//------------------------------------------------------------------------------ //------------------------------------------------------------------------------ void CBaseHelicopter::Flight( void ) { if( GetFlags() & FL_ONGROUND ) { //This would be really bad. SetGroundEntity( NULL ); } // Generic speed up if (m_flGoalSpeed < GetMaxSpeed()) { m_flGoalSpeed += GetAcceleration(); } //NDebugOverlay::Line(GetAbsOrigin(), m_vecDesiredPosition, 0,0,255, true, 0.1); // tilt model 5 degrees (why?! sjb) QAngle vecAdj = QAngle( 5.0, 0, 0 ); // estimate where I'll be facing in one seconds Vector forward, right, up; AngleVectors( GetLocalAngles() + GetLocalAngularVelocity() * 2 + vecAdj, &forward, &right, &up ); // Vector vecEst1 = GetLocalOrigin() + GetAbsVelocity() + up * m_flForce - Vector( 0, 0, 384 ); // float flSide = DotProduct( m_vecDesiredPosition - vecEst1, right ); QAngle angVel = GetLocalAngularVelocity(); float flSide = DotProduct( m_vecDesiredFaceDir, right ); if (flSide < 0) { if (angVel.y < 60) { angVel.y += 8; } } else { if (angVel.y > -60) { angVel.y -= 8; } } angVel.y *= ( 0.98 ); // why?! (sjb) // estimate where I'll be in two seconds AngleVectors( GetLocalAngles() + angVel * 1 + vecAdj, NULL, NULL, &up ); Vector vecEst = GetAbsOrigin() + GetAbsVelocity() * 2.0 + up * m_flForce * 20 - Vector( 0, 0, 384 * 2 ); // add immediate force AngleVectors( GetLocalAngles() + vecAdj, &forward, &right, &up ); Vector vecImpulse( 0, 0, 0 ); vecImpulse.x += up.x * m_flForce; vecImpulse.y += up.y * m_flForce; vecImpulse.z += up.z * m_flForce; // add gravity vecImpulse.z -= 38.4; // 32ft/sec ApplyAbsVelocityImpulse( vecImpulse ); float flSpeed = GetAbsVelocity().Length(); float flDir = DotProduct( Vector( forward.x, forward.y, 0 ), Vector( GetAbsVelocity().x, GetAbsVelocity().y, 0 ) ); if (flDir < 0) { flSpeed = -flSpeed; } float flDist = DotProduct( GetDesiredPosition() - vecEst, forward ); // float flSlip = DotProduct( GetAbsVelocity(), right ); float flSlip = -DotProduct( GetDesiredPosition() - vecEst, right ); // fly sideways if (flSlip > 0) { if (GetLocalAngles().z > -30 && angVel.z > -15) angVel.z -= 4; else angVel.z += 2; } else { if (GetLocalAngles().z < 30 && angVel.z < 15) angVel.z += 4; else angVel.z -= 2; } // These functions contain code Ken wrote that used to be right here as part of the flight model, // but we want different helicopter vehicles to have different drag characteristics, so I made // them virtual functions (sjb) ApplySidewaysDrag( right ); ApplyGeneralDrag(); // apply power to stay correct height // FIXME: these need to be per class variables #define MAX_FORCE 80 #define FORCE_POSDELTA 12 #define FORCE_NEGDELTA 8 if (m_flForce < MAX_FORCE && vecEst.z < GetDesiredPosition().z) { m_flForce += FORCE_POSDELTA; } else if (m_flForce > 30) { if (vecEst.z > GetDesiredPosition().z) m_flForce -= FORCE_NEGDELTA; } // pitch forward or back to get to target //----------------------------------------- // Pitch is reversed since Half-Life! (sjb) //----------------------------------------- if (flDist > 0 && flSpeed < m_flGoalSpeed /* && flSpeed < flDist */ && GetLocalAngles().x + angVel.x < 40) { // ALERT( at_console, "F " ); // lean forward angVel.x += 12.0; } else if (flDist < 0 && flSpeed > -50 && GetLocalAngles().x + angVel.x > -20) { // ALERT( at_console, "B " ); // lean backward angVel.x -= 12.0; } else if (GetLocalAngles().x + angVel.x < 0) { // ALERT( at_console, "f " ); angVel.x += 4.0; } else if (GetLocalAngles().x + angVel.x > 0) { // ALERT( at_console, "b " ); angVel.x -= 4.0; } SetLocalAngularVelocity( angVel ); // ALERT( at_console, "%.0f %.0f : %.0f %.0f : %.0f %.0f : %.0f\n", GetAbsOrigin().x, GetAbsVelocity().x, flDist, flSpeed, GetLocalAngles().x, m_vecAngVelocity.x, m_flForce ); // ALERT( at_console, "%.0f %.0f : %.0f %0.f : %.0f\n", GetAbsOrigin().z, GetAbsVelocity().z, vecEst.z, m_vecDesiredPosition.z, m_flForce ); }
//------------------------------------------------------------------------------ // Purpose : // Input : // Output : //------------------------------------------------------------------------------ void CNPC_CombineDropship::Flight( void ) { // Only run pose params in some flight states bool bRunPoseParams = ( m_iLandState == LANDING_NO || m_iLandState == LANDING_LEVEL_OUT || m_iLandState == LANDING_LIFTOFF || m_iLandState == LANDING_SWOOPING ); if ( bRunPoseParams ) { if( GetFlags() & FL_ONGROUND ) { //This would be really bad. RemoveFlag( FL_ONGROUND ); } // NDebugOverlay::Line(GetLocalOrigin(), GetDesiredPosition(), 0,0,255, true, 0.1); Vector deltaPos = GetDesiredPosition() - GetLocalOrigin(); // calc desired acceleration float dt = 1.0f; Vector accel; float accelRate = DROPSHIP_ACCEL_RATE; float maxSpeed = m_flMaxSpeed; if ( m_lifeState == LIFE_DYING ) { accelRate *= 5.0; maxSpeed *= 5.0; } float flDist = min( GetAbsVelocity().Length() + accelRate, maxSpeed ); // Only decelerate to our goal if we're going to hit it if ( deltaPos.Length() > flDist * dt ) { float scale = flDist * dt / deltaPos.Length(); deltaPos = deltaPos * scale; } // If we're swooping, floor it if ( m_iLandState == LANDING_SWOOPING ) { VectorNormalize( deltaPos ); deltaPos *= maxSpeed; } // calc goal linear accel to hit deltaPos in dt time. accel.x = 2.0 * (deltaPos.x - GetAbsVelocity().x * dt) / (dt * dt); accel.y = 2.0 * (deltaPos.y - GetAbsVelocity().y * dt) / (dt * dt); accel.z = 2.0 * (deltaPos.z - GetAbsVelocity().z * dt + 0.5 * 384 * dt * dt) / (dt * dt); //NDebugOverlay::Line(GetLocalOrigin(), GetLocalOrigin() + deltaPos, 255,0,0, true, 0.1); //NDebugOverlay::Line(GetLocalOrigin(), GetLocalOrigin() + accel, 0,255,0, true, 0.1); // don't fall faster than 0.2G or climb faster than 2G if ( m_iLandState != LANDING_SWOOPING ) { accel.z = clamp( accel.z, 384 * 0.2, 384 * 2.0 ); } Vector forward, right, up; GetVectors( &forward, &right, &up ); Vector goalUp = accel; VectorNormalize( goalUp ); // calc goal orientation to hit linear accel forces float goalPitch = RAD2DEG( asin( DotProduct( forward, goalUp ) ) ); float goalYaw = UTIL_VecToYaw( m_vecDesiredFaceDir ); float goalRoll = RAD2DEG( asin( DotProduct( right, goalUp ) ) ); // clamp goal orientations goalPitch = clamp( goalPitch, -45, 60 ); goalRoll = clamp( goalRoll, -45, 45 ); // calc angular accel needed to hit goal pitch in dt time. dt = 0.6; QAngle goalAngAccel; goalAngAccel.x = 2.0 * (AngleDiff( goalPitch, AngleNormalize( GetLocalAngles().x ) ) - GetLocalAngularVelocity().x * dt) / (dt * dt); goalAngAccel.y = 2.0 * (AngleDiff( goalYaw, AngleNormalize( GetLocalAngles().y ) ) - GetLocalAngularVelocity().y * dt) / (dt * dt); goalAngAccel.z = 2.0 * (AngleDiff( goalRoll, AngleNormalize( GetLocalAngles().z ) ) - GetLocalAngularVelocity().z * dt) / (dt * dt); goalAngAccel.x = clamp( goalAngAccel.x, -300, 300 ); //goalAngAccel.y = clamp( goalAngAccel.y, -60, 60 ); goalAngAccel.y = clamp( goalAngAccel.y, -120, 120 ); goalAngAccel.z = clamp( goalAngAccel.z, -300, 300 ); // limit angular accel changes to simulate mechanical response times dt = 0.1; QAngle angAccelAccel; angAccelAccel.x = (goalAngAccel.x - m_vecAngAcceleration.x) / dt; angAccelAccel.y = (goalAngAccel.y - m_vecAngAcceleration.y) / dt; angAccelAccel.z = (goalAngAccel.z - m_vecAngAcceleration.z) / dt; angAccelAccel.x = clamp( angAccelAccel.x, -1000, 1000 ); angAccelAccel.y = clamp( angAccelAccel.y, -1000, 1000 ); angAccelAccel.z = clamp( angAccelAccel.z, -1000, 1000 ); m_vecAngAcceleration += angAccelAccel * 0.1; // Msg( "pitch %6.1f (%6.1f:%6.1f) ", goalPitch, GetLocalAngles().x, m_vecAngVelocity.x ); // Msg( "roll %6.1f (%6.1f:%6.1f) : ", goalRoll, GetLocalAngles().z, m_vecAngVelocity.z ); // Msg( "%6.1f %6.1f %6.1f : ", goalAngAccel.x, goalAngAccel.y, goalAngAccel.z ); // Msg( "%6.0f %6.0f %6.0f\n", angAccelAccel.x, angAccelAccel.y, angAccelAccel.z ); ApplySidewaysDrag( right ); ApplyGeneralDrag(); QAngle angVel = GetLocalAngularVelocity(); angVel += m_vecAngAcceleration * 0.1; //angVel.y = clamp( angVel.y, -60, 60 ); //angVel.y = clamp( angVel.y, -120, 120 ); angVel.y = clamp( angVel.y, -120, 120 ); SetLocalAngularVelocity( angVel ); m_flForce = m_flForce * 0.8 + (accel.z + fabs( accel.x ) * 0.1 + fabs( accel.y ) * 0.1) * 0.1 * 0.2; Vector vecImpulse = m_flForce * up; if ( m_lifeState == LIFE_DYING ) { vecImpulse.z = -38.4; // 64ft/sec } else { vecImpulse.z -= 38.4; // 32ft/sec } // Find our acceleration direction Vector vecAccelDir = vecImpulse; VectorNormalize( vecAccelDir ); // Find our current velocity Vector vecVelDir = GetAbsVelocity(); VectorNormalize( vecVelDir ); // Level out our plane of movement vecAccelDir.z = 0.0f; vecVelDir.z = 0.0f; forward.z = 0.0f; right.z = 0.0f; // Find out how "fast" we're moving in relation to facing and acceleration float speed = m_flForce * DotProduct( vecVelDir, vecAccelDir );// * DotProduct( forward, vecVelDir ); // Use the correct pose params char *sBodyAccel; char *sBodySway; if ( m_hContainer || m_iLandState == LANDING_SWOOPING ) { sBodyAccel = "cargo_body_accel"; sBodySway = "cargo_body_sway"; SetPoseParameter( "body_accel", 0 ); SetPoseParameter( "body_sway", 0 ); } else { sBodyAccel = "body_accel"; sBodySway = "body_sway"; SetPoseParameter( "cargo_body_accel", 0 ); SetPoseParameter( "cargo_body_sway", 0 ); } // Apply the acceleration blend to the fins float finAccelBlend = SimpleSplineRemapVal( speed, -60, 60, -1, 1 ); float curFinAccel = GetPoseParameter( sBodyAccel ); curFinAccel = UTIL_Approach( finAccelBlend, curFinAccel, 0.5f ); SetPoseParameter( sBodyAccel, curFinAccel ); speed = m_flForce * DotProduct( vecVelDir, right ); // Apply the spin sway to the fins float finSwayBlend = SimpleSplineRemapVal( speed, -60, 60, -1, 1 ); float curFinSway = GetPoseParameter( sBodySway ); curFinSway = UTIL_Approach( finSwayBlend, curFinSway, 0.5f ); SetPoseParameter( sBodySway, curFinSway ); // Add in our velocity pulse for this frame ApplyAbsVelocityImpulse( vecImpulse ); //Msg("FinAccel: %f, Finsway: %f\n", curFinAccel, curFinSway ); } else { SetPoseParameter( "body_accel", 0 ); SetPoseParameter( "body_sway", 0 ); SetPoseParameter( "cargo_body_accel", 0 ); SetPoseParameter( "cargo_body_sway", 0 ); } }