void CShadowController::MaxSpeed(float maxSpeed, float maxAngularSpeed) {
btRigidBody* body = btRigidBody::upcast(m_pObject->GetObject());
btVector3 bullSpeed;
ConvertPosToBull(maxSpeed, bullSpeed);
btVector3 available = bullSpeed;
m_currentSpeed = bullSpeed;
float length = bullSpeed.length();
bullSpeed.normalize();
float dot = bullSpeed.dot(body->getLinearVelocity());
if (dot > 0) {
bullSpeed *= dot * length;
available -= bullSpeed;
}
m_shadow.maxSpeed = available.absolute();
btVector3 bullAngular;
ConvertAngularImpulseToBull(maxAngularSpeed, bullAngular);
btVector3 availableAngular;
float lengthAngular = bullAngular.length();
bullAngular.normalize();
float dotAngular = bullAngular.dot(body->getAngularVelocity());
if (dotAngular > 0) {
bullAngular *= dotAngular * lengthAngular;
availableAngular -= bullAngular;
}
m_shadow.maxAngular = availableAngular.absolute();
}
void CPhysicsObject::ApplyTorqueCenter(const AngularImpulse &torque) {
if (!IsMoveable() || !IsMotionEnabled()) {
return;
}
Wake();
btVector3 bullTorque;
ConvertAngularImpulseToBull(torque, bullTorque);
m_pObject->applyTorqueImpulse(bullTorque);
}
void CPhysicsObject::AddVelocity(const Vector* velocity, const AngularImpulse* angularVelocity) {
btVector3 btvelocity, btangular;
if (velocity) {
ConvertPosToBull(*velocity, btvelocity);
m_pObject->setLinearVelocity(m_pObject->getLinearVelocity() + btvelocity);
}
if (angularVelocity) {
ConvertAngularImpulseToBull(*angularVelocity, btangular);
m_pObject->setAngularVelocity(m_pObject->getAngularVelocity() + btangular);
}
}
void CPhysicsObject::SetVelocity(const Vector* velocity, const AngularImpulse* angularVelocity) {
btVector3 vel, angvel;
if (velocity) {
ConvertPosToBull(*velocity, vel);
m_pObject->setLinearVelocity(vel);
}
if (angularVelocity) {
ConvertAngularImpulseToBull(*angularVelocity, angvel);
m_pObject->setAngularVelocity(angvel);
}
}
void ConvertShadowControllerToBull(const hlshadowcontrol_params_t &in, shadowcontrol_params_t &out) {
ConvertPosToBull(in.targetPosition, out.targetPosition);
ConvertRotationToBull(in.targetRotation, out.targetRotation);
out.teleportDistance = ConvertDistanceToBull(in.teleportDistance);
ConvertForceImpulseToBull(in.maxSpeed, out.maxSpeed);
out.maxSpeed = out.maxSpeed.absolute();
ConvertAngularImpulseToBull(in.maxAngular, out.maxAngular);
out.maxAngular = out.maxAngular.absolute();
out.dampFactor = in.dampFactor;
}
void CShadowController::MaxSpeed(float maxSpeed, float maxAngularSpeed) {
btRigidBody *body = m_pObject->GetObject();
//----------------
// Linear
//----------------
btVector3 bullSpeed;
ConvertPosToBull(Vector(maxSpeed), bullSpeed);
btVector3 available = bullSpeed;
// m_currentSpeed = bullSpeed;
float length = bullSpeed.length();
bullSpeed.normalize();
float dot = bullSpeed.dot(body->getLinearVelocity());
if (dot > 0) {
bullSpeed *= dot * length;
available -= bullSpeed;
}
// FIXME: This is wrong. Rewrite this later.
m_shadow.maxSpeed = available.length();
//----------------
// Angular
//----------------
btVector3 bullAngular;
ConvertAngularImpulseToBull(Vector(maxAngularSpeed), bullAngular);
btVector3 availableAngular;
float lengthAngular = bullAngular.length();
bullAngular.normalize();
float dotAngular = bullAngular.dot(body->getAngularVelocity());
if (dotAngular > 0) {
bullAngular *= dotAngular * lengthAngular;
availableAngular -= bullAngular;
}
// FIXME: This is wrong. Rewrite this later.
m_shadow.maxAngular = availableAngular.length();
}
void CPhysicsDragController::Tick(btScalar dt)
{
for(int i = 0; i < m_ents.Size(); i++)
{
CPhysicsObject * object = (CPhysicsObject *)m_ents[i];
Vector dragLinearFinal(0,0,0);
AngularImpulse dragAngularFinal(0,0,0);
Vector vel;
AngularImpulse ang;
object->GetVelocity(&vel, &ang);
btVector3 bull_vel;
ConvertPosToBull(vel, bull_vel);
float dragForce = -0.5 * object->GetDragInDirection( &bull_vel ) * m_airDensity * dt;
if ( dragForce < -1.0f )
{
dragForce = -1.0f;
}
if ( dragForce < 0 )
{
Vector dragLinearFinal = vel * dragForce;
}
btVector3 bull_angimpulse;
ConvertAngularImpulseToBull(ang, bull_angimpulse);
float angDragForce = -object->GetAngularDragInDirection(&bull_angimpulse) * m_airDensity * dt;
if ( angDragForce < -1.0f )
{
angDragForce = -1.0f;
}
if( angDragForce < 0)
{
dragAngularFinal = ang * angDragForce;
}
object->AddVelocity(&dragLinearFinal, &dragAngularFinal);
}
}
void CPhysicsObject::AddVelocity(const Vector *velocity, const AngularImpulse *angularVelocity) {
if (!velocity && !angularVelocity) return;
if (!IsMoveable() || !IsMotionEnabled()) {
return;
}
Wake();
btVector3 bullvelocity, bullangular;
if (velocity) {
ConvertPosToBull(*velocity, bullvelocity);
m_pObject->setLinearVelocity(m_pObject->getLinearVelocity() + bullvelocity);
}
// Angular velocity is supplied in local space.
if (angularVelocity) {
ConvertAngularImpulseToBull(*angularVelocity, bullangular);
bullangular = m_pObject->getWorldTransform().getBasis() * bullangular;
m_pObject->setAngularVelocity(m_pObject->getAngularVelocity() + bullangular);
}
}
void CPhysicsObject::ApplyTorqueCenter(const AngularImpulse& torque) {
btVector3 bullTorque;
ConvertAngularImpulseToBull(torque, bullTorque);
m_pObject->applyTorque(bullTorque);
}