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physics_object.cpp
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//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//=============================================================================//
#include "cbase.h"
#include "ivp_surman_polygon.hxx"
#include "ivp_compact_ledge.hxx"
#include "ivp_compact_ledge_solver.hxx"
#include "ivp_mindist_intern.hxx"
#include "ivp_mindist.hxx"
#include "ivp_friction.hxx"
#include "ivp_phantom.hxx"
#include "ivp_listener_collision.hxx"
#include "ivp_clustering_visualizer.hxx"
#include "ivp_anomaly_manager.hxx"
#include "ivp_collision_filter.hxx"
#include "hk_mopp/ivp_surman_mopp.hxx"
#include "hk_mopp/ivp_compact_mopp.hxx"
#include "ivp_compact_surface.hxx"
#include "physics_trace.h"
#include "physics_shadow.h"
#include "physics_friction.h"
#include "physics_constraint.h"
#include "bspflags.h"
#include "vphysics/player_controller.h"
#include "vphysics/friction.h"
// memdbgon must be the last include file in a .cpp file!!!
#include "tier0/memdbgon.h"
extern IPhysicsCollision *physcollision;
// UNDONE: Make this a stack variable / member variable of some save/load object or function?
// NOTE: This keeps a list of objects who were saved while asleep, but not created asleep
// So some info will be lost unless it's regenerated after loading.
struct postrestore_objectlist_t
{
CPhysicsObject *pObject;
bool growFriction;
bool enableCollisions;
void Defaults()
{
pObject = NULL;
growFriction = false;
enableCollisions = false;
}
};
static CUtlVector<postrestore_objectlist_t> g_PostRestoreObjectList;
// This angular basis is the integral of each differential drag area's torque over the whole OBB
// For each axis, each face, the integral is (1/Iaxis) * (1/3 * w^2l^3 + 1/2 * w^4l + lw^2h^2)
// l,w, & h are half widths - where l is in the direction of the axis, w is in the plane (l/w plane) of the face,
// and h is perpendicular to the face. So for each axis, you sum up this integral over 2 pairs of faces
// (this function returns the integral for one pair of opposite faces, not one face)
static float AngDragIntegral( float invInertia, float l, float w, float h )
{
float w2 = w*w;
float l2 = l*l;
float h2 = h*h;
return invInertia * ( (1.f/3.f)*w2*l*l2 + 0.5 * w2*w2*l + l*w2*h2 );
}
CPhysicsObject::CPhysicsObject( void )
{
#ifdef _WIN32
void *pData = ((char *)this) + sizeof(void *); // offset beyond vtable
int dataSize = sizeof(*this) - sizeof(void *);
Assert( pData == &m_pGameData );
memset( pData, 0, dataSize );
#elif POSIX
//!!HACK HACK - rework this if we ever change compiler versions (from gcc 3.2!!!)
