Collider-controlled swimming, fixes

Subsurface/Content/Characters/Human/human.xml

@@ -8,10 +8,10 @@
            walkanimspeed="4.58"
            movementlerp="0.4"
            legtorque="15.0"
-           thightorque="-5.0">
+           thightorque="-5.0"
+           swimspeed="2.0">
 
-
+    <collider height="100" radius="15"/>
-    <collider height="100" radius="15" mass = "70"/>
     
     <!-- head -->
     <limb id = "0" radius="13" mass = "6" type="Head" attackpriority="2" impacttolerance="5.0">

Subsurface/Content/Characters/Husk/husk.xml

@@ -11,8 +11,10 @@
            movementlerp="0.4"
            legtorque="15.0"
            thightorque="-5.0"
-           walkspeed="2.0"
+           walkspeed="1.2"
-           swimspeed="2.0">
+           swimspeed="2.5">
+
+    <collider height="100" radius="15"/>
 
     <!-- head -->
     <limb id = "0" radius="13" mass = "6" type="Head" attackpriority="2" impacttolerance="5.0">

Subsurface/Source/Characters/AI/HumanAIController.cs

@@ -71,36 +71,21 @@ namespace Barotrauma
             
             steeringManager.Update(moveSpeed);
 
-            Character.AnimController.IgnorePlatforms = Character.AnimController.TargetMovement.Y < -0.5f &&
+            bool ignorePlatforms = Character.AnimController.TargetMovement.Y < -0.5f &&
                 (-Character.AnimController.TargetMovement.Y > Math.Abs(Character.AnimController.TargetMovement.X));
 
             var currPath = (steeringManager as IndoorsSteeringManager).CurrentPath;
             if (currPath != null && currPath.CurrentNode != null)
             {
-                if (currPath.CurrentNode.WorldPosition.Y < Character.WorldPosition.Y - 200)
+                if (currPath.CurrentNode.SimPosition.Y < Character.AnimController.GetColliderBottom().Y)
                 {
-                    Character.AnimController.IgnorePlatforms = true;
+                    ignorePlatforms = true;
                 }
-
-                //if (Character.AnimController.Stairs != null)
-                //{
-                //    float yDiff = currPath.CurrentNode.WorldPosition.Y - Character.WorldPosition.Y;
-
-                //    if (Math.Abs(yDiff) > 20.0f)
-                //    {
-                //        int dir = Math.Sign(yDiff);
-
-                //        float movement = Character.AnimController.Stairs.StairDirection == Direction.Right ?
-                //            dir * Character.AnimController.TargetMovement.Length() : -dir * Character.AnimController.TargetMovement.Length();
-
-                //        steeringManager.SteeringManual(deltaTime, new Vector2(movement*2, 0.0f));
-                //    }
-                //}
             }
 
+            Character.AnimController.IgnorePlatforms = ignorePlatforms;
             (Character.AnimController as HumanoidAnimController).Crouching = false;
 
-
             if (!Character.AnimController.InWater)
             {
                 Character.AnimController.TargetMovement = new Vector2(

Subsurface/Source/Characters/AI/IndoorsSteeringManager.cs

@@ -88,6 +88,13 @@ namespace Barotrauma
                         
             Vector2 diff = DiffToCurrentNode();
             
+            var collider = character.AnimController.Collider;
+            //if not in water and the waypoint is between the top and bottom of the collider, no need to move vertically
+            if (!character.AnimController.InWater && diff.Y < collider.height / 2 + collider.radius)
+            {
+                diff.Y = 0.0f;
+            }
+
             if (diff == Vector2.Zero) return -host.Steering;
 
             return Vector2.Normalize(diff) * speed;          
@@ -95,7 +102,7 @@ namespace Barotrauma
 
         private Vector2 DiffToCurrentNode()
         {
-            if (currentPath == null || currentPath.Finished) return Vector2.Zero;
+            if (currentPath == null || currentPath.Finished || currentPath.Unreachable) return Vector2.Zero;
 
             if (currentPath.Finished)
             {

Subsurface/Source/Characters/AI/PathFinder.cs

@@ -168,7 +168,10 @@ namespace Barotrauma
                     //if searching for a path inside the sub, make sure the waypoint is visible
                     if (insideSubmarine)
                     {
-                        var body = Submarine.CheckVisibility(start, node.Waypoint.SimPosition);
+                        var body = Submarine.PickBody(
+                            start, node.Waypoint.SimPosition, null, 
+                            Physics.CollisionWall | Physics.CollisionLevel | Physics.CollisionStairs | Physics.CollisionPlatform);
+
                         if (body != null && body.UserData is Structure) continue;
                     }
 

