void SetPathPoint(bool spawning)
{
if (Raycast(250.0f, out var hitPos, out _))
{
var navMesh = scene.GetComponent <DynamicNavigationMesh>();
var pathPos = navMesh.FindNearestPoint(hitPos, new Vector3(1.0f, 1.0f, 1.0f));
var compatiblePos = new BEPUutilities.Vector2((Fix64)pathPos.X, (Fix64)pathPos.Z);
if (spawning)
{
// Spawn a jack at the target position
simulation.Execute(new SpawnCommand {
Position = compatiblePos
});
}
else
{
// Set crowd agents target position
simulation.Execute(new NavigateCommand
{
Destination = compatiblePos,
Selection = Contexts.sharedInstance.game.GetEntities(GameMatcher.LocalId).Where(entity => entity.actorId.value == simulation.LocalActorId).Select(entity => entity.id.value).ToArray()
});
}
}
}
/// <summary>
/// Ticks the entity.
/// </summary>
public void Tick()
{
BEPUutilities.Vector2 motion = BEPUutilities.Vector2.Zero;
if (KeyForward)
{
motion.Y += 1;
}
if (KeyBack)
{
motion.Y -= 1;
}
if (KeyRight)
{
motion.X += 1;
}
if (KeyLeft)
{
motion.X -= 1;
}
if (motion.LengthSquared() > 0)
{
motion.Normalize();
}
PhysChar.ViewDirection = Engine3D.MainCamera.Direction.ToBVector();
PhysChar.HorizontalMotionConstraint.MovementDirection = motion;
if (KeyJump)
{
PhysChar.Jump();
}
Engine3D.MainCamera.Position = EyePos;
}
public void AddPosition(BEPUutilities.Vector2 newValue)
{
var index = GameComponentsLookup.Position;
var component = (Lockstep.Core.State.Game.PositionComponent)CreateComponent(index, typeof(Lockstep.Core.State.Game.PositionComponent));
component.value = newValue;
AddComponent(index, component);
}
public void ReplaceVelocity(BEPUutilities.Vector2 newValue)
{
var index = GameComponentsLookup.Velocity;
var component = (Lockstep.Core.State.Game.VelocityComponent)CreateComponent(index, typeof(Lockstep.Core.State.Game.VelocityComponent));
component.value = newValue;
ReplaceComponent(index, component);
}
public void ReplaceCoordinate(BEPUutilities.Vector2 newValue)
{
var index = InputComponentsLookup.Coordinate;
var component = (Lockstep.Core.Components.Input.CoordinateComponent)CreateComponent(index, typeof(Lockstep.Core.Components.Input.CoordinateComponent));
component.value = newValue;
ReplaceComponent(index, component);
}
public void ReplacePosition(BEPUutilities.Vector2 newValue)
{
var index = GameComponentsLookup.Position;
var component = (PositionComponent)CreateComponent(index, typeof(PositionComponent));
component.value = newValue;
ReplaceComponent(index, component);
}
//Vector2
public static Vector2 Convert(BEPUutilities.Vector2 bepuVector)
{
Vector2 toReturn;
toReturn.X = bepuVector.X;
toReturn.Y = bepuVector.Y;
return(toReturn);
}
public void ReplaceDestination(BEPUutilities.Vector2 newValue)
{
var index = GameComponentsLookup.Destination;
var component = (Lockstep.Core.Components.Game.DestinationComponent)CreateComponent(index, typeof(Lockstep.Core.Components.Game.DestinationComponent));
component.value = newValue;
ReplaceComponent(index, component);
}
public void ReplaceNavigationInputData(int[] newEntityIds, BEPUutilities.Vector2 newDestination)
{
var index = InputComponentsLookup.NavigationInputData;
var component = (NavigationInputDataComponent)CreateComponent(index, typeof(NavigationInputDataComponent));
component.EntityIds = newEntityIds;
component.Destination = newDestination;
