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Both fixed and float models in place. Rendering fixed. Still has lots of problems with the flight model.

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This commit is contained in:
Scott Duensing 2024-06-22 20:28:15 -05:00
parent 7e3b33a2e5
commit dcd51e860e
8 changed files with 834 additions and 386 deletions
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6
pc/CMakeLists.txt
View file

@ -9,7 +9,8 @@ find_package(SDL2 REQUIRED)
set(HEADERS
app.h
sysfont.h
flight.h
iflight.h
fflight.h
vrEmu6502.h
a23d2bin.h
a23d2.h
@ -20,7 +21,8 @@ list(TRANSFORM HEADERS PREPEND "${CMAKE_CURRENT_SOURCE_DIR}/include/")
set(SOURCE
main.c
flight.c
iflight.c
fflight.c
vrEmu6502.c
util.c
)

98
pc/include/fflight.h Normal file
View file

@ -0,0 +1,98 @@
/*
* Copyright (c) 2024 Scott Duensing, scott@kangaroopunch.com
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifndef FFLIGHT_H
#define FFLIGHT_H
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#ifndef PLANE_HEIGHT
#define PLANE_HEIGHT 20
#endif
#ifndef byte
typedef unsigned char byte;
#endif
typedef struct fAirplaneS {
int8_t aileron; // -15 to 15
int8_t elevator; // -15 to 15
int8_t rudder; // -15 to 15
int8_t throttle; // -15 to 15
bool ignition;
bool engine;
int16_t rpm;
float hSpeed;
float vSpeed;
float deltaZ;
float efAOF;
float climbRate;
bool airborne;
bool stall;
bool brake;
int16_t x;
int16_t y;
int16_t z;
double pitch; // 0 to 255
double yaw; // 0 to 255
double roll; // 0 to 255
// Flight model stuff below here.
float tmpX;
float tmpY;
float tmpZ;
float newX;
float newY;
float newZ;
float iSpeed;
float lSpeed;
float hAccel;
float lVeloc;
float gVeloc;
float AOA;
float torque;
float torque2;
uint16_t loopTime; // Milliseconds
// Used to be static. Need preserved.
double dPitch;
double dYaw;
double dRoll;
float collectX;
float collectY;
float collectZ;
} fAirplaneT;
extern fAirplaneT _fPlane;
void fResetAircraft(void);
void fUpdateAircraft(void);
#endif // FFLIGHT_H

20
pc/include/flight.h → pc/include/iflight.h
View file

@ -21,8 +21,8 @@
*/
#ifndef FLIGHT_H
#define FLIGHT_H
#ifndef IFLIGHT_H
#define IFLIGHT_H
#include <stdbool.h>
@ -31,13 +31,17 @@
#include "fmath.h"
#ifndef PLANE_HEIGHT
#define PLANE_HEIGHT 20
#endif
#ifndef byte
typedef unsigned char byte;
#endif
typedef struct airplaneS {
typedef struct iAirplaneS {
int8_t aileron; // -15 to 15
int8_t elevator; // -15 to 15
int8_t rudder; // -15 to 15
@ -82,14 +86,14 @@ typedef struct airplaneS {
fixT FcollectX;
fixT FcollectY;
fixT FcollectZ;
} airplaneT;
} iAirplaneT;
extern airplaneT _plane;
extern iAirplaneT _iPlane;
void resetAircraft(void);
void updateAircraft(void);
void iResetAircraft(void);
void iUpdateAircraft(void);
#endif // FLIGHT_H
#endif // IFLIGHT_H

26
pc/src/a23d2.c
View file

@ -26,7 +26,8 @@
#include "vrEmu6502.h"
#include "a23d2bin.h"
#include "bitmap.h"
#include "flight.h"
#include "iflight.h"
#include "fflight.h"
#include "mem.h"
#include "a23d2.h"
@ -40,10 +41,11 @@ VrEmu6502 *_v6502 = NULL;
uint16_t _drawlistInDatabase;
#define SCALE 1.25 // Scale factor for 256->320
#define SCREEN3DX 255 // Resolution of A2-3D2 renderer.
#define SCREEN3DY 233 // These get scaled up to full-screen.
#define SCALE 1.25 // Scale factor for 256->320
#define SCREEN3DX 255 // Resolution of A2-3D2 renderer.
#define SCREEN3DY 233 // These get scaled up to full-screen.
#define SCREEN3DXH 128 // Half of SCREEN3DX.
#define SCREEN3DYH 117 // Half of SCREEN3DY.
byte _scaleX[SCREEN3DX + 1];
@ -68,10 +70,10 @@ void a23d2Draw(void) {
// Line.
case LIN2D:
x1 = (int8_t)_RAM[pointer++] + 128;
y1 = 255 - ((int8_t)_RAM[pointer++] + 128);
x2 = (int8_t)_RAM[pointer++] + 128;
y2 = 255 - ((int8_t)_RAM[pointer++] + 128);
x1 = (int8_t)_RAM[pointer++] + SCREEN3DXH;
y1 = SCREEN3DYH - (int8_t)_RAM[pointer++];
x2 = (int8_t)_RAM[pointer++] + SCREEN3DXH;
y2 = SCREEN3DYH - (int8_t)_RAM[pointer++];
if ((x1 < 0) || (y1 < 0) || (x2 < 0) || (y2 < 0) || (x1 > SCREEN3DX) || (y1 > SCREEN3DY) || (x2 > SCREEN3DX) || (y2 > SCREEN3DY)) {
printf("Point out of bounds! %d %d %d %d\n", x1, y1, x2, y2);
@ -83,8 +85,8 @@ void a23d2Draw(void) {
// Point.
case PNT2D:
x1 = (int8_t)_RAM[pointer++] + 128;
y1 = 255 - ((int8_t)_RAM[pointer++] + 128);
x1 = (int8_t)_RAM[pointer++] + SCREEN3DXH;
y1 = SCREEN3DYH - (int8_t)_RAM[pointer++];
bitmapPutPixelIOSet(x1 + _scaleX[x1], _scaleY[y1]);
continue;
@ -124,7 +126,7 @@ void a23d2Init(void) {
// Initialize A2-3D2 so we can use the "fast entry point" (NXTPT) when rendering.
bytes = A23D2_TEST_DATABASE;
_RAM[bytes++] = SCRSZ; // Screen size. 256x240. Center is 0,0. We're going to scale this up.
_RAM[bytes++] = SCRSZ; // Screen size. 255x233. Center is 0,0. We're going to scale this up.
_RAM[bytes++] = SCREEN3DX; // Scales up to 320.
_RAM[bytes++] = SCREEN3DY; // Scales up to 193 (leaves 46 pixels for a control panel).
_RAM[bytes++] = 0;

