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dynamics.cpp
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#include "../global.h"
#include "general.h"
#include "../xjoystick.h"
#include "../common.h"
#include "../network.h"
#include "../sound/hsound.h"
#include "../terra/vmap.h"
#include "../terra/world.h"
#include "../terra/render.h"
#include "../actint/item_api.h"
#include "../units/uvsapi.h"
#include "../uvs/univang.h"
#include "../units/hobj.h"
struct ParticleProcess;
#include "../units/moveland.h"
#include "../units/track.h"
#include "../units/items.h"
#include "../units/sensor.h"
#include "../dast/poly3d.h"
#include "../iscreen/controls.h"
#undef random
#define random(num) ((int)(((long)_rand()*(num)) >> 15))
#ifdef SICHER_DEBUG
#define NO_BORDER_FIELD
#define UsingCopterig(t) 1
#define UsingCrotrig(t) 1
#define UsingCutterig(t) 1
#endif
#ifdef _DEBUG
#define ENTRIES_CONTROL
#define MSG_OUT
#endif
#define SPHERICAL_TEST (ID_INSECT | ID_JUMPBALL | ID_BULLET | ID_STATIC | ID_FIELD_SOURCE | ID_HORDE)
#define BOX_TEST (ID_VANGER | ID_DEBRIS | ID_HORDE_SOURCE | ID_STUFF)
#define PRM_VERSION 2
#define DESIRED_FPS 15
#define DESIRED_TICKS (256/DESIRED_FPS)
// terrain_analysis_flags
#define BREAKE_DBLEVEL_ENABLE 1
#define BREAKE_DBLEVEL 2
#define UNBREAKABLE_TERRAIN 4
#define MIDDLE_LEVEL_PREFER 8
#define LOW_LEVEL(p) ((unsigned char*)((uintptr_t)(p) & ~1))
#define HIGH_LEVEL(p) ((unsigned char*)((uintptr_t)(p) | 1))
#define GET_THICKNESS(p) ((GET_DELTA(*HIGH_LEVEL((p) + H_SIZE)) + (GET_DELTA(*LOW_LEVEL((p) + H_SIZE)) << 2) + 0) << DELTA_SHIFT)
#define GET_THICKNESS_ATTR(la,ha) (GET_DELTA(ha) + (GET_DELTA(la) << 2) + 1 << DELTA_SHIFT)
#define BREAKABLE_TERRAIN(prop) (GET_DESTROY_TERRAIN(GET_TERRAIN(prop)) > 10)
#define GET_MIDDLE_HIGHT(lh,uh) (uh - lh > 130 ? lh + 110 : lh + 48)
#define HEIGHTS(x,y) get_three_heights(x,y)
#define THREE_HEIGHTS(z3) ((z3) >> 24)
#define LOWER_HEIGHT(z3) ((z3) & 0x000000ff)
#define MIDDLE_HEIGHT(z3) (((z3) >> 8) & 0x000000ff)
#define UPPER_HEIGHT(z3) (((z3) >> 16) & 0x000000ff)
#define DUST_BY_BODY(x,y,speed,level) DrawMechosBody(x,y,speed,level)
#define WHEEL_TRACK(x_curr,y_curr,speed,level,n) DrawMechosParticle(x_curr,y_curr,speed,level,n)
#define GET_DEVICE_LATENCY() (SDL_GetTicks() + 4000)
#ifdef MSG_OUT
#define RESTRICT(v,a) { if(v.vabs() > a){ if(active) msg_buf < "Restriction of " #v "\n"; v.norm(a); } else if(active) msg_buf < "\n"; }
#else
#define RESTRICT(v,a) { if(v.vabs() > a){ v.norm(a); } }
#endif
#define aci_CONTROLS(key)
void FIRE_ALL_WEAPONS();
extern int aciCurJumpImpulse,aciMaxJumpImpulse;
extern int aciKeyboardLocked;
extern int aciAutoRun;
int obb_disjoint(const DBM& B, const DBV& T, double ax, double ay, double az, double bx, double by, double bz);
DBV box_to_box_intersection(DBV RR,DBV X,DBV Y,DBV Z,double sx,double sy,double sz);
DBV interpolation(double t,double x[3],DBV y[3]);
DBV interpolation_factors(double t,double x[3]);
/*******************************************************************************
Global Parameters
