mirror of
https://github.com/Q3Rally-Team/q3rally.git
synced 2024-11-23 04:12:02 +00:00
658 lines
18 KiB
C
658 lines
18 KiB
C
/*
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===========================================================================
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Copyright (C) 1999-2005 Id Software, Inc.
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Copyright (C) 2002-2021 Q3Rally Team (Per Thormann - q3rally@gmail.com)
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This file is part of q3rally source code.
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q3rally source code is free software; you can redistribute it
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and/or modify it under the terms of the GNU General Public License as
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published by the Free Software Foundation; either version 2 of the License,
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or (at your option) any later version.
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q3rally source code is distributed in the hope that it will be
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useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with q3rally; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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===========================================================================
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*/
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#include "../qcommon/q_shared.h"
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#ifdef GAME
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#include "g_local.h"
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#else
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//#include "../cgame/cg_local.h"
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#endif
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#include "bg_public.h"
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#include "bg_local.h"
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static float CP_TORQUE_SLOPE = (float)(CP_RPM_HP_PEAK * M_PI * CP_TORQUE_PEAK - 16500 * CP_HP_PEAK) / (float)(CP_RPM_HP_PEAK * M_PI * (CP_RPM_HP_PEAK*CP_RPM_HP_PEAK - 2 * CP_RPM_HP_PEAK * CP_RPM_TORQUE_PEAK + CP_RPM_TORQUE_PEAK*CP_RPM_TORQUE_PEAK));
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static float CP_GEAR_RATIOS[] = {CP_GEAR1, CP_GEAR2, CP_GEAR3, CP_GEAR4, CP_GEAR5};
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#if 0
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/*
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===================
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PM_RPMtoWheelSpeed
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===================
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*/
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static float PM_RPMtoWheelSpeed( car_t *car ){
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float ratio;
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if (car->gear < 0)
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ratio = CP_GEARR;
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else if (car->gear == 0)
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ratio = CP_GEARN;
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else
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ratio = CP_GEAR_RATIOS[car->gear-1];
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// return (-(car->rpm-CP_RPM_MIN) * M_PI / 30) / (ratio * CP_AXLEGEAR);
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return (-(car->rpm) * M_PI / 30) / (ratio * CP_AXLEGEAR);
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}
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#endif
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/*
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===================
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PM_WheelSpeedtoRPM
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===================
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*/
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static float PM_WheelSpeedtoRPM( car_t *car, carPoint_t *points ){
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float ratio, w;
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int i;
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if (car->gear < 0)
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ratio = CP_GEARR;
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else if (car->gear == 0)
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ratio = CP_GEARN;
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else
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ratio = CP_GEAR_RATIOS[car->gear-1];
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w = 0;
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if (car->gear >= 0){
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for (i = 0; i < FIRST_FRAME_POINT; i++){
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w = min(w, points[i].w);
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}
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}
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else {
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for (i = 0; i < FIRST_FRAME_POINT; i++){
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w = max(w, points[i].w);
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}
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}
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// return (-w / M_PI * 30) * (ratio * CP_AXLEGEAR) + CP_RPM_MIN;
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return (-w / M_PI * 30) * (ratio * CP_AXLEGEAR);
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}
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/*
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================================================================================
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PM_UpdateRPM
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================================================================================
