1HEADmaster

1 files changed, 171 insertions, 0 deletions

diff --git a/vphysics/physics_controller_raycast_vehicle.cpp b/vphysics/physics_controller_raycast_vehicle.cpp
new file mode 100644
index 0000000..a742fe8
--- /dev/null
+++ b/vphysics/physics_controller_raycast_vehicle.cpp
@@ -0,0 +1,171 @@
+//========= Copyright Valve Corporation, All rights reserved. ============//
+//
+// Purpose: 
+//
+//=============================================================================//
+
+#include "cbase.h"
+#include "physics_controller_raycast_vehicle.h"
+#include "ivp_material.hxx"
+#include "ivp_ray_solver.hxx"
+#include "ivp_cache_object.hxx"
+
+// memdbgon must be the last include file in a .cpp file!!!
+#include "tier0/memdbgon.h"
+
+//-----------------------------------------------------------------------------
+// Purpose: Constructor
+//-----------------------------------------------------------------------------
+CPhysics_Car_System_Raycast_Wheels::CPhysics_Car_System_Raycast_Wheels( IVP_Environment *pEnv,
+																	    const IVP_Template_Car_System *pCarSystem )
+																		: IVP_Controller_Raycast_Car( pEnv, pCarSystem )
+{
+	InitCarSystemWheels( pCarSystem );
+}
+
+//-----------------------------------------------------------------------------
+// Purpose: Deconstructor
+//-----------------------------------------------------------------------------
+CPhysics_Car_System_Raycast_Wheels::~CPhysics_Car_System_Raycast_Wheels()
+{
+}
+
+//-----------------------------------------------------------------------------
+// Purpose: Setup the car system wheels.
+//-----------------------------------------------------------------------------
+void CPhysics_Car_System_Raycast_Wheels::InitCarSystemWheels( const IVP_Template_Car_System *pCarSystem )
+{
+	for ( int iWheel = 0; iWheel < pCarSystem->n_wheels; ++iWheel )
+	{
+		m_pWheels[iWheel] = pCarSystem->car_wheel[iWheel];
+		m_pWheels[iWheel]->enable_collision_detection( IVP_FALSE );
+	}
+}
+
+//-----------------------------------------------------------------------------
+// Purpose: Get the raycast wheel.
+//-----------------------------------------------------------------------------
+IPhysicsObject *CPhysics_Car_System_Raycast_Wheels::GetWheel( int index )
+{
+	Assert( index >= 0 );
+	Assert( index < n_wheels );
+
+	return ( IPhysicsObject* )m_pWheels[index]->client_data;
+}
+
+//-----------------------------------------------------------------------------
+// Purpose: Setup the car system wheels.
+//-----------------------------------------------------------------------------
+void CPhysics_Car_System_Raycast_Wheels::do_raycasts( IVP_Event_Sim *es,
+						                              int n_wheels,
+						                              class IVP_Ray_Solver_Template *t_in,
+						                              class IVP_Ray_Hit *hits_out,
+						                              IVP_FLOAT *friction_of_object_out )
+{
+    t_in[0].ray_flags = IVP_RAY_SOLVER_ALL;
+
+    int j = 0;                     
+	IVP_Ray_Solver_Min ray_solver0(&t_in[j]);
+    j++; if ( j >= n_wheels) j--;    
+	IVP_Ray_Solver_Min ray_solver1(&t_in[j]); 
+    j++; if ( j >= n_wheels) j--;    
+	IVP_Ray_Solver_Min ray_solver2(&t_in[j]);
+    j++; if ( j >= n_wheels) j--;    
+	IVP_Ray_Solver_Min ray_solver3(&t_in[j]);
+    
+    IVP_Ray_Solver_Min *solvers[4] = { &ray_solver0, &ray_solver1, &ray_solver2, &ray_solver3 };
+    IVP_Ray_Solver_Group rs_group( n_wheels, (IVP_Ray_Solver **)solvers );
+
+#if 0
+	// Debug!