*******************************************************************************/
// Base properties of nature params
double g;
double density;
double dt_impulse = 1;
double dt0;
double scale_general = 1.0;
int num_calls_analysis;
int movement_detection_threshould;
int num_skip_updates;
// Impulse upproach params
double elastic_restriction;
double elastic_time_scale_factor;
double rolling_scale;
double normal_threshould;
double k_wheel;
double horizontal_impulse_factor;
double vertical_impulse_factor;
double k_friction_impulse;
// Car's params
int rudder_step;
int rudder_max;
double rudder_k_decr;
int traction_increment;
int traction_decrement;
double global_speed_factor;
double global_mobility_factor;
double global_water_speed_factor;
double global_air_speed_factor;
double global_underground_speed_factor;
double k_traction_turbo;
double f_brake_max;
// Helicopter's params
int max_helicopter_height;
int helicopter_height_incr;
int helicopter_height_decr;
double k_helicopter_thrust;
double k_helicopter_rotate;
double k_helicopter_strife;
int max_helicopter_time;
double heli_x_convert;
double heli_y_convert;
double heli_rudder_decr;
double heli_traction_decr;
double heli_z_offset;
double helicopter_ampl;
int helicopter_dphi;
double helicopter_circle_radius_x;
double helicopter_circle_radius_y;
int helicopter_circle_dphi;
// Drag and restriction params
double V_drag_speed;
double W_drag_speed;
double V_drag_wheel_speed;
double V_drag_z;
double V_drag_free;
double W_drag_free;
double V_drag_wheel;
double W_drag_wheel;
double V_drag_spring;
double W_drag_spring;
double V_drag_coll;
double W_drag_coll;
double V_drag_helicopter;
double W_drag_helicopter;
double V_drag_float;
double W_drag_float;
double V_drag_friction;
double W_drag_friction;
double V_abs_stop;
double W_abs_stop;
double V_drag_stuff;
double V_drag_swamp;
double V_drag_mole;
double V_abs_min;
double W_abs_min;
// Terra Analysis params
double dZ_max;
int MIN_WALL_DELTA;
// Mole params
double k_elastic_mole;
double K_mole;
double k_mole_rudder;
double mole_emerging_fz;
double mole_submerging_fz;
// Contact properties params
double k_elastic_wheel;
double k_elastic_spring;
double k_elastic_xy;
double k_elastic_db_coll;
double k_destroy_level;
double strong_ground_collision_threshould;
double strong_double_collision_threshould;
double k_friction_wheel_x;
double k_friction_wheel_x_back;
double k_friction_wheel_y;
double k_friction_wheel_z;
double k_friction_spring;
// Some common force params
double f_spring_impulse;
double K_spring_impulse;
double f_traction_impulse;
double k_distance_to_force;
double V_explosion;
double W_explosion;
int max_jump_power;
int side_impulse_delay;
int side_impulse_duration;
// Insect's params
double k_elastic_insect;
double k_traction_insect;
double V_drag_insect;
double W_drag_insect;
double K_insect;
// Debris' params
double dt_debris;
int num_calls_analysis_debris;
double f_archimedean_debris;
double k_elastic_spring_debris;
double k_friction_spring_debris;
double V_drag_spring_debris;
double W_drag_spring_debris;
// Jumpball params
