public override void ExclusiveUpdate()
{
if (Plane.DriverSeat.Sitter == null)
{
return; // Don't fly when there's nobody driving this!
}
// TODO: Special case for motion on land: only push forward if W key is pressed? Or maybe apply that rule in general?
// Collect the plane's relative vectors
Vector3 forward = Quaternion.Transform(Vector3.UnitY, Entity.Orientation);
Vector3 side = Quaternion.Transform(Vector3.UnitX, Entity.Orientation);
Vector3 up = Quaternion.Transform(Vector3.UnitZ, Entity.Orientation);
// Engines!
if (Plane.FastOrSlow >= 0.0)
{
Vector3 force = forward * (Plane.RegularStrength + Plane.FastStrength) * Delta;
entity.ApplyLinearImpulse(ref force);
}
double dotforw = Vector3.Dot(entity.LinearVelocity, forward);
entity.ApplyImpulse(side * 5 + entity.Position, up * -Plane.RightLeft * entity.Mass * dotforw * 0.5 * Delta);
entity.ApplyImpulse(forward * 5 + entity.Position, side * ((Plane.IRight ? 1 : 0) + (Plane.ILeft ? -1 : 0)) * entity.Mass * dotforw * 0.5 * Delta);
entity.ApplyImpulse(forward * 5 + entity.Position, up * Plane.ForwBack * entity.Mass * 0.5 * Delta * dotforw);
// Rotate the entity pre-emptively, and re-apply the movement velocity in this new direction!
double vellen = entity.LinearVelocity.Length();
Vector3 normvel = entity.LinearVelocity / vellen;
Vector3 norm_vel_transf = Quaternion.Transform(normvel, Quaternion.Inverse(entity.Orientation)); // Probably just 1,0,0 on whichever axis... can be simplified!
Vector3 inc = entity.AngularVelocity * Delta * 0.5;
Quaternion quat = new Quaternion(inc.X, inc.Y, inc.Z, 0);
quat = quat * entity.Orientation;
Quaternion orient = entity.Orientation;
Quaternion.Add(ref orient, ref quat, out orient);
orient.Normalize();
entity.Orientation = orient;
entity.LinearVelocity = Quaternion.Transform(norm_vel_transf, orient) * vellen;
entity.AngularVelocity *= 0.1;
// Apply air drag
Entity.ModifyLinearDamping(Plane.FastOrSlow < 0.0 ? 0.6 : 0.1); // TODO: arbitrary constant
Entity.ModifyAngularDamping(0.5); // TODO: arbitrary constant
// Ensure we're active if flying!
Entity.ActivityInformation.Activate();
}
public override void ExclusiveUpdate()
{
if (Plane.Driver == null) // TODO: Engine on/off rather than driver check
{
return; // Don't fly when there's nobody driving this!
}
// TODO: Special case for motion on land: only push forward if FORWARD key is pressed? Or maybe apply that rule in general?
// Collect the plane's relative vectors
Vector3 forward = BEPUutilities.Quaternion.Transform(Vector3.UnitY, Entity.Orientation);
Vector3 side = BEPUutilities.Quaternion.Transform(Vector3.UnitX, Entity.Orientation);
Vector3 up = BEPUutilities.Quaternion.Transform(Vector3.UnitZ, Entity.Orientation);
// Engines!
