private void CreateSubpartsConstraint(MyEntitySubpart subpart)
{
m_subpartsFixedData = new HkFixedConstraintData();
m_subpartsFixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
m_subpartsFixedData.SetInertiaStabilizationFactor(1);
var matAD = MatrixD.CreateWorld(Position * CubeGrid.GridSize + Vector3D.Transform(Vector3D.Transform(m_subpartsConstraintPos, WorldMatrix), CubeGrid.PositionComp.LocalMatrix), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
matAD.Translation = CubeGrid.Physics.WorldToCluster(matAD.Translation);
var matA = (Matrix)matAD;
var matB = subpart.PositionComp.LocalMatrix;
m_subpartsFixedData.SetInWorldSpace(ref matA, ref matB, ref matB);
//Dont dispose the fixed data or we wont have access to them
HkConstraintData constraintData = m_subpartsFixedData;
if (Sync.IsServer) // Breakable only on server
{
constraintData = new HkBreakableConstraintData(m_subpartsFixedData)
{
Threshold = BreakOffTreshold
};
}
m_subpartsConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, subpart.Physics.RigidBody, constraintData);
Debug.Assert(m_subpartsConstraint.RigidBodyA != null);
m_subpartsConstraint.WantRuntime = true;
}
public void Attach(MyPistonTop topBlock)
{
if (CubeGrid == topBlock.CubeGrid)
{
return;
}
Debug.Assert(topBlock != null, "Top block cannot be null!");
Debug.Assert(m_constraint == null, "Contraint already attached, call detach first!");
Debug.Assert(m_topBlockId.Value == topBlock.EntityId, "m_topBlockId must be set prior calling Attach!");
UpdateAnimation();
if (CubeGrid.Physics != null && CubeGrid.Physics.Enabled && topBlock.CubeGrid.Physics != null)
{
m_topBlock = topBlock;
m_topGrid = m_topBlock.CubeGrid;
var rotorBody = m_topGrid.Physics.RigidBody;
var matAD = MatrixD.CreateWorld(Vector3D.Transform(Vector3D.Transform(m_constraintBasePos, Subpart3.WorldMatrix), CubeGrid.PositionComp.WorldMatrixNormalizedInv), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
var matBD = MatrixD.CreateWorld(m_topBlock.Position * m_topBlock.CubeGrid.GridSize, m_topBlock.PositionComp.LocalMatrix.Forward, m_topBlock.PositionComp.LocalMatrix.Up);
var matA = (Matrix)matAD;
var matB = (Matrix)matBD;
m_fixedData = new HkFixedConstraintData();
m_fixedData.SetInertiaStabilizationFactor(10);
m_fixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
m_fixedData.SetInBodySpace(matA, matB, CubeGrid.Physics, m_topGrid.Physics);
var breakData = new HkBreakableConstraintData(m_fixedData);
//Dont dispose the fixed data or we wont have access to them
breakData.Threshold = BreakOffTreshold;
breakData.ReapplyVelocityOnBreak = true;
breakData.RemoveFromWorldOnBrake = false;
m_constraint = new HkConstraint(CubeGrid.Physics.RigidBody, rotorBody, breakData);
m_constraint.WantRuntime = true;
CubeGrid.Physics.AddConstraint(m_constraint);
if (!m_constraint.InWorld)
{
Debug.Fail("Constraint was not added to world");
CubeGrid.Physics.RemoveConstraint(m_constraint);
m_constraint.Dispose();
m_constraint = null;
m_fixedData.Dispose();
m_fixedData = null;
return;
}
m_constraint.Enabled = true;
m_topBlock.Attach(this);
m_topGrid.OnPhysicsChanged += CubeGrid_OnPhysicsChanged;