Subsurface/Source/Characters/AI/SteeringManager.cs

@@ -62,6 +62,13 @@ namespace Barotrauma
 
         public virtual void Update(float speed = 1.0f)
         {
+            if (steering == Vector2.Zero || !MathUtils.IsValid(steering))
+            {
+                steering = Vector2.Zero;
+                host.Steering = Vector2.Zero;
+                return;
+            }
+
             float steeringSpeed = steering.Length();
             if (steeringSpeed>speed)
             {

Subsurface/Source/Characters/Animation/FishAnimController.cs

@@ -430,6 +430,7 @@ namespace Barotrauma
                 l.body.SetTransform(l.SimPosition,
                     -l.body.Rotation);                
             }
+
         }
 
         public override Vector2 EstimateCurrPosition(Vector2 prevPosition, float timePassed)
@@ -443,38 +444,14 @@ namespace Barotrauma
 
         private void Mirror()
         {
-            //float leftX = Limbs[0].SimPosition.X, rightX = Limbs[0].SimPosition.X;
+            Vector2 centerOfMass = GetCenterOfMass();
-            //for (int i = 1; i < Limbs.Count(); i++ )
-            //{
-            //    if (Limbs[i].SimPosition.X < leftX)
-            //    {
-            //        leftX = Limbs[i].SimPosition.X;
-            //    }
-            //    else if (Limbs[i].SimPosition.X > rightX)
-            //    {
-            //        rightX = Limbs[i].SimPosition.X;
-            //    }
-            //}
-
-            float midX = GetCenterOfMass().X;
 
             foreach (Limb l in Limbs)
             {
-                Vector2 newPos = new Vector2(midX - (l.SimPosition.X - midX), l.SimPosition.Y);
+                TrySetLimbPosition(l,
-
+                    centerOfMass,
-                if (Submarine.CheckVisibility(l.SimPosition, newPos) != null)
+                    new Vector2(centerOfMass.X - (l.SimPosition.X - centerOfMass.X), l.SimPosition.Y),
-                {
+                    true);
-                    Vector2 diff = newPos - l.SimPosition;
-
-                    l.body.SetTransform(
-                        l.SimPosition + Submarine.LastPickedFraction * diff * 0.8f, l.body.Rotation);
-                }
-                else
-                {
-                    l.body.SetTransform(newPos, l.body.Rotation);
-                }
-
-                
             }
         }
   

Subsurface/Source/Characters/Animation/HumanoidAnimController.cs

@@ -215,7 +215,7 @@ namespace Barotrauma
             if (onFloorTimer <= 0.0f)
             {
                 onGround = false;
-                if (GetLimb(LimbType.Torso).inWater) inWater = true;
+                //if (GetLimb(LimbType.Torso).inWater) inWater = true;
                 //TODO: joku järkevämpi systeemi
                 //if (!inWater && lastTimeOnFloor + 200 < gameTime.TotalGameTime.Milliseconds)
                 //    stunTimer = Math.Max(stunTimer, (float)gameTime.TotalGameTime.TotalMilliseconds + 100.0f);
@@ -227,13 +227,34 @@ namespace Barotrauma
 
 
             //re-enable collider (unless swimming)
-            if (!collider.FarseerBody.Enabled && !swimming)
+            if (!collider.FarseerBody.Enabled)
             {
                 var lowestLimb = FindLowestLimb();
-                collider.SetTransform(lowestLimb.SimPosition + Vector2.UnitY * (collider.radius + collider.height / 2), 0.0f);
+                collider.SetTransform(new Vector2(
+                    collider.SimPosition.X,
+                    Math.Max(lowestLimb.SimPosition.Y + (collider.radius + collider.height / 2), collider.SimPosition.Y)), 
+                    0.0f);
                 collider.FarseerBody.Enabled = true;
             }
 
+            if (swimming)
+            {
+                collider.FarseerBody.FixedRotation =  false;
+            }
+            else if (!collider.FarseerBody.FixedRotation)
+            {
+                if (Math.Abs(MathUtils.GetShortestAngle(collider.Rotation, 0.0f)) > 0.001f)
+                {
+                    collider.AngularVelocity = MathUtils.GetShortestAngle(collider.Rotation, 0.0f) * 60.0f;
+                    collider.FarseerBody.FixedRotation = false;
+                }
+                else
+                {
+                    collider.FarseerBody.FixedRotation = true;
+                }
+            }
+
+
             if (character.LockHands)
             {
                 var leftHand = GetLimb(LimbType.LeftHand);
@@ -368,7 +389,6 @@ namespace Barotrauma
             }
 
