public virtual void renewtoStart()
{
this.cmbt_loc = new PointXd(0, 0, 0);
this.cmbt_vel = new PointXd(0, 0, 0);
this.cmbt_head = new Compass(0);
this.cmbt_att = new Compass(0);
this.cmbt_thrust = new PointXd(0, 0, 0);
this.cmbt_accel = new PointXd(0, 0, 0);
strategy.renewtostart();
waypointTarget = null;
weaponTarget = new List <CombatObject>();
}
protected override Tuple <Compass, bool?> Nav(Compass angletoWaypoint)
{
Compass angletoturn = new Compass();
bool? thrustTowards = true;
CombatWaypoint wpt = this.waypointTarget;
angletoturn = new Compass(angletoWaypoint.Degrees - this.cmbt_head.Degrees, false);
PointXd vectortowaypoint = this.cmbt_loc - this.waypointTarget.cmbt_loc;
//this stuff doesn't actualy do anything yet:
Fix16 acceleration = maxfowardThrust / cmbt_mass;
Fix16 startSpeed = NMath.distance(cmbt_vel, wpt.cmbt_vel);
Fix16 distance = vectortowaypoint.Length;
Fix16 closingSpeed = NMath.closingRate(this.cmbt_loc, this.cmbt_vel, this.waypointTarget.cmbt_loc, this.waypointTarget.cmbt_vel);
Fix16 timetowpt = distance / closingSpeed;
Fix64[] ttt2 = NMath.quadratic64(acceleration, startSpeed, distance);
Fix16 TimetoTarget;
if (ttt2[2] == 1)
{
TimetoTarget = Fix16.Max((Fix16)ttt2[0], (Fix16)ttt2[1]);
}
else
{
TimetoTarget = (Fix16)ttt2[0];
}
Fix16 endV = startSpeed + acceleration * TimetoTarget;
//above doesn't actualy do anything yet.
#if DEBUG
Console.WriteLine("seeker ttt: " + TimetoTarget);
Console.WriteLine("timetowpt: " + timetowpt);
Console.WriteLine("seeker distance: " + distance);
Console.WriteLine("seeker startV: " + startSpeed);
Console.WriteLine("seeker endV: " + endV);
#endif
return(new Tuple <Compass, bool?>(angletoturn, thrustTowards));
}
public virtual void helm()
{
CombatWaypoint wpt = this.waypointTarget;
Compass angletoWaypoint = new Compass(this.cmbt_loc, this.waypointTarget.cmbt_loc); //relitive to me.
Tuple <Compass, bool?> nav = Nav(angletoWaypoint);
Compass angletoturn = nav.Item1;
bool? thrustToWaypoint = nav.Item2;
//PointXd vectortowaypoint = this.cmbt_loc - this.waypointTarget.cmbt_loc;
Fix16 acceleration = maxfowardThrust * cmbt_mass;
Fix16 startV = NMath.distance(cmbt_vel, wpt.cmbt_vel);
Fix16 distance = NMath.distance(cmbt_loc, wpt.cmbt_loc); // XXX - why is distance between (0,0,0) and (0,1000,0) equal to 181 in Combat_Helm0 test?!
Fix16[] ttt = NMath.quadratic(acceleration, startV, distance);
turnship(angletoturn, angletoWaypoint);
thrustship(angletoturn, true);
}
public override void calc(CombatObject comObj)
{
base.calc(comObj);
output = new CombatWaypoint((PointXd)inputs[0], (PointXd)inputs[1]);
}
public void calcWaypoint()
{
this.waypointTarget = this.strategy.calcWaypiont(this);
}
protected override Tuple <Compass, bool?> Nav(Compass angletoWaypoint)
{
#if DEBUG
Console.WriteLine("NAV FUNCTION FOR " + this.WorkingObject);
#endif
Compass angletoturn = new Compass();
bool? thrustToWaypoint = true;
this.debuginfo += "HelmInfo:" + "\r\n";
var ship = this.WorkingCombatant;
string name = ship.Name;
//rotate ship
Fix16 timetoturn = (Fix16)0;
//Compass angletoturn = new Compass(Trig.angleto(comObj.cmbt_face, comObj.waypointTarget.cmbt_loc));
CombatWaypoint wpt = this.waypointTarget;
#if DEBUG
Console.WriteLine("Waypoint is " + wpt);
#endif
angletoturn.Degrees = angletoWaypoint.Degrees - this.cmbt_head.Degrees;
var bearingToTurn = angletoturn.Degrees <= 180 ? angletoturn.Degrees : angletoturn.Degrees - 360;
PointXd vectortowaypoint = this.cmbt_loc - this.waypointTarget.cmbt_loc;
#if DEBUG
Console.WriteLine("Current location is " + cmbt_loc);
Console.WriteLine("Waypoint location is " + waypointTarget.cmbt_loc);
Console.WriteLine("So the vector to waypoint is " + vectortowaypoint);
Console.WriteLine("And the waypoint is " + vectortowaypoint.Length + " away.");
Console.WriteLine("Current velocity is " + cmbt_vel);
Console.WriteLine("Current speed is " + cmbt_vel.Length);
Console.WriteLine("Waypoint velocity is " + waypointTarget.cmbt_vel);
Console.WriteLine("So we need to change our velocity by " + (waypointTarget.cmbt_vel - cmbt_vel));
#endif
//if (comObj.lastVectortoWaypoint != null)
// angletoturn.Radians = Trig.angleA(vectortowaypoint - comObj.lastVectortoWaypoint);
timetoturn = (angletoturn.Degrees / this.maxRotate.Degrees); // seconds
Fix16 oneEightytime = (180 / this.maxRotate.Degrees); // seconds
#if DEBUG
Console.WriteLine("Current heading is " + cmbt_head);
Console.WriteLine("Angle to waypoint is " + angletoWaypoint);
Console.WriteLine("So we need to turn by " + bearingToTurn + " degrees");
Console.WriteLine("We can turn at " + this.maxRotate + " per second.");
Console.WriteLine("So we can rotate to face the target in " + timetoturn + " seconds.");
Console.WriteLine("And we can do a 180 in " + oneEightytime + " seconds.");
#endif
//PointXd offsetVector = comObj.waypointTarget.cmbt_vel - comObj.cmbt_vel; // O = a - b
//PointXd combinedVelocity = comObj.cmbt_vel - comObj.waypointTarget.cmbt_vel;
//PointXd distancePnt = comObj.waypointTarget.cmbt_loc - comObj.cmbt_loc;
//double closingSpeed = Trig.dotProduct(combinedVelocity, distancePnt);
Fix16 closingSpeed = NMath.closingRate(this.cmbt_loc, this.cmbt_vel, this.waypointTarget.cmbt_loc, this.waypointTarget.cmbt_vel);
#if DEBUG
Console.WriteLine("We are approaching/departing our target at a relative speed of " + closingSpeed);
#endif
Fix16 myspeed = this.cmbt_vel.Length; //seconds
Fix16 maxFowardAcceleration = this.maxfowardThrust / this.cmbt_mass; //seconds
Fix16 timetokill_ClosingSpeed = closingSpeed / maxFowardAcceleration; //t = v / a in seconds.