OnConstraintAdded(GridLinkTypeEnum.Physical, m_topGrid);
OnConstraintAdded(GridLinkTypeEnum.Logical, m_topGrid);
m_conveyorEndpoint.Attach(topBlock.ConveyorEndpoint as MyAttachableConveyorEndpoint);
UpdateText();
}
}
public void Attach(MyPistonTop topBlock, bool updateSync = false)
{
if (m_topBlock != null)
{
Detach();
}
if (CubeGrid.Physics == null || SafeConstraint != null)
{
return;
}
UpdateAnimation();
Debug.Assert(SafeConstraint == null);
if (CubeGrid.Physics.Enabled && topBlock != null)
{
m_topBlock = topBlock;
m_topBlockId = topBlock.EntityId;
if (updateSync)
{
SyncObject.AttachTop(m_topBlock);
}
m_topGrid = m_topBlock.CubeGrid;
var rotorBody = m_topGrid.Physics.RigidBody;
var matAD = MatrixD.CreateWorld(Vector3D.Transform(Vector3D.Transform(m_constraintBasePos, Subpart3.WorldMatrix), CubeGrid.PositionComp.WorldMatrixNormalizedInv), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
var matBD = MatrixD.CreateWorld(m_topBlock.Position * m_topBlock.CubeGrid.GridSize, m_topBlock.PositionComp.LocalMatrix.Forward, m_topBlock.PositionComp.LocalMatrix.Up);
var matA = (Matrix)matAD;
var matB = (Matrix)matBD;
m_fixedData = new HkFixedConstraintData();
m_fixedData.SetInertiaStabilizationFactor(10);
m_fixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
m_fixedData.SetInBodySpace(ref matA, ref matB);
var breakData = new HkBreakableConstraintData(m_fixedData);
//Dont dispose the fixed data or we wont have access to them
breakData.Threshold = BreakOffTreshold;
breakData.ReapplyVelocityOnBreak = true;
breakData.RemoveFromWorldOnBrake = false;
m_constraint = new HkConstraint(CubeGrid.Physics.RigidBody, rotorBody, breakData);
m_constraint.WantRuntime = true;
CubeGrid.Physics.AddConstraint(m_constraint);
m_constraint.Enabled = true;
m_topBlock.Attach(this);
OnConstraintAdded(GridLinkTypeEnum.Physical, m_topGrid);
OnConstraintAdded(GridLinkTypeEnum.Logical, m_topGrid);
m_conveyorEndpoint.Attach(topBlock.ConveyorEndpoint as MyAttachableConveyorEndpoint);
}
}
private void CheckSubpartConstraint()
{
if (m_subpartsConstraint != null && (m_subpartsConstraint.RigidBodyA == null))
{
if (m_subPartContraintInScene)
{
m_subPartContraintInScene = false;
CubeGrid.Physics.RemoveConstraint(m_subpartsConstraint);
}
m_subpartsConstraint.Dispose();
m_subpartsConstraint = null;
var breakableData = new HkBreakableConstraintData(m_subpartsFixedData);
//Dont dispose the fixed data or we wont have access to them
breakableData.Threshold = BreakOffTreshold;
m_subpartsConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_subpart1.Physics.RigidBody, breakableData);
Debug.Assert(m_subpartsConstraint.RigidBodyA != null);
m_subpartsConstraint.WantRuntime = true;
}
}
private void InitSubpartsPhysics()
{
var subpart = m_subpart1;
if (subpart == null || CubeGrid.Physics == null)
{
return;
}
subpart.Physics = new MyPhysicsBody(subpart, CubeGrid.IsStatic ? RigidBodyFlag.RBF_STATIC : (CubeGrid.GridSizeEnum == MyCubeSize.Large ? RigidBodyFlag.RBF_DOUBLED_KINEMATIC : RigidBodyFlag.RBF_DEFAULT));
HkCylinderShape shape = new HkCylinderShape(Vector3.Zero, new Vector3(0, 0, 2), CubeGrid.GridSize / 2);
