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