double k_elastic_spring_jumpball;
double V_drag_spring_jumpball;
// Stuff params
double stuff_modulation;
int stuff_delta_phase;
int stuff_z_offset;
// Visualization adjust params used in optimize.cpp
extern int dz_between_water_and_mask_levels;
extern int light_modulation;
extern int dz_shadow;
extern int SHADOWDEEP_3D;
extern int ground_pressing_z_offset;
// Camera impulse
extern double camera_mi;
extern double camera_miz;
extern double camera_mit;
extern double camera_mii;
extern double camera_mis;
extern double camera_drag;
extern double camera_dragz;
extern double camera_dragt;
extern double camera_dragi;
extern double camera_drags;
extern double camera_vz_min;
extern double camera_vt_min;
extern double camera_vs_min;
extern int camera_turn_impulse;
extern int max_time_vibration;
extern double A_vibration;
extern double alpha_vibration;
extern double oscillar_vibration;
// Test fields params
double field_max_distance;
double field_rotator;
double field_rotator_moment;
double field_tractor_xy;
double field_tractor_z;
double train_field_rotator;
double train_field_rotator_moment;
double train_field_tractor_xy;
double train_field_tractor_z;
int modulation_power;
int y_border_field;
double k_border_field;
// Impulses magnitude
int impulse_of_tuns_explosion;
int impulse_of_jumpballs_creation;
int impulse_of_stuffs_throwing;
// SkyFarmer
double skyfarmer_scale_incr;
double skyfarmer_scale_decr;
double skyfarmer_z;
double skyfarmer_Fy;
double skyfarmer_kFz;
double skyfarmer_kKy;
double skyfarmer_kKz;
double V_drag_skyfarmer;
double W_drag_skyfarmer;
// Fish
double k_archimedean_fish;
double k_traction_fish;
double k_elastic_fish;
double k_elastic_xy_fish;
double k_rudder_fish;
// Interpolaton
double correction_tau;
double correction_V0;
int number_of_passed_events;
// Speed correction params
int STANDART_FRAME_RATE = 14;
double speed_correction_factor = 1;
double speed_correction_tau = 0.01;
unsigned int last_keyboard_touch;
int terrain_analysis_flag;
int non_loaded_space;
DBM A_g2l_old;
Vector R_old;
#ifndef _SURMAP_
dastPoly3D terra_moving_tool(Vector(0,0,0),Vector(0,0,0),Vector(0,0,0));
#endif
extern dastPoly3D MolePoint1;
extern int MoleInProcess;
void StartMoleProcess(void);
int stop_flag = 0;
int fish_test = 0;
int skyfarmer_test = 0;
int g_x_sum = 0,g_y_sum = 0,g_z_sum = 0,g_dz_sum = 0,g_cnt = 0;
int gN=0;
int gSx=0,gSx2=0;
int gSy=0,gSy2=0;
int gSz=0;
int gSxz=0,gSyz=0;
int check_dynamics_locals()
{
if(stop_flag | fish_test | skyfarmer_test)
return 1;
if(rudder_step != 40 ||
rudder_max != 512 ||
traction_increment != 44 ||
traction_decrement != 12)
return 1;
return 0;
}
/*******************************************************************************
Main init function
*******************************************************************************/
DBM calc_collision_matrix(const DBV& r,const DBM& J_inv)
{
double t3 = -r.z*J_inv(2,2)+r.y*J_inv(3,2);
double t7 = -r.z*J_inv(2,3)+r.y*J_inv(3,3);
double t12 = -r.z*J_inv(2,1)+r.y*J_inv(3,1);
double t21 = r.z*J_inv(1,2)-r.x*J_inv(3,2);
double t25 = r.z*J_inv(1,3)-r.x*J_inv(3,3);
