public JointVehicleMotor ConnectWheel(VehiclePartEntity wheel, bool driving, bool powered, double susp)
{
TheRegion.AddJoint(new ConstWheelStepUp(wheel, wheel.StepHeight));
wheel.SetFriction(2.5f);
Vector3 left = BEPUutilities.Quaternion.Transform(new Vector3(-1, 0, 0), wheel.GetOrientation());
Vector3 up = BEPUutilities.Quaternion.Transform(new Vector3(0, 0, 1), wheel.GetOrientation());
JointSlider pointOnLineJoint = new JointSlider(this, wheel, -new Location(up));
JointLAxisLimit suspensionLimit = new JointLAxisLimit(this, wheel, 0f, susp, wheel.GetPosition(), wheel.GetPosition(), -new Location(up));
JointPullPush spring = new JointPullPush(this, wheel, -new Location(up), true);
if (driving)
{
JointSpinner spinner = new JointSpinner(this, wheel, new Location(-left));
TheRegion.AddJoint(spinner);
}
else
{
JointSwivelHinge swivelhinge = new JointSwivelHinge(this, wheel, new Location(up), new Location(-left));
TheRegion.AddJoint(swivelhinge);
}
TheRegion.AddJoint(pointOnLineJoint);
TheRegion.AddJoint(suspensionLimit);
TheRegion.AddJoint(spring);
JointNoCollide jnc = new JointNoCollide(this, wheel);
TheRegion.AddJoint(jnc);
if (powered)
{
JointVehicleMotor motor = new JointVehicleMotor(this, wheel, new Location(driving ? left : up), !driving);
TheRegion.AddJoint(motor);
return(motor);
}
return(null);
}
public JointVehicleMotor ConnectWheel(VehiclePartEntity wheel, bool driving, bool powered)
{
wheel.SetFriction(2.5f);
Vector3 left = Quaternion.Transform(new Vector3(-1, 0, 0), wheel.GetOrientation());
Vector3 up = Quaternion.Transform(new Vector3(0, 0, 1), wheel.GetOrientation());
JointSlider pointOnLineJoint = new JointSlider(this, wheel, -new Location(up));
JointLAxisLimit suspensionLimit = new JointLAxisLimit(this, wheel, 0f, 0.1f, wheel.GetPosition(), wheel.GetPosition(), -new Location(up));
JointPullPush spring = new JointPullPush(this, wheel, -new Location(up), true);
BEPUphysics.CollisionRuleManagement.CollisionRules.AddRule(wheel.Body, this.Body, BEPUphysics.CollisionRuleManagement.CollisionRule.NoBroadPhase); // TODO: How necessary is this? Should we replicate this clientside?
if (driving)
{
JointSpinner spinner = new JointSpinner(this, wheel, new Location(-left));
TheRegion.AddJoint(spinner);
}
else
{
JointSwivelHinge swivelhinge = new JointSwivelHinge(this, wheel, new Location(up), new Location(-left));
TheRegion.AddJoint(swivelhinge);
}
TheRegion.AddJoint(pointOnLineJoint);
TheRegion.AddJoint(suspensionLimit);
TheRegion.AddJoint(spring);
if (powered)
{
JointVehicleMotor motor = new JointVehicleMotor(this, wheel, new Location(driving ? left : up), !driving);
TheRegion.AddJoint(motor);
return(motor);
}
return(null);
}
public JointVehicleMotor ConnectWheel(VehiclePartEntity wheel, bool driving, bool powered)
{
wheel.SetFriction(2.5f);
Vector3 left = Quaternion.Transform(new Vector3(-1, 0, 0), wheel.GetOrientation());
Vector3 up = Quaternion.Transform(new Vector3(0, 0, 1), wheel.GetOrientation());
JointSlider pointOnLineJoint = new JointSlider(this, wheel, -new Location(up));
JointLAxisLimit suspensionLimit = new JointLAxisLimit(this, wheel, 0f, 0.1f, wheel.GetPosition(), wheel.GetPosition(), -new Location(up));
JointPullPush spring = new JointPullPush(this, wheel, -new Location(up), true);
BEPUphysics.CollisionRuleManagement.CollisionRules.AddRule(wheel.Body, this.Body, BEPUphysics.CollisionRuleManagement.CollisionRule.NoBroadPhase); // TODO: How necessary is this? Should we replicate this clientside?
