mirror of
https://github.com/jmarshall23/DoomRTX.git
synced 2026-08-12 08:11:10 +02:00
Justin Marshall
235 lines
9.7 KiB
C++
235 lines
9.7 KiB
C++
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#include "precompiled.h"
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#pragma hdrstop
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#include "prey_local.h"
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//#define DEBUG_VEHICLE_PHYSICS 1
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#define VEHICLE_DEBUG if(g_vehicleDebug.GetInteger()) gameLocal.Printf
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#if DEBUG_VEHICLE_PHYSICS
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#define CheckSolid(a, b, c, d, e, f) DoCheckSolid(a, b, c, d, e, f)
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#else
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#define CheckSolid(a, b, c, d, e, f) 0
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#endif
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//-------------------------------------------------------------
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//
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// CheckSolid: utility function for checking for collision errors
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//
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//-------------------------------------------------------------
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bool DoCheckSolid(const char *text, idVec3 &pos, idClipModel *clipModel, int clipMask, idMat3 &axis, idEntity *pass) {
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int myContents = gameLocal.clip.Contents(pos, clipModel, axis, clipMask, pass);
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if( myContents ) {
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VEHICLE_DEBUG("%s\n", text);
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VEHICLE_DEBUG(" position: %s\n", pos.ToString());
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VEHICLE_DEBUG(" orientation: %s\n", axis.ToAngles().ToString());
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VEHICLE_DEBUG(" contents: %d\n", myContents);
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return true;
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}
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return false;
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}
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CLASS_DECLARATION( hhPhysics_RigidBodySimple, hhPhysics_Vehicle )
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END_CLASS
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//-------------------------------------------------------------
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//
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// hhPhysics_Vehicle::VehicleMotion
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//
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//-------------------------------------------------------------
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bool hhPhysics_Vehicle::VehicleMotion(trace_t &collision, const idVec3 &start, const idVec3 &end, const idMat3 &axis) {
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trace_t translationalTrace;
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idVec3 move = end - start;
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idVec3 curPosition = start;
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idMat3 curAxis = axis;
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memset(&collision, 0, sizeof(collision)); // sanity
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collision.fraction = 1.0f; // Assume success until proven otherwise
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//
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// try to slide move
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//
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for(int i = 0; i < 3; i++ ) {
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gameLocal.clip.Translation( translationalTrace, curPosition, curPosition + move, clipModel, curAxis, clipMask, self );
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curPosition = translationalTrace.endpos;
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CheckSolid(va("SlideMoved (%d) into something solid during slidemove!", i), curPosition, clipModel, clipMask, curAxis, self);
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// Keep the shortest frac
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if (translationalTrace.fraction < collision.fraction) {
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collision.fraction = translationalTrace.fraction;
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collision.c = translationalTrace.c;
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}
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if ( translationalTrace.fraction == 1.0f ) {
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break;
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}
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// Shorten the move by the amount moved
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move *= (1.0f - translationalTrace.fraction);
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// project movement and momentum onto the sliding surface
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move.ProjectOntoPlane( translationalTrace.c.normal, OVERCLIP );
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}
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collision.endAxis = curAxis;
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collision.endpos = curPosition;
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return collision.fraction < 1.0f;
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}
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//-------------------------------------------------------------
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//
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// hhPhysics_Vehicle::CheckForCollisions
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//
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// Evaluate the impulse based rigid body physics.
