/* * Copyright (C) Volition, Inc. 1999. All rights reserved. * * All source code herein is the property of Volition, Inc. You may not sell * or otherwise commercially exploit the source or things you created based on the * source. * */ #include "object/objcollide.h" #include "object/object.h" #include "ship/ship.h" #include "freespace2/freespace.h" #include "ship/shiphit.h" #include "gamesnd/gamesnd.h" #include "render/3d.h" // needed for View_position, which is used when playing 3d sound #include "gamesequence/gamesequence.h" #include "hud/hudshield.h" #include "hud/hudmessage.h" #include "io/joy_ff.h" #include "io/timer.h" #include "asteroid/asteroid.h" #include "debris/debris.h" #include "playerman/player.h" #include "object/objectdock.h" #include "object/objectshield.h" #include "parse/scripting.h" #define COLLIDE_DEBUG #undef COLLIDE_DEBUG // GENERAL COLLISIONS FUNCTIONS // calculates the inverse moment of inertia matrix in world coordinates void get_I_inv (matrix* I_inv, matrix* I_inv_body, matrix* orient); // calculate the physics of extended two body collisions void calculate_ship_ship_collision_physics(collision_info_struct *ship_ship_hit_info); int ship_hit_shield(object *obj, mc_info *mc, collision_info_struct *sshs); void collect_ship_ship_physics_info(object *heavy, object *light, mc_info *mc_info, collision_info_struct *ship_ship_hit_info); #ifndef NDEBUG static int Collide_friendly = 1; DCF_BOOL( collide_friendly, Collide_friendly ) #endif static int Player_collide_sound, AI_collide_sound; static int Player_collide_shield_sound, AI_collide_shield_sound; /** * Return true if two ships are docking. */ int ships_are_docking(object *objp1, object *objp2) { ai_info *aip1, *aip2; ship *shipp1, *shipp2; shipp1 = &Ships[objp1->instance]; shipp2 = &Ships[objp2->instance]; aip1 = &Ai_info[shipp1->ai_index]; aip2 = &Ai_info[shipp2->ai_index]; if (dock_check_find_direct_docked_object(objp1, objp2)) { return 1; } if (aip1->mode == AIM_DOCK) { if (aip1->goal_objnum == OBJ_INDEX(objp2)){ return 1; } } if (aip2->mode == AIM_DOCK) { if (aip2->goal_objnum == OBJ_INDEX(objp1)){ return 1; } } return 0; } /** * If light_obj emerging from or departing to dock bay in heavy_obj, no collision detection. */ int bay_emerge_or_depart(object *heavy_objp, object *light_objp) { if (light_objp->type != OBJ_SHIP) return 0; ai_info *aip = &Ai_info[Ships[light_objp->instance].ai_index]; // the player shouldn't be allowed to fly through the ship just cause the rest of their wing can if ((Player_obj == light_objp) && !Player_use_ai){ return 0; } if ((aip->mode == AIM_BAY_EMERGE) || (aip->mode == AIM_BAY_DEPART)) { if (aip->goal_objnum == OBJ_INDEX(heavy_objp)) return 1; } return 0; } int ship_ship_check_collision(collision_info_struct *ship_ship_hit_info, vec3d *hitpos) { object *heavy_obj = ship_ship_hit_info->heavy; object *light_obj = ship_ship_hit_info->light; int player_involved; // flag to indicate that A or B is the Player_obj Assert( heavy_obj->type == OBJ_SHIP ); Assert( light_obj->type == OBJ_SHIP ); ship *heavy_shipp = &Ships[heavy_obj->instance]; ship *light_shipp = &Ships[light_obj->instance]; ship_info *heavy_sip = &Ship_info[heavy_shipp->ship_info_index]; ship_info *light_sip = &Ship_info[light_shipp->ship_info_index]; // AL 12-4-97: we use the player_involved flag to ensure collisions are always // done with the player, regardless of team. if ( heavy_obj == Player_obj || light_obj == Player_obj ) { player_involved = 1; } else { player_involved = 0; } // Make ships that are warping in not get collision detection done if ( heavy_shipp->flags & SF_ARRIVING_STAGE_1 ) { return 0; } // Don't do collision detection for docking ships, since they will always collide while trying to dock if ( ships_are_docking(heavy_obj, light_obj) ) { return 0; } // If light_obj emerging from or departing to dock bay in heavy_obj, no collision detection. if (bay_emerge_or_depart(heavy_obj, light_obj)) { return 0; } // Ships which are dying should not do collision detection. // Also, this is the only clean way I could figure to get ships to not do damage to each other for one frame // when they are docked and departing. Due to sequencing, they would not show up as docked, yet they // would still come through here, so they would harm each other, if on opposing teams. -- MK, 2/2/98 if ((heavy_obj->flags & OF_SHOULD_BE_DEAD) || (light_obj->flags & OF_SHOULD_BE_DEAD)) { return 0; } #ifndef NDEBUG // Don't do collision detection on a pair of ships on the same team. // Change this someday, but for now, it's a problem. if ( !Collide_friendly ) { // Collide_friendly is a global value changed via debug console if ( (!player_involved) && (heavy_shipp->team == light_shipp->team) ) { return 0; } } #endif // Apparently we're doing same team collisions. // But, if both are offscreen, ignore the collision if (heavy_shipp->team == light_shipp->team) { if ( (!(heavy_obj->flags & OF_WAS_RENDERED) && !(light_obj->flags & OF_WAS_RENDERED)) ) { return 0; } } // If either of these objects doesn't get collision checks, abort. if (heavy_sip->flags & SIF_NO_COLLIDE) { return 0; } if (light_sip->flags & SIF_NO_COLLIDE) { return 0; } // Set up model_collide info mc_info mc; mc_info_init(&mc); // Do in heavy object RF mc.model_num = heavy_sip->model_num; // Fill in the model to check mc.model_instance_num = heavy_shipp->model_instance_num; mc.orient = &heavy_obj->orient; // The object's orient vec3d zero, p0, p1; vm_vec_zero(&zero); // we need the physical vector and can not set its value to zero vm_vec_sub(&p0, &light_obj->last_pos, &heavy_obj->last_pos); vm_vec_sub(&p1, &light_obj->pos, &heavy_obj->pos); // find the light object's position in the heavy object's reference frame at last frame and also in this frame. vec3d p0_temp, p0_rotated; // Collision detection from rotation enabled if at max rotaional velocity and 5fps, rotation is less than PI/2 // This should account for all ships if ( (vm_vec_mag_squared( &heavy_obj->phys_info.max_rotvel ) * .04) < (PI*PI/4) ) { // collide_rotate calculate (1) start position and (2) relative velocity ship_ship_hit_info->collide_rotate = 1; vm_vec_rotate(&p0_temp, &p0, &heavy_obj->last_orient); vm_vec_unrotate(&p0_rotated, &p0_temp, &heavy_obj->orient); mc.p0 = &p0_rotated; // Point 1 of ray to check vm_vec_sub(&ship_ship_hit_info->light_rel_vel, &p1, &p0_rotated); vm_vec_scale(&ship_ship_hit_info->light_rel_vel, 1/flFrametime); } else { // should be no ships that can rotate this fast Int3(); ship_ship_hit_info->collide_rotate = 0; mc.p0 = &p0; // Point 1 of ray to check vm_vec_sub(&ship_ship_hit_info->light_rel_vel, &light_obj->phys_info.vel, &heavy_obj->phys_info.vel); } // Set up collision info mc.pos = &zero; // The object's position mc.p1 = &p1; // Point 2 of ray to check mc.radius = model_get_core_radius(light_sip->model_num); mc.flags = (MC_CHECK_MODEL | MC_CHECK_SPHERELINE); // flags // Only check invisible face polygons for ship:ship of different teams. if ( !