void *pData = ((char *)this) + sizeof(void *); // offset beyond vtable
int dataSize = sizeof(*this) - sizeof(void *);
Assert( pData == &m_pGameData );
memset( pData, 0, dataSize );
#else
#error
#endif
// HACKHACK: init this as a sphere until someone attaches a surfacemanager
m_collideType = COLLIDE_BALL;
m_contentsMask = CONTENTS_SOLID;
m_hasTouchedDynamic = 0;
}
void CPhysicsObject::Init( const CPhysCollide *pCollisionModel, IVP_Real_Object *pObject, int materialIndex, float volume, float drag, float angDrag )
{
m_pCollide = pCollisionModel;
m_materialIndex = materialIndex;
m_pObject = pObject;
pObject->client_data = (void *)this;
m_pGameData = NULL;
m_gameFlags = 0;
m_gameIndex = 0;
m_sleepState = OBJ_SLEEP; // objects start asleep
m_callbacks = CALLBACK_GLOBAL_COLLISION|CALLBACK_GLOBAL_FRICTION|CALLBACK_FLUID_TOUCH|CALLBACK_GLOBAL_TOUCH|CALLBACK_GLOBAL_COLLIDE_STATIC|CALLBACK_DO_FLUID_SIMULATION;
m_activeIndex = 0xFFFF;
m_pShadow = NULL;
m_shadowTempGravityDisable = false;
m_forceSilentDelete = false;
m_dragBasis = vec3_origin;
m_angDragBasis = vec3_origin;
if ( !IsStatic() && GetCollide() )
{
RecomputeDragBases();
}
else
{
drag = 0;
angDrag = 0;
}
m_dragCoefficient = drag;
m_angDragCoefficient = angDrag;
SetVolume( volume );
}
CPhysicsObject::~CPhysicsObject( void )
{
RemoveShadowController();
if ( m_pObject )
{
// prevents callbacks to the game code / unlink from this object
m_callbacks = 0;
m_pGameData = 0;
m_pObject->client_data = 0;
IVP_Core *pCore = m_pObject->get_core();
if ( pCore->physical_unmoveable == IVP_TRUE && pCore->controllers_of_core.n_elems )
{
// go ahead and notify them if this happens in the real world
for(int i = pCore->controllers_of_core.len()-1; i >=0 ;i-- )
{
IVP_Controller *my_controller = pCore->controllers_of_core.element_at(i);
my_controller->core_is_going_to_be_deleted_event(pCore);
Assert(my_controller==pCore->environment->get_gravity_controller());
}
}
// UNDONE: Don't free the surface manager here
// UNDONE: Remove reference to it by calling something in physics_collide
IVP_SurfaceManager *pSurman = GetSurfaceManager();
CPhysicsEnvironment *pVEnv = GetVPhysicsEnvironment();
// BUGBUG: Sometimes IVP will call a "revive" on the object we're deleting!
MEM_ALLOC_CREDIT();
if ( m_forceSilentDelete || (pVEnv && pVEnv->ShouldQuickDelete()) || !m_hasTouchedDynamic )
{
m_pObject->delete_silently();
}
else
{
m_pObject->delete_and_check_vicinity();
}
delete pSurman;
}
}
void CPhysicsObject::Wake( void )
{
m_pObject->ensure_in_simulation();
}
// supported
void CPhysicsObject::Sleep( void )
{
m_pObject->disable_simulation();
}
bool CPhysicsObject::IsAsleep() const
{
if ( m_sleepState == OBJ_AWAKE )
return false;
// double-check that we aren't pending
if ( m_pObject->get_core()->is_in_wakeup_vec )
return false;
return true;
}
void CPhysicsObject::NotifySleep( void )
{
if ( m_sleepState == OBJ_AWAKE )
{
m_sleepState = OBJ_STARTSLEEP;
}
else
{
// UNDONE: This fails sometimes and we get sleep calls for a sleeping object, debug?
