Enhancements to plane behavior. Support accelerate/decelerate
This commit is contained in:
Erkki Seppälä
parent
587b987577
commit
2306a4cb0a
1 changed files with 80 additions and 26 deletions
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@ -15,27 +15,34 @@ local function sign(v)
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end
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end
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local lift = function(angle)
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return 1.68429 * math.exp(-math.pow(angle / math.pi * 180.0 -17.3801, 2.0) / (2.0 * math.pow(15.0, 2.0)))
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end
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local fwd_frict_coeff = 0.2
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local nor_frict_coeff = 2.0
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local tail_frict_coeff = 0.5
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local head_area = 1.0
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local plane_area = 10.0
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local tail_area = 0.2
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local turn_speed = 0.2
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local turn_speed = 0.2 * 1000
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local wing_lift = 0.1
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local accel_speed = 1000.0
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local decel_speed = 2000.0
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local max_motorPower = 4000.0
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Plane = Class{
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__includes = PhysicsEntity,
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img = nil,
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motor_power = 500,
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motorPower = 0,
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debugVectors = {},
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turningCw = false,
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turningCcw = false,
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accelerating = false,
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decelerating = false,
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init = function(self, x, y, level)
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local density = 50
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PhysicsEntity.init(self, x, y, level, "dynamic", 0.2)
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@ -45,6 +52,7 @@ Plane = Class{
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PhysicsEntity.attachShape(self, density)
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self.body:setX(self.x + self.xsize / 2)
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self.body:setY(self.y - self.ysize / 2)
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self.body:setAngle(math.pi / 2)
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self.angle = 0
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self.img = love.graphics.newImage("resources/graphics/box-50x50.png");
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@ -61,6 +69,14 @@ Plane = Class{
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return {x + pos[1], y + pos[2]}
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end;
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accelerate = function(self, down)
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self.accelerating = down
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end;
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decelerate = function(self, down)
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self.decelerating = down
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end;
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shoot = function(self, down)
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if down then
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self.machinegun:startShooting()
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@ -78,30 +94,64 @@ Plane = Class{
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self.angle = self.body:getAngle()
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local vel_x, vel_y = self.body:getLinearVelocity()
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local abs_vel = VectorLight.len2(vel_x, vel_y)
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local abs_vel = VectorLight.len(vel_x, vel_y)
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if self.accelerating then
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self.motorPower = math.min(max_motorPower, self.motorPower + dt * accel_speed)
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end
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if self.decelerating then
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self.motorPower = math.max(0.0, self.motorPower - dt * accel_speed)
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end
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-- -- local base =
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-- let base = V.base (V.vec_of_ang (~-(body#get_angle))) in
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local base = Matrix{{math.cos(-self.angle), math.sin(-self.angle)}, {math.cos(-self.angle + math.pi / 2), math.sin(-self.angle + math.pi / 2)}}
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local basde = Matrix{{math.cos(-self.angle),
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math.sin(-self.angle)},
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{math.cos(-self.angle + math.pi / 2),
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math.sin(-self.angle + math.pi / 2)}}
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local to_base = function(x, y)
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return Matrix.mul(Matrix{{x}, {y}}, base)
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local m = Matrix.mul(basde, Matrix{{x}, {y}})
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-- print("to_base", x, y, "->", Matrix.tostring(m), " = ", m[1][1], m[2][1])
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return m
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end
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-- print("-")
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-- print(Matrix.tostring(base))
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local fwd_x, fwd_y = VectorLight.rotate(self.angle, 1, 0)
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local normal_x, normal_y = VectorLight.rotate(self.angle, 0, 1)
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local normal_unit_x, normal_unit_y = VectorLight.div(VectorLight.len(normal_x, normal_y), normal_x, normal_y)
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local normal_x, normal_y = VectorLight.perpendicular(fwd_x, fwd_y)
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local fwd_vel = VectorLight.dot(vel_x, vel_y, fwd_x, fwd_y)
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local normal_vel = VectorLight.dot(vel_x, vel_y, normal_x, normal_y)
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-- print("fwd_vel", fwd_vel, "normal_vel", normal_vel, "vel_x", vel_x, "vel_y", vel_y, "normal_x", normal_x, "normal_y", normal_y)
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table.insert(debugVectors, DebugVector("vel", self.body:getX(), self.body:getY(), vel_x, vel_y))
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table.insert(debugVectors, DebugVector("fwd", self.body:getX(), self.body:getY(), fwd_x, fwd_y))
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table.insert(debugVectors, DebugVector("normal", self.body:getX(), self.body:getY(), normal_x, normal_y))
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local tail_speed = self.body:getAngularVelocity() * math.pi * 2.0 * self.xsize / 2.0
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local tail_vel = to_base(0, tail_speed) -- hmm?! not tail_speed, 0?
