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Pull controller manages velocity better than it did before. (#3945)

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This commit is contained in:
20kdc
2021-05-11 09:32:11 +01:00
committed by GitHub
parent 0be8437645
commit 743a12750c
1 changed files with 34 additions and 6 deletions
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40
Content.Server/Physics/Controllers/PullController.cs
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@@ -5,13 +5,34 @@ using Content.Shared.GameObjects.EntitySystems;
using Robust.Shared.GameObjects;
using Robust.Shared.Physics;
using Robust.Shared.Physics.Controllers;
using Robust.Shared.Maths;
using Robust.Shared.Utility;
namespace Content.Server.Physics.Controllers
{
public class PullController : VirtualController
{
private const int ImpulseModifier = 20;
// Parameterization for pulling:
// Speeds. Note that the speed is mass-independent (multiplied by mass).
// Instead, tuning to mass is done via the mass values below.
// Note that setting the speed too high results in overshoots (stabilized by drag, but bad)
private const float AccelModifierHigh = 7.5f;
private const float AccelModifierLow = 60.0f;
// High/low-mass marks. Curve is constant-lerp-constant, i.e. if you can even pull an item,
// you'll always get at least AccelModifierLow and no more than AccelModifierHigh.
private const float AccelModifierHighMass = 70.0f; // locker
private const float AccelModifierLowMass = 1.0f; // to taste
// Used to control settling (turns off pulling).
// Note that once an object gets within MaximumSettleDistance, impulses change to trying to shut down velocity.
private const float MaximumSettleVelocity = 0.1f;
private const float MaximumSettleDistance = 0.1f;
// Settle shutdown control.
// Mustn't be too massive, as that causes severe mispredicts *and can prevent it ever resolving*.
// Exists to bleed off "I pulled my crowbar" overshoots.
// Distance in which settle shutdown applies
private const float SettleShutdownDistance = 1.0f;
// Velocity change of -LinearVelocity * frameTime * this
private const float SettleShutdownMultiplier = 5.0f;
private SharedPullingSystem _pullableSystem = default!;
@@ -60,7 +81,7 @@ namespace Content.Server.Physics.Controllers
var movingPosition = pullable.MovingTo.Value.Position;
var ownerPosition = pullable.Owner.Transform.MapPosition.Position;
if (movingPosition.EqualsApprox(ownerPosition, 0.01))
if (movingPosition.EqualsApprox(ownerPosition, MaximumSettleDistance) && (physics.LinearVelocity.Length < MaximumSettleVelocity))
{
pullable.MovingTo = null;
continue;
@@ -68,10 +89,17 @@ namespace Content.Server.Physics.Controllers
var diff = movingPosition - ownerPosition;
var diffLength = diff.Length;
var multiplier = diffLength < 1 ? ImpulseModifier * diffLength : ImpulseModifier;
var impulse = diff.Normalized * multiplier;
physics.ApplyLinearImpulse(impulse);
var impulseModifierLerp = Math.Min(1.0f, Math.Max(0.0f, (physics.Mass - AccelModifierLowMass) / (AccelModifierHighMass - AccelModifierLowMass)));
var impulseModifier = MathHelper.Lerp(AccelModifierLow, AccelModifierHigh, impulseModifierLerp);
var multiplier = diffLength < 1 ? impulseModifier * diffLength : impulseModifier;
// Note the implication that the real rules of physics don't apply to pulling control.
var accel = diff.Normalized * multiplier;
// Now for the part where velocity gets shutdown...
if (movingPosition.EqualsApprox(ownerPosition, SettleShutdownDistance))
{
accel -= physics.LinearVelocity * SettleShutdownMultiplier;
}
physics.ApplyLinearImpulse(accel * physics.Mass * frameTime);
}
}
}