//Assert(m_sleepState==OBJ_STARTSLEEP);
m_sleepState = OBJ_SLEEP;
}
}
void CPhysicsObject::NotifyWake( void )
{
m_asleepSinceCreation = false;
m_sleepState = OBJ_AWAKE;
}
void CPhysicsObject::SetCallbackFlags( unsigned short callbackflags )
{
#if IVP_ENABLE_VISUALIZER
unsigned short changedFlags = m_callbacks ^ callbackflags;
if ( changedFlags & CALLBACK_MARKED_FOR_TEST )
{
if ( callbackflags & CALLBACK_MARKED_FOR_TEST )
{
ENABLE_SHORTRANGE_VISUALIZATION(m_pObject);
ENABLE_LONGRANGE_VISUALIZATION(m_pObject);
}
else
{
DISABLE_SHORTRANGE_VISUALIZATION(m_pObject);
DISABLE_LONGRANGE_VISUALIZATION(m_pObject);
}
}
#endif
m_callbacks = callbackflags;
}
unsigned short CPhysicsObject::GetCallbackFlags() const
{
return m_callbacks;
}
void CPhysicsObject::SetGameFlags( unsigned short userFlags )
{
m_gameFlags = userFlags;
}
unsigned short CPhysicsObject::GetGameFlags() const
{
return m_gameFlags;
}
void CPhysicsObject::SetGameIndex( unsigned short gameIndex )
{
m_gameIndex = gameIndex;
}
unsigned short CPhysicsObject::GetGameIndex() const
{
return m_gameIndex;
}
bool CPhysicsObject::IsStatic() const
{
if ( m_pObject->get_core()->physical_unmoveable )
return true;
return false;
}
void CPhysicsObject::EnableCollisions( bool enable )
{
if ( enable )
{
m_callbacks |= CALLBACK_ENABLING_COLLISION;
BEGIN_IVP_ALLOCATION();
m_pObject->enable_collision_detection( IVP_TRUE );
END_IVP_ALLOCATION();
m_callbacks &= ~CALLBACK_ENABLING_COLLISION;
}
else
{
if ( IsCollisionEnabled() )
{
// Delete all contact points with this physics object because it's collision is becoming disabled
IPhysicsFrictionSnapshot *pSnapshot = CreateFrictionSnapshot();
while ( pSnapshot->IsValid() )
{
pSnapshot->MarkContactForDelete();
pSnapshot->NextFrictionData();
}
pSnapshot->DeleteAllMarkedContacts( true );
DestroyFrictionSnapshot( pSnapshot );
}
m_pObject->enable_collision_detection( IVP_FALSE );
}
}
void CPhysicsObject::RecheckCollisionFilter()
{
if ( CallbackFlags() & CALLBACK_MARKED_FOR_DELETE )
return;
m_callbacks |= CALLBACK_ENABLING_COLLISION;
BEGIN_IVP_ALLOCATION();
m_pObject->recheck_collision_filter();
// UNDONE: do a RecheckContactPoints() here?
END_IVP_ALLOCATION();
m_callbacks &= ~CALLBACK_ENABLING_COLLISION;
}
void CPhysicsObject::RecheckContactPoints(bool bSearchForNewContacts)
{
if( bSearchForNewContacts )
m_pObject->force_grow_friction_system();
IVP_Environment *pEnv = m_pObject->get_environment();
IVP_Collision_Filter *coll_filter = pEnv->get_collision_filter();
IPhysicsFrictionSnapshot *pSnapshot = CreateFrictionSnapshot();
while ( pSnapshot->IsValid() )
{
CPhysicsObject *pOther = static_cast<CPhysicsObject *>(pSnapshot->GetObject(1));
if ( !coll_filter->check_objects_for_collision_detection( m_pObject, pOther->m_pObject ) )
{
pSnapshot->MarkContactForDelete();
}
pSnapshot->NextFrictionData();
}
pSnapshot->DeleteAllMarkedContacts( true );
DestroyFrictionSnapshot( pSnapshot );
}
CPhysicsEnvironment *CPhysicsObject::GetVPhysicsEnvironment()
{
return (CPhysicsEnvironment *) (m_pObject->get_environment()->client_data);
}
const CPhysicsEnvironment *CPhysicsObject::GetVPhysicsEnvironment() const
{
return (CPhysicsEnvironment *) (m_pObject->get_environment()->client_data);
}
bool CPhysicsObject::IsControlling( const IVP_Controller *pController ) const
{
IVP_Core *pCore = m_pObject->get_core();
for ( int i = 0; i < pCore->controllers_of_core.len(); i++ )
{
// already controlling this core?
