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Refactor roll/pitch/yaw application

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- set stick_roll rather than flightRoll (yaw, pitch) in flight routines
 - use single applySticks function to replace copy/paste code in other routines for stick -> actual translations
 - use simpler applyAttitudeChanges function to simplify repeated calculation
(This is probably not entirely bug free yet)


git-svn-id: http://svn.berlios.de/svnroot/repos/oolite-linux/trunk@4981 127b21dd-08f5-0310-b4b7-95ae10353056
This commit is contained in:
Chris Morris 2012-06-05 10:05:58 +00:00
parent 4daccfad80
commit 6b3af405e9
3 changed files with 171 additions and 216 deletions
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7
src/Core/Entities/ShipEntity.h
View File

@ -203,6 +203,10 @@ typedef enum
OOUniversalID primaryTarget; // for combat or rendezvous
GLfloat desired_range; // range to which to journey/scan
GLfloat desired_speed; // speed at which to travel
// next three used to set desired attitude, flightRoll etc. gradually catch up to target
GLfloat stick_roll; // stick roll
GLfloat stick_pitch; // stick pitch
GLfloat stick_yaw; // stick yaw
OOBehaviour behaviour; // ship's behavioural state
BoundingBox totalBoundingBox; // records ship configuration
@ -652,6 +656,7 @@ _lightsActive: 1;
- (BOOL) isJammingScanning;
- (void) applyThrust:(double) delta_t;
- (void) applyAttitudeChanges:(double) delta_t;
- (void) avoidCollision;
- (void) resumePostProximityAlert;
@ -757,6 +762,8 @@ _lightsActive: 1;
- (void) setRoll:(double) amount;
- (void) setPitch:(double) amount;
- (void) setThrust:(double) amount;
- (void) applySticks:(double)delta_t;
- (void)setThrustForDemo:(float)factor;

376
src/Core/Entities/ShipEntity.m
View File

@ -2042,7 +2042,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
{
// ignore behaviour just keep moving...
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
if (energy < maxEnergy)
{
@ -2083,7 +2083,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
if ([self status] == STATUS_COCKPIT_DISPLAY)
{
flightYaw = 0.0;
[self applyRoll: delta_t * flightRoll andClimb: delta_t * flightPitch];
[self applyAttitudeChanges:delta_t];
GLfloat range2 = 0.1 * distance2(position, destination) / (collision_radius * collision_radius);
if ((range2 > 1.0)||(velocity.z > 0.0)) range2 = 1.0;
position = vector_add(position, vector_multiply_scalar(velocity, range2 * delta_t));
@ -3233,52 +3233,45 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
// //
- (void) behaviour_stop_still:(double) delta_t
{
double damping = 0.5 * delta_t;
// damp roll
if (flightRoll < 0)
flightRoll += (flightRoll < -damping) ? damping : -flightRoll;
if (flightRoll > 0)
flightRoll -= (flightRoll > damping) ? damping : flightRoll;
// damp pitch
if (flightPitch < 0)
flightPitch += (flightPitch < -damping) ? damping : -flightPitch;
if (flightPitch > 0)
flightPitch -= (flightPitch > damping) ? damping : flightPitch;
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
stick_roll = 0.0;
stick_pitch = 0.0;
stick_yaw = 0.0;
[self applySticks:delta_t];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
- (void) behaviour_idle:(double) delta_t
{
double damping = 0.5 * delta_t;
stick_yaw = 0.0;
if ((!isStation)&&(scanClass != CLASS_BUOY))
{
// damp roll
if (flightRoll < 0)
flightRoll += (flightRoll < -damping) ? damping : -flightRoll;
if (flightRoll > 0)
flightRoll -= (flightRoll > damping) ? damping : flightRoll;
stick_roll = 0.0;
}
else
{
stick_roll = flightRoll;
}
if (scanClass != CLASS_BUOY)
{
// damp pitch
if (flightPitch < 0)
flightPitch += (flightPitch < -damping) ? damping : -flightPitch;
if (flightPitch > 0)
flightPitch -= (flightPitch > damping) ? damping : flightPitch;
stick_pitch = 0.0;
}
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
else
{
stick_pitch = flightPitch;
}
[self applySticks:delta_t];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
- (void) behaviour_tumble:(double) delta_t
