protected override void OnTick()
{
base.OnTick();
if (firstWay == true)
{
ActivateWayMovement();
}
UpdateGeneralTask();
CalculateThings();
chassisBody = PhysicsModel.GetBody("main");
if (chassisBody == null)
{
Log.Error("Emrah Helli: \"main\" chassisBody dose not exists.");
return;
}
float diff = Position.Z - flyHeight;
float force = -diff - chassisBody.LinearVelocity.Z;
MathFunctions.Clamp(ref force, -10, 10);
chassisBody.AddForce(ForceType.GlobalAtLocalPos, TickDelta,
new Vec3(0, 0, force * 3) * chassisBody.Mass, new Vec3(0, 0, 1));
chassisBody.AngularDamping = 1;
this.flyHeight = TaskPosition.Z;
float ZA = ZADiffAngle * 4;
if (ZA < 20 && ZA > -20)
{
chassisBody.AngularVelocity = new Vec3
(chassisBody.AngularVelocity.X, chassisBody.AngularVelocity.Y, ZA);
}
else if (ZA > 20)
{
chassisBody.AngularVelocity = new Vec3
(chassisBody.AngularVelocity.X, chassisBody.AngularVelocity.Y, -2);
}
else if (ZA < -20)
{
chassisBody.AngularVelocity = new Vec3
(chassisBody.AngularVelocity.X, chassisBody.AngularVelocity.Y, 2);
}
chassisBody.AddForce(ForceType.LocalAtLocalPos, TickDelta, new Vec3(Velocity * chassisBody.Mass, 0, 0), new Vec3(-1, 0, 0));
chassisBody.LinearDamping = 1;
//check outside Map position
Bounds checkBounds = Map.Instance.InitialCollisionBounds;
checkBounds.Expand(new Vec3(300, 300, 10000));
if (!checkBounds.IsContainsPoint(Position))
{
SetDeleted();
}
}
private void DoForce(Body otherbody, Body thisbody)
{
float velocity = 0;
//if(MaxVelocity <= Velocity)
//if(MaxVelocity <= Velocity) //)this.GroundRelativeVelocity.Length())
//{
velocity = this.GroundRelativeVelocity.Length() + 1000f; //(speedpersecpersec)
//}
//else
//{
// if (velocity >= MaxVelocity)
// velocity = MaxVelocity;
// else if (Velocity < 1)
// {
// velocity = 0f;
// }
//}
Vec3 vector = otherbody.Position - thisbody.Position;
//vector.Z += 3f;
vector.Normalize();
otherbody.AddForce(ForceType.GlobalAtLocalPos, TickDelta, vector * (velocity * 2), otherbody.Position);
//thisbody.AddForce(ForceType.GlobalAtGlobalPos, TickDelta, -vector * velocity, thisbody.Position);
}
void Update()
{
Body body = Utilities.GetBodyFromPosition(Input.mousePosition);
if (body != null || selectedBody != null)
{
if (selectedBody)
{
body = selectedBody;
}
spriteRenderer.enabled = true;
transform.position = body.position;
transform.rotation = Quaternion.AngleAxis(Time.time * 90, Vector3.forward);
transform.localScale = Vector2.one * body.shape.size * 1.2f;
}
else
{
spriteRenderer.enabled = false;
}
if (selectedBody)
{
Vector2 pos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
if (selectedBody.type == Body.eType.Static)
{
selectedBody.position = pos;
}
if (selectedBody.type == Body.eType.Kinematic || selectedBody.type == Body.eType.Dynamic)
{
Vector2 force = Utilities.SpringForce(pos, selectedBody.position, 0, 5);
selectedBody.AddForce(force, Body.eForceMode.Velocity);
}
}
}
public void Move()
{
x = Mathf.Cos(Time.deltaTime);
y = Mathf.Sin(Time.deltaTime);
Body.AddForce(Vector2.up * new Vector2(x, y) * Time.deltaTime);
}
public static void Resolve(List <Contact> contacts)
{
foreach (var contact in contacts)
{
Body bodyA = contact.bodyA;
Body bodyB = contact.bodyB;
//separation
float TIM = bodyA.inverseMass + bodyB.inverseMass; //total inverse mass
Vector2 separation = (contact.normal * contact.depth) / TIM;
contact.bodyA.position += separation * bodyA.inverseMass;
contact.bodyB.position -= separation * bodyB.inverseMass;
//Collision impulse
Vector2 relativeVelocity = bodyA.velocity - bodyB.velocity;
