From 1515a3faffe8e66d0802feaeedcc2fda04cab2f6 Mon Sep 17 00:00:00 2001 From: metalgearsloth <31366439+metalgearsloth@users.noreply.github.com> Date: Sat, 29 Apr 2023 18:17:31 +1000 Subject: [PATCH] Refactor thrusters (#15698) --- .../Physics/Controllers/MoverController.cs | 170 ++++++------------ .../Shuttles/Components/ShuttleComponent.cs | 12 ++ .../Shuttles/Components/ThrusterComponent.cs | 4 +- .../Shuttles/Systems/ThrusterSystem.cs | 34 ++++ .../Structures/Shuttles/thrusters.yml | 6 +- 5 files changed, 105 insertions(+), 121 deletions(-) diff --git a/Content.Server/Physics/Controllers/MoverController.cs b/Content.Server/Physics/Controllers/MoverController.cs index 2e9e4fcb80..bf56b32989 100644 --- a/Content.Server/Physics/Controllers/MoverController.cs +++ b/Content.Server/Physics/Controllers/MoverController.cs @@ -310,22 +310,14 @@ namespace Content.Server.Physics.Controllers angularInput /= count; brakeInput /= count; - /* - * So essentially: - * 1. We do the same calcs for braking as we do for linear thrust so it's similar to a player pressing it - * but we also need to handle when they get close to 0 hence why it sets velocity directly. - * - * 2. We do a similar calculation to mob movement where the closer you are to your speed cap the slower you accelerate - * - * TODO: Could combine braking linear input and thrust more but my brain was just not working debugging - * TODO: Need to have variable speed caps based on thruster count or whatever - */ - // Handle shuttle movement if (brakeInput > 0f) { if (body.LinearVelocity.Length > 0f) { + // Minimum brake velocity for a direction to show its thrust appearance. + var appearanceThreshold = 0.1f; + // Get velocity relative to the shuttle so we know which thrusters to fire var shuttleVelocity = (-shuttleNorthAngle).RotateVec(body.LinearVelocity); var force = Vector2.Zero; @@ -333,7 +325,9 @@ namespace Content.Server.Physics.Controllers if (shuttleVelocity.X < 0f) { _thruster.DisableLinearThrustDirection(shuttle, DirectionFlag.West); - _thruster.EnableLinearThrustDirection(shuttle, DirectionFlag.East); + + if (shuttleVelocity.X < -appearanceThreshold) + _thruster.EnableLinearThrustDirection(shuttle, DirectionFlag.East); var index = (int) Math.Log2((int) DirectionFlag.East); force.X += shuttle.LinearThrust[index]; @@ -341,7 +335,9 @@ namespace Content.Server.Physics.Controllers else if (shuttleVelocity.X > 0f) { _thruster.DisableLinearThrustDirection(shuttle, DirectionFlag.East); - _thruster.EnableLinearThrustDirection(shuttle, DirectionFlag.West); + + if (shuttleVelocity.X > appearanceThreshold) + _thruster.EnableLinearThrustDirection(shuttle, DirectionFlag.West); var index = (int) Math.Log2((int) DirectionFlag.West); force.X -= shuttle.LinearThrust[index]; @@ -350,7 +346,9 @@ namespace Content.Server.Physics.Controllers if (shuttleVelocity.Y < 0f) { _thruster.DisableLinearThrustDirection(shuttle, DirectionFlag.South); - _thruster.EnableLinearThrustDirection(shuttle, DirectionFlag.North); + + if (shuttleVelocity.Y < -appearanceThreshold) + _thruster.EnableLinearThrustDirection(shuttle, DirectionFlag.North); var index = (int) Math.Log2((int) DirectionFlag.North); force.Y += shuttle.LinearThrust[index]; @@ -358,47 +356,24 @@ namespace Content.Server.Physics.Controllers else if (shuttleVelocity.Y > 0f) { _thruster.DisableLinearThrustDirection(shuttle, DirectionFlag.North); - _thruster.EnableLinearThrustDirection(shuttle, DirectionFlag.South); + + if (shuttleVelocity.Y > appearanceThreshold) + _thruster.EnableLinearThrustDirection(shuttle, DirectionFlag.South); var