public JointVehicleMotor ConnectWheel(VehiclePartEntity wheel, bool driving, bool powered)
{
wheel.SetFriction(2.5f);
Vector3 left = Quaternion.Transform(new Vector3(-1, 0, 0), wheel.GetOrientation());
Vector3 up = Quaternion.Transform(new Vector3(0, 0, 1), wheel.GetOrientation());
JointSlider pointOnLineJoint = new JointSlider(this, wheel, -new Location(up));
JointLAxisLimit suspensionLimit = new JointLAxisLimit(this, wheel, 0f, 0.1f, wheel.GetPosition(), wheel.GetPosition(), -new Location(up));
JointPullPush spring = new JointPullPush(this, wheel, -new Location(up), true);
BEPUphysics.CollisionRuleManagement.CollisionRules.AddRule(wheel.Body, this.Body, BEPUphysics.CollisionRuleManagement.CollisionRule.NoBroadPhase); // TODO: How necessary is this? Should we replicate this clientside?
if (driving)
{
JointSpinner spinner = new JointSpinner(this, wheel, new Location(-left));
TheRegion.AddJoint(spinner);
}
else
{
JointSwivelHinge swivelhinge = new JointSwivelHinge(this, wheel, new Location(up), new Location(-left));
TheRegion.AddJoint(swivelhinge);
}
TheRegion.AddJoint(pointOnLineJoint);
TheRegion.AddJoint(suspensionLimit);
TheRegion.AddJoint(spring);
if (powered)
{
JointVehicleMotor motor = new JointVehicleMotor(this, wheel, new Location(driving ? left : up), !driving);
TheRegion.AddJoint(motor);
return(motor);
}
return(null);
}
public JointVehicleMotor ConnectWheel(VehiclePartEntity wheel, bool driving, bool powered, double susp)
{
TheRegion.AddJoint(new ConstWheelStepUp(wheel, wheel.StepHeight));
wheel.SetFriction(2.5f);
Vector3 left = BEPUutilities.Quaternion.Transform(new Vector3(-1, 0, 0), wheel.GetOrientation());
Vector3 up = BEPUutilities.Quaternion.Transform(new Vector3(0, 0, 1), wheel.GetOrientation());
JointSlider pointOnLineJoint = new JointSlider(this, wheel, -new Location(up));
JointLAxisLimit suspensionLimit = new JointLAxisLimit(this, wheel, 0f, susp, wheel.GetPosition(), wheel.GetPosition(), -new Location(up));
JointPullPush spring = new JointPullPush(this, wheel, -new Location(up), true);
if (driving)
{
JointSpinner spinner = new JointSpinner(this, wheel, new Location(-left));
TheRegion.AddJoint(spinner);
}
else
{
JointSwivelHinge swivelhinge = new JointSwivelHinge(this, wheel, new Location(up), new Location(-left));
TheRegion.AddJoint(swivelhinge);
}
TheRegion.AddJoint(pointOnLineJoint);
TheRegion.AddJoint(suspensionLimit);
TheRegion.AddJoint(spring);
JointNoCollide jnc = new JointNoCollide(this, wheel);
TheRegion.AddJoint(jnc);
if (powered)
{
JointVehicleMotor motor = new JointVehicleMotor(this, wheel, new Location(driving ? left : up), !driving);
TheRegion.AddJoint(motor);
return(motor);
}
return(null);
}
public override bool ParseBytesAndExecute(byte[] data)
{
int len = 1 + 8 + 8 + 8 + 24 + 4 + 4 + 4 + 4 + 24 + 4 + 4 + 4 + 4;
if (data.Length < len)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad initial length!");
return(false);
}
byte type = data[0];
long EID1 = Utilities.BytesToLong(Utilities.BytesPartial(data, 1, 8));
long EID2 = Utilities.BytesToLong(Utilities.BytesPartial(data, 1 + 8, 8));
long JID = Utilities.BytesToLong(Utilities.BytesPartial(data, 1 + 8 + 8, 8));
if (TheClient.TheRegion.GetJoint(JID) != null)
{
// If we already know this joint, just keep on going.