float normalVelocity = Vector2.Dot(relativeVelocity, contact.normal);
if (normalVelocity > 0)
{
continue;
}
float restitution = (bodyA.restitution + bodyB.restitution) * 0.5f;
float impulseMagnitude = -(1.0f + restitution) * normalVelocity / TIM;
Vector2 impulse = contact.normal * impulseMagnitude;
bodyA.AddForce(bodyA.velocity + (impulse * bodyA.inverseMass), Body.eForceMode.Velocity);
bodyB.AddForce(bodyB.velocity - (impulse * bodyB.inverseMass), Body.eForceMode.Velocity);
}
}
private void FixedUpdate()
{
if (Grounded && Input.GetAxisRaw("Jump") > 0)
{
Body.AddForce(transform.up * JumpStrength, ForceMode.VelocityChange);
}
}
// Update is called once per frame
void Update()
{
if (Input.GetKey(KeyCode.Z))
{
transform.Translate(Vector3.forward * LinearVelocity * Time.deltaTime);
}
if (Input.GetKey(KeyCode.S))
{
transform.Translate(Vector3.back * LinearVelocity * Time.deltaTime);
}
if (Input.GetKey(KeyCode.Q))
{
transform.Rotate(Vector3.up, -AngularVelocity * Time.deltaTime);
}
if (Input.GetKey(KeyCode.D))
{
transform.Rotate(Vector3.up, AngularVelocity * Time.deltaTime);
}
if (Input.GetKey(KeyCode.Space) && canJump)
{
canJump = false;
Invoke("ReuseJump", 2.0f);
Body.AddForce(Vector3.up * 10.0f, ForceMode.Impulse);
}
if (HbScript.Health <= 0.0f)
{
SceneManager.LoadScene(0);
}
}
public void Jump()
{
if (!IsJumping && IsGrounded)
{
Body.AddForce(Vector2.up * jumpForce, ForceMode2D.Force);
}
}
/// <summary>Overridden from <see cref="Engine.EntitySystem.Entity.OnTick()"/>.</summary>
protected override void OnTick()
{
CalculateRelativeVelocity();
base.OnTick();
TickContusionTime();
//if (Damager_Ball_Player != null && Damager_Ball_Player.LastStepLinearVelocity != null)
// RelativeVelocity += Damager_Ball_Player.LastStepLinearVelocity / skilllevel;
//else
// RelativeVelocity = currentvelocity + (forward(strength)) + (right(strength));
float speed = GroundRelativeVelocity.Length();
if (speed >= 1)
{
speed = 1f;
}
if (Damager_Ball_Player != null)
{
Damager_Ball_Player.AddForce(ForceType.Global, TickDelta, new Vec3(0, 0, speed *= PhysicsGravity), Position);
}
TickMovement();
if (Intellect != null)
{
TickIntellect(Intellect);
}
//UpdateRotation();
//TickJump(false);
//if (IsOnGround())
// onGroundTime += TickDelta;
//else
// onGroundTime = 0;
//if (forceMoveVectorTimer != 0)
// forceMoveVectorTimer--;
//if (turret != null)
// turretTimer += TickDelta; //can add remove after 10 seconds
}
protected override void MovementPattern()
{
Body.velocity = new Vector2(1 * Direction, Body.velocity.y);
if (Body.velocity.y == 0)
{
Body.AddForce(new Vector2(0, 300));
}
}
protected override void FixedUpdate()
{
base.FixedUpdate();
Body.AddForce(m_Input.y * transform.up * m_ThrusterSpeed);
Body.angularVelocity = m_Input.x * m_RotationSpeed;
// Body.AddTorque(m_Input.x * m_RotationSpeed);
}
private void OnDamaged()
{
Body.AddForce(Vector2.up * (JumpForce * 2));
if (GameoverOverlay == null)
{
GameoverOverlay = Instantiate(GameoverOverlayPrefab);
}
}
private void FixedUpdate()
{
if (!Player.Status.CanInteract)
{
return;
}
Body.AddForce(GetMovementInput() * (movementForce * MovementMultiplicator));
}
private void Move(Vector3 direction, bool doNormalize)
{
if (doNormalize == true)
{
NormalizeDirection(ref direction);
}
direction *= MaxImpulse;
Body.AddForce(direction, ForceMode.VelocityChange);
}
public static void ApplyForce(List <Body> bodies, float G)
{
for (int i = 0; i < bodies.Count; i++)
{
for (int j = i + 1; j < bodies.Count; j++)