index = (int) Math.Log2((int) DirectionFlag.South); force.Y -= shuttle.LinearThrust[index]; } - var impulse = force * brakeInput; - var wishDir = impulse.Normalized; - // TODO: Adjust max possible speed based on total thrust in particular direction. - var wishSpeed = 20f; + var impulse = force * brakeInput * ShuttleComponent.BrakeCoefficient; + var maxImpulse = shuttleVelocity * body.Mass; - var currentSpeed = Vector2.Dot(shuttleVelocity, wishDir); - var addSpeed = wishSpeed - currentSpeed; - - if (addSpeed > 0f) + if ((impulse * frameTime).LengthSquared > maxImpulse.LengthSquared) { - var accelSpeed = impulse.Length * frameTime; - accelSpeed = MathF.Min(accelSpeed, addSpeed); - impulse = impulse.Normalized * accelSpeed * body.InvMass; - - // Cap inputs - if (shuttleVelocity.X < 0f) - { - impulse.X = MathF.Min(impulse.X, -shuttleVelocity.X); - } - else if (shuttleVelocity.X > 0f) - { - impulse.X = MathF.Max(impulse.X, -shuttleVelocity.X); - } - - if (shuttleVelocity.Y < 0f) - { - impulse.Y = MathF.Min(impulse.Y, -shuttleVelocity.Y); - } - else if (shuttleVelocity.Y > 0f) - { - impulse.Y = MathF.Max(impulse.Y, -shuttleVelocity.Y); - } - - PhysicsSystem.SetLinearVelocity(shuttle.Owner, body.LinearVelocity + shuttleNorthAngle.RotateVec(impulse), body: body); + impulse = -maxImpulse; } + + PhysicsSystem.ApplyForce(shuttle.Owner, shuttleNorthAngle.RotateVec(impulse), body: body); + } else { @@ -407,32 +382,20 @@ namespace Content.Server.Physics.Controllers if (body.AngularVelocity != 0f) { - var impulse = shuttle.AngularThrust * brakeInput * (body.AngularVelocity > 0f ? -1f : 1f); - var wishSpeed = MathF.PI; + var impulse = shuttle.AngularThrust * brakeInput * (body.AngularVelocity > 0f ? -1f : 1f) * ShuttleComponent.BrakeCoefficient; + var maxImpulse = body.AngularVelocity * body.Inertia; - if (impulse < 0f) - wishSpeed *= -1f; - - var currentSpeed = body.AngularVelocity; - var addSpeed = wishSpeed - currentSpeed; - - if (!addSpeed.Equals(0f)) + if (Math.Abs(impulse * frameTime) > Math.Abs(maxImpulse)) { - var accelSpeed = impulse * body.InvI * frameTime; - - if (accelSpeed < 0f) - accelSpeed = MathF.Max(accelSpeed, addSpeed); - else - accelSpeed = MathF.Min(accelSpeed, addSpeed); - - if (body.AngularVelocity < 0f && body.AngularVelocity + accelSpeed > 0f) - accelSpeed = -body.AngularVelocity; - else if (body.AngularVelocity > 0f && body.AngularVelocity + accelSpeed < 0f) - accelSpeed = -body.AngularVelocity; - - PhysicsSystem.SetAngularVelocity(shuttle.Owner, body.AngularVelocity + accelSpeed, body: body); - _thruster.SetAngularThrust(shuttle, true); + impulse = -maxImpulse; } + + PhysicsSystem.ApplyTorque(shuttle.Owner, impulse, body: body); + _thruster.SetAngularThrust(shuttle, true); + } + else + { + _thruster.SetAngularThrust(shuttle, false); } } @@ -442,11 +405,6 @@ namespace Content.Server.Physics.Controllers if (brakeInput.Equals(0f)) _thruster.DisableLinearThrusters(shuttle); - - if (body.LinearVelocity.Length < 0.08) - { - PhysicsSystem.SetLinearVelocity(shuttle.Owner, Vector2.Zero, body: body); - } } else { @@ -454,8 +412,7 @@ namespace Content.Server.Physics.Controllers var angle = linearInput.ToWorldAngle(); var linearDir = angle.GetDir(); var dockFlag = linearDir.AsFlag(); - - var totalForce = new Vector2(); + var totalForce = Vector2.Zero; // Won't just do cardinal directions. foreach (DirectionFlag dir in Enum.GetValues(typeof(DirectionFlag))) @@ -478,83 +435,62 @@ namespace Content.Server.Physics.Controllers continue; } + var force = Vector2.Zero; var index = (int) Math.Log2((int) dir); var thrust = shuttle.LinearThrust[index]; switch (dir) { case DirectionFlag.North: - totalForce.Y += thrust; + force.Y += thrust; break; case DirectionFlag.South: - totalForce.Y -= thrust; + force.Y -= thrust; break; case DirectionFlag.East: - totalForce.X += thrust; + force.X += thrust; break; case DirectionFlag.West: - totalForce.X -= thrust; + force.X -= thrust; break; default: throw new ArgumentOutOfRangeException(); } _thruster.EnableLinearThrustDirection(shuttle, dir); + var impulse = force * linearInput.Length; + totalForce += impulse; } - // We don't want to touch damping if no inputs are given - // so we'll just add an artifical drag to the velocity input. - var shuttleVelocity = (-shuttleNorthAngle).RotateVec(body.LinearVelocity); + totalForce = shuttleNorthAngle.RotateVec(totalForce); - var wishDir = totalForce.Normalized; - // TODO: Adjust max possible speed based on total thrust in particular direction. - var wishSpeed = 20f; - - var currentSpeed = Vector2.Dot(shuttleVelocity, wishDir); - var addSpeed = wishSpeed - currentSpeed; - - if (addSpeed > 0f) + if ((body.LinearVelocity + totalForce / body.Mass * frameTime).Length <= ShuttleComponent.MaxLinearVelocity) { - var accelSpeed = totalForce.Length * frameTime; - accelSpeed = MathF.Min(accelSpeed, addSpeed); - PhysicsSystem.ApplyLinearImpulse(shuttle.Owner, shuttleNorthAngle.RotateVec(totalForce.Normalized * accelSpeed), body: body); + PhysicsSystem.ApplyForce(shuttle.Owner, totalForce, body: body); } } if (MathHelper.CloseTo(angularInput, 0f)) { - _thruster.SetAngularThrust(shuttle, false); PhysicsSystem.SetSleepingAllowed(shuttle.Owner, body, true); - if (Math.Abs(body.AngularVelocity) < 0.01f) - { - PhysicsSystem.SetAngularVelocity(shuttle.Owner, 0f, body: body); - } + if (brakeInput <= 0f) + _thruster.SetAngularThrust(shuttle, false); } else { PhysicsSystem.SetSleepingAllowed(shuttle.Owner, body, false); var impulse = shuttle.AngularThrust * -angularInput; - var wishSpeed = MathF.PI; + var tickChange = impulse * frameTime * body.InvI; - if (impulse < 0f) - wishSpeed *= -1f; - - var currentSpeed = body.AngularVelocity; - var addSpeed = wishSpeed - currentSpeed; - - if (!addSpeed.Equals(0f)) + // If the rotation brings it above speedcap then noop. + if (Math.Sign(body.AngularVelocity) != Math.Sign(tickChange) || + Math.Abs(body.AngularVelocity + tickChange) <= ShuttleComponent.MaxAngularVelocity) { - var accelSpeed = impulse * body.InvI * frameTime; - - if (accelSpeed < 0f) - accelSpeed = MathF.Max(accelSpeed, addSpeed); - else - accelSpeed = MathF.Min(accelSpeed, addSpeed); - - PhysicsSystem.SetAngularVelocity(shuttle.Owner, body.AngularVelocity + accelSpeed, body: body); - _thruster.SetAngularThrust(shuttle, true); + PhysicsSystem.ApplyTorque(shuttle.Owner, impulse, body: body); } + + _thruster.SetAngularThrust(shuttle, true); } } } diff --git a/Content.Server/Shuttles/Components/ShuttleComponent.cs b/Content.Server/Shuttles/Components/ShuttleComponent.cs index 6917eefcf8..05c22e30c8 100644 --- a/Content.Server/Shuttles/Components/ShuttleComponent.cs +++ b/Content.Server/Shuttles/Components/ShuttleComponent.cs @@ -6,6 +6,18 @@ namespace Content.Server.Shuttles.Components [ViewVariables] public bool Enabled = true; + [ViewVariables] + public Vector2[] CenterOfThrust = new Vector2[4]; + + /// + /// Thrust gets multiplied by this value if it's for braking. + /// + public const float BrakeCoefficient = 1.5f; + + public const float MaxLinearVelocity = 10f; + + public const