if ( pCore->controllers_of_core.element_at(i) == pController )
return true;
}
return false;
}
bool CPhysicsObject::IsGravityEnabled() const
{
if ( !IsStatic() )
{
return IsControlling( m_pObject->get_core()->environment->get_gravity_controller() );
}
return false;
}
bool CPhysicsObject::IsDragEnabled() const
{
if ( !IsStatic() )
{
return IsControlling( GetVPhysicsEnvironment()->GetDragController() );
}
return false;
}
bool CPhysicsObject::IsMotionEnabled() const
{
return m_pObject->get_core()->pinned ? false : true;
}
bool CPhysicsObject::IsMoveable() const
{
if ( IsStatic() || !IsMotionEnabled() )
return false;
return true;
}
void CPhysicsObject::EnableGravity( bool enable )
{
if ( IsStatic() )
return;
bool isEnabled = IsGravityEnabled();
if ( enable == isEnabled )
return;
IVP_Controller *pGravity = m_pObject->get_core()->environment->get_gravity_controller();
if ( enable )
{
m_pObject->get_core()->add_core_controller( pGravity );
}
else
{
m_pObject->get_core()->rem_core_controller( pGravity );
}
}
void CPhysicsObject::EnableDrag( bool enable )
{
if ( IsStatic() )
return;
bool isEnabled = IsDragEnabled();
if ( enable == isEnabled )
return;
IVP_Controller *pDrag = GetVPhysicsEnvironment()->GetDragController();
if ( enable )
{
m_pObject->get_core()->add_core_controller( pDrag );
}
else
{
m_pObject->get_core()->rem_core_controller( pDrag );
}
}
void CPhysicsObject::SetDragCoefficient( float *pDrag, float *pAngularDrag )
{
if ( pDrag )
{
m_dragCoefficient = *pDrag;
}
if ( pAngularDrag )
{
m_angDragCoefficient = *pAngularDrag;
}
EnableDrag( m_dragCoefficient || m_angDragCoefficient );
}
void CPhysicsObject::RecomputeDragBases()
{
if ( IsStatic() || !GetCollide() )
return;
// Basically we are computing drag as an OBB. Get OBB extents for projection
// scale those extents by appropriate mass/inertia to compute velocity directly (not force)
// in the controller
// NOTE: Compute these even if drag coefficients are zero, because the drag coefficient could change later
// Get an AABB for this object and use the area of each side as a basis for approximating cross-section area for drag
Vector dragMins, dragMaxs;
// NOTE: coordinates in/out of physcollision are in HL units, not IVP
// PERFORMANCE: Cache this? Expensive.
physcollision->CollideGetAABB( &dragMins, &dragMaxs, GetCollide(), vec3_origin, vec3_angle );
Vector areaFractions = physcollision->CollideGetOrthographicAreas( GetCollide() );
Vector delta = dragMaxs - dragMins;
ConvertPositionToIVP( delta.x, delta.y, delta.z );
delta.x = fabsf(delta.x);
delta.y = fabsf(delta.y);
delta.z = fabsf(delta.z);
// dragBasis is now the area of each side
m_dragBasis.x = delta.y * delta.z * areaFractions.x;
m_dragBasis.y = delta.x * delta.z * areaFractions.y;
m_dragBasis.z = delta.x * delta.y * areaFractions.z;
m_dragBasis *= GetInvMass();
const IVP_U_Float_Point *pInvRI = m_pObject->get_core()->get_inv_rot_inertia();
// This angular basis is the integral of each differential drag area's torque over the whole OBB
// need half lengths for this integral
delta *= 0.5;
// rotation about the x axis