ReplaceComponent(index, component);
}
public void ReplaceSpawnInputData(int newOwnerId, int newEntityConfigId, BEPUutilities.Vector2 newPosition)
{
var index = InputComponentsLookup.SpawnInputData;
var component = (SpawnInputDataComponent)CreateComponent(index, typeof(SpawnInputDataComponent));
component.OwnerId = newOwnerId;
component.EntityConfigId = newEntityConfigId;
component.Position = newPosition;
ReplaceComponent(index, component);
}
public void ReplaceRvoAgentSettings(BEPUutilities.Vector2 newPreferredVelocity, FixMath.NET.Fix64 newTimeHorizonObst, System.Collections.Generic.IList <System.Collections.Generic.KeyValuePair <FixMath.NET.Fix64, uint> > newAgentNeighbors)
{
var index = GameComponentsLookup.RvoAgentSettings;
var component = (Lockstep.Core.State.Game.RvoAgentSettingsComponent)CreateComponent(index, typeof(Lockstep.Core.State.Game.RvoAgentSettingsComponent));
component.preferredVelocity = newPreferredVelocity;
component.timeHorizonObst = newTimeHorizonObst;
component.agentNeighbors = newAgentNeighbors;
ReplaceComponent(index, component);
}
// SharpDX -> BepuPhysics
public static Vector2 ToSharp(this BEPUutilities.Vector2 a)
{
return(new Vector2(a.X, a.Y));
}
public static Vector2 Convert(BEPUutilities.Vector2 a)
{
return(new Vector2(a.X, a.Y));
}
public static void Convert(ref BEPUutilities.Vector2 bepuVector, out Vector2 xnaVector)
{
xnaVector.X = bepuVector.X;
xnaVector.Y = bepuVector.Y;
}
public static void Convert(ref Vector2 xnaVector, out BEPUutilities.Vector2 bepuVector)
{
bepuVector.X = xnaVector.X;
bepuVector.Y = xnaVector.Y;
}
public static BEPUutilities.Vector2 TransformVec2(BEPUutilities.Vector2 vector, BEPUutilities.Matrix2x2 transform)
{
return(new BEPUutilities.Vector2(vector.X * transform.M11 + vector.Y * transform.M21,
vector.X * transform.M12 + vector.Y * transform.M22));
}
public Model FromScene(Model3D scene, string name, AnimationEngine engine)
{
if (scene.Meshes.Count == 0)
{
throw new Exception("Scene has no meshes! (" + name + ")");
}
Model model = new Model(name);
model.Engine = this;
model.Original = scene;
model.Root = convert(scene.MatrixA);
foreach (Model3DMesh mesh in scene.Meshes)
{
if (mesh.Name.ToLowerFast().Contains("collision") || mesh.Name.ToLowerFast().Contains("norender"))
{
continue;
}
ModelMesh modmesh = new ModelMesh(mesh.Name);
modmesh.vbo.Prepare();
bool hastc = mesh.TexCoords.Count == mesh.Vertices.Count;
bool hasn = mesh.Normals.Count == mesh.Vertices.Count;
if (!hasn)
{
SysConsole.Output(OutputType.WARNING, "Mesh has no normals! (" + name + ")");
}
if (!hastc)
{
SysConsole.Output(OutputType.WARNING, "Mesh has no texcoords! (" + name + ")");
}
for (int i = 0; i < mesh.Vertices.Count; i++)
{
BEPUutilities.Vector3 vertex = mesh.Vertices[i];
modmesh.vbo.Vertices.Add(new Vector3((float)vertex.X, (float)vertex.Y, (float)vertex.Z));
if (!hastc)
{
modmesh.vbo.TexCoords.Add(new Vector3(0, 0, 0));
}
else
{
BEPUutilities.Vector2 texCoord = mesh.TexCoords[i];
modmesh.vbo.TexCoords.Add(new Vector3((float)texCoord.X, 1 - (float)texCoord.Y, 0));
}
if (!hasn)
{
modmesh.vbo.Normals.Add(new Vector3(0, 0, 1));
}
else
{
modmesh.vbo.Normals.Add(new Vector3((float)mesh.Normals[i].X, (float)mesh.Normals[i].Y, (float)mesh.Normals[i].Z));
}
modmesh.vbo.Colors.Add(new Vector4(1, 1, 1, 1)); // TODO: From the mesh?