double t30 = r.z*J_inv(1,1)-r.x*J_inv(3,1);
double t39 = -r.y*J_inv(1,2)+r.x*J_inv(2,2);
double t43 = -r.y*J_inv(1,3)+r.x*J_inv(2,3);
double t48 = -r.y*J_inv(1,1)+r.x*J_inv(2,1);
return DBM(
1 + -t3*r.z+t7*r.y, t12*r.z-t7*r.x, -t12*r.y+t3*r.x,
-t21*r.z+t25*r.y, 1 + t30*r.z-t25*r.x, -t30*r.y+t21*r.x,
-t39*r.z+t43*r.y, t48*r.z-t43*r.x, 1 + -t48*r.y+t39*r.x);
}
/*******************************************************************************
Entries control functions
*******************************************************************************/
int entry_scan_code;
#ifndef ENTRIES_CONTROL
#define ENTRY(val) { f.search_name(#val":"); f >= val; }
#define COMMON_ENTRY(val) { fc.search_name(#val":"); fc >= val;}
#define entries_control()
#else
#define ENTRY(val) { int t = f.is_next_name("//"); f.search_name(#val":"); f >= val; if(active) add_entry(val,#val,t); }
#define COMMON_ENTRY(val) { int t = fc.is_next_name("//"); fc.search_name(#val":"); fc >= val; if(active) add_entry(val,#val,t); }
const int MAX_ENTRIES = 256;
const int INT_ENTRY = 1;
const int DOUBLE_ENTRY = 2;
const int FIRST_IN_GROUP = 4;
int num_entries = 0;
int first_common_entry = 0;
int curr_entry = 0;
int max_indices;
int num_indices;
int indices_entry[MAX_ENTRIES];
char* name_entries[MAX_ENTRIES];
void* pval_entries[MAX_ENTRIES];
char type_entries[MAX_ENTRIES];
struct entry_init {
entry_init();
~entry_init();
} useless;
entry_init::entry_init()
{
int i;
XStream fin(0);
if(fin.open("entry.cfg",XS_IN)){
fin >= max_indices >= num_indices >= curr_entry;
if(max_indices == MAX_ENTRIES){
for(i = 0; i < max_indices;i++)
fin >= indices_entry[i];
return;
}
}
max_indices = MAX_ENTRIES;
num_indices = 6;
curr_entry = 0;
for(i = 0; i < max_indices;i++)
indices_entry[i] = 0;
}
entry_init::~entry_init()
{
XStream fout("entry.cfg",XS_OUT);
fout <= max_indices < "\n" <= num_indices < "\n" <= curr_entry < "\n";
for(int i = 0; i < max_indices;i++)
fout <= indices_entry[i] < "\n";
}
void add_entry(int& val,char* name,int first_in_group)
{
pval_entries[num_entries] = &val;
type_entries[num_entries] = INT_ENTRY | (first_in_group ? FIRST_IN_GROUP : 0);
name_entries[num_entries++] = name;
}
void add_entry(double& val,char* name,int first_in_group)
{
pval_entries[num_entries] = &val;
type_entries[num_entries] = DOUBLE_ENTRY | (first_in_group ? FIRST_IN_GROUP : 0);
name_entries[num_entries++] = name;
}
void Object::entries_control()
{
#ifdef MSG_OUT
double val = 0;
switch(ID){
case ID_VANGER:
msg_buf < "ID_VANGER: ";
break;
case ID_INSECT:
msg_buf < "ID_INSECT: ";
break;
case ID_STUFF:
case ID_DEBRIS:
msg_buf < "ID_STUFF: ";
break;
default:
msg_buf < "ID_UNKNOWN: ";
}
msg_buf < prm_name < "\n";
for(int j,i = 0;i < num_indices;i++){
j = indices_entry[i];
if(j >= num_entries)
j = indices_entry[i] = 0;
if(type_entries[j] & INT_ENTRY)
val = *(int*)pval_entries[j];
else
val = *(double*)pval_entries[j];
msg_buf < (i == curr_entry ? "> ENTRY: ":" ENTRY: ")
< name_entries[j] < " = " <= val < "\n";
}
#endif
switch(entry_scan_code){
case VK_NEXT:
