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Diffstat (limited to 'vphysics/physics_airboat.h')
| -rw-r--r-- | vphysics/physics_airboat.h | 303 |
1 files changed, 303 insertions, 0 deletions
diff --git a/vphysics/physics_airboat.h b/vphysics/physics_airboat.h new file mode 100644 index 0000000..c1f649c --- /dev/null +++ b/vphysics/physics_airboat.h @@ -0,0 +1,303 @@ +//========= Copyright Valve Corporation, All rights reserved. ============// +// +// Purpose: +// +//=============================================================================// + +#ifndef PHYSICS_AIRBOAT_H +#define PHYSICS_AIRBOAT_H +#ifdef _WIN32 +#pragma once +#endif + +#include "ivp_controller.hxx" +#include "ivp_car_system.hxx" + + +class IPhysicsObject; +class IVP_Ray_Solver_Template; +class IVP_Ray_Hit; +class IVP_Event_Sim; + + +#define IVP_RAYCAST_AIRBOAT_MAX_WHEELS 4 + + +//----------------------------------------------------------------------------- +//----------------------------------------------------------------------------- +class IVP_Raycast_Airboat_Wheel +{ +public: + + // static section + IVP_U_Float_Point hp_cs; // hard point core system projected on y plane + IVP_U_Float_Point raycast_start_cs; // ray cast start position + IVP_U_Float_Point raycast_dir_cs; + IVP_FLOAT raycast_length; + + IVP_U_Float_Point spring_direction_cs; // spring direction in core-space + IVP_FLOAT distance_orig_hp_to_hp; // distance hp is moved by projecting it onto the y - plane + IVP_FLOAT spring_len; // == pretension + distance_orig_hp_to_hp + IVP_FLOAT spring_constant; // shock at wheel spring constant + IVP_FLOAT spring_damp_relax; // shock at wheel spring dampening during relaxation + IVP_FLOAT spring_damp_compress; // shock at wheel spring dampening during compression + + IVP_FLOAT max_rotation_speed; // max rotational speed of the wheel + + IVP_FLOAT wheel_radius; // wheel radius + IVP_FLOAT inv_wheel_radius; // inverse wheel radius + IVP_FLOAT friction_of_wheel; // wheel friction + + // dynamic section + IVP_FLOAT torque; // torque applied to wheel + IVP_BOOL wheel_is_fixed; // eg. handbrake (fixed = stationary) + IVP_U_Float_Point axis_direction_cs; // axle direction in core-space + IVP_FLOAT angle_wheel; // wheel angle + IVP_FLOAT wheel_angular_velocity; // angular velocity of wheel + + // out + IVP_U_Float_Point surface_speed_of_wheel_on_ground_ws; // actual speed in world-space + IVP_FLOAT pressure; // force from gravity, mass of car, stabilizers, etc. on wheel + IVP_FLOAT raycast_dist; // raycast distance to impact for wheel +}; + + +//----------------------------------------------------------------------------- +//----------------------------------------------------------------------------- +class IVP_Raycast_Airboat_Impact +{ +public: + + IVP_FLOAT friction_value; // combined (multiply) frictional value of impact surface and wheel + IVP_FLOAT stabilizer_force; // force on wheel due to axle stabilization + IVP_Real_Object *moveable_object_hit_by_ray; // moveable physics object hit by raycast + + IVP_U_Float_Point raycast_dir_ws; // raycast direction in world-space + IVP_U_Float_Point spring_direction_ws; // spring direction (raycast for impact direction) in world-space + IVP_U_Float_Point surface_speed_wheel_ws; // wheel speed in world-space + IVP_U_Float_Point projected_surface_speed_wheel_ws; // ??? + IVP_U_Float_Point axis_direction_ws; // axle direction in world-space + IVP_U_Float_Point projected_axis_direction_ws; // ??? + + IVP_FLOAT forces_needed_to_drive_straight; // forces need to keep the vehicle driving straight (attempt and directional wheel friction) + IVP_FLOAT inv_normal_dot_dir; // ??? + + // Impact information. + IVP_BOOL bImpact; // Had an impact? + IVP_BOOL bImpactWater; // Impact with water? + IVP_BOOL bInWater; // Point in water? + IVP_U_Point vecImpactPointWS; // Impact point in world-space. + IVP_U_Float_Point vecImpactNormalWS; // Impact normal in world-space. + IVP_FLOAT flDepth; // Distance to water surface. + IVP_FLOAT flFriction; // Friction at impact point. + IVP_FLOAT flDampening; // Dampening at surface. + int nSurfaceProps; // Surface