public override void ExclusiveUpdate()
{
if (Helicopter.HeloPilot == null)
{
return; // Don't fly when there's nobody driving this!
}
// Collect the helicopter's relative "up" vector
BEPUutilities.Vector3 up = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitZ, Entity.Orientation);
// Apply the amount of force necessary to counteract downward force, within a limit.
// POTENTIAL: Adjust according to orientation?
double uspeed = Math.Min(Helicopter.LiftStrength, -(Entity.LinearVelocity.Z + Entity.Space.ForceUpdater.Gravity.Z) * Entity.Mass);
if (uspeed < 0f)
{
uspeed += (uspeed - Helicopter.FallStrength) * Helicopter.HeloPilot.SprintOrWalk;
}
else
{
uspeed += (Helicopter.LiftStrength - uspeed) * Helicopter.HeloPilot.SprintOrWalk;
}
BEPUutilities.Vector3 upvel = up * uspeed * Delta;
Entity.ApplyLinearImpulse(ref upvel);
// Rotate slightly to move in a direction.
// At the same time, fight against existing rotation.
BEPUutilities.Vector3 VecUp = new BEPUutilities.Vector3(Helicopter.HeloPilot.XMove * 0.2f * Helicopter.HeloTiltMod, Helicopter.HeloPilot.YMove * -0.2f * Helicopter.HeloTiltMod, 1);
// TODO: Simplify yawrel calculation.
float tyaw = (float)(Utilities.MatrixToAngles(Matrix.CreateFromQuaternion(Entity.Orientation)).Z * Utilities.PI180);
BEPUutilities.Quaternion yawrel = BEPUutilities.Quaternion.CreateFromAxisAngle(BEPUutilities.Vector3.UnitZ, tyaw);
VecUp = BEPUutilities.Quaternion.Transform(VecUp, yawrel);
VecUp.Normalize();
VecUp.Y = -VecUp.Y;
BEPUutilities.Vector3 axis = BEPUutilities.Vector3.Cross(VecUp, up);
double len = axis.Length();
if (len > 0)
{
axis /= len;
float angle = (float)Math.Asin(len);
if (!float.IsNaN(angle))
{
double avel = BEPUutilities.Vector3.Dot(Entity.AngularVelocity, axis);
BEPUutilities.Vector3 torque = axis * ((-angle) - 0.3f * avel);
torque *= Entity.Mass * Delta * 30;
Entity.ApplyAngularImpulse(ref torque);
}
}
// Spin in place
float rotation = (Helicopter.HeloPilot.ItemRight ? -1f : 0f) + (Helicopter.HeloPilot.ItemLeft ? 1f : 0f);
if (rotation * rotation > 0f)
{
BEPUutilities.Vector3 rot = new BEPUutilities.Vector3(0, 0, rotation * 15f * Delta * Entity.Mass);
Entity.ApplyAngularImpulse(ref rot);
}
// Apply air drag
Entity.ModifyLinearDamping(0.3f); // TODO: arbitrary constant
Entity.ModifyAngularDamping(0.6f); // TODO: arbitrary constant
// Ensure we're active if flying!
Entity.ActivityInformation.Activate();
}
public override void ExclusiveUpdate()
{
if (Plane.PlanePilot == null)
{
return; // Don't fly when there's nobody driving this!
}
// TODO: Special case for motion on land: only push forward if W key is pressed? Or maybe apply that rule in general?
// Collect the plane's relative vectors
BEPUutilities.Vector3 forward = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitY, Entity.Orientation);
BEPUutilities.Vector3 side = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitX, Entity.Orientation);
BEPUutilities.Vector3 up = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitZ, Entity.Orientation);
// Engines!
if (Plane.PlanePilot.SprintOrWalk >= 0.0)
{
BEPUutilities.Vector3 force = forward * (Plane.PlaneRegularStrength + Plane.PlaneFastStrength) * Delta;
entity.ApplyLinearImpulse(ref force);
}
double dotforw = BEPUutilities.Vector3.Dot(entity.LinearVelocity, forward);
entity.ApplyImpulse(side * 5 + entity.Position, up * -Plane.PlanePilot.XMove * entity.Mass * dotforw * 0.5 * Delta);
entity.ApplyImpulse(forward * 5 + entity.Position, side * ((Plane.PlanePilot.ItemRight ? 1 : 0) + (Plane.PlanePilot.ItemLeft ? -1 : 0)) * entity.Mass * dotforw * 0.5 * Delta);
entity.ApplyImpulse(forward * 5 + entity.Position, up * Plane.PlanePilot.YMove * entity.Mass * 0.5 * Delta * dotforw);
// Rotate the entity pre-emptively, and re-apply the movement velocity in this new direction!