319
pc/src/fflight.c Normal file
View file

@ -0,0 +1,319 @@
/*
* Copyright (c) 2024 Scott Duensing, scott@kangaroopunch.com
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "fflight.h"
#include "a23d2.h"
fAirplaneT _fPlane;
#define SEGMENT_MATH
#define PI 3.1415
#define Rads(d) (((d) < 0 ? (d) + 360 : (d)) * (PI / 180))
#define Degs(r) ((r) * (180 / PI))
// https://www.reddit.com/r/programming/comments/3e7ghi/discrete_arctan_in_6502
#define ATAN_SPLINE_C0 (double)(-0.14380550980765507115) // 3pi/4 - 5/2
#define ATAN_SPLINE_C1 (double)(-0.07079632679489661923) // 3/2 - pi/2
double ourAtan(double x){
if (x >= 0) {
if ( x<= 1) {
return x + (ATAN_SPLINE_C0 + ATAN_SPLINE_C1 * x) * x * x;
} else {
x = 1 / x;
return PI / 2 - (x + (ATAN_SPLINE_C0 + ATAN_SPLINE_C1 * x) * x * x);
}
} else {
if (x >= -1) {
return x - (ATAN_SPLINE_C0 - ATAN_SPLINE_C1 * x) * x * x;
} else {
x = -1 / x;
return (x + (ATAN_SPLINE_C0 + ATAN_SPLINE_C1 * x) * x * x) - PI / 2;
}
}
}
float cosD(float d) {
return cos(Rads(d));
/*
// Map 0-359 into 0-255.
_tdata = (int)d % 359;
a23d2Cos();
return _trig;
*/
}
float sinD(float d) {
return sin(Rads(d));
/*
// Map 0-359 into 0-255.
_tdata = (int)d % 359;
a23d2Sin();
return _trig;
*/
}
#define SEGMENT_FLIGHT_MODEL_1
// This flight model is basically the one from "Build Your Own Flight Sim
// in C++" by Michael Radtke and Chris Lampton.
void fLightPlane(void) {
// Flight model. Power Dynamics.
if (_fPlane.ignition) {
// Start engine.
if (!_fPlane.engine) _fPlane.engine = true;
// Adjust RPM.
if (_fPlane.rpm < (375 + (_fPlane.throttle * 117))) _fPlane.rpm += _fPlane.loopTime * 0.5;
if (_fPlane.rpm > (375 + (_fPlane.throttle * 117))) _fPlane.rpm -= _fPlane.loopTime * 0.5;
} else {
// Stop engine.
if (_fPlane.engine) _fPlane.engine = false;
// Run down engine.
if (_fPlane.rpm > 0) _fPlane.rpm -= (int16_t)(_fPlane.loopTime / 2);
if (_fPlane.rpm < 0) _fPlane.rpm = 0;
}
// Flight model. Flight Dynamics.
// Calculate speed from RPM.
_fPlane.iSpeed = _fPlane.rpm / 17.5;
// Modify speed by pitch.
_fPlane.iSpeed += (_fPlane.pitch * 1.5);
// Horizontal acceleration - thrust.
_fPlane.hAccel = ((_fPlane.rpm * (_fPlane.iSpeed - _fPlane.hSpeed)) / 10000);
_fPlane.hAccel /= 1000;
_fPlane.hAccel *= _fPlane.loopTime;
if (_fPlane.brake && !_fPlane.airborne) {
// Handle brakes.
if (_fPlane.hSpeed > 0) {
_fPlane.hSpeed -= 1;
} else {
_fPlane.hSpeed = 0;
}
} else {
// Accelerate normally.
_fPlane.hSpeed += _fPlane.hAccel;
}
// Force speed to range -1..1.
_fPlane.lSpeed = (_fPlane.hSpeed / 65) - 1;
if (_fPlane.lSpeed > 1) _fPlane.lSpeed = 1;
// Lift curve.
_fPlane.lVeloc = Degs(ourAtan(_fPlane.lSpeed));
// Force lift to range 0..90.
_fPlane.lVeloc += 45;
// Shift range to 0..-17.
_fPlane.lVeloc /= 5.29;
// Multiply by pitch modifier.
_fPlane.lVeloc *= (-(_fPlane.pitch * 0.157) + 1);
// Time slice.
_fPlane.lVeloc /= 1000;
_fPlane.lVeloc *= _fPlane.loopTime;
// Gravity.
_fPlane.gVeloc = _fPlane.loopTime * (-16.0 / 1000); // -16.0 is ft/sec for gravity.
// Sum vertical velocity.
_fPlane.vSpeed = _fPlane.gVeloc + _fPlane.lVeloc;
// No vertical speed if we're on the ground.
if ((!_fPlane.airborne) && (_fPlane.vSpeed < 0)) _fPlane.vSpeed = 0;
// Save climb rate in ft/min.
_fPlane.climbRate = _fPlane.vSpeed / _fPlane.loopTime;
_fPlane.climbRate *= 60000L;
// Expand to ft/hr.
_fPlane.deltaZ = _fPlane.hSpeed * 5280;
// Get ft/ms.
_fPlane.deltaZ /= 3600000L;
_fPlane.deltaZ *= _fPlane.loopTime;
// Find effective angle of flight.
if (_fPlane.deltaZ) {
_fPlane.efAOF = -(ourAtan(_fPlane.vSpeed / _fPlane.deltaZ));
} else {
_fPlane.efAOF = -(ourAtan(_fPlane.vSpeed));
}
// Convert to degrees.
_fPlane.AOA = Degs(_fPlane.efAOF);
// Handle stalling.
if (((_fPlane.pitch < _fPlane.AOA) && (_fPlane.AOA < 0)) && (_fPlane.hSpeed < 40)) {
if ((_fPlane.pitch - _fPlane.AOA) < -20) _fPlane.stall = true;
}
if (_fPlane.stall) {
if (_fPlane.pitch > 30) {
_fPlane.stall = false;
} else {
_fPlane.pitch++;
}
}
}
#define SEGMENT_FLIGHT_MODEL_2
void fLightPlane2(void) {
// Flight model. Inertial Damping.
if (_fPlane.dPitch) {
_fPlane.dPitch -= _fPlane.dPitch / 10;
if (((_fPlane.dPitch > 0) && (_fPlane.dPitch < 0.01)) || ((_fPlane.dPitch < 0) && (_fPlane.dPitch > -0.01))) _fPlane.dPitch = 0;