var mass = HkInertiaTensorComputer.ComputeCylinderVolumeMassProperties(Vector3.Zero, Vector3.One, 1, 40.0f * CubeGrid.GridSize);
subpart.Physics.CreateFromCollisionObject(shape, Vector3.Zero, subpart.WorldMatrix, mass);
shape.Base.RemoveReference();
subpart.Physics.RigidBody.Layer = CubeGrid.Physics.RigidBody.Layer;
if (subpart.Physics.RigidBody2 != null)
{
subpart.Physics.RigidBody2.Layer = MyPhysics.KinematicDoubledCollisionLayer;
}
m_subpartsFixedData = new HkFixedConstraintData();
m_subpartsFixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
float res;
var x = m_subpartsFixedData.GetInertiaStabilizationFactor(out res);
m_subpartsFixedData.SetInertiaStabilizationFactor(1);
var matAD = MatrixD.CreateWorld(Position * CubeGrid.GridSize + Vector3D.Transform(Vector3D.Transform(m_subpartsConstraintPos, WorldMatrix), CubeGrid.PositionComp.LocalMatrix), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
matAD.Translation = CubeGrid.Physics.WorldToCluster(matAD.Translation);
var matA = (Matrix)matAD;
var matB = subpart.PositionComp.LocalMatrix;
m_subpartsFixedData.SetInWorldSpace(ref matA, ref matB, ref matB);
var breakableData = new HkBreakableConstraintData(m_subpartsFixedData);
//Dont dispose the fixed data or we wont have access to them
breakableData.Threshold = BreakOffTreshold;
m_subpartsConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, subpart.Physics.RigidBody, breakableData);
m_subpartsConstraint.WantRuntime = true;
m_posChanged = true;
}
private void Attach(HkRigidBody body, Vector3 gearSpacePivot, Matrix otherBodySpacePivot)
{
if (CubeGrid.Physics.Enabled)
{
var entity = body.GetEntity();
Debug.Assert(m_attachedTo == null, "Already attached");
Debug.Assert(entity != null, "Landing gear is attached to body which has no entity");
Debug.Assert(m_constraint == null);
if (m_attachedTo != null || entity == null || m_constraint != null)
return;
body.Activate();
CubeGrid.Physics.RigidBody.Activate();
m_attachedTo = entity;
if (entity != null)
{
entity.OnPhysicsChanged += m_physicsChangedHandler;
}
this.OnPhysicsChanged += m_physicsChangedHandler;
Matrix gearLocalSpacePivot = Matrix.Identity;
gearLocalSpacePivot.Translation = gearSpacePivot;
var fixedData = new HkFixedConstraintData();
if (MyFakes.OVERRIDE_LANDING_GEAR_INERTIA)
{
fixedData.SetInertiaStabilizationFactor(MyFakes.LANDING_GEAR_INTERTIA);
}
else
{
fixedData.SetInertiaStabilizationFactor(1);
}
fixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
fixedData.SetInBodySpace(ref gearLocalSpacePivot, ref otherBodySpacePivot);
HkConstraintData data = fixedData;
if (MyFakes.LANDING_GEAR_BREAKABLE && BreakForce < MaxSolverImpulse)
{
var breakData = new HkBreakableConstraintData(fixedData);
fixedData.Dispose();
breakData.Threshold = BreakForce;
breakData.ReapplyVelocityOnBreak = true;
breakData.RemoveFromWorldOnBrake = true;
data = breakData;
}
if (!m_needsToRetryLock)
StartSound(m_lockSound);
m_constraint = new HkConstraint(CubeGrid.Physics.RigidBody, body, data);
CubeGrid.Physics.AddConstraint(m_constraint);
m_constraint.Enabled = true;
LockMode = LandingGearMode.Locked;
if (CanAutoLock)
ResetAutolock();