m_angDragBasis.x = areaFractions.z * AngDragIntegral( pInvRI->k[0], delta.x, delta.y, delta.z ) + areaFractions.y * AngDragIntegral( pInvRI->k[0], delta.x, delta.z, delta.y );
// rotation about the y axis
m_angDragBasis.y = areaFractions.z * AngDragIntegral( pInvRI->k[1], delta.y, delta.x, delta.z ) + areaFractions.x * AngDragIntegral( pInvRI->k[1], delta.y, delta.z, delta.x );
// rotation about the z axis
m_angDragBasis.z = areaFractions.y * AngDragIntegral( pInvRI->k[2], delta.z, delta.x, delta.y ) + areaFractions.x * AngDragIntegral( pInvRI->k[2], delta.z, delta.y, delta.x );
}
void CPhysicsObject::EnableMotion( bool enable )
{
if ( IsStatic() )
return;
bool isMoveable = IsMotionEnabled();
// no change
if ( isMoveable == enable )
return;
BEGIN_IVP_ALLOCATION();
m_pObject->set_pinned( enable ? IVP_FALSE : IVP_TRUE );
END_IVP_ALLOCATION();
if ( enable && IsHinged() )
{
BecomeHinged( m_hingedAxis-1 );
}
RecheckCollisionFilter();
RecheckContactPoints();
}
bool CPhysicsObject::IsControlledByGame() const
{
if (m_pShadow && !m_pShadow->IsPhysicallyControlled())
return true;
if ( CallbackFlags() & CALLBACK_IS_PLAYER_CONTROLLER )
return true;
return false;
}
IPhysicsFrictionSnapshot *CPhysicsObject::CreateFrictionSnapshot()
{
return ::CreateFrictionSnapshot( m_pObject );
}
void CPhysicsObject::DestroyFrictionSnapshot( IPhysicsFrictionSnapshot *pSnapshot )
{
::DestroyFrictionSnapshot(pSnapshot);
}
bool CPhysicsObject::IsMassCenterAtDefault() const
{
// this is the actual mass center of the object as created
Vector massCenterHL = GetMassCenterLocalSpace();
// Get the default mass center to see if it has been changed
IVP_U_Float_Point massCenterIVPDefault;
Vector massCenterHLDefault;
GetObject()->get_surface_manager()->get_mass_center( &massCenterIVPDefault );
ConvertPositionToHL( massCenterIVPDefault, massCenterHLDefault );
float delta = (massCenterHLDefault - massCenterHL).Length();
return ( delta <= g_PhysicsUnits.collisionSweepIncrementalEpsilon ) ? true : false;
}
Vector CPhysicsObject::GetMassCenterLocalSpace() const
{
if ( m_pObject->flags.shift_core_f_object_is_zero )
return vec3_origin;
Vector out;
ConvertPositionToHL( *m_pObject->get_shift_core_f_object(), out );
// core shift is what you add to the mass center to get the origin
// so we want the negative core shift (origin relative position of the mass center)
return -out;
}
void CPhysicsObject::SetGameData( void *pGameData )
{
m_pGameData = pGameData;
}
void *CPhysicsObject::GetGameData( void ) const
{
return m_pGameData;
}
void CPhysicsObject::SetMass( float mass )
{
bool reset = false;
if ( !IsMoveable() )
{
reset = true;
EnableMotion(true);
}
Assert( mass > 0 );
mass = clamp( mass, 0, VPHYSICS_MAX_MASS ); // NOTE: Allow zero procedurally, but not by initialization
m_pObject->change_mass( mass );
SetVolume( m_volume );
RecomputeDragBases();
if ( reset )
{
EnableMotion(false);
}
}
float CPhysicsObject::GetMass( void ) const
{
return m_pObject->get_core()->get_mass();
}
float CPhysicsObject::GetInvMass( void ) const
{
return m_pObject->get_core()->get_inv_mass();
}
Vector CPhysicsObject::GetInertia( void ) const
{
const IVP_U_Float_Point *pRI = m_pObject->get_core()->get_rot_inertia();
Vector hlInertia;