}
if (_fPlane.dYaw) {
_fPlane.dYaw -= _fPlane.dYaw / 10;
if (((_fPlane.dYaw > 0) && (_fPlane.dYaw < 0.01)) || ((_fPlane.dYaw < 0) && (_fPlane.dYaw > -0.01))) _fPlane.dYaw = 0;
}
if (_fPlane.dRoll) {
_fPlane.dRoll -= _fPlane.dRoll / 10;
if (((_fPlane.dRoll > 0) && (_fPlane.dRoll < 0.01)) || ((_fPlane.dRoll < 0) && (_fPlane.dRoll > -0.01))) _fPlane.dRoll = 0;
}
// Flight model. Rate of Change.
if (_fPlane.airborne) {
if (_fPlane.aileron != 0) {
_fPlane.torque = ((_fPlane.hSpeed * _fPlane.aileron) / 10000);
if (_fPlane.dRoll != (_fPlane.torque * _fPlane.loopTime)) _fPlane.dRoll += _fPlane.torque * 6;
}
}
if (_fPlane.elevator != 0) {
_fPlane.torque = ((_fPlane.hSpeed * _fPlane.elevator) / 10000);
if ((!_fPlane.airborne) && (_fPlane.torque > 0)) _fPlane.torque = 0; //***FIX*** This is dumb.
if (_fPlane.dPitch != (_fPlane.torque * _fPlane.loopTime)) _fPlane.dPitch += _fPlane.torque * 1.5;
}
if (_fPlane.hSpeed) {
_fPlane.torque = 0.0;
if (_fPlane.rudder != 0) _fPlane.torque = -((_fPlane.hSpeed * _fPlane.rudder) / 10000);
_fPlane.torque2 = 0.0;
if ((_fPlane.roll > 0) && (_fPlane.roll <= 90)) { //***FIX*** This is dumb.
_fPlane.torque2 = _fPlane.roll * 0.00050;
} else {
if ((_fPlane.roll < 0) && (_fPlane.roll >= -90)) {
_fPlane.torque2 = _fPlane.roll * 0.00050;
}
}
_fPlane.torque += _fPlane.torque2;
if (_fPlane.dYaw != (_fPlane.torque * _fPlane.loopTime)) _fPlane.dYaw += _fPlane.torque * 1.5;
}
// Flight model. Apply Rotations.
// Transform pitch into components of yaw and pitch based on roll.
_fPlane.roll += _fPlane.dRoll;
_fPlane.yaw += _fPlane.dYaw;
_fPlane.pitch += (_fPlane.dPitch * cosD(_fPlane.roll));
_fPlane.yaw += -(_fPlane.dPitch * sinD(_fPlane.roll));
if (_fPlane.roll > 180) {
_fPlane.roll = -180 + (_fPlane.roll - 180);
} else {
if (_fPlane.roll < -180) _fPlane.roll = 180 + (_fPlane.roll + 180);
}
if (_fPlane.yaw > 180) {
_fPlane.yaw = -180 + (_fPlane.yaw - 180);
} else {
if (_fPlane.yaw < -180) _fPlane.yaw = 180 + (_fPlane.yaw + 180);
}
// Handle special case when aircraft pitch passes vertical.
if ((_fPlane.pitch > 90) || (_fPlane.pitch < -90)) {
if (_fPlane.roll >= 0) {
_fPlane.roll -= 180;
} else {
if (_fPlane.roll < 0) _fPlane.roll += 180;
}
if (_fPlane.yaw >= 0) {
_fPlane.yaw -= 180;
} else {
if (_fPlane.yaw < 0) _fPlane.yaw += 180;
}
if (_fPlane.pitch > 0) {
_fPlane.pitch = (180 - _fPlane.pitch);
} else {
if (_fPlane.pitch < 0) _fPlane.pitch = (-180 - _fPlane.pitch);
}
}
// Dampen everything out to 0 if they get close enough.
if ((_fPlane.pitch > -0.5) && (_fPlane.pitch < 0.5)) _fPlane.pitch = 0;
if ((_fPlane.roll > -0.5) && (_fPlane.roll < 0.5)) _fPlane.roll = 0;
if ((_fPlane.yaw > -0.5) && (_fPlane.yaw < 0.5)) _fPlane.yaw = 0;
}
#define SEGMENT_FLIGHT_MODEL_3
void fMoveAircraft(void) {
// Calculate new aircraft position. Each coordinate is 1 foot in 3D space.
_fPlane.tmpX = 0;
_fPlane.tmpY = 0;
_fPlane.tmpZ = _fPlane.deltaZ;
// Order of these points is significant.
// Rotate in X.
_fPlane.newY = -(_fPlane.tmpZ * sinD(_fPlane.AOA));
_fPlane.newZ = (_fPlane.tmpZ * cosD(_fPlane.AOA));
_fPlane.tmpY = _fPlane.newY;
_fPlane.tmpZ = _fPlane.newZ;
// Rotate in Y.
_fPlane.newX = (_fPlane.tmpZ * sinD(_fPlane.yaw));
_fPlane.newZ = (_fPlane.tmpZ * cosD(_fPlane.yaw));
// Translate rotated point back to where it should be
// relative to it's last position.
_fPlane.collectX += _fPlane.newX;
if ((_fPlane.collectX > 1) || (_fPlane.collectX < -1)) {
_fPlane.x -= _fPlane.collectX;
_fPlane.collectX = 0;
}
_fPlane.collectY += _fPlane.newY;
if ((_fPlane.collectY > 1) || (_fPlane.collectY < -1)) {
_fPlane.y -= _fPlane.collectY;
_fPlane.collectY = 0;
}
_fPlane.collectZ += _fPlane.newZ;
if ((_fPlane.collectZ > 1) || (_fPlane.collectZ < -1)) {
_fPlane.z += _fPlane.collectZ;
_fPlane.collectZ = 0;
}
// Are we flying?
if ((!_fPlane.airborne) && (_fPlane.y != 0)) _fPlane.airborne = true;
}
void fResetAircraft(void) {
// Initialize airplane.
memset(&_fPlane, 0, sizeof(fAirplaneT));
_fPlane.brake = true;
_fPlane.loopTime = 40;
}
#define SEGMENT_MAIN
void fUpdateAircraft(void) {
// Do the actual flying!
fLightPlane();
fLightPlane2();
fMoveAircraft();
}