if(XKey.Pressed(VK_CONTROL)){
do{
if(++indices_entry[curr_entry] >= num_entries)
indices_entry[curr_entry] = 0;
} while(!(type_entries[indices_entry[curr_entry]] & FIRST_IN_GROUP));
break;
}
if(XKey.Pressed(VK_SHIFT)){
if(++curr_entry >= num_indices)
curr_entry = 0;
break;
}
if(++indices_entry[curr_entry] >= num_entries)
indices_entry[curr_entry] = 0;
break;
case VK_PRIOR:
if(XKey.Pressed(VK_CONTROL)){
do{
if(--indices_entry[curr_entry] < 0)
indices_entry[curr_entry] = num_entries - 1;
} while(!(type_entries[indices_entry[curr_entry]] & FIRST_IN_GROUP));
break;
}
if(XKey.Pressed(VK_SHIFT)){
if(--curr_entry < 0)
curr_entry = num_indices - 1;
break;
}
if(--indices_entry[curr_entry] < 0)
indices_entry[curr_entry] = num_entries - 1;
break;
case VK_ADD:
if(XKey.Pressed(VK_CONTROL)){
if(++num_indices >= max_indices)
num_indices = max_indices;
break;
}
if(type_entries[indices_entry[curr_entry]] & INT_ENTRY)
if(XKey.Pressed(VK_SHIFT))
(*(int*)pval_entries[indices_entry[curr_entry]])++;
else
(*(int*)pval_entries[indices_entry[curr_entry]]) += abs((*(int*)pval_entries[indices_entry[curr_entry]]))/16 + 1;
else
if(XKey.Pressed(VK_SHIFT))
*(double*)pval_entries[indices_entry[curr_entry]] *= 1.0002;
else
*(double*)pval_entries[indices_entry[curr_entry]] *= 1.05;
break;
case VK_SUBTRACT:
if(XKey.Pressed(VK_CONTROL)){
if(--num_indices < 0)
num_indices = 0;
break;
}
if(type_entries[indices_entry[curr_entry]] & INT_ENTRY)
if(XKey.Pressed(VK_SHIFT))
(*(int*)pval_entries[indices_entry[curr_entry]])--;
else
(*(int*)pval_entries[indices_entry[curr_entry]]) -= abs((*(int*)pval_entries[indices_entry[curr_entry]]))/16 + 1;
else
if(XKey.Pressed(VK_SHIFT))
*(double*)pval_entries[indices_entry[curr_entry]] /= 1.0002;
else
*(double*)pval_entries[indices_entry[curr_entry]] /= 1.05;
break;
case 'S':
if(XKey.Pressed(VK_CONTROL))
global_save_parameter(indices_entry[curr_entry]);
else{
save_parameters(prm_name);
save_parameters("common.prm");
}
break;
}
entry_scan_code = 0;
m = density*model -> volume*pow(scale_size,2);
J_inv = (model -> J*(pow(scale_size,2)/model -> volume)).inverse();
}
void Object::save_parameters(char* name)
{
int i;
int i_beg,i_end;
if(!strcmp(name,"common.prm")){
i_beg = first_common_entry;
i_end = num_entries;
}
else{
i_beg = 0;
i_end = first_common_entry;
}
Parser f(name);
XStream out(name,XS_OUT);
out.SetDigits(6);
char* str;
for(i = i_beg;i < i_end;i++){
str = f.GetBuf() + f.tell();
f.search_name(name_entries[i]);
*(f.GetBuf() + f.tell()) = 0;
++f;
out < str < ":" < "\t\t";
if(type_entries[i] & INT_ENTRY){
f.get_int();
out <= *(int*)pval_entries[i];
}
else{
f.get_double();
out <= *(double*)pval_entries[i];
}
}
out < f.GetBuf() + f.tell();
}
void Object::global_save_parameter(int i_entry)
{
if(i_entry >= first_common_entry)
return;
char str_buf[80];
char* log = win32_findfirst("resource/m3d/mechous/*.prm");
int main_prm = 1;
while(log || main_prm){
if(!log && main_prm){
strcpy(str_buf,"resource/m3d/mechous/default.prm");
main_prm = 0;
}
else{
strcpy(str_buf,"resource/m3d/mechous/");
strcat(str_buf,log);
}
Parser f(str_buf);
