// Input: direction in ship's frame, doesn't need to be normalized
// Approximate positive angular velocity at match point
// Applies thrust directly
// old: returns whether it can reach that direction in this frame
// returns angle to target
double Ship::AIFaceDirection(const vector3d &dir, double av)
{
double maxAccel = m_type->angThrust / GetAngularInertia(); // should probably be in stats anyway
vector3d head = (dir * GetOrient()).Normalized(); // create desired object-space heading
vector3d dav(0.0, 0.0, 0.0); // desired angular velocity
double ang = 0.0;
if (head.z > -0.99999999)
{
ang = acos (Clamp(-head.z, -1.0, 1.0)); // scalar angle from head to curhead
double iangvel = av + calc_ivel_pos(ang, 0.0, maxAccel); // ideal angvel at current time
// Normalize (head.x, head.y) to give desired angvel direction
if (head.z > 0.999999) head.x = 1.0;
double head2dnorm = 1.0 / sqrt(head.x*head.x + head.y*head.y); // NAN fix shouldn't be necessary if inputs are normalized
dav.x = head.y * head2dnorm * iangvel;
dav.y = -head.x * head2dnorm * iangvel;
}
vector3d cav = GetAngVelocity() * GetOrient(); // current obj-rel angvel
double frameAccel = maxAccel * Pi::game->GetTimeStep();
vector3d diff = (dav - cav) / frameAccel; // find diff between current & desired angvel
// If the player is pressing a roll key, don't override roll.
// XXX this really shouldn't be here. a better way would be to have a
// field in Ship describing the wanted angvel adjustment from input. the
// baseclass version in Ship would always be 0. the version in Player
// would be constructed from user input. that adjustment could then be
// considered by this method when computing the required change
if (IsType(Object::PLAYER) && (KeyBindings::rollLeft.IsActive() || KeyBindings::rollRight.IsActive()))
diff.z = m_angThrusters.z;
SetAngThrusterState(diff);
return ang;
}
double Ship::AIFaceOrient(const vector3d &dir, const vector3d &updir)
{
double timeStep = Pi::GetTimeStep();
matrix4x4d rot; GetRotMatrix(rot);
double maxAccel = GetShipType().angThrust / GetAngularInertia(); // should probably be in stats anyway
double frameAccel = maxAccel * timeStep;
if (dir.Dot(vector3d(rot[8], rot[9], rot[10])) > -0.999999)
{ AIFaceDirection(dir); return false; }
vector3d uphead = (updir * rot).Normalized(); // create desired object-space updir
vector3d dav(0.0, 0.0, 0.0); // desired angular velocity
double ang = 0.0;
if (uphead.y < 0.999999)
{
ang = acos(Clamp(uphead.y, -1.0, 1.0)); // scalar angle from head to curhead
double iangvel = sqrt(2.0 * maxAccel * ang); // ideal angvel at current time
double frameEndAV = iangvel - frameAccel;
if (frameEndAV <= 0.0) iangvel = ang / timeStep; // last frame discrete correction
else iangvel = (iangvel + frameEndAV) * 0.5; // discrete overshoot correction
dav.z = -iangvel;
}
vector3d cav = (GetAngVelocity() - GetFrame()->GetAngVelocity()) * rot; // current obj-rel angvel
// vector3d cav = GetAngVelocity() * rot; // current obj-rel angvel
vector3d diff = (dav - cav) / frameAccel; // find diff between current & desired angvel
SetAngThrusterState(diff);
return ang;
// if (diff.x*diff.x > 1.0 || diff.y*diff.y > 1.0 || diff.z*diff.z > 1.0) return false;
// else return true;
}
// Input in object space
void Ship::AIMatchAngVelObjSpace(const vector3d &angvel)
{
double maxAccel = m_type->angThrust / GetAngularInertia();
double invFrameAccel = 1.0 / (maxAccel * Pi::game->GetTimeStep());
vector3d diff = angvel - GetAngVelocity() * GetOrient(); // find diff between current & desired angvel
SetAngThrusterState(diff * invFrameAccel);
}
// Input in object space
void Ship::AIMatchAngVelObjSpace(const vector3d &angvel)
{
double maxAccel = GetShipType().angThrust / GetAngularInertia();
double invFrameAccel = 1.0 / (maxAccel * Pi::GetTimeStep());
matrix4x4d rot; GetRotMatrix(rot);
vector3d diff = angvel - GetAngVelocity() * rot; // find diff between current & desired angvel
SetAngThrusterState(diff * invFrameAccel);