331
pc/src/flight.c
View file

@ -1,331 +0,0 @@
/*
* Copyright (c) 2024 Scott Duensing, scott@kangaroopunch.com
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "a23d2.h"
#include "mem.h"
#include "flight.h"
// Extern.
airplaneT _plane;
#define SEGMENT_FLIGHT_MODEL_1
// This flight model is basically the one from "Build Your Own Flight Sim
// in C++" by Michael Radtke and Chris Lampton.
void lightPlane(void) {
// Flight model. Power Dynamics.
if (_plane.ignition) {
// Start engine.
if (!_plane.engine) _plane.engine = true;
// Adjust RPM.
if (_plane.rpm < (375 + (_plane.throttle * 117))) _plane.rpm += _plane.loopTime * 0.5;
if (_plane.rpm > (375 + (_plane.throttle * 117))) _plane.rpm -= _plane.loopTime * 0.5;
} else {
// Stop engine.
if (_plane.engine) _plane.engine = false;
// Run down engine.
if (_plane.rpm > 0) _plane.rpm -= (int16_t)(_plane.loopTime / 2);
if (_plane.rpm < 0) _plane.rpm = 0;
}
// Flight model. Flight Dynamics.
// Calculate speed from RPM.
//_plane.iSpeed = _plane.rpm / 17.5;
_plane.FiSpeed = fixDiv(iToFix(_plane.rpm), fToFix(17.5));
// Modify speed by pitch.
//_plane.iSpeed += (_plane.pitch * 1.5);
_plane.FiSpeed = fixAdd(_plane.FiSpeed, fixMul(_plane.Fpitch, fToFix(1.5)));
// Horizontal acceleration - thrust.
//_plane.hAccel = ((_plane.rpm * (_plane.iSpeed - _plane.hSpeed)) / 10000);
//_plane.hAccel /= 1000;
//_plane.hAccel *= _plane.loopTime;
_plane.FtmpX = fixSub(_plane.FiSpeed, _plane.FhSpeed);
_plane.FtmpX = fixMul(iToFix(_plane.rpm), _plane.FtmpX);
_plane.FhAccel = fixDiv(_plane.FtmpX, iToFix(10000));
_plane.FhAccel = fixDiv(_plane.FhAccel, iToFix(1000));
_plane.FhAccel = fixMul(_plane.FhAccel, iToFix(_plane.loopTime));
if (_plane.brake && !_plane.airborne) {
// Handle brakes.
if (_plane.FhSpeed > 0) {
//_plane.hSpeed -= 1;
_plane.FhSpeed = fixSub(_plane.FhSpeed, iToFix(1));
} else {
//_plane.hSpeed = 0;
_plane.FhSpeed = iToFix(0);
}
} else {
// Accelerate normally.
//_plane.hSpeed += _plane.hAccel;
_plane.FhSpeed = fixAdd(_plane.FhSpeed, _plane.FhAccel);
}
// Force speed to range -1..1.
//_plane.lSpeed = (_plane.hSpeed / 65) - 1;
_plane.FlSpeed = fixSub(fixDiv(_plane.FhSpeed, iToFix(65)), iToFix(1));
//if (_plane.lSpeed > 1) _plane.lSpeed = 1;
if (_plane.FlSpeed > iToFix(1)) _plane.FlSpeed = iToFix(1);
// Lift curve.
//_plane.lVeloc = Degs(ourAtan(_plane.lSpeed));
_plane.FlVeloc = fixDegs(fixAtan(_plane.FlSpeed));
// Force lift to range 0..90.
//_plane.lVeloc += 45;
_plane.FlVeloc = fixAdd(_plane.FlVeloc, iToFix(45));
// Shift range to 0..-17.
//_plane.lVeloc /= 5.29;
_plane.FlVeloc = fixDiv(_plane.FlVeloc, fToFix(5.29));
// Multiply by pitch modifier.
//_plane.lVeloc *= (-(_plane.pitch * 0.157) + 1);
_plane.FlVeloc = fixAdd(_plane.FlVeloc, fixAdd(-(fixMul(_plane.Fpitch, fToFix(0.157))), iToFix(1)));
// Time slice.
//_plane.lVeloc /= 1000;
//_plane.lVeloc *= _plane.loopTime;
_plane.FlVeloc = fixDiv(_plane.FlVeloc, iToFix(1000));
_plane.FlVeloc = fixMul(_plane.FlVeloc, iToFix(_plane.loopTime));
// Gravity.
//_plane.gVeloc = _plane.loopTime * (-16.0 / 1000); // -16.0 is ft/sec for gravity.
_plane.FgVeloc = fixMul(iToFix(_plane.loopTime), fToFix(-0.016)); // -16.0 is ft/sec for gravity.
// Sum vertical velocity.
//_plane.vSpeed = _plane.gVeloc + _plane.lVeloc;
_plane.FvSpeed = fixAdd(_plane.FgVeloc, _plane.FlVeloc);
// No vertical speed if we're on the ground.
if ((!_plane.airborne) && (_plane.FvSpeed < 0)) _plane.FvSpeed = 0;
// Save climb rate in ft/min.
//_plane.climbRate = _plane.vSpeed / _plane.loopTime;
//_plane.climbRate *= 60000L;
_plane.FclimbRate = fixDiv(_plane.FvSpeed, iToFix(_plane.loopTime));
_plane.FclimbRate = fixMul(_plane.FclimbRate, iToFix(60000L)); //***TODO*** This long could be an issue.
// Expand to ft/hr.
//_plane.deltaZ = _plane.hSpeed * 5280;
_plane.FdeltaZ = fixMul(_plane.FhSpeed, iToFix(5280));
// Get ft/ms.
//_plane.deltaZ /= 3600000L;
//_plane.deltaZ *= _plane.loopTime;
_plane.FdeltaZ = fixDiv(_plane.FdeltaZ, iToFix(3600000L)); //***TODO*** This long could be an issue.
_plane.FdeltaZ = fixMul(_plane.FdeltaZ, iToFix(_plane.loopTime));
// Find effective angle of flight.
if (_plane.FdeltaZ) {
//_plane.efAOF = -(ourAtan(_plane.vSpeed / _plane.deltaZ));
_plane.FefAOF = -(fixAtan(fixDiv(_plane.FvSpeed, _plane.FdeltaZ)));
} else {
//_plane.efAOF = -(ourAtan(_plane.vSpeed));
_plane.FefAOF = -(fixAtan(_plane.FvSpeed));
}
// Convert to degrees.
//_plane.AOA = Degs(_plane.efAOF);
_plane.FAOA = fixDegs(_plane.FefAOF);
// Handle stalling.
//if (((_plane.pitch < _plane.AOA) && (_plane.AOA < 0)) && (_plane.hSpeed < 40)) {
if (((_plane.Fpitch < _plane.FAOA) && (_plane.FAOA < iToFix(0))) && (_plane.FhSpeed < iToFix(40))) {
//if ((_plane.pitch - _plane.AOA) < -20) _plane.stall = true;
if (fixSub(_plane.Fpitch, _plane.FAOA) < iToFix(-20)) _plane.stall = true;
}
if (_plane.stall) {
//if (_plane.pitch > 30) {
if (_plane.Fpitch > iToFix(30)) {
_plane.stall = false;
} else {
//_plane.pitch++;
_plane.Fpitch = fixAdd(_plane.Fpitch, iToFix(1));
}
}
}
#define SEGMENT_FLIGHT_MODEL_2
void lightPlane2(void) {
// Flight model. Inertial Damping.
if (_plane.FdPitch != iToFix(0)) {
//_plane.dPitch -= _plane.dPitch / 10;
_plane.FdPitch = fixSub(_plane.FdPitch, fixDiv(_plane.FdPitch, iToFix(10)));
//if (((_plane.dPitch > 0) && (_plane.dPitch < 0.01)) || ((_plane.dPitch < 0) && (_plane.dPitch > -0.01))) _plane.dPitch = 0;
if (((_plane.FdPitch > iToFix(0)) && (_plane.FdPitch < fToFix(0.01))) || ((_plane.FdPitch < iToFix(0)) && (_plane.FdPitch > fToFix(-0.01)))) _plane.FdPitch = iToFix(0);
}
if (_plane.FdYaw != iToFix(0)) {
//_plane.dYaw -= _plane.dYaw / 10;
_plane.FdYaw = fixSub(_plane.FdYaw, fixDiv(_plane.FdYaw, iToFix(10)));
//if (((_plane.dYaw > 0) && (_plane.dYaw < 0.01)) || ((_plane.dYaw < 0) && (_plane.dYaw > -0.01))) _plane.dYaw = 0;
if (((_plane.FdYaw > iToFix(0)) && (_plane.FdYaw < fToFix(0.01))) || ((_plane.FdYaw < iToFix(0)) && (_plane.FdYaw > fToFix(-0.01)))) _plane.FdYaw = iToFix(0);
}
if (_plane.FdRoll != iToFix(0)) {
//_plane.dRoll -= _plane.dRoll / 10;
_plane.FdRoll = fixSub(_plane.FdRoll, fixDiv(_plane.FdRoll, iToFix(10)));
//if (((_plane.dRoll > 0) && (_plane.dRoll < 0.01)) || ((_plane.dRoll < 0) && (_plane.dRoll > -0.01))) _plane.dRoll = 0;
