void Etherform::updateCameraPos(F32 delta)
{
//
// Update 3rd person camera position.
//
F32 min,max;
Point3F offset;
MatrixF rot;
this->getCameraParameters(&min,&max,&offset,&rot);
Point3F vec = mCameraTargetPos - mCameraPos;
F32 dist = vec.len();
if(dist == 0)
{
// Catch camera position up to its target position.
mCameraPos = mCameraTargetPos;
}
else if(dist > max)
{
// Catch camera up to max allowed dist from target position.
vec.normalize(); vec.neg();
mCameraPos = mCameraTargetPos + vec * max;
}
else
{
// Move camera pos towards its target pos.
#if 0
F32 speed = mDataBlock->accelerationForce;
speed *= 1 - (1/vec.lenSquared());
vec.normalize();
mCameraPos += vec * speed * delta;
#else
//F32 speedScale = this->getVelocity().len() / mDataBlock->accelerationForce;
F32 speedScale = 4; //mDataBlock->accelerationForce / 2;
F32 distScale = 1 - (1/vec.lenSquared());
vec *= speedScale * distScale * delta;
if(vec.len() > dist)
mCameraPos = mCameraTargetPos;
else
mCameraPos += vec;
#endif
}
}
/** Resolve collision with another rigid body
Computes & applies the collision impulses needed to keep the bodies
from interpenetrating.
tg: This function was commented out... I uncommented it, but haven't
double checked the math.
*/
bool Rigid::resolveCollision(const Point3F& p, const Point3F &normal, Rigid* rigid)
{
atRest = false;
Point3F v1,v2,r1,r2;
getOriginVector(p,&r1);
getVelocity(r1,&v1);
rigid->getOriginVector(p,&r2);
rigid->getVelocity(r2,&v2);
// Make sure they are converging
F32 nv = mDot(v1,normal);
nv -= mDot(v2,normal);
if (nv > 0.0f)
return false;
// Compute impulse
F32 d, n = -nv * (1.0f + restitution * rigid->restitution);
Point3F a1,b1,c1;
mCross(r1,normal,&a1);
invWorldInertia.mulV(a1,&b1);
mCross(b1,r1,&c1);
Point3F a2,b2,c2;
mCross(r2,normal,&a2);
rigid->invWorldInertia.mulV(a2,&b2);
mCross(b2,r2,&c2);
Point3F c3 = c1 + c2;
d = oneOverMass + rigid->oneOverMass + mDot(c3,normal);
Point3F impulse = normal * (n / d);
applyImpulse(r1,impulse);
impulse.neg();
applyImpulse(r2,impulse);
return true;
}
void HoverVehicle::updateForces(F32 /*dt*/)
{
PROFILE_SCOPE( HoverVehicle_UpdateForces );
Point3F gravForce(0, 0, sHoverVehicleGravity * mRigid.mass * mGravityMod);
MatrixF currTransform;
mRigid.getTransform(&currTransform);
mRigid.atRest = false;
mThrustLevel = (mForwardThrust * mDataBlock->mainThrustForce +
mReverseThrust * mDataBlock->reverseThrustForce +
mLeftThrust * mDataBlock->strafeThrustForce +
mRightThrust * mDataBlock->strafeThrustForce);
Point3F thrustForce = ((Point3F( 0, 1, 0) * (mForwardThrust * mDataBlock->mainThrustForce)) +
(Point3F( 0, -1, 0) * (mReverseThrust * mDataBlock->reverseThrustForce)) +
(Point3F(-1, 0, 0) * (mLeftThrust * mDataBlock->strafeThrustForce)) +
(Point3F( 1, 0, 0) * (mRightThrust * mDataBlock->strafeThrustForce)));
currTransform.mulV(thrustForce);
if (mJetting)
thrustForce *= mDataBlock->turboFactor;
Point3F torque(0, 0, 0);
Point3F force(0, 0, 0);
Point3F vel = mRigid.linVelocity;
F32 baseStabLen = getBaseStabilizerLength();
Point3F stabExtend(0, 0, -baseStabLen);
currTransform.mulV(stabExtend);
StabPoint stabPoints[2];
stabPoints[0].osPoint = Point3F((mObjBox.minExtents.x + mObjBox.maxExtents.x) * 0.5,
mObjBox.maxExtents.y,
(mObjBox.minExtents.z + mObjBox.maxExtents.z) * 0.5);
stabPoints[1].osPoint = Point3F((mObjBox.minExtents.x + mObjBox.maxExtents.x) * 0.5,
mObjBox.minExtents.y,
(mObjBox.minExtents.z + mObjBox.maxExtents.z) * 0.5);
U32 j, i;
for (i = 0; i < 2; i++) {
currTransform.mulP(stabPoints[i].osPoint, &stabPoints[i].wsPoint);
stabPoints[i].wsExtension = stabExtend;
stabPoints[i].extension = baseStabLen;
stabPoints[i].wsVelocity = mRigid.linVelocity;
}
RayInfo rinfo;
mFloating = true;
bool reallyFloating = true;
F32 compression[2] = { 0.0f, 0.0f };
F32 normalMod[2] = { 0.0f, 0.0f };
bool normalSet[2] = { false, false };
Point3F normal[2];
for (j = 0; j < 2; j++) {
if (getContainer()->castRay(stabPoints[j].wsPoint, stabPoints[j].wsPoint + stabPoints[j].wsExtension * 2.0,
TerrainObjectType |
WaterObjectType, &rinfo))
{
reallyFloating = false;
if (rinfo.t <= 0.5) {
// Ok, stab is in contact with the ground, let's calc the forces...