{
Body bodyA = bodies[i];
Body bodyB = bodies[j];
Vector2 direction = bodyA.Position - bodyB.Position;
float sqrDistance = Mathf.Max(direction.magnitude * direction.magnitude, 1);
float force = G * (bodyA.Mass * bodyB.Mass) / sqrDistance;
bodyA.AddForce(-direction.normalized, Body.eForceMode.Force);
bodyA.AddForce(direction.normalized, Body.eForceMode.Force);
}
}
}
public void Update()
{
//老版 物理碰撞
if (isColliderStay == true && isColliderMethodEnter == false)
{
isColliderStay = false;
OnColliderExit?.Invoke(null);
}
//Log.Trace("物理碰撞 持续数量" + contactActors.Count);
//新版物理碰撞
if (contactActors.Count > 0)
{
foreach (var i in contactActors)
{
//持续伤害
OnColliderStay?.Invoke(i);
//Log.Trace("物理碰撞 持续" + i);
}
}
//附上值
angleVelocity_copy = m_body.AngularVelocity;
LinearVelocity_copy = m_body.LinearVelocity;
Torque_copy = m_body.GetTorque();
Damping_copy = m_body.LinearDamping;
isColliderMethodEnter = false;
//Force_copy = m_body.GetForce();
//if(Force_copy.LengthSquared() > 1000000)
//{
// Force_copy.Normalize();
// Force_copy = Force_copy * 31.62277660168379f;
//}
Force_copy_copy = Force_copy;
m_body.AddForce(Force_copy);
//Log.Trace("已经添加力量:" + m_body.GetForce()+" "+Force_copy);
//Log.Trace("Update Mass" + m_body.Mass);
Force_copy = Vector2.Zero;
TickFlag();
}
void Jump(float _power)//Прыжок
{
Body.AddForce((transform.forward * 0.5f + Vector3.up) * _power, ForceMode.Impulse);
Power_jump = 0;
Interface_player.Instance.Progress_bar_jump(0);
Anim.SetBool("Jump", true);
Anim.SetFloat("Jump_power", 0);
Sound_control_.Sound_play_1();
}
protected override void MovementPattern()
{
if (TweakOut)
{
float randomX = UnityEngine.Random.Range(-29f, 29f);
float randomY = UnityEngine.Random.Range(-120f, 120f);
Body.AddForce(new Vector2(randomX * Speed, randomY * Speed));
TweakOut = false;
}
}
/// <summary>
/// This will whack the body by the explosion.
/// NOTE: Only call from within the Body.ApplyForceAndTorque callback
/// </summary>
public void ApplyForceToBody(Body body)
{
//TODO: This needs to add some rotation. Otherwise it just looks odd (everything is too even)
Vector3D explosiveForce = GetForceAtPoint(body.Position);
if (explosiveForce.X != 0d || explosiveForce.Y != 0d || explosiveForce.Z != 0d)
{
body.AddForce(explosiveForce);
}
}
protected override void MovementPattern()
{
if (Body.velocity.y < 0)
{
Body.AddTorque((float)Speed / 2 * Direction);
}
else if (Body.velocity.y == 0)
{
Body.AddForce(new Vector2(0, 100));
}
}
/// <summary>
/// 追向目标
/// </summary>
/// <param name="body"></param>
/// <param name="targetPoint"></param>
/// <returns></returns>
public static bool FollowTarget(this Body body, Vector2 targetPoint, float force, float angularVelocityProc)
{
var cos = FowardToTarget(body, targetPoint, angularVelocityProc);
if (cos > 0.9f)
{
body.AddForce(force * body.GetForward());
}
return(cos > 0.9f);
}
/// <summary>Overridden from <see cref="Engine.EntitySystem.Entity.OnTick()"/>.</summary>
protected override void OnTick()
{
base.OnTick();
//!!!!!!this class not implemented
//!!!!! this is a fake
float mass = 0;
foreach (Body b in PhysicsModel.Bodies)
{
mass += b.Mass;
}
Body body = PhysicsModel.Bodies[0];
body.AngularVelocity = Vec3.Zero;
body.LinearVelocity = Rotation * new Vec3(Type.Velocity, 0, body.LinearVelocity.Z);
//anti gravity
body.AddForce(ForceType.GlobalAtLocalPos, TickDelta,
-PhysicsWorld.Instance.Gravity * mass, Vec3.Zero);
float diff = Position.Z - flyHeight;
float force = -diff - body.LinearVelocity.Z;