if (((_plane.FdRoll > iToFix(0)) && (_plane.FdRoll < fToFix(0.01))) || ((_plane.FdRoll < iToFix(0)) && (_plane.FdRoll > fToFix(-0.01)))) _plane.FdRoll = iToFix(0);
}
// Flight model. Rate of Change.
if (_plane.airborne) {
if (_plane.aileron != 0) {
//_plane.torque = ((_plane.hSpeed * _plane.aileron) / 10000);
_plane.Ftorque = fixDiv(fixAdd(_plane.FhSpeed, iToFix(_plane.aileron)), iToFix(10000));
//if (_plane.dRoll != (_plane.torque * _plane.loopTime)) _plane.dRoll += _plane.torque * 6;
if (_plane.FdRoll != fixMul(_plane.Ftorque, iToFix(_plane.loopTime))) _plane.FdRoll = fixAdd(_plane.FdRoll, fixMul(_plane.Ftorque, iToFix(6)));
}
}
if (_plane.elevator != 0) {
//_plane.torque = ((_plane.hSpeed * _plane.elevator) / 10000);
_plane.Ftorque = fixDiv(fixAdd(_plane.FhSpeed, iToFix(_plane.elevator)), iToFix(10000));
//if ((!_plane.airborne) && (_plane.torque > 0)) _plane.torque = 0; //***FIX*** This is dumb.
if ((!_plane.airborne) && (_plane.Ftorque > iToFix(0))) _plane.Ftorque = iToFix(0); //***FIX*** This is dumb.
//if (_plane.dPitch != (_plane.torque * _plane.loopTime)) _plane.dPitch += _plane.torque * 1.5;
if (_plane.FdPitch != fixMul(_plane.Ftorque, iToFix(_plane.loopTime))) _plane.FdPitch = fixAdd(_plane.FdRoll, fixMul(_plane.Ftorque, fToFix(1.5)));
}
if (_plane.FhSpeed != iToFix(0)) {
_plane.Ftorque = iToFix(0);
//if (_plane.rudder != 0) _plane.torque = -((_plane.hSpeed * _plane.rudder) / 10000);
if (_plane.rudder != 0) _plane.Ftorque = -(fixDiv(fixMul(_plane.FhSpeed, iToFix(_plane.rudder)), iToFix(10000)));
_plane.Ftorque2 = iToFix(0);
if ((_plane.Froll > iToFix(0)) && (_plane.Froll <= iToFix(90))) { //***FIX*** This is dumb.
//_plane.torque2 = _plane.roll * 0.00050;
_plane.Ftorque2 = fixMul(_plane.Froll, fToFix(0.00050));
} else {
if ((_plane.Froll < iToFix(0)) && (_plane.Froll >= iToFix(-90))) {
//_plane.torque2 = _plane.roll * 0.00050;
_plane.Ftorque2 = fixMul(_plane.Froll, fToFix(0.00050));
}
}
//_plane.torque += _plane.torque2;
_plane.Ftorque = fixAdd(_plane.Ftorque, _plane.Ftorque2);
//if (_plane.dYaw != (_plane.torque * _plane.loopTime)) _plane.dYaw += _plane.torque * 1.5;
if (_plane.FdYaw != fixMul(_plane.Ftorque, iToFix(_plane.loopTime))) _plane.FdYaw = fixAdd(_plane.FdYaw, fixMul(_plane.Ftorque, fToFix(1.5)));
}
// Flight model. Apply Rotations.
// Transform pitch into components of yaw and pitch based on roll.
_plane.Froll = fixAdd(_plane.Froll, _plane.FdRoll);
_plane.Fyaw = fixAdd(_plane.Fyaw, _plane.FdYaw);
//_plane.pitch += (_plane.dPitch * cosD(_plane.roll));
_plane.Fpitch = fixAdd(_plane.Fpitch, fixMul(_plane.FdPitch, fixCosD(_plane.Froll)));
//_plane.yaw += -(_plane.dPitch * sinD(_plane.roll));
_plane.Fyaw = fixAdd(_plane.Fyaw, -fixMul(_plane.FdPitch, fixSinD(_plane.Froll)));
if (_plane.Froll > iToFix(180)) {
//_plane.roll = -180 + (_plane.roll - 180);
_plane.Froll = fixAdd(iToFix(-180), fixSub(_plane.Froll, iToFix(180)));
} else {
//if (_plane.roll < -180) _plane.roll = 180 + (_plane.roll + 180);
if (_plane.Froll < iToFix(-180)) _plane.Froll = fixAdd(iToFix(180), fixAdd(_plane.Froll, iToFix(180)));
}
if (_plane.Fyaw > iToFix(180)) {
//_plane.yaw = -180 + (_plane.yaw - 180);
_plane.Fyaw = fixAdd(iToFix(-180), fixSub(_plane.Fyaw, iToFix(180)));
} else {
//if (_plane.yaw < -180) _plane.yaw = 180 + (_plane.yaw + 180);
if (_plane.Fyaw < iToFix(-180)) _plane.Fyaw = fixAdd(iToFix(180), fixAdd(_plane.Fyaw, iToFix(180)));
}
// Handle special case when aircraft pitch passes vertical.
if ((_plane.Fpitch > iToFix(90)) || (_plane.Fpitch < iToFix(-90))) {
if (_plane.Froll >= iToFix(0)) {
_plane.Froll = fixSub(_plane.Froll, iToFix(180));
} else {
if (_plane.Froll < iToFix(0)) _plane.Froll = fixAdd(_plane.Froll, iToFix(180));
}
if (_plane.Fyaw >= iToFix(0)) {
_plane.Fyaw = fixSub(_plane.Fyaw, iToFix(180));
} else {
if (_plane.Fyaw < iToFix(0)) _plane.Fyaw = fixAdd(_plane.Fyaw, iToFix(180));
}
if (_plane.Fpitch > iToFix(0)) {
_plane.Fpitch = fixSub(iToFix(180), _plane.Fpitch);
} else {
if (_plane.Fpitch < iToFix(0)) _plane.Fpitch = fixSub(iToFix(-180), _plane.Fpitch);
}
}
// Dampen everything out to 0 if they get close enough.
if ((_plane.Fpitch > fToFix(-0.5)) && (_plane.Fpitch < fToFix(0.5))) _plane.Fpitch = iToFix(0);
if ((_plane.Froll > fToFix(-0.5)) && (_plane.Froll < fToFix(0.5))) _plane.Froll = iToFix(0);
if ((_plane.Fyaw > fToFix(-0.5)) && (_plane.Fyaw < fToFix(0.5))) _plane.Fyaw = iToFix(0);
}
#define SEGMENT_FLIGHT_MODEL_3
void moveAircraft(void) {
// Calculate new aircraft position. Each coordinate is 1 foot in 3D space.
_plane.FtmpX = iToFix(0);
_plane.FtmpY = iToFix(0);
_plane.FtmpZ = _plane.FdeltaZ;
// Order of these points is significant.
// Rotate in X.
//_plane.newY = -(_plane.tmpZ * sinD(_plane.AOA));
_plane.FnewY = -fixMul(_plane.FtmpZ, fixSinD(_plane.FAOA));
//_plane.newZ = (_plane.tmpZ * cosD(_plane.AOA));
_plane.FnewZ = fixMul(_plane.FtmpZ, fixCosD(_plane.FAOA));
_plane.FtmpY = _plane.FnewY;
_plane.FtmpZ = _plane.FnewZ;
// Rotate in Y.
//_plane.newX = (_plane.tmpZ * sinD(_plane.yaw));
_plane.FnewX = fixMul(_plane.FtmpZ, fixSinD(_plane.Fyaw));
//_plane.newZ = (_plane.tmpZ * cosD(_plane.yaw));
_plane.FnewZ = fixMul(_plane.FtmpZ, fixCosD(_plane.Fyaw));
// Translate rotated point back to where it should be
// relative to it's last position.
_plane.FcollectX = fixAdd(_plane.FcollectX, _plane.FnewX);
if ((_plane.FcollectX > iToFix(1)) || (_plane.FcollectX < iToFix(-1))) {
_plane.x -= fixToI(_plane.FcollectX);
_plane.FcollectX = iToFix(0);
}
_plane.FcollectY = fixAdd(_plane.FcollectY, _plane.FnewY);
if ((_plane.FcollectY > iToFix(1)) || (_plane.FcollectY < iToFix(-1))) {
_plane.y -= fixToI(_plane.FcollectY);
_plane.FcollectY = iToFix(0);
}
_plane.FcollectZ = fixAdd(_plane.FcollectZ, _plane.FnewZ);
if ((_plane.FcollectZ > iToFix(1)) || (_plane.FcollectZ < iToFix(-1))) {
_plane.z += fixToI(_plane.FcollectZ);
_plane.FcollectZ = iToFix(0);
}
// Are we flying?
if ((!_plane.airborne) && (_plane.y != 0)) _plane.airborne = true;
}
#define SEGMENT_SETUP
void resetAircraft(void) {
// Initialize airplane.
scdMemSet((byte *)&_plane, 0, sizeof(airplaneT));
_plane.brake = true;
_plane.loopTime = 40;
}
#define SEGMENT_MAIN
void updateAircraft(void) {
// Do the actual flying!
lightPlane();
lightPlane2();
moveAircraft();
}

