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Fix thrusters, add new max velocity calculation (#19688)

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This commit is contained in:
router
2023-09-04 22:33:47 +03:00
committed by GitHub
parent a20211a1df
commit 0b94825182
3 changed files with 62 additions and 11 deletions
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51
Content.Server/Physics/Controllers/MoverController.cs
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@@ -232,6 +232,29 @@ namespace Content.Server.Physics.Controllers
component.CurTickBraking += brake * fraction;
}
/// <summary>
/// Helper function to extrapolate max velocity for a given Vector2 (really, its angle) and shuttle.
/// </summary>
private Vector2 ObtainMaxVel(Vector2 vel, ShuttleComponent shuttle)
{
if (vel.Length() == 0f)
return Vector2.Zero;
// this math could PROBABLY be simplified for performance
// probably
// __________________________________
// / / __ __ \2 / __ __ \2
// O = I : _ / |I * | 1/H | | + |I * | 0 | |
// V \ |_ 0 _| / \ |_1/V_| /
var horizIndex = vel.X > 0 ? 1 : 3; // east else west
var vertIndex = vel.Y > 0 ? 2 : 0; // north else south
var horizComp = MathF.Pow(Vector2.Dot(vel, new (shuttle.BaseLinearThrust[horizIndex] / shuttle.LinearThrust[horizIndex], 0f)), 2);
var vertComp = MathF.Pow(Vector2.Dot(vel, new (0f, shuttle.BaseLinearThrust[vertIndex] / shuttle.LinearThrust[vertIndex])), 2);
return shuttle.BaseMaxLinearVelocity * vel * MathF.ReciprocalSqrtEstimate(horizComp + vertComp);
}
private void HandleShuttleMovement(float frameTime)
{
var newPilots = new Dictionary<EntityUid, (ShuttleComponent Shuttle, List<(EntityUid PilotUid, PilotComponent Pilot, InputMoverComponent Mover, TransformComponent ConsoleXform)>)>();
@@ -478,19 +501,27 @@ namespace Content.Server.Physics.Controllers
totalForce += impulse;
}
totalForce = shuttleNorthAngle.RotateVec(totalForce);
var forceMul = frameTime * body.InvMass;
var maxVelocity = (ShuttleComponent.MaxLinearVelocity - body.LinearVelocity.Length()) / forceMul;
if (maxVelocity != 0f)
{
// Don't overshoot
if (totalForce.Length() > maxVelocity)
totalForce = totalForce.Normalized() * maxVelocity;
var localVel = (-shuttleNorthAngle).RotateVec(body.LinearVelocity);
var maxVelocity = ObtainMaxVel(localVel, shuttle); // max for current travel dir
var maxWishVelocity = ObtainMaxVel(totalForce, shuttle);
var properAccel = (maxWishVelocity - localVel) / forceMul;
PhysicsSystem.ApplyForce(shuttleUid, totalForce, body: body);
}
var finalForce = Vector2.Dot(totalForce, properAccel.Normalized()) * properAccel.Normalized();
if (localVel.Length() >= maxVelocity.Length() && Vector2.Dot(totalForce, localVel) > 0f)
finalForce = Vector2.Zero; // burn would be faster if used as such
if (finalForce.Length() > properAccel.Length())
finalForce = properAccel; // don't overshoot
//Logger.Info($"shuttle: maxVelocity {maxVelocity} totalForce {totalForce} finalForce {finalForce} forceMul {forceMul} properAccel {properAccel}");
finalForce = shuttleNorthAngle.RotateVec(finalForce);
if (finalForce.Length() > 0f)
PhysicsSystem.ApplyForce(shuttleUid, finalForce, body: body);
}
if (MathHelper.CloseTo(angularInput, 0f))