}
void Ship::AIModelCoordsMatchAngVel(vector3d desiredAngVel, double softness)
{
double angAccel = m_type->angThrust / GetAngularInertia();
const double softTimeStep = Pi::game->GetTimeStep() * softness;
vector3d angVel = desiredAngVel - GetAngVelocity() * GetOrient();
vector3d thrust;
for (int axis=0; axis<3; axis++) {
if (angAccel * softTimeStep >= fabs(angVel[axis])) {
thrust[axis] = angVel[axis] / (softTimeStep * angAccel);
} else {
thrust[axis] = (angVel[axis] > 0.0 ? 1.0 : -1.0);
}
}
SetAngThrusterState(thrust);
}
void Ship::AIModelCoordsMatchAngVel(vector3d desiredAngVel, double softness)
{
const ShipType &stype = GetShipType();
double angAccel = stype.angThrust / GetAngularInertia();
const double softTimeStep = Pi::GetTimeStep() * softness;
matrix4x4d rot;
GetRotMatrix(rot);
vector3d angVel = desiredAngVel - rot.InverseOf() * GetAngVelocity();
vector3d thrust;
for (int axis=0; axis<3; axis++) {
if (angAccel * softTimeStep >= fabs(angVel[axis])) {
thrust[axis] = angVel[axis] / (softTimeStep * angAccel);
} else {
thrust[axis] = (angVel[axis] > 0.0 ? 1.0 : -1.0);
}
}
SetAngThrusterState(thrust);
}
// Input: direction in ship's frame, doesn't need to be normalized
// Approximate positive angular velocity at match point
// Applies thrust directly
// old: returns whether it can reach that direction in this frame
// returns angle to target
double Ship::AIFaceDirection(const vector3d &dir, double av)
{
double timeStep = Pi::GetTimeStep();
double maxAccel = GetShipType().angThrust / GetAngularInertia(); // should probably be in stats anyway
if (maxAccel <= 0.0)
// happens if no angular thrust is set for the model eg MISSILE_UNGUIDED
return 0.0;
double frameAccel = maxAccel * timeStep;
matrix4x4d rot; GetRotMatrix(rot);
vector3d head = (dir * rot).Normalized(); // create desired object-space heading
vector3d dav(0.0, 0.0, 0.0); // desired angular velocity
double ang = 0.0;
if (head.z > -0.99999999)
{
ang = acos (Clamp(-head.z, -1.0, 1.0)); // scalar angle from head to curhead
double iangvel = av + sqrt (2.0 * maxAccel * ang); // ideal angvel at current time
double frameEndAV = iangvel - frameAccel;
if (frameEndAV <= 0.0) iangvel = ang / timeStep; // last frame discrete correction
else iangvel = (iangvel + frameEndAV) * 0.5; // discrete overshoot correction
// Normalize (head.x, head.y) to give desired angvel direction
if (head.z > 0.9999) head.x = 1.0;
double head2dnorm = 1.0 / sqrt(head.x*head.x + head.y*head.y); // NAN fix shouldn't be necessary if inputs are normalized
dav.x = head.y * head2dnorm * iangvel;
dav.y = -head.x * head2dnorm * iangvel;
}
vector3d cav = (GetAngVelocity() - GetFrame()->GetAngVelocity()) * rot; // current obj-rel angvel
// vector3d cav = GetAngVelocity() * rot; // current obj-rel angvel
vector3d diff = (dav - cav) / frameAccel; // find diff between current & desired angvel
SetAngThrusterState(diff);
return ang;
//if (diff.x*diff.x > 1.0 || diff.y*diff.y > 1.0 || diff.z*diff.z > 1.0) return false;
// else return true;
}
// get updir as close as possible just using roll thrusters
double Ship::AIFaceUpdir(const vector3d &updir, double av)
{
double maxAccel = m_type->angThrust / GetAngularInertia(); // should probably be in stats anyway
double frameAccel = maxAccel * Pi::game->GetTimeStep();
vector3d uphead = updir * GetOrient(); // create desired object-space updir
if (uphead.z > 0.99999) return 0; // bail out if facing updir
uphead.z = 0; uphead = uphead.Normalized(); // only care about roll axis
double ang = 0.0, dav = 0.0;
if (uphead.y < 0.99999999)
{
ang = acos(Clamp(uphead.y, -1.0, 1.0)); // scalar angle from head to curhead
double iangvel = av + calc_ivel_pos(ang, 0.0, maxAccel); // ideal angvel at current time
dav = uphead.x > 0 ? -iangvel : iangvel;
}
double cav = (GetAngVelocity() * GetOrient()).z; // current obj-rel angvel
double diff = (dav - cav) / frameAccel; // find diff between current & desired angvel
SetAngThrusterState(2, diff);
return ang;
}
