public override void Simulate()
{
if (!Host.IsServer)
{
return;
}
using (Prediction.Off())
{
if (!Input.Pressed(InputButton.Attack1))
{
return;
}
var startPos = Owner.EyePosition;
var dir = Owner.EyeRotation.Forward;
var tr = Trace.Ray(startPos, startPos + dir * MaxTraceDistance)
.Ignore(Owner)
.Run();
if (!tr.Hit)
{
return;
}
if (!tr.Entity.IsValid())
{
return;
}
var attached = !tr.Entity.IsWorld && tr.Body.IsValid() && tr.Body.PhysicsGroup != null && tr.Body.GetEntity().IsValid();
if (attached && tr.Entity is not Prop)
{
return;
}
CreateHitEffects(tr.EndPosition);
if (tr.Entity is WheelEntity)
{
// TODO: Set properties
return;
}
var ent = new WheelEntity
{
Position = tr.EndPosition,
Rotation = Rotation.LookAt(tr.Normal) * Rotation.From(new Angles(0, 90, 0)),
};
ent.SetModel("models/citizen_props/wheel01.vmdl");
ent.PhysicsBody.Mass = tr.Body.Mass;
ent.Joint = PhysicsJoint.CreateHinge(ent.PhysicsBody, tr.Body, tr.EndPosition, tr.Normal);
}
}
private void ModulateWheelSpeed(float speed, WheelEntity wheel, float timeStep)
{
if (Math.Abs(speed) > 0.1)
{
if (speed > 0)
{
wheel.Wheel.AxleSpeed -= SpeedDelta * timeStep;
}
else
{
wheel.Wheel.AxleSpeed += SpeedDelta * timeStep;
}
}
}
/// <summary>
/// Builds the simulated robotic entity using local fields for position size, orientation
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public void ProgrammaticallyBuildModel(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
if (_chassisShape != null)
{
foreach (BoxShape shape in _chassisShape)
{
base.State.PhysicsPrimitives.Add(shape);
}
}
base.CreateAndInsertPhysicsEntity(physicsEngine);
// increase physics fidelity
base.PhysicsEntity.SolverIterationCount = 64;
// if we were created from xml the wheel entities would already be instantiated
if (_leftFrontWheel != null &&
_rightFrontWheel != null &&
_leftRearWheel != null &&
_rightRearWheel != null)
{
return;
}
// front left wheel
WheelShapeProperties w = new WheelShapeProperties("front left wheel", FrontWheelMass, FrontWheelRadius);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LeftFrontWheelPosition);
w.SuspensionTravel = _suspensionTravel;
w.Suspension = new SpringProperties(10, 5, 0.5f);
_leftFrontWheel = new WheelEntity(w);
_leftFrontWheel.State.Name = State.Name + ":" + "Left front wheel";
_leftFrontWheel.State.Assets.Mesh = _frontWheelMesh;
_leftFrontWheel.Parent = this;
// front right wheel
w = new WheelShapeProperties("front right wheel", FrontWheelMass, FrontWheelRadius);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RightFrontWheelPosition);
w.SuspensionTravel = _suspensionTravel;
w.Suspension = new SpringProperties(10, 5, 0.5f);
_rightFrontWheel = new WheelEntity(w);
_rightFrontWheel.State.Name = State.Name + ":" + "Right front wheel";
_rightFrontWheel.State.Assets.Mesh = _frontWheelMesh;
_rightFrontWheel.Parent = this;
// rear left wheel
w = new WheelShapeProperties("rear left wheel", RearWheelMass, RearWheelRadius);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LeftRearWheelPosition);
w.SuspensionTravel = _suspensionTravel;
w.Suspension = new SpringProperties(10, 5, 0.5f);
_leftRearWheel = new WheelEntity(w);
_leftRearWheel.State.Name = State.Name + ":" + "Left rear wheel";
_leftRearWheel.State.Assets.Mesh = _rearWheelMesh;
_leftRearWheel.Parent = this;
// front right wheel
w = new WheelShapeProperties("rear right wheel", RearWheelMass, RearWheelRadius);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RightRearWheelPosition);
w.SuspensionTravel = _suspensionTravel;
w.Suspension = new SpringProperties(10, 5, 0.5f);
_rightRearWheel = new WheelEntity(w);
_rightRearWheel.State.Name = State.Name + ":" + "Right rear wheel";
_rightRearWheel.State.Assets.Mesh = _rearWheelMesh;
_rightRearWheel.Parent = this;
}
public override void OnPlayerControlTick()
{
if (!Host.IsServer)
{
return;
}
using (Prediction.Off())
{
var input = Owner.Input;
if (!input.Pressed(InputButton.Attack1))
{
return;
}
var startPos = Owner.EyePos;
var dir = Owner.EyeRot.Forward;
var tr = Trace.Ray(startPos, startPos + dir * MaxTraceDistance)
.Ignore(Owner)
.Run();
if (!tr.Hit)
{
return;
}
if (!tr.Entity.IsValid())
{
return;
}
var attached = !tr.Entity.IsWorld && tr.Body.IsValid() && tr.Body.PhysicsGroup != null && tr.Body.Entity.IsValid();
if (attached && tr.Entity is not Prop)
{
return;
}
CreateHitEffects(tr.EndPos);
if (tr.Entity is WheelEntity)
{
// TODO: Set properties
return;
}
var ent = new WheelEntity
{
WorldPos = tr.EndPos,