MathFunctions.Clamp(ref force, -10, 10);
body.AddForce(ForceType.GlobalAtLocalPos, TickDelta,
new Vec3(0, 0, force) * mass, Vec3.Zero);
//check outside Map position
Bounds checkBounds = Map.Instance.InitialCollisionBounds;
checkBounds.Expand(new Vec3(300, 300, 10000));
if (!checkBounds.IsContainsPoint(Position))
{
SetDeleted();
}
}
public void FixedUpdate()
{
if (Jump)
{
Body.bodyType = RigidbodyType2D.Dynamic;
Body.AddForce(new Vector2(0f, Vector2.up.y * ySpeed));
}
else if (!Jump && IsGrounded())
{
Body.bodyType = RigidbodyType2D.Kinematic;
}
}
public void Update()
{
if (Input.GetKey(KeyCode.A) || Input.GetKey(KeyCode.LeftArrow))
{
Body.AddForce(LeftDirection * xSpeed * Multiplyer * Time.deltaTime);
}
else if (Input.GetKey(KeyCode.D) || Input.GetKey(KeyCode.RightArrow))
{
Body.AddForce(RightDirection * xSpeed * Multiplyer * Time.deltaTime);
}
Jump = Input.GetKey(KeyCode.Space) ? true : false;
}
protected void startJumping()
{
if (!_isJumping && isGrounded())
{
_isJumping = true;
Velocity = new Vector3(Velocity.x, jumpStrength, 0);
}
if (_isJumping)
{
Body.AddForce(Vector2.up * jumpStrength * Time.deltaTime * 50);
}
}
public void ApplyForce(Body body, float TickDelta)
{
Vec3 originalBoneDerivedPosition = bone.Parent.Position + bone.Parent.Rotation * originalBonePosition;
Quat originalBoneDerivedRotation = bone.Parent.Rotation * originalBoneRotation;
Vec3 pos = body.Position + body.Rotation * originalBoneDerivedPosition;
Vec3 dir = body.Rotation * originalBoneDerivedRotation * new Vec3(size, 0, 0);
Ray ray = new Ray(pos, dir);
RayCastResult res = PhysicsWorld.Instance.RayCast(ray, (int)ContactGroup.CastOnlyContact);
if (res.Distance != 0)
{
// Stiffness
float forceStiffness = 0, forceDamping = 0;
forceStiffness = (size - res.Distance) * stiffness;
// Damping
if (lastPos != -1.0f)
{
float speed = res.Distance - lastPos;
forceDamping = -speed * damping;
}
lastPos = res.Distance;
//EngineConsole.Instance.Print("force(" + bone.Name + ")=" + forceStiffness.ToString() + ", " + forceDamping.ToString());
body.AddForce(ForceType.LocalAtLocalPos, TickDelta, new Vec3(0, 0, forceStiffness + forceDamping), originalBoneDerivedPosition);
// Lateral Friction
Vec3 speedAtWheel = body.LinearVelocity + Vec3.Cross(body.AngularVelocity, body.Rotation * bone.GetDerivedPosition());
float lateralForce = -Vec3.Dot(speedAtWheel, body.Rotation * Vec3.XAxis) * 0.3f;
body.AddForce(ForceType.LocalAtLocalPos, TickDelta, new Vec3(lateralForce, 0, 0), bone.GetDerivedPosition());
// Longitudinal Friction
float longitudinalForce = -Vec3.Dot(speedAtWheel, body.Rotation * Vec3.YAxis) * 0.001f;
body.AddForce(ForceType.LocalAtLocalPos, TickDelta, new Vec3(0, longitudinalForce, 0), bone.GetDerivedPosition());
bone.Position = originalBonePosition - new Vec3(0, 0, res.Distance);
float wheelRadius = 0.0439f;
mesh.PositionOffset = originalBoneDerivedPosition - new Vec3(0, 0, res.Distance - wheelRadius);
}
}
protected override void MovementPattern()
{
Body.AddForce(new Vector2(horizontalMotion * Speed, Body.velocity.y), ForceMode2D.Force);
if (Body.velocity.x < Speed / 2 * -1)
{
Body.velocity = new Vector2(Speed / 2 * -1, Body.velocity.y);
}
if (Body.velocity.x > Speed / 2)
{
Body.velocity = new Vector2(Speed / 2, Body.velocity.y);
}
}
public void ForceCallback(Body body, float timestep, int threadindex)
{
var data = body.UserData as PhysicsControlData;
if (data != null)
{
body.AddForce(data.Force * body.Mass);
data.Force = Vector3.ZERO;