             Vector2 colliderPos = GetColliderBottom();
-
             if (Math.Abs(TargetMovement.X) > 1.0f)
             {
                 int limbsInWater = 0;
@@ -630,14 +650,16 @@ namespace Barotrauma
             Limb head = GetLimb(LimbType.Head);
             Limb torso = GetLimb(LimbType.Torso);
             
-            collider.FarseerBody.Enabled = false;
+            //collider.FarseerBody.Enabled = false;
-            collider.SetTransform(torso.SimPosition, 0.0f);
+            //collider.SetTransform(torso.SimPosition, 0.0f);
 
-            if (currentHull != null && (currentHull.Rect.Y - currentHull.Surface > 50.0f) && !head.inWater)
+           // float colliderTop = collider.SimPosition.Y + (float)Math.Cos(collider.Rotation) * (collider.radius + collider.height / 2);
+
+            if (currentHull != null && (currentHull.Rect.Y - currentHull.Surface > 50.0f))
             {
-                surfaceLimiter = (ConvertUnits.ToDisplayUnits(head.SimPosition.Y) - surfaceY);
+                surfaceLimiter = (ConvertUnits.ToDisplayUnits(collider.SimPosition.Y + 0.4f) - surfaceY);
                 surfaceLimiter = Math.Max(1.0f, surfaceLimiter);
-                if (surfaceLimiter > 20.0f) return;
+                if (surfaceLimiter > 50.0f) return;
             }
 
             Limb leftHand = GetLimb(LimbType.LeftHand);
@@ -646,8 +668,7 @@ namespace Barotrauma
             Limb leftFoot = GetLimb(LimbType.LeftFoot);
             Limb rightFoot = GetLimb(LimbType.RightFoot);
             
-
+            float rotation = MathHelper.WrapAngle(collider.Rotation);
-            float rotation = MathHelper.WrapAngle(torso.Rotation);
             rotation = MathHelper.ToDegrees(rotation);
             if (rotation < 0.0f) rotation += 360;
 
@@ -666,7 +687,10 @@ namespace Barotrauma
             {
                 if (!aiming)
                 {
-                    torso.body.SmoothRotate(MathUtils.VectorToAngle(TargetMovement) - MathHelper.PiOver2);
+                    float newRotation = MathUtils.VectorToAngle(TargetMovement) - MathHelper.PiOver2;
+                    collider.SmoothRotate(newRotation, 5.0f);
+                    //torso.body.SmoothRotate(newRotation);
+                    
                 }
             }
             else
@@ -678,23 +702,34 @@ namespace Barotrauma
 
                     TargetMovement = new Vector2(0.0f, -0.1f);
 
-                    torso.body.SmoothRotate(MathUtils.VectorToAngle(diff));
+                    float newRotation = MathUtils.VectorToAngle(diff);
+                    collider.SmoothRotate(newRotation, 5.0f);
                 }
             }
 
+            torso.body.SmoothRotate(collider.Rotation);
+            torso.body.MoveToPos(collider.SimPosition + new Vector2((float)Math.Sin(-collider.Rotation), (float)Math.Cos(-collider.Rotation))*0.4f, 5.0f);
+            
             if (TargetMovement == Vector2.Zero) return;
 
-            movement = MathUtils.SmoothStep(movement, TargetMovement * swimSpeed, 0.3f);
+            movement = MathUtils.SmoothStep(movement, TargetMovement, 0.3f);
 
             //dont try to move upwards if head is already out of water
             if (surfaceLimiter > 1.0f && TargetMovement.Y > 0.0f)
             {
                 if (TargetMovement.X == 0.0f)
                 {
-                    head.body.ApplyForce(head.Mass * new Vector2(-Dir * 5.1f, -5.0f));
+                    //pull head above water
-                    torso.body.ApplyForce(torso.Mass * new Vector2(-Dir * 5.1f, -15.0f));
+                    head.body.SmoothRotate(0.0f, 5.0f);
-                    leftFoot.body.ApplyForce(leftFoot.Mass * new Vector2(0.0f, -80.0f));
+
-                    rightFoot.body.ApplyForce(rightFoot.Mass * new Vector2(0.0f, -80.0f));
+
+                    walkPos += 0.05f;
+
+                    //push feet downwards
+                    //leftFoot.body.ApplyForce(leftFoot.Mass * new Vector2(0.0f, -50.0f));
+                   // rightFoot.body.ApplyForce(rightFoot.Mass * new Vector2(0.0f, -50.0f));
+
+
                 }
                 else
                 {
@@ -703,23 +738,17 @@ namespace Barotrauma
                         * Math.Sign(TargetMovement.X),
                         Math.Max(TargetMovement.Y, TargetMovement.Y * 0.2f));
 