float MaxAngularVelocity = 1f; + /// /// The cached thrust available for each cardinal direction /// diff --git a/Content.Server/Shuttles/Components/ThrusterComponent.cs b/Content.Server/Shuttles/Components/ThrusterComponent.cs index 75d4774305..a7713473c0 100644 --- a/Content.Server/Shuttles/Components/ThrusterComponent.cs +++ b/Content.Server/Shuttles/Components/ThrusterComponent.cs @@ -46,10 +46,10 @@ namespace Content.Server.Shuttles.Components // Need to serialize this because RefreshParts isn't called on Init and this will break post-mapinit maps! [ViewVariables(VVAccess.ReadWrite), DataField("thrust")] - public float Thrust; + public float Thrust = 100f; [DataField("baseThrust"), ViewVariables(VVAccess.ReadWrite)] - public float BaseThrust = 750f; + public float BaseThrust = 100f; [DataField("thrusterType")] public ThrusterType Type = ThrusterType.Linear; diff --git a/Content.Server/Shuttles/Systems/ThrusterSystem.cs b/Content.Server/Shuttles/Systems/ThrusterSystem.cs index 1157f7427b..6311d0e8c0 100644 --- a/Content.Server/Shuttles/Systems/ThrusterSystem.cs +++ b/Content.Server/Shuttles/Systems/ThrusterSystem.cs @@ -13,6 +13,7 @@ using Content.Shared.Shuttles.Components; using Content.Shared.Temperature; using Robust.Server.GameObjects; using Robust.Shared.Map; +using Robust.Shared.Map.Components; using Robust.Shared.Physics.Collision.Shapes; using Robust.Shared.Physics.Components; using Robust.Shared.Physics.Events; @@ -295,6 +296,38 @@ public sealed class ThrusterSystem : EntitySystem } _ambient.SetAmbience(uid, true); + RefreshCenter(uid, shuttleComponent); + } + + /// + /// Refreshes the center of thrust for movement calculations. + /// + private void RefreshCenter(EntityUid uid, ShuttleComponent shuttle) + { + // TODO: Only refresh relevant directions. + var center = Vector2.Zero; + var thrustQuery = GetEntityQuery(); + var xformQuery = GetEntityQuery(); + + foreach (var dir in new[] + { Direction.South, Direction.East, Direction.North, Direction.West }) + { + var index = (int) dir / 2; + var pop = shuttle.LinearThrusters[index]; + var totalThrust = 0f; + + foreach (var ent in pop) + { + if (!thrustQuery.TryGetComponent(ent, out var thruster) || !xformQuery.TryGetComponent(ent, out var xform)) + continue; + + center += xform.LocalPosition * thruster.Thrust; + totalThrust += thruster.Thrust; + } + + center /= pop.Count * totalThrust; + shuttle.CenterOfThrust[index] = center; + } } public void DisableThruster(EntityUid uid, ThrusterComponent component, TransformComponent? xform = null, Angle? angle = null) @@ -358,6 +391,7 @@ public sealed class ThrusterSystem : EntitySystem } component.Colliding.Clear(); + RefreshCenter(uid, shuttleComponent); } public bool CanEnable(EntityUid uid, ThrusterComponent component) diff --git a/Resources/Prototypes/Entities/Structures/Shuttles/thrusters.yml b/Resources/Prototypes/Entities/Structures/Shuttles/thrusters.yml index eab6009855..58376b9399 100644 --- a/Resources/Prototypes/Entities/Structures/Shuttles/thrusters.yml +++ b/Resources/Prototypes/Entities/Structures/Shuttles/thrusters.yml @@ -92,7 +92,8 @@ - type: Thruster thrusterType: Angular requireSpace: false - baseThrust: 5000 + baseThrust: 2000 + thrust: 2000 machinePartThrust: Manipulator - type: Sprite # Listen I'm not the biggest fan of the sprite but it was the most appropriate thing I could find. @@ -133,7 +134,8 @@ - type: Thruster thrusterType: Angular requireSpace: false - baseThrust: 5000 + baseThrust: 100 + thrust: 100 - type: ApcPowerReceiver needsPower: false powerLoad: 0