return(true);
}
Entity pe1 = TheClient.TheRegion.GetEntity(EID1);
Entity pe2 = TheClient.TheRegion.GetEntity(EID2);
if (pe1 == null)
{
SysConsole.Output(OutputType.WARNING, "Joint Packet: Invalid EID-1 " + EID1);
return(false);
}
if (pe2 == null)
{
SysConsole.Output(OutputType.WARNING, "Joint Packet: Invalid EID-2 " + EID2);
return(false);
}
Location pos1 = Location.FromDoubleBytes(data, 1 + 8 + 8 + 8);
float qx1 = Utilities.BytesToFloat(Utilities.BytesPartial(data, 1 + 8 + 8 + 8 + 24, 4));
float qy1 = Utilities.BytesToFloat(Utilities.BytesPartial(data, 1 + 8 + 8 + 8 + 24 + 4, 4));
float qz1 = Utilities.BytesToFloat(Utilities.BytesPartial(data, 1 + 8 + 8 + 8 + 24 + 4 + 4, 4));
float qw1 = Utilities.BytesToFloat(Utilities.BytesPartial(data, 1 + 8 + 8 + 8 + 24 + 4 + 4 + 4, 4));
BEPUutilities.Quaternion quat1 = new BEPUutilities.Quaternion(qx1, qy1, qz1, qw1);
pe1.SetPosition(pos1);
pe1.SetOrientation(quat1);
Location pos2 = Location.FromDoubleBytes(data, 1 + 8 + 8 + 8 + 24 + 4 + 4 + 4 + 4);
float qx2 = Utilities.BytesToFloat(Utilities.BytesPartial(data, 1 + 8 + 8 + 8 + 24 + 24 + 4 + 4 + 4 + 4, 4));
float qy2 = Utilities.BytesToFloat(Utilities.BytesPartial(data, 1 + 8 + 8 + 8 + 24 + 4 + 24 + 4 + 4 + 4 + 4, 4));
float qz2 = Utilities.BytesToFloat(Utilities.BytesPartial(data, 1 + 8 + 8 + 8 + 24 + 4 + 4 + 24 + 4 + 4 + 4 + 4, 4));
float qw2 = Utilities.BytesToFloat(Utilities.BytesPartial(data, 1 + 8 + 8 + 8 + 24 + 4 + 4 + 4 + 24 + 4 + 4 + 4 + 4, 4));
BEPUutilities.Quaternion quat2 = new BEPUutilities.Quaternion(qx2, qy2, qz2, qw2);
pe1.SetPosition(pos1);
pe1.SetOrientation(quat1);
pe2.SetPosition(pos2);
pe2.SetOrientation(quat2);
if (type == 0)
{
if (data.Length != len + 24)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
Location pos = Location.FromDoubleBytes(data, len);
JointBallSocket jbs = new JointBallSocket((PhysicsEntity)pe1, (PhysicsEntity)pe2, pos)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jbs);
return(true);
}
else if (type == 1)
{
if (data.Length != len + 24)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
Location dir = Location.FromDoubleBytes(data, len);
JointSlider js = new JointSlider((PhysicsEntity)pe1, (PhysicsEntity)pe2, dir)
{
JID = JID
};
TheClient.TheRegion.AddJoint(js);
return(true);
}
else if (type == 2)
{
if (data.Length != len + 4 + 4 + 24 + 24)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
float min = Utilities.BytesToFloat(Utilities.BytesPartial(data, len, 4));
float max = Utilities.BytesToFloat(Utilities.BytesPartial(data, len + 4, 4));
Location ent1pos = Location.FromDoubleBytes(data, len + 4 + 4);
Location ent2pos = Location.FromDoubleBytes(data, len + 4 + 4 + 24);
JointDistance jd = new JointDistance((PhysicsEntity)pe1, (PhysicsEntity)pe2, min, max, ent1pos, ent2pos)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jd);
return(true);
}
else if (type == 3)
{
if (data.Length != len + 24 + 1)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
Location axis = Location.FromDoubleBytes(data, len);
bool mode = data[len + 24] == 1;
JointPullPush jpp = new JointPullPush((PhysicsEntity)pe1, (PhysicsEntity)pe2, axis, mode)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jpp);
return(true);
}
else if (type == 4)
{
if (data.Length != len)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
JointForceWeld jfw = new JointForceWeld(pe1, pe2)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jfw);
return(true);
}
else if (type == 5)
{
if (data.Length != len + 24)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
Location dir = Location.FromDoubleBytes(data, len);