{
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applySticks:delta_t];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -3293,7 +3286,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
double distance = [self rangeToDestination];
if (distance < desired_range)
{
behaviour = BEHAVIOUR_TUMBLE;
[self performTumble];
[self setStatus:STATUS_IN_FLIGHT];
[hauler scoopUp:self];
return;
@ -3357,8 +3350,10 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
}
}
// being tractored; sticks ignored - CIM
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
desired_speed = 0.0;
thrust = 25.0; // used to damp velocity (must be less than hauler thrust)
[self applyThrust:delta_t];
@ -3373,13 +3368,13 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
[self noteLostTargetAndGoIdle];
return;
}
[self trackPrimaryTarget:delta_t:NO];
[self trackPrimaryTarget:delta_t:NO]; // applies sticks
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
{
[self avoidCollision];
}
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -3453,8 +3448,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
[self avoidCollision];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -3491,7 +3486,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -3527,7 +3522,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -3669,8 +3664,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
frustration = 0.0; // behaviour changed, so reset frustration
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -3729,8 +3724,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
frustration = 0.0; // behaviour changed, so reset frustration
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -3762,7 +3757,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
if (range > COMBAT_BROADSIDE_RANGE_FACTOR * currentWeaponRange)
{
behaviour = BEHAVIOUR_CLOSE_TO_BROADSIDE_RANGE;
[self applyRoll:delta_t*flightRoll climb:delta_t*flightPitch andYaw:delta_t*flightYaw];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
return;
}
@ -3866,7 +3861,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
{
[self fireStarboardWeapon:range];
}
[self applyRoll:delta_t*flightRoll climb:delta_t*flightPitch andYaw:delta_t*flightYaw];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
if (weapon_temp > COMBAT_AI_WEAPON_TEMP_USABLE)
@ -4047,8 +4042,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
if (cloakAutomatic) [self activateCloakingDevice];
[self fireMainWeapon:range];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
if (weapon_temp > COMBAT_AI_WEAPON_TEMP_USABLE)
@ -4086,8 +4080,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
[self trackPrimaryTarget:delta_t:NO];
[self fireMainWeapon:range];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4179,8 +4172,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
if (cloakAutomatic) [self activateCloakingDevice];
[self fireMainWeapon:range];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
if (weapon_temp > COMBAT_AI_WEAPON_TEMP_USABLE && accuracy >= COMBAT_AI_ISNT_AWFUL)
@ -4250,8 +4242,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
if (cloakAutomatic) [self activateCloakingDevice];
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
[self avoidCollision];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4282,8 +4273,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
if (cloakAutomatic) [self activateCloakingDevice];
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
[self avoidCollision];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
if (weapon_temp > COMBAT_AI_WEAPON_TEMP_USABLE)
@ -4349,8 +4340,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
if (([(ShipEntity *)[self primaryTarget] primaryTarget] == self)&&(missiles > missile_chance * hurt_factor))
[self fireMissile];
if (cloakAutomatic) [self activateCloakingDevice];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4375,8 +4366,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
[self avoidCollision];
}
frustration = 0.0;