-                    head.body.ApplyTorque(Dir * 0.1f);
+                    //turn head above the water
+                    head.body.ApplyTorque(Dir);
                 }
 
                 movement.Y = movement.Y - (surfaceLimiter - 1.0f) * 0.01f;
             }
 
-            movement.Y -= 0.05f;
+            collider.LinearVelocity = Vector2.Lerp(collider.LinearVelocity, movement * swimSpeed, movementLerp);
-
-            head.body.ApplyForce((new Vector2(movement.X,
-                    movement.Y / surfaceLimiter + 0.2f) - head.body.LinearVelocity * 0.2f) *
-                    30.0f * head.body.Mass);
-
-            torso.body.ApplyForce((new Vector2(movement.X,
-                    movement.Y / surfaceLimiter + 0.2f) - torso.body.LinearVelocity * 0.2f) * 10.0f * torso.body.Mass);
                         
             walkPos += movement.Length() * 0.15f;
-            footPos = (leftFoot.SimPosition + rightFoot.SimPosition) / 2.0f;
+            footPos = collider.SimPosition - new Vector2((float)Math.Sin(-collider.Rotation), (float)Math.Cos(-collider.Rotation)) * 0.4f;
 
             var rightThigh = GetLimb(LimbType.RightThigh);
             var leftThigh = GetLimb(LimbType.LeftThigh);
@@ -730,41 +759,32 @@ namespace Barotrauma
             Vector2 transformedFootPos = new Vector2((float)Math.Sin(walkPos) * 0.5f, 0.0f);
             transformedFootPos = Vector2.Transform(
                 transformedFootPos,
-                Matrix.CreateRotationZ(torso.body.Rotation));
+                Matrix.CreateRotationZ(collider.Rotation));
 
-            if (Math.Abs(MathUtils.GetShortestAngle(torso.Rotation, rightThigh.Rotation)) < 0.3f)
+            MoveLimb(rightFoot, footPos - transformedFootPos, 1.0f);
-            {
+            MoveLimb(leftFoot, footPos + transformedFootPos, 1.0f);            
-                MoveLimb(rightFoot, footPos - transformedFootPos, 1.0f);
-            }
-            if (Math.Abs(MathUtils.GetShortestAngle(torso.Rotation, leftThigh.Rotation)) < 0.3f)
-            {
-                MoveLimb(leftFoot, footPos + transformedFootPos, 1.0f);
-            }
 
             handPos = (torso.SimPosition + head.SimPosition) / 2.0f;
 
-            //if (!rightHand.Disabled) rightHand.body.ApplyTorque(leftHand.body.Mass * Dir);
-            //if (!leftHand.Disabled) leftHand.body.ApplyTorque(leftHand.body.Mass * Dir);
-
             //at the surface, not moving sideways -> hands just float around
             if (!headInWater && TargetMovement.X == 0.0f && TargetMovement.Y > 0)
             {
                 handPos.X = handPos.X + Dir * 0.6f;
 
-                float wobbleAmount = 0.05f;
+                float wobbleAmount = 0.1f;
 
                 if (!rightHand.Disabled)
                 {
                     MoveLimb(rightHand, new Vector2(
                         handPos.X + (float)Math.Sin(walkPos / 1.5f) * wobbleAmount,
-                        handPos.Y + (float)Math.Sin(walkPos / 3.5f) * wobbleAmount - 0.0f), 1.5f);
+                        handPos.Y + (float)Math.Sin(walkPos / 3.5f) * wobbleAmount - 0.25f), 1.5f);
                 }
 
                 if (!leftHand.Disabled)
                 {
                     MoveLimb(leftHand, new Vector2(
                         handPos.X + (float)Math.Sin(walkPos / 2.0f) * wobbleAmount,
-                        handPos.Y + (float)Math.Sin(walkPos / 3.0f) * wobbleAmount - 0.0f), 1.5f);
+                        handPos.Y + (float)Math.Sin(walkPos / 3.0f) * wobbleAmount - 0.25f), 1.5f);
                 }
 
                 return;
@@ -772,8 +792,8 @@ namespace Barotrauma
 
             handPos += head.LinearVelocity * 0.1f;
 
-            float handCyclePos = walkPos / 2.0f;
+            float handCyclePos = walkPos / 3.0f * -Dir;
-            float handPosX = (float)Math.Cos(handCyclePos * Dir) * 0.4f;
+            float handPosX = (float)Math.Cos(handCyclePos) * 0.4f;
             float handPosY = (float)Math.Sin(handCyclePos) * 1.0f;
             handPosY = MathHelper.Clamp(handPosY, -0.8f, 0.8f);
 