if (driving)
{
JointSpinner spinner = new JointSpinner(this, wheel, new Location(-left));
TheRegion.AddJoint(spinner);
}
else
{
JointSwivelHinge swivelhinge = new JointSwivelHinge(this, wheel, new Location(up), new Location(-left));
TheRegion.AddJoint(swivelhinge);
}
TheRegion.AddJoint(pointOnLineJoint);
TheRegion.AddJoint(suspensionLimit);
TheRegion.AddJoint(spring);
if (powered)
{
JointVehicleMotor motor = new JointVehicleMotor(this, wheel, new Location(driving ? left : up), !driving);
TheRegion.AddJoint(motor);
return motor;
}
return null;
}
public void ConnectFlap(VehiclePartEntity flap, FDSSection flapDat)
{
JointBallSocket jbs = new JointBallSocket(this, flap, flap.GetPosition()); // TODO: necessity?
TheRegion.AddJoint(jbs);
JointNoCollide jnc = new JointNoCollide(this, flap);
TheRegion.AddJoint(jnc);
string mode = flapDat.GetString("mode");
VehicleFlap vf = new VehicleFlap()
{
MaxAngle = flapDat.GetDouble("max_angle", 10).Value,
Speed = flapDat.GetDouble("corrective_speed", 2.25).Value
};
if (mode == "roll/l")
{
JointHinge jh = new JointHinge(this, flap, new Location(1, 0, 0));
TheRegion.AddJoint(jh);
JointVehicleMotor jvm = new JointVehicleMotor(this, flap, new Location(1, 0, 0), true);
TheRegion.AddJoint(jvm);
vf.JVM = jvm;
Flaps_RollL.Add(vf);
}
else if (mode == "roll/r")
{
JointHinge jh = new JointHinge(this, flap, new Location(1, 0, 0));
TheRegion.AddJoint(jh);
JointVehicleMotor jvm = new JointVehicleMotor(this, flap, new Location(1, 0, 0), true);
TheRegion.AddJoint(jvm);
vf.JVM = jvm;
Flaps_RollR.Add(vf);
}
else if (mode == "yaw")
{
JointHinge jh = new JointHinge(this, flap, new Location(0, 0, 1));
TheRegion.AddJoint(jh);
JointVehicleMotor jvm = new JointVehicleMotor(this, flap, new Location(0, 0, 1), true);
TheRegion.AddJoint(jvm);
vf.JVM = jvm;
Flaps_Yaw.Add(vf);
}
else if (mode == "pitch")
{
JointHinge jh = new JointHinge(this, flap, new Location(1, 0, 0));
TheRegion.AddJoint(jh);
JointVehicleMotor jvm = new JointVehicleMotor(this, flap, new Location(1, 0, 0), true);
TheRegion.AddJoint(jvm);
vf.JVM = jvm;
Flaps_Pitch.Add(vf);
}
}
public VehiclePartEntityTag(VehiclePartEntity ent)
{
Internal = ent;
}
public void HandleWheels()
{
if (!hasWheels)
{
Model mod = TheServer.Models.GetModel(model);
if (mod == null) // TODO: mod should return a cube when all else fails?
{
return;
}
Model3D scene = mod.Original;
if (scene == null) // TODO: Scene should return a cube when all else fails?
{
return;
}
SetOrientation(Quaternion.Identity);
List <Model3DNode> nodes = GetNodes(scene.RootNode);
List <VehiclePartEntity> frontwheels = new List <VehiclePartEntity>();
for (int i = 0; i < nodes.Count; i++)
{
string name = nodes[i].Name.ToLowerFast();
if (name.Contains("wheel"))
{
Matrix mat = nodes[i].MatrixA;
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
mat = tnode.MatrixA * mat;
tnode = tnode.Parent;
}
Location pos = GetPosition() + new Location(mat.M14, mat.M34, mat.M24) + offset; // NOTE: wtf happened to this matrix?