ConvertDirectionToHL( *pRI, hlInertia );
VectorAbs( hlInertia, hlInertia );
return hlInertia;
}
Vector CPhysicsObject::GetInvInertia( void ) const
{
const IVP_U_Float_Point *pRI = m_pObject->get_core()->get_inv_rot_inertia();
Vector hlInvInertia;
ConvertDirectionToHL( *pRI, hlInvInertia );
VectorAbs( hlInvInertia, hlInvInertia );
return hlInvInertia;
}
void CPhysicsObject::SetInertia( const Vector &inertia )
{
IVP_U_Float_Point ri;
ConvertDirectionToIVP( inertia, ri );
ri.k[0] = IVP_Inline_Math::fabsd(ri.k[0]);
ri.k[1] = IVP_Inline_Math::fabsd(ri.k[1]);
ri.k[2] = IVP_Inline_Math::fabsd(ri.k[2]);
m_pObject->get_core()->set_rotation_inertia( &ri );
}
void CPhysicsObject::GetDamping( float *speed, float *rot ) const
{
IVP_Core *pCore = m_pObject->get_core();
if ( speed )
{
*speed = pCore->speed_damp_factor;
}
if ( rot )
{
*rot = pCore->rot_speed_damp_factor.k[0];
}
}
void CPhysicsObject::SetDamping( const float *speed, const float *rot )
{
IVP_Core *pCore = m_pObject->get_core();
if ( speed )
{
pCore->speed_damp_factor = *speed;
}
if ( rot )
{
pCore->rot_speed_damp_factor.set( *rot, *rot, *rot );
}
}
void CPhysicsObject::SetVolume( float volume )
{
m_volume = volume;
if ( volume != 0.f )
{
// minimum volume is 5 cubic inches - otherwise buoyancy can get unstable
if ( volume < 5.0f )
{
volume = 5.0f;
}
volume *= HL2IVP_FACTOR*HL2IVP_FACTOR*HL2IVP_FACTOR;
float density = GetMass() / volume;
float matDensity;
physprops->GetPhysicsProperties( GetMaterialIndexInternal(), &matDensity, NULL, NULL, NULL );
m_buoyancyRatio = density / matDensity;
}
else
{
m_buoyancyRatio = 1.0f;
}
}
float CPhysicsObject::GetVolume() const
{
return m_volume;
}
void CPhysicsObject::SetBuoyancyRatio( float ratio )
{
m_buoyancyRatio = ratio;
}
void CPhysicsObject::SetContents( unsigned int contents )
{
m_contentsMask = contents;
}
// converts HL local units to HL world units
void CPhysicsObject::LocalToWorld( Vector *worldPosition, const Vector &localPosition ) const
{
matrix3x4_t matrix;
GetPositionMatrix( &matrix );
// copy in case the src == dest
VectorTransform( Vector(localPosition), matrix, *worldPosition );
}
// Converts world HL units to HL local/object units
void CPhysicsObject::WorldToLocal( Vector *localPosition, const Vector &worldPosition ) const
{
matrix3x4_t matrix;
GetPositionMatrix( &matrix );
// copy in case the src == dest
VectorITransform( Vector(worldPosition), matrix, *localPosition );
}
void CPhysicsObject::LocalToWorldVector( Vector *worldVector, const Vector &localVector ) const
{
matrix3x4_t matrix;
GetPositionMatrix( &matrix );
// copy in case the src == dest
VectorRotate( Vector(localVector), matrix, *worldVector );
}
void CPhysicsObject::WorldToLocalVector( Vector *localVector, const Vector &worldVector ) const
{
matrix3x4_t matrix;
GetPositionMatrix( &matrix );
// copy in case the src == dest
VectorIRotate( Vector(worldVector), matrix, *localVector );
}
// Apply force impulse (momentum) to the object
void CPhysicsObject::ApplyForceCenter( const Vector &forceVector )
{
if ( !IsMoveable() )
return;
IVP_U_Float_Point tmp;
ConvertForceImpulseToIVP( forceVector, tmp );