OnConstraintAdded(GridLinkTypeEnum.Physical, entity);
OnConstraintAdded(GridLinkTypeEnum.NoContactDamage, entity);
var handle = StateChanged;
if (handle != null) handle(true);
}
}
public void Attach(MyPistonTop topBlock, bool updateSync = false)
{
if (m_topBlock != null)
Detach();
if (CubeGrid.Physics == null || SafeConstraint != null)
return;
UpdateAnimation();
Debug.Assert(SafeConstraint == null);
if (CubeGrid.Physics.Enabled && topBlock != null)
{
m_topBlock = topBlock;
m_topBlockId = topBlock.EntityId;
if (updateSync)
SyncObject.AttachTop(m_topBlock);
m_topGrid = m_topBlock.CubeGrid;
var rotorBody = m_topGrid.Physics.RigidBody;
var matAD = MatrixD.CreateWorld(Vector3D.Transform(Vector3D.Transform(m_constraintBasePos, Subpart3.WorldMatrix), CubeGrid.PositionComp.WorldMatrixNormalizedInv), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
var matBD = MatrixD.CreateWorld(m_topBlock.Position * m_topBlock.CubeGrid.GridSize, m_topBlock.PositionComp.LocalMatrix.Forward, m_topBlock.PositionComp.LocalMatrix.Up);
var matA = (Matrix)matAD;
var matB = (Matrix)matBD;
m_fixedData = new HkFixedConstraintData();
m_fixedData.SetInertiaStabilizationFactor(10);
m_fixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
m_fixedData.SetInBodySpace(ref matA, ref matB);
var breakData = new HkBreakableConstraintData(m_fixedData);
//Dont dispose the fixed data or we wont have access to them
breakData.Threshold = BreakOffTreshold;
breakData.ReapplyVelocityOnBreak = true;
breakData.RemoveFromWorldOnBrake = false;
m_constraint = new HkConstraint(CubeGrid.Physics.RigidBody, rotorBody, breakData);
m_constraint.WantRuntime = true;
CubeGrid.Physics.AddConstraint(m_constraint);
m_constraint.Enabled = true;
m_topBlock.Attach(this);
OnConstraintAdded(GridLinkTypeEnum.Physical, m_topGrid);
OnConstraintAdded(GridLinkTypeEnum.Logical, m_topGrid);
m_conveyorEndpoint.Attach(topBlock.ConveyorEndpoint as MyAttachableConveyorEndpoint);
}
}
private void InitSubpartsPhysics()
{
var subpart = m_subpart1;
if (subpart == null || CubeGrid.Physics == null)
return;
subpart.Physics = new MyPhysicsBody(subpart, CubeGrid.IsStatic ? RigidBodyFlag.RBF_STATIC : (CubeGrid.GridSizeEnum == MyCubeSize.Large ? RigidBodyFlag.RBF_DOUBLED_KINEMATIC : RigidBodyFlag.RBF_DEFAULT));
HkCylinderShape shape = new HkCylinderShape(Vector3.Zero, new Vector3(0, 0, 2), CubeGrid.GridSize / 2);
var mass = HkInertiaTensorComputer.ComputeCylinderVolumeMassProperties(Vector3.Zero, Vector3.One, 1, 40.0f*CubeGrid.GridSize);
subpart.Physics.CreateFromCollisionObject(shape, Vector3.Zero, subpart.WorldMatrix, mass);
shape.Base.RemoveReference();
subpart.Physics.RigidBody.Layer = CubeGrid.Physics.RigidBody.Layer;
if (subpart.Physics.RigidBody2 != null)
subpart.Physics.RigidBody2.Layer = MyPhysics.KinematicDoubledCollisionLayer;
m_subpartsFixedData = new HkFixedConstraintData();
m_subpartsFixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
float res;
var x = m_subpartsFixedData.GetInertiaStabilizationFactor(out res);
m_subpartsFixedData.SetInertiaStabilizationFactor(1);