VehiclePartEntity wheel = new VehiclePartEntity(TheRegion, "vehicles/" + vehName + "_wheel", true);
wheel.SetPosition(pos);
wheel.SetOrientation(Quaternion.Identity);
wheel.Gravity = Gravity;
wheel.CGroup = CGroup;
wheel.SetMass(30);
wheel.mode = ModelCollisionMode.CONVEXHULL;
TheRegion.SpawnEntity(wheel);
wheel.SetPosition(pos);
if (name.After("wheel").StartsWith("f"))
{
SteeringMotors.Add(ConnectWheel(wheel, false, true));
frontwheels.Add(wheel);
}
else if (name.After("wheel").StartsWith("b"))
{
DrivingMotors.Add(ConnectWheel(wheel, true, true));
}
else
{
ConnectWheel(wheel, true, false);
}
wheel.Body.ActivityInformation.Activate();
}
}
if (frontwheels.Count == 2)
{
JointSpinner js = new JointSpinner(frontwheels[0], frontwheels[1], new Location(1, 0, 0));
TheRegion.AddJoint(js);
}
hasWheels = true;
}
}
public void HandleWheels()
{
if (!hasWheels)
{
string wheelsModFront = SourceFile.GetString("vehicle.wheels.front.model");
string wheelsModBack = SourceFile.GetString("vehicle.wheels.back.model");
double wheelsSuspFront = SourceFile.GetDouble("vehicle.wheels.front.suspension", 0.1).Value;
double wheelsSuspBack = SourceFile.GetDouble("vehicle.wheels.back.suspension", 0.1).Value;
Model mod = TheServer.Models.GetModel(model);
if (mod == null) // TODO: mod should return a cube when all else fails?
{
return;
}
Model3D scene = mod.Original;
if (scene == null) // TODO: Scene should return a cube when all else fails?
{
return;
}
SetOrientation(BEPUutilities.Quaternion.Identity); // TODO: Track and reset orientation maybe?
List <Model3DNode> nodes = GetNodes(scene.RootNode);
List <VehiclePartEntity> frontwheels = new List <VehiclePartEntity>();
Location centerOfMass = Location.Zero;
double mass = 0;
for (int i = 0; i < nodes.Count; i++)
{
string name = nodes[i].Name.ToLowerFast();
if (name.Contains("wheel"))
{
Matrix mat = nodes[i].MatrixA;
mat.Transpose();
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
Matrix mb = tnode.MatrixA;
mb.Transpose();
mat = mat * mb;
tnode = tnode.Parent;
}
centerOfMass += (new Location(mat.M41, -mat.M43, mat.M42) + offset) * 30; // TODO: Arbitrary constant
mass += 30; // TODO: Arbitrary constant
}
else if (name.Contains("flap"))
{
Matrix mat = nodes[i].MatrixA;
mat.Transpose();
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
Matrix mb = tnode.MatrixA;
mb.Transpose();
mat = mat * mb;
tnode = tnode.Parent;
}
centerOfMass += (new Location(mat.M41, -mat.M43, mat.M42) + offset) * 20; // TODO: Arbitrary constant
mass += 20; // TODO: Arbitrary constant
}
}
if (mass > 0)
{
centerOfMass /= mass;
}
Body.CollisionInformation.LocalPosition = -centerOfMass.ToBVector() - CenterOfMassOffset.ToBVector();
ForceNetwork();
for (int i = 0; i < nodes.Count; i++)
{
string name = nodes[i].Name.ToLowerFast();
if (name.Contains("wheel"))
{
Matrix mat = nodes[i].MatrixA;
mat.Transpose();
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
Matrix mb = tnode.MatrixA;
mb.Transpose();
mat = mat * mb;
tnode = tnode.Parent;
}
Location pos = GetPosition() + new Location(Body.CollisionInformation.LocalPosition) + new Location(mat.M41, -mat.M43, mat.M42) + offset; // TODO: matrix gone funky?
