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Torque Compensation for Strafe Input

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Adjusted thruster firing to compensate for torque introduced by uniform application of strafe input to lateral thrusters.
This commit is contained in:
Reinier Vens 2021-03-03 01:53:23 +00:00
commit fae3b85213
4 changed files with 165 additions and 34 deletions
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1
Assets/Scripts/ServerShared/Behaviors/Thruster.cs
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@ -61,6 +61,7 @@ public class Thruster : IAnalogBehavior
var itemCenter = hullData.Shape.Inset(itemData.Shape, item.Position, item.EquippableItem.Rotation).CenterOfMass;
var toCenter = hullCenter - itemCenter;
Torque = -dot(normalize(toCenter), float2(1, 0).Rotate(item.EquippableItem.Rotation));
Thrust = Context.Evaluate(_data.Thrust, Item.EquippableItem, Entity);
}
public bool Execute(float delta)

27
Assets/Scripts/ServerShared/Entity.cs
View file

@ -90,6 +90,8 @@ public abstract class Entity
public Subject<(int2 pos, float damage)> ArmorDamage = new Subject<(int2, float)>();
public Subject<(EquippedItem item, float damage)> ItemDamage = new Subject<(EquippedItem, float)>();
public Subject<EquippedItem> ItemOffline = new Subject<EquippedItem>();
public Subject<EquippedItem> ItemOnline = new Subject<EquippedItem>();
public Subject<float> HullDamage = new Subject<float>();
public Subject<Entity> Docked = new Subject<Entity>();
@ -474,25 +476,26 @@ public abstract class Entity
{
equippedItem = new EquippedItem(ItemManager, item, hullCoord, this);
Equipment.Add(equippedItem);
foreach (var b in equippedItem.Behaviors)
{
if(b is Capacitor capacitor)
_capacitors.Add(capacitor);
}
}
}
else
{
equippedItem = new EquippedItem(ItemManager, item, hullCoord, this);
Equipment.Add(equippedItem);
foreach (var b in equippedItem.Behaviors)
{
if (b is Weapon weapon)
_weapons.Add(weapon);
if(b is Reactor reactor)
_reactors.Add(reactor);
}
}
foreach (var b in equippedItem.Behaviors)
{
if (b is Weapon weapon)
_weapons.Add(weapon);
if(b is Capacitor capacitor)
_capacitors.Add(capacitor);
if(b is Reactor reactor)
_reactors.Add(reactor);
}
equippedItem.OnEnable += () => ItemOnline.OnNext(equippedItem);
equippedItem.OnDisable += () => ItemOffline.OnNext(equippedItem);
foreach (var i in itemData.Shape.Coordinates)
{

