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Shuttle fixes (#16774)

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This commit is contained in:
metalgearsloth
2023-05-24 23:15:03 +10:00
committed by GitHub
parent 2f0d21a247
commit f3c5c656ad
3 changed files with 43 additions and 26 deletions
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64
Content.Server/Physics/Controllers/MoverController.cs
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@@ -331,7 +331,7 @@ namespace Content.Server.Physics.Controllers
if (body.LinearVelocity.Length > 0f)
{
// Minimum brake velocity for a direction to show its thrust appearance.
var appearanceThreshold = 0.1f;
const float appearanceThreshold = 0.1f;
// Get velocity relative to the shuttle so we know which thrusters to fire
var shuttleVelocity = (-shuttleNorthAngle).RotateVec(body.LinearVelocity);
@@ -380,15 +380,15 @@ namespace Content.Server.Physics.Controllers
}
var impulse = force * brakeInput * ShuttleComponent.BrakeCoefficient;
var maxImpulse = shuttleVelocity * body.Mass;
impulse = shuttleNorthAngle.RotateVec(impulse);
var forceMul = frameTime * body.InvMass;
var maxVelocity = (-body.LinearVelocity).Length / forceMul;
if ((impulse * frameTime).LengthSquared > maxImpulse.LengthSquared)
{
impulse = -maxImpulse;
}
PhysicsSystem.ApplyForce(shuttle.Owner, shuttleNorthAngle.RotateVec(impulse), body: body);
// Don't overshoot
if (impulse.Length > maxVelocity)
impulse = impulse.Normalized * maxVelocity;
PhysicsSystem.ApplyForce(shuttle.Owner, impulse, body: body);
}
else
{
@@ -397,16 +397,23 @@ namespace Content.Server.Physics.Controllers
if (body.AngularVelocity != 0f)
{
var impulse = shuttle.AngularThrust * brakeInput * (body.AngularVelocity > 0f ? -1f : 1f) * ShuttleComponent.BrakeCoefficient;
var maxImpulse = body.AngularVelocity * body.Inertia;
var torque = shuttle.AngularThrust * brakeInput * (body.AngularVelocity > 0f ? -1f : 1f) * ShuttleComponent.BrakeCoefficient;
var torqueMul = body.InvI * frameTime;
if (Math.Abs(impulse * frameTime) > Math.Abs(maxImpulse))
if (body.AngularVelocity > 0f)
{
impulse = -maxImpulse;
torque = MathF.Max(-body.AngularVelocity / torqueMul, torque);
}
else
{
torque = MathF.Max(body.AngularVelocity / torqueMul, torque);
}
PhysicsSystem.ApplyTorque(shuttle.Owner, impulse, body: body);
_thruster.SetAngularThrust(shuttle, true);
if (!torque.Equals(0f))
{
PhysicsSystem.ApplyTorque(shuttle.Owner, torque, body: body);
_thruster.SetAngularThrust(shuttle, true);
}
}
else
{
@@ -479,8 +486,15 @@ namespace Content.Server.Physics.Controllers
totalForce = shuttleNorthAngle.RotateVec(totalForce);
if ((body.LinearVelocity + totalForce / body.Mass * frameTime).Length <= ShuttleComponent.MaxLinearVelocity)
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;
PhysicsSystem.ApplyForce(shuttle.Owner, totalForce, body: body);
}
}
@@ -495,17 +509,21 @@ namespace Content.Server.Physics.Controllers
else
{
PhysicsSystem.SetSleepingAllowed(shuttle.Owner, body, false);
var impulse = shuttle.AngularThrust * -angularInput;
var tickChange = impulse * frameTime * body.InvI;
var torque = shuttle.AngularThrust * -angularInput;
// If the rotation brings it above speedcap then noop.
if (Math.Sign(body.AngularVelocity) != Math.Sign(tickChange) ||
Math.Abs(body.AngularVelocity + tickChange) <= ShuttleComponent.MaxAngularVelocity)
// Need to cap the velocity if 1 tick of input brings us over cap so we don't continuously
// edge onto the cap over and over.
var torqueMul = body.InvI * frameTime;
torque = Math.Clamp(torque,
(-ShuttleComponent.MaxAngularVelocity - body.AngularVelocity) / torqueMul,
(ShuttleComponent.MaxAngularVelocity - body.AngularVelocity) / torqueMul);
if (!torque.Equals(0f))
{
PhysicsSystem.ApplyTorque(shuttle.Owner, impulse, body: body);
PhysicsSystem.ApplyTorque(shuttle.Owner, torque, body: body);
_thruster.SetAngularThrust(shuttle, true);
}
_thruster.SetAngularThrust(shuttle, true);
}
}
}