if (Plane.FastOrSlow >= 0.0)
{
// TODO: Controls raise/lower engine thrust rather than continual direct control
Vector3 force = forward * (Plane.RegularStrength + Plane.FastStrength * Plane.FastOrSlow) * Delta;
entity.ApplyLinearImpulse(ref force);
}
// TODO: For very low forward velocities, turn weaker
double dotforw = Vector3.Dot(entity.LinearVelocity, forward);
double mval = 2.0 * (1.0 / Math.Max(1.0, entity.LinearVelocity.Length()));
double rot_x = -Plane.ForwBack * Plane.StrPitch * Delta * dotforw * mval;
double rot_y = Plane.RightLeft * dotforw * Plane.StrRoll * Delta * mval;
double rot_z = -((Plane.IRight ? 1 : 0) + (Plane.ILeft ? -1 : 0)) * dotforw * Plane.StrYaw * Delta * mval;
entity.AngularVelocity += BEPUutilities.Quaternion.Transform(new Vector3(rot_x, rot_y, rot_z), entity.Orientation);
double vellen = entity.LinearVelocity.Length();
Vector3 newVel = forward * vellen;
double forwVel = Vector3.Dot(entity.LinearVelocity, forward);
double root = Math.Sqrt(Math.Sign(forwVel) * forwVel);
entity.LinearVelocity += (newVel - entity.LinearVelocity) * MathHelper.Clamp(Delta, 0.01, 0.3) * Math.Min(2.0, root * Plane.ForwardHelper);
// Apply air drag
Entity.ModifyLinearDamping(Plane.FastOrSlow < 0.0 ? 0.5 : 0.1); // TODO: arbitrary constants
Entity.ModifyAngularDamping(0.995); // TODO: arbitrary constant
// Ensure we're active if flying!
Entity.ActivityInformation.Activate();
}
public override void ExclusiveUpdate()
{
if (Helicopter.DriverSeat.Sitter == null)
{
return; // Don't fly when there's nobody driving this!
}
// Collect the helicopter's relative "up" vector
Vector3 up = Quaternion.Transform(Vector3.UnitZ, Entity.Orientation);
// Apply the amount of force necessary to counteract downward force, within a limit.
// POTENTIAL: Adjust according to orientation?
double uspeed = Math.Min(Helicopter.LiftStrength, -(Entity.LinearVelocity.Z + Entity.Space.ForceUpdater.Gravity.Z) * Entity.Mass);
if (uspeed < 0f)
{
uspeed += (uspeed - Helicopter.FallStrength) * Helicopter.SprintOrWalk;
}
else
{
uspeed += (Helicopter.LiftStrength - uspeed) * Helicopter.SprintOrWalk;
}
Vector3 upvel = up * uspeed * Delta;
Entity.ApplyLinearImpulse(ref upvel);
// Rotate slightly to move in a direction.
// At the same time, fight against existing rotation.
Vector3 VecUp = new Vector3(Helicopter.RightLeft * 0.2f * Helicopter.TiltMod, Helicopter.ForwBack * -0.2f * Helicopter.TiltMod, 1);
// TODO: Simplify yawrel calculation.
double tyaw = (double)(Utilities.MatrixToAngles(Matrix.CreateFromQuaternion(Entity.Orientation)).Z *Utilities.PI180);
Quaternion yawrel = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, tyaw);
VecUp = Quaternion.Transform(VecUp, yawrel);
VecUp.Y = -VecUp.Y;
VecUp.Normalize();
Vector3 axis = Vector3.Cross(VecUp, up);
double len = axis.Length();
if (len > 0)
{
axis /= len;
double angle = (double)Math.Asin(len);
if (!double.IsNaN(angle))
{
double avel = Vector3.Dot(Entity.AngularVelocity, axis);
Vector3 torque = axis * ((-angle) - 0.3f * avel);
torque *= Entity.Mass * Delta * 30;
Entity.ApplyAngularImpulse(ref torque);
}
}
// Spin in place
double rotation = (Helicopter.IRight ? -1f : 0f) + (Helicopter.ILeft ? 1f : 0f);
if (rotation * rotation > 0f)
{
Vector3 rot = new Vector3(0, 0, rotation * 15f * Delta * Entity.Mass);
Entity.ApplyAngularImpulse(ref rot);
}
// Apply air drag
Entity.ModifyLinearDamping(0.3f); // TODO: arbitrary constant
Entity.ModifyAngularDamping(0.6f); // TODO: arbitrary constant
// Ensure we're active if flying!
Entity.ActivityInformation.Activate();
}