JointSpinner js = new JointSpinner((PhysicsEntity)pe1, (PhysicsEntity)pe2, dir)
{
JID = JID
};
TheClient.TheRegion.AddJoint(js);
return(true);
}
else if (type == 6)
{
if (data.Length != len + 24 + 24)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
Location a1 = Location.FromDoubleBytes(data, len);
Location a2 = Location.FromDoubleBytes(data, len + 24);
JointTwist jt = new JointTwist((PhysicsEntity)pe1, (PhysicsEntity)pe2, a1, a2)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jt);
return(true);
}
else if (type == 7)
{
if (data.Length != len)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
JointWeld jw = new JointWeld((PhysicsEntity)pe1, (PhysicsEntity)pe2)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jw);
return(true);
}
else if (type == 8)
{
if (data.Length != len + 24 + 1)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
Location dir = Location.FromDoubleBytes(data, len);
bool issteering = data[len + 24] == 1;
JointVehicleMotor jm = new JointVehicleMotor((PhysicsEntity)pe1, (PhysicsEntity)pe2, dir, issteering)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jm);
return(true);
}
else if (type == 9)
{
if (data.Length != len + 24 + 24 + 24 + 4 + 4)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
Location cpos1 = Location.FromDoubleBytes(data, len);
Location cpos2 = Location.FromDoubleBytes(data, len + 24);
Location axis = Location.FromDoubleBytes(data, len + 24 + 24);
float min = Utilities.BytesToFloat(Utilities.BytesPartial(data, len + 24 + 24 + 24, 4));
float max = Utilities.BytesToFloat(Utilities.BytesPartial(data, len + 24 + 24 + 24 + 4, 4));
JointLAxisLimit jlal = new JointLAxisLimit((PhysicsEntity)pe1, (PhysicsEntity)pe2, min, max, cpos1, cpos2, axis)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jlal);
return(true);
}
else if (type == 10)
{
if (data.Length != len + 24 + 24)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
Location hinge = Location.FromDoubleBytes(data, len);
Location twist = Location.FromDoubleBytes(data, len + 24);
JointSwivelHinge jlal = new JointSwivelHinge((PhysicsEntity)pe1, (PhysicsEntity)pe2, hinge, twist)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jlal);
return(true);
}
else if (type == 11)
{
if (data.Length != len + 4)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
float height = Utilities.BytesToFloat(Utilities.BytesPartial(data, len, 4));
ConstWheelStepUp cwsu = new ConstWheelStepUp((PhysicsEntity)pe1, height)
{
JID = JID
};
TheClient.TheRegion.AddJoint(cwsu);
return(true);
}
else if (type == 12)
{
if (data.Length != len + 4 + 1)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
ConnectorBeam cb = new ConnectorBeam()
{
One = pe1,
Two = pe2,
color = System.Drawing.Color.FromArgb(Utilities.BytesToInt(Utilities.BytesPartial(data, len, 4))),
JID = JID,
type = (BeamType)data[len + 4]
};
TheClient.TheRegion.AddJoint(cb);
return(true);
}
else if (type == 13)
{
if (data.Length != len)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
JointFlyingDisc jfd = new JointFlyingDisc((PhysicsEntity)pe1)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jfd);
return(true);
}
else if (type == 14)
{
if (data.Length != len)
{
SysConsole.Output(OutputType.WARNING, "Joint packet: Bad length!");
return(false);
}
JointNoCollide jnc = new JointNoCollide((PhysicsEntity)pe1, (PhysicsEntity)pe2)
{
JID = JID
};
TheClient.TheRegion.AddJoint(jnc);
return(true);
}
else
{
SysConsole.Output(OutputType.WARNING, "Unknown joint type " + type);
return(false);
}
}
public void HandleWheels()
{
if (!hasWheels)
{
Model mod = TheServer.Models.GetModel(model);
if (mod == null) // TODO: mod should return a cube when all else fails?
