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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; angularInput /= count;
brakeInput /= 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 // Handle shuttle movement
if (brakeInput > 0f) if (brakeInput > 0f)
{ {
if (body.LinearVelocity.Length > 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 // Get velocity relative to the shuttle so we know which thrusters to fire
var shuttleVelocity = (-shuttleNorthAngle).RotateVec(body.LinearVelocity); var shuttleVelocity = (-shuttleNorthAngle).RotateVec(body.LinearVelocity);
var force = Vector2.Zero; var force = Vector2.Zero;
@@ -333,7 +325,9 @@ namespace Content.Server.Physics.Controllers
if (shuttleVelocity.X < 0f) if (shuttleVelocity.X < 0f)
{ {
_thruster.DisableLinearThrustDirection(shuttle, DirectionFlag.West); _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); var index = (int) Math.Log2((int) DirectionFlag.East);
force.X += shuttle.LinearThrust[index]; force.X += shuttle.LinearThrust[index];
@@ -341,7 +335,9 @@ namespace Content.Server.Physics.Controllers
else if (shuttleVelocity.X > 0f) else if (shuttleVelocity.X > 0f)
{ {
_thruster.DisableLinearThrustDirection(shuttle, DirectionFlag.East); _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); var index = (int) Math.Log2((int) DirectionFlag.West);
force.X -= shuttle.LinearThrust[index]; force.X -= shuttle.LinearThrust[index];
@@ -350,7 +346,9 @@ namespace Content.Server.Physics.Controllers
if (shuttleVelocity.Y < 0f) if (shuttleVelocity.Y < 0f)
{ {
_thruster.DisableLinearThrustDirection(shuttle, DirectionFlag.South); _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); var index = (int) Math.Log2((int) DirectionFlag.North);
force.Y += shuttle.LinearThrust[index]; force.Y += shuttle.LinearThrust[index];
@@ -358,47 +356,24 @@ namespace Content.Server.Physics.Controllers
else if (shuttleVelocity.Y > 0f) else if (shuttleVelocity.Y > 0f)
{ {
_thruster.DisableLinearThrustDirection(shuttle, DirectionFlag.North); _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); var index = (int) Math.Log2((int) DirectionFlag.South);
force.Y -= shuttle.LinearThrust[index]; force.Y -= shuttle.LinearThrust[index];
} }
var impulse = force * brakeInput; var impulse = force * brakeInput * ShuttleComponent.BrakeCoefficient;
var wishDir = impulse.Normalized; var maxImpulse = shuttleVelocity * body.Mass;
// TODO: Adjust max possible speed based on total thrust in particular direction.
var wishSpeed = 20f;
var currentSpeed = Vector2.Dot(shuttleVelocity, wishDir); if ((impulse * frameTime).LengthSquared > maxImpulse.LengthSquared)
var addSpeed = wishSpeed - currentSpeed;
if (addSpeed > 0f)
{ {
var accelSpeed = impulse.Length * frameTime; impulse = -maxImpulse;
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);
} }
PhysicsSystem.ApplyForce(shuttle.Owner, shuttleNorthAngle.RotateVec(impulse), body: body);
} }
else else
{ {
@@ -407,32 +382,20 @@ namespace Content.Server.Physics.Controllers
if (body.AngularVelocity != 0f) if (body.AngularVelocity != 0f)
{ {
var impulse = shuttle.AngularThrust * brakeInput * (body.AngularVelocity > 0f ? -1f : 1f); var impulse = shuttle.AngularThrust * brakeInput * (body.AngularVelocity > 0f ? -1f : 1f) * ShuttleComponent.BrakeCoefficient;
var wishSpeed = MathF.PI; var maxImpulse = body.AngularVelocity * body.Inertia;
if (impulse < 0f) if (Math.Abs(impulse * frameTime) > Math.Abs(maxImpulse))
wishSpeed *= -1f;
var currentSpeed = body.AngularVelocity;
var addSpeed = wishSpeed - currentSpeed;
if (!addSpeed.Equals(0f))
{ {
var accelSpeed = impulse * body.InvI * frameTime; impulse = -maxImpulse;
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);
} }
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)) if (brakeInput.Equals(0f))
_thruster.DisableLinearThrusters(shuttle); _thruster.DisableLinearThrusters(shuttle);
if (body.LinearVelocity.Length < 0.08)
{
PhysicsSystem.SetLinearVelocity(shuttle.Owner, Vector2.Zero, body: body);
}
} }
else else
{ {
@@ -454,8 +412,7 @@ namespace Content.Server.Physics.Controllers
var angle = linearInput.ToWorldAngle(); var angle = linearInput.ToWorldAngle();
var linearDir = angle.GetDir(); var linearDir = angle.GetDir();
var dockFlag = linearDir.AsFlag(); var dockFlag = linearDir.AsFlag();
var totalForce = Vector2.Zero;
var totalForce = new Vector2();
// Won't just do cardinal directions. // Won't just do cardinal directions.