var matAD = MatrixD.CreateWorld(Position * CubeGrid.GridSize + Vector3D.Transform(Vector3D.Transform(m_subpartsConstraintPos, WorldMatrix), CubeGrid.PositionComp.LocalMatrix), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
matAD.Translation = CubeGrid.Physics.WorldToCluster(matAD.Translation);
var matA = (Matrix)matAD;
var matB = subpart.PositionComp.LocalMatrix;
m_subpartsFixedData.SetInWorldSpace(ref matA, ref matB, ref matB);
var breakableData = new HkBreakableConstraintData(m_subpartsFixedData);
//Dont dispose the fixed data or we wont have access to them
breakableData.Threshold = BreakOffTreshold;
m_subpartsConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, subpart.Physics.RigidBody, breakableData);
m_subpartsConstraint.WantRuntime = true;
m_posChanged = true;
}
private void Attach(MyEntity entity, Vector3 gearSpacePivot, Matrix otherBodySpacePivot)
{
if (CubeGrid.Physics != null && CubeGrid.Physics.Enabled)
{
var body = entity.Physics.RigidBody;
var handle = StateChanged;
if (Sync.IsServer && entity is MyCubeGrid)
{
(entity as MyCubeGrid).OnGridSplit += CubeGrid_OnGridSplit;
}
if (MyFakes.WELD_LANDING_GEARS && CanWeldTo(entity, ref otherBodySpacePivot))
{
if (m_attachedTo != null || entity == null)
{
return;
}
if (entity is MyVoxelBase)
{
if (CubeGrid.Physics.RigidBody.IsFixed == false)
{
CubeGrid.Physics.ConvertToStatic();
m_converted = true;
}
}
else
{
MyWeldingGroups.Static.CreateLink(EntityId, CubeGrid, entity);
}
//OnConstraintAdded(GridLinkTypeEnum.LandingGear, entity);
m_lockModeSync.Value = LandingGearMode.Locked;
m_attachedTo = entity;
m_attachedTo.OnPhysicsChanged += m_physicsChangedHandler;
this.OnPhysicsChanged += m_physicsChangedHandler;
if (CanAutoLock)
{
ResetAutolock();
}
OnConstraintAdded(GridLinkTypeEnum.Physical, entity);
//OnConstraintAdded(GridLinkTypeEnum.NoContactDamage, entity);
if (!m_needsToRetryLock)
{
StartSound(m_lockSound);
}
if (handle != null)
{
handle(true);
}
return;
}
//var entity = body.GetBody().Entity;
Debug.Assert(m_attachedTo == null, "Already attached");
Debug.Assert(entity != null, "Landing gear is attached to body which has no entity");
Debug.Assert(m_constraint == null);
if (m_attachedTo != null || entity == null || m_constraint != null)
{
return;
}
body.Activate();
CubeGrid.Physics.RigidBody.Activate();
m_attachedTo = entity;
m_attachedTo.OnPhysicsChanged += m_physicsChangedHandler;
this.OnPhysicsChanged += m_physicsChangedHandler;
Matrix gearLocalSpacePivot = Matrix.Identity;
gearLocalSpacePivot.Translation = gearSpacePivot;
var fixedData = new HkFixedConstraintData();
if (MyFakes.OVERRIDE_LANDING_GEAR_INERTIA)
{
fixedData.SetInertiaStabilizationFactor(MyFakes.LANDING_GEAR_INTERTIA);
}
else
{
fixedData.SetInertiaStabilizationFactor(1);
}
fixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
fixedData.SetInBodySpace(gearLocalSpacePivot, otherBodySpacePivot, CubeGrid.Physics, entity.Physics as MyPhysicsBody);
HkConstraintData data = fixedData;
if (MyFakes.LANDING_GEAR_BREAKABLE && BreakForce < MyObjectBuilder_LandingGear.MaxSolverImpulse)
{
var breakData = new HkBreakableConstraintData(fixedData);
fixedData.Dispose();
breakData.Threshold = BreakForce;