body.AddTorque(data.Torque * body.Mass);
data.Torque = Vector3.ZERO;
}
if (body.Position.y < -10) body.AddBouyancyForce(1030, 0.0020F, 0.0020F, Vector3.NEGATIVE_UNIT_Y * 9.8f, Plane );
}
void HandleWallJump()
{
if (playerController.PlayerSkillController.SkillDict[SkillType.WallJump].activeness)
{
if (IsFacingRight && HorizontalAxis < 0f)
{
Body.AddForce(Vector2.one * wallJumpForce, ForceMode2D.Impulse);
}
else if (!IsFacingRight && HorizontalAxis > 0f)
{
Body.AddForce(Vector2.one * wallJumpForce, ForceMode2D.Impulse);
}
}
}
private void GetInputs()
{
if (Input.GetKey(KeyCode.D))
{
XForce += Acceleration * Body.mass * Time.deltaTime;
}
if (Input.GetKey(KeyCode.A))
{
XForce -= Acceleration * Body.mass * Time.deltaTime;
}
if (Input.GetKeyDown(KeyCode.W) && IsGrounded())
{
Body.AddForce(new Vector2(0, JumpAcceleration * Body.mass), ForceMode2D.Impulse);
}
}
public void HandleJump()
{
if (IsGrounded)
{
playerController.PlayerAnimationController.IsJumping = true;
Body.AddForce(jumpVector);
playerController.PlayerAttackController.ResetToDefaults();
AudioManager.Instance.Play(MyAudioType.Player_Jump);
}
if (IsWallSliding)
{
AudioManager.Instance.Play(MyAudioType.Player_Jump);
HandleWallJump();
}
}
private void FixedUpdate()
{
// Set kinematic state.
bool kinematic = Override;
if (kinematic != Body.isKinematic)
{
Body.isKinematic = kinematic;
}
// Go no further if kinematic (animation / cutscene control)
if (kinematic)
{
FixedAnimationUpdate();
return;
}
// Add custom gravity.
Body.AddForce(Physics.gravity * GravityScale * Body.mass);
// Add flat input.
Vector3 localFlat = new Vector3(flatInput.x, 0f, flatInput.y);
Vector3 worldFlat = transform.TransformVector(localFlat);
// Add flat (WASD) movement force.
Body.AddForce(worldFlat * (IsRunning ? AccelerateForceRun : AccelerateForce));
// Counteract movement to reduce sliding.
Vector3 dragVel = -Body.velocity;
dragVel.y = 0f;
Body.AddForce(dragVel * DecelerateCoefficient);
// Jump!
if (jump)
{
jump = false;
Body.AddForce(-Physics.gravity.normalized * JumpVel, ForceMode.VelocityChange);
if (OnJump != null)
{
OnJump.Invoke();
}
}
IsGrounded = false;
}
public void TickAndApplyForces(Body body, float TickDelta)
{
//mainBody.AddForce(ForceType.LocalAtLocalPos, TickDelta, new Vec3(0, 0, intellect.controlThrust.Value), new Vec3(0, 0, 0));
//PhysicsWorld.Instance.CreateFixedJoint(body,)
/*body.LinearVelocity = new Vec3(0, 10, -4);
body.AngularVelocity = Vec3.Zero;
body.Rotation = Quat.Identity;*/
Vec3 speed = body.LinearVelocity;
Vec3 omega = body.AngularVelocity;
// Apply Thrust
//EngineConsole.Instance.Print("speed = " + speed.ToString());
EngineConsole.Instance.Print("thrustControl = " + awesomeAircraft.controlThrust.Value.ToString());
float airspeed_scale = 1.0f - speed.Length() / handling.speedMax;
float thrustPower = awesomeAircraft.controlThrust.Value * handling.accelMax * airspeed_scale;
body.AddForce(ForceType.LocalAtLocalPos, TickDelta, thrustPower * Vec3.YAxis, new Vec3(0, 5, 0));
if (Utils.LogOn)
totalTime += 0.02f;
//Utils.Write(totalTime.ToString() + "," + thrustPower.ToString() + ",,");
//Utils.Write(Utils.VectToString(body.Position-Utils.LogPosInitial) + ",," + body.Rotation.ToString() + ",,");
//Utils.Write(Utils.VectToString(speed) + ",," + Utils.VectToString(omega) + ",,");
int i = 0;
foreach (Aerofoil aerofoil in aerofoils)
{
Vec3 speedAtAerofoil = speed + Vec3.Cross(omega, body.Rotation * aerofoil.position);
float density = 5;
Vec3 liftL, dragL, forceappL, pitch_forceL, pitch_forceappL;
