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Merge pull request #1399 from Azaezel/alpha41/restingLagFace

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rigidshape pef tweaks
This commit is contained in:
Brian Roberts 2025-03-01 12:07:07 -06:00 committed by GitHub
parent f56f0f811a 69a0c40795
commit dbdcf251ac
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GPG key ID: B5690EEEBB952194
5 changed files with 62 additions and 99 deletions
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2
Engine/source/T3D/rigid.cpp
View file

@ -363,4 +363,6 @@ void Rigid::setAtRest()
linMomentum.set(0.0f,0.0f,0.0f);
angVelocity.set(0.0f,0.0f,0.0f);
angMomentum.set(0.0f,0.0f,0.0f);
force.set(0.0f, 0.0f, 0.0f);
torque.set(0.0f, 0.0f, 0.0f);
}

58
Engine/source/T3D/rigidShape.cpp
View file

@ -1117,7 +1117,7 @@ void RigidShape::updatePos(F32 dt)
if (mCollisionList.getCount())
{
F32 k = mRigid.getKineticEnergy();
F32 G = mNetGravity* dt;
F32 G = mNetGravity* dt * TickMs / mDataBlock->integration;
F32 Kg = 0.5 * mRigid.mass * G * G;
if (k < sRestTol * Kg && ++restCount > sRestCount)
mRigid.setAtRest();
@ -1494,10 +1494,12 @@ void RigidShape::writePacketData(GameConnection *connection, BitStream *stream)
Parent::writePacketData(connection, stream);
mathWrite(*stream, mRigid.linPosition);
mathWrite(*stream, mRigid.angPosition);
mathWrite(*stream, mRigid.linMomentum);
mathWrite(*stream, mRigid.angMomentum);
stream->writeFlag(mRigid.atRest);
if (!stream->writeFlag(mRigid.atRest))
{
mathWrite(*stream, mRigid.angPosition);
mathWrite(*stream, mRigid.linMomentum);
mathWrite(*stream, mRigid.angMomentum);
}
stream->writeFlag(mContacts.getCount() == 0);
stream->writeFlag(mDisableMove);
@ -1509,14 +1511,20 @@ void RigidShape::readPacketData(GameConnection *connection, BitStream *stream)
Parent::readPacketData(connection, stream);
mathRead(*stream, &mRigid.linPosition);
mathRead(*stream, &mRigid.angPosition);
mathRead(*stream, &mRigid.linMomentum);
mathRead(*stream, &mRigid.angMomentum);
mRigid.atRest = stream->readFlag();
if (stream->readFlag())
{
mRigid.setAtRest();
}
else
{
mathRead(*stream, &mRigid.angPosition);
mathRead(*stream, &mRigid.linMomentum);
mathRead(*stream, &mRigid.angMomentum);
mRigid.updateInertialTensor();
mRigid.updateVelocity();
}
if (stream->readFlag())
mContacts.clear();
mRigid.updateInertialTensor();
mRigid.updateVelocity();
mDisableMove = stream->readFlag();
stream->setCompressionPoint(mRigid.linPosition);
@ -1541,10 +1549,12 @@ U32 RigidShape::packUpdate(NetConnection *con, U32 mask, BitStream *stream)
stream->writeFlag(mask & ForceMoveMask);
stream->writeCompressedPoint(mRigid.linPosition);
mathWrite(*stream, mRigid.angPosition);
mathWrite(*stream, mRigid.linMomentum);
mathWrite(*stream, mRigid.angMomentum);
stream->writeFlag(mRigid.atRest);
if (!stream->writeFlag(mRigid.atRest))
{
mathWrite(*stream, mRigid.angPosition);
mathWrite(*stream, mRigid.linMomentum);
mathWrite(*stream, mRigid.angMomentum);
}
}
if(stream->writeFlag(mask & FreezeMask))
@ -1574,11 +1584,18 @@ void RigidShape::unpackUpdate(NetConnection *con, BitStream *stream)
// Read in new position and momentum values
stream->readCompressedPoint(&mRigid.linPosition);
mathRead(*stream, &mRigid.angPosition);
mathRead(*stream, &mRigid.linMomentum);
mathRead(*stream, &mRigid.angMomentum);
mRigid.atRest = stream->readFlag();
mRigid.updateVelocity();
if (stream->readFlag())
{
mRigid.setAtRest();
}
else
{
mathRead(*stream, &mRigid.angPosition);
mathRead(*stream, &mRigid.linMomentum);
mathRead(*stream, &mRigid.angMomentum);
mRigid.updateVelocity();
}
if (!forceUpdate && isProperlyAdded())
{
@ -1631,6 +1648,7 @@ void RigidShape::unpackUpdate(NetConnection *con, BitStream *stream)
mDelta.warpCount = mDelta.warpTicks = 0;
setPosition(mRigid.linPosition, mRigid.angPosition);
}
mRigid.updateCenterOfMass();
}
if(stream->readFlag())