+	IVP_CarSystemDebugData_t carSystemDebugData;
+	GetCarSystemDebugData( carSystemDebugData );
+	carSystemDebugData.wheelRaycasts[0][0] = ray_solver0.ray_start_point;
+	carSystemDebugData.wheelRaycasts[0][1] = ray_solver0.ray_end_point;
+	carSystemDebugData.wheelRaycasts[1][0] = ray_solver1.ray_start_point;
+	carSystemDebugData.wheelRaycasts[1][1] = ray_solver1.ray_end_point;
+	carSystemDebugData.wheelRaycasts[2][0] = ray_solver2.ray_start_point;
+	carSystemDebugData.wheelRaycasts[2][1] = ray_solver2.ray_end_point;
+	carSystemDebugData.wheelRaycasts[3][0] = ray_solver3.ray_start_point;
+	carSystemDebugData.wheelRaycasts[3][1] = ray_solver3.ray_end_point;
+#endif
+
+    // check which objects are hit	    
+    rs_group.check_ray_group_against_all_objects_in_sim(es->environment);
+
+    for ( int i = 0; i < n_wheels; i++ )
+	{
+		IVP_Ray_Hit *hit = solvers[i]->get_ray_hit();
+		if (hit)
+		{
+			hits_out[i] = *hit;
+			friction_of_object_out[i] = hit->hit_real_object->l_default_material->get_friction_factor();
+
+#if 0
+			// Debug!
+			carSystemDebugData.wheelRaycastImpacts[i] = ( hit->hit_distance / solvers[i]->ray_length );
+#endif
+		}
+		else
+		{
+			memset( &hits_out[i], 0, sizeof(IVP_Ray_Hit) );
+			friction_of_object_out[i] = 0;
+
+#if 0
+			// Debug!
+			carSystemDebugData.wheelRaycastImpacts[i] = 0.0f;
+#endif
+		}
+    }
+
+#if 0 
+	// Debug!
+	SetCarSystemDebugData( carSystemDebugData );
+#endif
+}
+
+void CPhysics_Car_System_Raycast_Wheels::update_wheel_positions( void )
+{
+	// Get the car body object.
+    IVP_Cache_Object *pCacheObject = car_body->get_cache_object();
+
+	// Get the core (vehicle) matrix.
+    IVP_U_Matrix m_core_f_object;    
+	car_body->calc_m_core_f_object( &m_core_f_object );
+    
+    for ( int iWheel = 0; iWheel < n_wheels; ++iWheel )
+	{
+		// Get the current raycast wheel.
+		IVP_Raycast_Car_Wheel *pRaycastWheel = get_wheel( IVP_POS_WHEEL( iWheel ) );
+
+		// Get the position of the wheel in vehicle core space.
+		IVP_U_Float_Point hp_cs; 
+		hp_cs.add_multiple( &pRaycastWheel->hp_cs, &pRaycastWheel->spring_direction_cs, pRaycastWheel->raycast_dist - pRaycastWheel->wheel_radius );
+
+		// Get the position on vehicle object space (inverse transform).
+		IVP_U_Float_Point hp_os; 
+		m_core_f_object.vimult4( &hp_cs, &hp_os );
+
+		// Transform the wheel position from object space into world space.
+		IVP_U_Point hp_ws; 
+		pCacheObject->transform_position_to_world_coords( &hp_os, &hp_ws );
+		
+		// Apply rotational component.
+		IVP_U_Point wheel_cs( &pRaycastWheel->axis_direction_cs );
+		IVP_U_Point wheel2_cs( 0 ,0 ,0 ); 
+		wheel2_cs.k[index_y] = -1.0;
+		wheel2_cs.rotate( IVP_COORDINATE_INDEX( index_x ), pRaycastWheel->angle_wheel );
+		
+		IVP_U_Matrix3 m_core_f_wheel;
+		m_core_f_wheel.init_normized3_col( &wheel_cs, IVP_COORDINATE_INDEX( index_x ), &wheel2_cs );
+		
+		IVP_U_Matrix3 m_world_f_wheel;
+		pCacheObject->m_world_f_object.mmult3( &m_core_f_wheel, &m_world_f_wheel ); // bid hack, assumes cs = os (for rotation);
+		
+		IVP_U_Quat rot_ws; 
+		rot_ws.set_quaternion( &m_world_f_wheel );
+		m_pWheels[iWheel]->beam_object_to_new_position( &rot_ws, &hp_ws );
+    }
+
+    pCacheObject->remove_reference();
+}