public void adjust_offset(AFrame offset, double quantum)
{
if (PhysicsObj == null || TargetID == 0 || !Initialized)
{
return;
}
var target = PhysicsObj.GetObjectA(TargetID);
var targetPosition = target == null ? TargetPosition : target.Position;
offset.Origin = PhysicsObj.Position.GetOffset(targetPosition);
offset.Origin = PhysicsObj.Position.GlobalToLocalVec(offset.Origin);
offset.Origin.Z = 0.0f;
var radius = PhysicsObj.GetRadius();
var dist = Position.CylinderDistanceNoZ(radius, PhysicsObj.Position, TargetRadius, targetPosition) - StickyRadius;
if (Vec.NormalizeCheckSmall(ref offset.Origin))
{
offset.Origin = Vector3.Zero;
}
var speed = 0.0f;
var minterp = PhysicsObj.get_minterp();
if (minterp != null)
{
speed = minterp.get_max_speed() * 5.0f;
}
if (speed < PhysicsGlobals.EPSILON)
{
speed = 15.0f;
}
var delta = speed * (float)quantum;
if (delta >= Math.Abs(dist))
{
delta = dist;
}
offset.Origin *= delta;
var curHeading = PhysicsObj.Position.Frame.get_heading();
var targetHeading = PhysicsObj.Position.heading(targetPosition);
var heading = targetHeading - curHeading;
if (Math.Abs(heading) < PhysicsGlobals.EPSILON)
{
heading = 0.0f;
}
if (heading < -PhysicsGlobals.EPSILON)
{
heading += 360.0f;
}
//Console.WriteLine($"StickyManager.AdjustOffset(targetHeading={targetHeading}, curHeading={curHeading}, setHeading={heading})");
offset.set_heading(heading);
}
public static AFrame Combine(AFrame a, AFrame b, Vector3 scale)
{
var frame = new AFrame();
frame.Origin = a.Origin + Vector3.Transform(b.Origin * scale, a.Orientation);
frame.Orientation = Quaternion.Multiply(a.Orientation, b.Orientation);
return(frame);
}
public static AFrame Combine(AFrame a, AFrame b)
{
var frame = new AFrame();
frame.Origin = a.Origin + b.Origin;
frame.Orientation = Quaternion.Multiply(a.Orientation, b.Orientation);
return(frame);
}
public bool close_rotation(AFrame a, AFrame b)
{
var ao = a.Orientation;
var bo = b.Orientation;
return(Math.Abs(ao.X - bo.X) < PhysicsGlobals.EPSILON &&
Math.Abs(ao.Y - bo.Y) < PhysicsGlobals.EPSILON &&
Math.Abs(ao.Z - bo.Z) < PhysicsGlobals.EPSILON &&
Math.Abs(ao.W - bo.W) < PhysicsGlobals.EPSILON);
}
public void Update(float quantum, ref AFrame offsetFrame)
{
if (AnimList.First != null)
{
update_internal(quantum, ref CurrAnim, ref FrameNumber, ref offsetFrame);
apricot();
}
else if (offsetFrame != null)
{
apply_physics(offsetFrame, quantum, quantum);
}
}
public void Update(float quantum, AFrame frame)
{
if (AnimList == null && AnimList.Count != 0)
{
update_internal(quantum, CurrAnim.Value, FrameNumber, frame);
apricot();
}
else if (frame != null)
{
apply_physics(frame, quantum, quantum);
}
}
/// <summary>
/// Performs the translation and rotation on the frame
/// </summary>
public void apply_physics(AFrame frame, float quantum, float sign)
{
if (sign >= 0.0)
{
quantum = Math.Abs(quantum);
}
else
{
quantum = -Math.Abs(quantum);
}
frame.Origin += Velocity * quantum;
frame.Rotate(Omega * quantum);
}
public void adjust_offset(AFrame offset, double quantum)
{
if (TargetID == 0 || !Initialized)
{
return;
}
var target = PhysicsObj.GetObjectA(TargetID);
var targetPosition = target == null ? TargetPosition : target.Position;
offset.Origin = PhysicsObj.Position.GetOffset(targetPosition);
offset.Origin = PhysicsObj.Position.GlobalToLocalVec(offset.Origin);
offset.Origin.Z = 0.0f;
var radius = PhysicsObj.GetRadius();
var dist = Position.CylinderDistanceNoZ(radius, PhysicsObj.Position, TargetRadius, targetPosition) - StickyRadius;
CollisionInfo.NormalizeCheckSmall(ref offset.Origin);
var speed = 0.0f;
var minterp = PhysicsObj.get_minterp();
if (minterp != null)
{
speed = minterp.get_max_speed() * 5.0f;
}
var delta = speed * (float)quantum;
if (delta >= Math.Abs(dist))
