private bool SteeringLogic()
{
Vector3 vector2;
Color? nullable;
if (!base.IsFunctional)
{
return(false);
}
MyGridPhysics physics = base.CubeGrid.Physics;
if (physics == null)
{
return(false);
}
if ((base.Stator != null) && MyFixedGrids.IsRooted(base.Stator.CubeGrid))
{
return(false);
}
if (this.m_slipCountdown > 0)
{
this.m_slipCountdown--;
}
if (this.m_staticHitCount == 0)
{
if (this.m_contactCountdown <= 0)
{
return(false);
}
this.m_contactCountdown--;
if (this.m_contactCountdown == 0)
{
this.m_frictionCollector = 0f;
this.m_contactNormals.Clear();
return(false);
}
}
Vector3 linearVelocity = physics.LinearVelocity;
if (MyUtils.IsZero(ref linearVelocity, 1E-05f) || !physics.IsActive)
{
return(false);
}
MatrixD worldMatrix = base.WorldMatrix;
Vector3D centerOfMassWorld = physics.CenterOfMassWorld;
if (!this.m_contactNormals.GetAvgNormal(out vector2))
{
return(false);
}
this.LastUsedGroundNormal = vector2;
Vector3 up = (Vector3)worldMatrix.Up;
Vector3 guideVector = Vector3.Cross(vector2, up);
linearVelocity = Vector3.ProjectOnPlane(ref linearVelocity, ref vector2);
Vector3 direction = Vector3.ProjectOnVector(ref linearVelocity, ref guideVector);
Vector3 vector6 = direction - linearVelocity;
if (MyUtils.IsZero(ref vector6, 1E-05f))
{
return(false);
}
bool flag = false;
bool flag2 = false;
float num = 6f * this.m_frictionCollector;
Vector3 vec = Vector3.ProjectOnVector(ref vector6, ref up);
float num2 = vec.Length();
bool flag3 = num2 > num;
if (!flag3 && (this.m_slipCountdown == 0))
{
if (num2 < 0.1)
{
flag2 = true;
}
}
else
{
flag = true;
vec = (vec * ((1f / num2) * num)) * (1f - MyPhysicsConfig.WheelSlipCutAwayRatio);
if (flag3)
{
this.m_slipCountdown = MyPhysicsConfig.WheelSlipCountdown;
}
}
if (!flag2)
{
vec *= 1f - ((1f - this.m_frictionCollector) * MyPhysicsConfig.WheelSurfaceMaterialSteerRatio);
Vector3 vector9 = Vector3.ProjectOnPlane(ref vec, ref vector2);
MyMechanicalConnectionBlockBase stator = base.Stator;
MyPhysicsBody body = null;
if (stator != null)
{
body = base.Stator.CubeGrid.Physics;
}
vector9 *= 0.1f;
if (body == null)
{
physics.ApplyImpulse(vector9 * physics.Mass, centerOfMassWorld);
}
else
{
Vector3D zero = Vector3D.Zero;
MyMotorSuspension suspension = stator as MyMotorSuspension;
if (suspension != null)
{
Vector3 vector10;
vector9 *= MyMath.Clamp(suspension.Friction * 2f, 0f, 1f);
suspension.GetCoMVectors(out vector10);
zero = Vector3D.TransformNormal(-vector10, stator.CubeGrid.WorldMatrix);
}
Vector3D pos = centerOfMassWorld + zero;
float wheelImpulseBlending = MyPhysicsConfig.WheelImpulseBlending;
vector9 = (this.m_lastFrameImpuse * wheelImpulseBlending) + (vector9 * (1f - wheelImpulseBlending));
this.m_lastFrameImpuse = vector9;
body.ApplyImpulse(vector9 * body.Mass, pos);
if (MyDebugDrawSettings.DEBUG_DRAW_WHEEL_PHYSICS)
{
nullable = null;
MyRenderProxy.DebugDrawArrow3DDir(pos, -zero, Color.Red, nullable, false, 0.1, null, 0.5f, false);
MyRenderProxy.DebugDrawSphere(pos, 0.1f, Color.Yellow, 1f, false, false, true, false);
}
}
}
if (MyDebugDrawSettings.DEBUG_DRAW_WHEEL_PHYSICS)
{
nullable = null;
MyRenderProxy.DebugDrawArrow3DDir(centerOfMassWorld, linearVelocity, Color.Yellow, nullable, false, 0.1, null, 0.5f, false);
nullable = null;
MyRenderProxy.DebugDrawArrow3DDir(centerOfMassWorld, direction, Color.Blue, nullable, false, 0.1, null, 0.5f, false);
nullable = null;
MyRenderProxy.DebugDrawArrow3DDir(centerOfMassWorld, vec, Color.MediumPurple, nullable, false, 0.1, null, 0.5f, false);
nullable = null;
MyRenderProxy.DebugDrawArrow3DDir(centerOfMassWorld + linearVelocity, vector6, Color.Red, nullable, false, 0.1, null, 0.5f, false);
nullable = null;
MyRenderProxy.DebugDrawArrow3DDir(centerOfMassWorld + up, vector2, Color.AliceBlue, nullable, false, 0.1, null, 0.5f, false);
nullable = null;
MyRenderProxy.DebugDrawArrow3DDir(centerOfMassWorld, Vector3.ProjectOnPlane(ref vec, ref vector2), flag ? Color.DarkRed : Color.IndianRed, nullable, false, 0.1, null, 0.5f, false);
if (this.m_slipCountdown > 0)
{
MyRenderProxy.DebugDrawText3D(centerOfMassWorld + (up * 2f), "Drift", Color.Red, 1f, false, MyGuiDrawAlignEnum.HORISONTAL_LEFT_AND_VERTICAL_TOP, -1, false);
}
MyRenderProxy.DebugDrawText3D(centerOfMassWorld + (up * 1.2f), this.m_staticHitCount.ToString(), Color.Red, 1f, false, MyGuiDrawAlignEnum.HORISONTAL_LEFT_AND_VERTICAL_TOP, -1, false);
}
return(!flag2);
}