(heavy_shipp->flags2 & SF2_DONT_COLLIDE_INVIS) ) { if ((heavy_obj->flags & OF_PLAYER_SHIP) || (light_obj->flags & OF_PLAYER_SHIP) || (heavy_shipp->team != light_shipp->team) ) { mc.flags |= MC_CHECK_INVISIBLE_FACES; } } // copy important data int copy_flags = mc.flags; // make a copy of start end positions of sphere in big ship RF vec3d copy_p0, copy_p1; copy_p0 = *mc.p0; copy_p1 = *mc.p1; // first test against the sphere - if this fails then don't do any submodel tests mc.flags = MC_ONLY_SPHERE | MC_CHECK_SPHERELINE; SCP_vector submodel_vector; int valid_hit_occured = 0; polymodel *pm, *pm_light; polymodel_instance *pmi; pm_light = model_get(Ship_info[light_shipp->ship_info_index].model_num); if(pm_light->submodel[pm_light->detail[0]].no_collisions) { return 0; } if (model_collide(&mc)) { // Set earliest hit time ship_ship_hit_info->hit_time = FLT_MAX; // Do collision the cool new way if ( ship_ship_hit_info->collide_rotate ) { SCP_vector::iterator smv; model_get_rotating_submodel_list(&submodel_vector, heavy_obj); pm = model_get(Ship_info[heavy_shipp->ship_info_index].model_num); pmi = model_get_instance(heavy_shipp->model_instance_num); // turn off all rotating submodels and test for collision for (smv = submodel_vector.begin(); smv != submodel_vector.end(); ++smv) { pmi->submodel[*smv].collision_checked = true; } // reset flags to check MC_CHECK_MODEL | MC_CHECK_SPHERELINE and maybe MC_CHECK_INVISIBLE_FACES and MC_SUBMODEL_INSTANCE mc.flags = copy_flags | MC_SUBMODEL_INSTANCE; // check each submodel in turn for (smv = submodel_vector.begin(); smv != submodel_vector.end(); ++smv) { // turn on submodel for collision test pmi->submodel[*smv].collision_checked = false; if (pmi->submodel[*smv].blown_off) { pmi->submodel[*smv].collision_checked = true; continue; } // set angles for last frame angles copy_angles = pmi->submodel[*smv].angs; // find the start and end positions of the sphere in submodel RF pmi->submodel[*smv].angs = pmi->submodel[*smv].prev_angs; world_find_model_instance_point(&p0, &light_obj->last_pos, pm, pmi, *smv, &heavy_obj->last_orient, &heavy_obj->last_pos); pmi->submodel[*smv].angs = copy_angles; world_find_model_instance_point(&p1, &light_obj->pos, pm, pmi, *smv, &heavy_obj->orient, &heavy_obj->pos); mc.p0 = &p0; mc.p1 = &p1; mc.orient = &vmd_identity_matrix; mc.submodel_num = *smv; if ( model_collide(&mc) ) { if (mc.hit_dist < ship_ship_hit_info->hit_time ) { valid_hit_occured = 1; // set up ship_ship_hit_info common set_hit_struct_info(ship_ship_hit_info, &mc, SUBMODEL_ROT_HIT); model_instance_find_world_point(&ship_ship_hit_info->hit_pos, &mc.hit_point, mc.model_num, mc.model_instance_num, mc.hit_submodel, &heavy_obj->orient, &zero); // set up ship_ship_hit_info for rotating submodel if (ship_ship_hit_info->edge_hit == 0) { model_instance_find_obj_dir(&ship_ship_hit_info->collision_normal, &mc.hit_normal, heavy_obj, mc.hit_submodel); } // find position in submodel RF of light object at collison vec3d int_light_pos, diff; vm_vec_sub(&diff, mc.p1, mc.p0); vm_vec_scale_add(&int_light_pos, mc.p0, &diff, mc.hit_dist); model_instance_find_world_point(&ship_ship_hit_info->light_collision_cm_pos, &int_light_pos, mc.model_num, mc.model_instance_num, mc.hit_submodel, &heavy_obj->orient, &zero); } } } } // Recover and do usual ship_ship collision, but without rotating submodels mc.flags = copy_flags; *mc.p0 = copy_p0; *mc.p1 = copy_p1; mc.orient = &heavy_obj->orient; // usual ship_ship collision test if ( model_collide(&mc) ) { // check if this is the earliest hit if (mc.hit_dist < ship_ship_hit_info->hit_time) { valid_hit_occured = 1; set_hit_struct_info(ship_ship_hit_info, &mc, SUBMODEL_NO_ROT_HIT); // get collision normal if not edge hit if (ship_ship_hit_info->edge_hit == 0) { model_instance_find_obj_dir(&ship_ship_hit_info->collision_normal, &mc.hit_normal, heavy_obj, mc.hit_submodel); } // find position in submodel RF of light object at collison vec3d diff; vm_vec_sub(&diff, mc.p1, mc.p0); vm_vec_scale_add(&ship_ship_hit_info->light_collision_cm_pos, mc.p0, &diff, mc.hit_dist); } } } if (valid_hit_occured) { // Collision debug stuff #ifndef NDEBUG object *collide_obj = NULL; if (heavy_obj == Player_obj) { collide_obj = light_obj; } else if (light_obj == Player_obj) { collide_obj = heavy_obj; } if ((collide_obj != NULL) && (Ship_info[Ships[collide_obj->instance].ship_info_index].flags & (SIF_FIGHTER | SIF_BOMBER))) { char *submode_string = ""; ai_info *aip; extern char *Mode_text[]; aip = &Ai_info[Ships[collide_obj->instance].ai_index]; if (aip->mode == AIM_CHASE) submode_string = Submode_text[aip->submode]; nprintf(("AI", "Player collided with ship %s, AI mode = %s, submode = %s\n", Ships[collide_obj->instance].ship_name, Mode_text[aip->mode], submode_string)); } #endif // Update ai to deal with collisions if (heavy_obj-Objects == Ai_info[light_shipp->ai_index].target_objnum) { Ai_info[light_shipp->ai_index].ai_flags |= AIF_TARGET_COLLISION; } if (light_obj-Objects == Ai_info[heavy_shipp->ai_index].target_objnum) { Ai_info[heavy_shipp->ai_index].ai_flags |= AIF_TARGET_COLLISION; } // SET PHYSICS PARAMETERS // already have (hitpos - heavy) and light_cm_pos // get heavy cm pos - already have light_cm_pos ship_ship_hit_info->heavy_collision_cm_pos = zero; // get r_heavy and r_light ship_ship_hit_info->r_heavy = ship_ship_hit_info->hit_pos; vm_vec_sub(&ship_ship_hit_info->r_light, &ship_ship_hit_info->hit_pos, &ship_ship_hit_info->light_collision_cm_pos); // set normal for edge hit if ( ship_ship_hit_info->edge_hit ) { vm_vec_copy_normalize(&ship_ship_hit_info->collision_normal, &ship_ship_hit_info->r_light); vm_vec_negate(&ship_ship_hit_info->collision_normal); } // get world hitpos vm_vec_add(hitpos, &ship_ship_hit_info->heavy->pos, &ship_ship_hit_info->r_heavy); // do physics