{
delta = dist;
}
offset.Origin *= delta;
var heading = PhysicsObj.Position.heading(targetPosition) - PhysicsObj.Position.Frame.get_heading();
if (Math.Abs(heading) < PhysicsGlobals.EPSILON)
{
heading = 0.0f;
}
if (heading < -PhysicsGlobals.EPSILON)
{
heading += 360.0f;
}
offset.set_heading(heading);
}
public void AdjustOffset(AFrame frame, double quantum)
{
if (InterpolationManager != null)
{
InterpolationManager.adjust_offset(frame, quantum);
}
if (StickyManager != null)
{
StickyManager.adjust_offset(frame, quantum);
}
if (ConstraintManager != null)
{
ConstraintManager.adjust_offset(frame, quantum);
}
}
public void advance_to_next_animation_inner(float timeElapsed, AnimSequenceNode currAnim, double frameNum, AFrame frame, bool checkFrame, bool firstCheck)
{
if (frame != null && checkFrame)
{
if (currAnim.Anim.PosFrames.Count > 0)
{
if (firstCheck)
{
frame.Subtract(currAnim.get_pos_frame((int)Math.Floor(frameNum)));
}
else
{
frame = AFrame.Combine(frame, currAnim.get_pos_frame((int)Math.Floor(frameNum)));
}
}
if (Math.Abs(currAnim.Framerate) > PhysicsGlobals.EPSILON)
{
apply_physics(frame, 1.0f / currAnim.Framerate, timeElapsed);
}
}
}
public void adjust_offset(AFrame offset, double quantum)
{
if (PhysicsObj == null || !IsConstrained)
{
return;
}
if (PhysicsObj.TransientState.HasFlag(TransientStateFlags.Contact))
{
if (ConstraintPosOffset < ConstraintDistanceMax)
{
if (ConstraintPosOffset > ConstraintDistanceStart)
{
offset.Origin *= (ConstraintDistanceMax - ConstraintPosOffset) / (ConstraintDistanceMax - ConstraintDistanceStart);
}
}
else
{
offset.Origin = Vector3.Zero;
}
}
ConstraintPosOffset = offset.Origin.Length();
}
public void update_internal(float timeElapsed, ref LinkedListNode <AnimSequenceNode> animNode, ref float frameNum, ref AFrame frame)
{
var currAnim = animNode.Value;
var framerate = currAnim.Framerate;
var frametime = framerate * timeElapsed;
var lastFrame = (int)Math.Floor(frameNum);
frameNum += frametime;
var frameTimeElapsed = 0.0f;
var animDone = false;
if (frametime > 0.0f)
{
if (currAnim.get_high_frame() < Math.Floor(frameNum))
{
var frameOffset = frameNum - currAnim.get_high_frame() - 1.0f;
if (frameOffset < 0.0f)
{
frameOffset = 0.0f;
}
if (Math.Abs(framerate) > PhysicsGlobals.EPSILON)
{
frameTimeElapsed = frameOffset / framerate;
}
frameNum = currAnim.get_high_frame();
animDone = true;
}
while (Math.Floor(frameNum) > lastFrame)
{
if (frame != null)
{
if (currAnim.Anim.PosFrames != null)
{
frame = AFrame.Combine(frame, currAnim.get_pos_frame(lastFrame));
}
if (Math.Abs(framerate) > PhysicsGlobals.EPSILON)
{
apply_physics(frame, 1.0f / framerate, timeElapsed);
}
}
execute_hooks(currAnim.get_part_frame(lastFrame), AnimationHookDir.Forward);
lastFrame++;
}
}
else if (frametime < 0.0f)
{
if (currAnim.get_low_frame() > Math.Floor(frameNum))
{
var frameOffset = frameNum - currAnim.get_low_frame();
if (frameOffset > 0.0f)
{
frameOffset = 0.0f;
}
if (Math.Abs(framerate) > PhysicsGlobals.EPSILON)
{
frameTimeElapsed = frameOffset / framerate;
}
frameNum = currAnim.get_low_frame();
animDone = true;
}
while (Math.Floor(frameNum) < lastFrame)
{
if (frame != null)
{
if (currAnim.Anim.PosFrames != null)
{
frame.Subtract(currAnim.get_pos_frame(lastFrame));
}
if (Math.Abs(framerate) > PhysicsGlobals.EPSILON)
{
apply_physics(frame, 1.0f / framerate, timeElapsed);
}
}
execute_hooks(currAnim.get_part_frame(lastFrame), AnimationHookDir.Backward);
lastFrame--;
}
}
else
{
if (frame != null && Math.Abs(timeElapsed) > PhysicsGlobals.EPSILON)
{
apply_physics(frame, timeElapsed, timeElapsed);
}
}
if (!animDone)
{
return;
}
if (HookObj != null)
{
var node = AnimList.First;
if (!node.Equals(FirstCyclic))
{
var animDoneHook = new AnimDoneHook(); // static?
