// end Step private void MoveLinear(float pTimestep, WhiteCoreODEPhysicsScene _pParentScene, WhiteCoreODEPrim parent) { bool ishovering = false; bool bypass_buoyancy = false; d.Vector3 dpos = d.BodyGetPosition(Body); d.Vector3 dvel_now = d.BodyGetLinearVel(Body); d.Quaternion drotq_now = d.BodyGetQuaternion(Body); Vector3 pos = new Vector3(dpos.X, dpos.Y, dpos.Z); Vector3 vel_now = new Vector3(dvel_now.X, dvel_now.Y, dvel_now.Z); Quaternion rotq = new Quaternion(drotq_now.X, drotq_now.Y, drotq_now.Z, drotq_now.W); rotq *= m_referenceFrame; //add reference rotation to rotq Quaternion irotq = new Quaternion(-rotq.X, -rotq.Y, -rotq.Z, rotq.W); m_newVelocity = Vector3.Zero; if (!(m_lastPositionVector.X == 0 && m_lastPositionVector.Y == 0 && m_lastPositionVector.Z == 0)) { ///Only do this if we have a last position m_lastposChange.X = pos.X - m_lastPositionVector.X; m_lastposChange.Y = pos.Y - m_lastPositionVector.Y; m_lastposChange.Z = pos.Z - m_lastPositionVector.Z; } #region Blocking Change if (m_BlockingEndPoint != Vector3.Zero) { bool needUpdateBody = false; if(pos.X >= (m_BlockingEndPoint.X - 1)) { pos.X -= m_lastposChange.X + 1; needUpdateBody = true; } if(pos.Y >= (m_BlockingEndPoint.Y - 1)) { pos.Y -= m_lastposChange.Y + 1; needUpdateBody = true; } if(pos.Z >= (m_BlockingEndPoint.Z - 1)) { pos.Z -= m_lastposChange.Z + 1; needUpdateBody = true; } if(pos.X <= 0) { pos.X += m_lastposChange.X + 1; needUpdateBody = true; } if(pos.Y <= 0) { pos.Y += m_lastposChange.Y + 1; needUpdateBody = true; } if(needUpdateBody) d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); } #endregion #region Terrain checks float terrainHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); if(pos.Z < terrainHeight - 5) { pos.Z = terrainHeight + 2; m_lastPositionVector = pos; d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); } else if(pos.Z < terrainHeight) { m_newVelocity.Z += 1; } #endregion #region Hover Vector3 hovervel = Vector3.Zero; if(m_VhoverTimescale * pTimestep <= 300.0f && m_VhoverHeight > 0.0f) { ishovering = true; if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { m_VhoverTargetHeight = (float) _pParentScene.GetWaterLevel(pos.X, pos.Y) + 0.3f + m_VhoverHeight; } else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; } else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { m_VhoverTargetHeight = m_VhoverHeight; } else { float waterlevel = (float)_pParentScene.GetWaterLevel(pos.X, pos.Y) + 0.3f; float terrainlevel = (float)_pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); if(waterlevel > terrainlevel) { m_VhoverTargetHeight = waterlevel + m_VhoverHeight; } else { m_VhoverTargetHeight = terrainlevel + m_VhoverHeight; } } float tempHoverHeight = m_VhoverTargetHeight; if((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) { // If body is aready heigher, use its height as target height if (pos.Z > tempHoverHeight) { tempHoverHeight = pos.Z; bypass_buoyancy = true; //emulate sl bug } } if((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { if((pos.Z - tempHoverHeight) > .2 || (pos.Z - tempHoverHeight) < -.2) { float h = tempHoverHeight; float groundHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); if(groundHeight >= tempHoverHeight) h = groundHeight; d.BodySetPosition(Body, pos.X, pos.Y, h); } } else { hovervel.Z -= ((dvel_now.Z * 0.1f * m_VhoverEfficiency) + (pos.Z - tempHoverHeight)) / m_VhoverTimescale; hovervel.Z *= 7.0f * (1.0f + m_VhoverEfficiency); if(hovervel.Z > 50.0f) hovervel.Z = 50.0f; if(hovervel.Z < -50.0f) hovervel.Z = -50.0f; } } #endregion #region limitations //limit maximum velocity if(vel_now.LengthSquared() > 1e6f) { vel_now /= vel_now.Length(); vel_now *= 1000f; d.BodySetLinearVel(Body, vel_now.X, vel_now.Y, vel_now.Z); } //block movement in x and y when low velocity bool enable_ode_gravity = true; if(vel_now.LengthSquared() < 0.02f) { d.BodySetLinearVel(Body, 0.0f, 0.0f, 0.0f); vel_now = Vector3.Zero; if(parent.LinkSetIsColliding) enable_ode_gravity = false; } #endregion #region Linear motors //cancel directions of linear friction for certain vehicles without having effect on ode gravity Vector3 vt_vel_now = vel_now; bool no_grav_calc = false; if((Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON) && m_VehicleBuoyancy != 1.0f) { vt_vel_now.Z = 0.0f; no_grav_calc = true; } if(!bypass_buoyancy) { //apply additional gravity force over ode gravity if(m_VehicleBuoyancy == 1.0f) enable_ode_gravity = false; else if(m_VehicleBuoyancy != 0.0f && enable_ode_gravity) { float grav = _pParentScene.gravityz * parent.GravityMultiplier * -m_VehicleBuoyancy; m_newVelocity.Z += grav * Mass; } } //set ode gravity d.BodySetGravityMode(Body, enable_ode_gravity); //add default linear friction (mimic sl friction as much as possible) float initialFriction = 0.055f; float defaultFriction = 180f; Vector3 friction = Vector3.Zero; if(parent.LinkSetIsColliding || ishovering) { if(vt_vel_now.X > 0.0f) friction.X += initialFriction; if(vt_vel_now.Y > 0.0f) friction.Y += initialFriction; if(vt_vel_now.Z > 0.0f) friction.Z += initialFriction; if(vt_vel_now.X < 0.0f) friction.X -= initialFriction; if(vt_vel_now.Y < 0.0f) friction.Y -= initialFriction; if(vt_vel_now.Z < 0.0f) friction.Z -= initialFriction; friction += vt_vel_now / defaultFriction; friction *= irotq; } //world -> body orientation vel_now *= irotq; vt_vel_now *= irotq; //add linear friction if(vt_vel_now.X > 0.0f) friction.X += vt_vel_now.X * vt_vel_now.X / m_linearFrictionTimescale.X; else friction.X -= vt_vel_now.X * vt_vel_now.X / m_linearFrictionTimescale.X; if(vt_vel_now.Y > 0.0f) friction.Y += vt_vel_now.Y * vt_vel_now.Y / m_linearFrictionTimescale.Y; else friction.Y -= vt_vel_now.Y * vt_vel_now.Y / m_linearFrictionTimescale.Y; if(vt_vel_now.Z > 0.0f) friction.Z += vt_vel_now.Z * vt_vel_now.Z / m_linearFrictionTimescale.Z; else friction.Z -= vt_vel_now.Z * vt_vel_now.Z / m_linearFrictionTimescale.Z; friction /= 1.35f; //1.5f; //add linear forces //not the best solution, but it is really close to sl motor velocity, and just works Vector3 motorVelocity = (m_linearMotorDirection * 3.0f - vel_now) / m_linearMotorTimescale / 5.0f; //2.8f; Vector3 motorfrictionamp = new Vector3(4.0f, 4.0f, 4.0f); Vector3 motorfrictionstart = new Vector3(1.0f, 1.0f, 1.0f); motorVelocity *= motorfrictionstart + motorfrictionamp / (m_linearFrictionTimescale * pTimestep); float addVel = 0.15f; if(motorVelocity.LengthSquared() > 0.01f) { if(motorVelocity.X > 0.0f) motorVelocity.X += addVel; if(motorVelocity.Y > 0.0f) motorVelocity.Y += addVel; if(motorVelocity.Z > 0.0f) motorVelocity.Z += addVel; if(motorVelocity.X < 0.0f) motorVelocity.X -= addVel; if(motorVelocity.Y < 0.0f) motorVelocity.Y -= addVel; if(motorVelocity.Z < 0.0f) motorVelocity.Z -= addVel; } //free run if(vel_now.X > m_linearMotorDirection.X && m_linearMotorDirection.X >= 0.0f) motorVelocity.X = 0.0f; if(vel_now.Y > m_linearMotorDirection.Y && m_linearMotorDirection.Y >= 0.0f) motorVelocity.Y = 0.0f; if(vel_now.Z > m_linearMotorDirection.Z && m_linearMotorDirection.Z >= 0.0f) motorVelocity.Z = 0.0f; if(vel_now.X < m_linearMotorDirection.X && m_linearMotorDirection.X <= 0.0f) motorVelocity.X = 0.0f; if(vel_now.Y < m_linearMotorDirection.Y && m_linearMotorDirection.Y <= 0.0f) motorVelocity.Y = 0.0f; if(vel_now.Z < m_linearMotorDirection.Z && m_linearMotorDirection.Z <= 0.0f) motorVelocity.Z = 0.0f; //decay linear motor m_linearMotorDirection *= (1.0f - 1.0f/m_linearMotorDecayTimescale); #endregion #region Deflection //does only deflect on x axis from world orientation with z axis rotated to body //it is easier to filter out gravity deflection for vehicles(car) without rotation problems Quaternion irotq_z = irotq; irotq_z.X = 0.0f; irotq_z.Y = 0.0f; float mag = (float)Math.Sqrt(irotq_z.W * irotq_z.W + irotq_z.Z * irotq_z.Z); //normalize irotq_z.W /= mag; irotq_z.Z /= mag; Vector3 