WorldRot = Rotation.LookAt(tr.Normal) * Rotation.From(new Angles(0, 90, 0)),
};
ent.SetModel("models/citizen_props/wheel01.vmdl");
ent.PhysicsBody.Mass = tr.Body.Mass;
ent.Joint = PhysicsJoint.Revolute
.From(ent.PhysicsBody)
.To(tr.Body)
.WithPivot(tr.EndPos)
.WithBasis(Rotation.LookAt(tr.Normal) * Rotation.From(new Angles(90, 0, 0)))
.Create();
}
}
public void Save(WheelEntity item)
{
throw new NotImplementedException();
}
private void ConstructWheels()
{
// front left wheel
WheelShapeProperties w = new WheelShapeProperties("front
left wheel", FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
// Set this flag on both wheels if you want to use axle
speed instead of torque
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LEFT_FRONT_WHEEL_POSITION);
LeftWheel = new WheelEntity(w);
LeftWheel.State.Name = State.Name + ":" + "Left wheel";
LeftWheel.State.Assets.Mesh = WheelMesh;
LeftWheel.Parent = this;
//LeftWheel.WheelShape.WheelState.Material = new
MaterialProperties("wheel", 0.5f, 0f, 1f);
// wheels must have zero friction material.The wheel
model will do friction differently
// front right wheel
w = new WheelShapeProperties("front right wheel",
FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RIGHT_FRONT_WHEEL_POSITION);
RightWheel = new WheelEntity(w);
RightWheel.State.Name = State.Name + ":" + "Right wheel";
RightWheel.State.Assets.Mesh = WheelMesh;
RightWheel.MeshRotation = new Vector3(0, 180, 0); //
flip the wheel mesh
RightWheel.Parent = this;
//RightWheel.WheelShape.WheelState.Material =
LeftWheel.WheelShape.WheelState.Material;
}
/// <summary>
/// Builds the simulated robotic entity using local fields for positionm size, orientation
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public void ProgrammaticallyBuildModel(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
if (_casterWheelShape == null)
{
// add caster wheel as a basic sphere shape
CasterWheelShape = new SphereShape(
new SphereShapeProperties("rear wheel", 0.001f,
new Pose(CASTER_WHEEL_POSITION), CASTER_WHEEL_RADIUS));
CasterWheelShape.State.Name = "Caster wheel";
// a fixed caster wheel has high friction when moving laterely, but low friction when it moves along the
// body axis its aligned with. We use anisotropic friction to model this
CasterWheelShape.State.Material = new MaterialProperties("small friction with anisotropy", 0.5f, 0.5f, 1);
CasterWheelShape.State.Material.Advanced = new MaterialAdvancedProperties();
CasterWheelShape.State.Material.Advanced.AnisotropicDynamicFriction = 0.3f;
CasterWheelShape.State.Material.Advanced.AnisotropicStaticFriction = 0.4f;
CasterWheelShape.State.Material.Advanced.AnisotropyDirection = new Vector3(0, 0, 1);
}
base.State.PhysicsPrimitives.Add(_casterWheelShape);
if (_chassisShape != null)
base.State.PhysicsPrimitives.Add(_chassisShape);
base.CreateAndInsertPhysicsEntity(physicsEngine);
// increase physics fidelity
base.PhysicsEntity.SolverIterationCount = 64;
// if we were created from xml the wheel entities would already be instantiated
if (_leftWheel != null && _rightWheel != null)
return;
// front left wheel
WheelShapeProperties w = new WheelShapeProperties("front left wheel", FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
// Set this flag on both wheels if you want to use axle speed instead of torque
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LEFT_FRONT_WHEEL_POSITION);
_leftWheel = new WheelEntity(w);
_leftWheel.State.Name = State.Name + ":" + "Left wheel";
_leftWheel.State.Assets.Mesh = _wheelMesh;
_leftWheel.Parent = this;
//_leftWheel.WheelShape.WheelState.Material = new MaterialProperties("wheel", 0.5f, 0f, 1f);
// wheels must have zero friction material.The wheel model will do friction differently
// front right wheel
w = new WheelShapeProperties("front right wheel", FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RIGHT_FRONT_WHEEL_POSITION);
_rightWheel = new WheelEntity(w);
_rightWheel.State.Name = State.Name + ":" + "Right wheel";
_rightWheel.State.Assets.Mesh = _wheelMesh;
_rightWheel.Parent = this;
//_rightWheel.WheelShape.WheelState.Material = _leftWheel.WheelShape.WheelState.Material;
}
/// <summary>
/// Rotations to ticks.
/// </summary>
/// <param name="wheel">The wheel entity.</param>
/// <returns>The number of rotations converted to ticks</returns>
private static int RotationsToTicks(WheelEntity wheel)
{
const double MetersPerEncoderTick = 0.01328;
return((int)(wheel.Rotations * 2 * Math.PI * wheel.Wheel.State.Radius / MetersPerEncoderTick));
}