@@ -782,21 +802,18 @@ namespace Barotrauma
             if (!rightHand.Disabled)
             {
                 Vector2 rightHandPos = new Vector2(-handPosX, -handPosY);
-                rightHandPos.X = (Dir == 1.0f) ? Math.Max(0.2f, rightHandPos.X) : Math.Min(-0.2f, rightHandPos.X);
+                rightHandPos.X = (Dir == 1.0f) ? Math.Max(0.3f, rightHandPos.X) : Math.Min(-0.3f, rightHandPos.X);
                 rightHandPos = Vector2.Transform(rightHandPos, rotationMatrix);
 
-                //MoveLimb(rightHand, handPos + rightHandPos, 1.5f);
-
                 HandIK(rightHand, handPos + rightHandPos, 0.5f);
             }
 
             if (!leftHand.Disabled)
             {
                 Vector2 leftHandPos = new Vector2(handPosX, handPosY);
-                leftHandPos.X = (Dir == 1.0f) ? Math.Max(0.2f, leftHandPos.X) : Math.Min(-0.2f, leftHandPos.X);
+                leftHandPos.X = (Dir == 1.0f) ? Math.Max(0.3f, leftHandPos.X) : Math.Min(-0.3f, leftHandPos.X);
                 leftHandPos = Vector2.Transform(leftHandPos, rotationMatrix);
 
-                //MoveLimb(leftHand, handPos + leftHandPos,1.5f);
                 HandIK(leftHand, handPos + leftHandPos, 0.5f);
             }
         }
@@ -813,10 +830,6 @@ namespace Barotrauma
             IgnorePlatforms = true;
 
             Vector2 tempTargetMovement = TargetMovement;
-            //if (TargetMovement.Y != 0.0f)
-            //{
-            //    tempTargetMovement.Y = Math.Max(Math.Abs(TargetMovement.Y), 0.6f) * Math.Sign(TargetMovement.Y);
-            //}
             movement = MathUtils.SmoothStep(movement, tempTargetMovement, 0.3f);
 
             Limb leftFoot = GetLimb(LimbType.LeftFoot);

Subsurface/Source/Characters/Animation/Ragdoll.cs

@@ -279,10 +279,11 @@ namespace Barotrauma
             if (collider == null)
             {
                 DebugConsole.ThrowError("No collider configured for ''"+character.Name+"''!");
-                collider = new PhysicsBody(0.0f, 0.0f, 16.0f, 5.0f);                
+                collider = new PhysicsBody(0.0f, 0.0f, 0.1f, 5.0f);                
             }
 
             collider.CollisionCategories = Physics.CollisionCharacter;
+            collider.FarseerBody.AngularDamping = 5.0f;
             collider.FarseerBody.FixedRotation = true;
             collider.FarseerBody.OnCollision += OnLimbCollision;
 
@@ -389,70 +390,29 @@ namespace Barotrauma
             {
                 stairs = null;
 
-                //---------------
+                //don't collider with stairs if
                 
+                //1. bottom of the collider is at the bottom of the stairs and the character isn't trying to move upwards
                 float stairBottomPos = ConvertUnits.ToSimUnits(structure.Rect.Y - structure.Rect.Height + 10);
                 if (colliderBottom.Y < stairBottomPos && targetMovement.Y < 0.5f) return false;
 
-                //---------------
+                //2. bottom of the collider is at the top of the stairs and the character isn't trying to move downwards
-
                 if (targetMovement.Y >= 0.0f && colliderBottom.Y >= ConvertUnits.ToSimUnits(structure.Rect.Y - Submarine.GridSize.Y*5)) return false;
                 
-                //---------------
+                //3. collided with the stairs from below
-
                 if (contact.Manifold.LocalNormal.Y < 0.0f) return false;
 
-                //---------------
+                //4. contact points is above the bottom half of the collider
-
                 Vector2 normal; FarseerPhysics.Common.FixedArray2<Vector2> points;
-
                 contact.GetWorldManifold(out normal, out points);
                 if (points[0].Y > collider.SimPosition.Y) return false;
                 
-                //---------------
+                //5. in water
-
                 if (inWater && targetMovement.Y < 0.5f) return false;
 