IVP_Core *core = m_pObject->get_core();
tmp.mult( core->get_inv_mass() );
m_pObject->async_add_speed_object_ws( &tmp );
ClampVelocity();
}
void CPhysicsObject::ApplyForceOffset( const Vector &forceVector, const Vector &worldPosition )
{
if ( !IsMoveable() )
return;
IVP_U_Point pos;
IVP_U_Float_Point force;
ConvertForceImpulseToIVP( forceVector, force );
ConvertPositionToIVP( worldPosition, pos );
IVP_Core *core = m_pObject->get_core();
core->async_push_core_ws( &pos, &force );
Wake();
ClampVelocity();
}
void CPhysicsObject::CalculateForceOffset( const Vector &forceVector, const Vector &worldPosition, Vector *centerForce, AngularImpulse *centerTorque ) const
{
IVP_U_Point pos;
IVP_U_Float_Point force;
ConvertPositionToIVP( forceVector, force );
ConvertPositionToIVP( worldPosition, pos );
IVP_Core *core = m_pObject->get_core();
const IVP_U_Matrix *m_world_f_core = core->get_m_world_f_core_PSI();
IVP_U_Float_Point point_d_ws;
point_d_ws.subtract(&pos, m_world_f_core->get_position());
IVP_U_Float_Point cross_point_dir;
cross_point_dir.calc_cross_product( &point_d_ws, &force);
m_world_f_core->inline_vimult3( &cross_point_dir, &cross_point_dir);
ConvertAngularImpulseToHL( cross_point_dir, *centerTorque );
ConvertForceImpulseToHL( force, *centerForce );
}
void CPhysicsObject::CalculateVelocityOffset( const Vector &forceVector, const Vector &worldPosition, Vector *centerVelocity, AngularImpulse *centerAngularVelocity ) const
{
IVP_U_Point pos;
IVP_U_Float_Point force;
ConvertForceImpulseToIVP( forceVector, force );
ConvertPositionToIVP( worldPosition, pos );
IVP_Core *core = m_pObject->get_core();
const IVP_U_Matrix *m_world_f_core = core->get_m_world_f_core_PSI();
IVP_U_Float_Point point_d_ws;
point_d_ws.subtract(&pos, m_world_f_core->get_position());
IVP_U_Float_Point cross_point_dir;
cross_point_dir.calc_cross_product( &point_d_ws, &force);
m_world_f_core->inline_vimult3( &cross_point_dir, &cross_point_dir);
cross_point_dir.set_pairwise_mult( &cross_point_dir, core->get_inv_rot_inertia());
ConvertAngularImpulseToHL( cross_point_dir, *centerAngularVelocity );
force.set_multiple( &force, core->get_inv_mass() );
ConvertForceImpulseToHL( force, *centerVelocity );
}
void CPhysicsObject::ApplyTorqueCenter( const AngularImpulse &torqueImpulse )
{
if ( !IsMoveable() )
return;
IVP_U_Float_Point ivpTorque;
ConvertAngularImpulseToIVP( torqueImpulse, ivpTorque );
IVP_Core *core = m_pObject->get_core();
core->async_rot_push_core_multiple_ws( &ivpTorque, 1.0 );
Wake();
ClampVelocity();
}
void CPhysicsObject::GetPosition( Vector *worldPosition, QAngle *angles ) const
{
IVP_U_Matrix matrix;
m_pObject->get_m_world_f_object_AT( &matrix );
if ( worldPosition )
{
ConvertPositionToHL( matrix.vv, *worldPosition );
}
if ( angles )
{
ConvertRotationToHL( matrix, *angles );
}
}
void CPhysicsObject::GetPositionMatrix( matrix3x4_t *positionMatrix ) const
{
IVP_U_Matrix matrix;
m_pObject->get_m_world_f_object_AT( &matrix );
ConvertMatrixToHL( matrix, *positionMatrix );
}
void CPhysicsObject::GetImplicitVelocity( Vector *velocity, AngularImpulse *angularVelocity ) const
{
if ( !velocity && !angularVelocity )
return;
IVP_Core *core = m_pObject->get_core();