{
return;
}
Model3D scene = mod.Original;
if (scene == null) // TODO: Scene should return a cube when all else fails?
{
return;
}
SetOrientation(Quaternion.Identity);
List <Model3DNode> nodes = GetNodes(scene.RootNode);
List <VehiclePartEntity> frontwheels = new List <VehiclePartEntity>();
for (int i = 0; i < nodes.Count; i++)
{
string name = nodes[i].Name.ToLowerFast();
if (name.Contains("wheel"))
{
Matrix mat = nodes[i].MatrixA;
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
mat = tnode.MatrixA * mat;
tnode = tnode.Parent;
}
Location pos = GetPosition() + new Location(mat.M14, mat.M34, mat.M24) + offset; // NOTE: wtf happened to this matrix?
VehiclePartEntity wheel = new VehiclePartEntity(TheRegion, "vehicles/" + vehName + "_wheel", true);
wheel.SetPosition(pos);
wheel.SetOrientation(Quaternion.Identity);
wheel.Gravity = Gravity;
wheel.CGroup = CGroup;
wheel.SetMass(30);
wheel.mode = ModelCollisionMode.CONVEXHULL;
TheRegion.SpawnEntity(wheel);
wheel.SetPosition(pos);
if (name.After("wheel").StartsWith("f"))
{
SteeringMotors.Add(ConnectWheel(wheel, false, true));
frontwheels.Add(wheel);
}
else if (name.After("wheel").StartsWith("b"))
{
DrivingMotors.Add(ConnectWheel(wheel, true, true));
}
else
{
ConnectWheel(wheel, true, false);
}
wheel.Body.ActivityInformation.Activate();
}
}
if (frontwheels.Count == 2)
{
JointSpinner js = new JointSpinner(frontwheels[0], frontwheels[1], new Location(1, 0, 0));
TheRegion.AddJoint(js);
}
hasWheels = true;
}
}
public void HandleWheels()
{
if (!hasWheels)
{
string wheelsModFront = SourceFile.GetString("vehicle.wheels.front.model");
string wheelsModBack = SourceFile.GetString("vehicle.wheels.back.model");
double wheelsSuspFront = SourceFile.GetDouble("vehicle.wheels.front.suspension", 0.1).Value;
double wheelsSuspBack = SourceFile.GetDouble("vehicle.wheels.back.suspension", 0.1).Value;
Model mod = TheServer.Models.GetModel(model);
if (mod == null) // TODO: mod should return a cube when all else fails?
{
return;
}
Model3D scene = mod.Original;
if (scene == null) // TODO: Scene should return a cube when all else fails?
{
return;
}
SetOrientation(BEPUutilities.Quaternion.Identity); // TODO: Track and reset orientation maybe?
