static CBaseEntity *FindPhysicsBlocker( IPhysicsObject *pPhysics ) { IPhysicsFrictionSnapshot *pSnapshot = pPhysics->CreateFrictionSnapshot(); CBaseEntity *pBlocker = NULL; float maxVel = 10.0f; while ( pSnapshot->IsValid() ) { IPhysicsObject *pOther = pSnapshot->GetObject(1); if ( pOther->IsMoveable() ) { CBaseEntity *pOtherEntity = static_cast<CBaseEntity *>(pOther->GetGameData()); // dot with this if you have a direction //Vector normal; //pSnapshot->GetSurfaceNormal(normal); float force = pSnapshot->GetNormalForce(); float vel = force * pOther->GetInvMass(); if ( vel > maxVel ) { pBlocker = pOtherEntity; maxVel = vel; } } pSnapshot->NextFrictionData(); } pPhysics->DestroyFrictionSnapshot( pSnapshot ); return pBlocker; }
static bool InContactWithHeavyObject( IPhysicsObject *pObject, float heavyMass ) { bool contact = false; IPhysicsFrictionSnapshot *pSnapshot = pObject->CreateFrictionSnapshot(); while ( pSnapshot->IsValid() ) { IPhysicsObject *pOther = pSnapshot->GetObject( 1 ); if ( !pOther->IsMoveable() || pOther->GetMass() > heavyMass ) { contact = true; break; } pSnapshot->NextFrictionData(); } pObject->DestroyFrictionSnapshot( pSnapshot ); return contact; }
void PhysForceClearVelocity( IPhysicsObject *pPhys ) { IPhysicsFrictionSnapshot *pSnapshot = pPhys->CreateFrictionSnapshot(); // clear the velocity of the rigid body Vector vel; AngularImpulse angVel; vel.Init(); angVel.Init(); pPhys->SetVelocity( &vel, &angVel ); // now clear the "strain" stored in the contact points while ( pSnapshot->IsValid() ) { pSnapshot->ClearFrictionForce(); pSnapshot->RecomputeFriction(); pSnapshot->NextFrictionData(); } pPhys->DestroyFrictionSnapshot( pSnapshot ); }
//----------------------------------------------------------------------------- // Purpose: //----------------------------------------------------------------------------- bool CTriggerPortal::IsTouchingPortal( CBaseEntity *pEntity ) { // First, check the touchlinks. This will find non-vphysics entities touching us touchlink_t *root = ( touchlink_t * )GetDataObject( TOUCHLINK ); if ( root ) { for ( touchlink_t *link = root->nextLink; link != root; link = link->nextLink ) { CBaseEntity *pTouch = link->entityTouched; if ( pTouch == pEntity ) return true; } } // Then check the friction snapshot. This will find vphysics objects touching us. IPhysicsObject *pPhysics = VPhysicsGetObject(); if ( !pPhysics ) return false; IPhysicsFrictionSnapshot *pSnapshot = pPhysics->CreateFrictionSnapshot(); bool bFound = false; while ( pSnapshot->IsValid() ) { IPhysicsObject *pOther = pSnapshot->GetObject( 1 ); if ( ((CBaseEntity *)pOther->GetGameData()) == pEntity ) { bFound = true; break; } pSnapshot->NextFrictionData(); } pPhysics->DestroyFrictionSnapshot( pSnapshot ); return bFound; }
bool PhysHasContactWithOtherInDirection( IPhysicsObject *pPhysics, const Vector &dir ) { bool hit = false; void *pGameData = pPhysics->GetGameData(); IPhysicsFrictionSnapshot *pSnapshot = pPhysics->CreateFrictionSnapshot(); while ( pSnapshot->IsValid() ) { IPhysicsObject *pOther = pSnapshot->GetObject( 1 ); if ( pOther->GetGameData() != pGameData ) { Vector normal; pSnapshot->GetSurfaceNormal( normal ); if ( DotProduct(normal,dir) > 0 ) { hit = true; break; } } pSnapshot->NextFrictionData(); } pPhysics->DestroyFrictionSnapshot( pSnapshot ); return hit; }
bool CPhysicsNPCSolver::CheckTouching() { CAI_BaseNPC *pNPC = m_hNPC.Get(); if ( !pNPC ) return false; CBaseEntity *pPhysicsEnt = m_hEntity.Get(); if ( !pPhysicsEnt ) return false; IPhysicsObject *pPhysics = pPhysicsEnt->VPhysicsGetObject(); IPhysicsObject *pNPCPhysics = pNPC->VPhysicsGetObject(); if ( !pNPCPhysics || !pPhysics ) return false; IPhysicsFrictionSnapshot *pSnapshot = pPhysics->CreateFrictionSnapshot(); bool found = false; bool penetrate = false; while ( pSnapshot->IsValid() ) { IPhysicsObject *pOther = pSnapshot->GetObject(1); if ( pOther == pNPCPhysics ) { found = true; if ( IsContactOnNPCHead(pSnapshot, pPhysics, pNPC ) ) { penetrate = true; pSnapshot->MarkContactForDelete(); } break; } pSnapshot->NextFrictionData(); } pSnapshot->DeleteAllMarkedContacts( true ); pPhysics->DestroyFrictionSnapshot( pSnapshot ); // if the object is penetrating something, check to see if it's intersecting this NPC // if so, go ahead and switch over to penetration solver mode if ( !penetrate && (pPhysics->GetGameFlags() & FVPHYSICS_PENETRATING) ) { penetrate = IsIntersecting(); } if ( penetrate ) { pPhysicsEnt->ClearNavIgnore(); BecomePenetrationSolver(); } return found; }
