private void MoveAngular(float timestep)
{
/*
* private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
* private int m_angularMotorApply = 0; // application frame counter
* private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down)
* private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
* private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
* private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
* private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
*/
// Get what the body is doing, this includes 'external' influences
btVector3 angularVelocity = m_body.getInterpolationAngularVelocity();
// Vector3 angularVelocity = Vector3.Zero;
if (m_angularMotorApply > 0)
{
// ramp up to new value
// current velocity += error / (time to get there / step interval)
// requested speed - last motor speed
m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / timestep);
m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / timestep);
m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / timestep);
m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
// velocity may still be acheived.
}
else
{
// no motor recently applied, keep the body velocity
/* m_angularMotorVelocity.X = angularVelocity.X;
* m_angularMotorVelocity.Y = angularVelocity.Y;
* m_angularMotorVelocity.Z = angularVelocity.Z; */
// and decay the velocity
m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / timestep);
} // end motor section
// Vertical attractor section
Vector3 vertattr = Vector3.Zero;
if (m_verticalAttractionTimescale < 300)
{
float VAservo = 0.2f / (m_verticalAttractionTimescale * timestep);
// get present body rotation
btQuaternion rot = m_body.getWorldTransform().getRotation();
Quaternion rotq = new Quaternion(rot.getX(), rot.getY(), rot.getZ(), rot.getW());
// make a vector pointing up
Vector3 verterr = Vector3.Zero;
verterr.Z = 1.0f;
// rotate it to Body Angle
verterr = verterr * rotq;
// verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
if (verterr.Z < 0.0f)
{
verterr.X = 2.0f - verterr.X;
verterr.Y = 2.0f - verterr.Y;
}
// Error is 0 (no error) to +/- 2 (max error)
// scale it by VAservo
verterr = verterr * VAservo;
//if (frcount == 0) Console.WriteLine("VAerr=" + verterr);
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
vertattr.X = verterr.Y;
vertattr.Y = -verterr.X;
vertattr.Z = 0f;
// scaling appears better usingsquare-law
float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
vertattr.X += bounce * angularVelocity.getX();
vertattr.Y += bounce * angularVelocity.getY();
} // else vertical attractor is off
// m_lastVertAttractor = vertattr;
// Bank section tba
// Deflection section tba
// Sum velocities
m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
{
m_lastAngularVelocity.X = 0;
m_lastAngularVelocity.Y = 0;
}
// apply friction
Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / timestep);
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
// Apply to the body
m_body.setAngularVelocity(new btVector3(m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z));
}
private void MoveLinear(float timestep)
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
// add drive to body
Vector3 addAmount = m_linearMotorDirection / (m_linearMotorTimescale / timestep);
m_lastLinearVelocityVector += (addAmount * 10); // lastLinearVelocityVector is the current body velocity vector?
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
{
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
}
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
{
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
}
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
{
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
}
// decay applied velocity
Vector3 decayfraction = ((Vector3.One / (m_linearMotorDecayTimescale / timestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
{
m_lastLinearVelocityVector = Vector3.Zero;
}
}
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
btQuaternion rot = m_body.getWorldTransform().getRotation();
Quaternion rotq = new Quaternion(rot.getX(), rot.getY(), rot.getZ(), rot.getW()); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
// add Gravity andBuoyancy
// 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.
Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector
// that is applied after object velocity.
