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Server job assigning logic, submarine movement syncing, submarine collision improvements, spawnpoints in levels

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Regalis
2015-07-08 11:37:47 +03:00
parent 3af9b8183b
commit d56f7f3f77
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Farseer Physics Engine 3.5/Dynamics/Joints/RopeJoint.cs
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/*
* Farseer Physics Engine:
* Copyright (c) 2012 Ian Qvist
*
* Original source Box2D:
* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
using System;
using FarseerPhysics.Common;
using Microsoft.Xna.Framework;
namespace FarseerPhysics.Dynamics.Joints
{
// Limit:
// C = norm(pB - pA) - L
// u = (pB - pA) / norm(pB - pA)
// Cdot = dot(u, vB + cross(wB, rB) - vA - cross(wA, rA))
// J = [-u -cross(rA, u) u cross(rB, u)]
// K = J * invM * JT
// = invMassA + invIA * cross(rA, u)^2 + invMassB + invIB * cross(rB, u)^2
/// <summary>
/// A rope joint enforces a maximum distance between two points on two bodies. It has no other effect.
/// It can be used on ropes that are made up of several connected bodies, and if there is a need to support a heavy body.
/// This joint is used for stabiliation of heavy objects on soft constraint joints.
///
/// Warning: if you attempt to change the maximum length during the simulation you will get some non-physical behavior.
/// Use the DistanceJoint instead if you want to dynamically control the length.
/// </summary>
public class RopeJoint : Joint
{
// Solver shared
private float _impulse;
private float _length;
// Solver temp
private int _indexA;
private int _indexB;
private Vector2 _localCenterA;
private Vector2 _localCenterB;
private float _invMassA;
private float _invMassB;
private float _invIA;
private float _invIB;
private float _mass;
private Vector2 _rA, _rB;
private Vector2 _u;
internal RopeJoint()
{
JointType = JointType.Rope;
}
/// <summary>
/// Constructor for RopeJoint.
/// </summary>
/// <param name="bodyA">The first body</param>
/// <param name="bodyB">The second body</param>
/// <param name="anchorA">The anchor on the first body</param>
/// <param name="anchorB">The anchor on the second body</param>
/// <param name="useWorldCoordinates">Set to true if you are using world coordinates as anchors.</param>
public RopeJoint(Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, bool useWorldCoordinates = false)
: base(bodyA, bodyB)
{
JointType = JointType.Rope;
if (useWorldCoordinates)
{
LocalAnchorA = bodyA.GetLocalPoint(anchorA);
LocalAnchorB = bodyB.GetLocalPoint(anchorB);
}
else
{
LocalAnchorA = anchorA;
LocalAnchorB = anchorB;
}
//FPE feature: Setting default MaxLength
Vector2 d = WorldAnchorB - WorldAnchorA;
MaxLength = d.Length();
}
/// <summary>
/// The local anchor point on BodyA
/// </summary>
public Vector2 LocalAnchorA { get; set; }
/// <summary>
/// The local anchor point on BodyB
/// </summary>
public Vector2 LocalAnchorB { get; set; }
public override sealed Vector2 WorldAnchorA
{
get { return BodyA.GetWorldPoint(LocalAnchorA); }
set { LocalAnchorA = BodyA.GetLocalPoint(value); }
}
public override sealed Vector2 WorldAnchorB
{
get { return BodyB.GetWorldPoint(LocalAnchorB); }
set { LocalAnchorB = BodyB.GetLocalPoint(value); }
}
/// <summary>
/// Get or set the maximum length of the rope.
/// By default, it is the distance between the two anchor points.
/// </summary>
public float MaxLength { get; set; }
/// <summary>
/// Gets the state of the joint.