float CalculateObjectStress( IPhysicsObject *pObject, CBaseEntity *pInputOwnerEntity, vphysics_objectstress_t *pOutput ) { CUtlVector< CBaseEntity * > pObjectList; CUtlVector< Vector > objectForce; bool hasLargeObject = false; // add a slot for static objects pObjectList.AddToTail( NULL ); objectForce.AddToTail( vec3_origin ); // add a slot for friendly objects pObjectList.AddToTail( NULL ); objectForce.AddToTail( vec3_origin ); CBaseCombatCharacter *pBCC = pInputOwnerEntity->MyCombatCharacterPointer(); IPhysicsFrictionSnapshot *pSnapshot = pObject->CreateFrictionSnapshot(); float objMass = pObject->GetMass(); while ( pSnapshot->IsValid() ) { float force = pSnapshot->GetNormalForce(); if ( force > 0.0f ) { IPhysicsObject *pOther = pSnapshot->GetObject(1); CBaseEntity *pOtherEntity = static_cast<CBaseEntity *>(pOther->GetGameData()); if ( !pOtherEntity ) { // object was just deleted, but we still have a contact point this frame... // just assume it came from the world. pOtherEntity = GetWorldEntity(); } CBaseEntity *pOtherOwner = pOtherEntity; if ( pOtherEntity->GetOwnerEntity() ) { pOtherOwner = pOtherEntity->GetOwnerEntity(); } int outIndex = 0; if ( !pOther->IsMoveable() ) { outIndex = 0; } // NavIgnored objects are often being pushed by a friendly else if ( pBCC && (pBCC->IRelationType( pOtherOwner ) == D_LI || pOtherEntity->IsNavIgnored()) ) { outIndex = 1; } // player held objects do no stress else if ( pOther->GetGameFlags() & FVPHYSICS_PLAYER_HELD ) { outIndex = 1; } else { if ( pOther->GetMass() >= VPHYSICS_LARGE_OBJECT_MASS ) { if ( pInputOwnerEntity->GetGroundEntity() != pOtherEntity) { hasLargeObject = true; } } // moveable, non-friendly // aggregate contacts over each object to avoid greater stress in multiple contact cases // NOTE: Contacts should be in order, so this shouldn't ever search, but just in case outIndex = pObjectList.Count(); for ( int i = pObjectList.Count()-1; i >= 2; --i ) { if ( pObjectList[i] == pOtherOwner ) { outIndex = i; break; } } if ( outIndex == pObjectList.Count() ) { pObjectList.AddToTail( pOtherOwner ); objectForce.AddToTail( vec3_origin ); } } if ( outIndex != 0 && pInputOwnerEntity->GetMoveType() != MOVETYPE_VPHYSICS && !IsPhysicallyControlled(pOtherEntity, pOther) ) { // UNDONE: Test this! This is to remove any shadow/shadow stress. The game should handle this with blocked/damage force = 0.0f; } Vector normal; pSnapshot->GetSurfaceNormal( normal ); objectForce[outIndex] += normal * force; } pSnapshot->NextFrictionData(); } pObject->DestroyFrictionSnapshot( pSnapshot ); pSnapshot = NULL; // clear out all friendly force objectForce[1].Init(); float sum = 0; Vector negativeForce = vec3_origin; Vector positiveForce = vec3_origin; Assert( pObjectList.Count() == objectForce.Count() ); for ( int objectIndex = pObjectList.Count()-1; objectIndex >= 0; --objectIndex ) { sum += objectForce[objectIndex].Length(); for ( int i = 0; i < 3; i++ ) { if ( objectForce[objectIndex][i] < 0 ) { negativeForce[i] -= objectForce[objectIndex][i]; } else { positiveForce[i] += objectForce[objectIndex][i]; } } } // "external" stress is two way (something pushes on the object and something else pushes back) // so the set of minimum values per component are the projections of the two-way force // "internal" stress is one way (the object is pushing against something OR something pushing back) // the momentum must have come from inside the object (gravity, controller, etc) Vector internalForce = vec3_origin; Vector externalForce = vec3_origin; for ( int i = 0; i < 3; i++ ) { if ( negativeForce[i] < positiveForce[i] ) { internalForce[i] = positiveForce[i] - negativeForce[i]; externalForce[i] = negativeForce[i]; } else { internalForce[i] = negativeForce[i] - positiveForce[i]; externalForce[i] = positiveForce[i]; } } // sum