86
Assets/Scripts/ServerShared/Ship.cs
View file

@ -25,7 +25,8 @@ public class Ship : Entity
// [IgnoreMember] public Targetable Target;
public Entity HomeEntity;
public float2 MovementDirection;
private HashSet<EquippedItem> _thrusterItems;
private Thruster[] _allThrusters;
private HashSet<Thruster> _forwardThrusters;
private HashSet<Thruster> _reverseThrusters;
@ -40,6 +41,10 @@ public class Ship : Entity
public float RightStrafeThrust { get; private set; }
public float ClockwiseTorque { get; private set; }
public float CounterClockwiseTorque { get; private set; }
public float LeftStrafeTotalTorque { get; private set; }
private Thruster[] LeftStrafeTorqueThrusters;
public float RightStrafeTotalTorque { get; private set; }
private Thruster[] RightStrafeTorqueThrusters;
public float TurnTime(float2 direction)
{
@ -55,6 +60,7 @@ public class Ship : Entity
base.Activate();
_allThrusters = GetBehaviors<Thruster>().ToArray();
_thrusterItems = new HashSet<EquippedItem>(_allThrusters.Select(x=>x.Item));
_forwardThrusters = new HashSet<Thruster>(_allThrusters
.Where(x => x.Item.EquippableItem.Rotation == ItemRotation.Reversed));
@ -83,26 +89,28 @@ public class Ship : Entity
public Ship(ItemManager itemManager, Zone zone, EquippableItem hull) : base(itemManager, zone, hull)
{
ItemDamage.Subscribe(x =>
void CheckForThruster(EquippedItem item)
{
if (Hardpoints[x.item.Position.x, x.item.Position.y]?.Type == HardpointType.Thruster)
if (_thrusterItems.Contains(item))
{
foreach (var behavior in x.item.Behaviors)
foreach (var behavior in item.Behaviors)
{
if (behavior is Thruster thruster)
{
if(_forwardThrusters.Contains(thruster)) RecalculateForwardThrust();
if(_reverseThrusters.Contains(thruster)) RecalculateReverseThrust();
if(_rightThrusters.Contains(thruster)) RecalculateRightStrafeThrust();
if(_leftThrusters.Contains(thruster)) RecalculateLeftStrafeThrust();
if(_clockwiseThrusters.Contains(thruster)) RecalculateClockwiseTorque();
if(_counterClockwiseThrusters.Contains(thruster)) RecalculateCounterClockwiseTorque();
if (_forwardThrusters.Contains(thruster)) RecalculateForwardThrust();
if (_reverseThrusters.Contains(thruster)) RecalculateReverseThrust();
if (_rightThrusters.Contains(thruster)) RecalculateRightStrafeThrust();
if (_leftThrusters.Contains(thruster)) RecalculateLeftStrafeThrust();
if (_clockwiseThrusters.Contains(thruster)) RecalculateClockwiseTorque();
if (_counterClockwiseThrusters.Contains(thruster)) RecalculateCounterClockwiseTorque();
}
}
if(x.item.EquippableItem.Rotation == ItemRotation.Reversed)
RecalculateForwardThrust();
}
});
}
ItemDamage.Select(x => x.item).Subscribe(CheckForThruster);
ItemOffline.Subscribe(CheckForThruster);
ItemOnline.Subscribe(CheckForThruster);
}
private void RecalculateForwardThrust()
@ -110,7 +118,8 @@ public class Ship : Entity
ForwardThrust = 0;
foreach (var thruster in _forwardThrusters)
{
ForwardThrust += thruster.Thrust;
if(thruster.Item.Online)
ForwardThrust += thruster.Thrust;
}
}
@ -119,26 +128,43 @@ public class Ship : Entity
ReverseThrust = 0;
foreach (var thruster in _reverseThrusters)
{
ReverseThrust += thruster.Thrust;
if(thruster.Item.Online)
ReverseThrust += thruster.Thrust;
}
}
private void RecalculateLeftStrafeThrust()
{
LeftStrafeThrust = 0;
LeftStrafeTotalTorque = 0;
foreach (var thruster in _leftThrusters)
{
LeftStrafeThrust += thruster.Thrust;
if(thruster.Item.Online)
{
LeftStrafeThrust += thruster.Thrust;
LeftStrafeTotalTorque += thruster.Torque * thruster.Thrust;
}
}
LeftStrafeTorqueThrusters = _leftThrusters
.Where(x => abs(sign(x.Torque) - sign(LeftStrafeTotalTorque)) < .01f)
.ToArray();
}
private void RecalculateRightStrafeThrust()
{
RightStrafeThrust = 0;
RightStrafeTotalTorque = 0;
foreach (var thruster in _rightThrusters)
{
RightStrafeThrust += thruster.Thrust;
if(thruster.Item.Online)
{
RightStrafeThrust += thruster.Thrust;
RightStrafeTotalTorque += thruster.Torque * thruster.Thrust;
}
}
RightStrafeTorqueThrusters = _rightThrusters
.Where(x => abs(sign(x.Torque) - sign(RightStrafeTotalTorque)) < .01f)
.ToArray();
}
private void RecalculateClockwiseTorque()
@ -146,7 +172,8 @@ public class Ship : Entity
ClockwiseTorque = 0;
foreach (var thruster in _clockwiseThrusters)
{
ClockwiseTorque += thruster.Torque;
if(thruster.Item.Online)
ClockwiseTorque += thruster.Torque;
}
}
@ -155,7 +182,8 @@ public class Ship : Entity
CounterClockwiseTorque = 0;
foreach (var thruster in _counterClockwiseThrusters)
{
CounterClockwiseTorque -= thruster.Torque;
if(thruster.Item.Online)
CounterClockwiseTorque -= thruster.Torque;
}
}
@ -165,8 +193,24 @@ public class Ship : Entity
if (_active)
{
foreach (var thruster in _allThrusters) thruster.Axis = 0;
foreach (var thruster in _rightThrusters) thruster.Axis += MovementDirection.x;
foreach (var thruster in _leftThrusters) thruster.Axis += -MovementDirection.x;
var rightThrusterTorqueCompensation = abs(RightStrafeTotalTorque) / RightStrafeTorqueThrusters.Length;
foreach (var thruster in _rightThrusters)
{
var thrust = 0f;
thrust += MovementDirection.x;
if (RightStrafeTorqueThrusters.Contains(thruster))
thrust -= MovementDirection.x * (rightThrusterTorqueCompensation / (abs(thruster.Torque) * thruster.Thrust));
thruster.Axis = thrust;
}
var leftThrusterTorqueCompensation = abs(LeftStrafeTotalTorque) / LeftStrafeTorqueThrusters.Length;
foreach (var thruster in _leftThrusters)
{
var thrust = 0f;
thrust += -MovementDirection.x;
if (LeftStrafeTorqueThrusters.Contains(thruster))
thrust += MovementDirection.x * (leftThrusterTorqueCompensation / (abs(thruster.Torque) * thruster.Thrust));
thruster.Axis = thrust;
}
foreach (var thruster in _forwardThrusters) thruster.Axis += MovementDirection.y;
foreach (var thruster in _reverseThrusters) thruster.Axis += -MovementDirection.y;