/// </summary>
public LimitState State { get; private set; }
public override Vector2 GetReactionForce(float invDt)
{
return (invDt * _impulse) * _u;
}
public override float GetReactionTorque(float invDt)
{
return 0;
}
internal override void InitVelocityConstraints(ref SolverData data)
{
_indexA = BodyA.IslandIndex;
_indexB = BodyB.IslandIndex;
_localCenterA = BodyA._sweep.LocalCenter;
_localCenterB = BodyB._sweep.LocalCenter;
_invMassA = BodyA._invMass;
_invMassB = BodyB._invMass;
_invIA = BodyA._invI;
_invIB = BodyB._invI;
Vector2 cA = data.positions[_indexA].c;
float aA = data.positions[_indexA].a;
Vector2 vA = data.velocities[_indexA].v;
float wA = data.velocities[_indexA].w;
Vector2 cB = data.positions[_indexB].c;
float aB = data.positions[_indexB].a;
Vector2 vB = data.velocities[_indexB].v;
float wB = data.velocities[_indexB].w;
Rot qA = new Rot(aA), qB = new Rot(aB);
_rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
_rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
_u = cB + _rB - cA - _rA;
_length = _u.Length();
float C = _length - MaxLength;
if (C > 0.0f)
{
State = LimitState.AtUpper;
}
else
{
State = LimitState.Inactive;
}
if (_length > Settings.LinearSlop)
{
_u *= 1.0f / _length;
}
else
{
_u = Vector2.Zero;
_mass = 0.0f;
_impulse = 0.0f;
return;
}
// Compute effective mass.
float crA = MathUtils.Cross(_rA, _u);
float crB = MathUtils.Cross(_rB, _u);
float invMass = _invMassA + _invIA * crA * crA + _invMassB + _invIB * crB * crB;
_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
if (Settings.EnableWarmstarting)
{
// Scale the impulse to support a variable time step.
_impulse *= data.step.dtRatio;
Vector2 P = _impulse * _u;
vA -= _invMassA * P;
wA -= _invIA * MathUtils.Cross(_rA, P);
vB += _invMassB * P;
wB += _invIB * MathUtils.Cross(_rB, P);
}
else
{
_impulse = 0.0f;
}
data.velocities[_indexA].v = vA;
data.velocities[_indexA].w = wA;
data.velocities[_indexB].v = vB;
data.velocities[_indexB].w = wB;
}
internal override void SolveVelocityConstraints(ref SolverData data)
{
Vector2 vA = data.velocities[_indexA].v;
float wA = data.velocities[_indexA].w;
Vector2 vB = data.velocities[_indexB].v;
float wB = data.velocities[_indexB].w;
// Cdot = dot(u, v + cross(w, r))
Vector2 vpA = vA + MathUtils.Cross(wA, _rA);
Vector2 vpB = vB + MathUtils.Cross(wB, _rB);
float C = _length - MaxLength;
float Cdot = Vector2.Dot(_u, vpB - vpA);
// Predictive constraint.
if (C < 0.0f)
{
Cdot += data.step.inv_dt * C;
}
float impulse = -_mass * Cdot;
float oldImpulse = _impulse;
_impulse = Math.Min(0.0f, _impulse + impulse);
impulse = _impulse - oldImpulse;
Vector2 P = impulse * _u;
vA -= _invMassA * P;
wA -= _invIA * MathUtils.Cross(_rA, P);
vB += _invMassB * P;
wB += _invIB * MathUtils.Cross(_rB, P);
data.velocities[_indexA].v = vA;
data.velocities[_indexA].w = wA;
data.velocities[_indexB].v = vB;
data.velocities[_indexB].w = wB;
}
internal override bool SolvePositionConstraints(ref SolverData data)
{
Vector2 cA = data.positions[_indexA].c;
float aA = data.positions[_indexA].a;
Vector2 cB = data.positions[_indexB].c;
float aB = data.positions[_indexB].a;
Rot qA = new Rot(aA), qB = new Rot(aB);
Vector2 rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
Vector2 rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
Vector2 u = cB + rB - cA - rA;
float length = u.Length(); u.Normalize();
float C = length - MaxLength;
C = MathUtils.Clamp(C, 0.0f, Settings.MaxLinearCorrection);
float impulse = -_mass * C;
Vector2 P = impulse * u;
cA -= _invMassA * P;
aA -= _invIA * MathUtils.Cross(rA, P);
cB += _invMassB * P;
aB += _invIB * MathUtils.Cross(rB, P);
data.positions[_indexA].c = cA;
data.positions[_indexA].a = aA;
data.positions[_indexB].c = cB;
data.positions[_indexB].a = aB;
return length - MaxLength < Settings.LinearSlop;
}
}
}