                 //---------------
                 
                 stairs = structure;
-
-                //float stairPosY = structure.StairDirection == Direction.Right ? 
-                //    lowestLimb.Position.X - structure.Rect.X : structure.Rect.Width - (lowestLimb.Position.X - structure.Rect.X);
-
-                
-                //if (lowestLimb.Position.Y < structure.Rect.Y - structure.Rect.Height + stairPosY - 10.0f) return false;
-                
-
-                
-                //if (targetMovement.Y < 0.5f)
-                //{
-                //    if (inWater || lowestLimb.Position.Y < structure.Rect.Y - structure.Rect.Height + 50.0f)
-                //    {
-                //        stairs = null;
-                //        return false;
-                //    }
-                //}
-                
-
-                
-                //if (limb != null)// && (limb.type == LimbType.LeftFoot || limb.type == LimbType.RightFoot))
-                //{
-                //    if (contact.Manifold.LocalNormal.Y >= 0.0f)
-                //    { 
-                //        if (limb.SimPosition.Y < lowestLimb.SimPosition.Y+0.2f)
-                //        {
-                //            stairs = structure;
-                //            return true;
-                //        }
-
-                //    }
-                //    else
-                //    {
-                //        stairs = null;
-                //        return false;
-                //    }                    
-                //}
             }
 
             CalculateImpact(f1, f2, contact);
@@ -478,13 +438,11 @@ namespace Barotrauma
                                     
             float impact = Vector2.Dot(velocity, -normal);
 
+            float volume = Math.Min(impact, 1.0f);
             if (f1.Body.UserData is Limb)
             {
                 Limb limb = (Limb)f1.Body.UserData;
                 
-                float volume = stairs == null ? impact / 5.0f : impact;
-                volume = Math.Min(impact, 1.0f);
-
                 if (impact > 0.5f && limb.HitSound != null && limb.soundTimer <= 0.0f)
                 {
                     limb.soundTimer = Limb.SoundInterval;
@@ -496,11 +454,11 @@ namespace Barotrauma
                 if (!character.IsNetworkPlayer || GameMain.Server != null)
                 {
                     character.AddDamage(CauseOfDeath.Damage, impact - 8.0f, null);
-                    
+                    if (impact > 8.0f) SoundPlayer.PlayDamageSound(DamageSoundType.LimbBlunt, strongestImpact, collider);  
                     strongestImpact = Math.Max(strongestImpact, impact - 8.0f);
                 }
 
-                SoundPlayer.PlayDamageSound(DamageSoundType.LimbBlunt, strongestImpact, collider);                
+                              
 
                 if (Character.Controlled == character) GameMain.GameScreen.Cam.Shake = strongestImpact;
             }
@@ -532,21 +490,11 @@ namespace Barotrauma
                     if (currentHull != null) pos += currentHull.Submarine.DrawPosition;
                     pos.Y = -pos.Y;
                     GUI.DrawRectangle(spriteBatch, new Rectangle((int)pos.X, (int)pos.Y, 5, 5), Color.Red, true, 0.01f);
-
-                    //if (limb.AnimTargetPos == Vector2.Zero) continue;
-
-                    //Vector2 pos2 = ConvertUnits.ToDisplayUnits(limb.AnimTargetPos);
-                    //pos2.Y = -pos2.Y;
-                    //GUI.DrawRectangle(spriteBatch, new Rectangle((int)pos2.X, (int)pos2.Y, 5, 5), Color.Blue, true, 0.01f);
-
-                    //GUI.DrawLine(spriteBatch, pos, pos2, Color.Green);
                 }
 
                 limb.body.DebugDraw(spriteBatch, character.Submarine == null ? Color.Cyan : Color.White);
             }
             
-
-
             collider.DebugDraw(spriteBatch, character.Submarine == null ? Color.Cyan : Color.White);
 
             foreach (RevoluteJoint joint in limbJoints)
@@ -765,8 +713,6 @@ namespace Barotrauma
             
             Vector2 flowForce = Vector2.Zero;
 
-            //FindLowestLimb();
-
             FindHull();
 
             splashSoundTimer -= deltaTime;
@@ -784,11 +730,27 @@ namespace Barotrauma
                 inWater = false;
                 headInWater = false;
 
+                var colliderB = GetColliderBottom().Y;
+                float surf = ConvertUnits.ToSimUnits(currentHull.Surface);
+
                 if (currentHull.Volume > currentHull.FullVolume * 0.95f || 
-                    ConvertUnits.ToSimUnits(currentHull.Surface) - GetColliderBottom().Y > HeadPosition * 0.95f)
+                    ConvertUnits.ToSimUnits(currentHull.Surface) - GetFloorY() > HeadPosition * 0.95f)
                     inWater = true;                
             }
 
