private MyVector GetSpinVelocityAtPoint(ref AngularVelocityInfo angularInfo, out MyVector dirToCenterLine, MyVector dirFacingWorld, MyVector lineBetween, MyVector blipPosition)
{
// Get a line that's orthogonal to lineBetween, and always points toward the dirFacingWorld vector
dirToCenterLine = MyVector.Cross(MyVector.Cross(lineBetween, dirFacingWorld), lineBetween);
dirToCenterLine.BecomeUnitVector();
if (angularInfo == null)
{
#region Cache Angular Velocity
angularInfo = new AngularVelocityInfo();
if (_ship.TorqueBall != null)
{
angularInfo.AngularVelocity = _ship.TorqueBall.AngularVelocity.GetMagnitude();
angularInfo.SpinDirection = MyVector.Cross(_ship.TorqueBall.AngularVelocity, _ship.TorqueBall.DirectionFacing.Standard);
angularInfo.SpinDirection.BecomeUnitVector();
angularInfo.CenterMass = _ship.TorqueBall.Rotation.GetRotatedVector(_ship.TorqueBall.CenterOfMass, true);
angularInfo.CenterMass.Add(_ship.TorqueBall.Position);
}
else
{
angularInfo.SpinDirection = dirToCenterLine.Clone();
angularInfo.AngularVelocity = 0d;
angularInfo.CenterMass = _ship.Ball.Position.Clone();
}
#endregion
}
// Get the line between the blip and the center of mass
MyVector lineBetweenCM = blipPosition - angularInfo.CenterMass;
// Figure out my velocity of spin where the blip is
return(angularInfo.SpinDirection * (angularInfo.AngularVelocity * lineBetweenCM.GetMagnitude()));
}
/// <summary>
/// This method will adjust the force to keep the relative velocity relativaly small
/// </summary>
/// <remarks>
/// This method needs work. It would help if I exposed velocity and force lines to be drawn for debugging
/// </remarks>
private double GetForceForSoft(ref AngularVelocityInfo angularInfo, double maxForce, MyVector forceDirection, double distance, Ball ball, MyVector dirFacingWorld)
{
const double MINVELOCITY = 20d;
double minVelocity = UtilityCore.GetScaledValue(0, MINVELOCITY, 0, _maxDistance, distance);
MyVector dummy;
MyVector tractorVelocity = GetSpinVelocityAtPoint(ref angularInfo, out dummy, dirFacingWorld, _offset, _ship.Ball.Position + _offset);
tractorVelocity = tractorVelocity + _ship.Ball.Velocity;
double relativeVelocity = MyVector.Dot(forceDirection, ball.Velocity - tractorVelocity);
double retVal = maxForce;
if (maxForce > 0)
{
#region Pulling In
// Positive force means the relative velocity will need to be negative (pulling the object in)
if (Utility3D.IsNearValue(relativeVelocity, minVelocity * -1d))
{
// It's going the right speed. No force needed
return(0);
}
else if (relativeVelocity < (minVelocity * -1d))
{
// It's coming in too fast. Slow it down
retVal = Math.Abs(relativeVelocity) - Math.Abs(minVelocity) * ball.Mass; // Velocity * Mass is impulse force
}
#endregion
}
else
{
#region Pushing Away
// Negative force means the relative velocity will need to be positive (pushing the object away)
if (Utility3D.IsNearValue(relativeVelocity, minVelocity))
{
// It's going the right speed. No force needed
return(0);
}
else if (relativeVelocity > minVelocity)
{
// It's going away too fast. Slow it down
retVal = Math.Abs(relativeVelocity) - Math.Abs(minVelocity) * ball.Mass; // Velocity * Mass is impulse force
retVal *= -1d;
}
//if (relativeVelocity > MINVELOCITY)
//{
// // It's going fast enough, no need to apply any more force
// return 0;
//}
// Figure out how much force is required to make this relative velocity equal MINVELOCITY
//retVal = (relativeVelocity - MINVELOCITY) * ball.Mass; // Velocity * Mass is impulse force
#endregion
}
// Cap the return the max force
if (Math.Abs(retVal) > Math.Abs(maxForce))
{
if (retVal > 0)
{
retVal = Math.Abs(maxForce);
}
else
{
retVal = Math.Abs(maxForce) * -1d;
}
}
// Exit Function
return(retVal);
}
private List <Interaction> GetInteractions_Static(out double totalForce, MyVector centerWorld, MyVector dirFacingWorld)
{
totalForce = 0d;
List <Interaction> retVal = new List <Interaction>();
// This is only used for left/right modes (lazy initialization)
AngularVelocityInfo angularInfo = null;
// Scan for objects in my path