Mat3 M3Inv = body.Rotation.ToMat3();
M3Inv.Inverse();
aerofoil.get_lift_and_drag(
this,
-M3Inv * speedAtAerofoil,
out liftL, out dragL, out forceappL, out pitch_forceL, out pitch_forceappL,
density,
i,
awesomeAircraft.axisAileron.Value,
awesomeAircraft.axisElevator.Value,
awesomeAircraft.axisRudder.Value
);
float seuil = 100;
if (liftL.Length() > param.CapForce) liftL *= param.CapForce / liftL.Length();
if (dragL.Length() > param.CapForce) dragL *= param.CapForce / dragL.Length();
if (pitch_forceL.Length() > param.CapForce) pitch_forceL *= param.CapForce / pitch_forceL.Length();
body.AddForce(ForceType.LocalAtLocalPos, TickDelta, liftL, forceappL);
body.AddForce(ForceType.LocalAtLocalPos, TickDelta, dragL, forceappL);
body.AddForce(ForceType.LocalAtLocalPos, TickDelta, pitch_forceL, pitch_forceappL);
/* Utils.Write(
Utils.VectToString(forceappL) + ",," +
Utils.VectToString(liftL) + ",," +
Utils.VectToString(dragL) + ",," +
Utils.VectToString(pitch_forceappL) + ",," +
Utils.VectToString(pitch_forceL) + ",,"
);*/
Utils.Write(liftL.Length().ToString() + ',' + dragL.Length().ToString() + ',' + pitch_forceL.Length().ToString() + ",,");
i++;
}
Utils.WriteLine("");
}
/// <summary>
/// This will whack the body by the explosion.
/// NOTE: Only call from within the Body.ApplyForceAndTorque callback
/// </summary>
public void ApplyForceToBody(Body body)
{
//TODO: This needs to add some rotation. Otherwise it just looks odd (everything is too even)
Vector3D explosiveForce = GetForceAtPoint(body.Position);
if (explosiveForce.X != 0d || explosiveForce.Y != 0d || explosiveForce.Z != 0d)
{
body.AddForce(explosiveForce);
}
}
private void FixPositionsAndVelocities_ORIG(Body body)
{
const double RETURNVELOCITY = 0d;
double ZACCEL = 10;
// Get the center of mass in world coords
Point3D position = body.Position;
if (_boundryMin != null) // if min is non null, _boundryMax is also non null. I don't want to waste the processor checking that each frame
{
#region Stay inside bounding box
// Set the velocity going away to zero, apply a force
//NOTE: Position is the center of mass, so if the position is past the boundry, that means the body was travelling too fast for newton to bounce
//it back (there is a wall at the boundry position). So this logic is an extra helper
Vector3D velocity = body.Velocity; // already in world coords
bool modifiedVelocity = false;
#region X
if (position.X < _boundryMin.Value.X)
{
if (velocity.X < 0)
{
velocity.X = RETURNVELOCITY;
modifiedVelocity = true;
}
body.AddForce(new Vector3D(body.Mass * ZACCEL, 0, 0)); // Apply a constant acceleration until it hits zero
}
else if (position.X > _boundryMax.Value.X)
{
if (velocity.X > 0)
{
velocity.X = -RETURNVELOCITY;
modifiedVelocity = true;
}
body.AddForce(new Vector3D(body.Mass * ZACCEL * -1, 0, 0)); // Apply a constant acceleration until it hits zero
}
#endregion
#region Y
if (position.Y < _boundryMin.Value.Y)
{
if (velocity.Y < 0)
{
velocity.Y = RETURNVELOCITY;
modifiedVelocity = true;
}
body.AddForce(new Vector3D(0, body.Mass * ZACCEL, 0)); // Apply a constant acceleration until it hits zero
}
else if (position.Y > _boundryMax.Value.Y)
{
if (velocity.Y > 0)
{
velocity.Y = -RETURNVELOCITY;
modifiedVelocity = true;
}
body.AddForce(new Vector3D(0, body.Mass * ZACCEL * -1, 0)); // Apply a constant acceleration until it hits zero
}
#endregion
#region Z
if (position.Z < _boundryMin.Value.Z)
{
if (velocity.Z < 0)
{
velocity.Z = RETURNVELOCITY;
modifiedVelocity = true;
}