+            if (flowForce.LengthSquared() > 0.001f)
+            {
+                collider.ApplyForce(flowForce);
+            }
+
+            if (currentHull==null || 
+                currentHull.Volume > currentHull.FullVolume * 0.95f || 
+                ConvertUnits.ToSimUnits(currentHull.Surface) > collider.SimPosition.Y)
+            {
+                collider.ApplyWaterForces();
+            }
+            
+                       
             foreach (Limb limb in Limbs)
             {
                 //find the room which the limb is in
@@ -809,10 +771,9 @@ namespace Barotrauma
                     {
                         limb.inWater = true;
 
-                        if (flowForce.Length() > 0.01f)
+                        if (flowForce.LengthSquared() > 0.001f)
                         {
                             limb.body.ApplyForce(flowForce);
-                            if (flowForce.Length() > 15.0f) surfaceY = limbHull.Surface;
                         }
 
                         surfaceY = limbHull.Surface;
@@ -820,7 +781,6 @@ namespace Barotrauma
                         if (limb.type == LimbType.Head)
                         {
                             headInWater = true;
-                            surfaceY = limbHull.Surface;
                         }
                     }
                         //the limb has gone through the surface of the water
@@ -828,9 +788,9 @@ namespace Barotrauma
                     {
 
                         //create a splash particle
-                        GameMain.ParticleManager.CreateParticle("watersplash",
+                        var p = GameMain.ParticleManager.CreateParticle("watersplash",
                             new Vector2(limb.Position.X, limbHull.Surface) + limbHull.Submarine.Position,
-                            new Vector2(0.0f, Math.Abs(-limb.LinearVelocity.Y * 10.0f)),
+                            new Vector2(0.0f, Math.Abs(-limb.LinearVelocity.Y * 20.0f)),
                             0.0f, limbHull);
                                                 
                         GameMain.ParticleManager.CreateParticle("bubbles",
@@ -863,6 +823,64 @@ namespace Barotrauma
             }  
         }
 
+        private float GetFloorY()
+        {
+            Vector2 rayStart = collider.SimPosition; 
+            Vector2 rayEnd = rayStart - new Vector2(0.0f, TorsoPosition);
+
+            var lowestLimb = FindLowestLimb();
+
+            float closestFraction = 1;
+            GameMain.World.RayCast((fixture, point, normal, fraction) =>
+            {
+                switch (fixture.CollisionCategories)
+                {
+                    case Physics.CollisionStairs:
+                        if (inWater && TargetMovement.Y < 0.5f) return -1;
+                        //Structure structure = fixture.Body.UserData as Structure;
+                        //if (stairs == null && structure != null)
+                        //{
+                        //    if (LowestLimb.SimPosition.Y < structure.SimPosition.Y)
+                        //    {
+                        //        return -1;
+                        //    }
+                        //    else
+                        //    {
+                        //        stairs = structure;
+                        //    }
+                        //}
+                        break;
+                    case Physics.CollisionPlatform:
+                        Structure platform = fixture.Body.UserData as Structure;
+                        if (IgnorePlatforms || lowestLimb.Position.Y < platform.Rect.Y) return -1;
+                        break;
+                    case Physics.CollisionWall:
+                        break;
+                    default:
+                        return -1;
+                }
+
+                if (fraction < closestFraction)
+                {
+                    closestFraction = fraction;
+                }
+
+                return closestFraction;
+            } 
+            , rayStart, rayEnd);
+
+
+            if (closestFraction == 1) //raycast didn't hit anything
+            {
+                return (currentHull == null) ? -1000.0f : ConvertUnits.ToSimUnits(currentHull.Rect.Y - currentHull.Rect.Height);
+            }
+            else
+            {
+                return rayStart.Y + (rayEnd.Y - rayStart.Y) * closestFraction;
+            }
+            
+        }
+
         public void SetPosition(Vector2 simPosition, bool lerp = false)
         {
             Vector2 moveAmount = simPosition - collider.SimPosition;

Subsurface/Source/Characters/Limb.cs

@@ -441,31 +441,7 @@ namespace Barotrauma
 
             if (inWater)
             {
-                //buoyancy
+                body.ApplyWaterForces();
-                Vector2 buoyancy = new Vector2(0, Mass * 9.6f);
-
-                //drag
-                Vector2 velDir = Vector2.Normalize(LinearVelocity);
-
-                Vector2 line = new Vector2((float)Math.Cos(body.Rotation), (float)Math.Sin(body.Rotation));
-                line *= ConvertUnits.ToSimUnits(sprite.size.Y);
-
-                Vector2 normal = new Vector2(-line.Y, line.X);
-                normal = Vector2.Normalize(-normal);
-
-                float dragDot = Math.Abs(Vector2.Dot(normal, velDir));
-                Vector2 dragForce = Vector2.Zero;
-                if (dragDot > 0)
-                {
-                    float vel = LinearVelocity.Length()*2.0f;
-                    float drag = dragDot * vel * vel
-                        * ConvertUnits.ToSimUnits(sprite.size.Y);
-                    dragForce = Math.Min(drag, Mass*1000.0f) * -velDir;
-                    //if (dragForce.Length() > 100.0f) { }
-                }
-
-                body.ApplyForce(dragForce + buoyancy);
-                body.ApplyTorque(body.AngularVelocity * body.Mass * -0.08f);
             }
 
             if (character.IsDead) return;

