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();
}
private void OnInputEvent(ReadOnlyCollection <SInputButtonEvent> buttonevents, string textinput)
{
foreach (var buttonEvent in buttonevents)
{
if (buttonEvent.button == EInputButton.MouseMiddleButton && buttonEvent.buttonEvent == EButtonEvent.Pressed)
{
CViewManager viewManager = m_gameWorld.ViewManager;
int mouseAbsX = System.Windows.Forms.Cursor.Position.X - (int)viewManager.ScreenLeft;
int mouseAbsY = System.Windows.Forms.Cursor.Position.Y - (int)viewManager.ScreenTop;
if (mouseAbsX < 0 || mouseAbsY < 0)
{
return;
}
viewManager.GetViewInfo(out SSceneViewInfo viewInfo);
Ray pickRay = Ray.GetPickRay(mouseAbsX, mouseAbsY, new ViewportF(0, 0, viewManager.ScreenWidth, viewManager.ScreenHeight), viewInfo.ViewMatrix * viewInfo.ProjectionMatrix);
if (m_physicSpace.RayCast(pickRay.ToBepu(), 9999.0f, out RayCastResult result))
{
float fieldRadius = 5.0f;
float impulseStrength = 20.0f;
List <BroadPhaseEntry> queryResults = new List <BroadPhaseEntry>();
BoundingSphere bs = new BoundingSphere(result.HitData.Location, fieldRadius);
m_physicSpace.BroadPhase.QueryAccelerator.GetEntries(bs, queryResults);
foreach (var entry in queryResults)
{
var entityCollision = entry as EntityCollidable;
if (entityCollision != null)
{
var e = entityCollision.Entity;
if (e.IsDynamic)
{
Vector3 toEntity = e.Position - result.HitData.Location;
float length = toEntity.Length();
float strength = impulseStrength / length;
toEntity.Y = 1.0f;
toEntity.Normalize();
e.ApplyImpulse(e.Position, toEntity * strength);
}
}
}
}
}
}
}