float objMass = m_prim.Mass;
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
//Rev: bullet does gravity internally
grav.Z = -parent_scene.gravityz * objMass * m_VehicleBuoyancy; //parent_scene.gravityz/* * objMass*/ * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
btVector3 pos = m_body.getWorldTransform().getOrigin();
btVector3 newpos = pos;
m_dir.Z = m_prim.Velocity.Z; // Preserve the accumulated falling velocity
Vector3 posChange = new Vector3();
posChange.X = newpos.getX() - m_lastPositionVector.getX();
posChange.Y = newpos.getY() - m_lastPositionVector.getY();
posChange.Z = newpos.getZ() - m_lastPositionVector.getZ();
btQuaternion Orientation2 = m_body.getWorldTransform().getRotation();
/*if (m_BlockingEndPoint != Vector3.Zero)
* {
* if (newpos.getX() >= (m_BlockingEndPoint.X - (float)1))
* newpos.setX(newpos.getX() - (posChange.X + 1));
* if (newpos.getY() >= (m_BlockingEndPoint.Y - (float)1))
* newpos.setY(newpos.getY() - (posChange.Y + 1));
* if (newpos.getZ() >= (m_BlockingEndPoint.Z - (float)1))
* newpos.setZ(newpos.getZ() - (posChange.Z + 1));
* if (newpos.getX() <= 0)
* newpos.setX(newpos.getX() + (posChange.X + 1));
* if (newpos.getY() <= 0)
* newpos.setY(newpos.getY() + (posChange.Y + 1));
* }
*/
if (newpos.getZ() < parent_scene.GetTerrainHeightAtXY(newpos.getX(), newpos.getY()))
{
newpos.setZ(parent_scene.GetTerrainHeightAtXY(newpos.getX(), newpos.getY()) + 2);
}
// Check if hovering
if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
float diff = (newpos.getZ() - m_VhoverTargetHeight);
// We should hover, get the target height
if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = parent_scene.GetWaterLevel() + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = parent_scene.GetTerrainHeightAtXY(pos.getX(), pos.getY()) + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is aready heigher, use its height as target height
if (newpos.getZ() > m_VhoverTargetHeight)
{
m_VhoverTargetHeight = newpos.getZ();
}
}
if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if (diff > .2 || diff < -.2)
{
newpos.setValue(newpos.getX(), newpos.getY(), m_VhoverTargetHeight);
btTransform trans = new btTransform(Orientation2, newpos);
m_body.setWorldTransform(trans);
}
}
else
{
// Replace Vertical speed with correction figure if significant
if (Math.Abs(diff) > 0.01f)
{
m_dir.Z = -((diff * timestep * 50.0f) / m_VhoverTimescale);
}
else
{
m_dir.Z = 0f;
}
}
}
/*if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
* {
* //Start Experimental Values
* if (Zchange > .3)
* grav.Z = (float)(grav.Z * 3);
* if (Zchange > .15)
* grav.Z = (float)(grav.Z * 2);
* if (Zchange > .75)
* grav.Z = (float)(grav.Z * 1.5);
* if (Zchange > .05)
* grav.Z = (float)(grav.Z * 1.25);
* if (Zchange > .025)
* grav.Z = (float)(grav.Z * 1.125);
*
* float terraintemp = parent_scene.GetTerrainHeightAtXY(pos.getX(), pos.getY());
* float postemp = (pos.getZ() - terraintemp);
*
* if (postemp > 2.5f)
* grav.Z = (float)(grav.Z * 1.037125);
* //End Experimental Values
* }*/
if ((m_flags & (VehicleFlag.NO_X)) != 0)
{
m_dir.X = 0;
}
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
{
m_dir.Y = 0;
}
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
{
m_dir.Z = 0;
}
m_lastPositionVector = new btVector3(m_prim.Position.X, m_prim.Position.Y, m_prim.Position.Z);
// Apply velocity
//if(m_dir != Vector3.Zero)
// m_body.setLinearVelocity(new btVector3(m_dir.X, m_dir.Y, m_dir.Z));
m_body.applyCentralImpulse(new btVector3(m_dir.X, m_dir.Y, m_dir.Z));
// apply gravity force
//m_body.applyCentralImpulse(new btVector3(0, 0, 9.8f));
/*ector3 newpos2 = new Vector3(newpos.getX(), newpos.getY(), newpos.getZ());
* if (newpos2.X != m_prim.Position.X || newpos2.Y != m_prim.Position.Y || newpos2.Z != m_prim.Position.Z)
* {
* btTransform trans = new btTransform(Orientation2, newpos);
* m_body.setWorldTransform(trans);
* }*/
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / timestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
}
private void LimitRotation(float timestep)
{
btQuaternion rot = m_body.getWorldTransform().getRotation();
bool changed = false;
if (m_RollreferenceFrame != Quaternion.Identity)
{
if (rot.getX() >= m_RollreferenceFrame.X)
{
rot = new btQuaternion(rot.getX() - (m_RollreferenceFrame.X / 2), rot.getY(), rot.getZ(), rot.getW());
}
if (rot.getX() <= -m_RollreferenceFrame.X)
{
rot = new btQuaternion(rot.getX() + (m_RollreferenceFrame.X / 2), rot.getY(), rot.getZ(), rot.getW());
}
if (rot.getY() >= m_RollreferenceFrame.Y)
{
rot = new btQuaternion(rot.getX(), rot.getY() - (m_RollreferenceFrame.Y / 2), rot.getZ(), rot.getW());
}
if (rot.getY() <= -m_RollreferenceFrame.Y)
{
rot = new btQuaternion(rot.getX(), rot.getY() + (m_RollreferenceFrame.Y / 2), rot.getZ(), rot.getW());
}
changed = true;
}
if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
{
rot = new btQuaternion(0, 0, rot.getZ(), rot.getW());
changed = true;
}
if (changed)
{
btTransform trans = m_body.getWorldTransform();
trans.setRotation(rot);
m_body.setWorldTransform(trans);
}
}