if ( velocity )
{
// just convert the cached dx
ConvertPositionToHL( core->delta_world_f_core_psis, *velocity );
}
if ( angularVelocity )
{
// compute the relative transform that was actually integrated in the last psi
IVP_U_Quat q_core_f_core;
q_core_f_core.set_invert_mult( &core->q_world_f_core_last_psi, &core->q_world_f_core_next_psi);
// now convert that to an axis/angle pair
Quaternion q( q_core_f_core.x, q_core_f_core.y, q_core_f_core.z, q_core_f_core.w );
AngularImpulse axis;
float angle;
QuaternionAxisAngle( q, axis, angle );
// scale it by the timestep to get a velocity
angle *= core->i_delta_time;
// ConvertDirectionToHL() - convert this ipion direction (in HL type) to HL coords
float tmpY = axis.z;
angularVelocity->z = -axis.y;
angularVelocity->y = tmpY;
angularVelocity->x = axis.x;
// now scale the axis by the angle to return the data in the correct format
(*angularVelocity) *= angle;
}
}
void CPhysicsObject::GetVelocity( Vector *velocity, AngularImpulse *angularVelocity ) const
{
if ( !velocity && !angularVelocity )
return;
IVP_Core *core = m_pObject->get_core();
if ( velocity )
{
IVP_U_Float_Point speed;
speed.add( &core->speed, &core->speed_change );
ConvertPositionToHL( speed, *velocity );
}
if ( angularVelocity )
{
IVP_U_Float_Point rotSpeed;
rotSpeed.add( &core->rot_speed, &core->rot_speed_change );
// xform to HL space
ConvertAngularImpulseToHL( rotSpeed, *angularVelocity );
}
}
void CPhysicsObject::GetVelocityAtPoint( const Vector &worldPosition, Vector *pVelocity ) const
{
IVP_Core *core = m_pObject->get_core();
IVP_U_Point pos;
ConvertPositionToIVP( worldPosition, pos );
IVP_U_Float_Point rotSpeed;
rotSpeed.add( &core->rot_speed, &core->rot_speed_change );
IVP_U_Float_Point av_ws;
core->get_m_world_f_core_PSI()->vmult3( &rotSpeed, &av_ws);
IVP_U_Float_Point pos_rel;
pos_rel.subtract( &pos, core->get_position_PSI());
IVP_U_Float_Point cross;
cross.inline_calc_cross_product(&av_ws,&pos_rel);
IVP_U_Float_Point speed;
speed.add(&core->speed, &cross);
speed.add(&core->speed_change);
ConvertPositionToHL( speed, *pVelocity );
}
// UNDONE: Limit these?
void CPhysicsObject::AddVelocity( const Vector *velocity, const AngularImpulse *angularVelocity )
{
Assert(IsMoveable());
if ( !IsMoveable() )
return;
IVP_Core *core = m_pObject->get_core();
Wake();
if ( velocity )
{
IVP_U_Float_Point ivpVelocity;
ConvertPositionToIVP( *velocity, ivpVelocity );
core->speed_change.add( &ivpVelocity );
}
if ( angularVelocity )
{
IVP_U_Float_Point ivpAngularVelocity;
ConvertAngularImpulseToIVP( *angularVelocity, ivpAngularVelocity );
core->rot_speed_change.add(&ivpAngularVelocity);
}
ClampVelocity();
}
void CPhysicsObject::SetPosition( const Vector &worldPosition, const QAngle &angles, bool isTeleport )
{
IVP_U_Quat rot;
IVP_U_Point pos;
if ( m_pShadow )
{
UpdateShadow( worldPosition, angles, false, 0 );
}
ConvertPositionToIVP( worldPosition, pos );
ConvertRotationToIVP( angles, rot );
if ( m_pObject->is_collision_detection_enabled() && isTeleport )
{
EnableCollisions( false );
m_pObject->beam_object_to_new_position( &rot, &pos, IVP_FALSE );
EnableCollisions( true );
}
else
{