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: 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;
}
// 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;
}
Grenade::Grenade(const TVector2D& src, const TVector2D& velocity, unsigned int _owner) :
m_iOwner(_owner),
m_iCurrentFrame(0),
m_fTimerChangeFrame(0.0f),
m_bPlayOnlyOnce(true),
m_fTimerThrow(world.getCurrentTime),
killMyself(false)
{
m_xTexture = &WeaponManager::GetSingleton().text_grenade[0];
m_fHalfHeight = m_xTexture->h/2.0f;
m_fHalfWidth = m_xTexture->w/2.0f;
Set(src, velocity, 8, m_fHalfHeight, m_fHalfWidth, 0.01f);
SetCollisionCallback(HandleContact);
GetInvInertia() = 0.0f;
GetInertia() = 0.0f;
GetAngVelocity() = 0.0f;
SetOrientation(0.0f);
type = TYPE_GRENADE;
}
// 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;
}
void SpaceStation::DockingUpdate(const double timeStep)
{
vector3d p1, p2, zaxis;
for (int i=0; i<MAX_DOCKING_PORTS; i++) {
shipDocking_t &dt = m_shipDocking[i];
if (!dt.ship) continue;
// docked stage is m_type->numDockingPorts + 1 => ship docked
if (dt.stage > m_type->numDockingStages) continue;
double stageDuration = (dt.stage > 0 ?
m_type->dockAnimStageDuration[dt.stage-1] :
m_type->undockAnimStageDuration[abs(dt.stage)-1]);
dt.stagePos += timeStep / stageDuration;
if (dt.stage == 1) {
// SPECIAL stage! Docking granted but waiting for ship to dock
m_doorAnimationStep = 0.3; // open door
if (dt.stagePos >= 1.0) {
if (dt.ship == static_cast<Ship*>(Pi::player)) Pi::onDockingClearanceExpired.emit(this);
dt.ship = 0;
dt.stage = 0;
m_doorAnimationStep = -0.3; // close door
}
continue;
}
if (dt.stagePos > 1.0) {
// use end position of last segment for start position of new segment
SpaceStationType::positionOrient_t dport;
PiVerify(m_type->GetDockAnimPositionOrient(i, dt.stage, 1.0f, dt.fromPos, dport, dt.ship));
matrix3x3d fromRot = matrix3x3d::FromVectors(dport.xaxis, dport.yaxis);
dt.fromRot = Quaterniond::FromMatrix3x3(fromRot);
dt.fromPos = dport.pos;
// transition between docking stages
dt.stagePos = 0;
if (dt.stage >= 0) dt.stage++;
else dt.stage--;
}
if (dt.stage < -m_type->shipLaunchStage && dt.ship->GetFlightState() != Ship::FLYING) {
// launch ship
dt.ship->SetFlightState(Ship::FLYING);
dt.ship->SetAngVelocity(GetAngVelocity());
if (m_type->dockMethod == SpaceStationType::SURFACE) {
dt.ship->SetThrusterState(1, 1.0); // up
} else {
dt.ship->SetThrusterState(2, -1.0); // forward
}
LuaEvent::Queue("onShipUndocked", dt.ship, this);
}
if (dt.stage < -m_type->numUndockStages) {
// undock animation finished, clear port
dt.stage = 0;
dt.ship = 0;
if (m_type->dockOneAtATimePlease) m_dockingLock = false;
m_doorAnimationStep = -0.3; // close door
}
else if (dt.stage > m_type->numDockingStages) {
// set docked
dt.ship->SetDockedWith(this, i);
LuaEvent::Queue("onShipDocked", dt.ship, this);
if (m_type->dockOneAtATimePlease) m_dockingLock = false;
m_doorAnimationStep = -0.3; // close door
}
}
m_doorAnimationState = Clamp(m_doorAnimationState + m_doorAnimationStep*timeStep, 0.0, 1.0);
if (m_doorAnimation)
m_doorAnimation->SetProgress(m_doorAnimationState);
}
void SpaceStation::DockingUpdate(const double timeStep)
{
vector3d p1, p2, zaxis;
for (Uint32 i=0; i<m_shipDocking.size(); i++) {
shipDocking_t &dt = m_shipDocking[i];
if (!dt.ship) continue;
// docked stage is m_type->NumDockingPorts() + 1 => ship docked
if (dt.stage > m_type->NumDockingStages()) continue;
double stageDuration = (dt.stage > 0 ?
m_type->GetDockAnimStageDuration(dt.stage-1) :
m_type->GetUndockAnimStageDuration(abs(dt.stage)-1));
dt.stagePos += timeStep / stageDuration;
if (dt.stage == 1) {
// SPECIAL stage! Docking granted but waiting for ship to dock
m_doorAnimationStep = 0.3; // open door
if (dt.stagePos >= 1.0) {
if (dt.ship == Pi::player)
Pi::game->log->Add(GetLabel(), Lang::DOCKING_CLEARANCE_EXPIRED);
dt.ship = 0;
dt.stage = 0;
m_doorAnimationStep = -0.3; // close door
}
continue;
}
if (dt.stagePos > 1.0) {
// use end position of last segment for start position of new segment
SpaceStationType::positionOrient_t dport;
PiVerify(m_type->GetDockAnimPositionOrient(i, dt.stage, 1.0f, dt.fromPos, dport, dt.ship));
matrix3x3d fromRot = matrix3x3d::FromVectors(dport.xaxis, dport.yaxis, dport.zaxis);
dt.fromRot = Quaterniond::FromMatrix3x3(fromRot);
dt.fromPos = dport.pos;
// transition between docking stages
dt.stagePos = 0;
if (dt.stage >= 0) dt.stage++;
else dt.stage--;
}
if (dt.stage < -m_type->ShipLaunchStage() && dt.ship->GetFlightState() != Ship::FLYING) {
// launch ship
dt.ship->SetFlightState(Ship::FLYING);
dt.ship->SetAngVelocity(GetAngVelocity());
if (m_type->IsSurfaceStation()) {
dt.ship->SetThrusterState(1, 1.0); // up
} else {
dt.ship->SetThrusterState(2, -1.0); // forward
}
LuaEvent::Queue("onShipUndocked", dt.ship, this);
}
if (dt.stage < -m_type->NumUndockStages()) {
// undock animation finished, clear port
dt.stage = 0;
dt.ship = 0;
LockPort(i, false);
m_doorAnimationStep = -0.3; // close door
}
else if (dt.stage > m_type->NumDockingStages()) {
// set docked
dt.ship->SetDockedWith(this, i);
LuaEvent::Queue("onShipDocked", dt.ship, this);
LockPort(i, false);
m_doorAnimationStep = -0.3; // close door
}
}
m_doorAnimationState = Clamp(m_doorAnimationState + m_doorAnimationStep*timeStep, 0.0, 1.0);
if (m_doorAnimation)
m_doorAnimation->SetProgress(m_doorAnimationState);
}
