Пример #1
0
/*
================
idPhysics_RigidBody::DropToFloorAndRest

  Drops the object straight down to the floor and verifies if the object is at rest on the floor.
================
*/
void idPhysics_RigidBody::DropToFloorAndRest( void ) {
	idVec3 down;
	trace_t tr;
	if( testSolid ) {
		testSolid = false;
		if( gameLocal.clip.Contents( current.i.position, clipModel, current.i.orientation, clipMask, self ) ) {
			gameLocal.DWarning( "rigid body in solid for entity '%s' type '%s' at (%s)",
								self->name.c_str(), self->GetType()->classname, current.i.position.ToString( 0 ) );
			Rest();
			dropToFloor = false;
			return;
		}
	}
	// put the body on the floor
	down = current.i.position + gravityNormal * 128.0f;
	gameLocal.clip.Translation( tr, current.i.position, down, clipModel, current.i.orientation, clipMask, self );
	current.i.position = tr.endpos;
	clipModel->Link( gameLocal.clip, self, clipModel->GetId(), tr.endpos, current.i.orientation );
	// if on the floor already
	if( tr.fraction == 0.0f ) {
		// test if we are really at rest
		EvaluateContacts();
		if( !TestIfAtRest() ) {
			gameLocal.DWarning( "rigid body not at rest for entity '%s' type '%s' at (%s)",
								self->name.c_str(), self->GetType()->classname, current.i.position.ToString( 0 ) );
		}
		Rest();
		dropToFloor = false;
	} else if( IsOutsideWorld() ) {
		gameLocal.Warning( "rigid body outside world bounds for entity '%s' type '%s' at (%s)",
						   self->name.c_str(), self->GetType()->classname, current.i.position.ToString( 0 ) );
		Rest();
		dropToFloor = false;
	}
}
Пример #2
0
/*
================
sdPhysics_Linear::Evaluate
================
*/
bool sdPhysics_Linear::Evaluate( int timeStepMSec, int endTimeMSec ) {
	current.origin.FixDenormals();

	idVec3 oldLocalOrigin, oldOrigin, masterOrigin;
	idMat3 oldAxis, masterAxis;

	isBlocked		= false;
	oldLocalOrigin	= current.localOrigin;
	oldOrigin		= current.origin;
	oldAxis			= axis;

	current.localOrigin = current.linearExtrapolation.GetCurrentValue( endTimeMSec );
	current.origin		= current.localOrigin;

	if ( hasMaster ) {
		self->GetMasterPosition( masterOrigin, masterAxis );
		if ( masterAxis.IsRotated() ) {
			current.origin = current.origin * masterAxis + masterOrigin;
			if ( isOrientated ) {
				axis *= masterAxis;
			}
		} else {
			current.origin += masterOrigin;
		}
	}

	if ( isPusher && ( oldOrigin != current.origin ) ) {
		gameLocal.push.ClipPush( pushResults, self, pushFlags, oldOrigin, oldAxis, current.origin, axis, GetClipModel() );
		if ( pushResults.fraction < 1.0f ) {
			clipModel->Link( gameLocal.clip, self, 0, oldOrigin, oldAxis );
			current.localOrigin = oldLocalOrigin;
			current.origin		= oldOrigin;
			axis				= oldAxis;
			isBlocked			= true;
			return false;
		}
	}

	if ( clipModel ) {
		clipModel->Link( gameLocal.clip, self, 0, current.origin, axis );
	}

	current.time = endTimeMSec;

	if ( TestIfAtRest() ) {
		Rest();
	}

	return ( current.origin != oldOrigin );
}
Пример #3
0
/*
================
idPhysics_Parametric::Evaluate
================
*/
bool idPhysics_Parametric::Evaluate( int timeStepMSec, int endTimeMSec ) {
	idVec3 oldLocalOrigin, oldOrigin, masterOrigin;
	idAngles oldLocalAngles, oldAngles;
	idMat3 oldAxis, masterAxis;

	isBlocked = false;
	oldLocalOrigin = current.localOrigin;
	oldOrigin = current.origin;
	oldLocalAngles = current.localAngles;
	oldAngles = current.angles;
	oldAxis = current.axis;

