public void DriveToTheTarget()
{
if (this.targetPos == null)
{
return;
}
this.targetDir = VectorF.subtract(this.targetPos, Cars[this.vehicleIndex].position);
float angleThreshold = 0f;
if (!this.targetDir.isZero())
{
angleThreshold = Maths.ArcTan(this.targetThreshold / this.targetDir.length());
}
float angleBetween = VectorF.angleBetween(Cars[this.vehicleIndex].direction, this.targetDir);
if (angleBetween >= -angleThreshold && angleBetween <= angleThreshold)
{
Cars[this.vehicleIndex].steeringWheelAngle = 0.0f;
}
else
{
if (angleBetween > 0.0f)
{
Cars[this.vehicleIndex].steeringWheelAngle = UISteeringAngle;
}
else
{
Cars[this.vehicleIndex].steeringWheelAngle = -UISteeringAngle;
}
}
Cars[this.vehicleIndex].Brakes = 0.0f;
if (this.targetSpeedHint < 0.0f)
{
Cars[this.vehicleIndex].Accelerator = 1.0f;
}
else
{
float speed = Cars[this.vehicleIndex].velocity.length();
if (speed < this.targetSpeedHint)
{
Cars[this.vehicleIndex].Accelerator = 1.0f;
}
else if (speed > this.targetSpeedHint)
{
Cars[this.vehicleIndex].Accelerator = 0.0f;
Cars[this.vehicleIndex].Brakes = 1.0f;
}
}
}
public int TryInsertNode(int refNode, int x, int y)
{
if (FreePathSlot < 0)
{
return(0);
}
int nodep = Paths[refNode].prev;
int noden = Paths[refNode].next;
if (nodep < 0 && noden < 0)
{
return(PutNewNode(x, y));
}
int nodeopp = 0;
if (nodep < 0)
{
nodeopp = noden;
}
else if (noden < 0)
{
nodeopp = nodep;
}
else
{
VectorF hit = VectorF.create(x, y);
VectorF hitDir = VectorF.subtract(hit, Paths[refNode].pt);
VectorF nextDir = VectorF.subtract(Paths[noden].pt, Paths[refNode].pt);
VectorF prevDir = VectorF.subtract(Paths[nodep].pt, Paths[refNode].pt);
if (Maths.AbsF(VectorF.angleBetween(hitDir, nextDir)) <= Maths.AbsF(VectorF.angleBetween(hitDir, prevDir)))
{
nodeopp = noden;
}
else
{
nodeopp = nodep;
}
}
VectorF newpt = Paths[refNode].pt.clone();
newpt.add(Paths[nodeopp].pt);
newpt.scale(0.5f);
int insertPrev = 0;
int insertNext = 0;
if (nodeopp == noden)
{
insertPrev = refNode;
insertNext = noden;
}
else
{
insertPrev = nodep;
insertNext = refNode;
}
int newnode = FreePathSlot;
Paths[newnode].Reset();
Paths[newnode].pt = newpt;
OnNewNode(newnode, insertPrev, insertNext);
PathNodeCount += 1;
FindFirstFreeNode();
return(newnode);
}
public int TryInsertNode(int refNode, int x, int y)
{
if (FreeCheckptSlot < 0)
{
return(0);
}
int nodep = Checkpoints[refNode].prev;
int noden = Checkpoints[refNode].next;
if (nodep < 0 && noden < 0)
{
return(PutNewNode(x, y));
}
int nodeopp = 0;
if (nodep < 0)
{
nodeopp = noden;
}
else if (noden < 0)
{
nodeopp = nodep;
}
else
{
VectorF hit = VectorF.create(x, y);
VectorF hitDir = VectorF.subtract(hit, Checkpoints[refNode].pt);
VectorF nextDir = VectorF.subtract(Checkpoints[noden].pt, Checkpoints[refNode].pt);
VectorF prevDir = VectorF.subtract(Checkpoints[nodep].pt, Checkpoints[refNode].pt);
if (Maths.AbsF(VectorF.angleBetween(hitDir, nextDir)) <= Maths.AbsF(VectorF.angleBetween(hitDir, prevDir)))
{
nodeopp = noden;
}
else
{
nodeopp = nodep;
}
}
VectorF newpt = Checkpoints[refNode].pt.clone();
newpt.add(Checkpoints[nodeopp].pt);
newpt.scale(0.5f);
int insertPrev = 0;
int insertNext = 0;
if (nodeopp == noden)
{
insertPrev = refNode;
insertNext = noden;
}
else
{
insertPrev = nodep;
insertNext = refNode;
}
int newnode = FreeCheckptSlot;
Checkpoints[newnode].Reset();
Checkpoints[newnode].pt = newpt;
OnNewNode(newnode, insertPrev, insertNext);
CheckptCount += 1;
int fixnode = insertNext;
while (fixnode != FirstCheckpt)
{
Checkpoints[fixnode].order += 1;
fixnode = Checkpoints[fixnode].next;
}
FindFirstFreeCheckpoint();
return(newnode);
}
public void RunPhysics(float deltaTime)
{
int i = 0;
if (this.strictCollisions && this.numHits > 0)
{
float x = 0f;
float y = 0f;
for (i = 0; i < NUM_COLLISION_POINTS; i += 1)
{
this.collPoint[i].set(this.oldCollPt[i]);
this.collPtHit[i] = this.oldCollPtHit[i];
x += this.collPoint[i].x;
y += this.collPoint[i].y;
}
this.position.x = x / IntToFloat(NUM_COLLISION_POINTS);