XStream out(str_buf,XS_OUT);
out.SetDigits(6);
char* str = f.GetBuf() + f.tell();
do
f.search_name(name_entries[i_entry]);
while(*(f.GetBuf() + f.tell()) != ':');
*(f.GetBuf() + f.tell()) = 0;
++f;
out < str < ":" < "\t\t";
if(type_entries[i_entry] & INT_ENTRY){
f.get_int();
out <= *(int*)pval_entries[i_entry];
}
else{
f.get_double();
out <= *(double*)pval_entries[i_entry];
}
out < f.GetBuf() + f.tell();
if(log)
log = win32_findnext();
}
}
#endif
void Object::load_parameters(const char* name)
{
#ifdef ENTRIES_CONTROL
if(active)
num_entries = 0;
#endif
Parser f(name);
// Base params
double old_scale = scale_size;
ENTRY(scale_size);
if(!strcmp(name,"resource/m3d/mechous/default.prm"))
scale_size = old_scale;
original_scale_size = scale_size;
ENTRY(scale_bound);
ENTRY(scale_box);
ENTRY(z_offset_of_mass_center);
// Car's params
ENTRY(speed_factor);
ENTRY(mobility_factor);
// Devices params
ENTRY(water_speed_factor);
ENTRY(air_speed_factor);
ENTRY(underground_speed_factor);
// Ship's params
ENTRY(k_archimedean);
ENTRY(k_water_traction);
ENTRY(k_water_rudder);
// Grader's params
ENTRY(TerraMoverSx);
ENTRY(TerraMoverSy);
ENTRY(TerraMoverSz);
// Defense
ENTRY(FrontDefense);
ENTRY(BackDefense);
ENTRY(SideDefense);
ENTRY(UpperDefense);
ENTRY(LowerDefense);
// Ram Power
ENTRY(FrontRamPower);
ENTRY(BackRamPower);
ENTRY(SideRamPower);
ENTRY(UpperRamPower);
ENTRY(LowerRamPower);
#ifdef ENTRIES_CONTROL
first_common_entry = num_entries;
#endif
Parser fc("common.prm");
static int COMMON;
COMMON_ENTRY(COMMON);
// Base properties of nature params
COMMON_ENTRY(g);
COMMON_ENTRY(density);
COMMON_ENTRY(dt0);
// COMMON_ENTRY(scale_general);
COMMON_ENTRY(num_calls_analysis);
COMMON_ENTRY(movement_detection_threshould);
COMMON_ENTRY(num_skip_updates);
COMMON_ENTRY(wheel_analyze);
COMMON_ENTRY(analysis_off);
// Impulse upproach params
COMMON_ENTRY(elastic_restriction);
COMMON_ENTRY(elastic_time_scale_factor);
COMMON_ENTRY(rolling_scale);
COMMON_ENTRY(normal_threshould);
COMMON_ENTRY(k_wheel);
COMMON_ENTRY(horizontal_impulse_factor);
COMMON_ENTRY(vertical_impulse_factor);
COMMON_ENTRY(k_friction_impulse);
// Car's params
COMMON_ENTRY(rudder_step);
COMMON_ENTRY(rudder_max);
COMMON_ENTRY(rudder_k_decr);
COMMON_ENTRY(traction_increment);
COMMON_ENTRY(traction_decrement);
// Global modulating params
COMMON_ENTRY(global_speed_factor);
COMMON_ENTRY(global_mobility_factor);
COMMON_ENTRY(global_water_speed_factor);
COMMON_ENTRY(global_air_speed_factor);
COMMON_ENTRY(global_underground_speed_factor);
COMMON_ENTRY(k_traction_turbo);
COMMON_ENTRY(f_brake_max);
// Helicopter's params
COMMON_ENTRY(max_helicopter_height);
COMMON_ENTRY(helicopter_height_incr);
COMMON_ENTRY(helicopter_height_decr);
COMMON_ENTRY(k_helicopter_thrust);
COMMON_ENTRY(k_helicopter_rotate);
COMMON_ENTRY(k_helicopter_strife);
COMMON_ENTRY(max_helicopter_time);
COMMON_ENTRY(heli_x_convert);
COMMON_ENTRY(heli_y_convert);
COMMON_ENTRY(heli_rudder_decr);
COMMON_ENTRY(heli_traction_decr);
COMMON_ENTRY(heli_z_offset);
COMMON_ENTRY(helicopter_ampl);
COMMON_ENTRY(helicopter_dphi);