calculate_ship_ship_collision_physics(ship_ship_hit_info); // Provide some separation for the case of same team if (heavy_shipp->team == light_shipp->team) { // If a couple of small ships, just move them apart. if ((heavy_sip->flags & SIF_SMALL_SHIP) && (light_sip->flags & SIF_SMALL_SHIP)) { if ((heavy_obj->flags & OF_PLAYER_SHIP) || (light_obj->flags & OF_PLAYER_SHIP)) { vec3d h_to_l_vec; vec3d rel_vel_h; vec3d perp_rel_vel; vm_vec_sub(&h_to_l_vec, &heavy_obj->pos, &light_obj->pos); vm_vec_sub(&rel_vel_h, &heavy_obj->phys_info.vel, &light_obj->phys_info.vel); float mass_sum = light_obj->phys_info.mass + heavy_obj->phys_info.mass; // get comp of rel_vel perp to h_to_l_vec; float mag = vm_vec_dotprod(&h_to_l_vec, &rel_vel_h) / vm_vec_mag_squared(&h_to_l_vec); vm_vec_scale_add(&perp_rel_vel, &rel_vel_h, &h_to_l_vec, -mag); vm_vec_normalize(&perp_rel_vel); vm_vec_scale_add2(&heavy_obj->phys_info.vel, &perp_rel_vel, heavy_sip->collision_physics.both_small_bounce * light_obj->phys_info.mass / mass_sum); vm_vec_scale_add2(&light_obj->phys_info.vel, &perp_rel_vel, -(light_sip->collision_physics.both_small_bounce) * heavy_obj->phys_info.mass / mass_sum); vm_vec_rotate( &heavy_obj->phys_info.prev_ramp_vel, &heavy_obj->phys_info.vel, &heavy_obj->orient ); vm_vec_rotate( &light_obj->phys_info.prev_ramp_vel, &light_obj->phys_info.vel, &light_obj->orient ); } } else { // add extra velocity to separate the two objects, backing up the direction we came in. // TODO: add effect of velocity from rotating submodel float rel_vel = vm_vec_mag_quick( &ship_ship_hit_info->light_rel_vel); if (rel_vel < 1) { rel_vel = 1.0f; } float mass_sum = heavy_obj->phys_info.mass + light_obj->phys_info.mass; vm_vec_scale_add2( &heavy_obj->phys_info.vel, &ship_ship_hit_info->light_rel_vel, heavy_sip->collision_physics.bounce*light_obj->phys_info.mass/(mass_sum*rel_vel) ); vm_vec_rotate( &heavy_obj->phys_info.prev_ramp_vel, &heavy_obj->phys_info.vel, &heavy_obj->orient ); vm_vec_scale_add2( &light_obj->phys_info.vel, &ship_ship_hit_info->light_rel_vel, -(light_sip->collision_physics.bounce)*heavy_obj->phys_info.mass/(mass_sum*rel_vel) ); vm_vec_rotate( &light_obj->phys_info.prev_ramp_vel, &light_obj->phys_info.vel, &light_obj->orient ); } } } return valid_hit_occured; } /** * Gets modified mass of cruiser in cruiser/asteroid collision so cruisers don't get bumped so hard. * modified mass is 10x, 4x, or 2x larger than asteroid mass * @return 1 if modified mass is larger than given mass, 0 otherwise */ int check_special_cruiser_asteroid_collision(object *heavy, object *light, float *cruiser_mass, int *cruiser_light) { int asteroid_type; if (heavy->type == OBJ_ASTEROID) { Assert(light->type == OBJ_SHIP); if (Ship_info[Ships[light->instance].ship_info_index].flags & (SIF_BIG_SHIP | SIF_HUGE_SHIP)) { asteroid_type = Asteroids[heavy->instance].asteroid_type; if (asteroid_type == 0) { *cruiser_mass = 10.0f * heavy->phys_info.mass; } else if (asteroid_type == 1) { *cruiser_mass = 4.0f * heavy->phys_info.mass; } else { *cruiser_mass = 2.0f * heavy->phys_info.mass; } if (*cruiser_mass > light->phys_info.mass) { *cruiser_light = 1; return 1; } } } else if (light->type == OBJ_ASTEROID) { Assert(heavy->type == OBJ_SHIP); if (Ship_info[Ships[heavy->instance].ship_info_index].flags & SIF_BIG_SHIP) { asteroid_type = Asteroids[light->instance].asteroid_type; if (asteroid_type == 0) { *cruiser_mass = 10.0f * light->phys_info.mass; } else if (asteroid_type == 1) { *cruiser_mass = 4.0f * light->phys_info.mass; } else { *cruiser_mass = 2.0f * light->phys_info.mass; } if (*cruiser_mass > heavy->phys_info.mass) { *cruiser_light = 0; return 1; } } } return 0; } /** * Find the subobject corresponding to the submodel hit */ bool check_subsystem_landing_allowed(ship_info *heavy_sip, collision_info_struct *ship_ship_hit_info) { if (!(heavy_sip->flags2 & SIF2_ALLOW_LANDINGS)) return false; for (int i = 0; i < heavy_sip->n_subsystems; i++) { if (heavy_sip->subsystems[i].flags & MSS_FLAG_ALLOW_LANDING && heavy_sip->subsystems[i].subobj_num == ship_ship_hit_info->submodel_num) { return true; } } return false; } // ------------------------------------------------------------------------------------------------ // input: ship_ship_hit => structure containing ship_ship hit info // (includes) A, B => objects colliding // r_A, r_B => position to collision from center of mass // collision_normal => collision_normal (outward from B) // // output: velocity, angular velocity, impulse // // ------------------------------------------------------------------------------------------------ // // calculates correct physics response to collision between two objects given // masses, moments of inertia, velocities, angular velocities, // relative collision positions, and the impulse direction // void calculate_ship_ship_collision_physics(collision_info_struct *ship_ship_hit_info) { // important parameters passed thru ship_ship_or_debris_hit // calculate the whack applied to each ship from collision // make local copies of hit_struct parameters object *heavy = ship_ship_hit_info->heavy; object *light = ship_ship_hit_info->light; // gurgh... this includes asteroids and debris too Assert(heavy->type == OBJ_SHIP || heavy->type == OBJ_ASTEROID || heavy->type == OBJ_DEBRIS); Assert(light->type == OBJ_SHIP || light->type == OBJ_ASTEROID || light->type == OBJ_DEBRIS); ship_info *light_sip = (light->type == OBJ_SHIP) ? &Ship_info[Ships[light->instance].ship_info_index] : NULL; ship_info *heavy_sip = (heavy->type == OBJ_SHIP) ? &Ship_info[Ships[heavy->instance].ship_info_index] : NULL; // make cruiser/asteroid collision softer on cruisers. int special_cruiser_asteroid_collision; int cruiser_light = 0; float cruiser_mass = 0.0f, copy_mass = 0.0f; special_cruiser_asteroid_collision = check_special_cruiser_asteroid_collision(heavy, light, &cruiser_mass, &cruiser_light); if (special_cruiser_asteroid_collision) { if (cruiser_light) { Assert(light->phys_info.mass < cruiser_mass); copy_mass = light->phys_info.mass; light->phys_info.mass = cruiser_mass; } else { Assert(heavy->phys_info.mass < cruiser_mass); copy_mass = heavy->phys_info.mass; heavy->phys_info.mass = cruiser_mass; } } float coeff_restitution; // parameter controls amount of bounce float v_rel_normal_m; // relative collision velocity in the direction of the collision normal vec3d v_rel_parallel_m; // normalized v_rel (Va-Vb) projected onto collision