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REDRIVER2/src_rebuild/Game/C/wheelforces.c

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#include "driver2.h"
#include "wheelforces.h"
#include "cars.h"
#include "main.h"
#include "gamesnd.h"
#include "debris.h"
#include "handling.h"
#include "cosmetic.h"
#include "dr2roads.h"
#include "mission.h"
#include "pad.h"
#include "sound.h"
#include "glaunch.h"
#include "system.h"
#define GRAVITY_FORCE (-7456) // D1 has -10922
struct CAR_LOCALS
{
LONGVECTOR4 vel;
LONGVECTOR4 avel;
int extraangulardamping;
int aggressive;
};
HANDLING_TYPE handlingType[7] =
{
// frictionScaleRatio, aggressiveBraking, fourWheelDrive, autoBrakeOn
{ 32, 1, 0, 1 },
{ 29, 0, 0, 0 },
{ 45, 1, 1, 0 },
{ 55, 1, 1, 0 },
{ 68, 1, 1, 0 },
{ 32, 1, 0, 1 },
{ 29, 0, 0, 0 }
};
// [D] [T]
void StepCars(void)
{
CAR_DATA** ppCar;
CAR_DATA** end;
ppCar = active_car_list;
end = active_car_list + num_active_cars;
// step active cars
while (ppCar < end)
{
StepOneCar(*ppCar);
ControlCarRevs(*ppCar++);
}
}
// [D] [T]
void GetFrictionScalesDriver1(CAR_DATA* cp, CAR_LOCALS* cl, int* frontFS, int* rearFS)
{
int autoBrake;
int q;
_HANDLING_TYPE* hp;
hp = &handlingType[cp->hndType];
if (cp->thrust < 0)
*frontFS = 1453;
else if (cp->thrust < 1)
*frontFS = 937;
else
*frontFS = 820;
autoBrake = cp->hd.autoBrake;
if (cp->wheelspin == 0 && hp->autoBrakeOn != 0 && autoBrake > 0 && cp->hd.wheel_speed > 0)
{
q = autoBrake << 1;
if (autoBrake > 13)
{
autoBrake = 13;
q = 26;
}
*frontFS += (q + autoBrake) * 15;
D_CHECK_ERROR(hp->autoBrakeOn == 2, "invalid autoBrakeOn");
}
if ((cp->thrust < 0 && cp->hd.wheel_speed > 41943 && cp->hndType == 0) ||
(cp->controlType == CONTROL_TYPE_CIV_AI && cp->ai.c.thrustState == 3 && cp->ai.c.ctrlState != 9))
{
cp->hd.wheel[3].locked = 1;
cp->hd.wheel[2].locked = 1;
cp->hd.wheel[1].locked = 1;
cp->hd.wheel[0].locked = 1;
}
else
{
cp->hd.wheel[3].locked = 0;
cp->hd.wheel[2].locked = 0;
cp->hd.wheel[1].locked = 0;
cp->hd.wheel[0].locked = 0;
}
if (cp->handbrake == 0)
{
if (cp->wheelspin != 0)
*frontFS += 600;
}
else
{
if (cp->thrust > -1)
cp->thrust = 0;
if (cp->hd.wheel_speed < 1)
*frontFS -= 375;
else
*frontFS += 656;
cp->hd.wheel[1].locked = 1;
cp->hd.wheel[3].locked = 1;
cp->wheelspin = 0;
}
if (cp->hd.wheel_speed < 0 && cp->thrust > -1 && cp->handbrake == 0)
{
*frontFS -= 400;
}
*rearFS = 0x780 - *frontFS;
if (cp->wheelspin != 0)
{
cp->thrust = FIXEDH(cp->ap.carCos->powerRatio * 5000);
}
if (cp->thrust < 0 && cp->hd.wheel_speed > 41943 && cl->aggressive != 0)
{
*frontFS = (*frontFS * 10) / 8;
*rearFS = (*rearFS * 10) / 8;
}
else
{
if (cp->hd.wheel[0].onGrass == 0)
*frontFS = (*frontFS * 36 - *frontFS) / 32;
else
*frontFS = (*frontFS * 40 - *frontFS) / 32;
}
*frontFS = (*frontFS * hp->frictionScaleRatio) / 32;
*rearFS = (*rearFS * hp->frictionScaleRatio) / 32;
if ((cp->hndType == 5) && (cp->ai.l.dstate == 5))
{
*frontFS = (*frontFS * 3) / 2;
*rearFS = (*rearFS * 3) / 2;
}
int traction = cp->ap.carCos->traction;