foreach (DirectionFlag dir in Enum.GetValues(typeof(DirectionFlag))) foreach (DirectionFlag dir in Enum.GetValues(typeof(DirectionFlag)))
@@ -478,83 +435,62 @@ namespace Content.Server.Physics.Controllers
continue; continue;
} }
var force = Vector2.Zero;
var index = (int) Math.Log2((int) dir); var index = (int) Math.Log2((int) dir);
var thrust = shuttle.LinearThrust[index]; var thrust = shuttle.LinearThrust[index];
switch (dir) switch (dir)
{ {
case DirectionFlag.North: case DirectionFlag.North:
totalForce.Y += thrust; force.Y += thrust;
break; break;
case DirectionFlag.South: case DirectionFlag.South:
totalForce.Y -= thrust; force.Y -= thrust;
break; break;
case DirectionFlag.East: case DirectionFlag.East:
totalForce.X += thrust; force.X += thrust;
break; break;
case DirectionFlag.West: case DirectionFlag.West:
totalForce.X -= thrust; force.X -= thrust;
break; break;
default: default:
throw new ArgumentOutOfRangeException(); throw new ArgumentOutOfRangeException();
} }
_thruster.EnableLinearThrustDirection(shuttle, dir); _thruster.EnableLinearThrustDirection(shuttle, dir);
var impulse = force * linearInput.Length;
totalForce += impulse;
} }
// We don't want to touch damping if no inputs are given totalForce = shuttleNorthAngle.RotateVec(totalForce);
// so we'll just add an artifical drag to the velocity input.
var shuttleVelocity = (-shuttleNorthAngle).RotateVec(body.LinearVelocity);
var wishDir = totalForce.Normalized; if ((body.LinearVelocity + totalForce / body.Mass * frameTime).Length <= ShuttleComponent.MaxLinearVelocity)
// 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)
{ {
var accelSpeed = totalForce.Length * frameTime; PhysicsSystem.ApplyForce(shuttle.Owner, totalForce, body: body);
accelSpeed = MathF.Min(accelSpeed, addSpeed);
PhysicsSystem.ApplyLinearImpulse(shuttle.Owner, shuttleNorthAngle.RotateVec(totalForce.Normalized * accelSpeed), body: body);
} }
} }
if (MathHelper.CloseTo(angularInput, 0f)) if (MathHelper.CloseTo(angularInput, 0f))
{ {
_thruster.SetAngularThrust(shuttle, false);
PhysicsSystem.SetSleepingAllowed(shuttle.Owner, body, true); PhysicsSystem.SetSleepingAllowed(shuttle.Owner, body, true);
if (Math.Abs(body.AngularVelocity) < 0.01f) if (brakeInput <= 0f)
{ _thruster.SetAngularThrust(shuttle, false);
PhysicsSystem.SetAngularVelocity(shuttle.Owner, 0f, body: body);
}
} }
else else
{ {
PhysicsSystem.SetSleepingAllowed(shuttle.Owner, body, false); PhysicsSystem.SetSleepingAllowed(shuttle.Owner, body, false);
var impulse = shuttle.AngularThrust * -angularInput; var impulse = shuttle.AngularThrust * -angularInput;
var wishSpeed = MathF.PI; var tickChange = impulse * frameTime * body.InvI;
if (impulse < 0f) // If the rotation brings it above speedcap then noop.