breakData.ReapplyVelocityOnBreak = true;
breakData.RemoveFromWorldOnBrake = true;
data = breakData;
}
if (!m_needsToRetryLock)
{
StartSound(m_lockSound);
}
m_constraint = new HkConstraint(CubeGrid.Physics.RigidBody, body, data);
CubeGrid.Physics.AddConstraint(m_constraint);
m_constraint.Enabled = true;
m_lockModeSync.Value = LandingGearMode.Locked;
if (CanAutoLock)
{
ResetAutolock();
}
OnConstraintAdded(GridLinkTypeEnum.Physical, entity);
OnConstraintAdded(GridLinkTypeEnum.NoContactDamage, entity);
if (handle != null)
{
handle(true);
}
}
}
private void Attach(MyEntity entity, Vector3 gearSpacePivot, Matrix otherBodySpacePivot)
{
if (CubeGrid.Physics != null && CubeGrid.Physics.Enabled)
{
var handle = StateChanged;
if (Sync.IsServer && entity is MyCubeGrid)
{
(entity as MyCubeGrid).OnGridSplit += CubeGrid_OnGridSplit;
}
if (MyFakes.WELD_LANDING_GEARS && CanWeldTo(entity, ref otherBodySpacePivot))
{
if (m_attachedTo != null || entity == null)
return;
if (entity is MyVoxelBase)
{
if (CubeGrid.Physics.RigidBody.IsFixed == false)
{
CubeGrid.Physics.ConvertToStatic();
m_converted = true;
}
}
else
{
MyEntity parent = entity.GetTopMostParent();
MyWeldingGroups.Static.CreateLink(EntityId, CubeGrid, parent);
}
//OnConstraintAdded(GridLinkTypeEnum.LandingGear, entity);
m_lockModeSync.Value = LandingGearMode.Locked;
m_attachedTo = entity;
m_attachedTo.OnPhysicsChanged += m_physicsChangedHandler;
this.OnPhysicsChanged += m_physicsChangedHandler;
if (CanAutoLock)
ResetAutolock();
OnConstraintAdded(GridLinkTypeEnum.Physical, entity);
//OnConstraintAdded(GridLinkTypeEnum.NoContactDamage, entity);
if (!m_needsToRetryLock)
StartSound(m_lockSound);
if (handle != null) handle(true);
return;
}
//var entity = body.GetBody().Entity;
Debug.Assert(m_attachedTo == null, "Already attached");
Debug.Assert(entity != null, "Landing gear is attached to body which has no entity");
Debug.Assert(m_constraint == null);
if (m_attachedTo != null || entity == null || m_constraint != null)
return;
var body = entity.GetTopMostParent().Physics.RigidBody;
body.Activate();
CubeGrid.Physics.RigidBody.Activate();
m_attachedTo = entity;
m_attachedTo.OnPhysicsChanged += m_physicsChangedHandler;
this.OnPhysicsChanged += m_physicsChangedHandler;
Matrix gearLocalSpacePivot = Matrix.Identity;
gearLocalSpacePivot.Translation = gearSpacePivot;
var fixedData = new HkFixedConstraintData();
if (MyFakes.OVERRIDE_LANDING_GEAR_INERTIA)
{
fixedData.SetInertiaStabilizationFactor(MyFakes.LANDING_GEAR_INTERTIA);
}
else
{
fixedData.SetInertiaStabilizationFactor(1);
}
fixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
fixedData.SetInBodySpace(gearLocalSpacePivot, otherBodySpacePivot, CubeGrid.Physics, entity.Physics as MyPhysicsBody);
HkConstraintData data = fixedData;
if (MyFakes.LANDING_GEAR_BREAKABLE && BreakForce < MyObjectBuilder_LandingGear.MaxSolverImpulse)
{
var breakData = new HkBreakableConstraintData(fixedData);
fixedData.Dispose();
breakData.Threshold = BreakForce;
breakData.ReapplyVelocityOnBreak = true;
breakData.RemoveFromWorldOnBrake = true;
data = breakData;
}
if (!m_needsToRetryLock)
StartSound(m_lockSound);