if (traction != 4096)
{
*frontFS = FIXEDH(*frontFS * traction);
*rearFS = FIXEDH(*rearFS * traction);
}
}
// [D] [T]
void ConvertTorqueToAngularAcceleration(CAR_DATA* cp, CAR_LOCALS* cl)
{
int twistY, twistZ;
int zd;
int i;
twistY = car_cosmetics[cp->ap.model].twistRateY;
twistZ = car_cosmetics[cp->ap.model].twistRateZ;
zd = (twistZ - twistY) * FIXEDH(cp->hd.where.m[0][2] * cp->hd.aacc[0] + cp->hd.where.m[1][2] * cp->hd.aacc[1] + cp->hd.where.m[2][2] * cp->hd.aacc[2]);
for (i = 0; i < 3; i++)
{
cp->hd.aacc[i] = cp->hd.aacc[i] * twistY + FIXEDH(cp->hd.where.m[i][2] * zd - cl->avel[i] * 128);
if (cl->extraangulardamping == 1)
cp->hd.aacc[i] -= cl->avel[i] / 8;
}
}
// [D] [T]
void AddWheelForcesDriver1(CAR_DATA* cp, CAR_LOCALS* cl)
{
int oldCompression, newCompression;
int dir;
int forcefac;
int angle;
int lfx, lfz;
int sidevel, slidevel;
int susForce;
int chan;
WHEEL* wheel;
int friction_coef;
int oldSpeed;
int wheelspd;
LONGVECTOR4 wheelPos;
LONGVECTOR4 surfacePoint;
LONGVECTOR4 surfaceNormal;
VECTOR force;
LONGVECTOR4 pointVel;
int frontFS;
int rearFS;
sdPlane* SurfacePtr;
int i;
int cdx, cdz;
int sdx, sdz;
CAR_COSMETICS* car_cos;
int player_id;
oldSpeed = cp->hd.speed * 3 >> 1;
if (oldSpeed < 32)
oldSpeed = oldSpeed * -72 + 3696;
else
oldSpeed = 1424 - oldSpeed;
dir = cp->hd.direction;
cdx = RSIN(dir);
cdz = RCOS(dir);
dir += cp->wheel_angle;
sdx = RSIN(dir);
sdz = RCOS(dir);
player_id = GetPlayerId(cp);
car_cos = &car_cosmetics[cp->ap.model];
GetFrictionScalesDriver1(cp, cl, &frontFS, &rearFS);
cp->hd.front_vel = 0;
cp->hd.rear_vel = 0;
if (oldSpeed > 3300)
oldSpeed = 3300;
i = 3;
wheel = cp->hd.wheel + 3;
do {
gte_ldv0(&car_cos->wheelDisp[i]);
gte_rtv0tr();
gte_stlvnl(wheelPos);
newCompression = FindSurfaceD2((VECTOR*)&wheelPos, (VECTOR*)&surfaceNormal, (VECTOR*)&surfacePoint, &SurfacePtr);
friction_coef = (newCompression * (32400 - wetness) >> 15) + 500;
if (SurfacePtr != NULL)
wheel->onGrass = SurfacePtr->surface == 4;
else
wheel->onGrass = 0;
if (SurfacePtr)
{
switch (SurfacePtr->surface)
{
case 4:
case 6:
case 9:
case 11:
wheel->surface = 0x80;
break;
default:
wheel->surface = 0;
}
// [A] indication of Event surface which means we can't add tyre tracks for that wheel
if (SurfacePtr->surface - 16U < 16)
wheel->surface |= 0x8;
switch (SurfacePtr->surface)
{
case 8:
wheel->surface |= 0x2;
break;
case 6:
case 9:
wheel->surface |= 0x1;
break;
case 11:
wheel->surface |= 0x3;
break;
}
}
else
{
wheel->surface = 0;
}
oldCompression = wheel->susCompression;
newCompression = FIXEDH((surfacePoint[1] - wheelPos[1]) * surfaceNormal[1]) + 14;
if (newCompression < 0)
newCompression = 0;
if (newCompression > 800)
newCompression = 12;
// play wheel collision sound
// and apply vibration to player controller
if (cp->controlType == CONTROL_TYPE_PLAYER)
{
if (ABS(newCompression - oldCompression) > 12 && (i & 1U) != 0)
{
chan = GetFreeChannel(0);
if(chan > -1)
{
if (NumPlayers > 1 && NoPlayerControl == 0)
SetPlayerOwnsChannel(chan, player_id);