foreach (BallBlip blip in FindBlipsInCone(centerWorld, dirFacingWorld))
{
// Get a vector from me to the ball
MyVector lineBetween = blip.Ball.Position - centerWorld;
double distance = lineBetween.GetMagnitude();
switch (_mode)
{
case BeamMode.PushPull:
#region Push Pull
if (!Utility3D.IsNearZero(distance))
{
lineBetween.BecomeUnitVector();
lineBetween.Multiply(-1);
double relativeVelocity = MyVector.Dot(lineBetween, blip.Ball.Velocity - _ship.Ball.Velocity);
// Figure out how much force is required to make this relative velocity equal zero
double force = relativeVelocity * blip.Ball.Mass; // Velocity * Mass is impulse force
// See if force needs to be limited by the tractor's max force
double maxForce = UtilityCore.GetScaledValue(_forceAtZero, _forceAtMax, 0d, _maxDistance, distance);
if (Math.Abs(force) > maxForce)
{
if (force > 0d)
{
force = maxForce;
}
else
{
force = maxForce * -1d;
}
}
// Add to results
retVal.Add(new Interaction(blip, lineBetween, force));
totalForce += Math.Abs(force);
}
#endregion
break;
case BeamMode.LeftRight:
#region Left Right
// Only do something if the lines aren't sitting directly on top of each other (even if they want to repel,
// I'd be hesitant to just repel in any random direction)
if (!Utility3D.IsNearValue(MyVector.Dot(lineBetween, dirFacingWorld, true), 1d))
{
// Figure out how fast the ship is spinning where the blip is
MyVector dirToCenterLine;
MyVector spinVelocity = GetSpinVelocityAtPoint(ref angularInfo, out dirToCenterLine, dirFacingWorld, lineBetween, blip.Ball.Position);
// Figure out the relative velocity (between blip and my spin)
double relativeVelocity1 = MyVector.Dot(dirToCenterLine, blip.Ball.Velocity - spinVelocity);
// Figure out how much force is required to make this relative velocity equal zero
double force1 = relativeVelocity1 * blip.Ball.Mass; // Velocity * Mass is impulse force
// See if force needs to be limited by the tractor's max force
double maxForce1 = UtilityCore.GetScaledValue(_forceAtZero, _forceAtMax, 0d, _maxDistance, distance);
if (Math.Abs(force1) > maxForce1)
{
if (force1 > 0d)
{
force1 = maxForce1;
}
else
{
force1 = maxForce1 * -1d;
}
}
// Add to results
retVal.Add(new Interaction(blip, dirToCenterLine, force1));
totalForce += force1;
}
#endregion
break;
default:
throw new ApplicationException("Unknown BeamMode: " + _mode.ToString());
}
}
// Exit Function
return(retVal);
}
private List <Interaction> GetInteractions_Standard(out double totalForce, MyVector centerWorld, MyVector dirFacingWorld)
{
totalForce = 0d;
List <Interaction> retVal = new List <Interaction>();
AngularVelocityInfo tractorAngularInfo = null;
// Scan for objects in my path
foreach (BallBlip blip in FindBlipsInCone(centerWorld, dirFacingWorld))
{
// Get the distance
MyVector lineBetween = blip.Sphere.Position - centerWorld;
double distance = lineBetween.GetMagnitude();
// Figure out the force to apply
double force = UtilityCore.GetScaledValue(_forceAtZero, _forceAtMax, 0d, _maxDistance, distance);
force *= _percent;
switch (_mode)
{
case BeamMode.PushPull:
#region Push Pull
if (!Utility3D.IsNearZero(distance))
{
// Turn lineBetween into a unit vector (it will be multiplied by force later)
lineBetween.BecomeUnitVector();
if (_isSoft)
{
force = GetForceForSoft(ref tractorAngularInfo, force, lineBetween, distance, blip.Ball, dirFacingWorld);
}
// Add this to the return list
retVal.Add(new Interaction(blip, lineBetween, force));
totalForce += Math.Abs(force); // percent is negative when in repulse mode
}
#endregion
break;
case BeamMode.LeftRight:
#region Left Right
// Only do something if the lines aren't sitting directly on top of each other (even if they want to repel,
// I'd be hesitant to just repel in any random direction)
if (!Utility3D.IsNearValue(MyVector.Dot(lineBetween, dirFacingWorld, true), 1d))
{
// Get a line that's orthogonal to lineBetween, and always points toward the dirFacingWorld vector
MyVector dirToCenterLine = MyVector.Cross(lineBetween, MyVector.Cross(lineBetween, dirFacingWorld));