wishSpeed *= -1f; if (Math.Sign(body.AngularVelocity) != Math.Sign(tickChange) ||
Math.Abs(body.AngularVelocity + tickChange) <= ShuttleComponent.MaxAngularVelocity)
var currentSpeed = body.AngularVelocity;
var addSpeed = wishSpeed - currentSpeed;
if (!addSpeed.Equals(0f))
{ {
var accelSpeed = impulse * body.InvI * frameTime; PhysicsSystem.ApplyTorque(shuttle.Owner, impulse, body: body);
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);
} }
_thruster.SetAngularThrust(shuttle, true);
} }
} }
} }

12
Content.Server/Shuttles/Components/ShuttleComponent.cs
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@@ -6,6 +6,18 @@ namespace Content.Server.Shuttles.Components
[ViewVariables] [ViewVariables]
public bool Enabled = true; public bool Enabled = true;
[ViewVariables]
public Vector2[] CenterOfThrust = new Vector2[4];
/// <summary>
/// Thrust gets multiplied by this value if it's for braking.
/// </summary>
public const float BrakeCoefficient = 1.5f;
public const float MaxLinearVelocity = 10f;
public const float MaxAngularVelocity = 1f;
/// <summary> /// <summary>
/// The cached thrust available for each cardinal direction /// The cached thrust available for each cardinal direction
/// </summary> /// </summary>

4
Content.Server/Shuttles/Components/ThrusterComponent.cs
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@@ -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! // Need to serialize this because RefreshParts isn't called on Init and this will break post-mapinit maps!
[ViewVariables(VVAccess.ReadWrite), DataField("thrust")] [ViewVariables(VVAccess.ReadWrite), DataField("thrust")]
public float Thrust; public float Thrust = 100f;
[DataField("baseThrust"), ViewVariables(VVAccess.ReadWrite)] [DataField("baseThrust"), ViewVariables(VVAccess.ReadWrite)]
public float BaseThrust = 750f; public float BaseThrust = 100f;
[DataField("thrusterType")] [DataField("thrusterType")]
public ThrusterType Type = ThrusterType.Linear; public ThrusterType Type = ThrusterType.Linear;

34
Content.Server/Shuttles/Systems/ThrusterSystem.cs
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@@ -13,6 +13,7 @@ using Content.Shared.Shuttles.Components;
using Content.Shared.Temperature; using Content.Shared.Temperature;
using Robust.Server.GameObjects; using Robust.Server.GameObjects;
using Robust.Shared.Map; using Robust.Shared.Map;
using Robust.Shared.Map.Components;
using Robust.Shared.Physics.Collision.Shapes; using Robust.Shared.Physics.Collision.Shapes;
using Robust.Shared.Physics.Components; using Robust.Shared.Physics.Components;
using Robust.Shared.Physics.Events; using Robust.Shared.Physics.Events;
@@ -295,6 +296,38 @@ public sealed class ThrusterSystem : EntitySystem
} }
_ambient.SetAmbience(uid, true); _ambient.SetAmbience(uid, true);
RefreshCenter(uid, shuttleComponent);
}
/// <summary>
/// Refreshes the center of thrust for movement calculations.
/// </summary>
private void RefreshCenter(EntityUid uid, ShuttleComponent shuttle)
{
// TODO: Only refresh relevant directions.
var center = Vector2.Zero;
var thrustQuery = GetEntityQuery<ThrusterComponent>();
var xformQuery = GetEntityQuery<TransformComponent>();
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) 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(); component.Colliding.Clear();
RefreshCenter(uid, shuttleComponent);
} }
public bool CanEnable(EntityUid uid, ThrusterComponent component) public bool CanEnable(EntityUid uid, ThrusterComponent component)

6
Resources/Prototypes/Entities/Structures/Shuttles/thrusters.yml
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@@ -92,7 +92,8 @@
- type: Thruster - type: Thruster
thrusterType: Angular thrusterType: Angular
requireSpace: false requireSpace: false
baseThrust: 5000 baseThrust: 2000
thrust: 2000
machinePartThrust: Manipulator machinePartThrust: Manipulator
- type: Sprite - type: Sprite
# Listen I'm not the biggest fan of the sprite but it was the most appropriate thing I could find. # 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 - type: Thruster
thrusterType: Angular thrusterType: Angular
requireSpace: false requireSpace: false
baseThrust: 5000 baseThrust: 100
thrust: 100
- type: ApcPowerReceiver - type: ApcPowerReceiver
needsPower: false needsPower: false
powerLoad: 0 powerLoad: 0