m_constraint = new HkConstraint(CubeGrid.Physics.RigidBody, body, data);
CubeGrid.Physics.AddConstraint(m_constraint);
m_constraint.Enabled = true;
m_lockModeSync.Value = LandingGearMode.Locked;
if (CanAutoLock)
ResetAutolock();
OnConstraintAdded(GridLinkTypeEnum.Physical, entity);
OnConstraintAdded(GridLinkTypeEnum.NoContactDamage, entity);
if (handle != null) handle(true);
}
}
private void Attach(HkRigidBody body, Vector3 gearSpacePivot, Matrix otherBodySpacePivot)
{
if (CubeGrid.Physics.Enabled)
{
var entity = body.GetEntity();
Debug.Assert(m_attachedTo == null, "Already attached");
Debug.Assert(entity != null, "Landing gear is attached to body which has no entity");
Debug.Assert(m_constraint == null);
if (m_attachedTo != null || entity == null || m_constraint != null)
{
return;
}
body.Activate();
CubeGrid.Physics.RigidBody.Activate();
m_attachedTo = entity;
if (entity != null)
{
entity.OnPhysicsChanged += m_physicsChangedHandler;
}
this.OnPhysicsChanged += m_physicsChangedHandler;
Matrix gearLocalSpacePivot = Matrix.Identity;
gearLocalSpacePivot.Translation = gearSpacePivot;
var fixedData = new HkFixedConstraintData();
if (MyFakes.OVERRIDE_LANDING_GEAR_INERTIA)
{
fixedData.SetInertiaStabilizationFactor(MyFakes.LANDING_GEAR_INTERTIA);
}
else
{
fixedData.SetInertiaStabilizationFactor(1);
}
fixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
fixedData.SetInBodySpace(ref gearLocalSpacePivot, ref otherBodySpacePivot);
HkConstraintData data = fixedData;
if (MyFakes.LANDING_GEAR_BREAKABLE && BreakForce < MaxSolverImpulse)
{
var breakData = new HkBreakableConstraintData(fixedData);
fixedData.Dispose();
breakData.Threshold = BreakForce;
breakData.ReapplyVelocityOnBreak = true;
breakData.RemoveFromWorldOnBrake = true;
data = breakData;
}
if (!m_needsToRetryLock)
{
StartSound(m_lockSound);
}
m_constraint = new HkConstraint(CubeGrid.Physics.RigidBody, body, data);
CubeGrid.Physics.AddConstraint(m_constraint);
m_constraint.Enabled = true;
LockMode = LandingGearMode.Locked;
if (CanAutoLock)
{
ResetAutolock();
}
OnConstraintAdded(GridLinkTypeEnum.Physical, entity);
OnConstraintAdded(GridLinkTypeEnum.NoContactDamage, entity);
var handle = StateChanged;
if (handle != null)
{
handle(true);
}
}
}
public void Attach(MyPistonTop topBlock)
{
if (CubeGrid == topBlock.CubeGrid)
return;
Debug.Assert(topBlock != null, "Top block cannot be null!");
Debug.Assert(m_constraint == null, "Contraint already attached, call detach first!");
Debug.Assert(m_topBlockId.Value == topBlock.EntityId, "m_topBlockId must be set prior calling Attach!");
UpdateAnimation();
if (CubeGrid.Physics != null && CubeGrid.Physics.Enabled && topBlock.CubeGrid.Physics != null)
{
m_topBlock = topBlock;
m_topGrid = m_topBlock.CubeGrid;
var rotorBody = m_topGrid.Physics.RigidBody;
var matAD = MatrixD.CreateWorld(Vector3D.Transform(Vector3D.Transform(m_constraintBasePos, Subpart3.WorldMatrix), CubeGrid.PositionComp.WorldMatrixNormalizedInv), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
var matBD = MatrixD.CreateWorld(m_topBlock.Position * m_topBlock.CubeGrid.GridSize, m_topBlock.PositionComp.LocalMatrix.Forward, m_topBlock.PositionComp.LocalMatrix.Up);