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// in the event of a collision, tries to do a slide move
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//-------------------------------------------------------------
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bool hhPhysics_Vehicle::CheckForCollisions( const float deltaTime, rigidBodyPState_t &next, trace_t &collision ) {
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bool collided = false;
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CheckSolid("Before VehicleMotion: in something solid!", current.i.position, clipModel, clipMask, current.i.orientation, self);
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collided = VehicleMotion( collision, current.i.position, next.i.position, current.i.orientation );
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if( collided ) {
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// set the next state to the state at the moment of impact
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next.i.position = collision.endpos;
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next.i.orientation = collision.endAxis;
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collided = true;
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}
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CheckSolid("After VehicleMotion: in something solid!", next.i.position, clipModel, clipMask, next.i.orientation, self);
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return collided;
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}
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/*
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================
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hhPhysics_Vehicle::SetFriction
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================
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*/
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void hhPhysics_Vehicle::SetFriction( const float linear, const float angular, const float contact ) {
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//don't cap the friction for the vehicle
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linearFriction = linear;
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angularFriction = angular;
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contactFriction = contact;
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}
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const float VEH_VELOCITY_MAX = 16000;
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const int VEH_VELOCITY_TOTAL_BITS = 16;
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const int VEH_VELOCITY_EXPONENT_BITS = idMath::BitsForInteger( idMath::BitsForFloat( VEH_VELOCITY_MAX ) ) + 1;
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const int VEH_VELOCITY_MANTISSA_BITS = VEH_VELOCITY_TOTAL_BITS - 1 - VEH_VELOCITY_EXPONENT_BITS;
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const float VEH_MOMENTUM_MAX = 1e20f;
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const int VEH_MOMENTUM_TOTAL_BITS = 16;
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const int VEH_MOMENTUM_EXPONENT_BITS = idMath::BitsForInteger( idMath::BitsForFloat( VEH_MOMENTUM_MAX ) ) + 1;
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const int VEH_MOMENTUM_MANTISSA_BITS = VEH_MOMENTUM_TOTAL_BITS - 1 - VEH_MOMENTUM_EXPONENT_BITS;
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const float VEH_FORCE_MAX = 1e20f;
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const int VEH_FORCE_TOTAL_BITS = 16;
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const int VEH_FORCE_EXPONENT_BITS = idMath::BitsForInteger( idMath::BitsForFloat( VEH_FORCE_MAX ) ) + 1;
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const int VEH_FORCE_MANTISSA_BITS = VEH_FORCE_TOTAL_BITS - 1 - VEH_FORCE_EXPONENT_BITS;
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/*
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================
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hhPhysics_Vehicle::WriteToSnapshot
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================
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*/
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void hhPhysics_Vehicle::WriteToSnapshot( idBitMsgDelta &msg ) const {
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idCQuat quat, localQuat;
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quat = current.i.orientation.ToCQuat();
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localQuat = current.localAxis.ToCQuat();
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msg.WriteFloat( gravityVector.x );
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msg.WriteFloat( gravityVector.y );
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msg.WriteFloat( gravityVector.z );
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msg.WriteBits(dropToFloor, 1);
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msg.WriteLong( current.atRest );
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msg.WriteFloat( current.i.position[0] );
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msg.WriteFloat( current.i.position[1] );
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msg.WriteFloat( current.i.position[2] );
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msg.WriteFloat( quat.x );
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msg.WriteFloat( quat.y );
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msg.WriteFloat( quat.z );
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msg.WriteFloat( current.i.linearMomentum[0], VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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msg.WriteFloat( current.i.linearMomentum[1], VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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msg.WriteFloat( current.i.linearMomentum[2], VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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msg.WriteFloat( current.i.angularMomentum[0], VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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msg.WriteFloat( current.i.angularMomentum[1], VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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msg.WriteFloat( current.i.angularMomentum[2], VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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msg.WriteDeltaFloat( current.i.position[0], current.localOrigin[0] );
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msg.WriteDeltaFloat( current.i.position[1], current.localOrigin[1] );
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msg.WriteDeltaFloat( current.i.position[2], current.localOrigin[2] );
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msg.WriteDeltaFloat( quat.x, localQuat.x );
