[w] = 1; }
/*void * ptr = col->getUserPointer();
if (ptr != NULL)
{
const TRACK_OBJECT * const obj = reinterpret_cast <const TRACK_OBJECT * const> (ptr);
assert(obj);
surf = obj->GetSurface();
}
else // track geometry
{
int shapeId = res.m_shapeId;
//assert(shapeId >= 0 && shapeId < trackSurface.size());
if (shapeId >= trackSurface.size() || shapeId < 0) shapeId = 0; //crash hf-
if (trackSurface.size() > 0)
surf = 0;//trackSurface[shapeId];
}*/
}
}
// track bezierpatch collision
if (track != NULL)
{
MATHVECTOR<float,3> bs_pos(origin[1], origin[2], origin[0]); //bezierspace
MATHVECTOR<float,3> bs_dir(direction[1], direction[2], direction[0]);
MATHVECTOR<float,3> colpos, colnorm;
const BEZIER * colpatch = NULL;
bool bezierHit = track->CastRay(bs_pos, bs_dir, length, colpos, colpatch, colnorm);
if (bezierHit)
{
pos = MATHVECTOR<float,3> (colpos[2], colpos[0], colpos[1]);
norm = MATHVECTOR<float,3> (colnorm[2], colnorm[0], colnorm[1]);
dist = (colpos - bs_pos).Magnitude();
//surf = 0;//track->GetRoadSurface();
bzr = colpatch; col = NULL;
int id = td.layerRoad.surfId;
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 1; cd->whRoadMtr[w] = 0; cd->whTerMtr[w] = 0; }
}
}
contact.Set(pos, norm, dist, surf, bzr, col);
return true;
}
// should only happen on vehicle rollover
contact.Set(origin + direction * length, -direction, length, surf, bzr, col);
return false;
}