compression[j] = (1.0 - (rinfo.t * 2.0)) * baseStabLen;
}
normalSet[j] = true;
normalMod[j] = rinfo.t < 0.5 ? 1.0 : (1.0 - ((rinfo.t - 0.5) * 2.0));
normal[j] = rinfo.normal;
}
if ( pointInWater( stabPoints[j].wsPoint ) )
compression[j] = baseStabLen;
}
for (j = 0; j < 2; j++) {
if (compression[j] != 0.0) {
mFloating = false;
// Spring force and damping
Point3F springForce = -stabPoints[j].wsExtension;
springForce.normalize();
springForce *= compression[j] * mDataBlock->stabSpringConstant;
Point3F springDamping = -stabPoints[j].wsExtension;
springDamping.normalize();
springDamping *= -getMin(mDot(springDamping, stabPoints[j].wsVelocity), 0.7f) * mDataBlock->stabDampingConstant;
force += springForce + springDamping;
}
}
// Gravity
if (reallyFloating == false)
force += gravForce;
else
force += gravForce * mDataBlock->floatingGravMag;
// Braking
F32 vellen = mRigid.linVelocity.len();
if (mThrottle == 0.0f &&
mLeftThrust == 0.0f &&
mRightThrust == 0.0f &&
vellen != 0.0f &&
vellen < mDataBlock->brakingActivationSpeed)
{
Point3F dir = mRigid.linVelocity;
dir.normalize();
dir.neg();
force += dir * mDataBlock->brakingForce;
}
// Gyro Drag
torque = -mRigid.angMomentum * mDataBlock->gyroDrag;
// Move to proper normal
Point3F sn, r;
currTransform.getColumn(2, &sn);
if (normalSet[0] || normalSet[1]) {
if (normalSet[0] && normalSet[1]) {
F32 dot = mDot(normal[0], normal[1]);
if (dot > 0.999) {
// Just pick the first normal. They're too close to call
if ((sn - normal[0]).lenSquared() > 0.00001) {
mCross(sn, normal[0], &r);
torque += r * mDataBlock->normalForce * normalMod[0];
}
} else {
Point3F rotAxis;
mCross(normal[0], normal[1], &rotAxis);
rotAxis.normalize();
F32 angle = mAcos(dot) * (normalMod[0] / (normalMod[0] + normalMod[1]));
AngAxisF aa(rotAxis, angle);
QuatF q(aa);
MatrixF tempMat(true);
q.setMatrix(&tempMat);
Point3F newNormal;
tempMat.mulV(normal[1], &newNormal);
if ((sn - newNormal).lenSquared() > 0.00001) {
mCross(sn, newNormal, &r);
torque += r * (mDataBlock->normalForce * ((normalMod[0] + normalMod[1]) * 0.5));
}
}
} else {
Point3F useNormal;
F32 useMod;
if (normalSet[0]) {
useNormal = normal[0];
useMod = normalMod[0];
} else {
useNormal = normal[1];
useMod = normalMod[1];
}
if ((sn - useNormal).lenSquared() > 0.00001) {
mCross(sn, useNormal, &r);
torque += r * mDataBlock->normalForce * useMod;
}
}
} else {
if ((sn - Point3F(0, 0, 1)).lenSquared() > 0.00001) {
mCross(sn, Point3F(0, 0, 1), &r);
torque += r * mDataBlock->restorativeForce;
}
}
Point3F sn2;
currTransform.getColumn(0, &sn);
currTransform.getColumn(1, &sn2);
mCross(sn, sn2, &r);
r.normalize();
torque -= r * (mSteering.x * mDataBlock->steeringForce);
currTransform.getColumn(0, &sn);
currTransform.getColumn(2, &sn2);
mCross(sn, sn2, &r);
r.normalize();
torque -= r * (mSteering.x * mDataBlock->rollForce);
currTransform.getColumn(1, &sn);
currTransform.getColumn(2, &sn2);
mCross(sn, sn2, &r);
r.normalize();
torque -= r * (mSteering.y * mDataBlock->pitchForce);
// Apply drag
Point3F vDrag = mRigid.linVelocity;
if (!mFloating) {
vDrag.convolve(Point3F(1, 1, mDataBlock->vertFactor));
} else {
vDrag.convolve(Point3F(0.25, 0.25, mDataBlock->vertFactor));
}
force -= vDrag * mDataBlock->dragForce;
force += mFloating ? thrustForce * mDataBlock->floatingThrustFactor : thrustForce;
// Add in physical zone force
force += mAppliedForce;
// Container buoyancy & drag
force += Point3F(0, 0,-mBuoyancy * sHoverVehicleGravity * mRigid.mass * mGravityMod);
force -= mRigid.linVelocity * mDrag;
torque -= mRigid.angMomentum * mDrag;
mRigid.force = force;
mRigid.torque = torque;
}