	current.localOrigin.Zero();
	current.localAngles.Zero();

	if ( current.spline != NULL ) {
		float length = current.splineInterpolate.GetCurrentValue( endTimeMSec );
		float t = current.spline->GetTimeForLength( length, 0.01f );
		current.localOrigin = current.spline->GetCurrentValue( t );
		if ( current.useSplineAngles ) {
			current.localAngles = current.spline->GetCurrentFirstDerivative( t ).ToAngles();
		}
	} else if ( current.linearInterpolation.GetDuration() != 0 ) {
		current.localOrigin += current.linearInterpolation.GetCurrentValue( endTimeMSec );
	} else {
		current.localOrigin += current.linearExtrapolation.GetCurrentValue( endTimeMSec );
	}

	if ( current.angularInterpolation.GetDuration() != 0 ) {
		current.localAngles += current.angularInterpolation.GetCurrentValue( endTimeMSec );
	} else {
		current.localAngles += current.angularExtrapolation.GetCurrentValue( endTimeMSec );
	}

	current.localAngles.Normalize360();
	current.origin = current.localOrigin;
	current.angles = current.localAngles;
	current.axis = current.localAngles.ToMat3();

	if ( hasMaster ) {
		self->GetMasterPosition( masterOrigin, masterAxis );
		if ( masterAxis.IsRotated() ) {
			current.origin = current.origin * masterAxis + masterOrigin;
			if ( isOrientated ) {
				current.axis *= masterAxis;
				current.angles = current.axis.ToAngles();
			}
		}
		else {
			current.origin += masterOrigin;
		}
	}

	if ( isPusher ) {

		gameLocal.push.ClipPush( pushResults, self, pushFlags, oldOrigin, oldAxis, current.origin, current.axis );
		if ( pushResults.fraction < 1.0f ) {
// RAVEN BEGIN
// ddynerman: multiple clip worlds
			clipModel->Link( self, 0, oldOrigin, oldAxis );
// RAVEN END
			current.localOrigin = oldLocalOrigin;
			current.origin = oldOrigin;
			current.localAngles = oldLocalAngles;
			current.angles = oldAngles;
			current.axis = oldAxis;
			isBlocked = true;
			return false;
		}

		current.angles = current.axis.ToAngles();
	}

	if ( clipModel ) {
// RAVEN BEGIN
// abahr: a hack way of hiding gimble lock from movers.
		clipModel->Link( self, 0, current.origin, UseAxisOffset() ? GetAxisOffset() * current.axis : current.axis );
// RAVEN END
	}

	current.time = endTimeMSec;

	if ( TestIfAtRest() ) {
		Rest();
	}

	return ( current.origin != oldOrigin || current.axis != oldAxis );
}
Пример #4
0
/*
================
idPhysics_RigidBody::Evaluate

  Evaluate the impulse based rigid body physics.
  When a collision occurs an impulse is applied at the moment of impact but
  the remaining time after the collision is ignored.
================
*/
bool idPhysics_RigidBody::Evaluate( int timeStepMSec, int endTimeMSec ) {
	rigidBodyPState_t next;
	idAngles angles;
	trace_t collision;
	idVec3 impulse;
	idEntity *ent;
	idVec3 oldOrigin, masterOrigin;
	idMat3 oldAxis, masterAxis;
	float timeStep;
	bool collided, cameToRest = false;

	timeStep = MS2SEC( timeStepMSec );
	current.lastTimeStep = timeStep;

	if ( hasMaster ) {
		oldOrigin = current.i.position;
		oldAxis = current.i.orientation;
		self->GetMasterPosition( masterOrigin, masterAxis );
		current.i.position = masterOrigin + current.localOrigin * masterAxis;
		if ( isOrientated ) {
			current.i.orientation = current.localAxis * masterAxis;
		}
		else {
			current.i.orientation = current.localAxis;
		}
		clipModel->Link( gameLocal.clip, self, clipModel->GetId(), current.i.position, current.i.orientation );
		current.i.linearMomentum = mass * ( ( current.i.position - oldOrigin ) / timeStep );
		current.i.angularMomentum = inertiaTensor * ( ( current.i.orientation * oldAxis.Transpose() ).ToAngularVelocity() / timeStep );
		current.externalForce.Zero();
		current.externalTorque.Zero();

		return ( current.i.position != oldOrigin || current.i.orientation != oldAxis );
	}

