void Ship::AIAccelToModelRelativeVelocity(const vector3d v)
{
vector3d difVel = v - GetVelocity() * GetOrient(); // required change in velocity
vector3d maxThrust = GetMaxThrust(difVel);
vector3d maxFrameAccel = maxThrust * (Pi::game->GetTimeStep() / GetMass());
SetThrusterState(0, difVel.x / maxFrameAccel.x);
SetThrusterState(1, difVel.y / maxFrameAccel.y);
SetThrusterState(2, difVel.z / maxFrameAccel.z); // use clamping
}
// position in ship's frame
vector3d Ship::AIGetNextFramePos()
{
vector3d thrusters = GetThrusterState();
vector3d maxThrust = GetMaxThrust(thrusters);
vector3d thrust = vector3d(maxThrust.x*thrusters.x, maxThrust.y*thrusters.y,
maxThrust.z*thrusters.z);
matrix4x4d rot; GetRotMatrix(rot);
vector3d vel = GetVelocity() + rot * thrust * Pi::GetTimeStep() / GetMass();
vector3d pos = GetPosition() + vel * Pi::GetTimeStep();
return pos;
}
void Ship::TimeStepUpdate(const float timeStep)
{
// XXX why not just f*****g do this rather than track down the
// reason that ship geoms are being collision tested during launch
if (m_flightState == FLYING) Enable();
else Disable();
vector3d maxThrust = GetMaxThrust(m_thrusters);
AddRelForce(vector3d(maxThrust.x*m_thrusters.x, maxThrust.y*m_thrusters.y,
maxThrust.z*m_thrusters.z));
AddRelTorque(GetShipType().angThrust * m_angThrusters);
DynamicBody::TimeStepUpdate(timeStep);
}
// diffvel is required change in velocity in object space
// returns true if this can be done in a single timestep
bool Ship::AIChangeVelBy(const vector3d &diffvel)
{
// counter external forces
vector3d extf = GetExternalForce() * (Pi::game->GetTimeStep() / GetMass());
vector3d diffvel2 = diffvel - extf * GetOrient();
vector3d maxThrust = GetMaxThrust(diffvel2);
vector3d maxFrameAccel = maxThrust * (Pi::game->GetTimeStep() / GetMass());
vector3d thrust(diffvel2.x / maxFrameAccel.x,
diffvel2.y / maxFrameAccel.y,
diffvel2.z / maxFrameAccel.z);
SetThrusterState(thrust); // use clamping
if (thrust.x*thrust.x > 1.0 || thrust.y*thrust.y > 1.0 || thrust.z*thrust.z > 1.0) return false;
return true;
}
// Change object-space velocity in direction of param
vector3d Ship::AIChangeVelDir(const vector3d &reqdiffvel)
{
// get max thrust in desired direction after external force compensation
vector3d maxthrust = GetMaxThrust(reqdiffvel);
maxthrust += GetExternalForce() * GetOrient();
vector3d maxFA = maxthrust * (Pi::game->GetTimeStep() / GetMass());
maxFA.x = fabs(maxFA.x); maxFA.y = fabs(maxFA.y); maxFA.z = fabs(maxFA.z);
// crunch diffvel by relative thruster power to get acceleration in right direction
vector3d diffvel = reqdiffvel;
if (fabs(diffvel.x) > maxFA.x) diffvel *= maxFA.x / fabs(diffvel.x);
if (fabs(diffvel.y) > maxFA.y) diffvel *= maxFA.y / fabs(diffvel.y);
if (fabs(diffvel.z) > maxFA.z) diffvel *= maxFA.z / fabs(diffvel.z);
AIChangeVelBy(diffvel); // should always return true because it's already capped?