dirToCenterLine.BecomeUnitVector();
// Add to the return list
retVal.Add(new Interaction(blip, dirToCenterLine, force));
totalForce += Math.Abs(force); // percent is negative when in repulse mode
}
#endregion
break;
default:
throw new ApplicationException("Unknown BeamMode: " + _mode.ToString());
}
}
// Exit Function
return(retVal);
}
private MyVector GetSpinVelocityAtPoint(ref AngularVelocityInfo angularInfo, out MyVector dirToCenterLine, MyVector dirFacingWorld, MyVector lineBetween, MyVector blipPosition)
{
// Get a line that's orthogonal to lineBetween, and always points toward the dirFacingWorld vector
dirToCenterLine = MyVector.Cross(MyVector.Cross(lineBetween, dirFacingWorld), lineBetween);
dirToCenterLine.BecomeUnitVector();
if (angularInfo == null)
{
#region Cache Angular Velocity
angularInfo = new AngularVelocityInfo();
if (_ship.TorqueBall != null)
{
angularInfo.AngularVelocity = _ship.TorqueBall.AngularVelocity.GetMagnitude();
angularInfo.SpinDirection = MyVector.Cross(_ship.TorqueBall.AngularVelocity, _ship.TorqueBall.DirectionFacing.Standard);
angularInfo.SpinDirection.BecomeUnitVector();
angularInfo.CenterMass = _ship.TorqueBall.Rotation.GetRotatedVector(_ship.TorqueBall.CenterOfMass, true);
angularInfo.CenterMass.Add(_ship.TorqueBall.Position);
}
else
{
angularInfo.SpinDirection = dirToCenterLine.Clone();
angularInfo.AngularVelocity = 0d;
angularInfo.CenterMass = _ship.Ball.Position.Clone();
}
#endregion
}
// Get the line between the blip and the center of mass
MyVector lineBetweenCM = blipPosition - angularInfo.CenterMass;
// Figure out my velocity of spin where the blip is
return angularInfo.SpinDirection * (angularInfo.AngularVelocity * lineBetweenCM.GetMagnitude());
}
/// <summary>
/// This method will adjust the force to keep the relative velocity relativaly small
/// </summary>
/// <remarks>
/// This method needs work. It would help if I exposed velocity and force lines to be drawn for debugging
/// </remarks>
private double GetForceForSoft(ref AngularVelocityInfo angularInfo, double maxForce, MyVector forceDirection, double distance, Ball ball, MyVector dirFacingWorld)
{
const double MINVELOCITY = 20d;
double minVelocity = UtilityCore.GetScaledValue(0, MINVELOCITY, 0, _maxDistance, distance);
MyVector dummy;
MyVector tractorVelocity = GetSpinVelocityAtPoint(ref angularInfo, out dummy, dirFacingWorld, _offset, _ship.Ball.Position + _offset);
tractorVelocity = tractorVelocity + _ship.Ball.Velocity;
double relativeVelocity = MyVector.Dot(forceDirection, ball.Velocity - tractorVelocity);
double retVal = maxForce;
if (maxForce > 0)
{
#region Pulling In
// Positive force means the relative velocity will need to be negative (pulling the object in)
if (Utility3D.IsNearValue(relativeVelocity, minVelocity * -1d))
{
// It's going the right speed. No force needed
return 0;
}
else if (relativeVelocity < (minVelocity * -1d))
{
// It's coming in too fast. Slow it down
retVal = Math.Abs(relativeVelocity) - Math.Abs(minVelocity) * ball.Mass; // Velocity * Mass is impulse force
}
#endregion
}
else
{
#region Pushing Away
// Negative force means the relative velocity will need to be positive (pushing the object away)
if (Utility3D.IsNearValue(relativeVelocity, minVelocity))
{
// It's going the right speed. No force needed
return 0;
}
else if (relativeVelocity > minVelocity)
{
// It's going away too fast. Slow it down
retVal = Math.Abs(relativeVelocity) - Math.Abs(minVelocity) * ball.Mass; // Velocity * Mass is impulse force
retVal *= -1d;
}
//if (relativeVelocity > MINVELOCITY)
//{
// // It's going fast enough, no need to apply any more force
// return 0;
//}
// Figure out how much force is required to make this relative velocity equal MINVELOCITY
//retVal = (relativeVelocity - MINVELOCITY) * ball.Mass; // Velocity * Mass is impulse force
#endregion
}
// Cap the return the max force
if (Math.Abs(retVal) > Math.Abs(maxForce))
{
if (retVal > 0)
{
retVal = Math.Abs(maxForce);
}
else
{
retVal = Math.Abs(maxForce) * -1d;
}
}
// Exit Function
return retVal;
}