}
for (int i = 0; i < mesh.Indices.Count; i++)
{
modmesh.vbo.Indices.Add((uint)mesh.Indices[i]);
}
int bc = mesh.Bones.Count;
if (bc > 200)
{
SysConsole.Output(OutputType.WARNING, "Mesh has " + bc + " bones! (" + name + ")");
bc = 200;
}
modmesh.vbo.BoneIDs = new Vector4[modmesh.vbo.Vertices.Count].ToList();
modmesh.vbo.BoneWeights = new Vector4[modmesh.vbo.Vertices.Count].ToList();
modmesh.vbo.BoneIDs2 = new Vector4[modmesh.vbo.Vertices.Count].ToList();
modmesh.vbo.BoneWeights2 = new Vector4[modmesh.vbo.Vertices.Count].ToList();
int[] pos = new int[modmesh.vbo.Vertices.Count];
for (int i = 0; i < bc; i++)
{
for (int x = 0; x < mesh.Bones[i].Weights.Count; x++)
{
int IDa = mesh.Bones[i].IDs[x];
float Weighta = (float)mesh.Bones[i].Weights[x];
int spot = pos[IDa]++;
if (spot > 7)
{
//SysConsole.Output(OutputType.WARNING, "Too many bones influencing " + vw.VertexID + "!");
ForceSet(modmesh.vbo.BoneWeights, IDa, 3, modmesh.vbo.BoneWeights[IDa][3] + Weighta);
}
else if (spot > 3)
{
ForceSet(modmesh.vbo.BoneIDs2, IDa, spot - 4, i);
ForceSet(modmesh.vbo.BoneWeights2, IDa, spot - 4, Weighta);
}
else
{
ForceSet(modmesh.vbo.BoneIDs, IDa, spot, i);
ForceSet(modmesh.vbo.BoneWeights, IDa, spot, Weighta);
}
}
}
model.Meshes.Add(modmesh);
}
model.RootNode = new ModelNode()
{
Parent = null, Name = scene.RootNode.Name.ToLowerFast()
};
List <ModelNode> allNodes = new List <ModelNode>();
PopulateChildren(model.RootNode, scene.RootNode, model, engine, allNodes);
for (int i = 0; i < model.Meshes.Count; i++)
{
for (int x = 0; x < scene.Meshes[i].Bones.Count; x++)
{
ModelNode nodet = null;
string nl = scene.Meshes[i].Bones[x].Name.ToLowerFast();
for (int n = 0; n < allNodes.Count; n++)
{
if (allNodes[n].Name == nl)
{
nodet = allNodes[n];
break;
}
}
ModelBone mb = new ModelBone()
{
Offset = convert(scene.Meshes[i].Bones[x].MatrixA)
};
nodet.Bones.Add(mb);
model.Meshes[i].Bones.Add(mb);
}
}
return(model);
}
public void OnPosition(GameEntity entity, Vector2 value)
{
Node.SetWorldPosition(new Vector3((float)value.X, 0, (float)value.Y));
}
// Steer away from obstacles in the way. This method returns a zero vector if no correction is required.
// It should be high priority and the steering from other behaviors should blend into the remaining space.