surface vec3d world_rotvel_heavy_m, world_rotvel_light_m, vel_from_rotvel_heavy_m, vel_from_rotvel_light_m, v_rel_m, vel_heavy_m, vel_light_m; coeff_restitution = 0.1f; // relative velocity wrt normal is zero after the collision ( range 0-1 ) // find velocity of each obj at collision point // heavy object is in cm reference frame so we don't get a v_heavy term. if ( ship_ship_hit_info->collide_rotate ) { // if we have collisions from rotation, the effective velocity from rotation of the large body is alreay taken account vm_vec_zero( &vel_heavy_m ); } else { // take account the effective velocity from rotation vm_vec_unrotate(&world_rotvel_heavy_m, &heavy->phys_info.rotvel, &heavy->orient); // heavy's world rotvel before collision vm_vec_crossprod(&vel_from_rotvel_heavy_m, &world_rotvel_heavy_m, &ship_ship_hit_info->r_heavy); // heavy's velocity from rotvel before collision vel_heavy_m = vel_from_rotvel_heavy_m; } // if collision from rotating submodel of heavy obj, add in vel from rotvel of submodel vec3d local_vel_from_submodel; if (ship_ship_hit_info->submodel_rot_hit == 1) { bool set_model = false; polymodel *pm; if (heavy->type == OBJ_SHIP) { pm = model_get(heavy_sip->model_num); } else if (heavy->type == OBJ_ASTEROID) { pm = Asteroid_info[Asteroids[heavy->instance].asteroid_type].modelp[Asteroids[heavy->instance].asteroid_subtype]; } else if (heavy->type == OBJ_DEBRIS) { pm = model_get(Debris[heavy->instance].model_num); } else { // we should have caught this already Int3(); pm = NULL; } // be sure model is set if (pm->submodel[ship_ship_hit_info->submodel_num].sii == NULL) { set_model = true; ship_model_start(heavy); } // set point on axis of rotating submodel if not already set. if (!pm->submodel[ship_ship_hit_info->submodel_num].sii->axis_set) { model_init_submodel_axis_pt(pm->submodel[ship_ship_hit_info->submodel_num].sii, pm->id, ship_ship_hit_info->submodel_num); } vec3d omega, axis, r_rot; if (pm->submodel[ship_ship_hit_info->submodel_num].movement_axis == MOVEMENT_AXIS_X) { axis = vmd_x_vector; } else if (pm->submodel[ship_ship_hit_info->submodel_num].movement_axis == MOVEMENT_AXIS_Y) { axis = vmd_y_vector; } else if (pm->submodel[ship_ship_hit_info->submodel_num].movement_axis == MOVEMENT_AXIS_Z) { axis = vmd_z_vector; } else { // must be one of these axes or submodel_rot_hit is incorrectly set Int3(); } // get world rotational velocity of rotating submodel model_find_obj_dir(&omega, &axis, heavy, ship_ship_hit_info->submodel_num); vm_vec_scale(&omega, pm->submodel[ship_ship_hit_info->submodel_num].sii->cur_turn_rate); // world coords for r_rot vec3d temp; vm_vec_unrotate(&temp, &pm->submodel[ship_ship_hit_info->submodel_num].sii->pt_on_axis, &heavy->orient); vm_vec_sub(&r_rot, &ship_ship_hit_info->hit_pos, &temp); vm_vec_crossprod(&local_vel_from_submodel, &omega, &r_rot); if (set_model) { ship_model_stop(heavy); } } else { // didn't collide with submodel vm_vec_zero(&local_vel_from_submodel); } vm_vec_unrotate(&world_rotvel_light_m, &light->phys_info.rotvel, &light->orient); // light's world rotvel before collision vm_vec_crossprod(&vel_from_rotvel_light_m, &world_rotvel_light_m, &ship_ship_hit_info->r_light); // light's velocity from rotvel before collision vm_vec_add(&vel_light_m, &vel_from_rotvel_light_m, &ship_ship_hit_info->light_rel_vel); vm_vec_sub(&v_rel_m, &vel_light_m, &vel_heavy_m); // Add in effect of rotating submodel vm_vec_sub2(&v_rel_m, &local_vel_from_submodel); v_rel_normal_m = vm_vec_dotprod(&v_rel_m, &ship_ship_hit_info->collision_normal);// if less than zero, colliding contact taking place // (v_slow - v_fast) dot (n_fast) if (v_rel_normal_m > 0) { // This can happen in 2 situations. // (1) The rotational velocity is large enough to cause ships to miss. In this case, there would most likely // have been a collision, but at a later time, so reset v_rel_normal_m // (2) We could also have just gotten a slightly incorrect hitpos, where r dot v_rel is nearly zero. // In this case, we know there was a collision, but slight collision and the normal is correct, so reset v_rel_normal_m // need a normal direction. We can just take the -v_light normalized. v_rel_normal_m = -v_rel_normal_m; nprintf(("Physics", "Frame %i reset v_rel_normal_m %f Edge %i\n", Framecount, v_rel_normal_m, ship_ship_hit_info->edge_hit)); v_rel_normal_m = -v_rel_normal_m; } //Maybe treat the current collision as a landing //Init values just to be safe vec3d light_local_vel(ship_ship_hit_info->light_rel_vel); float light_uvec_dot_norm = 0.0f; float light_fvec_dot_norm = 0.0f; float light_rvec_dot_norm = 0.0f; bool subsys_landing_allowed = light->type == OBJ_SHIP && heavy->type == OBJ_SHIP && check_subsystem_landing_allowed(heavy_sip, ship_ship_hit_info); if (subsys_landing_allowed) { vm_vec_rotate(&light_local_vel, &ship_ship_hit_info->light_rel_vel, &light->orient); light_uvec_dot_norm = vm_vec_dot(&ship_ship_hit_info->collision_normal, &light->orient.vec.uvec); light_fvec_dot_norm = vm_vec_dot(&ship_ship_hit_info->collision_normal, &light->orient.vec.fvec); light_rvec_dot_norm = vm_vec_dot(&ship_ship_hit_info->collision_normal, &light->orient.vec.rvec); } if (subsys_landing_allowed && light_local_vel.xyz.z < light_sip->collision_physics.landing_max_z && light_local_vel.xyz.z > light_sip->collision_physics.landing_min_z && light_local_vel.xyz.y > light_sip->collision_physics.landing_min_y && fl_abs(light_local_vel.xyz.x) < light_sip->collision_physics.landing_max_x && light_uvec_dot_norm > 0 && light_fvec_dot_norm < light_sip->collision_physics.landing_max_angle && light_fvec_dot_norm > light_sip->collision_physics.landing_min_angle && fl_abs(light_rvec_dot_norm) < light_sip->collision_physics.landing_max_rot_angle) { ship_ship_hit_info->is_landing = true; } vec3d rotational_impulse_heavy, rotational_impulse_light, delta_rotvel_heavy, delta_rotvel_light; vec3d delta_vel_from_delta_rotvel_heavy, delta_vel_from_delta_rotvel_light, impulse; float impulse_mag, heavy_denom, light_denom; matrix heavy_I_inv, light_I_inv; // include a frictional collision impulse F parallel to the collision plane // F = I * sin (collision_normal, normalized v_rel_m) [sin is ratio of v_rel_parallel_m to v_rel_m] // note: (-) sign is needed to account for the direction of the v_rel_parallel_m float collision_speed_parallel; float parallel_mag; impulse = ship_ship_hit_info->collision_normal; vm_vec_projection_onto_plane(&v_rel_parallel_m, &v_rel_m, &ship_ship_hit_info->collision_normal); collision_speed_parallel = vm_vec_normalize_safe(&v_rel_parallel_m); float friction = (light->type == OBJ_SHIP) ? light_sip->collision_physics.friction : COLLISION_FRICTION_FACTOR; parallel_mag = float(-friction) * collision_speed_parallel / vm_vec_mag(&v_rel_m); vm_vec_scale_add2(&impulse, &v_rel_parallel_m, parallel_mag); // calculate the effect on the velocity of the collison point per unit impulse // first find the effect thru change in rotvel // then find the change in the cm vel if (heavy == Player_obj) { vm_vec_zero( &delta_rotvel_heavy ); heavy_denom = 1.0f / heavy->phys_info.mass; } else { vm_vec_crossprod(&rotational_impulse_heavy, &ship_ship_hit_info->r_heavy, &impulse); get_I_inv(&heavy_I_inv, &heavy->phys_info.I_body_inv, &heavy->orient); vm_vec_rotate(&delta_rotvel_heavy, &rotational_impulse_heavy, &heavy_I_inv); float rotation_factor = (heavy->type == OBJ_SHIP) ? heavy_sip->collision_physics.rotation_factor : COLLISION_ROTATION_FACTOR; vm_vec_scale(&delta_rotvel_heavy, rotation_factor); // hack decrease rotation (delta_rotvel) vm_vec_crossprod(&delta_vel_from_delta_rotvel_heavy, &delta_rotvel_heavy , &ship_ship_hit_info->r_heavy); heavy_denom = vm_vec_dotprod(&delta_vel_from_delta_rotvel_heavy, &ship_ship_hit_info->collision_normal); if (heavy_denom < 0) { // sanity check heavy_denom = 0.0f; } heavy_denom += 1.0f / heavy->phys_info.mass; } // calculate the effect on the velocity of the collison point per unit impulse // first find the effect thru change in rotvel // then find the change in the cm vel // SUSHI: If on a landing surface, use the same shortcut the player gets // This is a bit of a hack, but gets around some nasty unpredictable collision behavior // when trying to do AI landings for certain ships if (light == Player_obj || subsys_landing_allowed) { vm_vec_zero( &delta_rotvel_light ); light_denom = 1.0f / light->phys_info.mass; } else { vm_vec_crossprod(&rotational_impulse_light, &ship_ship_hit_info->r_light, &impulse); get_I_inv(&light_I_inv, &light->phys_info.I_body_inv, &light->orient); vm_vec_rotate(&delta_rotvel_light, &rotational_impulse_light, &light_I_inv); float rotation_factor = (light->type == OBJ_SHIP) ? light_sip->collision_physics.rotation_factor : COLLISION_ROTATION_FACTOR; vm_vec_scale(&delta_rotvel_light, rotation_factor); // hack decrease rotation (delta_rotvel) vm_vec_crossprod(&delta_vel_from_delta_rotvel_light, &delta_rotvel_light, &ship_ship_hit_info->r_light); light_denom = vm_vec_dotprod(&delta_vel_from_delta_rotvel_light, &ship_ship_hit_info->collision_normal); if (light_denom < 0) { // sanity check light_denom = 0.0f; } light_denom += 1.0f / light->phys_info.mass; } // calculate the necessary impulse to achieved the desired relative velocity after the collision // update damage info in mc impulse_mag = -(1.0f + coeff_restitution)*v_rel_normal_m / (heavy_denom + light_denom); ship_ship_hit_info->impulse = impulse_mag; if (impulse_mag < 0) { nprintf(("Physics", "negative impulse mag -- Get Dave A if not Descent Physics\n")); impulse_mag = -impulse_mag; } // update the physics info structs for heavy and light objects // since we have already calculated delta rotvel for heavy and light in world coords // physics should not have to recalculate this, just change into body coords (done in collide_whack) vm_vec_scale(&impulse, impulse_mag); vm_vec_scale(&delta_rotvel_light, impulse_mag); physics_collide_whack(&impulse, &delta_rotvel_light, &light->phys_info, &light->orient, ship_ship_hit_info->is_landing); vm_vec_negate(&impulse); vm_vec_scale(&delta_rotvel_heavy, -impulse_mag); physics_collide_whack(&impulse, &delta_rotvel_heavy, &heavy->phys_info, &heavy->orient, true); // If within certain bounds, we want to add some more rotation towards the "resting orientation" of the ship // These bounds are defined separately from normal "landing" bounds so that they can be more generous: // we can have crash landings that still re-orient the ship. if (subsys_landing_allowed && light_local_vel.xyz.z < light_sip->collision_physics.reorient_max_z && light_local_vel.xyz.z > light_sip->collision_physics.reorient_min_z && light_local_vel.xyz.y > light_sip->collision_physics.reorient_min_y && fl_abs(light_local_vel.xyz.x) < light_sip->collision_physics.reorient_max_x && light_uvec_dot_norm > 0 && light_fvec_dot_norm < light_sip->collision_physics.reorient_max_angle && light_fvec_dot_norm > light_sip->collision_physics.reorient_min_angle && fl_abs(light_rvec_dot_norm) < light_sip->collision_physics.reorient_max_rot_angle) { vec3d landing_delta_rotvel; landing_delta_rotvel.xyz.x = (light_fvec_dot_norm * light_sip->collision_physics.reorient_mult) - light_sip->collision_physics.landing_rest_angle; // For yaw, use the dot product between vel vector (normalized) and orientation on the xz plane // This reduces to the following math // We also clamp to reduce huge nose swings at low speeds float xzVelMag = sqrt(light_local_vel.xyz.x * light_local_vel.xyz.x + light_local_vel.xyz.z * light_local_vel.xyz.z); float xzVelDotOrient = MIN(MAX((xzVelMag > 0 ? (light_local_vel.xyz.x / xzVelMag) : 0), -0.5f), 0.5f); landing_delta_rotvel.xyz.y = (xzVelMag > 2) ? (xzVelDotOrient * light_sip->collision_physics.reorient_mult) : 0; landing_delta_rotvel.xyz.z = light_rvec_dot_norm * light_sip->collision_physics.reorient_mult * -1; vm_vec_add2( &light->phys_info.rotvel, &landing_delta_rotvel ); } // Find final positions // We will try not to worry about the left over time in the frame // heavy's position unchanged by collision // light's position is heavy's position plus relative position from heavy vm_vec_add(&light->pos, &heavy->pos, &ship_ship_hit_info->light_collision_cm_pos); // Try to move each body back to its position just before collision occured to prevent interpenetration // Move away in direction of light and away in direction of normal vec3d direction_light; // direction light is moving relative to heavy vm_vec_sub(&direction_light, &ship_ship_hit_info->light_rel_vel, &local_vel_from_submodel); vm_vec_normalize_safe(&direction_light); Assert( !vm_is_vec_nan(&direction_light) ); vm_vec_scale_add2(&heavy->pos, &direction_light, 0.2f * light->phys_info.mass / (heavy->phys_info.mass + light->phys_info.mass)); vm_vec_scale_add2(&heavy->pos, &ship_ship_hit_info->collision_normal, -0.1f * light->phys_info.mass / (heavy->phys_info.mass + light->phys_info.mass)); //For landings, we want minimal movement on the light ship (just enough to keep the collision detection honest) if (ship_ship_hit_info->is_landing) { vm_vec_scale_add2(&light->pos, &ship_ship_hit_info->collision_normal, LANDING_POS_OFFSET); } else { vm_vec_scale_add2(&light->pos, &direction_light, -0.2f * heavy->phys_info.mass / (heavy->phys_info.mass + light->phys_info.mass)); vm_vec_scale_add2(&light->pos, &ship_ship_hit_info->collision_normal, 0.1f * heavy->phys_info.mass / (heavy->phys_info.mass + light->phys_info.mass)); } // restore mass in case of special cruiser / asteroid collision if (special_cruiser_asteroid_collision) { if (cruiser_light) { light->phys_info.mass = copy_mass; } else { heavy->phys_info.mass = copy_mass; } } } // ------------------------------------------------------------------------------------------------ // get_I_inv() // // input: I_inv_body => inverse moment of inertia matrix in body coordinates // orient => orientation matrix // // output: I_inv => inverse moment of inertia matrix in world coordinates // ------------------------------------------------------------------------------------------------ // // calculates the inverse moment of inertia matrix from the body matrix and oreint matrix // void get_I_inv (matrix* I_inv, matrix* I_inv_body, matrix* orient) { matrix Mtemp1, Mtemp2; // I_inv = (Rt)(I_inv_body)(R) // This is opposite to what is commonly seen in books since we are rotating coordianates axes // which is equivalent to rotating in the opposite direction (or transpose) vm_matrix_x_matrix(&Mtemp1, I_inv_body, orient); vm_copy_transpose_matrix(&Mtemp2, orient); vm_matrix_x_matrix(I_inv, &Mtemp2, &Mtemp1); } #define PLANET_DAMAGE_SCALE 4.0f #define PLANET_DAMAGE_RANGE 3 // If within this factor of radius, apply damage. fix Last_planet_damage_time = 0; extern void hud_start_text_flash(char *txt, int t, int interval); /** * Procss player_ship:planet damage. * If within range of planet, apply damage to ship. */ void mcp_1(object *player_objp, object *planet_objp) { float planet_radius; float dist; planet_radius = planet_objp->radius; dist = vm_vec_dist_quick(&player_objp->pos, &planet_objp->pos); if (dist > planet_radius*PLANET_DAMAGE_RANGE) return; ship_apply_global_damage( player_objp, planet_objp, NULL, PLANET_DAMAGE_SCALE * flFrametime * (float)pow((planet_radius*PLANET_DAMAGE_RANGE)/dist, 3.0f) ); if ((Missiontime - Last_planet_damage_time > F1_0) || (Missiontime < Last_planet_damage_time)) { HUD_sourced_printf(HUD_SOURCE_HIDDEN, XSTR( "Too close to planet. Taking damage!", 465)); Last_planet_damage_time = Missiontime; snd_play_3d( &Snds[ship_get_sound(player_objp, SND_ABURN_ENGAGE)], &player_objp->pos, &View_position ); } } /** * Return true if *objp is a planet, else return false. * Hack: Just checking first six letters of name. */ int is_planet(object *objp) { return (strnicmp(Ships[objp->instance].ship_name, NOX("planet"), 6) == 0); } /** * If exactly one of these is a planet and the other is a player ship, do something special. * @return true if this was a ship:planet (or planet_ship) collision and we processed it. Else return false. */ int maybe_collide_planet (object *obj1, object *obj2) { ship_info *sip1, *sip2; sip1 = &Ship_info[Ships[obj1->instance].ship_info_index]; sip2 = &Ship_info[Ships[obj2->instance].ship_info_index]; if (sip1->flags & SIF_PLAYER_SHIP) { if (is_planet(obj2)) { mcp_1(obj1, obj2); return 1; } } else if (sip2->flags & SIF_PLAYER_SHIP) { if (is_planet(obj1)) { mcp_1(obj2, obj1); return 1; } } return 0; } /** * Given a global point and an object, get the quadrant number the point belongs to. */ int get_ship_quadrant_from_global(vec3d *global_pos, object *objp) { vec3d tpos; vec3d rotpos; vm_vec_sub(&tpos, global_pos, &objp->pos); vm_vec_rotate(&rotpos, &tpos, &objp->orient); return get_quadrant(&rotpos, objp); } #define MIN_REL_SPEED_FOR_LOUD_COLLISION 50 // relative speed of two colliding objects at which we play the "loud" collide sound void collide_ship_ship_sounds_init() { Player_collide_sound = -1; AI_collide_sound = -1; Player_collide_shield_sound = -1; AI_collide_shield_sound = -1; } /** * Determine what sound to play when two ships collide */ void collide_ship_ship_do_sound(vec3d *world_hit_pos, object *A, object *B, int player_involved) { vec3d rel_vel; float rel_speed; vm_vec_sub(&rel_vel, &A->phys_info.desired_vel, &B->phys_info.desired_vel); rel_speed = vm_vec_mag_quick(&rel_vel); if ( rel_speed > MIN_REL_SPEED_FOR_LOUD_COLLISION ) { snd_play_3d( &Snds[SND_SHIP_SHIP_HEAVY], world_hit_pos, &View_position ); } else { if ( player_involved ) { if ( !snd_is_playing(Player_collide_sound) ) { Player_collide_sound = snd_play_3d( &Snds[SND_SHIP_SHIP_LIGHT], world_hit_pos, &View_position ); } } else { if ( !snd_is_playing(AI_collide_sound) ) { AI_collide_sound = snd_play_3d( &Snds[SND_SHIP_SHIP_LIGHT], world_hit_pos, &View_position ); } } } // maybe play a "shield" collision sound overlay if appropriate if ( (shield_get_strength(A) > 5) || (shield_get_strength(B) > 5) ) { if ( player_involved ) { if ( !snd_is_playing(Player_collide_sound) ) { Player_collide_shield_sound = snd_play_3d( &Snds[SND_SHIP_SHIP_SHIELD], world_hit_pos, &View_position ); } } else { if ( !snd_is_playing(Player_collide_sound) ) { AI_collide_shield_sound = snd_play_3d( &Snds[SND_SHIP_SHIP_SHIELD], world_hit_pos, &View_position ); } } } } /** * obj1 and obj2 collided. * If different teams, kamikaze bit set and other ship is large, auto-explode! */ void do_kamikaze_crash(object *obj1, object *obj2) { ai_info *aip1, *aip2; ship *ship1, *ship2; ship1 = &Ships[obj1->instance]; ship2 = &Ships[obj2->instance]; aip1 = &Ai_info[ship1->ai_index]; aip2 = &Ai_info[ship2->ai_index]; if (ship1->team != ship2->team) { if (aip1->ai_flags & AIF_KAMIKAZE) { if (Ship_info[ship2->ship_info_index].flags & (SIF_BIG_SHIP | SIF_HUGE_SHIP)) { obj1->hull_strength = KAMIKAZE_HULL_ON_DEATH; shield_set_strength(obj1, 0.0f); } } if (aip2->ai_flags & AIF_KAMIKAZE) { if (Ship_info[ship1->ship_info_index].flags & (SIF_BIG_SHIP | SIF_HUGE_SHIP)) { obj2->hull_strength = KAMIKAZE_HULL_ON_DEATH; shield_set_strength(obj2, 0.0f); } } } } /** * Response when hit by fast moving cap ship */ void maybe_push_little_ship_from_fast_big_ship(object *big_obj, object *small_obj, float impulse, vec3d *normal) { // Move player