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local abs_tail_vel_x, abs_tail_vel_y = VectorLight.add(vel_x, vel_y, tail_vel[1][1], tail_vel[2][1])
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table.insert(debugVectors, DebugVector("tail", self.body:getX(), self.body:getY(), tail_vel[1][1], tail_vel[2][1]))
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--print("absolute tail veloicty: ", abs_tail_vel_x, abs_tail_vel_y)
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local head_angle = self.angle
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local rel_force = function(label, force, at)
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self.body:applyForce(force, at)
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local rel_force = function(label, force_x, force_y, rel_at_x, rel_at_y)
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-- rdx, rdy = VectorLight.add(rdx, rdy, self.body:getX(), self.body:getY())
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local base_force = to_base(force_x, force_y)
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local base_rel_at = to_base(rel_at_x, rel_at_y)
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base_rel_at_x, base_rel_at_y = VectorLight.add(base_rel_at[1][1], base_rel_at[2][1], self.body:getX(), self.body:getY())
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self.body:applyForce(base_force[1][1], base_force[2][1], base_rel_at_x, base_rel_at_y)
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at_x, at_y = VectorLight.add(base_rel_at_x, base_rel_at_y, base_force[1][1], base_force[2][1])
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--print(at_x, at_y)
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-- print("base matrix", Matrix.tostring(base))
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-- print("force", force_x, force_y)
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-- print("force after transformation", Matrix.tostring(to_base(force_x, force_y)))
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-- print("base_force", base_force[1][1], base_force[2][1])
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-- print("base_force'", Matrix.tostring(base_force))
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table.insert(debugVectors, DebugVector(label, base_rel_at_x, base_rel_at_y, base_force[1][1], base_force[2][1]))
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end
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local speed_angle
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@ -120,37 +170,41 @@ Plane = Class{
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air_wing_angle = tmp
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end
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local lift = function(angle)
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return 1.68429 * math.exp(-math.pow(angle / math.pi * 180.0 -17.3801, 2.0) / math.pow(2.0*15.0, 2.0))
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end
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local lift_coeff = lift(air_wing_angle)
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-- print("lift coeff: ", lift_coeff)
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-- motor
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local dx, dy = VectorLight.rotate(self.angle, self.motor_power * 10.0 * PIXELS_PER_METER, 0)
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local dx, dy = VectorLight.rotate(self.angle, self.motorPower * 10.0 * PIXELS_PER_METER, 0)
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self.body:applyForce(dx, dy);
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-- table.insert(debugVectors, DebugVector(self.body:getX(), self.body:getY(), dx, dy))
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-- Air friction (and drag?) opposes movement towards plane velocity normal also
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-- hdd drag
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local hddrag_x, hddrag_y = VectorLight.mul(nor_frict_coeff * math.pow(normal_vel, 2.0) * sign(normal_vel), -normal_unit_x, -normal_unit_y)
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-- self.body:applyForce()
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local hddrag_x, hddrag_y = VectorLight.mul(nor_frict_coeff * math.pow(normal_vel, 2.0) * sign(normal_vel), 0, -1.0)
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local b = to_base(-1.0, 0.0)
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self.body:applyForce(hddrag_x, hddrag_y, b[1][1], b[2][1])
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rel_force("hddrag", hddrag_x, hddrag_y, -self.xsize / 2, 0);
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-- self.body:applyForce(hddrag_x, hddrag_y, b[1][1], b[2][1])
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local lift_x, lift_y = VectorLight.mul(wing_lift * math.pow(fwd_vel, 2.0) * lift_coeff, normal_unit_x, normal_unit_y)
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local lift_x, lift_y = VectorLight.mul(wing_lift * math.pow(fwd_vel, 2.0) * lift_coeff, normal_x, normal_y)
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self.body:applyForce(lift_x, lift_y, self.body:getX(), self.body:getY())
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-- if self.turningCcw then
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-- dx, dy = VectorLight.rotate(self.angle, 0, 50000)
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-- elseif self.turningCw then
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-- dx, dy = VectorLight.rotate(self.angle, 0, -50000)
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-- end
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if self.turningCcw then
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dx, dy = VectorLight.rotate(self.angle, 0, 50000)
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dx, dy = 0, turn_speed * dt
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elseif self.turningCw then
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dx, dy = VectorLight.rotate(self.angle, 0, -50000)
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dx, dy = 0, -turn_speed * dt
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end
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if self.turningCw or self.turningCcw then
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dx, dy = VectorLight.mul(turn_speed * math.pow(tail_speed, 2.0) * sign(tail_speed), dx, dy)
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-- print("dx", dx, "dy", dy, "tail_speed", tail_speed)
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-- self.body:applyForce(dx, dy, self.body:getX() + rdx, self.body:getY() + rdy)
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rel_force("turn", dx, dy, -self.xsize / 2, 0);
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end
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local rdx, rdy = VectorLight.rotate(self.angle, self.xsize / 2, 0)
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self.body:applyForce(dx, dy, self.body:getX() + rdx, self.body:getY() + rdy)
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table.insert(debugVectors, DebugVector(self.body:getX() + rdx, self.body:getY() + rdy, dx, dy))
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-- print(dx, dy)
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-- table.insert(debugVectors, DebugVector(self.x + width / 2, self.y + height / 2, 0, -100))
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