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*/
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static void PM_UpdateRPM(car_t *car, carPoint_t *points){
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float rpmTemp;
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float shiftDownRPM, shiftUpRPM;
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shiftDownRPM = CP_RPM_MIN + (CP_RPM_MAX - CP_RPM_MIN) * (0.4f + 0.2f * car->throttle);
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shiftUpRPM = CP_RPM_MIN + (CP_RPM_MAX - CP_RPM_MIN) * (0.8f + 0.2f * car->throttle);
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// Com_Printf("shiftDownRPM: %f shiftUpRPM: %f\n", shiftDownRPM, shiftUpRPM);
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if ( shiftUpRPM > CP_RPM_MAX )
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shiftUpRPM = CP_RPM_MAX;
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if (car->gear > 0){
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rpmTemp = PM_WheelSpeedtoRPM(car, points);
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// Com_Printf("1 Gear: %i RPM temp: %f\n", car->gear, rpmTemp);
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while ( rpmTemp < shiftDownRPM ){
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if (car->gear > 1)
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car->gear--;
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else if ( rpmTemp < CP_RPM_MIN ){
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rpmTemp = CP_RPM_MIN;
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break;
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}
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else
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break;
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rpmTemp = PM_WheelSpeedtoRPM(car, points);
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if (rpmTemp > CP_RPM_MAX)
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rpmTemp = CP_RPM_MAX;
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}
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// Com_Printf("2 Gear: %i RPM temp: %f\n", car->gear, rpmTemp);
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while ( rpmTemp > shiftUpRPM ){
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if ( !points[2].onGround || !points[3].onGround || points[2].slipping || points[3].slipping ){
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if ( rpmTemp > CP_RPM_MAX ){
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rpmTemp = CP_RPM_MAX;
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break;
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}
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else if ( rpmTemp > shiftUpRPM )
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break;
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}
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if (car->gear < 5){
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if ( points[2].onGround && points[3].onGround && !points[2].slipping && !points[3].slipping )
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car->gear++;
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}
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else if ( rpmTemp > CP_RPM_MAX ){
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rpmTemp = CP_RPM_MAX;
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break;
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}
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rpmTemp = PM_WheelSpeedtoRPM(car, points);
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if (rpmTemp < CP_RPM_MIN)
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rpmTemp = CP_RPM_MIN;
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}
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car->rpm = rpmTemp;
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}
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else if (car->gear == 0){
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car->rpm = CP_RPM_MIN;
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}
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else {
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rpmTemp = PM_WheelSpeedtoRPM(car, points);
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if (rpmTemp < CP_RPM_MIN)
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rpmTemp = CP_RPM_MIN;
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if (rpmTemp > CP_RPM_MAX)
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rpmTemp = CP_RPM_MAX;
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car->rpm = rpmTemp;
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}
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}
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/*
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================================================================================
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PM_AirFrictionForces
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================================================================================
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*/
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static void PM_AirFrictionForces( car_t *car, carBody_t *body, carPoint_t *points, float sec ){
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vec3_t dir, force;
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float v, friction, area;
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int i;
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area = fabs((float)(CAR_HEIGHT * CAR_WIDTH) / (float)(CP_M_2_QU*CP_M_2_QU));
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// dont do air friction on tires
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for (i = FIRST_FRAME_POINT; i < NUM_CAR_POINTS; i++){
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v = VectorNormalize2(points[i].v, dir);
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if (fabs(v) < 0.01f) continue;
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v /= CP_M_2_QU; // m / s