COMMON_ENTRY(helicopter_circle_radius_x);
COMMON_ENTRY(helicopter_circle_radius_y);
COMMON_ENTRY(helicopter_circle_dphi);
// Drag and restriction params
COMMON_ENTRY(V_drag_speed);
COMMON_ENTRY(W_drag_speed);
COMMON_ENTRY(V_drag_wheel_speed);
COMMON_ENTRY(V_drag_z);
COMMON_ENTRY(V_drag_free);
COMMON_ENTRY(W_drag_free);
COMMON_ENTRY(V_drag_wheel);
COMMON_ENTRY(W_drag_wheel);
COMMON_ENTRY(V_drag_spring);
COMMON_ENTRY(W_drag_spring);
COMMON_ENTRY(V_drag_coll);
COMMON_ENTRY(W_drag_coll);
COMMON_ENTRY(V_drag_helicopter);
COMMON_ENTRY(W_drag_helicopter);
COMMON_ENTRY(V_drag_float);
COMMON_ENTRY(W_drag_float);
COMMON_ENTRY(V_drag_friction);
COMMON_ENTRY(W_drag_friction);
COMMON_ENTRY(V_abs_stop);
COMMON_ENTRY(W_abs_stop);
COMMON_ENTRY(V_drag_stuff);
COMMON_ENTRY(V_drag_swamp);
COMMON_ENTRY(V_drag_mole);
COMMON_ENTRY(V_abs_min);
COMMON_ENTRY(W_abs_min);
// Terra Analysis params
COMMON_ENTRY(dZ_max);
COMMON_ENTRY(MIN_WALL_DELTA);
// Mole params
COMMON_ENTRY(k_elastic_mole);
COMMON_ENTRY(K_mole);
COMMON_ENTRY(k_mole_rudder);
COMMON_ENTRY(mole_emerging_fz);
COMMON_ENTRY(mole_submerging_fz);
// Contact properties params
COMMON_ENTRY(k_elastic_wheel);
COMMON_ENTRY(k_elastic_spring);
COMMON_ENTRY(k_elastic_xy);
COMMON_ENTRY(k_elastic_db_coll);
COMMON_ENTRY(k_destroy_level);
COMMON_ENTRY(strong_ground_collision_threshould);
COMMON_ENTRY(strong_double_collision_threshould);
//
COMMON_ENTRY(k_friction_wheel_x);
COMMON_ENTRY(k_friction_wheel_x_back);
COMMON_ENTRY(k_friction_wheel_y);
COMMON_ENTRY(k_friction_wheel_z);
COMMON_ENTRY(k_friction_spring);
// Some common force params
COMMON_ENTRY(f_spring_impulse);
COMMON_ENTRY(K_spring_impulse);
COMMON_ENTRY(f_traction_impulse);
COMMON_ENTRY(k_distance_to_force);
COMMON_ENTRY(V_explosion);
COMMON_ENTRY(W_explosion);
COMMON_ENTRY(max_jump_power);
COMMON_ENTRY(side_impulse_delay);
COMMON_ENTRY(side_impulse_duration);
// Insect's params
COMMON_ENTRY(k_elastic_insect);
COMMON_ENTRY(k_traction_insect);
COMMON_ENTRY(V_drag_insect);
COMMON_ENTRY(W_drag_insect);
COMMON_ENTRY(K_insect);
// Debris' params
COMMON_ENTRY(dt_debris);
COMMON_ENTRY(num_calls_analysis_debris);
COMMON_ENTRY(f_archimedean_debris);
COMMON_ENTRY(k_elastic_spring_debris);
COMMON_ENTRY(k_friction_spring_debris);
COMMON_ENTRY(V_drag_spring_debris);
COMMON_ENTRY(W_drag_spring_debris);
// Jumpball params
COMMON_ENTRY(k_elastic_spring_jumpball);
COMMON_ENTRY(V_drag_spring_jumpball);
// Stuff params
COMMON_ENTRY(stuff_modulation);
COMMON_ENTRY(stuff_delta_phase);
COMMON_ENTRY(stuff_z_offset);
// Visualization adjust params
COMMON_ENTRY(dz_between_water_and_mask_levels);
COMMON_ENTRY(dz_shadow);
COMMON_ENTRY(SHADOWDEEP_3D);
COMMON_ENTRY(ground_pressing_z_offset);
// Camera impulse
COMMON_ENTRY(camera_mi);
COMMON_ENTRY(camera_miz);
COMMON_ENTRY(camera_mit);
COMMON_ENTRY(camera_mii);
COMMON_ENTRY(camera_mis);
COMMON_ENTRY(camera_drag);
COMMON_ENTRY(camera_dragz);
COMMON_ENTRY(camera_dragt);
COMMON_ENTRY(camera_dragi);
COMMON_ENTRY(camera_drags);
COMMON_ENTRY(camera_vz_min);
COMMON_ENTRY(camera_vt_min);
COMMON_ENTRY(camera_vs_min);
