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Refactor thrusters (#15698)

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This commit is contained in:
metalgearsloth
2023-04-29 18:17:31 +10:00
committed by GitHub
parent b27f33fb1f
commit 1515a3faff
5 changed files with 105 additions and 121 deletions
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170
Content.Server/Physics/Controllers/MoverController.cs
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@@ -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);
}
}
}