double vellen = entity.LinearVelocity.Length();
BEPUutilities.Vector3 normvel = entity.LinearVelocity / vellen;
BEPUutilities.Vector3 norm_vel_transf = BEPUutilities.Quaternion.Transform(normvel, BEPUutilities.Quaternion.Inverse(entity.Orientation)); // Probably just 1,0,0 on whichever axis... can be simplified!
BEPUutilities.Vector3 inc = entity.AngularVelocity * Delta * 0.5;
BEPUutilities.Quaternion quat = new BEPUutilities.Quaternion(inc.X, inc.Y, inc.Z, 0);
quat = quat * entity.Orientation;
BEPUutilities.Quaternion orient = entity.Orientation;
BEPUutilities.Quaternion.Add(ref orient, ref quat, out orient);
orient.Normalize();
entity.Orientation = orient;
entity.LinearVelocity = BEPUutilities.Quaternion.Transform(norm_vel_transf, orient) * vellen;
entity.AngularVelocity *= 0.1;
// Apply air drag
Entity.ModifyLinearDamping(Plane.PlanePilot.SprintOrWalk < 0.0 ? 0.6 : 0.1); // TODO: arbitrary constant
Entity.ModifyAngularDamping(0.5); // TODO: arbitrary constant
// Ensure we're active if flying!
Entity.ActivityInformation.Activate();
}
public override void ExclusiveUpdate()
{
if (Plane.PlanePilot == null)
{
return; // Don't fly when there's nobody driving this!
}
// TODO: Special case for motion on land: only push forward if FORWARD key is pressed? Or maybe apply that rule in general?
// Collect the plane's relative vectors
BEPUutilities.Vector3 forward = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitY, Entity.Orientation);
BEPUutilities.Vector3 side = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitX, Entity.Orientation);
BEPUutilities.Vector3 up = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitZ, Entity.Orientation);
// Engines!
if (Plane.PlanePilot.SprintOrWalk >= 0.0)
{
BEPUutilities.Vector3 force = forward * (Plane.PlaneRegularStrength + Plane.PlaneFastStrength * Plane.PlanePilot.SprintOrWalk) * Delta;
entity.ApplyLinearImpulse(ref force);
}
double dotforw = BEPUutilities.Vector3.Dot(entity.LinearVelocity, forward);
double mval = 2.0 * (1.0 / Math.Max(1.0, entity.LinearVelocity.Length()));
double rot_x = -Plane.PlanePilot.YMove * 0.5 * Delta * dotforw * mval;
double rot_y = Plane.PlanePilot.XMove * dotforw * 0.5 * Delta * mval;
double rot_z = -((Plane.PlanePilot.ItemRight ? 1 : 0) + (Plane.PlanePilot.ItemLeft ? -1 : 0)) * dotforw * 0.1 * Delta * mval;
entity.AngularVelocity += BEPUutilities.Quaternion.Transform(new BEPUutilities.Vector3(rot_x, rot_y, rot_z), entity.Orientation);
double vellen = entity.LinearVelocity.Length();
BEPUutilities.Vector3 newVel = forward * vellen;
double forwVel = BEPUutilities.Vector3.Dot(entity.LinearVelocity, forward);
double root = Math.Sqrt(Math.Sign(forwVel) * forwVel);
entity.LinearVelocity += (newVel - entity.LinearVelocity) * BEPUutilities.MathHelper.Clamp(Delta, 0.01, 0.3) * Math.Min(2.0, root * 0.05);
// Apply air drag
Entity.ModifyLinearDamping(Plane.PlanePilot.SprintOrWalk < 0.0 ? 0.5 : 0.1); // TODO: arbitrary constants
Entity.ModifyAngularDamping(0.995); // TODO: arbitrary constant
// Ensure we're active if flying!
Entity.ActivityInformation.Activate();
}