Subsurface/Source/Items/Components/Holdable/Propulsion.cs

@@ -71,23 +71,18 @@ namespace Barotrauma.Items.Components
 
             if (character.AnimController.InWater) character.AnimController.TargetMovement = dir;
 
-            if (item.body.Enabled && false)
+            foreach (Limb limb in character.AnimController.Limbs)
             {
-                item.body.ApplyForce(propulsion);
+                if (limb.WearingItems.Find(w => w.WearableComponent.Item == this.item)==null) continue;
+
+                limb.body.ApplyForce(propulsion);
             }
-            else
-            {
-                foreach (Limb limb in character.AnimController.Limbs)
-                {
-                    if (limb.WearingItems.Find(w => w.WearableComponent.Item == this.item)==null) continue;
 
-                    limb.body.ApplyForce(propulsion);
+            character.AnimController.Collider.ApplyForce(propulsion);
-                }
 
-                if (character.SelectedItems[0] == item) character.AnimController.GetLimb(LimbType.RightHand).body.ApplyForce(propulsion);
+            if (character.SelectedItems[0] == item) character.AnimController.GetLimb(LimbType.RightHand).body.ApplyForce(propulsion);
+            if (character.SelectedItems[1] == item) character.AnimController.GetLimb(LimbType.LeftHand).body.ApplyForce(propulsion);
             
-                if (character.SelectedItems[1] == item) character.AnimController.GetLimb(LimbType.LeftHand).body.ApplyForce(propulsion);
-            }
 
             if (!string.IsNullOrWhiteSpace(particles))
             {

Subsurface/Source/Map/Submarine.cs

@@ -422,7 +422,6 @@ namespace Barotrauma
                 Structure structure = fixture.Body.UserData as Structure;                
                 if (structure != null)
                 {
-                    if (!structure.HasBody) return -1;
                     if (structure.IsPlatform && collisionCategory != null && !((Category)collisionCategory).HasFlag(Physics.CollisionPlatform)) return -1;
                 }                    
 

Subsurface/Source/Map/SubmarineBody.cs

@@ -558,6 +558,8 @@ namespace Barotrauma
                 {
                     limb.body.ApplyLinearImpulse(limb.Mass * impulse);
                 }
+
+                c.AnimController.Collider.ApplyLinearImpulse(c.AnimController.Collider.Mass * impulse);
             }
 
             foreach (Item item in Item.ItemList)

Subsurface/Source/Physics/PhysicsBody.cs

@@ -352,6 +352,39 @@ namespace Barotrauma
             body.ApplyLinearImpulse((deltaPos - vel * 0.5f) * body.Mass, (Vector2)pullPos);
         }
 
+        /// <summary>
+        /// Applies buoyancy, drag and angular drag caused by water
+        /// </summary>
+        public void ApplyWaterForces()
+        {
+            //buoyancy
+            Vector2 buoyancy = new Vector2(0, Mass * 9.6f);
+
+            //drag
+            Vector2 velDir = Vector2.Normalize(LinearVelocity);
+
+            Vector2 line = new Vector2((float)Math.Cos(body.Rotation), (float)Math.Sin(body.Rotation));
+            line *= Math.Max(height + radius*2, height);
+
+            Vector2 normal = new Vector2(-line.Y, line.X);
+            normal = Vector2.Normalize(-normal);
+
+            float dragDot = Math.Abs(Vector2.Dot(normal, velDir));
+            Vector2 dragForce = Vector2.Zero;
+            if (dragDot > 0)
+            {
+                float vel = LinearVelocity.Length() * 2.0f;
+                float drag = dragDot * vel * vel
+                    * Math.Max(height + radius * 2, height);
+                dragForce = Math.Min(drag, Mass * 1000.0f) * -velDir;
+                //if (dragForce.Length() > 100.0f) { }
+            }
+
+            body.ApplyForce(dragForce + buoyancy);
+            body.ApplyTorque(body.AngularVelocity * body.Mass * -0.08f);
+        }
+
+
         public void UpdateDrawPosition()
         {
             drawPosition = Timing.Interpolate(prevPosition, body.Position) - offsetFromTargetPos;