Arma Reforger Explorer 1.7.0.54
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SCR_Joint6DOFEntity.c
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1[EntityEditorProps(category: "GameBase/Joints", description: "Physics joint - 6DOF (supports spring)", sizeMin: "-0.05 -0.05 -0.05", sizeMax: "0.05 0.05 0.05", color: "0 0 255 255")]
2class SCR_Joint6DOFEntityClass: SCR_JointBaseEntityClass
3{
4 const int AXIS_YAW = 4;
5 const int AXIS_PITCH = 3;
6 const int AXIS_ROLL = 5;
7
8 const int AXIS_RIGHT = 0;
9 const int AXIS_UP = 1;
10 const int AXIS_FORWARD = 2;
11};
12
13//------------------------------------------------------------------------------------------------
17//------------------------------------------------------------------------------------------------
18class SCR_Joint6DOFEntity: SCR_JointBaseEntity
19{
20 [Attribute("0", UIWidgets.CheckBox, "Whether to set spring values on the yaw axis")]
21 bool m_YawSetSpring;
22 [Attribute("0", UIWidgets.CheckBox, "Whether the yaw axis may rotate freely (ignores limits)")]
23 bool m_YawIsFree;
24 [Attribute("0", UIWidgets.Slider, "Minimum yaw range in degrees", "-180 0 0.01")]
25 float m_YawMin;
26 [Attribute("0", UIWidgets.Slider, "Maximum yaw range in degrees", "0 180 0.01")]
27 float m_YawMax;
28 //------------------------------------------------------------------------------------------------
29
30 [Attribute("0", UIWidgets.CheckBox, "Whether to set spring values on the pitch axis")]
31 bool m_PitchSetSpring;
32 [Attribute("0", UIWidgets.CheckBox, "Whether the pitch axis may rotate freely (ignores limits)")]
33 bool m_PitchIsFree;
34 [Attribute("0", UIWidgets.Slider, "Minimum pitch range in degrees", "-180 0 0.01")]
35 float m_PitchMin;
36 [Attribute("0", UIWidgets.Slider, "Maximum pitch range in degrees", "0 180 0.01")]
37 float m_PitchMax;
38 //------------------------------------------------------------------------------------------------
39
40 [Attribute("0", UIWidgets.CheckBox, "Whether to set spring values on the roll axis")]
41 bool m_RollSetSpring;
42 [Attribute("0", UIWidgets.CheckBox, "Whether the roll axis may rotate freely (ignores limits)")]
43 bool m_RollIsFree;
44 [Attribute("0", UIWidgets.Slider, "Minimum roll range in degrees", "-180 0 0.01")]
45 float m_RollMin;
46 [Attribute("0", UIWidgets.Slider, "Maximum roll range in degrees", "0 180 0.01")]
47 float m_RollMax;
48 //------------------------------------------------------------------------------------------------
49
50 [Attribute("0", UIWidgets.CheckBox, "Whether to set spring values along the right axis")]
51 bool m_RightSetSpring;
52 [Attribute("0", UIWidgets.CheckBox, "Whether the right axis may move freely (ignores limits)")]
53 bool m_RightIsFree;
54 [Attribute("0", UIWidgets.Slider, "Minimum right axis range in meters", "-50 0 0.01")]
55 float m_RightMin;
56 [Attribute("0", UIWidgets.Slider, "Maximum right axis range in meters", "0 50 0.01")]
57 float m_RightMax;
58 //------------------------------------------------------------------------------------------------
59
60 [Attribute("0", UIWidgets.CheckBox, "Whether to set spring values along the up axis")]
61 bool m_UpSetSpring;
62 [Attribute("0", UIWidgets.CheckBox, "Whether the up axis may move freely (ignores limits)")]
63 bool m_UpIsFree;
64 [Attribute("0", UIWidgets.Slider, "Minimum up axis range in meters", "-50 0 0.01")]
65 float m_UpMin;
66 [Attribute("0", UIWidgets.Slider, "Maximum up axis range in meters", "0 50 0.01")]
67 float m_UpMax;
68 //------------------------------------------------------------------------------------------------
69
70 [Attribute("0", UIWidgets.CheckBox, "Whether to set spring values along the forward axis" )]
71 bool m_ForwardSetSpring;
72 [Attribute("0", UIWidgets.CheckBox, "Whether the forward axis may move freely (ignores limits)")]
73 bool m_ForwardIsFree;
74 [Attribute("0", UIWidgets.Slider, "Minimum forward axis range in meters", "-50 0 0.01")]
75 float m_ForwardMin;
76 [Attribute("0", UIWidgets.Slider, "Maximum forward axis range in meters", "0 50 0.01")]
77 float m_ForwardMax;
78 //------------------------------------------------------------------------------------------------
79
80 [Attribute("10", UIWidgets.Slider, "Stiffness of the spring", "0 1000 0.001")]
81 float m_SpringStiffness;