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4427,8 +4418,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
[self avoidCollision];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4469,8 +4460,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
[self avoidCollision];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4521,8 +4512,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
[self avoidCollision];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4587,8 +4578,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
[self avoidCollision];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4608,8 +4599,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
[self trackDestination:delta_t:YES];
if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
[self avoidCollision];
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4634,8 +4625,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
// (tested with boa class cruiser on collisioncourse with buoy)
desired_speed = maxFlightSpeed * (0.5 * dq + 0.5);
}
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
[self applyThrust:delta_t];
}
@ -4779,8 +4770,8 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
}
}
flightYaw = 0.0;
[self applyRoll:delta_t*flightRoll andClimb:delta_t*flightPitch];
[self applyAttitudeChanges:delta_t];
GLfloat temp = desired_speed;
desired_speed *= v0 * v0;
[self applyThrust:delta_t];
@ -5189,6 +5180,12 @@ static GLfloat scripted_color[4] = { 0.0, 0.0, 0.0, 0.0}; // to be defined by s
}
- (void) applyAttitudeChanges:(double) delta_t
{
[self applyRoll:flightRoll*delta_t climb:flightPitch*delta_t andYaw:flightYaw*delta_t];
}
- (void) avoidCollision
{
if (scanClass == CLASS_MISSILE)
@ -6221,6 +6218,63 @@ NSComparisonResult ComparePlanetsBySurfaceDistance(id i1, id i2, void* context)
}
- (void) applySticks:(double)delta_t
{
double rate1 = 2.0 * delta_t; //roll
double rate2 = 4.0 * delta_t; //pitch
double rate3 = 4.0 * delta_t; //yaw
if (((stick_roll > 0.0)&&(flightRoll < 0.0))||((stick_roll < 0.0)&&(flightRoll > 0.0)))
rate1 *= 4.0; // much faster correction
if (((stick_pitch > 0.0)&&(flightPitch < 0.0))||((stick_pitch < 0.0)&&(flightPitch > 0.0)))
rate2 *= 4.0; // much faster correction
if (((stick_yaw > 0.0)&&(flightYaw < 0.0))||((stick_yaw < 0.0)&&(flightYaw > 0.0)))
rate3 *= 4.0; // much faster correction
// apply stick movement limits
if (flightRoll < stick_roll - rate1)
{
flightRoll = flightRoll + rate1;
}
else if (flightRoll > stick_roll + rate1)
{
flightRoll = flightRoll - rate1;
}
else
{
flightRoll = stick_roll;
}
if (flightPitch < stick_pitch - rate1)
{
flightPitch = flightPitch + rate1;
}
else if (flightPitch > stick_pitch + rate1)
{
flightPitch = flightPitch - rate1;
}
else
{
flightPitch = stick_pitch;
}
if (flightYaw < stick_yaw - rate1)
{
flightYaw = flightYaw + rate1;
}
else if (flightYaw > stick_yaw + rate1)
{
flightYaw = flightYaw - rate1;
}
else
{
flightYaw = stick_yaw;
}
}
- (void) setRoll:(double) amount
{
flightRoll = amount * M_PI / 2.0;
@ -7767,6 +7821,10 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
flightRoll = 0.0;
flightPitch = 0.0;
flightYaw = 0.0;
stick_roll = 0.0;
stick_pitch = 0.0;
stick_yaw = 0.0;
}
@ -7876,8 +7934,8 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
- (void) evasiveAction:(double) delta_t
{
double stick_roll = flightRoll; //desired roll and pitch
double stick_pitch = flightPitch;
stick_roll = flightRoll; //desired roll and pitch
stick_pitch = flightPitch;
if (stick_roll >= 0.0) {
stick_roll = max_flight_roll;
@ -7889,28 +7947,8 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
} else {
stick_pitch = -max_flight_pitch;
}
double rate2 = 4.0 * delta_t;
double rate1 = 2.0 * delta_t;
if (((stick_roll > 0.0)&&(flightRoll < 0.0))||((stick_roll < 0.0)&&(flightRoll > 0.0)))
rate1 *= 4.0; // much faster correction
if (((stick_pitch > 0.0)&&(flightPitch < 0.0))||((stick_pitch < 0.0)&&(flightPitch > 0.0)))
rate2 *= 4.0; // much faster correction
// apply stick movement limits