Start3DSoundVolPitch(chan, SOUND_BANK_SFX, 1, cp->hd.where.t[0], cp->hd.where.t[1], cp->hd.where.t[2], -2500, 400);
SetChannelPosition3(chan, (VECTOR*)cp->hd.where.t, NULL, -2500, 400, 0);
}
}
if (newCompression >= 65)
SetPadVibration(*cp->ai.padid, 1);
else if (newCompression >= 35)
SetPadVibration(*cp->ai.padid, 2);
else if (newCompression > 25)
SetPadVibration(*cp->ai.padid, 3);
}
if (newCompression > 42)
newCompression = 42;
if (newCompression == 0 && oldCompression == 0)
{
wheel->susCompression = 0;
}
else
{
wheelPos[2] = wheelPos[2] - cp->hd.where.t[2];
wheelPos[1] = wheelPos[1] - cp->hd.where.t[1];
wheelPos[0] = wheelPos[0] - cp->hd.where.t[0];
force.vz = 0;
force.vx = 0;
pointVel[0] = FIXEDH(cl->avel[1] * wheelPos[2] - cl->avel[2] * wheelPos[1]) + cl->vel[0];
pointVel[2] = FIXEDH(cl->avel[0] * wheelPos[1] - cl->avel[1] * wheelPos[0]) + cl->vel[2];
// that's our spring
susForce = newCompression * 230 - oldCompression * 100;
if (wheel->locked)
{
dir = ratan2(pointVel[0] >> 6, pointVel[2] >> 6);
lfx = RSIN(dir);
lfz = RCOS(dir);
if (ABS(pointVel[0]) + ABS(pointVel[2]) < 8000)
{
surfaceNormal[0] = 0;
surfaceNormal[1] = ONE;
surfaceNormal[2] = 0;
}
}
else
{
if (i & 1)
{
lfz = -cdx;
lfx = cdz;
}
else
{
lfz = -sdx;
lfx = sdz;
}
}
slidevel = (pointVel[0] / 64) * (lfx / 64) + (pointVel[2] / 64) * (lfz / 64);
wheelspd = ABS((oldSpeed / 64) * (slidevel / 64));
if (slidevel > 50000)
{
slidevel = 12500;
}
else if (slidevel < -50000)
{
slidevel = -12500;
}
else
{
slidevel = FIXEDH(oldSpeed * slidevel);
if (slidevel > 12500)
slidevel = 12500;
if (slidevel < -12500)
slidevel = -12500;
}
if ((i & 1U) != 0)
{
// rear wheels
if (wheel->locked == 0)
{
sidevel = FIXEDH(rearFS * slidevel);
if (handlingType[cp->hndType].autoBrakeOn != 0 && 0 < sidevel * cp->wheel_angle)
cp->hd.autoBrake = -1;
force.vx = -lfz * cp->thrust;
force.vz = lfx * cp->thrust;
}
else
{
sidevel = FixHalfRound(frontFS * slidevel, 14);
}
if (cp->hd.rear_vel < wheelspd)
cp->hd.rear_vel = wheelspd;
}
else
{
// front wheels
sidevel = frontFS * slidevel + 2048 >> 12;
if (wheel->locked)
{
sidevel = (frontFS * slidevel + 2048 >> 13) + sidevel >> 1;
forcefac = FixHalfRound(FIXEDH(-sidevel * lfx) * sdz - FIXEDH(-sidevel * lfz) * sdx, 11);
force.vx = forcefac * sdz;
force.vz = -forcefac * sdx;
}
else
{
if (cp->controlType == CONTROL_TYPE_PURSUER_AI)
{
force.vx = sdx * cp->thrust;
force.vz = sdz * cp->thrust;
}
}
if (cp->hd.front_vel < wheelspd)
cp->hd.front_vel = wheelspd;
}
force.vx += (susForce * surfaceNormal[0] - sidevel * lfx) - cl->vel[0] * 12;
force.vz += (susForce * surfaceNormal[2] - sidevel * lfz) - cl->vel[2] * 12;
// apply speed reduction by water
if ((wheel->surface & 7) == 1)
{
force.vx -= cl->vel[0] * 75;
force.vz -= cl->vel[2] * 75;
}
angle = cp->hd.where.m[1][1];
if (angle < 2048)
{
angle = 4096 - angle;
if (angle <= 4096)
angle = 4096 - FIXEDH(angle * angle);
else
angle = 0;
friction_coef = FIXEDH(friction_coef * angle);
}
if (surfaceNormal[1] < 3276)
friction_coef = friction_coef * surfaceNormal[1] * 5 >> 0xe;
