private HkConstraintData CreateFixedConstraintData(ref Matrix otherLocalMatrix, float headDistance)
{
m_fixedConstraintData = new HkFixedConstraintData();
Matrix headPivotLocalMatrix;
GetHeadPivotLocalMatrix(headDistance, out headPivotLocalMatrix);
m_fixedConstraintData.SetInBodySpace(otherLocalMatrix, headPivotLocalMatrix, m_otherPhysicsBody, OwnerVirtualPhysics);
if (MyFakes.MANIPULATION_TOOL_VELOCITY_LIMIT)
{
m_fixedConstraintData.MaximumLinearImpulse = 0.5f;
m_fixedConstraintData.MaximumAngularImpulse = 0.5f;
HkMalleableConstraintData mcData = new HkMalleableConstraintData();
mcData.SetData(m_fixedConstraintData);
mcData.Strength = 0.0001f;
m_fixedConstraintData.Dispose();
return(mcData);
}
else
{
m_fixedConstraintData.MaximumLinearImpulse = 0.005f; //7500 * MyDestructionHelper.MASS_REDUCTION_COEF * (MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
m_fixedConstraintData.MaximumAngularImpulse = 0.005f; //7500 * MyDestructionHelper.MASS_REDUCTION_COEF * (MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
}
return(m_fixedConstraintData);
//HkBreakableConstraintData bcData = new HkBreakableConstraintData(m_fixedConstraintData);
//bcData.ReapplyVelocityOnBreak = false;
//bcData.RemoveFromWorldOnBrake = true;
//bcData.Threshold = /*100000;*/ 2500 * MyDestructionHelper.MASS_REDUCTION_COEF;
//return bcData;
}
private void CreateConstraint(MyCubeGrid other, MyShipMergeBlock block)
{
var data = new HkPrismaticConstraintData();
data.MaximumLinearLimit = 0;
data.MinimumLinearLimit = 0;
var posA = ConstraintPositionInGridSpace();
var posB = block.ConstraintPositionInGridSpace();
var axisA = PositionComp.LocalMatrix.GetDirectionVector(m_forward);
var axisAPerp = PositionComp.LocalMatrix.GetDirectionVector(m_right);
var axisB = -block.PositionComp.LocalMatrix.GetDirectionVector(m_forward);
Base6Directions.Direction thisRightForOther = block.WorldMatrix.GetClosestDirection(WorldMatrix.GetDirectionVector(m_right));
Base6Directions.Direction otherRight = WorldMatrix.GetClosestDirection(block.WorldMatrix.GetDirectionVector(block.m_right));
var axisBPerp = block.PositionComp.LocalMatrix.GetDirectionVector(thisRightForOther);
data.SetInBodySpace(posA, posB, axisA, axisB, axisAPerp, axisBPerp, CubeGrid.Physics, other.Physics);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = 0.00001f;
var constraint = new HkConstraint(CubeGrid.Physics.RigidBody, other.Physics.RigidBody, data2);
AddConstraint(constraint);
SetConstraint(block, constraint, otherRight);
m_other.SetConstraint(this, constraint, thisRightForOther);
}
private HkConstraintData CreateBallAndSocketConstraintData(ref Matrix otherLocalMatrix, ref Matrix headPivotLocalMatrix)
{
HkBallAndSocketConstraintData data = new HkBallAndSocketConstraintData();
Vector3 otherPivot = otherLocalMatrix.Translation;
Vector3 headPivot = headPivotLocalMatrix.Translation;
data.SetInBodySpace(otherPivot, headPivot, m_otherPhysicsBody, OwnerVirtualPhysics);
HkMalleableConstraintData mcData = new HkMalleableConstraintData();
mcData.SetData(data);
mcData.Strength = 0.00006f;
data.Dispose();
return(mcData);
}
private static HkConstraintData CreateBallAndSocketConstraintData(ref Matrix otherLocalMatrix, ref Matrix headPivotLocalMatrix)
{
HkBallAndSocketConstraintData data = new HkBallAndSocketConstraintData();
Vector3 otherPivot = otherLocalMatrix.Translation;
Vector3 headPivot = headPivotLocalMatrix.Translation;
data.SetInBodySpace(ref otherPivot, ref headPivot);
HkMalleableConstraintData mcData = new HkMalleableConstraintData();
mcData.SetData(data);
mcData.Strength = 0.0003f;
data.Dispose();
return(mcData);
}
private void CreateConstraint(MyCubeGrid other, MyShipMergeBlock block)
{
var data = new HkPrismaticConstraintData();
data.MaximumLinearLimit = 0;
data.MinimumLinearLimit = 0;
var posA = ConstraintPositionInGridSpace();
var posB = block.ConstraintPositionInGridSpace();
var axisA = PositionComp.LocalMatrix.GetDirectionVector(m_forward);
var axisAPerp = PositionComp.LocalMatrix.GetDirectionVector(m_right);
var axisB = -block.PositionComp.LocalMatrix.GetDirectionVector(m_forward);
Base6Directions.Direction thisRightForOther = block.WorldMatrix.GetClosestDirection(WorldMatrix.GetDirectionVector(m_right));
Base6Directions.Direction otherRight = WorldMatrix.GetClosestDirection(block.WorldMatrix.GetDirectionVector(block.m_right));
var axisBPerp = block.PositionComp.LocalMatrix.GetDirectionVector(thisRightForOther);