79
Engine/source/T3D/vehicles/vehicle.cpp
View file

@ -807,7 +807,7 @@ void Vehicle::updatePos(F32 dt)
if (mCollisionList.getCount())
{
F32 k = mRigid.getKineticEnergy();
F32 G = mNetGravity* dt;
F32 G = mNetGravity* dt * TickMs / mDataBlock->integration;
F32 Kg = 0.5 * mRigid.mass * G * G;
if (k < sRestTol * Kg && ++restCount > sRestCount)
mRigid.setAtRest();
@ -959,16 +959,6 @@ U32 Vehicle::packUpdate(NetConnection *con, U32 mask, BitStream *stream)
stream->writeFloat(pitch,9);
mDelta.move.pack(stream);
if (stream->writeFlag(mask & PositionMask))
{
stream->writeCompressedPoint(mRigid.linPosition);
mathWrite(*stream, mRigid.angPosition);
mathWrite(*stream, mRigid.linMomentum);
mathWrite(*stream, mRigid.angMomentum);
stream->writeFlag(mRigid.atRest);
}
stream->writeFloat(mClampF(getEnergyValue(), 0.f, 1.f), 8);
return retMask;
@ -989,73 +979,6 @@ void Vehicle::unpackUpdate(NetConnection *con, BitStream *stream)
mSteering.y = (2 * pitch * mDataBlock->maxSteeringAngle) - mDataBlock->maxSteeringAngle;
mDelta.move.unpack(stream);
if (stream->readFlag())
{
mPredictionCount = sMaxPredictionTicks;
F32 speed = mRigid.linVelocity.len();
mDelta.warpRot[0] = mRigid.angPosition;
// Read in new position and momentum values
stream->readCompressedPoint(&mRigid.linPosition);
mathRead(*stream, &mRigid.angPosition);
mathRead(*stream, &mRigid.linMomentum);
mathRead(*stream, &mRigid.angMomentum);
mRigid.atRest = stream->readFlag();
mRigid.updateVelocity();
if (isProperlyAdded())
{
// Determine number of ticks to warp based on the average
// of the client and server velocities.
Point3F cp = mDelta.pos + mDelta.posVec * mDelta.dt;
mDelta.warpOffset = mRigid.linPosition - cp;
// Calc the distance covered in one tick as the average of
// the old speed and the new speed from the server.
F32 dt,as = (speed + mRigid.linVelocity.len()) * 0.5 * TickSec;
// Cal how many ticks it will take to cover the warp offset.
// If it's less than what's left in the current tick, we'll just
// warp in the remaining time.
if (!as || (dt = mDelta.warpOffset.len() / as) > sMaxWarpTicks)
dt = mDelta.dt + sMaxWarpTicks;
else
dt = (dt <= mDelta.dt)? mDelta.dt : mCeil(dt - mDelta.dt) + mDelta.dt;
// Adjust current frame interpolation
if (mDelta.dt) {
mDelta.pos = cp + (mDelta.warpOffset * (mDelta.dt / dt));
mDelta.posVec = (cp - mDelta.pos) / mDelta.dt;
QuatF cr;
cr.interpolate(mDelta.rot[1],mDelta.rot[0],mDelta.dt);
mDelta.rot[1].interpolate(cr,mRigid.angPosition,mDelta.dt / dt);
mDelta.rot[0].extrapolate(mDelta.rot[1],cr,mDelta.dt);
}
// Calculated multi-tick warp
mDelta.warpCount = 0;
mDelta.warpTicks = (S32)(mFloor(dt));
if (mDelta.warpTicks)
{
mDelta.warpOffset = mRigid.linPosition - mDelta.pos;
mDelta.warpOffset /= (F32)mDelta.warpTicks;
mDelta.warpRot[0] = mDelta.rot[1];
mDelta.warpRot[1] = mRigid.angPosition;
}
}
else
{
// Set the vehicle to the server position
mDelta.dt = 0;
mDelta.pos = mRigid.linPosition;
mDelta.posVec.set(0,0,0);
mDelta.rot[1] = mDelta.rot[0] = mRigid.angPosition;
mDelta.warpCount = mDelta.warpTicks = 0;
setPosition(mRigid.linPosition, mRigid.angPosition);
}
mRigid.updateCenterOfMass();
}
setEnergyLevel(stream->readFloat(8) * mDataBlock->maxEnergy);
}