HookObj.add_anim_hook(animDoneHook);
}
}
advance_to_next_animation(timeElapsed, ref animNode, ref frameNum, ref frame);
timeElapsed = frameTimeElapsed;
// loop to next anim
update_internal(timeElapsed, ref animNode, ref frameNum, ref frame);
}
public bool IsQuaternionEqual(AFrame frame)
{
return(Orientation.Equals(frame.Orientation));
}
public void adjust_offset(AFrame frame, double quantum)
{
if (PositionQueue.Count == 0 || PhysicsObj == null || !PhysicsObj.TransientState.HasFlag(TransientStateFlags.Contact))
{
return;
}
var first = PositionQueue.First();
if (first.Type == InterpolationNodeType.JumpType || first.Type == InterpolationNodeType.VelocityType)
{
return;
}
var dist = PhysicsObj.Position.Distance(first.Position);
if (dist < 0.05f)
{
NodeCompleted(true);
return;
}
var maxSpeed = 0.0f;
var minterp = PhysicsObj.get_minterp();
if (minterp != null)
{
if (UseAdjustedSpeed)
{
maxSpeed = minterp.get_adjusted_max_speed() * 2.0f;
}
else
{
maxSpeed = minterp.get_max_speed() * 2.0f;
}
}
if (maxSpeed < PhysicsGlobals.EPSILON)
{
maxSpeed = MaxInterpolatedVelocity;
}
var delta = OriginalDistance - dist;
ProgressQuantum += (float)quantum;
FrameCounter++;
if (FrameCounter < 5 || (PhysicsObj.get_sticky_object() != 0 ||
delta > PhysicsGlobals.EPSILON && delta / ProgressQuantum / maxSpeed >= 0.3f))
{
if (FrameCounter >= 5)
{
FrameCounter = 0;
ProgressQuantum = 0.0f;
OriginalDistance = dist;
}
var offset = first.Position.Subtract(PhysicsObj.Position);
var maxQuantum = maxSpeed * quantum;
var distance = offset.Origin.Length();
if (distance <= 0.05f)
{
NodeCompleted(true);
}
if (distance > maxQuantum)
{
offset.Origin *= (float)maxQuantum / distance;
}
if (KeepHeading)
{
offset.set_heading(0.0f);
}
frame = offset;
return;
}
NodeFailCounter++;
NodeCompleted(false);
}
public void InterpolateRotation(AFrame from, AFrame to, float t)
{
Orientation = Quaternion.Lerp(from.Orientation, to.Orientation, t);
}
public bool IsEqual(AFrame frame)
{
// implement IEquatable
return(frame.Equals(this));
}
public void Combine(AFrame a, AFrame b, Vector3 scale)
{
Origin += a.Origin + b.Origin;
Orientation *= Quaternion.Multiply(a.Orientation, b.Orientation);
}
public void InterpolateOrigin(AFrame from, AFrame to, float t)
{
Origin = Vector3.Lerp(from.Origin, to.Origin, t);
}
public void advance_to_next_animation(float timeElapsed, AnimSequenceNode currAnim, double frameNum, AFrame frame)
{
var firstFrame = currAnim.Framerate >= 0.0f;
var secondFrame = currAnim.Framerate < 0.0f;
if (timeElapsed >= 0.0)
{
firstFrame = currAnim.Framerate < 0.0f;
secondFrame = currAnim.Framerate > 0.0f;
}
advance_to_next_animation_inner(timeElapsed, currAnim, frameNum, frame, firstFrame);
if (currAnim.GetNext() != null)
{
currAnim = currAnim.GetNext();
}
else
{
currAnim = FirstCyclic.Value;
}
// ref?