// So if this returns a length 1.0f vector, avoiding the obstacle is most urgent and there is no room for other
// steering.
private Vector2 AvoidObstacles(Actor owner)
{
BipedControllerComponent bcc = owner.GetComponent <BipedControllerComponent>(ActorComponent.ComponentType.Control);
// Conditions where we do not want to use this steering force.
if (GetAngleFromVertical(bcc.Controller.Body.LinearVelocity) < MathHelper.PiOver4 || // We're probably falling...
!bcc.Controller.SupportFinder.HasSupport ||
!bcc.Controller.SupportFinder.HasTraction)
{
return(Vector2.Zero);
}
// Sphere cast ahead along facing.
List <RayCastResult> obstacles = new List <RayCastResult>();
SphereShape probe = new SphereShape(bcc.Controller.BodyRadius * 1.1f);
RigidTransform probeStartPosition = new RigidTransform(bcc.Controller.Body.Position);
// Add a small constant to the probe length because we want a minimum amount of forward probing, even if we are not moving.
float probeLength = Math.Max(BepuVec3.Dot(bcc.Controller.Body.LinearVelocity, bcc.Controller.ViewDirection), 0.0f) + 1.0f;
BepuVec3 probeSweep = bcc.Controller.ViewDirection * probeLength;
ObstacleFilter filter = new ObstacleFilter(bcc.Controller.Body.CollisionInformation);
GameResources.ActorManager.SimSpace.ConvexCast(probe, ref probeStartPosition, ref probeSweep, filter.Test, obstacles);
RayCastDistanceComparer rcdc = new RayCastDistanceComparer();
obstacles.Sort(rcdc);
BEPUutilities.Vector3 cross = BEPUutilities.Vector3.Zero;
int obstacleIndex = 0;
do
{
if (obstacles.Count == obstacleIndex)
{
return(Vector2.Zero);
}
cross = BEPUutilities.Vector3.Cross(bcc.Controller.ViewDirection, -obstacles[obstacleIndex++].HitData.Normal);
}while (cross.X > 0.7f); // if cross.X > 0.7f, the obstacle is some kind of gentle ramp; ignore it.
// dot will typically be negative and magnitude indicates how directly ahead the obstacle is.
float dot = BEPUutilities.Vector3.Dot(bcc.Controller.ViewDirection, -obstacles[0].HitData.Normal);
if (dot >= 0.0f) // The obstacle won't hinder us if we touch it.
{
return(Vector2.Zero);
}
// When cross.Y is positive, the object is generally to the right, so veer left (and vice versa).
float directionSign = cross.Y >= 0.0f ? -1.0f : 1.0f;
BEPUutilities.Vector2 result = BEPUutilities.Vector2.UnitX * directionSign * -dot;
// Also scale response by how close the obstacle is.
float distance = (obstacles[0].HitData.Location - bcc.Controller.Body.Position).Length();
result *= MathHelper.Clamp((1.0f - distance / probeLength), 0.0f, 1.0f); // / Math.Abs(dot);
// So far the result is in terms of 'velocity space'. Rotate it to align with the controller facing.
float velocityTheta = (float)(Math.Atan2(-probeSweep.X, -probeSweep.Z));
BEPUutilities.Matrix2x2 velocityWorld = SpaceUtils.Create2x2RotationMatrix(velocityTheta);
float facingTheta = (float)(Math.Atan2(-bcc.Controller.HorizontalViewDirection.X, -bcc.Controller.HorizontalViewDirection.Z));
BEPUutilities.Matrix2x2 facingWorldInv = SpaceUtils.Create2x2RotationMatrix(facingTheta);
facingWorldInv.Transpose(); // We want the transpose/inverse of the facing transform because we want to transform the movement into 'facing space'.
return(BepuConverter.Convert(SpaceUtils.TransformVec2(SpaceUtils.TransformVec2(result, velocityWorld), facingWorldInv)));
}
public ref BEPUutilities.Vector2 CopyTo(ref BEPUutilities.Vector2 toVec)
{
toVec.X = x;
toVec.Y = -z;
return(ref toVec);
}