21
Engine/source/T3D/vehicles/wheeledVehicle.cpp
View file

@ -315,6 +315,7 @@ WheeledVehicleData::WheeledVehicleData()
dMemset(&wheel, 0, sizeof(wheel));
for (S32 i = 0; i < MaxSounds; i++)
INIT_SOUNDASSET_ARRAY(WheeledVehicleSounds, i);
mDownForce = 0;
}
@ -477,6 +478,8 @@ void WheeledVehicleData::initPersistFields()
addField("brakeTorque", TypeF32, Offset(brakeTorque, WheeledVehicleData),
"@brief Torque applied when braking.\n\n"
"This controls how fast the vehicle will stop when the brakes are applied." );
addField("downforce", TypeF32, Offset(mDownForce, WheeledVehicleData),
"downward force based on velocity.");
endGroup("Steering");
}
@ -500,6 +503,7 @@ void WheeledVehicleData::packData(BitStream* stream)
stream->write(engineTorque);
stream->write(engineBrake);
stream->write(brakeTorque);
stream->write(mDownForce);
}
void WheeledVehicleData::unpackData(BitStream* stream)
@ -519,6 +523,7 @@ void WheeledVehicleData::unpackData(BitStream* stream)
stream->read(&engineTorque);
stream->read(&engineBrake);
stream->read(&brakeTorque);
stream->read(&mDownForce);
}
@ -920,6 +925,18 @@ void WheeledVehicle::updateForces(F32 dt)
Wheel* wend = &mWheel[mDataBlock->wheelCount];
mRigid.clearForces();
//calculate here so we can stiffen the springs a bit based on
//the final amount of downforce
//get the speed
F32 downForce = mRigid.linVelocity.lenSquared() <= 1 ? 1 : mRigid.linVelocity.lenSquared();
//grab the datablock var
downForce *= mDataBlock->mDownForce;
//make it a smaller number so we can multiply gravity by it
downForce = mSqrt(downForce);
downForce *= TickSec;
//ensure that it is not smaller then one, cause mulltiplying gravity by fractions is baaaad
downForce = downForce < 1 ? 1 : downForce;
// Calculate vertical load for friction. Divide up the spring
// forces across all the wheels that are in contact with
// the ground.
@ -955,6 +972,8 @@ void WheeledVehicle::updateForces(F32 dt)
// Spring force & damping
F32 spring = wheel->spring->force * (1 - wheel->extension);
spring += (spring * downForce);
if (wheel->extension == 0) //spring fully compressed
{
// Apply impulses to the rigid body to keep it from
@ -1110,7 +1129,7 @@ void WheeledVehicle::updateForces(F32 dt)
mRigid.force += mAppliedForce;
// Container drag & buoyancy
mRigid.force += Point3F(0, 0, mRigid.mass * mNetGravity);
mRigid.force += Point3F(0, 0, mRigid.mass * mNetGravity * downForce);
mRigid.force -= mRigid.linVelocity * mDrag;
mRigid.torque -= mRigid.angMomentum * mDrag;

1
Engine/source/T3D/vehicles/wheeledVehicle.h
View file

@ -141,6 +141,7 @@ struct WheeledVehicleData: public VehicleData
ClippedPolyList rigidBody; // Extracted from shape
S32 brakeLightSequence; // Brakes
S32 steeringSequence; // Steering animation
F32 mDownForce;
//
WheeledVehicleData();