frameNum = currAnim.get_starting_frame();
advance_to_next_animation_inner(timeElapsed, currAnim, frameNum, frame, secondFrame);
}
public AFrame(AFrame frame)
{
Origin = new Vector3(frame.Origin.X, frame.Origin.Y, frame.Origin.Z);
Orientation = new Quaternion(frame.Orientation.X, frame.Orientation.Y, frame.Orientation.Z, frame.Orientation.W);
}
public void AdjustOffset(AFrame frame, double quantum)
{
}
public void advance_to_next_animation(float timeElapsed, ref LinkedListNode <AnimSequenceNode> animNode, ref float frameNum, ref AFrame frame)
{
var currAnim = animNode.Value;
if (timeElapsed >= 0.0f)
{
if (frame != null && currAnim.Framerate < 0.0f)
{
if (currAnim.Anim.PosFrames.Count > 0)
{
frame.Subtract(currAnim.get_pos_frame((int)frameNum));
}
if (Math.Abs(currAnim.Framerate) > PhysicsGlobals.EPSILON)
{
apply_physics(frame, 1.0f / currAnim.Framerate, timeElapsed);
}
}
if (animNode.Next != null)
{
animNode = animNode.Next;
}
else
{
animNode = FirstCyclic;
}
currAnim = animNode.Value;
frameNum = currAnim.get_starting_frame();
if (frame != null && currAnim.Framerate > 0.0f)
{
if (currAnim.Anim.PosFrames.Count > 0)
{
frame = AFrame.Combine(frame, currAnim.get_pos_frame((int)frameNum));
}
if (Math.Abs(currAnim.Framerate) > PhysicsGlobals.EPSILON)
{
apply_physics(frame, 1.0f / currAnim.Framerate, timeElapsed);
}
}
}
else
{
if (frame != null && currAnim.Framerate >= 0.0f)
{
if (currAnim.Anim.PosFrames.Count > 0)
{
frame.Subtract(currAnim.get_pos_frame((int)frameNum));
}
if (Math.Abs(currAnim.Framerate) > PhysicsGlobals.EPSILON)
{
apply_physics(frame, 1.0f / currAnim.Framerate, timeElapsed);
}
}
if (animNode.Previous != null)
{
animNode = animNode.Previous;
}
else
{
animNode = animNode.List.Last;
}
currAnim = animNode.Value;
frameNum = currAnim.get_ending_frame();
if (frame != null && currAnim.Framerate < 0.0f)
{
if (currAnim.Anim.PosFrames.Count > 0)
{
frame = AFrame.Combine(frame, currAnim.get_pos_frame((int)frameNum));
}
if (Math.Abs(currAnim.Framerate) > PhysicsGlobals.EPSILON)
{
apply_physics(frame, 1.0f / currAnim.Framerate, timeElapsed);
}
}
}
}
public AFrame Combine(AFrame a, AFrame b, Vector3 scale)
{
return(null);
}
public static AFrame Combine(AFrame a, AFrame b)
{
return(null);
}
public void Subtract(AFrame frame)
{
Origin -= Vector3.Transform(frame.Origin, frame.Orientation);
Orientation = Quaternion.Multiply(Orientation, frame.Orientation);
}
public bool FindPlacementPos()
{
// refactor me
SpherePath.SetCheckPos(SpherePath.CurPos, SpherePath.CurCell);
CollisionInfo.SlidingNormalValid = false;
CollisionInfo.ContactPlaneValid = false;
CollisionInfo.ContactPlaneIsWater = false;
var transitionState = TransitionalInsert(3);
var redo = 0;
transitionState = ValidatePlacementTransition(transitionState, ref redo);
if (transitionState == TransitionState.OK)
{
return(true);
}
if (!SpherePath.PlacementAllowsSliding)
{
return(false);
}
var adjustDist = 4.0f;
var adjustRad = adjustDist;
var sphereRad = SpherePath.LocalSphere[0].Radius;
var fakeSphere = false;
if (sphereRad < 0.125f)
{
fakeSphere = true;
adjustRad = 2.0f;
}
else if (sphereRad < 0.48f)
{
sphereRad = 0.48f;
}
var movementDelta = sphereRad;
var fNumSteps = 4.0f / movementDelta;
if (fakeSphere)
{
fNumSteps *= 0.5f;
}
if (fNumSteps <= 1.0f)
{
return(false);
}
var numSteps = (int)Math.Ceiling(fNumSteps);
var distPerStep = adjustRad / numSteps;
var radiansPerStep = (float)(Math.PI * distPerStep / sphereRad);
var totalDist = 0.0f;
var totalRad = 0.0f;
for (var i = 0; i < numSteps; i++)
{
totalDist += distPerStep;
totalRad += radiansPerStep;
var rad = (int)Math.Ceiling(totalRad);
rad *= 2;
var angle = 360.0f / rad;
var frame = new AFrame();
for (var j = 0; j < rad; j++)
{
SpherePath.SetCheckPos(SpherePath.CurPos, SpherePath.CurCell);
frame.set_heading(angle * j);
var offset = frame.get_vector_heading() * totalDist;
SpherePath.GlobalOffset = AdjustOffset(offset);
if (SpherePath.GlobalOffset.Length() >= PhysicsGlobals.EPSILON)
{
SpherePath.AddOffsetToCheckPos(SpherePath.GlobalOffset);
// possibly reset by AdjustOffset
CollisionInfo.SlidingNormalValid = false;
CollisionInfo.ContactPlaneValid = false;
CollisionInfo.ContactPlaneIsWater = false;
transitionState = TransitionalInsert(3);
transitionState = ValidatePlacementTransition(transitionState, ref redo);
if (transitionState == TransitionState.OK)
{
return(true);
}
}
}
}
return(false);
}
public void Update(double quantum, AFrame offsetFrame)
{
}