Fix16 maxStrafeAcceleration = this.maxStrafeThrust / this.cmbt_mass;
Fix16 timetokill_ClosingSpeed_strafe = closingSpeed / maxStrafeAcceleration; //in seconds.
Fix16 timetokill_MySpeed = myspeed / (this.maxfowardThrust / this.cmbt_mass); //in seconds.
#if DEBUG
Console.WriteLine("Forward/strafe accel is " + maxFowardAcceleration + "/" + maxStrafeAcceleration);
Console.WriteLine("Can kill closing speed in this many seconds using forward/strafe accel: " + timetokill_ClosingSpeed + "/" + timetokill_ClosingSpeed_strafe);
Console.WriteLine("Can come to a complete stop in " + timetokill_MySpeed + " seconds.");
#endif
Fix16 distance = vectortowaypoint.Length;
// TODO - should we divide by ticks per second here, so we can close in one tick?
Fix16 nominaldistance = maxStrafeAcceleration * timetokill_ClosingSpeed_strafe; //this.maxStrafeThrust; (I think this should be acceleration, not thrust.
//Fix16 nominaltime = strafetimetokill_ClosingSpeed
Fix16 timetowpt = distance / closingSpeed;
#if DEBUG
Console.WriteLine("Time to waypoint (if we were in a 1D universe): " + timetowpt);
#endif
string helmdo = "";
if (closingSpeed > (Fix16)0) //getting closer?
{
#if DEBUG
Console.WriteLine("***Approaching target!***");
#endif
/*if (timetowpt <= timetokill_ClosingSpeed_strafe) // close to the waypoint (within strafe thrust range)
* {
* thrustToWaypoint = null; // should attempt to match speed using strafe thrust
* }*/
if (timetowpt <= timetokill_ClosingSpeed + oneEightytime) // if/when we're going to overshoot the waypoint.
{
if (timetowpt < timetokill_ClosingSpeed_strafe) //if time to waypoint is less than time to kill speed with strafe thrusters
{
#if DEBUG
Console.WriteLine("***Going too fast! Slow down!***");
#endif
thrustToWaypoint = false; // thrust AWAY from the waypoint! slow down!
}
else
{
#if DEBUG
Console.WriteLine("***Going just the right speed...***");
#endif
helmdo = "null" + "\r\n";
thrustToWaypoint = null; // driiift! iiiin! spaaaace! should use only strafe thrust to match speed
}
}
else
{
#if DEBUG
Console.WriteLine("***We can go faster! Speed it up!***");
#endif
// accelerate toward the target, since we still have time to slow down later
thrustToWaypoint = true;
}
}
else
{
#if DEBUG
Console.WriteLine("***Not approaching target! Need to get closer!***");
#endif
thrustToWaypoint = true;// getting farther away or maintaining distance, just thrust toward the target
}
if (thrustToWaypoint == false)
{
helmdo = "Initiating Turnaround" + "\r\n"; //turn around and thrust the other way
angletoturn.Degrees = (angletoWaypoint.Degrees - (Fix16)180) - this.cmbt_head.Degrees; //turn around and thrust the other way
angletoturn.normalize();
}
else if (thrustToWaypoint == null)
{
// TODO - shouldn't this be using delta V between target and ship instead of target V?
// and shouldn't the angle be relative?
angletoturn.Radians = Trig.angleA(this.waypointTarget.cmbt_vel);
}
this.debuginfo += "timetowpt:\t" + timetowpt.ToString() + "\r\n";
this.debuginfo += "strafetime:\t" + timetokill_ClosingSpeed_strafe.ToString() + "\r\n";
this.debuginfo += "speedkilltime:\t" + timetokill_ClosingSpeed.ToString() + "\r\n";
this.debuginfo += "180time:\t" + oneEightytime.ToString() + "\r\n";
this.debuginfo += "ThrustTo:\t" + thrustToWaypoint.ToString() + "\r\n";
this.debuginfo += helmdo + "\r\n";
return(new Tuple <Compass, bool?>(angletoturn, thrustToWaypoint));
}
public CombatWaypoint calcWaypiont(CombatObject comObj)
{
CombatWaypoint wp = (CombatWaypoint)waypointObj.getNewOutput(comObj);
return(wp);
}