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friction = -0.5 * pm->car_air_cof * area * points[i].fluidDensity * v * v / (float)(NUM_CAR_POINTS);
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friction *= CP_M_2_QU; // to qforce
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// friction = 0;
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// Com_Printf("air friction: %0.3f\n", friction);
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// FIXME: fix it so that it doesnt apply too much force and send the car into space
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// try this
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/*
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if (fabs(friction * NUM_CAR_POINTS / body->mass * sec) > VectorLength(points[i].v)){
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Com_Printf("PM_AirFrictionForces: too much force\n");
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friction = -VectorLength(points[i].v) / sec * body->mass / (float)NUM_CAR_POINTS;
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}
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*/
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VectorScale(dir, friction, force);
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// add down force
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VectorMA(force, -fabs(pm->car_air_frac_to_df * DotProduct(force, body->forward)), body->up, force);
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// Com_Printf("down force: %0.3f\n", -fabs(CP_FRAC_TO_DF * DotProduct(force, body->forward)) / 4.0f);
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VectorAdd(points[i].forces[AIR_FRICTION], force, points[i].forces[AIR_FRICTION]);
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}
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}
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/*
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================================================================================
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PM_GroundFrictionForces
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================================================================================
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*/
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static void PM_GroundFrictionForces( car_t *car, carPoint_t *points, int i, vec3_t forward, vec3_t right, vec3_t up, float sec ){
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//float friction, dot;
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float normalForce, sideForce;
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vec3_t accel, targetV, force;
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float skid, slipangle, forwardForce;
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//float v, angle, n2, v2;
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normalForce = VectorLength(points[i].forces[NORMAL]);
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if( normalForce < 0.01f )
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return;
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// we want the accel vector parallel to the ground
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VectorScale(forward, points[i].w * WHEEL_RADIUS, targetV);
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VectorAdd(targetV, points[i+4].v, accel);
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VectorInverse(accel);
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VectorMA(accel, -DotProduct(accel, up), up, accel);
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// Com_Printf("Accel: %f\n", DotProduct(accel, forward));
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// FIXME: check if this equation is right
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// noSlipForce = ((2.0 / 3.0) * points[i].mass * DotProduct(accel, forward) / sec) - (points[i].netMoment / (3.0 * WHEEL_RADIUS));
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// noSlipForce = (((1.0 / 3.0) * (points[i].mass) * DotProduct(accel, forward) / sec) - ((2.0 / 3.0) * points[i].netMoment / WHEEL_RADIUS));
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// forces required to keep up with the acceleration
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forwardForce = (1.0f / 10.0f) * points[i].mass * DotProduct(accel, forward) / sec;
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sideForce = (1.0f / 10.0f) * points[i].mass * DotProduct(accel, right) / sec;
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/*
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friction = normalForce * (!points[i].slipping ? points[i].scof : points[i].kcof);
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if (pm->ps->powerups[PW_TURBO] > 0)
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friction *= 2.0f;
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sideForce = (points[i].mass + points[i+4].mass) * DotProduct(accel, right) / (sec * 4);
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VectorNormalize2(accel, force);
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VectorScale(force, friction, force);
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dot = DotProduct(force, forward);
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if ((dot < 0 && noSlipForce >= dot) || (dot > 0 && noSlipForce <= dot)){
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// Com_Printf("static friction, noSlipForce %f\n", noSlipForce);
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// Com_Printf("netForce forward %f\n", DotProduct(points[i].netForce, forward));
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// Com_Printf("accel forward %f\n", DotProduct(accel, forward));
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VectorMA(force, noSlipForce - dot, forward, force);
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// Com_Printf("force forward %f\n", DotProduct(force, forward));
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points[i].slipping = qfalse;
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}
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else if ((dot < 0 && noSlipForce < dot * 10.0f) || (dot > 0 && noSlipForce > dot * 10.0f)){
