示例#1
0
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;
}
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;
}
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;
}
示例#4
0
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;
}
示例#6
0
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;
}
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;
}
示例#8
0
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;
	}
}