property! +}; + + +//----------------------------------------------------------------------------- +//----------------------------------------------------------------------------- +class IVP_Raycast_Airboat_Axle +{ +public: + + IVP_FLOAT stabilizer_constant; // axle (for wheels) stabilizer constant +}; + + +//----------------------------------------------------------------------------- +//----------------------------------------------------------------------------- +class IVP_Controller_Raycast_Airboat_Vector_of_Cores_1: public IVP_U_Vector<IVP_Core> +{ + void *elem_buffer[1]; + +public: + + IVP_Controller_Raycast_Airboat_Vector_of_Cores_1(); +}; + + +//----------------------------------------------------------------------------- +//----------------------------------------------------------------------------- +class CPhysics_Airboat : public IVP_Car_System, protected IVP_Controller_Dependent +{ + +public: + + CPhysics_Airboat( IVP_Environment *env, const IVP_Template_Car_System *t, IPhysicsGameTrace *pGameTrace ); + virtual ~CPhysics_Airboat(); + + void update_wheel_positions( void ) {} + void SetWheelFriction( int iWheel, float flFriction ); + + IPhysicsObject *GetWheel( int index ); + + virtual const char *get_controller_name() { return "sys:airboat"; } + +protected: + + void InitAirboat( const IVP_Template_Car_System *pCarSystem ); + float GetWaterDepth( Ray_t *pGameRay, IPhysicsObject *pPhysAirboat ); + + // Purpose: Deconstructor + void PerformFrictionNotification( float flEliminatedEnergy, float dt, int nSurfaceProp, IPhysicsCollisionData *pCollisionData ); + + void do_raycasts_gameside( int nRaycastCount, IVP_Ray_Solver_Template *pRays, IVP_Raycast_Airboat_Impact *pImpacts ); + void pre_raycasts_gameside( int nRaycastCount, IVP_Ray_Solver_Template *pRays, Ray_t *pGameRays, IVP_Raycast_Airboat_Impact *pImpacts ); + + IVP_Real_Object *m_pWheels[IVP_RAYCAST_AIRBOAT_MAX_WHEELS]; + IPhysicsGameTrace *m_pGameTrace; + +public: + + // Steering + void do_steering_wheel(IVP_POS_WHEEL wheel_pos, IVP_FLOAT s_angle); // called by do_steering() + + // Car Adjustment + void change_spring_constant(IVP_POS_WHEEL pos, IVP_FLOAT spring_constant); // [Newton/meter] + void change_spring_dampening(IVP_POS_WHEEL pos, IVP_FLOAT spring_dampening); // when spring is relaxing spring + void change_spring_dampening_compression(IVP_POS_WHEEL pos, IVP_FLOAT spring_dampening); // [Newton/meter] for compressing spring + void change_max_body_force(IVP_POS_WHEEL , IVP_FLOAT mforce) {} + void change_spring_pre_tension(IVP_POS_WHEEL pos, IVP_FLOAT pre_tension_length); + void change_spring_length(IVP_POS_WHEEL pos, IVP_FLOAT spring_length); + + void change_stabilizer_constant(IVP_POS_AXIS pos, IVP_FLOAT stabi_constant); // [Newton/meter] + void change_fast_turn_factor( IVP_FLOAT fast_turn_factor_ ); // not implemented for raycasts + void change_wheel_torque(IVP_POS_WHEEL pos, IVP_FLOAT torque); + IVP_FLOAT get_wheel_torque(IVP_POS_WHEEL wheel_nr); + + void update_throttle( IVP_FLOAT flThrottle ); + + void update_body_countertorque() {} + + void change_body_downforce(IVP_FLOAT force); // extra force to keep flipped objects flipped over + + void fix_wheel( IVP_POS_WHEEL, IVP_BOOL stop_wheel ); // stop wheel completely (e.g. handbrake ) + void change_friction_of_wheel( IVP_POS_WHEEL pos, IVP_FLOAT friction ); + void set_powerslide( float frontAccel, float rearAccel ) {} + + // Car Info + IVP_DOUBLE get_body_speed(IVP_COORDINATE_INDEX idx_z = IVP_INDEX_Z); // km/h in 'z' direction + IVP_DOUBLE get_wheel_angular_velocity(IVP_POS_WHEEL); + IVP_DOUBLE get_orig_front_wheel_distance(); + IVP_DOUBLE get_orig_axles_distance(); + void get_skid_info( IVP_Wheel_Skid_Info *array_of_skid_info_out); + + void get_wheel_position(IVP_U_Point *position_ws_out, IVP_U_Quat *direction_ws_out); + + // Methods: 2nd Level, based on primitives + virtual void do_steering(IVP_FLOAT steering_angle_in, bool bAnalog); // default implementation updates this->steering_angle + + // + // Booster (the airboat has no booster). + // + virtual bool IsBoosting(void) { return false; } + virtual void set_booster_acceleration( IVP_FLOAT acceleration) {} + virtual void activate_booster(IVP_FLOAT thrust, IVP_FLOAT duration, IVP_FLOAT delay) {} + virtual void