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points[i].slipping = 2;
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}
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else{
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points[i].slipping = qtrue;
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}
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// add extra side friction because the car slips too much
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if (sideForce > normalForce * points[i].scof)
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sideForce = normalForce * points[i].scof; // * 0.9f
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if (sideForce < -normalForce * points[i].scof)
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sideForce = -normalForce * points[i].scof; // * 0.9f
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dot = DotProduct(force, right);
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VectorMA(force, sideForce - dot, right, force);
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*/
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// test my new physics book
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points[i].slipping = qfalse;
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VectorClear(force);
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// cornering forces
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slipangle = 100 * sideForce / (8.0f * normalForce * points[i].scof); // tire slip at about 20% skid
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if (fabs(slipangle) >= 30.0f)
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points[i].slipping = qtrue;
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else
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sideForce = 1.3f * points[i].scof * 0.97f * normalForce * sin(1.50*atan2(.276208*slipangle-.132*atan2(.244*slipangle, 1), 1));
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// accel forces
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skid = 100 * forwardForce / (5.0f * normalForce * points[i].scof); // tire slip at about 20% skid
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if (fabs(skid) >= 30.0f || points[i].slipping)
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points[i].slipping = qtrue;
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else
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forwardForce = points[i].scof * 1.1f * normalForce * sin(1.55*atan2(.101104*skid+.432*atan2(.178*skid, 1), 1));
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if (points[i].slipping)
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{
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VectorNormalize(accel);
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VectorMA(force, points[i].kcof * normalForce, accel, force);
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}
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else
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{
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// accel force
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VectorMA(force, forwardForce, forward, force);
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// cornering force
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// dot = DotProduct(force, right);
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VectorMA(force, sideForce, right, force);
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}
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points[i].netMoment += (DotProduct(force, forward) * WHEEL_RADIUS);
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VectorAdd(points[i].forces[ROAD], force, points[i].forces[ROAD]);
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// static friction
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/*
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if (!points[i].slipping){
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vec3_t down = {0, 0, -1};
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vec3_t normal;
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dot = DotProduct(points[i].normals[0], down);
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if (dot != -1){
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Com_Printf("Applying static friction\n");
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VectorMA(points[i].normals[0], -dot, down, normal);
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VectorNormalize(normal); // gives vector in the direction of sliding
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dot = DotProduct(normal, accel);
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}
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}
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*/
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}
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/*
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================================================================================
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PM_TireFrictionForces
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================================================================================
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*/
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static void PM_TireFrictionForces( car_t *car, carPoint_t *points, int i, vec3_t forward, float sec ){
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float torque;
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if (fabs(points[i].w) <= 0.001f)
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return;
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torque = -points[i].w * CP_ENGINE_TIRE_COF;
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points[i].netMoment += torque;
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/*
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Com_Printf("PM_TireFrictionForces: torque1 %.3f\n", torque);
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torque = 0;
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if (car->throttle < 0.01f)