out of the way of a BIG|HUGE ship warping in or out int big_class = Ship_info[Ships[big_obj->instance].ship_info_index].class_type; int small_class = Ship_info[Ships[small_obj->instance].ship_info_index].class_type; if (big_class > -1 && Ship_types[big_class].ship_bools & STI_SHIP_WARP_PUSHES) { if (small_class > -1 && Ship_types[small_class].ship_bools & STI_SHIP_WARP_PUSHABLE) { float big_speed = vm_vec_mag_quick(&big_obj->phys_info.vel); if (big_speed > 3*big_obj->phys_info.max_vel.xyz.z) { // push player away in direction perp to forward of big ship // get perp vec vec3d temp, perp; vm_vec_sub(&temp, &small_obj->pos, &big_obj->pos); vm_vec_scale_add(&perp, &temp, &big_obj->orient.vec.fvec, -vm_vec_dotprod(&temp, &big_obj->orient.vec.fvec)); vm_vec_normalize_quick(&perp); // don't drive into sfc we just collided with if (vm_vec_dotprod(&perp, normal) < 0) { vm_vec_negate(&perp); } // get magnitude of added perp vel float added_perp_vel_mag = impulse / small_obj->phys_info.mass; // add to vel and ramp vel vm_vec_scale_add2(&small_obj->phys_info.vel, &perp, added_perp_vel_mag); vm_vec_rotate(&small_obj->phys_info.prev_ramp_vel, &small_obj->phys_info.vel, &small_obj->orient); } } } } /** * Checks ship-ship collisions. * @return 1 if all future collisions between these can be ignored because pair->a or pair->b aren't ships * @return Otherwise always returns 0, since two ships can always collide unless one (1) dies or (2) warps out. */ int collide_ship_ship( obj_pair * pair ) { int player_involved; float dist; object *A = pair->a; object *B = pair->b; if ( A->type == OBJ_WAYPOINT ) return 1; if ( B->type == OBJ_WAYPOINT ) return 1; Assert( A->type == OBJ_SHIP ); Assert( B->type == OBJ_SHIP ); if (reject_due_collision_groups(A,B)) return 0; // If the player is one of the two colliding ships, flag this... it is used in // several places this function. if ( A == Player_obj || B == Player_obj ) { player_involved = 1; } else { player_involved = 0; } // Don't check collisions for warping out player if past stage 1. if ( player_involved && (Player->control_mode > PCM_WARPOUT_STAGE1) ) { return 0; } dist = vm_vec_dist( &A->pos, &B->pos ); // If one of these is a planet, do special stuff. if (maybe_collide_planet(A, B)) return 0; if ( dist < A->radius + B->radius ) { int hit; object *HeavyOne, *LightOne; // if two objects have the same mass, make the one with the larger pointer address the HeavyOne. if ( fl_abs(A->phys_info.mass - B->phys_info.mass) < 1 ) { if (A > B) { HeavyOne = A; LightOne = B; } else { HeavyOne = B; LightOne = A; } } else { if (A->phys_info.mass > B->phys_info.mass) { HeavyOne = A; LightOne = B; } else { HeavyOne = B; LightOne = A; } } ship_info *light_sip = &Ship_info[Ships[LightOne->instance].ship_info_index]; collision_info_struct ship_ship_hit_info; init_collision_info_struct(&ship_ship_hit_info); ship_ship_hit_info.heavy = HeavyOne; // heavy object, generally slower moving ship_ship_hit_info.light = LightOne; // light object, generally faster moving vec3d world_hit_pos; hit = ship_ship_check_collision(&ship_ship_hit_info, &world_hit_pos); pair->next_check_time = timestamp(0); if ( hit ) { Script_system.SetHookObjects(4, "Ship", A, "ShipB", B, "Self", A, "Object", B); bool a_override = Script_system.IsConditionOverride(CHA_COLLIDESHIP, A); //Yes this should be reversed. Script_system.SetHookObjects(4, "Ship", B, "ShipB", A, "Self", B, "Object", A); bool b_override = Script_system.IsConditionOverride(CHA_COLLIDESHIP, B); if(!a_override && !b_override) { float damage; if ( player_involved && (Player->control_mode == PCM_WARPOUT_STAGE1) ) { gameseq_post_event( GS_EVENT_PLAYER_WARPOUT_STOP ); HUD_printf(XSTR( "Warpout sequence aborted.", 466)); } damage = 0.005f * ship_ship_hit_info.impulse; // Cut collision-based damage in half. // Decrease heavy damage by 2x. if (damage > 5.0f){ damage = 5.0f + (damage - 5.0f)/2.0f; } do_kamikaze_crash(A, B); if (ship_ship_hit_info.impulse > 0) { float q; q = vm_vec_dist_quick(&A->pos, &B->pos) / (A->radius + B->radius); //Only flash the "Collision" text if not landing if ( player_involved && !ship_ship_hit_info.is_landing) { hud_start_text_flash(XSTR("Collision", 1431), 2000); } } //If this is a landing, play a different sound if (ship_ship_hit_info.is_landing) { if (vm_vec_mag(&ship_ship_hit_info.light_rel_vel) > MIN_LANDING_SOUND_VEL) { if ( player_involved ) { if ( !snd_is_playing(Player_collide_sound) ) { Player_collide_sound = snd_play_3d( &Snds[light_sip->collision_physics.landing_sound_idx], &world_hit_pos, &View_position ); } } else { if ( !snd_is_playing(AI_collide_sound) ) { AI_collide_sound = snd_play_3d( &Snds[light_sip->collision_physics.landing_sound_idx], &world_hit_pos, &View_position ); } } } } else { collide_ship_ship_do_sound(&world_hit_pos, A, B, player_involved); } // check if we should do force feedback stuff if (player_involved && (ship_ship_hit_info.impulse > 0)) { float scaler; vec3d v; scaler = -ship_ship_hit_info.impulse / Player_obj->phys_info.mass * 300; vm_vec_copy_normalize(&v, &world_hit_pos); joy_ff_play_vector_effect(&v, scaler); } #ifndef NDEBUG if ( !Collide_friendly ) { if ( Ships[A->instance].team == Ships[B->instance].team ) { vec3d collision_vec, right_angle_vec; vm_vec_normalized_dir(&collision_vec, &ship_ship_hit_info.hit_pos, &A->pos); if (vm_vec_dot(&collision_vec, &A->orient.vec.fvec) > 0.999f){ right_angle_vec = A->orient.vec.rvec; } else { vm_vec_cross(&right_angle_vec, &A->orient.vec.uvec, &collision_vec); } vm_vec_scale_add2( &A->phys_info.vel, &right_angle_vec, +2.0f); vm_vec_scale_add2( &B->phys_info.vel, &right_angle_vec, -2.0f); return 0; } } #endif //Only do damage if not a landing if (!ship_ship_hit_info.is_landing) { // Scale damage based on skill level for player. if ((LightOne->flags & OF_PLAYER_SHIP) || (HeavyOne->flags & OF_PLAYER_SHIP)) { damage *= (float) (Game_skill_level*Game_skill_level+1)/(NUM_SKILL_LEVELS+1); } else if (Ships[LightOne->instance].team == Ships[HeavyOne->instance].team) { // Decrease damage if non-player ships and not large. // Looks dumb when fighters are taking damage from bumping into each other. if ((LightOne->radius < 50.0f) && (HeavyOne->radius <50.0f)) { damage /= 4.0f; } } float dam2 = (100.0f * damage/LightOne->phys_info.mass); int quadrant_num = get_ship_quadrant_from_global(&world_hit_pos, ship_ship_hit_info.heavy); if ((ship_ship_hit_info.heavy->flags & OF_NO_SHIELDS) || !ship_is_shield_up(ship_ship_hit_info.heavy, quadrant_num) ) { quadrant_num = -1; } ship_apply_local_damage(ship_ship_hit_info.heavy, ship_ship_hit_info.light, &world_hit_pos, 100.0f * damage/HeavyOne->phys_info.mass, quadrant_num, CREATE_SPARKS, ship_ship_hit_info.submodel_num, &ship_ship_hit_info.collision_normal); hud_shield_quadrant_hit(ship_ship_hit_info.heavy, quadrant_num); // don't draw sparks (using sphere hitpos) ship_apply_local_damage(ship_ship_hit_info.light, ship_ship_hit_info.heavy, &world_hit_pos, dam2, MISS_SHIELDS, NO_SPARKS, -1, &ship_ship_hit_info.collision_normal); hud_shield_quadrant_hit(ship_ship_hit_info.light, quadrant_num); maybe_push_little_ship_from_fast_big_ship(ship_ship_hit_info.heavy, ship_ship_hit_info.light, ship_ship_hit_info.impulse, &ship_ship_hit_info.collision_normal); } } if(!