body.AddForce(new Vector3D(0, 0, body.Mass * ZACCEL)); // Apply a constant acceleration until it hits zero
}
else if (position.Z > _boundryMax.Value.Z)
{
if (velocity.Z > 0)
{
velocity.Z = -RETURNVELOCITY;
modifiedVelocity = true;
}
body.AddForce(new Vector3D(0, 0, body.Mass * ZACCEL * -1)); // Apply a constant acceleration until it hits zero
}
#endregion
if (modifiedVelocity)
{
body.Velocity = velocity; // already in world coords
}
#endregion
}
#region Force2D
//if (_shouldForce2D)
//{
// if (!body.Override2DEnforcement_Rotation)
// {
// #region Angular Pos/Vel
// //body.NewtonBody.AddTorque(new Vector3D(.01, 0, 0)); // pulls back (front comes up, rear goes down)
// //body.NewtonBody.AddTorque(new Vector3D(0, .1, 0)); // creates a roll to the right (left side goes up, right side goes down)
// Vector3D angularVelocity = body.Omega; // Omega seems to be angular velocity
// bool modifiedAngularVelocity = false;
// //const double RESTORETORQUE = 15d; // TODO: look at the inertia tensor for the axis I want to apply torque to, and do and calculate to make a constant accel
// const double RESTORETORQUE = .25d; // TODO: look at the inertia tensor for the axis I want to apply torque to, and do and calculate to make a constant accel
// double massMatrixLength = body.MassMatrix.m_I.Length;
// double restoreTorqueX = RESTORETORQUE * body.MassMatrix.m_Mass * (1 / (body.MassMatrix.m_I.X / massMatrixLength));
// double restoreTorqueY = RESTORETORQUE * body.MassMatrix.m_Mass * (1 / (body.MassMatrix.m_I.Y / massMatrixLength));
// //double restoreTorqueX = RESTORETORQUE; // pulling values from the mass matrix seemed to cause the engine to corrupt. See if there's a problem casting that structure
// //double restoreTorqueY = RESTORETORQUE;
// //TODO: Dampen the angluar velocidy if the object is very close to zero and the angular speed is small. Currently, the object has
// // a very slight wobble indefinately
// #region X
// Vector3D fromVect = new Vector3D(1, 0, 0);
// Vector3D toVect = body.DirectionToWorld(fromVect);
// Vector3D axis;
// double radians;
// Math3D.GetRotation(out axis, out radians, fromVect, toVect);
// if ((axis.Y > 0 && radians > 0) || (axis.Y < 0 && radians < 0))
// {
// if (angularVelocity.Y > 0)
// {
// angularVelocity.Y = 0;
// modifiedAngularVelocity = true;
// }
// //body.NewtonBody.AddTorque(new Vector3D(0, -RESTORETORQUE, 0));
// //body.NewtonBody.AddTorque(body.DirectionToWorld(new Vector3D(0, -RESTORETORQUE, 0))); // apply torque seems to want world coords
// body.NewtonBody.AddTorque(body.DirectionToWorld(new Vector3D(0, -restoreTorqueY * Math.Abs(radians), 0)));
// }
// else if ((axis.Y > 0 && radians < 0) || (axis.Y < 0 && radians > 0))
// {
// if (angularVelocity.Y < 0)
// {
// angularVelocity.Y = 0;
// modifiedAngularVelocity = true;
// }
// //body.NewtonBody.AddTorque(new Vector3D(0, RESTORETORQUE, 0));
// body.NewtonBody.AddTorque(body.DirectionToWorld(new Vector3D(0, restoreTorqueY * Math.Abs(radians), 0)));
// }
// #endregion
// #region Y
// fromVect = new Vector3D(0, 1, 0);
// toVect = body.DirectionToWorld(fromVect);
// Math3D.GetRotation(out axis, out radians, fromVect, toVect);
// if ((axis.X > 0 && radians > 0) || (axis.X < 0 && radians < 0))
// {
// if (angularVelocity.X > 0)
// {
// angularVelocity.X = 0;
// modifiedAngularVelocity = true;
// }
// //body.NewtonBody.AddTorque(new Vector3D(-RESTORETORQUE, 0, 0));
// body.NewtonBody.AddTorque(body.DirectionToWorld(new Vector3D(-restoreTorqueX * Math.Abs(radians), 0, 0)));