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torque = (car->rpm - 1000) * 5;
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if (points[i].w > 0.0f)
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torque *= -1.0f;
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Com_Printf("PM_TireFrictionForces: torque2 %.3f\n", torque);
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points[i].netMoment += torque;
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*/
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}
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/*
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FPtoT = 1.355; // Foot-Pounds to Newton*Meter
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// 1 Hp = 0.74667 kW
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// Horsepower = torque * revs/minute * minute/60 s * 2*pi * 1/550
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// Horsepower = torque * revs/minute * 1/5252
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// Tout = Tin * Rout / Rin
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// RPMout = RPMin * Cin / Cout = RPMin * Rin / Rout
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// Rout/Rin = gear ratio
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// MPH = Engine RPM / Ratio * Diameter * pi * 5 / 5280
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// Engine RPM = MPH * Ratio / Diameter / pi / 5 * 5280
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// where Ratio is the gear reduction, Diameter is the tire diameter in inches.
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// power needed to overcome resistances in (kW)
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// pN = v^3 * Cd * A / 76716 + roll resistance
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*/
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/*
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================================================================================
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PM_TireEngineForces
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================================================================================
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*/
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static void PM_TireEngineForces( car_t *car, carPoint_t *points, int i, vec3_t forward ){
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float torque, ratio, relrpm, friction;
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// float power;
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// float normalForce;
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if (car->throttle < 0.00f)
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return;
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if (VectorLength(forward) == 0.0f){
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if (pm->pDebug)
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Com_Printf("PM_TireEngineForces: invalid forward vector\n");
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return;
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}
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if (car->rpm >= CP_RPM_MAX){
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// just add enough torque to stay at constant speed
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return;
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// points[i].w = PM_RPMtoWheelSpeed(car);
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// points[i].netMoment += torque;
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}
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relrpm = (car->rpm - CP_RPM_TORQUE_PEAK);
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torque = car->throttle * ((-1.0f * CP_TORQUE_SLOPE * relrpm * relrpm) + CP_TORQUE_PEAK); // ft.lb
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// power = torque * car->rpm / (30 * 550 / M_PI); // hp
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if (car->gear < 0)
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ratio = CP_GEARR;
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else if (car->gear == 0)
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ratio = CP_GEARN;
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else
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ratio = CP_GEAR_RATIOS[car->gear-1];
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friction = 0;
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if (fabs(car->throttle < 0.01f) && car->gear)
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friction = (CP_M_2_QU * CP_M_2_QU * (car->rpm - CP_RPM_MIN) / 10.0f / ratio);// frictional torque
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ratio *= CP_AXLEGEAR;
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torque *= 1.355818f; // Nm = kg*m^2/s^2
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torque *= -ratio;
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if (i < 2)
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torque *= CP_M_2_QU * CP_M_2_QU / 6.0f; // qu
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else
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torque *= CP_M_2_QU * CP_M_2_QU / 3.0f; // qu
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torque += friction;
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if (pm->ps->powerups[PW_TURBO] > 0){
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torque *= 4.5f;
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// car->sPoints[0].scof *= 2.0f; // need to be able to set this back to normal
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// car->sPoints[0].kcof *= 2.0f;
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}
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points[i].netMoment += torque;
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}
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/*
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================================================================================
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PM_TireBrakingForces