force.vy = FIXEDH(susForce * surfaceNormal[1] - cl->vel[1] * 12);
force.vx = FIXEDH(force.vx) * friction_coef >> 0xc;
force.vz = FIXEDH(force.vz) * friction_coef >> 0xc;
// pursuer cars have more stability
if (cp->controlType == CONTROL_TYPE_PURSUER_AI)
{
if (gCopDifficultyLevel == 2)
wheelPos[1] = (wheelPos[1] * 12) / 32;
else
wheelPos[1] = (wheelPos[1] * 19) / 32;
}
cp->hd.acc[0] += force.vx;
cp->hd.acc[1] += force.vy;
cp->hd.acc[2] += force.vz;
cp->hd.aacc[0] += FIXEDH(wheelPos[1] * force.vz - wheelPos[2] * force.vy);
cp->hd.aacc[1] += FIXEDH(wheelPos[2] * force.vx - wheelPos[0] * force.vz);
cp->hd.aacc[2] += FIXEDH(wheelPos[0] * force.vy - wheelPos[1] * force.vx);
wheel->susCompression = newCompression;
}
wheel--;
i--;
} while (i >= 0);
if (cp->hd.wheel[1].susCompression == 0 && cp->hd.wheel[3].susCompression == 0)
{
if (cp->thrust >= 1)
cp->hd.wheel_speed = 1703936 + 0x4000;
else if (cp->thrust <= -1)
cp->hd.wheel_speed = -1245184 + 0x4000;
else
cp->hd.wheel_speed = 0;
}
else
{
cp->hd.wheel_speed = cdz / 64 * (cl->vel[2] / 64) + cdx / 64 * (cl->vel[0] / 64);
}
}
// [D] [T]
void StepOneCar(CAR_DATA* cp)
{
static int frictionLimit[6] = {
1005 * ONE, 6030 * ONE,
1005 * ONE, 5025 * ONE,
1884 * ONE, 5025 * ONE
};
volatile int impulse;
CAR_COSMETICS* car_cos;
int friToUse;
int lift;
int a, b, speed;
int count, i;
CAR_LOCALS _cl;
LONGVECTOR4 deepestNormal, deepestLever, deepestPoint;
LONGVECTOR4 pointPos, surfacePoint, surfaceNormal;
LONGVECTOR4 lever, reaction;
VECTOR direction;
sdPlane* SurfacePtr;
if (cp->controlType == CONTROL_TYPE_NONE)
return;
SurfacePtr = NULL;
_cl.aggressive = handlingType[cp->hndType].aggressiveBraking;
_cl.extraangulardamping = 0;
for (i = 0; i < 3; i++)
{
_cl.vel[i] = cp->st.n.linearVelocity[i];
_cl.avel[i] = cp->st.n.angularVelocity[i];
cp->st.n.fposition[i] = (cp->st.n.fposition[i] & 0xF) + cp->hd.where.t[i] * 16;
}
cp->hd.acc[0] = 0;
cp->hd.acc[1] = GRAVITY_FORCE; // apply gravity
cp->hd.acc[2] = 0;
// calculate car speed
a = ABS(FIXEDH(_cl.vel[0]));
b = ABS(FIXEDH(_cl.vel[2]));
if (a < b)
speed = b + a / 2;
else
speed = a + b / 2;
cp->hd.speed = speed;
car_cos = cp->ap.carCos;
lift = 0;
gte_SetRotMatrix(&cp->hd.where);
gte_SetTransMatrix(&cp->hd.where);
count = 12;
if (cp->hd.where.m[1][1] > 2048)
{
if(cp->controlType == CONTROL_TYPE_CIV_AI)
count = (cp->totalDamage != 0) * 4;
else
count = 4;
}
count--;
// calculate lifting factor
while (count >= 0)
{
gte_ldv0(&car_cos->cPoints[count]);
gte_rtv0tr();
gte_stlvnl(pointPos);
lever[0] = pointPos[0] - cp->hd.where.t[0];
lever[1] = pointPos[1] - cp->hd.where.t[1];
lever[2] = pointPos[2] - cp->hd.where.t[2];
FindSurfaceD2((VECTOR*)pointPos, (VECTOR*)surfaceNormal, (VECTOR*)&surfacePoint, &SurfacePtr);
if ((surfacePoint[1] - pointPos[1]) - 1U < 799)
{
int newLift;
newLift = FIXEDH((surfacePoint[1] - pointPos[1]) * surfaceNormal[1]);
if (lift < newLift)
{
friToUse = 0;
deepestNormal[0] = surfaceNormal[0];
deepestNormal[1] = surfaceNormal[1];
