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/* Starshatter: The Open Source Project
Copyright (c) 2021-2022, Starshatter: The Open Source Project Contributors
Copyright (c) 2011-2012, Starshatter OpenSource Distribution Contributors
Copyright (c) 1997-2006, Destroyer Studios LLC.
AUTHOR: John DiCamillo
OVERVIEW
========
Flight Computer System class
*/
#include "FlightComp.h"
#include "Ship.h"
#include "ShipDesign.h"
#include "Thruster.h"
// +----------------------------------------------------------------------+
FlightComp::FlightComp(int comp_type, const char* comp_name)
: Computer(comp_type, comp_name), mode(0), vlimit(0.0f),
trans_x_limit(0.0f), trans_y_limit(0.0f), trans_z_limit(0.0f),
throttle(0.0f), halt(0)
{ }
// +----------------------------------------------------------------------+
FlightComp::FlightComp(const Computer& c)
: Computer(c), mode(0), vlimit(0.0f),
trans_x_limit(0.0f), trans_y_limit(0.0f), trans_z_limit(0.0f),
throttle(0.0f), halt(0)
{ }
// +--------------------------------------------------------------------+
FlightComp::~FlightComp()
{ }
// +--------------------------------------------------------------------+
void
FlightComp::SetTransLimit(double x, double y, double z)
{
trans_x_limit = 0.0f;
trans_y_limit = 0.0f;
trans_z_limit = 0.0f;
if (x >= 0) trans_x_limit = (float) x;
if (y >= 0) trans_y_limit = (float) y;
if (z >= 0) trans_z_limit = (float) z;
}
// +--------------------------------------------------------------------+
void
FlightComp::ExecSubFrame()
{
if (ship) {
ExecThrottle();
ExecTrans();
}
}
// +--------------------------------------------------------------------+
void
FlightComp::ExecThrottle()
{
throttle = (float) ship->Throttle();
if (throttle > 5)
halt = false;
}
// +--------------------------------------------------------------------+
void
FlightComp::ExecTrans()
{
double tx = ship->TransX();
double ty = ship->TransY();
double tz = ship->TransZ();
double trans_x = tx;
double trans_y = ty;
double trans_z = tz;
bool flcs_operative = false;
if (IsPowerOn())
flcs_operative = Status() == System::NOMINAL ||
Status() == System::DEGRADED;
// ----------------------------------------------------------
// FIGHTER FLCS AUTO MODE
// ----------------------------------------------------------
if (mode == Ship::FLCS_AUTO) {
// auto thrust to align flight path with orientation:
if (tx == 0) {
if (flcs_operative)
trans_x = (ship->Velocity() * ship->BeamLine() * -200);
else
trans_x = 0;
}
// manual thrust up to vlimit/2:
else {
double vfwd = ship->BeamLine() * ship->Velocity();
if (fabs(vfwd)>= vlimit) {
if (trans_x > 0 && vfwd > 0)
trans_x = 0;
else if (trans_x < 0 && vfwd < 0)
trans_x = 0;
}
}
if (halt && flcs_operative) {
if (ty == 0) {
double vfwd = ship->Heading() * ship->Velocity();
double vmag = fabs(vfwd);
if (vmag > 0) {
if (vfwd > 0)
trans_y = -trans_y_limit;
else
trans_y = trans_y_limit;
if (vfwd < vlimit/2)
trans_y *= (vmag/(vlimit/2));
}
}
}
// auto thrust to align flight path with orientation:
if (tz == 0) {
if (flcs_operative)
trans_z = (ship->Velocity() * ship->LiftLine() * -200);
else
trans_z = 0;
}
// manual thrust up to vlimit/2:
else {
double vfwd = ship->LiftLine() * ship->Velocity();
if (fabs(vfwd) >= vlimit) {
if (trans_z > 0 && vfwd > 0)
trans_z = 0;
else if (trans_z < 0 && vfwd < 0)
trans_z = 0;
}
}
}
// ----------------------------------------------------------
// STARSHIP HELM MODE
// ----------------------------------------------------------
else if (mode == Ship::FLCS_HELM) {
if (flcs_operative) {
double compass_heading = ship->CompassHeading();
double compass_pitch = ship->CompassPitch();
// rotate helm into compass orientation:
double helm = ship->GetHelmHeading() - compass_heading;
if (helm > PI)
helm -= 2*PI;
else if (helm < -PI)
helm += 2*PI;
// turn to align with helm heading:
if (helm != 0)
ship->ApplyYaw(helm);
// pitch to align with helm pitch:
if (compass_pitch != ship->GetHelmPitch())
ship->ApplyPitch(compass_pitch - ship->GetHelmPitch());
// roll to align with world coordinates:
if (ship->Design()->auto_roll > 0) {
Point vrt = ship->Cam().vrt();
double deflection = vrt.y;
if (fabs(helm) < PI/16 || ship->Design()->turn_bank < 0.01) {
if (ship->Design()->auto_roll > 1) {
ship->ApplyRoll(0.5);
}
else if (deflection != 0) {
double theta = asin(deflection);
ship->ApplyRoll(-theta);
}
}
// else roll through turn maneuvers:
else {
double desired_bank = ship->Design()->turn_bank;
if (helm >= 0)
desired_bank = -desired_bank;
double current_bank = asin(deflection);
double theta = desired_bank - current_bank;
ship->ApplyRoll(theta);
// coordinate the turn:
if (current_bank < 0 && desired_bank < 0 ||
current_bank > 0 && desired_bank > 0) {
double coord_pitch = compass_pitch
- ship->GetHelmPitch()
- fabs(helm) * fabs(current_bank);
ship->ApplyPitch(coord_pitch);
}
}
}
}
// flcs inoperative, set helm heading based on actual compass heading:
else {
ship->SetHelmHeading(ship->CompassHeading());
ship->SetHelmPitch(ship->CompassPitch());
}
// auto thrust to align flight path with helm order:
if (tx == 0) {
if (flcs_operative)
trans_x = (ship->Velocity() * ship->BeamLine() * ship->Mass() * -1);
else
trans_x = 0;
}
// manual thrust up to vlimit/2:
else {
double vfwd = ship->BeamLine() * ship->Velocity();
if (fabs(vfwd) >= vlimit/2) {
if (trans_x > 0 && vfwd > 0)
trans_x = 0;
else if (trans_x < 0 && vfwd < 0)
trans_x = 0;
}
}
if (trans_y == 0 && halt) {
double vfwd = ship->Heading() * ship->Velocity();
double vdesired = 0;
if (vfwd > vdesired) {
trans_y = -trans_y_limit;
if (!flcs_operative)
trans_y = 0;
double vdelta = vfwd-vdesired;
if (vdelta < vlimit/2)
trans_y *= (vdelta/(vlimit/2));
}
}
// auto thrust to align flight path with helm order:
if (tz == 0) {
if (flcs_operative)
trans_z = (ship->Velocity() * ship->LiftLine() * ship->Mass() * -1);
else
trans_z = 0;
}
// manual thrust up to vlimit/2:
else {
double vfwd = ship->LiftLine() * ship->Velocity();
if (fabs(vfwd) > vlimit/2) {
if (trans_z > 0 && vfwd > 0)
trans_z = 0;
else if (trans_z < 0 && vfwd < 0)
trans_z = 0;
}
}
}
if (ship->GetThruster()) {
ship->GetThruster()->ExecTrans(trans_x, trans_y, trans_z);
}
else {
ship->SetTransX(trans_x);
ship->SetTransY(trans_y);
ship->SetTransZ(trans_z);
}
}
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