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/*
* Copyright (c) 2024 Scott Duensing, scott@kangaroopunch.com
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "a23d2.h"
#include "mem.h"
#include "iflight.h"
// Extern.
iAirplaneT _iPlane;
#define SEGMENT_FLIGHT_MODEL_1
// This flight model is basically the one from "Build Your Own Flight Sim
// in C++" by Michael Radtke and Chris Lampton.
void iLightPlane(void) {
// Flight model. Power Dynamics.
if (_iPlane.ignition) {
// Start engine.
if (!_iPlane.engine) _iPlane.engine = true;
// Adjust RPM.
if (_iPlane.rpm < (375 + (_iPlane.throttle * 117))) _iPlane.rpm += _iPlane.loopTime * 0.5;
if (_iPlane.rpm > (375 + (_iPlane.throttle * 117))) _iPlane.rpm -= _iPlane.loopTime * 0.5;
} else {
// Stop engine.
if (_iPlane.engine) _iPlane.engine = false;
// Run down engine.
if (_iPlane.rpm > 0) _iPlane.rpm -= (int16_t)(_iPlane.loopTime / 2);
if (_iPlane.rpm < 0) _iPlane.rpm = 0;
}
// Flight model. Flight Dynamics.
// Calculate speed from RPM.
//_iPlane.iSpeed = _iPlane.rpm / 17.5;
_iPlane.FiSpeed = fixDiv(iToFix(_iPlane.rpm), fToFix(17.5));
// Modify speed by pitch.
//_iPlane.iSpeed += (_iPlane.pitch * 1.5);
_iPlane.FiSpeed = fixAdd(_iPlane.FiSpeed, fixMul(_iPlane.Fpitch, fToFix(1.5)));
// Horizontal acceleration - thrust.
//_iPlane.hAccel = ((_iPlane.rpm * (_iPlane.iSpeed - _iPlane.hSpeed)) / 10000);
//_iPlane.hAccel /= 1000;
//_iPlane.hAccel *= _iPlane.loopTime;
_iPlane.FtmpX = fixSub(_iPlane.FiSpeed, _iPlane.FhSpeed);
_iPlane.FtmpX = fixMul(iToFix(_iPlane.rpm), _iPlane.FtmpX);
_iPlane.FhAccel = fixDiv(_iPlane.FtmpX, iToFix(10000));
_iPlane.FhAccel = fixDiv(_iPlane.FhAccel, iToFix(1000));
_iPlane.FhAccel = fixMul(_iPlane.FhAccel, iToFix(_iPlane.loopTime));
if (_iPlane.brake && !_iPlane.airborne) {
// Handle brakes.
if (_iPlane.FhSpeed > 0) {
//_iPlane.hSpeed -= 1;
_iPlane.FhSpeed = fixSub(_iPlane.FhSpeed, iToFix(1));
} else {
//_iPlane.hSpeed = 0;
_iPlane.FhSpeed = iToFix(0);
}
} else {
// Accelerate normally.
//_iPlane.hSpeed += _iPlane.hAccel;
_iPlane.FhSpeed = fixAdd(_iPlane.FhSpeed, _iPlane.FhAccel);
}
// Force speed to range -1..1.
//_iPlane.lSpeed = (_iPlane.hSpeed / 65) - 1;
_iPlane.FlSpeed = fixSub(fixDiv(_iPlane.FhSpeed, iToFix(65)), iToFix(1));
//if (_iPlane.lSpeed > 1) _iPlane.lSpeed = 1;
if (_iPlane.FlSpeed > iToFix(1)) _iPlane.FlSpeed = iToFix(1);
// Lift curve.
//_iPlane.lVeloc = Degs(ourAtan(_iPlane.lSpeed));
_iPlane.FlVeloc = fixDegs(fixAtan(_iPlane.FlSpeed));
// Force lift to range 0..90.
//_iPlane.lVeloc += 45;
_iPlane.FlVeloc = fixAdd(_iPlane.FlVeloc, iToFix(45));
// Shift range to 0..-17.
//_iPlane.lVeloc /= 5.29;
_iPlane.FlVeloc = fixDiv(_iPlane.FlVeloc, fToFix(5.29));
// Multiply by pitch modifier.
//_iPlane.lVeloc *= (-(_iPlane.pitch * 0.157) + 1);
_iPlane.FlVeloc = fixMul(_iPlane.FlVeloc, fixAdd(-(fixMul(_iPlane.Fpitch, fToFix(0.157))), iToFix(1)));
// Time slice.
//_iPlane.lVeloc /= 1000;
//_iPlane.lVeloc *= _iPlane.loopTime;
_iPlane.FlVeloc = fixDiv(_iPlane.FlVeloc, iToFix(1000));
_iPlane.FlVeloc = fixMul(_iPlane.FlVeloc, iToFix(_iPlane.loopTime));
// Gravity.
//_iPlane.gVeloc = _iPlane.loopTime * (-16.0 / 1000); // -16.0 is ft/sec for gravity.
_iPlane.FgVeloc = fixMul(iToFix(_iPlane.loopTime), fToFix(-0.016)); // -16.0 is ft/sec for gravity.
// Sum vertical velocity.
//_iPlane.vSpeed = _iPlane.gVeloc + _iPlane.lVeloc;
_iPlane.FvSpeed = fixAdd(_iPlane.FgVeloc, _iPlane.FlVeloc);
// No vertical speed if we're on the ground.
if ((!_iPlane.airborne) && (_iPlane.FvSpeed < iToFix(0))) _iPlane.FvSpeed = iToFix(0);
// Save climb rate in ft/min.
//_iPlane.climbRate = _iPlane.vSpeed / _iPlane.loopTime;
//_iPlane.climbRate *= 60000L;
_iPlane.FclimbRate = fixDiv(_iPlane.FvSpeed, iToFix(_iPlane.loopTime));
_iPlane.FclimbRate = fixMul(_iPlane.FclimbRate, iToFix(60000L)); //***TODO*** This long could be an issue.
// Expand to ft/hr.
//_iPlane.deltaZ = _iPlane.hSpeed * 5280;
_iPlane.FdeltaZ = fixMul(_iPlane.FhSpeed, iToFix(5280));
// Get ft/ms.
//_iPlane.deltaZ /= 3600000L;
//_iPlane.deltaZ *= _iPlane.loopTime;
_iPlane.FdeltaZ = fixDiv(_iPlane.FdeltaZ, iToFix(3600000L)); //***TODO*** This long could be an issue.
_iPlane.FdeltaZ = fixMul(_iPlane.FdeltaZ, iToFix(_iPlane.loopTime));
// Find effective angle of flight.
if (_iPlane.FdeltaZ) {
//_iPlane.efAOF = -(ourAtan(_iPlane.vSpeed / _iPlane.deltaZ));
_iPlane.FefAOF = -(fixAtan(fixDiv(_iPlane.FvSpeed, _iPlane.FdeltaZ)));
} else {
//_iPlane.efAOF = -(ourAtan(_iPlane.vSpeed));
_iPlane.FefAOF = -(fixAtan(_iPlane.FvSpeed));
}
// Convert to degrees.
//_iPlane.AOA = Degs(_iPlane.efAOF);
_iPlane.FAOA = fixDegs(_iPlane.FefAOF);
// Handle stalling.
//if (((_iPlane.pitch < _iPlane.AOA) && (_iPlane.AOA < 0)) && (_iPlane.hSpeed < 40)) {
if (((_iPlane.Fpitch < _iPlane.FAOA) && (_iPlane.FAOA < iToFix(0))) && (_iPlane.FhSpeed < iToFix(40))) {
//if ((_iPlane.pitch - _iPlane.AOA) < -20) _iPlane.stall = true;
if (fixSub(_iPlane.Fpitch, _iPlane.FAOA) < iToFix(-20)) _iPlane.stall = true;
}
if (_iPlane.stall) {
//if (_iPlane.pitch > 30) {
if (_iPlane.Fpitch > iToFix(30)) {
_iPlane.stall = false;
} else {
//_iPlane.pitch++;
_iPlane.Fpitch = fixAdd(_iPlane.Fpitch, iToFix(1));
}
}
}
#define SEGMENT_FLIGHT_MODEL_2
void iLightPlane2(void) {
// Flight model. Inertial Damping.
if (_iPlane.FdPitch != iToFix(0)) {
//_iPlane.dPitch -= _iPlane.dPitch / 10;
_iPlane.FdPitch = fixSub(_iPlane.FdPitch, fixDiv(_iPlane.FdPitch, iToFix(10)));
//if (((_iPlane.dPitch > 0) && (_iPlane.dPitch < 0.01)) || ((_iPlane.dPitch < 0) && (_iPlane.dPitch > -0.01))) _iPlane.dPitch = 0;
if (((_iPlane.FdPitch > iToFix(0)) && (_iPlane.FdPitch < fToFix(0.01))) || ((_iPlane.FdPitch < iToFix(0)) && (_iPlane.FdPitch > fToFix(-0.01)))) _iPlane.FdPitch = iToFix(0);
}
if (_iPlane.FdYaw != iToFix(0)) {
//_iPlane.dYaw -= _iPlane.dYaw / 10;
_iPlane.FdYaw = fixSub(_iPlane.FdYaw, fixDiv(_iPlane.FdYaw, iToFix(10)));
//if (((_iPlane.dYaw > 0) && (_iPlane.dYaw < 0.01)) || ((_iPlane.dYaw < 0) && (_iPlane.dYaw > -0.01))) _iPlane.dYaw = 0;
if (((_iPlane.FdYaw > iToFix(0)) && (_iPlane.FdYaw < fToFix(0.01))) || ((_iPlane.FdYaw < iToFix(0)) && (_iPlane.FdYaw > fToFix(-0.01)))) _iPlane.FdYaw = iToFix(0);
}
if (_iPlane.FdRoll != iToFix(0)) {
//_iPlane.dRoll -= _iPlane.dRoll / 10;
_iPlane.FdRoll = fixSub(_iPlane.FdRoll, fixDiv(_iPlane.FdRoll, iToFix(10)));
//if (((_iPlane.dRoll > 0) && (_iPlane.dRoll < 0.01)) || ((_iPlane.dRoll < 0) && (_iPlane.dRoll > -0.01))) _iPlane.dRoll = 0;