var matA = (Matrix)matAD;
var matB = (Matrix)matBD;
m_fixedData = new HkFixedConstraintData();
m_fixedData.SetInertiaStabilizationFactor(10);
m_fixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
m_fixedData.SetInBodySpace(matA, matB, CubeGrid.Physics, m_topGrid.Physics);
var breakData = new HkBreakableConstraintData(m_fixedData);
//Dont dispose the fixed data or we wont have access to them
breakData.Threshold = BreakOffTreshold;
breakData.ReapplyVelocityOnBreak = true;
breakData.RemoveFromWorldOnBrake = false;
m_constraint = new HkConstraint(CubeGrid.Physics.RigidBody, rotorBody, breakData);
m_constraint.WantRuntime = true;
CubeGrid.Physics.AddConstraint(m_constraint);
if(!m_constraint.InWorld)
{
Debug.Fail("Constraint was not added to world");
CubeGrid.Physics.RemoveConstraint(m_constraint);
m_constraint.Dispose();
m_constraint = null;
m_fixedData.Dispose();
m_fixedData = null;
return;
}
m_constraint.Enabled = true;
m_topBlock.Attach(this);
m_topGrid.OnPhysicsChanged += CubeGrid_OnPhysicsChanged;
OnConstraintAdded(GridLinkTypeEnum.Physical, m_topGrid);
OnConstraintAdded(GridLinkTypeEnum.Logical, m_topGrid);
m_conveyorEndpoint.Attach(topBlock.ConveyorEndpoint as MyAttachableConveyorEndpoint);
UpdateText();
}
}
private void CreateSubpartsConstraint(MyEntitySubpart subpart)
{
m_subpartsFixedData = new HkFixedConstraintData();
m_subpartsFixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
m_subpartsFixedData.SetInertiaStabilizationFactor(1);
var matAD = MatrixD.CreateWorld(Position * CubeGrid.GridSize + Vector3D.Transform(Vector3D.Transform(m_subpartsConstraintPos, WorldMatrix), CubeGrid.PositionComp.LocalMatrix), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
matAD.Translation = CubeGrid.Physics.WorldToCluster(matAD.Translation);
var matA = (Matrix)matAD;
var matB = subpart.PositionComp.LocalMatrix;
m_subpartsFixedData.SetInWorldSpace(ref matA, ref matB, ref matB);
//Dont dispose the fixed data or we wont have access to them
HkConstraintData constraintData = m_subpartsFixedData;
if (Sync.IsServer) // Breakable only on server
{
constraintData = new HkBreakableConstraintData(m_subpartsFixedData) { Threshold = BreakOffTreshold };
}
m_subpartsConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, subpart.Physics.RigidBody, constraintData);
Debug.Assert(m_subpartsConstraint.RigidBodyA != null);
m_subpartsConstraint.WantRuntime = true;
}
private void CheckSubpartConstraint()
{
if(m_subpartsConstraint != null && (m_subpartsConstraint.RigidBodyA == null))
{
if (m_subPartContraintInScene)
{
m_subPartContraintInScene = false;
CubeGrid.Physics.RemoveConstraint(m_subpartsConstraint);
}
m_subpartsConstraint.Dispose();
m_subpartsConstraint = null;
var breakableData = new HkBreakableConstraintData(m_subpartsFixedData);
//Dont dispose the fixed data or we wont have access to them
breakableData.Threshold = BreakOffTreshold;
m_subpartsConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_subpart1.Physics.RigidBody, breakableData);
Debug.Assert(m_subpartsConstraint.RigidBodyA != null);
m_subpartsConstraint.WantRuntime = true;
}
}
