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//========= 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
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