update_booster(IVP_FLOAT delta_time) {} + virtual IVP_FLOAT get_booster_delay() { return 0; } + virtual IVP_FLOAT get_booster_time_to_go() { return 0; } + + // Debug + void SetCarSystemDebugData( const IVP_CarSystemDebugData_t &carSystemDebugData ); + void GetCarSystemDebugData( IVP_CarSystemDebugData_t &carSystemDebugData ); + +protected: + + IVP_Core *m_pCore; + IVP_U_Float_Point m_vecLocalVelocity; + float m_flSpeed; + IVP_Real_Object *m_pAirboatBody; // *car_body + + // Wheels/Axles. + short n_wheels; + short n_axis; + short wheels_per_axis; + IVP_Raycast_Airboat_Wheel m_aAirboatWheels[IVP_RAYCAST_AIRBOAT_MAX_WHEELS]; // wheel_of_car + IVP_Raycast_Airboat_Axle m_aAirboatAxles[IVP_RAYCAST_AIRBOAT_MAX_WHEELS/2]; // axis_of_car + + // Gravity. + IVP_FLOAT gravity_y_direction; // +/-1 + IVP_U_Float_Point normized_gravity_ws; + IVP_FLOAT extra_gravity; + + // Orientation. + IVP_COORDINATE_INDEX index_x; + IVP_COORDINATE_INDEX index_y; + IVP_COORDINATE_INDEX index_z; + IVP_BOOL is_left_handed; + + // Speed. + IVP_FLOAT max_speed; + + // + IVP_FLOAT down_force; + IVP_FLOAT down_force_vertical_offset; + + // Steering + IVP_FLOAT m_SteeringAngle; + bool m_bSteeringReversed; + bool m_bAnalogSteering; + IVP_FLOAT m_flPrevSteeringAngle; + IVP_FLOAT m_flSteerTime; // Number of seconds we've steered in this direction. + + // Thrust. + IVP_FLOAT m_flThrust; + + bool m_bAirborne; // Whether we are airborne or not. + IVP_FLOAT m_flAirTime; // How long we've been airborne (if we are). + bool m_bWeakJump; // Set when we become airborne while going slow. + + // Pitch and roll stabilizers. + IVP_FLOAT m_flPitchErrorPrev; + IVP_FLOAT m_flRollErrorPrev; + + // Debugging! + IVP_CarSystemDebugData_t m_CarSystemDebugData; + +protected: + + IVP_Raycast_Airboat_Wheel *get_wheel( IVP_POS_WHEEL i ); + IVP_Raycast_Airboat_Axle *get_axle( IVP_POS_AXIS i ); + + virtual void core_is_going_to_be_deleted_event( IVP_Core * ); + virtual IVP_U_Vector<IVP_Core> *get_associated_controlled_cores( void ); + + virtual void do_simulation_controller(IVP_Event_Sim *,IVP_U_Vector<IVP_Core> *core_list); + virtual IVP_CONTROLLER_PRIORITY get_controller_priority(); + +private: + + // Initialization. + void InitRaycastCarEnvironment( IVP_Environment *pEnvironment, const IVP_Template_Car_System *pCarSystemTemplate ); + void InitRaycastCarBody( const IVP_Template_Car_System *pCarSystemTemplate ); + void InitRaycastCarWheels( const IVP_Template_Car_System *pCarSystemTemplate ); + void InitRaycastCarAxes( const IVP_Template_Car_System *pCarSystemTemplate ); + + // Raycasts for simulation. + void PreRaycasts( IVP_Ray_Solver_Template *pRaySolverTemplates, const IVP_U_Matrix *m_world_f_core, IVP_Raycast_Airboat_Impact *pImpacts ); + bool PostRaycasts( IVP_Ray_Solver_Template *pRaySolverTemplates, const IVP_U_Matrix *matWorldFromCore, IVP_Raycast_Airboat_Impact *pImpacts ); + + // Simulation. + void DoSimulationPontoons( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim ); + void DoSimulationPontoonsGround( IVP_Raycast_Airboat_Wheel *pPontoonPoint, IVP_Raycast_Airboat_Impact *pImpact, IVP_Event_Sim *pEventSim ); + void DoSimulationPontoonsWater( IVP_Raycast_Airboat_Wheel *pPontoonPoint, IVP_Raycast_Airboat_Impact *pImpact, IVP_Event_Sim *pEventSim ); + void DoSimulationDrag( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim ); + void DoSimulationTurbine( IVP_Event_Sim *pEventSim ); + void DoSimulationSteering( IVP_Event_Sim *pEventSim ); + void DoSimulationKeepUprightPitch( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim ); + void DoSimulationKeepUprightRoll( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim ); + void DoSimulationGravity( IVP_Event_Sim *pEventSim ); + + int CountSurfaceContactPoints( IVP_Raycast_Airboat_Impact *pImpacts ); + void UpdateAirborneState( IVP_Raycast_Airboat_Impact *pImpacts, IVP_Event_Sim *pEventSim ); + + float ComputeFrontPontoonWaveNoise( int nPontoonIndex, float flSpeedRatio ); + + void CalcImpactPosition( IVP_Ray_Solver_Template *pRaySolver, IVP_Raycast_Airboat_Wheel *pPontoonPoint, + IVP_Raycast_Airboat_Impact *pImpacts ); + + IVP_Controller_Raycast_Airboat_Vector_of_Cores_1 vector_of_cores; +}; + +#endif // PHYSICS_AIRBOAT_H |