deepestNormal[2] = surfaceNormal[2];
deepestLever[0] = lever[0];
deepestLever[1] = lever[1];
deepestLever[2] = lever[2];
deepestPoint[0] = surfacePoint[0];
deepestPoint[1] = surfacePoint[1];
deepestPoint[2] = surfacePoint[2];
lift = newLift;
if (count > 3)
friToUse = 3;
}
}
count--;
}
// do lifting
if (lift != 0)
{
int strikeVel;
int componant;
int lever_dot_n;
int twistY;
int displacementsquared;
lever[0] = FIXEDH(_cl.avel[1] * deepestLever[2] - _cl.avel[2] * deepestLever[1]) + _cl.vel[0];
lever[1] = FIXEDH(_cl.avel[2] * deepestLever[0] - _cl.avel[0] * deepestLever[2]) + _cl.vel[1];
lever[2] = FIXEDH(_cl.avel[0] * deepestLever[1] - _cl.avel[1] * deepestLever[0]) + _cl.vel[2];
twistY = car_cos->twistRateY;
lever_dot_n = FIXEDH(deepestLever[0] * deepestNormal[0] + deepestLever[1] * deepestNormal[1] + deepestLever[2] * deepestNormal[2]);
displacementsquared = FIXEDH(((deepestLever[0] * deepestLever[0] + deepestLever[1] * deepestLever[1] + deepestLever[2] * deepestLever[2]) - lever_dot_n * lever_dot_n) * twistY) + 4096;
strikeVel = (lever[0] >> 6) * (deepestNormal[0] >> 6) + (lever[1] >> 6) * (deepestNormal[1] >> 6) + (lever[2] >> 6) * (deepestNormal[2] >> 6);
impulse = (strikeVel / displacementsquared) * -2048;
// apply friction
componant = 2;
do {
int loss;
int limit;
limit = frictionLimit[friToUse + 2 - componant];
loss = lever[componant] * 67;
if (loss <= limit)
{
if (loss < -limit)
limit = -limit;
else
limit = loss;
}
reaction[componant] = FIXEDH(impulse * deepestNormal[componant] - limit);
componant--;
} while (componant >= 0);
if (impulse > 20000)
{
if (gNight == 1)
{
direction.vx = 0;
direction.vy = 50;
direction.vz = 0;
Setup_Sparks((VECTOR*)&deepestPoint, &direction, 15, 1);
}
else
{
direction.vx = 0;
direction.vy = 40;
direction.vz = 0;
Setup_Debris((VECTOR*)&deepestPoint, &direction, 10, 0);
}
if (SurfacePtr && (SurfacePtr->surface != 9) && (SurfacePtr->surface != 6))
{
CollisionSound(GetPlayerId(cp), cp, (impulse / 6 + (impulse >> 0x1f) >> 3) - (impulse >> 0x1f), 0);
}
}
cp->hd.acc[0] += reaction[0];
cp->hd.acc[1] += reaction[1];
cp->hd.acc[2] += reaction[2];
cp->hd.aacc[0] += FIXEDH(deepestLever[1] * reaction[2] - deepestLever[2] * reaction[1]);
cp->hd.aacc[1] += FIXEDH(deepestLever[2] * reaction[0] - deepestLever[0] * reaction[2]);
cp->hd.aacc[2] += FIXEDH(deepestLever[0] * reaction[1] - deepestLever[1] * reaction[0]);
//if (lift != 0)
{
lever[0] = FIXEDH(lift * deepestNormal[0]);
lever[1] = FIXEDH(lift * deepestNormal[1]);
lever[2] = FIXEDH(lift * deepestNormal[2]);
cp->hd.where.t[0] += lever[0];
cp->hd.where.t[1] += lever[1];
cp->hd.where.t[2] += lever[2];
cp->st.n.fposition[0] += lever[0] * 16;
cp->st.n.fposition[1] += lever[1] * 16;
cp->st.n.fposition[2] += lever[2] * 16;
gte_SetTransMatrix(&cp->hd.where);
_cl.extraangulardamping = 1;
if (lift > 120)
cp->st.n.linearVelocity[1] = 0;
}
}
AddWheelForcesDriver1(cp, &_cl);
ConvertTorqueToAngularAcceleration(cp, &_cl);
cp->hd.mayBeColliding = 0;
}
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