if (((_iPlane.FdRoll > iToFix(0)) && (_iPlane.FdRoll < fToFix(0.01))) || ((_iPlane.FdRoll < iToFix(0)) && (_iPlane.FdRoll > fToFix(-0.01)))) _iPlane.FdRoll = iToFix(0);
}
// Flight model. Rate of Change.
if (_iPlane.airborne) {
if (_iPlane.aileron != 0) {
//_iPlane.torque = ((_iPlane.hSpeed * _iPlane.aileron) / 10000);
_iPlane.Ftorque = fixDiv(fixMul(_iPlane.FhSpeed, iToFix(_iPlane.aileron)), iToFix(10000));
//if (_iPlane.dRoll != (_iPlane.torque * _iPlane.loopTime)) _iPlane.dRoll += _iPlane.torque * 6;
if (_iPlane.FdRoll != fixMul(_iPlane.Ftorque, iToFix(_iPlane.loopTime))) _iPlane.FdRoll = fixAdd(_iPlane.FdRoll, fixMul(_iPlane.Ftorque, iToFix(6)));
}
}
if (_iPlane.elevator != 0) {
//_iPlane.torque = ((_iPlane.hSpeed * _iPlane.elevator) / 10000);
_iPlane.Ftorque = fixDiv(fixMul(_iPlane.FhSpeed, iToFix(_iPlane.elevator)), iToFix(10000));
//if ((!_iPlane.airborne) && (_iPlane.torque > 0)) _iPlane.torque = 0; //***FIX*** This is dumb.
if ((!_iPlane.airborne) && (_iPlane.Ftorque > iToFix(0))) _iPlane.Ftorque = iToFix(0); //***FIX*** This is dumb.
//if (_iPlane.dPitch != (_iPlane.torque * _iPlane.loopTime)) _iPlane.dPitch += _iPlane.torque * 1.5;
if (_iPlane.FdPitch != fixMul(_iPlane.Ftorque, iToFix(_iPlane.loopTime))) _iPlane.FdPitch = fixAdd(_iPlane.FdPitch, fixMul(_iPlane.Ftorque, fToFix(1.5)));
}
if (_iPlane.FhSpeed != iToFix(0)) {
_iPlane.Ftorque = iToFix(0);
//if (_iPlane.rudder != 0) _iPlane.torque = -((_iPlane.hSpeed * _iPlane.rudder) / 10000);
if (_iPlane.rudder != 0) _iPlane.Ftorque = -(fixDiv(fixMul(_iPlane.FhSpeed, iToFix(_iPlane.rudder)), iToFix(10000)));
_iPlane.Ftorque2 = iToFix(0);
if ((_iPlane.Froll > iToFix(0)) && (_iPlane.Froll <= iToFix(90))) { //***FIX*** This is dumb.
//_iPlane.torque2 = _iPlane.roll * 0.00050;
_iPlane.Ftorque2 = fixMul(_iPlane.Froll, fToFix(0.00050));
} else {
if ((_iPlane.Froll < iToFix(0)) && (_iPlane.Froll >= iToFix(-90))) {
//_iPlane.torque2 = _iPlane.roll * 0.00050;
_iPlane.Ftorque2 = fixMul(_iPlane.Froll, fToFix(0.00050));
}
}
//_iPlane.torque += _iPlane.torque2;
_iPlane.Ftorque = fixAdd(_iPlane.Ftorque, _iPlane.Ftorque2);
//if (_iPlane.dYaw != (_iPlane.torque * _iPlane.loopTime)) _iPlane.dYaw += _iPlane.torque * 1.5;
if (_iPlane.FdYaw != fixMul(_iPlane.Ftorque, iToFix(_iPlane.loopTime))) _iPlane.FdYaw = fixAdd(_iPlane.FdYaw, fixMul(_iPlane.Ftorque, fToFix(1.5)));
}
// Flight model. Apply Rotations.
// Transform pitch into components of yaw and pitch based on roll.
_iPlane.Froll = fixAdd(_iPlane.Froll, _iPlane.FdRoll);
_iPlane.Fyaw = fixAdd(_iPlane.Fyaw, _iPlane.FdYaw);
//_iPlane.pitch += (_iPlane.dPitch * cosD(_iPlane.roll));
_iPlane.Fpitch = fixAdd(_iPlane.Fpitch, fixMul(_iPlane.FdPitch, fixCosD(_iPlane.Froll)));
//_iPlane.yaw += -(_iPlane.dPitch * sinD(_iPlane.roll));
_iPlane.Fyaw = fixAdd(_iPlane.Fyaw, -fixMul(_iPlane.FdPitch, fixSinD(_iPlane.Froll)));
if (_iPlane.Froll > iToFix(180)) {
//_iPlane.roll = -180 + (_iPlane.roll - 180);
_iPlane.Froll = fixAdd(iToFix(-180), fixSub(_iPlane.Froll, iToFix(180)));
} else {
//if (_iPlane.roll < -180) _iPlane.roll = 180 + (_iPlane.roll + 180);
if (_iPlane.Froll < iToFix(-180)) _iPlane.Froll = fixAdd(iToFix(180), fixAdd(_iPlane.Froll, iToFix(180)));
}
if (_iPlane.Fyaw > iToFix(180)) {
//_iPlane.yaw = -180 + (_iPlane.yaw - 180);
_iPlane.Fyaw = fixAdd(iToFix(-180), fixSub(_iPlane.Fyaw, iToFix(180)));
} else {
//if (_iPlane.yaw < -180) _iPlane.yaw = 180 + (_iPlane.yaw + 180);
if (_iPlane.Fyaw < iToFix(-180)) _iPlane.Fyaw = fixAdd(iToFix(180), fixAdd(_iPlane.Fyaw, iToFix(180)));
}
// Handle special case when aircraft pitch passes vertical.
if ((_iPlane.Fpitch > iToFix(90)) || (_iPlane.Fpitch < iToFix(-90))) {
if (_iPlane.Froll >= iToFix(0)) {
_iPlane.Froll = fixSub(_iPlane.Froll, iToFix(180));
} else {
if (_iPlane.Froll < iToFix(0)) _iPlane.Froll = fixAdd(_iPlane.Froll, iToFix(180));
}
if (_iPlane.Fyaw >= iToFix(0)) {
_iPlane.Fyaw = fixSub(_iPlane.Fyaw, iToFix(180));
} else {
if (_iPlane.Fyaw < iToFix(0)) _iPlane.Fyaw = fixAdd(_iPlane.Fyaw, iToFix(180));
}
if (_iPlane.Fpitch > iToFix(0)) {
_iPlane.Fpitch = fixSub(iToFix(180), _iPlane.Fpitch);
} else {
if (_iPlane.Fpitch < iToFix(0)) _iPlane.Fpitch = fixSub(iToFix(-180), _iPlane.Fpitch);
}
}
// Dampen everything out to 0 if they get close enough.
if ((_iPlane.Fpitch > fToFix(-0.5)) && (_iPlane.Fpitch < fToFix(0.5))) _iPlane.Fpitch = iToFix(0);
if ((_iPlane.Froll > fToFix(-0.5)) && (_iPlane.Froll < fToFix(0.5))) _iPlane.Froll = iToFix(0);
if ((_iPlane.Fyaw > fToFix(-0.5)) && (_iPlane.Fyaw < fToFix(0.5))) _iPlane.Fyaw = iToFix(0);
}
#define SEGMENT_FLIGHT_MODEL_3
void iMoveAircraft(void) {
// Calculate new aircraft position. Each coordinate is 1 foot in 3D space.
_iPlane.FtmpX = iToFix(0);
_iPlane.FtmpY = iToFix(0);
_iPlane.FtmpZ = _iPlane.FdeltaZ;
// Order of these points is significant.
// Rotate in X.
//_iPlane.newY = -(_iPlane.tmpZ * sinD(_iPlane.AOA));
_iPlane.FnewY = -fixMul(_iPlane.FtmpZ, fixSinD(_iPlane.FAOA));
//_iPlane.newZ = (_iPlane.tmpZ * cosD(_iPlane.AOA));
_iPlane.FnewZ = fixMul(_iPlane.FtmpZ, fixCosD(_iPlane.FAOA));
_iPlane.FtmpY = _iPlane.FnewY;
_iPlane.FtmpZ = _iPlane.FnewZ;
// Rotate in Y.
//_iPlane.newX = (_iPlane.tmpZ * sinD(_iPlane.yaw));
_iPlane.FnewX = fixMul(_iPlane.FtmpZ, fixSinD(_iPlane.Fyaw));
//_iPlane.newZ = (_iPlane.tmpZ * cosD(_iPlane.yaw));
_iPlane.FnewZ = fixMul(_iPlane.FtmpZ, fixCosD(_iPlane.Fyaw));
// Translate rotated point back to where it should be
// relative to it's last position.
_iPlane.FcollectX = fixAdd(_iPlane.FcollectX, _iPlane.FnewX);
if ((_iPlane.FcollectX > iToFix(1)) || (_iPlane.FcollectX < iToFix(-1))) {
_iPlane.x -= fixToI(_iPlane.FcollectX);
_iPlane.FcollectX = iToFix(0);
}
_iPlane.FcollectY = fixAdd(_iPlane.FcollectY, _iPlane.FnewY);
if ((_iPlane.FcollectY > iToFix(1)) || (_iPlane.FcollectY < iToFix(-1))) {
_iPlane.y -= fixToI(_iPlane.FcollectY);
_iPlane.FcollectY = iToFix(0);
}
_iPlane.FcollectZ = fixAdd(_iPlane.FcollectZ, _iPlane.FnewZ);
if ((_iPlane.FcollectZ > iToFix(1)) || (_iPlane.FcollectZ < iToFix(-1))) {
_iPlane.z += fixToI(_iPlane.FcollectZ);
_iPlane.FcollectZ = iToFix(0);
}
// Are we flying?
if ((!_iPlane.airborne) && (_iPlane.y != 0)) _iPlane.airborne = true;
}
#define SEGMENT_SETUP
void iResetAircraft(void) {
// Initialize airplane.
scdMemSet((byte *)&_iPlane, 0, sizeof(iAirplaneT));
_iPlane.brake = true;
_iPlane.loopTime = 40;
}
#define SEGMENT_MAIN
void iUpdateAircraft(void) {
// Do the actual flying!
iLightPlane();
iLightPlane2();
iMoveAircraft();
}