List <Model3DNode> nodes = GetNodes(scene.RootNode);
List <VehiclePartEntity> frontwheels = new List <VehiclePartEntity>();
Location centerOfMass = Location.Zero;
double mass = 0;
for (int i = 0; i < nodes.Count; i++)
{
string name = nodes[i].Name.ToLowerFast();
if (name.Contains("wheel"))
{
Matrix mat = nodes[i].MatrixA;
mat.Transpose();
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
Matrix mb = tnode.MatrixA;
mb.Transpose();
mat = mat * mb;
tnode = tnode.Parent;
}
centerOfMass += (new Location(mat.M41, -mat.M43, mat.M42) + offset) * 30; // TODO: Arbitrary constant
mass += 30; // TODO: Arbitrary constant
}
else if (name.Contains("flap"))
{
Matrix mat = nodes[i].MatrixA;
mat.Transpose();
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
Matrix mb = tnode.MatrixA;
mb.Transpose();
mat = mat * mb;
tnode = tnode.Parent;
}
centerOfMass += (new Location(mat.M41, -mat.M43, mat.M42) + offset) * 20; // TODO: Arbitrary constant
mass += 20; // TODO: Arbitrary constant
}
}
if (mass > 0)
{
centerOfMass /= mass;
}
Body.CollisionInformation.LocalPosition = -centerOfMass.ToBVector() - CenterOfMassOffset.ToBVector();
ForceNetwork();
for (int i = 0; i < nodes.Count; i++)
{
string name = nodes[i].Name.ToLowerFast();
if (name.Contains("wheel"))
{
Matrix mat = nodes[i].MatrixA;
mat.Transpose();
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
Matrix mb = tnode.MatrixA;
mb.Transpose();
mat = mat * mb;
tnode = tnode.Parent;
}
Location pos = GetPosition() + new Location(Body.CollisionInformation.LocalPosition) + new Location(mat.M41, -mat.M43, mat.M42) + offset; // TODO: matrix gone funky?
VehiclePartEntity wheel = new VehiclePartEntity(TheRegion, (name.After("wheel").Contains("f") ? wheelsModFront : wheelsModBack), true);
wheel.SetPosition(pos);
wheel.SetOrientation(BEPUutilities.Quaternion.Identity);
wheel.Gravity = Gravity;
wheel.CGroup = CGroup;
wheel.SetMass(30); // TODO: Arbitrary constant
wheel.mode = ModelCollisionMode.CONVEXHULL;
TheRegion.SpawnEntity(wheel);
wheel.ForceNetwork();
wheel.SetPosition(pos);
wheel.SetOrientation(BEPUutilities.Quaternion.Identity);
if (name.After("wheel").Contains("f"))
{
SteeringMotors.Add(ConnectWheel(wheel, false, true, wheelsSuspFront));
frontwheels.Add(wheel);
}
else if (name.After("wheel").Contains("b"))
{
DrivingMotors.Add(ConnectWheel(wheel, true, true, wheelsSuspBack));
}
else
{
ConnectWheel(wheel, true, false, wheelsSuspBack);
}
wheel.Body.ActivityInformation.Activate();
}
else if (name.Contains("flap"))
{
Matrix mat = nodes[i].MatrixA;
mat.Transpose();
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
Matrix mb = tnode.MatrixA;
mb.Transpose();
mat = mat * mb;
tnode = tnode.Parent;
}
Location pos = GetPosition() + new Location(Body.CollisionInformation.LocalPosition) + new Location(mat.M41, -mat.M43, mat.M42) + offset; // TODO: matrix gone funky?
FDSSection flapDat = SourceFile.GetSection("vehicle.flaps").GetSection(name.After("flap").Replace("_", ""));
VehiclePartEntity flap = new VehiclePartEntity(TheRegion, flapDat.GetString("model"), true);
flap.SetPosition(pos);
flap.SetOrientation(BEPUutilities.Quaternion.Identity);
flap.Gravity = Gravity;
flap.CGroup = CGroup;
flap.SetMass(20);
flap.mode = ModelCollisionMode.CONVEXHULL;
TheRegion.SpawnEntity(flap);
flap.ForceNetwork();
flap.SetPosition(pos);
flap.SetOrientation(BEPUutilities.Quaternion.Identity);
ConnectFlap(flap, flapDat);
}
}
if (frontwheels.Count == 2)
{
JointSpinner js = new JointSpinner(frontwheels[0], frontwheels[1], new Location(1, 0, 0));
TheRegion.AddJoint(js);
}
hasWheels = true;
}
}