(b_override && !a_override)) { Script_system.SetHookObjects(4, "Ship", A, "ShipB", B, "Self", A, "Object", B); Script_system.RunCondition(CHA_COLLIDESHIP, '\0', NULL, A); } if((b_override && !a_override) || (!b_override && !a_override)) { //Yes this should be reversed. Script_system.SetHookObjects(4, "Ship", B, "ShipB", A, "Self", B, "Object", A); Script_system.RunCondition(CHA_COLLIDESHIP, '\0', NULL, B); } Script_system.RemHookVars(4, "Ship", "ShipB", "Self", "Object"); return 0; } } else { // estimate earliest time at which pair can hit // cap ships warping in/out can exceed ship's expected velocity // if ship is warping in, in stage 1, its velocity is 0, so make ship try to collide next frame int sif_a_flags, sif_b_flags; sif_a_flags = Ship_info[Ships[A->instance].ship_info_index].flags; sif_b_flags = Ship_info[Ships[B->instance].ship_info_index].flags; // if ship is huge and warping in or out if ( ((Ships[A->instance].flags & SF_ARRIVING_STAGE_1) && (sif_a_flags & (SIF_HUGE_SHIP))) || ((Ships[B->instance].flags & SF_ARRIVING_STAGE_1) && (sif_b_flags & (SIF_HUGE_SHIP))) ) { pair->next_check_time = timestamp(0); // check next time return 0; } // get max of (1) max_vel.z, (2) 10, (3) afterburner_max_vel.z, (4) vel.z (for warping in ships exceeding expected max vel) float shipA_max_speed, shipB_max_speed, time; // get shipA max speed if (ship_is_beginning_warpout_speedup(A)) { shipA_max_speed = MAX(ship_get_max_speed(&Ships[A->instance]), ship_get_warpout_speed(A)); } else { shipA_max_speed = ship_get_max_speed(&Ships[A->instance]); } // Maybe warping in or finished warping in with excessive speed shipA_max_speed = MAX(shipA_max_speed, vm_vec_mag(&A->phys_info.vel)); shipA_max_speed = MAX(shipA_max_speed, 10.0f); // get shipB max speed if (ship_is_beginning_warpout_speedup(B)) { shipB_max_speed = MAX(ship_get_max_speed(&Ships[B->instance]), ship_get_warpout_speed(B)); } else { shipB_max_speed = ship_get_max_speed(&Ships[B->instance]); } // Maybe warping in or finished warping in with excessive speed shipB_max_speed = MAX(shipB_max_speed, vm_vec_mag(&B->phys_info.vel)); shipB_max_speed = MAX(shipB_max_speed, 10.0f); time = 1000.0f * (dist - A->radius - B->radius) / (shipA_max_speed + shipB_max_speed); time -= 200.0f; // allow one frame slow frame at ~5 fps if (time > 0) { pair->next_check_time = timestamp( fl2i(time) ); } else { pair->next_check_time = timestamp(0); // check next time } } return 0; } void collect_ship_ship_physics_info(object *heavy, object *light, mc_info *mc_info, collision_info_struct *ship_ship_hit_info) { // slower moving object [A] is checked at its final position (polygon and position is found on obj) // faster moving object [B] is reduced to a point and a ray is drawn from its last_pos to pos // collision code returns hit position and normal on [A] // estimate location on B that contacts A // first find orientation of B relative to the normal it collides against. // then find an approx hit location using the position hit on the bounding box vec3d *r_heavy = &ship_ship_hit_info->r_heavy; vec3d *r_light = &ship_ship_hit_info->r_light; vec3d *heavy_collide_cm_pos = &ship_ship_hit_info->heavy_collision_cm_pos; vec3d *light_collide_cm_pos = &ship_ship_hit_info->light_collision_cm_pos; float core_rad = model_get_core_radius(Ship_info[Ships[light->instance].ship_info_index].model_num); // get info needed for ship_ship_collision_physics Assert(mc_info->hit_dist > 0); // get light_collide_cm_pos if ( !ship_ship_hit_info->submodel_rot_hit ) { vec3d displacement; vm_vec_sub(&displacement, mc_info->p1, mc_info->p0); *light_collide_cm_pos = *mc_info->p0; vm_vec_scale_add2(light_collide_cm_pos, &displacement, ship_ship_hit_info->hit_time); } // get r_light vm_vec_sub(r_light, &ship_ship_hit_info->hit_pos, light_collide_cm_pos); float mag = float(fabs(vm_vec_mag(r_light) - core_rad)); if (mag > 0.1) { nprintf(("Physics", "Framecount: %i |r_light - core_rad| > 0.1)\n", Framecount)); } if (ship_ship_hit_info->edge_hit) { // For an edge hit, just take the closest valid plane normal as the collision normal vm_vec_copy_normalize(&ship_ship_hit_info->collision_normal, r_light); vm_vec_negate(&ship_ship_hit_info->collision_normal); } // r dot n may not be negative if hit by moving model parts. float dot = vm_vec_dotprod( r_light, &ship_ship_hit_info->collision_normal ); if ( dot > 0 ) { nprintf(("Physics", "Framecount: %i r dot normal > 0\n", Framecount, dot)); } vm_vec_zero(heavy_collide_cm_pos); float q = vm_vec_dist(heavy_collide_cm_pos, light_collide_cm_pos) / (heavy->radius + core_rad); if (q > 1.0f) { nprintf(("Physics", "Warning: q = %f. Supposed to be <= 1.0.\n", q)); } *r_heavy = ship_ship_hit_info->hit_pos; // sphere_sphere_case_handled separately #ifdef COLLIDE_DEBUG nprintf(("Physics", "Frame: %i %s info: last_pos: [%4.1f, %4.1f, %4.1f], collide_pos: [%4.1f, %4.1f %4.1f] vel: [%4.1f, %4.1f %4.1f]\n", Framecount, Ships[heavy->instance].ship_name, heavy->last_pos.x, heavy->last_pos.y, heavy->last_pos.z, heavy_collide_cm_pos.x, heavy_collide_cm_pos.y, heavy_collide_cm_pos.z, heavy->phys_info.vel.x, heavy->phys_info.vel.y, heavy->phys_info.vel.z)); nprintf(("Physics", "Frame: %i %s info: last_pos: [%4.1f, %4.1f, %4.1f], collide_pos: [%4.1f, %4.1f, %4.1f] vel: [%4.1f, %4.1f, %4.1f]\n", Framecount, Ships[light->instance].ship_name, light->last_pos.x, light->last_pos.y, light->last_pos.z, light_collide_cm_pos.x, light_collide_cm_pos.y, light_collide_cm_pos.z, light->phys_info.vel.x, light->phys_info.vel.y, light->phys_info.vel.z)); #endif }