this.position.y = y / IntToFloat(NUM_COLLISION_POINTS);
}
else
{
for (i = 0; i < NUM_COLLISION_POINTS; i += 1)
{
this.oldCollPt[i].set(this.collPoint[i]);
}
}
for (i = 0; i < NUM_COLLISION_POINTS; i += 1)
{
this.oldCollPtHit[i] = this.collPtHit[i];
this.oldCollPtCarHit[i] = this.collPtCarHit[i];
}
this.RunPhysicsBase(deltaTime);
this.UpdateBody();
this.UpdateEnviroment();
this.enginePower = this.engineMaxPower * this.engineAccelerator;
this.driveWheelTorque = this.enginePower;
this.driveWheelTorque -= this.driveWheelTorque * this.brakePower;
this.driveWheelForce = this.driveWheelTorque * this.driveWheelGrip;
VectorF rollDirection = this.direction.clone();
VectorF slideDirection = rollDirection.clone();
slideDirection.rotate(Maths.Pi / 2.0f);
float rollingVelocity = VectorF.projection(this.velocity, rollDirection);
float slidingVelocity = VectorF.projection(this.velocity, slideDirection);
this.turningAccel.makeZero();
if (this.velocity.isZero())
{
this.angularVelocity = this.steeringWheelAngle * this.stillTurningVelocity;
}
else
{
if (this.steeringWheelAngle != 0.0f)
{
float steerAngle = this.steeringWheelAngle;
VectorF driveWheelPos = this.position.clone();
VectorF steerWheelPos = this.position.clone();
driveWheelPos.addScaled(this.direction, -this.distanceBetweenAxles / 2.0f);
steerWheelPos.addScaled(this.direction, this.distanceBetweenAxles / 2.0f);
VectorF driveWheelMovement = rollDirection.clone();
VectorF steerWheelMovement = rollDirection.clone();
steerWheelMovement.rotate(steerAngle);
driveWheelPos.addScaled(driveWheelMovement, rollingVelocity);
steerWheelPos.addScaled(steerWheelMovement, rollingVelocity);
VectorF newPosDir = VectorF.subtract(steerWheelPos, driveWheelPos);
newPosDir.normalize();
this.angularVelocity = VectorF.angleBetween(this.direction, newPosDir);
this.angularVelocity *= this.envGrip;
float dumb_drift_factor = Maths.ArcTan(Maths.AbsF(rollingVelocity / this.driftVelocityFactor)) / (Maths.Pi / 2.0f);
this.turningAccel = VectorF.subtract(newPosDir, rollDirection);
this.turningAccel.scale(rollingVelocity * (1.0f - dumb_drift_factor) * this.envGrip);
}
else
{
this.angularVelocity = 0.0f;
}
}
VectorF rollResDir = rollDirection.clone();
rollResDir.scale(-rollingVelocity);
rollResDir.normalize();
VectorF slideResDir = slideDirection.clone();
slideResDir.scale(-slidingVelocity);
slideResDir.normalize();
float driveForce = (this.driveWheelForce * deltaTime) / this.bodyMass;
rollingVelocity = Maths.AbsF(rollingVelocity);
slidingVelocity = Maths.AbsF(slidingVelocity);
float slide_friction = this.envSlideFriction * this.weightForce;
float roll_friction = this.envRollFriction * this.weightForce;
float airres_force = 0.5f * Track.AirResistance * this.bodyAerodynamics;
float env_res_force = this.envResistance;
float rollAF = ((slide_friction * this.brakePower + roll_friction * (1.0f - this.brakePower) + airres_force * rollingVelocity * rollingVelocity + env_res_force * rollingVelocity) * deltaTime) / this.bodyMass;
float slideAF = ((slide_friction + airres_force * slidingVelocity * slidingVelocity + env_res_force * slidingVelocity) * deltaTime) / this.bodyMass;
rollAF = Maths.ClampF(rollAF, 0.0f, rollingVelocity);
slideAF = Maths.ClampF(slideAF, 0.0f, slidingVelocity);
this.infoRollAntiforce = rollAF;
this.infoSlideAntiforce = slideAF;
this.velocity.addScaled(rollDirection, driveForce);
float x1 = this.velocity.x;
float y1 = this.velocity.y;
this.velocity.addScaled(slideResDir, slideAF);
this.velocity.addScaled(rollResDir, rollAF);
float x2 = this.velocity.x;
float y2 = this.velocity.y;
if (x1 >= 0.0 && x2 < 0.0 || x1 <= 0.0 && x2 > 0.0f)
{
this.velocity.x = 0.0f;
}
if (y1 >= 0.0 && y2 < 0.0 || y1 <= 0.0 && y2 > 0.0f)
{
this.velocity.y = 0.0f;
}
this.velocity.addScaled(this.turningAccel, deltaTime);
VectorF impactVelocity = VectorF.zero();
this.RunCollision(impactVelocity, deltaTime);
this.velocity.add(impactVelocity);
this.infoImpact.set(impactVelocity);
}
