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flying control

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This commit is contained in:
Nikolay Korolev 2020-04-25 12:14:21 +03:00
parent bed41e1bec
commit c8fd0385cf
2 changed files with 127 additions and 4 deletions
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2
src/vehicles/Automobile.cpp
View File

@ -1013,7 +1013,7 @@ CAutomobile::ProcessControl(void)
m_aWheelSpeed[0] = Max(m_aWheelSpeed[0]-0.0005f, 0.0f);
}else if((GetModelIndex() == MI_DODO || CVehicle::bAllDodosCheat) &&
m_vecMoveSpeed.Magnitude() > 0.0f && CTimer::GetTimeStep() > 0.0f){
FlyingControl(FLIGHT_MODEL_DODO);
FlyingControl(FLIGHT_MODEL_RCPLANE);
}else if(GetModelIndex() == MI_MIAMI_RCBARON){
FlyingControl(FLIGHT_MODEL_RCPLANE);
}else if(GetModelIndex() == MI_MIAMI_RCRAIDER || GetModelIndex() == MI_MIAMI_SPARROW || bAllCarCheat){

129
src/vehicles/Vehicle.cpp
View File

@ -185,6 +185,35 @@ CVehicle::GetHeightAboveRoad(void)
return -1.0f * GetColModel()->boundingBox.min.z;
}
const float fRCPropFallOff = 3.0f;
const float fRCAeroThrust = 0.003f;
const float fRCSideSlipMult = 0.1f;
const float fRCRudderMult = 0.2f;
const float fRCYawMult = -0.01f;
const float fRCRollMult = 0.02f;
const float fRCRollStabilise = -0.08f;
const float fRCPitchMult = 0.005f;
const float fRCTailMult = 0.3f;
const float fRCFormLiftMult = 0.02f;
const float fRCAttackLiftMult = 0.25f;
const CVector vecRCAeroResistance(0.998f, 0.998f, 0.9f);
const float fSeaPropFallOff = 2.3f;
const float fSeaThrust = 0.002f;
const float fSeaSideSlipMult = 0.1f;
const float fSeaRudderMult = 0.01f;
const float fSeaYawMult = 0.0003f;
const float fSeaRollMult = 0.0015f;
const float fSeaRollStabilise = -0.01f;
const float fSeaPitchMult = 0.0002f;
const float fSeaTailMult = 0.01f;
const float fSeaFormLiftMult = 0.012f;
const float fSeaAttackLiftMult = 0.1f;
const CVector vecSeaAeroResistance(0.995f, 0.995f, 0.85f);
const float fSpeedResistanceY = 500.0f;
const float fSpeedResistanceZ = 500.0f;
void
CVehicle::FlyingControl(eFlightModel flightModel)
{
@ -229,18 +258,112 @@ CVehicle::FlyingControl(eFlightModel flightModel)
m_vecTurnSpeed.y *= Pow(0.9f, CTimer::GetTimeStep());
moveSpeed = m_vecMoveSpeed.MagnitudeSqr();
if(moveSpeed > 2.25f)
if(moveSpeed > SQR(1.5f))
m_vecMoveSpeed *= 1.5f/Sqrt(moveSpeed);
float turnSpeed = m_vecTurnSpeed.MagnitudeSqr();
if(turnSpeed > 0.04f)
if(turnSpeed > SQR(0.2f))
m_vecTurnSpeed *= 0.2f/Sqrt(turnSpeed);
}
break;
case FLIGHT_MODEL_RCPLANE:
case FLIGHT_MODEL_SEAPLANE:
assert(0 && "Plane flight model not implemented");
{
// thrust
float fForwSpeed = DotProduct(GetMoveSpeed(), GetForward());
CVector vecWidthForward = GetColModel()->boundingBox.min.y * GetForward();
float fThrust = (CPad::GetPad(0)->GetAccelerate() - CPad::GetPad(0)->GetBrake()) / 255.0f;
if (fForwSpeed > 0.1f || (flightModel == FLIGHT_MODEL_RCPLANE && fForwSpeed > 0.02f))
fThrust += 1.0f;
else if (fForwSpeed > 0.0f && fThrust < 0.0f)
fThrust = 0.0f;
float fThrustImpulse;
if (flightModel == FLIGHT_MODEL_RCPLANE)
fThrustImpulse = (fThrust - fRCPropFallOff * fForwSpeed) * fRCAeroThrust;
else
fThrustImpulse = (fThrust - fSeaPropFallOff * fForwSpeed) * fSeaThrust;
ApplyMoveForce(fThrustImpulse * GetForward() * m_fMass * CTimer::GetTimeStep());
// left/right
float fSideSpeed = -DotProduct(GetMoveSpeed(), GetRight());
float fSteerLR = CPad::GetPad(0)->GetSteeringLeftRight() / 128.0f;
float fSideSlipImpulse;
if (flightModel == FLIGHT_MODEL_RCPLANE)
fSideSlipImpulse = Abs(fSideSpeed) * fSideSpeed * fRCSideSlipMult;
else
fSideSlipImpulse = Abs(fSideSpeed) * fSideSpeed * fSeaSideSlipMult;
ApplyMoveForce(m_fMass * GetRight() * fSideSlipImpulse * CTimer::GetTimeStep());