// }
// else if ((axis.X > 0 && radians < 0) || (axis.X < 0 && radians > 0))
// {
// if (angularVelocity.X < 0)
// {
// angularVelocity.X = 0;
// modifiedAngularVelocity = true;
// }
// //body.NewtonBody.AddTorque(new Vector3D(RESTORETORQUE, 0, 0));
// body.NewtonBody.AddTorque(body.DirectionToWorld(new Vector3D(restoreTorqueX * Math.Abs(radians), 0, 0)));
// }
// #endregion
// if (modifiedAngularVelocity)
// {
// body.Omega = angularVelocity;
// }
// #endregion
// }
// if (!body.Override2DEnforcement_Translation)
// {
// #region Z Pos/Vel
// //Vector3D velocityWorld = body.DirectionToWorld(body.Velocity);
// Vector3D velocityWorld = body.Velocity; // already in world coords
// bool modifiedVelocity = false;
// if (position.Z < 0)
// {
// if (velocityWorld.Z < 0)
// {
// velocityWorld.Z = 0;
// modifiedVelocity = true;
// }
// body.NewtonBody.AddForce(new Vector3D(0, 0, body.Mass * ZACCEL)); // Apply a constant acceleration until it hits zero
// }
// else if (position.Z > 0)
// {
// if (velocityWorld.Z > 0)
// {
// velocityWorld.Z = 0;
// modifiedVelocity = true;
// }
// body.NewtonBody.AddForce(new Vector3D(0, 0, body.Mass * ZACCEL * -1d)); // Apply a constant acceleration until it hits zero
// }
// if (modifiedVelocity)
// {
// //body.Velocity = body.DirectionFromWorld(velocityWorld);
// body.Velocity = velocityWorld;
// }
// #endregion
// }
//}
#endregion
}
protected override void OnTick()
{
base.OnTick();
if (firstWay == true)
{
ActivateWayMovement();
}
UpdateGeneralTask();
CalculateThings();
chassisBody = PhysicsModel.GetBody("main");
if (chassisBody == null)
{
Log.Error("Emrah Helli: \"main\" chassisBody dose not exists.");
return;
}
float diff = Position.Z - flyHeight;
float force = -diff - chassisBody.LinearVelocity.Z;
MathFunctions.Clamp(ref force, -10, 10);
chassisBody.AddForce(ForceType.GlobalAtLocalPos, TickDelta,
new Vec3(0, 0, force * 3) * chassisBody.Mass, new Vec3(0, 0, 1));
chassisBody.AngularDamping = 1;
this.flyHeight = TaskPosition.Z;
float ZA = ZADiffAngle * 4;
if (ZA < 20 && ZA > -20)
{
chassisBody.AngularVelocity = new Vec3
(chassisBody.AngularVelocity.X, chassisBody.AngularVelocity.Y, ZA);
}
else if (ZA > 20)
{
chassisBody.AngularVelocity = new Vec3
(chassisBody.AngularVelocity.X, chassisBody.AngularVelocity.Y, -2);
}
else if (ZA < -20)
{
chassisBody.AngularVelocity = new Vec3
(chassisBody.AngularVelocity.X, chassisBody.AngularVelocity.Y, 2);
}
chassisBody.AddForce(ForceType.LocalAtLocalPos, TickDelta, new Vec3(Velocity * chassisBody.Mass, 0, 0), new Vec3(-1, 0, 0));
chassisBody.LinearDamping = 1;
//check outside Map position
Bounds checkBounds = Map.Instance.InitialCollisionBounds;
checkBounds.Expand(new Vec3(300, 300, 10000));
if (!checkBounds.IsContainsPoint(Position))
SetDeleted();
}
private void DoForce(Body otherbody, Body thisbody)
{
float velocity = 0;
//if(MaxVelocity <= Velocity)
//if(MaxVelocity <= Velocity) //)this.GroundRelativeVelocity.Length())
//{
velocity = this.GroundRelativeVelocity.Length() + 1000f; //(speedpersecpersec)
//}
//else
//{
// if (velocity >= MaxVelocity)
// velocity = MaxVelocity;
// else if (Velocity < 1)
// {
// velocity = 0f;
// }
//}
Vec3 vector = otherbody.Position - thisbody.Position;
//vector.Z += 3f;
vector.Normalize();
otherbody.AddForce(ForceType.GlobalAtLocalPos, TickDelta, vector * (velocity * 2), otherbody.Position);
//thisbody.AddForce(ForceType.GlobalAtGlobalPos, TickDelta, -vector * velocity, thisbody.Position);
}