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msg.WriteDeltaFloat( quat.y, localQuat.y );
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msg.WriteDeltaFloat( quat.z, localQuat.z );
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msg.WriteDeltaFloat( 0.0f, current.pushVelocity[0], VEH_VELOCITY_EXPONENT_BITS, VEH_VELOCITY_MANTISSA_BITS );
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msg.WriteDeltaFloat( 0.0f, current.pushVelocity[1], VEH_VELOCITY_EXPONENT_BITS, VEH_VELOCITY_MANTISSA_BITS );
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msg.WriteDeltaFloat( 0.0f, current.pushVelocity[2], VEH_VELOCITY_EXPONENT_BITS, VEH_VELOCITY_MANTISSA_BITS );
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msg.WriteDeltaFloat( 0.0f, current.externalForce[0], VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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msg.WriteDeltaFloat( 0.0f, current.externalForce[1], VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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msg.WriteDeltaFloat( 0.0f, current.externalForce[2], VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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msg.WriteDeltaFloat( 0.0f, current.externalTorque[0], VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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msg.WriteDeltaFloat( 0.0f, current.externalTorque[1], VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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msg.WriteDeltaFloat( 0.0f, current.externalTorque[2], VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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}
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/*
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================
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hhPhysics_Vehicle::ReadFromSnapshot
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================
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*/
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void hhPhysics_Vehicle::ReadFromSnapshot( const idBitMsgDelta &msg ) {
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idCQuat quat, localQuat;
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idVec3 newGrav;
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newGrav.x = msg.ReadFloat();
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newGrav.y = msg.ReadFloat();
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newGrav.z = msg.ReadFloat();
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SetGravity(newGrav);
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dropToFloor = !!msg.ReadBits(1);
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current.atRest = msg.ReadLong();
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current.i.position[0] = msg.ReadFloat();
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current.i.position[1] = msg.ReadFloat();
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current.i.position[2] = msg.ReadFloat();
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quat.x = msg.ReadFloat();
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quat.y = msg.ReadFloat();
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quat.z = msg.ReadFloat();
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current.i.linearMomentum[0] = msg.ReadFloat( VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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current.i.linearMomentum[1] = msg.ReadFloat( VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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current.i.linearMomentum[2] = msg.ReadFloat( VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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current.i.angularMomentum[0] = msg.ReadFloat( VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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current.i.angularMomentum[1] = msg.ReadFloat( VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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current.i.angularMomentum[2] = msg.ReadFloat( VEH_MOMENTUM_EXPONENT_BITS, VEH_MOMENTUM_MANTISSA_BITS );
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current.localOrigin[0] = msg.ReadDeltaFloat( current.i.position[0] );
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current.localOrigin[1] = msg.ReadDeltaFloat( current.i.position[1] );
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current.localOrigin[2] = msg.ReadDeltaFloat( current.i.position[2] );
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localQuat.x = msg.ReadDeltaFloat( quat.x );
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localQuat.y = msg.ReadDeltaFloat( quat.y );
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localQuat.z = msg.ReadDeltaFloat( quat.z );
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current.pushVelocity[0] = msg.ReadDeltaFloat( 0.0f, VEH_VELOCITY_EXPONENT_BITS, VEH_VELOCITY_MANTISSA_BITS );
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current.pushVelocity[1] = msg.ReadDeltaFloat( 0.0f, VEH_VELOCITY_EXPONENT_BITS, VEH_VELOCITY_MANTISSA_BITS );
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current.pushVelocity[2] = msg.ReadDeltaFloat( 0.0f, VEH_VELOCITY_EXPONENT_BITS, VEH_VELOCITY_MANTISSA_BITS );
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current.externalForce[0] = msg.ReadDeltaFloat( 0.0f, VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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current.externalForce[1] = msg.ReadDeltaFloat( 0.0f, VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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current.externalForce[2] = msg.ReadDeltaFloat( 0.0f, VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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current.externalTorque[0] = msg.ReadDeltaFloat( 0.0f, VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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current.externalTorque[1] = msg.ReadDeltaFloat( 0.0f, VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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current.externalTorque[2] = msg.ReadDeltaFloat( 0.0f, VEH_FORCE_EXPONENT_BITS, VEH_FORCE_MANTISSA_BITS );
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current.i.orientation = quat.ToMat3();
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current.localAxis = localQuat.ToMat3();
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if ( clipModel ) {
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clipModel->Link( gameLocal.clip, self, clipModel->GetId(), current.i.position, current.i.orientation );
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}
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}
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