VehiclePartEntity wheel = new VehiclePartEntity(TheRegion, (name.After("wheel").Contains("f") ? wheelsModFront : wheelsModBack), true);
wheel.SetPosition(pos);
wheel.SetOrientation(BEPUutilities.Quaternion.Identity);
wheel.Gravity = Gravity;
wheel.CGroup = CGroup;
wheel.SetMass(30); // TODO: Arbitrary constant
wheel.mode = ModelCollisionMode.CONVEXHULL;
TheRegion.SpawnEntity(wheel);
wheel.ForceNetwork();
wheel.SetPosition(pos);
wheel.SetOrientation(BEPUutilities.Quaternion.Identity);
if (name.After("wheel").Contains("f"))
{
SteeringMotors.Add(ConnectWheel(wheel, false, true, wheelsSuspFront));
frontwheels.Add(wheel);
}
else if (name.After("wheel").Contains("b"))
{
DrivingMotors.Add(ConnectWheel(wheel, true, true, wheelsSuspBack));
}
else
{
ConnectWheel(wheel, true, false, wheelsSuspBack);
}
wheel.Body.ActivityInformation.Activate();
}
else if (name.Contains("flap"))
{
Matrix mat = nodes[i].MatrixA;
mat.Transpose();
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
Matrix mb = tnode.MatrixA;
mb.Transpose();
mat = mat * mb;
tnode = tnode.Parent;
}
Location pos = GetPosition() + new Location(Body.CollisionInformation.LocalPosition) + new Location(mat.M41, -mat.M43, mat.M42) + offset; // TODO: matrix gone funky?
FDSSection flapDat = SourceFile.GetSection("vehicle.flaps").GetSection(name.After("flap").Replace("_", ""));
VehiclePartEntity flap = new VehiclePartEntity(TheRegion, flapDat.GetString("model"), true);
flap.SetPosition(pos);
flap.SetOrientation(BEPUutilities.Quaternion.Identity);
flap.Gravity = Gravity;
flap.CGroup = CGroup;
flap.SetMass(20);
flap.mode = ModelCollisionMode.CONVEXHULL;
TheRegion.SpawnEntity(flap);
flap.ForceNetwork();
flap.SetPosition(pos);
flap.SetOrientation(BEPUutilities.Quaternion.Identity);
ConnectFlap(flap, flapDat);
}
}
if (frontwheels.Count == 2)
{
JointSpinner js = new JointSpinner(frontwheels[0], frontwheels[1], new Location(1, 0, 0));
TheRegion.AddJoint(js);
}
hasWheels = true;
}
}
public void HandleWheels()
{
if (!hasWheels)
{
Model mod = TheServer.Models.GetModel(model);
if (mod == null) // TODO: mod should return a cube when all else fails?
{
return;
}
Model3D scene = mod.Original;
if (scene == null) // TODO: Scene should return a cube when all else fails?
{
return;
}
SetOrientation(Quaternion.Identity);
List<Model3DNode> nodes = GetNodes(scene.RootNode);
List<VehiclePartEntity> frontwheels = new List<VehiclePartEntity>();
for (int i = 0; i < nodes.Count; i++)
{
string name = nodes[i].Name.ToLowerFast();
if (name.Contains("wheel"))
{
Matrix mat = nodes[i].MatrixA;
Model3DNode tnode = nodes[i].Parent;
while (tnode != null)
{
mat = tnode.MatrixA * mat;
tnode = tnode.Parent;
}
Location pos = GetPosition() + new Location(mat.M14, mat.M34, mat.M24) + offset; // NOTE: wtf happened to this matrix?
VehiclePartEntity wheel = new VehiclePartEntity(TheRegion, "vehicles/" + vehName + "_wheel", true);
wheel.SetPosition(pos);
wheel.SetOrientation(Quaternion.Identity);
wheel.Gravity = Gravity;
wheel.CGroup = CGroup;
wheel.SetMass(30);
wheel.mode = ModelCollisionMode.CONVEXHULL;
TheRegion.SpawnEntity(wheel);
wheel.SetPosition(pos);
if (name.After("wheel").StartsWith("f"))
{
SteeringMotors.Add(ConnectWheel(wheel, false, true));
frontwheels.Add(wheel);
}
else if (name.After("wheel").StartsWith("b"))
{
DrivingMotors.Add(ConnectWheel(wheel, true, true));
}
else
{
ConnectWheel(wheel, true, false);
}
wheel.Body.ActivityInformation.Activate();
}
}
if (frontwheels.Count == 2)
{
JointSpinner js = new JointSpinner(frontwheels[0], frontwheels[1], new Location(1, 0, 0));
TheRegion.AddJoint(js);
}
hasWheels = true;
}
}