return GetOrient() * (reqdiffvel - diffvel); // should be remaining diffvel to correct
}
// diffvel is required change in velocity in object space
// returns true if this can be done in a single timestep
bool Ship::AIChangeVelBy(const vector3d &diffvel)
{
// counter external forces unless we're in an orbital station rotating frame
matrix4x4d rot; GetRotMatrix(rot);
vector3d diffvel2 = GetExternalForce() * Pi::GetTimeStep() / GetMass();
if (GetFrame()->IsStationRotFrame()) diffvel2 = diffvel;
else diffvel2 = diffvel - diffvel2 * rot;
vector3d maxThrust = GetMaxThrust(diffvel2);
vector3d maxFrameAccel = maxThrust * Pi::GetTimeStep() / GetMass();
vector3d thrust(diffvel2.x / maxFrameAccel.x,
diffvel2.y / maxFrameAccel.y,
diffvel2.z / maxFrameAccel.z);
SetThrusterState(thrust); // use clamping
if (thrust.x*thrust.x > 1.0 || thrust.y*thrust.y > 1.0 || thrust.z*thrust.z > 1.0) return false;
return true;
}
void Ship::TimeStepUpdate(const float timeStep)
{
// If docked, station is responsible for updating position/orient of ship
// but we call this crap anyway and hope it doesn't do anything bad
vector3d maxThrust = GetMaxThrust(m_thrusters);
vector3d thrust = vector3d(maxThrust.x*m_thrusters.x, maxThrust.y*m_thrusters.y,
maxThrust.z*m_thrusters.z);
AddRelForce(thrust);
AddRelTorque(GetShipType().angThrust * m_angThrusters);
DynamicBody::TimeStepUpdate(timeStep);
// fuel use decreases mass, so do this as the last thing in the frame
UpdateFuel(timeStep, thrust);
if (m_landingGearAnimation)
static_cast<SceneGraph::Model*>(GetModel())->UpdateAnimations();
}
void Ship::AIAccelToModelRelativeVelocity(const vector3d v)
{
// OK. For rotating frames linked to space stations we want to set
// speed relative to non-rotating frame (so we apply Frame::GetStasisVelocityAtPosition.
// For rotating frames linked to planets we want to set velocity relative to
// surface, so we do not apply Frame::GetStasisVelocityAtPosition
vector3d relVel = GetVelocity();
if (GetFrame()->IsStationRotFrame()) {
relVel -= GetFrame()->GetStasisVelocityAtPosition(GetPosition());
}
matrix4x4d m; GetRotMatrix(m);
vector3d difVel = v - (relVel * m); // required change in velocity
vector3d maxThrust = GetMaxThrust(difVel);
vector3d maxFrameAccel = maxThrust * Pi::GetTimeStep() / GetMass();
SetThrusterState(0, difVel.x / maxFrameAccel.x);
SetThrusterState(1, difVel.y / maxFrameAccel.y);
SetThrusterState(2, difVel.z / maxFrameAccel.z); // use clamping
}
// reldir*targdist and relvel are pos and vel of ship relative to target in ship's frame
// endspeed is in direction of motion, must be positive
// maxdecel is maximum deceleration thrust
bool Ship::AIMatchPosVel2(const vector3d &reldir, double targdist, const vector3d &relvel, double endspeed, double maxdecel)
{
matrix4x4d rot; GetRotMatrix(rot);
double parspeed = relvel.Dot(reldir);
double ivel = calc_ivel(targdist, endspeed, maxdecel);
double diffspeed = ivel - parspeed;
vector3d diffvel = diffspeed * reldir * rot;
bool rval = false;
// crunch diffvel by relative thruster power to get acceleration in right direction
if (diffspeed > 0.0) {
vector3d maxFA = GetMaxThrust(diffvel) * Pi::game->GetTimeStep() / GetMass();
if (abs(diffvel.x) > maxFA.x) diffvel *= maxFA.x / abs(diffvel.x);
if (abs(diffvel.y) > maxFA.y) diffvel *= maxFA.y / abs(diffvel.y);
// if (abs(diffvel.z) > maxFA.z) diffvel *= maxFA.z / abs(diffvel.z);
if (maxFA.z < diffspeed) rval = true;
}
// add perpendicular velocity
vector3d perpvel = relvel - parspeed*reldir;
diffvel -= perpvel * rot;
AIChangeVelBy(diffvel);
return rval; // true if acceleration was capped
}