if (flightRoll < stick_roll - rate1)
stick_roll = flightRoll + rate1;
if (flightRoll > stick_roll + rate1)
stick_roll = flightRoll - rate1;
if (flightPitch < stick_pitch - rate2)
stick_pitch = flightPitch + rate2;
if (flightPitch > stick_pitch + rate2)
stick_pitch = flightPitch - rate2;
// apply stick to attitude control
flightRoll = stick_roll;
flightPitch = stick_pitch;
[self applySticks:delta_t];
}
@ -8002,11 +8040,8 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
double max_cos = sqrt(1 - targetRadius*targetRadius/range2);
double rate2 = 4.0 * delta_t;
double rate1 = 2.0 * delta_t;
double stick_roll = 0.0; //desired roll and pitch
double stick_pitch = 0.0;
stick_roll = 0.0; //desired roll and pitch
stick_pitch = 0.0;
double reverse = (retreat)? -1.0: 1.0;
@ -8098,28 +8133,9 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
*/
// end rule-of-thumb manoeuvres
// apply 'quick-stop' to roll and pitch adjustments
if (((stick_roll > 0.0)&&(flightRoll < 0.0))||((stick_roll < 0.0)&&(flightRoll > 0.0)))
rate1 *= 4.0; // much faster correction
if (((stick_pitch > 0.0)&&(flightPitch < 0.0))||((stick_pitch < 0.0)&&(flightPitch > 0.0)))
rate2 *= 4.0; // much faster correction
// apply stick movement limits
if (flightRoll < stick_roll - rate1)
stick_roll = flightRoll + rate1;
if (flightRoll > stick_roll + rate1)
stick_roll = flightRoll - rate1;
if (flightPitch < stick_pitch - rate2)
stick_pitch = flightPitch + rate2;
if (flightPitch > stick_pitch + rate2)
stick_pitch = flightPitch - rate2;
// apply stick to attitude control
flightRoll = stick_roll;
flightPitch = stick_pitch;
flightYaw = 0.0;
stick_yaw = 0.0;
[self applySticks:delta_t];
if (retreat)
d_forward *= d_forward; // make positive AND decrease granularity
@ -8176,13 +8192,9 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
double max_cos = sqrt(1 - targetRadius*targetRadius/range2);
double rate3 = 4.0 * delta_t;
double rate2 = 4.0 * delta_t;
double rate1 = 2.0 * delta_t;
double stick_roll = 0.0; //desired roll and pitch
double stick_pitch = 0.0;
double stick_yaw = 0.0;
stick_roll = 0.0; //desired roll and pitch
stick_pitch = 0.0;
stick_yaw = 0.0;
double reverse = (leftside)? -1.0: 1.0;
@ -8208,19 +8220,6 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
stick_roll = 0.0;
stick_yaw = 0.0;
/*
if ((fabs(d_forward) > 0.5) && !pitching_over) // we're going the wrong way!
pitching_over = YES;
if (pitching_over)
{
if (d_up > 0) // pitch up
stick_pitch = max_flight_pitch;
else
stick_pitch = -max_flight_pitch;
pitching_over = (fabs(d_forward) < 0.2);
}
*/
// check if we are flying toward the destination..
if ((d_right * reverse < max_cos)) // not on course so we must adjust controls..
{
@ -8270,33 +8269,7 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
// end rule-of-thumb manoeuvres
// apply 'quick-stop' to roll and pitch adjustments
if (((stick_roll > 0.0)&&(flightRoll < 0.0))||((stick_roll < 0.0)&&(flightRoll > 0.0)))
rate1 *= 4.0; // much faster correction
if (((stick_yaw > 0.0)&&(flightYaw < 0.0))||((stick_yaw < 0.0)&&(flightYaw > 0.0)))
rate2 *= 4.0; // much faster correction
if (((stick_pitch > 0.0)&&(flightPitch < 0.0))||((stick_pitch < 0.0)&&(flightPitch > 0.0)))
rate3 *= 4.0; // much faster correction
// apply stick movement limits
if (flightRoll < stick_roll - rate1)
stick_roll = flightRoll + rate1;
if (flightRoll > stick_roll + rate1)
stick_roll = flightRoll - rate1;
if (flightYaw < stick_yaw - rate2)
stick_yaw = flightYaw + rate2;
if (flightYaw > stick_yaw + rate2)
stick_yaw = flightYaw - rate2;
if (flightPitch < stick_pitch - rate3)
stick_pitch = flightPitch + rate3;
if (flightPitch > stick_pitch + rate3)
stick_pitch = flightPitch - rate3;
// apply stick to attitude control
flightRoll = stick_roll;
flightPitch = stick_pitch;
flightYaw = stick_yaw;
[self applySticks:delta_t];
if ((!flightPitch)&&(!flightYaw)) // no correction
return 1.0;
@ -8317,11 +8290,10 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
return 0.0;