is kg in / s Vector gravVector; physenv->GetGravity( &gravVector ); float gravity = gravVector.Length(); if ( pInputOwnerEntity->GetMoveType() != MOVETYPE_VPHYSICS && pObject->IsMoveable() ) { Vector lastVel; lastVel.Init(); if ( pObject->GetShadowController() ) { pObject->GetShadowController()->GetLastImpulse( &lastVel ); } else { if ( ( pObject->GetCallbackFlags() & CALLBACK_IS_PLAYER_CONTROLLER ) ) { CBasePlayer *pPlayer = ToBasePlayer( pInputOwnerEntity ); IPhysicsPlayerController *pController = pPlayer ? pPlayer->GetPhysicsController() : NULL; if ( pController ) { pController->GetLastImpulse( &lastVel ); } } } // Work in progress... // Peek into the controller for this object. Look at the input velocity and make sure it's all // accounted for in the computed stress. If not, redistribute external to internal as it's // probably being reflected in a way we can't measure here. float inputLen = lastVel.Length() * (1.0f / physenv->GetSimulationTimestep()) * objMass; if ( inputLen > 0.0f ) { float internalLen = internalForce.Length(); if ( internalLen < inputLen ) { float ratio = internalLen / inputLen; Vector delta = internalForce * (1.0f - ratio); internalForce += delta; float deltaLen = delta.Length(); sum -= deltaLen; float extLen = VectorNormalize(externalForce) - deltaLen; if ( extLen < 0 ) { extLen = 0; } externalForce *= extLen; } } } float invGravity = gravity; if ( invGravity <= 0 ) { invGravity = 1.0f; } else { invGravity = 1.0f / invGravity; } sum *= invGravity; internalForce *= invGravity; externalForce *= invGravity; if ( !pObject->IsMoveable() ) { // the above algorithm will see almost all force as internal if the object is not moveable // (it doesn't push on anything else, so nothing is reciprocated) // exceptions for friction of a single other object with multiple contact points on this object // But the game wants to see it all as external because obviously the object can't move, so it can't have // internal stress externalForce = internalForce; internalForce.Init(); if ( !pObject->IsStatic() ) { sum += objMass; } } else { // assume object is at rest if ( sum > objMass ) { sum = objMass + (sum-objMass) * 0.5; } } if ( pOutput ) { pOutput->exertedStress = internalForce.Length(); pOutput->receivedStress = externalForce.Length(); pOutput->hasNonStaticStress = pObjectList.Count() > 2 ? true : false; pOutput->hasLargeObjectContact = hasLargeObject; } // sum is now kg return sum; }
void PhysComputeSlideDirection( IPhysicsObject *pPhysics, const Vector &inputVelocity, const AngularImpulse &inputAngularVelocity, Vector *pOutputVelocity, Vector *pOutputAngularVelocity, float minMass ) { Vector velocity = inputVelocity; AngularImpulse angVel = inputAngularVelocity; Vector pos; IPhysicsFrictionSnapshot *pSnapshot = pPhysics->CreateFrictionSnapshot(); while ( pSnapshot->IsValid() ) { IPhysicsObject *pOther = pSnapshot->GetObject( 1 ); if ( !pOther->IsMoveable() || pOther->GetMass() > minMass ) { Vector normal; pSnapshot->GetSurfaceNormal( normal ); // BUGBUG: Figure out the correct rotation clipping equation if ( pOutputAngularVelocity ) { angVel = normal * DotProduct( angVel, normal ); #if 0 pSnapshot->GetContactPoint( point ); Vector point, dummy; AngularImpulse angularClip, clip2; pPhysics->CalculateVelocityOffset( normal, point, dummy, angularClip ); VectorNormalize( angularClip ); float proj = DotProduct( angVel, angularClip ); if ( proj > 0 ) { angVel -= angularClip * proj; } CrossProduct( angularClip, normal, clip2 ); proj = DotProduct( angVel, clip2 ); if ( proj > 0 ) { angVel -= clip2 * proj; } //NDebugOverlay::Line( point, point - normal * 20, 255, 0, 0, true, 0.1 ); #endif } // Determine how far along plane to slide based on incoming direction. // NOTE: Normal points away from this object float proj = DotProduct( velocity, normal ); if ( proj > 0.0f ) { velocity -= normal * proj; } } pSnapshot->NextFrictionData(); } pPhysics->DestroyFrictionSnapshot( pSnapshot ); //NDebugOverlay::Line( pos, pos + unitVel * 20, 0, 0, 255, true, 0.1 ); if ( pOutputVelocity ) { *pOutputVelocity = velocity; } if ( pOutputAngularVelocity ) { *pOutputAngularVelocity = angVel; } }