data.SetInBodySpace( posA, posB, axisA, axisB, axisAPerp, axisBPerp, CubeGrid.Physics, other.Physics);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = 0.00001f;
var constraint = new HkConstraint(CubeGrid.Physics.RigidBody, other.Physics.RigidBody, data2);
AddConstraint(constraint);
SetConstraint(block, constraint, otherRight);
m_other.SetConstraint(this, constraint, thisRightForOther);
}
private void CreateConstraintNosync(MyShipConnector otherConnector, ref Vector3 posA, ref Vector3 posB, ref Vector3 axisA, ref Vector3 axisB)
{
var data = new HkHingeConstraintData();
data.SetInBodySpace(ref posA, ref posB, ref axisA, ref axisB);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = 0.0003f;
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, otherConnector.CubeGrid.Physics.RigidBody, data2);
this.Master = true;
otherConnector.Master = false;
SetConstraint(otherConnector, newConstraint);
otherConnector.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
private void CreateConstraintNosync(MyShipConnector otherConnector)
{
Debug.Assert(IsMaster, "Constraints should be created only master (entity with higher EntityId)");
var posA = ConstraintPositionInGridSpace();
var posB = otherConnector.ConstraintPositionInGridSpace();
var axisA = ConstraintAxisGridSpace();
var axisB = -otherConnector.ConstraintAxisGridSpace();
var data = new HkHingeConstraintData();
data.SetInBodySpace(posA, posB, axisA, axisB, CubeGrid.Physics, otherConnector.CubeGrid.Physics);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = GetEffectiveStrength(otherConnector);
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, otherConnector.CubeGrid.Physics.RigidBody, data2);
SetConstraint(otherConnector, newConstraint);
otherConnector.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
void CubeGrid_OnPhysicsChanged(MyEntity obj)
{
if (Sync.IsServer && m_welding == false && InConstraint && m_welded == false)
{
if (m_hasConstraint)
{
if (MyPhysicsBody.IsConstraintValid(m_constraint) == false && m_constraint.IsDisposed == false)
{
RemoveConstraint(m_other, m_constraint);
this.m_constraint = null;
m_other.m_constraint = null;
m_hasConstraint = false;
m_other.m_hasConstraint = false;
if (m_connectionState.Value.MasterToSlave.HasValue == false && CubeGrid.Physics != null && m_other.CubeGrid.Physics != null)
{
var posA = ConstraintPositionInGridSpace();
var posB = m_other.ConstraintPositionInGridSpace();
var axisA = ConstraintAxisGridSpace();
var axisB = -m_other.ConstraintAxisGridSpace();
var data = new HkHingeConstraintData();
data.SetInBodySpace(posA, posB, axisA, axisB, CubeGrid.Physics, m_other.CubeGrid.Physics);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = GetEffectiveStrength(m_other);
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_other.CubeGrid.Physics.RigidBody, data2);
this.SetConstraint(m_other, newConstraint);
m_other.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
}
}
}
}
void CubeGrid_OnPhysicsChanged(MyEntity obj)
{
if (m_hasConstraint)
{
if (MyPhysicsBody.IsConstraintValid(m_constraint) == false && m_constraint.IsDisposed == false)
{
RemoveConstraint(m_other, m_constraint);
if (m_connectionState.Value.MasterToSlave.HasValue)
{
Matrix localSpaceA = Matrix.CreateTranslation(m_connectionPosition);
Matrix localSpaceB = localSpaceA * m_connectionState.Value.MasterToSlave.Value;
localSpaceA = localSpaceA * this.PositionComp.LocalMatrix;
localSpaceB = localSpaceB * m_other.PositionComp.LocalMatrix;
var data = new HkFixedConstraintData();
data.SetInBodySpace(localSpaceA, localSpaceB, CubeGrid.Physics, m_other.CubeGrid.Physics);
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_other.CubeGrid.Physics.RigidBody, data);
this.SetConstraint(m_other, newConstraint);
m_other.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
else
{
var posA = ConstraintPositionInGridSpace();
var posB = m_other.ConstraintPositionInGridSpace();
var axisA = ConstraintAxisGridSpace();
var axisB = -m_other.ConstraintAxisGridSpace();
var data = new HkHingeConstraintData();
data.SetInBodySpace(posA, posB, axisA, axisB, CubeGrid.Physics, m_other.CubeGrid.Physics);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = GetEffectiveStrength(m_other);
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_other.CubeGrid.Physics.RigidBody, data2);
this.SetConstraint(m_other, newConstraint);
m_other.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
}
}
}