vel_defl = new Vector3(dvel_now.X, dvel_now.Y, dvel_now.Z); vel_defl *= irotq_z; if(no_grav_calc) { vel_defl.Z = 0.0f; if(!parent.LinkSetIsColliding) vel_defl.Y = 0.0f; } Vector3 deflection = vel_defl / m_linearDeflectionTimescale * m_linearDeflectionEfficiency * 100.0f; float deflectionLengthY = Math.Abs(deflection.Y); float deflectionLengthX = Math.Abs(deflection.X); deflection.Z = 0.0f; if((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) == 0) { deflection.Z = deflectionLengthX; deflection.X = -deflection.X; } if(vel_defl.X < 0.0f) deflection.X = -deflectionLengthY; else if(vel_defl.X >= 0.0f) deflection.X = deflectionLengthY; deflection.Y = -deflection.Y; irotq_z.W = -irotq_z.W; deflection *= irotq_z; #endregion #region Deal with tainted forces Vector3 TaintedForce = new Vector3(); if(m_forcelist.Count != 0) { try { TaintedForce = m_forcelist.Aggregate(TaintedForce, (current, t) => current + (t)); } catch(IndexOutOfRangeException) { TaintedForce = Vector3.Zero; } catch(ArgumentOutOfRangeException) { TaintedForce = Vector3.Zero; } m_forcelist = new List<Vector3>(); } #endregion #region Add Forces //add forces m_newVelocity -= (friction *= Mass / pTimestep); m_newVelocity += TaintedForce; motorVelocity *= Mass / pTimestep; #endregion #region No X,Y,Z if((m_flags & (VehicleFlag.NO_X)) != 0) m_newVelocity.X = -vel_now.X * Mass / pTimestep; if((m_flags & (VehicleFlag.NO_Y)) != 0) m_newVelocity.Y = -vel_now.Y * Mass / pTimestep; if((m_flags & (VehicleFlag.NO_Z)) != 0) m_newVelocity.Z = -vel_now.Z * Mass / pTimestep; #endregion m_newVelocity *= rotq; m_newVelocity += (hovervel *= Mass / pTimestep); if(parent.LinkSetIsColliding || Type == Vehicle.TYPE_AIRPLANE || Type == Vehicle.TYPE_BALLOON || ishovering) { m_newVelocity += deflection; motorVelocity *= rotq; if((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0 && motorVelocity.Z > 0.0f) motorVelocity.Z = 0.0f; m_newVelocity += motorVelocity; } d.BodyAddForce(Body, m_newVelocity.X, m_newVelocity.Y, m_newVelocity.Z); }
// end Step private void MoveLinear(float pTimestep, WhiteCoreODEPhysicsScene _pParentScene, WhiteCoreODEPrim parent) { if (m_linearMotorDirection.LengthSquared() < 0.0001f) { m_linearMotorDirection = Vector3.Zero; m_newVelocity = Vector3.Zero; } else { Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale); m_lastLinearVelocityVector += (addAmount); m_linearMotorDirection *= (1.0f - 1.0f/m_linearMotorDecayTimescale); // convert requested object velocity to world-referenced vector d.Quaternion rot = d.BodyGetQuaternion(Body); Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object //Vector3 oldVelocity = m_newVelocity; m_newVelocity = m_lastLinearVelocityVector*rotq; // apply obj rotation to velocity vector //if (oldVelocity.Z == 0 && (Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON)) // m_newVelocity.Z += dvel_now.Z; // Preserve the accumulated falling velocity } //if (m_newVelocity.Z == 0 && (Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON)) // m_newVelocity.Z += dvel_now.Z; // Preserve the accumulated falling velocity d.Vector3 dpos = d.BodyGetPosition(Body); Vector3 pos = new Vector3(dpos.X, dpos.Y, dpos.Z); if (!(m_lastPositionVector.X == 0 && m_lastPositionVector.Y == 0 && m_lastPositionVector.Z == 0)) { // Only do this if we have a last position m_lastposChange.X = pos.X - m_lastPositionVector.X; m_lastposChange.Y = pos.Y - m_lastPositionVector.Y; m_lastposChange.Z = pos.Z - m_lastPositionVector.Z; } #region Blocking Change if (m_BlockingEndPoint != Vector3.Zero) { bool needUpdateBody = false; if (pos.X >= (m_BlockingEndPoint.X - 1)) { pos.X -= m_lastposChange.X + 1; needUpdateBody = true; } if (pos.Y >= (m_BlockingEndPoint.Y - 1)) { pos.Y -= m_lastposChange.Y + 1; needUpdateBody = true; } if (pos.Z >= (m_BlockingEndPoint.Z - 1)) { pos.Z -= m_lastposChange.Z + 1; needUpdateBody = true; } if (pos.X <= 0) { pos.X += m_lastposChange.X + 1; needUpdateBody = true; } if (pos.Y <= 0) { pos.Y += m_lastposChange.Y + 1; needUpdateBody = true; } if (needUpdateBody) d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); } #endregion #region Terrain checks float terrainHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); if (pos.Z < terrainHeight - 5) { pos.Z = terrainHeight + 2; m_lastPositionVector = pos; //Make sure that we don't have an explosion the next frame with the posChange d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); } else if (pos.Z < terrainHeight) m_newVelocity.Z += 1; #endregion #region Hover // Check if hovering if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) { // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { m_VhoverTargetHeight = (float) _pParentScene.GetWaterLevel(pos.X, pos.Y) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { m_VhoverTargetHeight = m_VhoverHeight; } float tempHoverHeight = m_VhoverTargetHeight; if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) { // If body is aready heigher, use its height as target height if (pos.Z > tempHoverHeight) tempHoverHeight = pos.Z; } if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { if ((pos.Z - tempHoverHeight) > .2 || (pos.Z - tempHoverHeight) < -.2) { float h = tempHoverHeight; float groundHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); if (groundHeight >= tempHoverHeight) h = groundHeight; d.BodySetPosition(Body, pos.X, pos.Y, h); } } else { float herr0 = pos.Z - tempHoverHeight; // Replace Vertical speed with correction figure if significant if (herr0 > 0.01f) { m_newVelocity.Z = -((herr0*50.0f)/m_VhoverTimescale); //KF: m_VhoverEfficiency is not yet implemented } else if (herr0 < -0.01f) { m_newVelocity.Z = -((herr0*50f)/m_VhoverTimescale); } else { m_newVelocity.Z = 0f; } } // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverTimescale = 0f; // time to acheive height // pTimestep is time since last frame,in secs } #endregion #region No X,Y,Z if ((m_flags & (VehicleFlag.NO_X)) != 0) m_newVelocity.X = 0; if ((m_flags & (VehicleFlag.NO_Y)) != 0) m_newVelocity.Y = 0; if ((m_flags & (VehicleFlag.NO_Z)) != 0) m_newVelocity.Z = 0; #endregion #region Deal with tainted forces // KF: So far I have found no good method to combine a script-requested // .Z velocity and gravity. Therefore only 0g will used script-requested // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; Vector3 TaintedForce = new Vector3(); if (m_forcelist.Count != 0) { try { TaintedForce = m_forcelist.Aggregate(TaintedForce, (current, t) => current + (t)); } catch (IndexOutOfRangeException) { TaintedForce = Vector3.Zero; } catch (ArgumentOutOfRangeException) { TaintedForce = Vector3.Zero; } m_forcelist = new List<Vector3>(); } // force to deltaV m_newVelocity += TaintedForce*(pTimestep/Mass); #endregion #region Deflection //Forward is the prefered direction /*Vector3 deflectionamount = m_newVelocity / (m_linearDeflectionTimescale / pTimestep); //deflectionamount *= m_linearDeflectionEfficiency; if (deflectionamount != Vector3.Zero) { } Vector3 deflection = Vector3.One / deflectionamount; m_newVelocity /= deflection;*/ #endregion #region limitations if (m_newVelocity.LengthSquared() > 1e6f) { m_newVelocity /= m_newVelocity.Length(); m_newVelocity *= 1000f; } else if (m_newVelocity.LengthSquared() < 1e-6f) m_newVelocity = Vector3.Zero; #endregion m_lastPositionVector = parent.Position; float grav = -1*Mass*pTimestep; // Apply velocity if (m_newVelocity != Vector3.Zero) { if ((Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED) && !parent.LinkSetIsColliding) { //Force ODE gravity here!!! } else d.BodySetLinearVel(Body, m_newVelocity.X, m_newVelocity.Y, m_newVelocity.Z + grav); } // apply friction m_lastLinearVelocityVector.X *= (1.0f - 1/m_linearFrictionTimescale.X); m_lastLinearVelocityVector.Y *= (1.0f - 1/m_linearFrictionTimescale.Y); m_lastLinearVelocityVector.Z *= (1.0f - 1/m_linearFrictionTimescale.Z); }