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================================================================================
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*/
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static void PM_TireBrakingForces( car_t *car, carPoint_t *points, int i, vec3_t forward, float throttle ){
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float torque;
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float normalForce;
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if (throttle >= -0.01f)
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return;
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if (VectorLength(forward) == 0.0f){
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if (pm->pDebug)
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Com_Printf("PM_TireBrakingForces: invalid forward vector\n");
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return;
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}
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normalForce = CP_CURRENT_GRAVITY * (CP_FRAME_MASS + CP_WHEEL_MASS);
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torque = throttle * normalForce * CP_SCOF * 0.6f * WHEEL_RADIUS;
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if (points[i].w < 0.0f)
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torque *= -1;
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|
|
if (fabs(points[i].w) < 6.0f)
|
|
torque *= fabs(points[i].w) / 6.0f;
|
|
|
|
points[i].netMoment += torque;
|
|
}
|
|
|
|
|
|
/*
|
|
================================================================================
|
|
PM_AddRoadForces
|
|
================================================================================
|
|
*/
|
|
void PM_AddRoadForces(car_t *car, carBody_t *body, carPoint_t *points, float sec){
|
|
vec3_t temp;
|
|
vec3_t forward, right, up;
|
|
float v, targetAngle;
|
|
int i;
|
|
|
|
v = DotProduct(body->v, body->forward);
|
|
|
|
if (pm->ps->stats[STAT_HEALTH] > 0){
|
|
car->throttle = pm->cmd.forwardmove / 127.0F;
|
|
|
|
if (!pm->manualShift){
|
|
if (car->gear < 0)
|
|
car->throttle *= -1.0f;
|
|
|
|
if (car->throttle < 0){
|
|
if (car->gear > 0 && v < 40.0f){
|
|
car->gear = -1;
|
|
car->throttle *= -1.0f;
|
|
}
|
|
else if (car->gear < 0 && v > -40.0f){
|
|
car->gear = 1;
|
|
car->throttle *= -1.0f;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (pm->controlMode == CT_MOUSE){
|
|
car->wheelAngle = WheelAngle(pm->ps->viewangles[YAW], SHORT2ANGLE(pm->ps->damageYaw));
|
|
|
|
if (v < 0.5f && v > -0.5f)
|
|
car->wheelAngle = 0.0;
|
|
else if ( car->gear < 0 )
|
|
car->wheelAngle *= -1.0;
|
|
/*
|
|
if (v < 0.5f && v > -0.5f)
|
|
car->wheelAngle = 0.0;
|
|
else if (v < -0.5f)
|
|
car->wheelAngle *= -1.0;
|
|
*/
|
|
}
|
|
else {
|
|
targetAngle = pm->cmd.rightmove / 127.0F * 30.0f;
|
|
|
|
if( car->wheelAngle > 0 && targetAngle < car->wheelAngle )
|
|
{
|
|
if ( fabs(car->wheelAngle - targetAngle) < fabs(90.0f * sec) )
|
|
car->wheelAngle = targetAngle;
|
|
else
|
|
car->wheelAngle -= 90.0f * sec;
|
|
}
|
|
else if ( car->wheelAngle < 0 && targetAngle > car->wheelAngle )
|
|
{
|
|
if ( fabs(car->wheelAngle - targetAngle) < fabs(90.0f * sec) )
|
|
car->wheelAngle = targetAngle;
|
|
else
|
|
car->wheelAngle += 90.0f * sec;
|
|
}
|
|
else if (car->wheelAngle != targetAngle){
|
|
if (fabs(car->wheelAngle - targetAngle) < fabs(75.0f * sec / (1 + fabs(v) / 800.0f)))
|
|
car->wheelAngle = targetAngle;
|
|
else if (car->wheelAngle > targetAngle)
|
|
car->wheelAngle -= 75.0f * sec / (1 + fabs(v) / 800.0f);
|
|
else if (car->wheelAngle < targetAngle)
|
|
car->wheelAngle += 75.0f * sec / (1 + fabs(v) / 800.0f);
|
|
}
|
|
|
|
if (car->wheelAngle > 20.0f)
|
|
car->wheelAngle = 20.0f;
|
|
if (car->wheelAngle < -20.0f)
|
|
car->wheelAngle = -20.0f;
|
|
|
|
pm->ps->damagePitch = ANGLE2SHORT(0.0f);
|
|
pm->ps->damageYaw = ANGLE2SHORT(car->wheelAngle);
|
|
}
|
|
}
|
|
else {
|
|
car->throttle = 0.0f;
|
|
}
|
|
|
|
// used for drawing car clientside
|
|
if (car->gear < 0)
|
|
pm->ps->extra_eFlags |= CF_REVERSE;
|
|
else
|
|
pm->ps->extra_eFlags &= ~CF_REVERSE;
|
|
|
|
if (car->throttle < 0)
|
|
pm->ps->extra_eFlags |= CF_BRAKE;
|
|
else
|
|
pm->ps->extra_eFlags &= ~CF_BRAKE;
|
|
|
|
PM_UpdateRPM(car, points);
|
|
|
|
PM_AirFrictionForces(car, body, points, sec);
|
|
|
|
// front tires
|
|
for (i = FIRST_FW_POINT; i < LAST_FW_POINT; i++)
|
|
{
|
|
// calculate net forces
|
|
PM_CalculateNetForce(&points[i], i);
|
|
|
|
if ( points[i].onGround )
|
|
{
|
|
VectorCopy(points[i].normals[0], up);
|
|
// sometimes up is a zero vector when it shouldnt be so just
|
|
// assume its not supposed to be
|
|
if( up[0] == 0.0f && up[1] == 0.0f && up[2] == 0.0f )
|
|
up[2] = 1.0f;
|
|
CrossProduct(body->forward, up, temp);
|
|
}
|
|
else {
|
|
VectorCopy(body->up, up);
|
|
VectorCopy(body->right, temp);
|
|
}
|
|
|
|
RotatePointAroundVector(right, up, temp, -car->wheelAngle);
|
|
VectorNormalize(right);
|
|
CrossProduct(up, right, forward);
|
|
|
|
PM_TireEngineForces(car, points, i, forward);
|
|
|
|
PM_TireBrakingForces(car, points, i, forward, car->throttle);
|
|
|
|
PM_TireFrictionForces(car, points, i, forward, sec);
|
|
|
|
if (!points[i].onGround) continue;
|
|
|
|
PM_GroundFrictionForces(car, points, i, forward, right, up, sec);
|
|
}
|
|
|
|
for (i = FIRST_RW_POINT; i < LAST_RW_POINT; i++)
|
|
{
|
|
// calculate net forces
|
|
PM_CalculateNetForce(&points[i], i);
|
|
|
|
if (points[i].onGround){
|
|
VectorCopy(points[i].normals[0], up);
|
|
CrossProduct(body->forward, up, right);
|
|
CrossProduct(up, right, forward);
|
|
}
|
|
else {
|
|
VectorCopy(body->forward, forward);
|
|
VectorCopy(body->right, right);
|
|
VectorCopy(body->up, up);
|
|
}
|
|
|
|
PM_TireEngineForces(car, points, i, forward);
|
|
|
|
PM_TireBrakingForces(car, points, i, forward, car->throttle);
|
|
|
|
PM_TireFrictionForces(car, points, i, forward, sec);
|
|
|
|
if (!points[i].onGround) continue;
|
|
|
|
if (pm->cmd.buttons & BUTTON_HANDBRAKE){
|
|
points[i].w = 0;
|
|
points[i].netMoment = 0;
|
|
}
|
|
|
|
PM_GroundFrictionForces(car, points, i, forward, right, up, sec);
|
|
}
|
|
|
|
// calculate net forces
|
|
for (i = 0; i < FIRST_FRAME_POINT; i++){
|
|
PM_CalculateNetForce(&points[i], i);
|
|
}
|
|
}
|