float fYaw = -DotProduct(CrossProduct(m_vecTurnSpeed + m_vecTurnFriction, vecWidthForward) + m_vecMoveSpeed + m_vecMoveFriction, GetRight());
float fYawImpulse;
if (flightModel == FLIGHT_MODEL_RCPLANE)
fYawImpulse = fRCRudderMult * fYaw * Abs(fYaw) + fRCYawMult * fSteerLR * fForwSpeed;
else
fYawImpulse = fSeaRudderMult * fYaw * Abs(fYaw) + fSeaYawMult * fSteerLR * fForwSpeed;
ApplyTurnForce(fYawImpulse * GetRight() * m_fTurnMass * CTimer::GetTimeStep(), vecWidthForward);
float fRollImpulse;
if (flightModel == FLIGHT_MODEL_RCPLANE) {
float fDirectionMultiplier = CPad::GetPad(0)->GetLookRight();
if (CPad::GetPad(0)->GetLookLeft())
fDirectionMultiplier = -1;
fRollImpulse = (0.5f * fDirectionMultiplier + fSteerLR) * fRCRollMult;
}
else
fRollImpulse = fSteerLR * fSeaRollMult;
ApplyTurnForce(GetRight() * fRollImpulse * fForwSpeed * m_fTurnMass * CTimer::GetTimeStep(), GetUp());
CVector vecFRight = CrossProduct(GetForward(), CVector(0.0f, 0.0f, 1.0f));
CVector vecStabilise = (GetUp().z > 0.0f) ? vecFRight : -vecFRight;
float fStabiliseDirection = (GetUp().z > 0.0f) ? -1.0f : 1.0f;
float fStabiliseImpulse;
if (flightModel == FLIGHT_MODEL_RCPLANE)
fStabiliseImpulse = fRCRollStabilise * fStabiliseDirection * (1.0f - DotProduct(GetRight(), vecStabilise)) * (1.0f - Abs(GetForward().z));
else
fStabiliseImpulse = fSeaRollStabilise * fStabiliseDirection * (1.0f - DotProduct(GetRight(), vecStabilise)) * (1.0f - Abs(GetForward().z));
ApplyTurnForce(fStabiliseImpulse * m_fTurnMass * GetRight(), GetUp()); // no CTimer::GetTimeStep(), is it right? VC doesn't have it too
// up/down
float fTail = -DotProduct(CrossProduct(m_vecTurnSpeed + m_vecTurnFriction, vecWidthForward) + m_vecMoveSpeed + m_vecMoveFriction, GetUp());
float fSteerUD = -CPad::GetPad(0)->GetSteeringUpDown() / 128.0f;
float fPitchImpulse;
if (flightModel == FLIGHT_MODEL_RCPLANE)
fPitchImpulse = fRCTailMult * fTail * Abs(fTail) + fRCPitchMult * fSteerUD * fForwSpeed;
else
fPitchImpulse = fSeaTailMult * fTail * Abs(fTail) + fSeaPitchMult * fSteerUD * fForwSpeed;
ApplyTurnForce(fPitchImpulse* m_fTurnMass* GetRight()* CTimer::GetTimeStep(), vecWidthForward);
float fLift = -DotProduct(GetMoveSpeed(), GetUp()) / Max(0.01f, GetMoveSpeed().Magnitude());
float fLiftImpluse;
if (flightModel == FLIGHT_MODEL_RCPLANE)
fLiftImpluse = (fRCAttackLiftMult * fLift + fRCFormLiftMult) * fForwSpeed * fForwSpeed;
else
fLiftImpluse = fSeaAttackLiftMult * fLift + fSeaFormLiftMult * fForwSpeed * fForwSpeed;
float fLiftForce = fLiftImpluse * m_fMass * CTimer::GetTimeStep();
if (GRAVITY * CTimer::GetTimeStep() * m_fMass < fLiftImpluse) {
if (flightModel == FLIGHT_MODEL_RCPLANE && GetPosition().z > 50.0f)
fLiftForce = CTimer::GetTimeStep() * 0.0072 * m_fMass;
else if (flightModel == FLIGHT_MODEL_SEAPLANE && GetPosition().z > 80.0f)
fLiftForce = CTimer::GetTimeStep() * 0.0072 * m_fMass;
}
ApplyMoveForce(fLiftForce * GetUp());
CVector vecResistance;
if (flightModel == FLIGHT_MODEL_RCPLANE)
vecResistance = vecRCAeroResistance;
else
vecResistance = vecSeaAeroResistance;
float rX = Pow(vecResistance.x, CTimer::GetTimeStep());
float rY = Pow(vecResistance.y, CTimer::GetTimeStep());
float rZ = Pow(vecResistance.z, CTimer::GetTimeStep());
CVector vecTurnSpeed = Multiply3x3(m_vecTurnSpeed, GetMatrix());
vecTurnSpeed.x *= rX;
float fResistance = vecTurnSpeed.y * (1.0f / (fSpeedResistanceY * SQR(vecTurnSpeed.y) + 1.0f)) * rY - vecTurnSpeed.y;
vecTurnSpeed.z *= rZ;
m_vecTurnSpeed = Multiply3x3(GetMatrix(), vecTurnSpeed);
ApplyTurnForce(-GetUp() * fResistance * m_fTurnMass, GetRight() + Multiply3x3(GetMatrix(), m_vecCentreOfMass));
break;
}
case FLIGHT_MODEL_HELI:
assert(0 && "Heli flight model not implemented");
}