double damping = 0.5 * delta_t;
double rate2 = 4.0 * delta_t;
double rate1 = 2.0 * delta_t;
double stick_roll = 0.0; //desired roll and pitch
double stick_pitch = 0.0;
stick_roll = 0.0; //desired roll and pitch
stick_pitch = 0.0;
stick_yaw = 0.0;
relPos = vector_subtract(target->position, position);
@ -8385,6 +8357,7 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
// end rule-of-thumb manoeuvres
// TODO: check this
// apply damping
if (flightRoll < 0)
flightRoll += (flightRoll < -damping) ? damping : -flightRoll;
@ -8395,19 +8368,8 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
if (flightPitch > 0)
flightPitch -= (flightPitch > damping) ? damping : flightPitch;
// apply stick movement limits
if (flightRoll + rate1 < stick_roll)
stick_roll = flightRoll + rate1;
if (flightRoll - rate1 > stick_roll)
stick_roll = flightRoll - rate1;
if (flightPitch + rate2 < stick_pitch)
stick_pitch = flightPitch + rate2;
if (flightPitch - rate2 > stick_pitch)
stick_pitch = flightPitch - rate2;
// apply stick to attitude
flightRoll = stick_roll;
flightPitch = stick_pitch;
[self applySticks:delta_t];
//
// return target confidence 0.0 .. 1.0
@ -8425,11 +8387,9 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
BOOL we_are_docking = (nil != dockingInstructions);
double rate2 = 4.0 * delta_t;
double rate1 = 2.0 * delta_t;
double stick_roll = 0.0; //desired roll and pitch
double stick_pitch = 0.0;
stick_roll = 0.0; //desired roll and pitch
stick_pitch = 0.0;
stick_yaw = 0.0;
double reverse = 1.0;
double reversePlayer = 1.0;
@ -8543,25 +8503,7 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
// end rule-of-thumb manoeuvres
// apply 'quick-stop' to roll and pitch adjustments
if (((stick_roll > 0.0)&&(flightRoll < 0.0))||((stick_roll < 0.0)&&(flightRoll > 0.0)))
rate1 *= 4.0; // much faster correction
if (((stick_pitch > 0.0)&&(flightPitch < 0.0))||((stick_pitch < 0.0)&&(flightPitch > 0.0)))
rate2 *= 4.0; // much faster correction
// apply stick movement limits
if (flightRoll < stick_roll - rate1)
stick_roll = flightRoll + rate1;
if (flightRoll > stick_roll + rate1)
stick_roll = flightRoll - rate1;
if (flightPitch < stick_pitch - rate2)
stick_pitch = flightPitch + rate2;
if (flightPitch > stick_pitch + rate2)
stick_pitch = flightPitch - rate2;
// apply stick to attitude control
flightRoll = stick_roll;
flightPitch = stick_pitch;
[self applySticks:delta_t];
if (retreat)
d_forward *= d_forward; // make positive AND decrease granularity
@ -10198,7 +10140,7 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
}
[cargo insertObject:other atIndex:0]; // places most recently scooped object at eject position
[other setStatus:STATUS_IN_HOLD];
[other setBehaviour:BEHAVIOUR_TUMBLE];
[other performTumble];
// next event is not yet documented on the wiki. Should it not become: shipScoopedCargo, for consistency?
[self doScriptEvent:OOJSID("cargoScooped") withArguments:[NSArray arrayWithObjects:CommodityTypeToString(co_type), [NSNumber numberWithInt:co_amount], nil]];
[shipAI message:@"CARGO_SCOOPED"];
@ -10622,8 +10564,14 @@ Vector positionOffsetForShipInRotationToAlignment(ShipEntity* ship, Quaternion q
// all ships exiting witchspace will share the same orientation.
orientation = [UNIVERSE getWitchspaceExitRotation];
flightRoll = 0.0;
stick_roll = 0.0;
flightPitch = 0.0;
flightSpeed = maxFlightSpeed * 0.25;
stick_pitch = 0.0;
flightYaw = 0.0;
stick_yaw = 0.0;
flightSpeed = 0.05; // constant speed same for all ships
// was a quarter of max speed, so the Anaconda speeds up and most
// others slow down - CIM
velocity = kZeroVector;
if (![UNIVERSE addEntity:self]) // AI and status get initialised here
{

4
src/Core/Entities/ShipEntityAI.m
View File

@ -317,8 +317,8 @@
- (void) performTumble
{
flightRoll = max_flight_roll*2.0*(randf() - 0.5);
flightPitch = max_flight_pitch*2.0*(randf() - 0.5);
stick_roll = max_flight_roll*2.0*(randf() - 0.5);
stick_pitch = max_flight_pitch*2.0*(randf() - 0.5);
behaviour = BEHAVIOUR_TUMBLE;
frustration = 0.0;
}