82 [Attribute("0.5", UIWidgets.Slider, "Damping of the spring, lower values means more damping", "0 1 0.001")]
83 float m_SpringDamping;
84
85 //------------------------------------------------------------------------------------------------
86
87
88 //------------------------------------------------------------------------------------------------
89 override void DebugDisplay()
90 {
91 vector mat[4];
92 GetTransform(mat);
93 vector pos = mat[3];
94
95 vector axisVec = mat[0];
96 vector axisVec2 = mat[1];
97 vector axisVec3 = mat[2];
98
99 bool noOffsets = true;
100 if (m_YawIsFree || m_YawMax != 0 || m_YawMin != 0)
101 noOffsets = false;
102 else if (m_PitchIsFree || m_PitchMax != 0 || m_PitchMin != 0)
103 noOffsets = false;
104 else if (m_RollIsFree || m_RollMax != 0 || m_RollMin != 0)
105 noOffsets = false;
106 else if (m_RightIsFree || m_RightMax != 0 || m_RightMin != 0)
107 noOffsets = false;
108 else if (m_UpIsFree || m_UpMax != 0 || m_UpMin != 0)
109 noOffsets = false;
110 else if (m_ForwardIsFree || m_ForwardMax != 0 || m_ForwardMin != 0)
111 noOffsets = false;
112
113 if (noOffsets)
114 {
115 Shape.Create(ShapeType.LINE, ARGB(255, 0, 255, 0), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec * -0.05 + pos, axisVec * 0.05 + pos);
116 Shape.Create(ShapeType.LINE, ARGB(255, 0, 255, 0), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec2 * -0.05 + pos, axisVec2 * 0.05 + pos);
117 Shape.Create(ShapeType.LINE, ARGB(255, 0, 255, 0), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec3 * -0.05 + pos, axisVec3 * 0.05 + pos);
118
119 return;
120 }
121
122 if (m_YawIsFree)
123 CreateCircleSlice(pos, axisVec2, axisVec, 1, -1, 0.075, ARGB(255, 0, 255, 255), 16, ShapeFlags.ONCE|ShapeFlags.NOZBUFFER);
124 else
125 {
126 if (m_YawMin != 0 || m_YawMax != 0)
127 CreateCircleSlice(pos, axisVec2, axisVec, m_YawMin, m_YawMax, 0.075, ARGB(255, 0, 255, 255), Math.Ceil(Math.AbsFloat(m_YawMax - m_YawMin) / 360 * 16), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER);
128 }
129 if (m_PitchIsFree)
130 CreateCircleSlice(pos, -axisVec, axisVec2, 1, -1, 0.075, ARGB(255, 0, 255, 255), 16, ShapeFlags.ONCE|ShapeFlags.NOZBUFFER);
131 else
132 {
133 if (m_PitchMin != 0 || m_PitchMax != 0)
134 CreateCircleSlice(pos, -axisVec, axisVec2, m_PitchMin, m_PitchMax, 0.075, ARGB(255, 0, 255, 255), Math.Ceil(Math.AbsFloat(m_PitchMax - m_PitchMin) / 360 * 16), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER);
135 }
136 if (m_RollIsFree)
137 CreateCircleSlice(pos, -axisVec3, axisVec, 1, -1, 0.075, ARGB(255, 0, 255, 255), 16, ShapeFlags.ONCE|ShapeFlags.NOZBUFFER);
138 else
139 {
140 if (m_RollMin != 0 || m_RollMax != 0)
141 CreateCircleSlice(pos, -axisVec3, axisVec, m_RollMin, m_RollMax, 0.075, ARGB(255, 0, 255, 255), Math.Ceil(Math.AbsFloat(m_RollMax - m_RollMin) / 360 * 16), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER);
142 }
143
144 if (m_RightIsFree)
145 Shape.Create(ShapeType.LINE, ARGB(255, 255, 0, 255), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec * -0.15 + pos, axisVec * 0.15 + pos);
146 else
147 Shape.Create(ShapeType.LINE, ARGB(255, 0, 255, 255), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec * m_RightMin + pos, axisVec * m_RightMax + pos);
148 if (m_UpIsFree)
149 Shape.Create(ShapeType.LINE, ARGB(255, 255, 0, 255), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec2 * -0.15 + pos, axisVec2 * 0.15 + pos);
150 else
151 Shape.Create(ShapeType.LINE, ARGB(255, 0, 255, 255), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec2 * m_UpMin + pos, axisVec2 * m_UpMax + pos);
152 if (m_ForwardIsFree)
153 Shape.Create(ShapeType.LINE, ARGB(255, 255, 0, 255), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec3 * -0.15 + pos, axisVec3 * 0.15 + pos);
154 else
155 Shape.Create(ShapeType.LINE, ARGB(255, 0, 255, 255), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER, axisVec3 * m_ForwardMin + pos, axisVec3 * m_ForwardMax + pos);
156 }
157
158 //------------------------------------------------------------------------------------------------
159 float GetSpringScale()
160 {
161 float result = (SCR_Global.g_fPhysicsHz - 60) / 60;
162 result = Math.Clamp(result, 0, 1);
163 result = 1 - result + 1;
164 result *= 10;
165 result *= m_SpringStiffness * m_SpringStiffness;
166
167 return result;
168 }
169