COMMON_ENTRY(camera_turn_impulse);
COMMON_ENTRY(max_time_vibration);
COMMON_ENTRY(A_vibration);
COMMON_ENTRY(alpha_vibration);
COMMON_ENTRY(oscillar_vibration);
// Test fields params
COMMON_ENTRY(field_max_distance);
COMMON_ENTRY(field_rotator);
COMMON_ENTRY(field_rotator_moment);
COMMON_ENTRY(field_tractor_xy);
COMMON_ENTRY(field_tractor_z);
COMMON_ENTRY(train_field_rotator);
COMMON_ENTRY(train_field_rotator_moment);
COMMON_ENTRY(train_field_tractor_xy);
COMMON_ENTRY(train_field_tractor_z);
COMMON_ENTRY(modulation_power);
COMMON_ENTRY(y_border_field);
COMMON_ENTRY(k_border_field);
// Impulses magnitude
COMMON_ENTRY(impulse_of_tuns_explosion);
COMMON_ENTRY(impulse_of_jumpballs_creation);
COMMON_ENTRY(impulse_of_stuffs_throwing);
// SkyFarmer
COMMON_ENTRY(skyfarmer_scale_incr);
COMMON_ENTRY(skyfarmer_scale_decr);
COMMON_ENTRY(skyfarmer_z);
COMMON_ENTRY(skyfarmer_Fy);
COMMON_ENTRY(skyfarmer_kFz);
COMMON_ENTRY(skyfarmer_kKy);
COMMON_ENTRY(skyfarmer_kKz);
COMMON_ENTRY(V_drag_skyfarmer);
COMMON_ENTRY(W_drag_skyfarmer);
// Fish
COMMON_ENTRY(k_archimedean_fish);
COMMON_ENTRY(k_traction_fish);
COMMON_ENTRY(k_elastic_fish);
COMMON_ENTRY(k_elastic_xy_fish);
COMMON_ENTRY(k_rudder_fish);
// Interpolaton
COMMON_ENTRY(correction_tau);
COMMON_ENTRY(correction_V0);
COMMON_ENTRY(number_of_passed_events);
// Speed correction params
COMMON_ENTRY(STANDART_FRAME_RATE);
// COMMON_ENTRY(speed_correction_factor);
COMMON_ENTRY(speed_correction_tau);
m = density*model -> volume*pow(scale_size,2);
J_inv = (model -> J*(pow(scale_size,2)/model -> volume)).inverse();
max_jump_distance = get_max_jump_distance();
}
/*******************************************************************************
Terrain analysis functions
*******************************************************************************/
inline int get_three_heights(int x,int y)
{
unsigned char* p = vMap -> lineT[y & clip_mask_y];
if(!p)
return 255;
p += x & clip_mask_x;
unsigned char attr = *(p + H_SIZE);
if(!(attr & DOUBLE_LEVEL))
return *p;
//64 bit problem
uintptr_t ll = *LOW_LEVEL(p);
return ll | (ll + (GET_THICKNESS(p) << 8)) | ((uintptr_t)(*HIGH_LEVEL(p)) << 16) | 0xff000000;
}
inline int get_upper_height(int x,int y)
{
unsigned char* p = vMap -> lineT[y & clip_mask_y];
if(!p)
return 255;
p += (x | 1) & clip_mask_x;
return *p;
}
inline int check_double_level(int x,int y)
{
unsigned char* p = vMap -> lineT[y & clip_mask_y];
if(!p)
return 0;
return p[(x & clip_mask_x) + H_SIZE] & DOUBLE_LEVEL ? 1 : 0;
}
int trace_shadow(int x,int y,int z)
{
int x0 = x;
z <<= 8;
while((z >> 8) > get_upper_height(x,y)){
z -= SHADOWDEEP;
x--;
}
return x0 - x;
}
int set_3D_adjust(int mode,int xx,int yy,int zz,int D)
{
unsigned char** LineT = vMap -> lineT;
unsigned char *p0,*p;
int x,y;
unsigned int z_sum = 0,u_sum=0,l_sum=0,cnt = 0,db_cnt=0,lh,uh;
xx -= (xx - D) & 1;
for(y = -D;y <= D;y++){
p0 = LineT[(y + yy) & clip_mask_y];
if(!p0)
continue;
for(x = -D;x < D;x += 2){
p = (unsigned char *)((uintptr_t)p0 + ((x + xx) & clip_mask_x));
if(!(*(p + H_SIZE) & DOUBLE_LEVEL)){
z_sum += *p;