private void CalculateMergeData(ref MergeData data)
{
var mergeBlockDefinition = this.BlockDefinition as MyMergeBlockDefinition;
float maxStrength = mergeBlockDefinition != null ? mergeBlockDefinition.Strength : 0.1f;
data.Distance = (float)(WorldMatrix.Translation - m_other.WorldMatrix.Translation).Length() - CubeGrid.GridSize;
data.StrengthFactor = (float)Math.Exp(-data.Distance / CubeGrid.GridSize);
// Debug.Assert(x <= 1.0f); // This is not so important, but testers kept reporting it, so let's leave it commented out :-)
float strength = MathHelper.Lerp(0.0f, maxStrength * (CubeGrid.GridSizeEnum == MyCubeSize.Large ? 0.005f : 0.1f), data.StrengthFactor); // 0.005 for large grid, 0.1 for small grid!?
Vector3 thisVelocity = CubeGrid.Physics.GetVelocityAtPoint(PositionComp.GetPosition());
Vector3 otherVelocity = m_other.CubeGrid.Physics.GetVelocityAtPoint(m_other.PositionComp.GetPosition());
data.RelativeVelocity = otherVelocity - thisVelocity;
float velocityFactor = 1.0f;
// The quicker the ships move towards each other, the weaker the constraint strength
float rvLength = data.RelativeVelocity.Length();
velocityFactor = Math.Max(3.6f / (rvLength > 0.1f ? rvLength : 0.1f), 1.0f);
data.ConstraintStrength = strength / velocityFactor;
Vector3 toOther = m_other.PositionComp.GetPosition() - PositionComp.GetPosition();
Vector3 forward = WorldMatrix.GetDirectionVector(m_forward);
data.Distance = (toOther).Length();
data.PositionOk = data.Distance < CubeGrid.GridSize + 0.17f; // 17 cm is tested working value. 15 cm was too few
data.AxisDelta = (float)(forward + m_other.WorldMatrix.GetDirectionVector(m_forward)).Length();
data.AxisOk = data.AxisDelta < 0.1f;
data.RotationDelta = (float)(WorldMatrix.GetDirectionVector(m_right) - m_other.WorldMatrix.GetDirectionVector(m_other.m_otherRight)).Length();
data.RotationOk = data.RotationDelta < 0.08f;
}
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);
}
public override void UpdateBeforeSimulation()
{
base.UpdateBeforeSimulation();
if (SafeConstraint != null)
{
if (MyDebugDrawSettings.ENABLE_DEBUG_DRAW && MyDebugDrawSettings.DEBUG_DRAW_CONNECTORS_AND_MERGE_BLOCKS && CustomName.ToString() == "DEBUG")
{
DebugDrawInfo(new Vector2(0.0f, 0.0f));
m_other.DebugDrawInfo(new Vector2(0.0f, 120.0f));
MyRenderProxy.DebugDrawLine3D(PositionComp.GetPosition(), PositionComp.GetPosition() + WorldMatrix.GetDirectionVector(m_right) * 10.0f, Color.Red, Color.Red, false);
MyRenderProxy.DebugDrawLine3D(m_other.PositionComp.GetPosition(), m_other.PositionComp.GetPosition() + m_other.WorldMatrix.GetDirectionVector(m_other.m_otherRight) * 10.0f, Color.Red, Color.Red, false);
MyRenderProxy.DebugDrawLine3D(PositionComp.GetPosition(), PositionComp.GetPosition() + WorldMatrix.GetDirectionVector(m_otherRight) * 5.0f, Color.Yellow, Color.Yellow, false);
MyRenderProxy.DebugDrawLine3D(m_other.PositionComp.GetPosition(), m_other.PositionComp.GetPosition() + m_other.WorldMatrix.GetDirectionVector(m_other.m_right) * 5.0f, Color.Yellow, Color.Yellow, false);
}
Vector3 thisVelocity = CubeGrid.Physics.GetVelocityAtPoint(PositionComp.GetPosition());
Vector3 otherVelocity = m_other.CubeGrid.Physics.GetVelocityAtPoint(m_other.PositionComp.GetPosition());
Vector3 relativeVelocity = otherVelocity - thisVelocity;
// Damping to avoid too quick approach
if (relativeVelocity.Length() > 0.5f)
{
CubeGrid.Physics.LinearVelocity += relativeVelocity * 0.05f;
m_other.CubeGrid.Physics.LinearVelocity -= relativeVelocity * 0.05f;
}
}
}
private Vector3 GetMergeNormalWorld()
{
return(WorldMatrix.GetDirectionVector(m_forward));
}