	// if the body is at rest
	if ( current.atRest >= 0 || timeStep <= 0.0f ) {
		DebugDraw();
		return false;
	}

	// if putting the body to rest
	if ( dropToFloor ) {
		DropToFloorAndRest();
		current.externalForce.Zero();
		current.externalTorque.Zero();
		return true;
	}

#ifdef RB_TIMINGS
	timer_total.Start();
#endif

	// move the rigid body velocity into the frame of a pusher
//	current.i.linearMomentum -= current.pushVelocity.SubVec3( 0 ) * mass;
//	current.i.angularMomentum -= current.pushVelocity.SubVec3( 1 ) * inertiaTensor;

	clipModel->Unlink();

	next = current;

	// calculate next position and orientation
	Integrate( timeStep, next );

#ifdef RB_TIMINGS
	timer_collision.Start();
#endif

	// check for collisions from the current to the next state
	collided = CheckForCollisions( timeStep, next, collision );

#ifdef RB_TIMINGS
	timer_collision.Stop();
#endif

	// set the new state
	current = next;

	if ( collided ) {
		// apply collision impulse
		if ( CollisionImpulse( collision, impulse ) ) {
			current.atRest = gameLocal.time;
		}
	}

	// update the position of the clip model
	clipModel->Link( gameLocal.clip, self, clipModel->GetId(), current.i.position, current.i.orientation );

	DebugDraw();

	if ( !noContact ) {

#ifdef RB_TIMINGS
		timer_collision.Start();
#endif
		// get contacts
		EvaluateContacts();

#ifdef RB_TIMINGS
		timer_collision.Stop();
#endif

		// check if the body has come to rest
		if ( TestIfAtRest() ) {
			// put to rest
			Rest();
			cameToRest = true;
		}  else {
			// apply contact friction
			ContactFriction( timeStep );
		}
	}

	if ( current.atRest < 0 ) {
		ActivateContactEntities();
	}

	if ( collided ) {
		// if the rigid body didn't come to rest or the other entity is not at rest
		ent = gameLocal.entities[collision.c.entityNum];
		if ( ent && ( !cameToRest || !ent->IsAtRest() ) ) {
			// apply impact to other entity
			ent->ApplyImpulse( self, collision.c.id, collision.c.point, -impulse );
		}
	}

	// move the rigid body velocity back into the world frame
//	current.i.linearMomentum += current.pushVelocity.SubVec3( 0 ) * mass;
//	current.i.angularMomentum += current.pushVelocity.SubVec3( 1 ) * inertiaTensor;
	current.pushVelocity.Zero();

	current.lastTimeStep = timeStep;
	current.externalForce.Zero();
	current.externalTorque.Zero();

	if ( IsOutsideWorld() ) {
		gameLocal.Warning( "rigid body moved outside world bounds for entity '%s' type '%s' at (%s)",
					self->name.c_str(), self->GetType()->classname, current.i.position.ToString(0) );
		Rest();
	}

#ifdef RB_TIMINGS
	timer_total.Stop();

	if ( rb_showTimings->integer == 1 ) {
		gameLocal.Printf( "%12s: t %u cd %u\n",
						self->name.c_str(),
						timer_total.Milliseconds(), timer_collision.Milliseconds() );
		lastTimerReset = 0;
	}
	else if ( rb_showTimings->integer == 2 ) {
		numRigidBodies++;
		if ( endTimeMSec > lastTimerReset ) {
			gameLocal.Printf( "rb %d: t %u cd %u\n",
							numRigidBodies,
							timer_total.Milliseconds(), timer_collision.Milliseconds() );
		}
	}
	if ( endTimeMSec > lastTimerReset ) {
		lastTimerReset = endTimeMSec;
		numRigidBodies = 0;
		timer_total.Clear();
		timer_collision.Clear();
	}
#endif

	return true;
}