170 //------------------------------------------------------------------------------------------------
171 float GetSpringLinDampScale()
172 {
173 return 0.001 * m_SpringDamping;
174 }
175
176 //------------------------------------------------------------------------------------------------
177 float GetSpringAngDampScale()
178 {
179 return 0.001 * m_SpringDamping;
180 }
181
182 //------------------------------------------------------------------------------------------------
183 override void CreateJoint(IEntity parent, IEntity child, vector jointMat1[4], vector jointMat2[4])
184 {
185 bool isSpring = false;
186 if (m_YawSetSpring || m_PitchSetSpring || m_RollSetSpring || m_RightSetSpring || m_UpSetSpring || m_ForwardSetSpring)
187 isSpring = true;
188
189 // Create the joint
190 if (isSpring)
191 {
192 m_Joint = PhysicsJoint.Create6DOFSpring(parent, child, jointMat1, jointMat2, m_CollisionBlocker, -1);
193 Physics6DOFSpringJoint joint6DOF = m_Joint;
194 if (m_YawSetSpring)
195 joint6DOF.SetSpring(SCR_Joint6DOFEntityClass.AXIS_YAW, GetSpringScale(), GetSpringAngDampScale());
196 if (m_PitchSetSpring)
197 joint6DOF.SetSpring(SCR_Joint6DOFEntityClass.AXIS_PITCH, GetSpringScale(), GetSpringAngDampScale());
198 if (m_RollSetSpring)
199 joint6DOF.SetSpring(SCR_Joint6DOFEntityClass.AXIS_ROLL, GetSpringScale(), GetSpringAngDampScale());
200 if (m_RightSetSpring)
201 joint6DOF.SetSpring(SCR_Joint6DOFEntityClass.AXIS_RIGHT, GetSpringScale(), GetSpringLinDampScale());
202 if (m_UpSetSpring)
203 joint6DOF.SetSpring(SCR_Joint6DOFEntityClass.AXIS_UP, GetSpringScale(), GetSpringLinDampScale());
204 if (m_ForwardSetSpring)
205 joint6DOF.SetSpring(SCR_Joint6DOFEntityClass.AXIS_FORWARD, GetSpringScale(), GetSpringLinDampScale());
206 }
207 else
208 m_Joint = PhysicsJoint.Create6DOF(parent, child, jointMat1, jointMat2, m_CollisionBlocker, -1);
209
210 Physics6DOFJoint joint6DOF = m_Joint;
211 if (m_YawIsFree)
212 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_YAW, 1, -1);
213 else
214 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_YAW, m_YawMax * Math.DEG2RAD, m_YawMin * Math.DEG2RAD);
215 if (m_PitchIsFree)
216 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_PITCH, 1, -1);
217 else
218 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_PITCH, m_PitchMin * Math.DEG2RAD, m_PitchMax * Math.DEG2RAD);
219 if (m_RollIsFree)
220 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_ROLL, 1, -1);
221 else
222 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_ROLL, m_RollMin * Math.DEG2RAD, m_RollMax * Math.DEG2RAD);
223
224 if (m_RightIsFree)
225 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_RIGHT, 1, -1);
226 else
227 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_RIGHT, m_RightMin, m_RightMax);
228 if (m_UpIsFree)
229 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_UP, 1, -1);
230 else
231 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_UP, m_UpMin, m_UpMax);
232 if (m_ForwardIsFree)
233 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_FORWARD, 1, -1);
234 else
235 joint6DOF.SetLimit(SCR_Joint6DOFEntityClass.AXIS_FORWARD, m_ForwardMin, m_ForwardMax);
236 }
237};
CreateCircleSlice
Shape CreateCircleSlice(vector pos, vector aroundDir, vector forwardDir, float angMin, float angMax, float radius, int color, int subdivisions, ShapeFlags flags)
Definition DebugShapes.c:173
EntityEditorProps
enum SCR_ECompassType EntityEditorProps(category:"GameScripted/Gadgets", description:"Compass", color:"0 0 255 255")
Prefab data class for compass component.
Definition SCR_CompassComponent.c:10
category
params category
Definition SCR_VehicleDamageManagerComponent.c:302
IEntity::IEntity
void IEntity(IEntitySource src, IEntity parent)
protected script Constructor
IEntity::GetTransform
proto external void GetTransform(out vector mat[])
Math
Definition Math.c:13
SCR_Global
Definition Functions.c:7
SCR_Joint6DOFEntityClass
Definition SCR_Joint6DOFEntity.c:3
SCR_Joint6DOFEntity
Definition SCR_Joint6DOFEntity.c:19
SCR_JointBaseEntityClass
Definition SCR_JointBaseEntity.c:3
Shape
Instance of created debug visualizer.
Definition Shape.c:14
ShapeType
ShapeType
Definition ShapeType.c:13
ShapeFlags
ShapeFlags
Definition ShapeFlags.c:13
Attribute
SCR_FieldOfViewSettings Attribute
Definition SendGoalMessage.c:170
ARGB
proto int ARGB(int a, int r, int g, int b)