89
pc/src/main.c
View file

@ -22,7 +22,8 @@
#include "a23d2.h"
#include "flight.h"
#include "fflight.h"
#include "iflight.h"
#include "util.h"
#include "bitmap.h"
@ -106,13 +107,23 @@ int appMain(app_t *app, void *userData) {
a23d2Init();
// Build a plane!
resetAircraft();
_plane.x = _camera->x;
_plane.y = _camera->y - PLANE_HEIGHT;
_plane.z = _camera->z;
_plane.Fpitch = fToFix(-_camera->p * CAM2DEG); //***TODO*** Always use fixed point?
_plane.Froll = fToFix(-_camera->b * CAM2DEG);
_plane.Fyaw = fToFix(_camera->h * CAM2DEG);
fResetAircraft();
_fPlane.x = _camera->x;
_fPlane.y = _camera->y - PLANE_HEIGHT;
_fPlane.z = _camera->z;
_fPlane.pitch = -_camera->p * CAM2DEG;
_fPlane.roll = -_camera->b * CAM2DEG;
_fPlane.yaw = _camera->h * CAM2DEG;
/*
iResetAircraft();
_iPlane.x = _camera->x;
_iPlane.y = _camera->y - PLANE_HEIGHT;
_iPlane.z = _camera->z;
_iPlane.Fpitch = fToFix(-_camera->p * CAM2DEG); // ***TODO*** Always use fixed point?
_iPlane.Froll = fToFix(-_camera->b * CAM2DEG);
_iPlane.Fyaw = fToFix(_camera->h * CAM2DEG);
*/
// No input.
_gamepad = 0;
@ -217,53 +228,65 @@ int appMain(app_t *app, void *userData) {
// Update aircraft control state.
if ((_gamepad & JOY_BUTTON_1) || (_gamepad & JOY_BUTTON_2) || (_gamepad & JOY_BUTTON_3)) {
// Modified input with button down.
if ((_gamepad & JOY_UP) && (_plane.throttle < 15)) _plane.throttle++;
if ((_gamepad & JOY_DOWN) && (_plane.throttle > 0)) _plane.throttle--;
if (_gamepad & JOY_RIGHT) _plane.brake = !_plane.brake;
if ((_gamepad & JOY_UP) && (_fPlane.throttle < 20)) _fPlane.throttle++;
if ((_gamepad & JOY_DOWN) && (_fPlane.throttle > 0)) _fPlane.throttle--;
if (_gamepad & JOY_RIGHT) _fPlane.brake = !_fPlane.brake;
if (_gamepad & JOY_LEFT) {
_plane.elevator = 0;
_plane.aileron = 0;
_fPlane.elevator = 0;
_fPlane.aileron = 0;
}
} else {
// No button pressed.
if ((_gamepad & JOY_UP) && (_plane.elevator > -15)) _plane.elevator--;
if ((_gamepad & JOY_DOWN) && (_plane.elevator < 15)) _plane.elevator++;
if ((_gamepad & JOY_LEFT) && (_plane.aileron > -15)) _plane.aileron--;
if ((_gamepad & JOY_RIGHT) && (_plane.aileron < 15)) _plane.aileron++;
if ((_gamepad & JOY_UP) && (_fPlane.elevator > -7)) _fPlane.elevator--;
if ((_gamepad & JOY_DOWN) && (_fPlane.elevator < 7)) _fPlane.elevator++;
if ((_gamepad & JOY_LEFT) && (_fPlane.aileron > -7)) _fPlane.aileron--;
if ((_gamepad & JOY_RIGHT) && (_fPlane.aileron < 7)) _fPlane.aileron++;
}
// We have no rudder input. "Coordinated" flight.
_plane.rudder = _plane.aileron;
_fPlane.rudder = _fPlane.aileron;
// We have no ignition input.
if (_plane.throttle) _plane.ignition = 1;
if (_fPlane.throttle) _fPlane.ignition = 1;
}
printAt(0, 25, "X:%d Y:%d Z:%d", _plane.x, _plane.y, _plane.z);
printAt(0, 26, "P:%f R:%f Y:%f", fixToF(_plane.Fpitch), fixToF(_plane.Froll), fixToF(_plane.Fyaw));
printAt(0, 27, "T:%d E:%d A:%d B:%d", _plane.throttle, _plane.elevator, _plane.aileron, _plane.brake);
printAt(0, 28, "I:%d A:%d R:%d H:%f V:%f", _plane.ignition, _plane.airborne, _plane.rpm, fixToF(_plane.FhSpeed), fixToF(_plane.FvSpeed));
printAt(0, 25, "X:%d Y:%d Z:%d", _fPlane.x, _fPlane.y, _fPlane.z);
//printAt(0, 26, "P:%f R:%f Y:%f", fixToF(_fPlane.Fpitch), fixToF(_fPlane.Froll), fixToF(_fPlane.Fyaw));
printAt(0, 26, "P:%f R:%f Y:%f", _fPlane.pitch, _fPlane.roll, _fPlane.yaw);
printAt(0, 27, "T:%d E:%d A:%d B:%d", _fPlane.throttle, _fPlane.elevator, _fPlane.aileron, _fPlane.brake);
//printAt(0, 28, "I:%d A:%d R:%d H:%f V:%f", _fPlane.ignition, _fPlane.airborne, _fPlane.rpm, fixToF(_fPlane.FhSpeed), fixToF(_fPlane.FvSpeed));
printAt(0, 28, "I:%d A:%d R:%d H:%f V:%f", _fPlane.ignition, _fPlane.airborne, _fPlane.rpm, _fPlane.hSpeed, _fPlane.vSpeed);
// Update timers.
_plane.loopTime = (app_time_count(app) - lastTime) / timeFreqMs;
if (_plane.loopTime == 0) _plane.loopTime = 1;
_fPlane.loopTime = (app_time_count(app) - lastTime) / timeFreqMs;
if (_fPlane.loopTime == 0) _fPlane.loopTime = 1;
lastTime = app_time_count(app);
milliseconds += _plane.loopTime;
milliseconds += _fPlane.loopTime;
if (milliseconds > 1000) {
milliseconds -= 1000;
fps = 0;
}
// FLY!
updateAircraft();
fUpdateAircraft();
//iUpdateAircraft();
// Move camera.
_camera->x = _plane.x;
_camera->y = _plane.y + PLANE_HEIGHT;
_camera->z = _plane.z;
_camera->p = -fixToF(_plane.Fpitch) * DEG2CAM; //***TODO*** Always use fixed point?
_camera->b = -fixToF(_plane.Froll) * DEG2CAM;
_camera->h = fixToF(_plane.Fyaw) * DEG2CAM;
_camera->x = _fPlane.x;
_camera->y = _fPlane.y + PLANE_HEIGHT;
_camera->z = _fPlane.z;
_camera->p = -_fPlane.pitch * DEG2CAM;
_camera->b = -_fPlane.roll * DEG2CAM;
_camera->h = _fPlane.yaw * DEG2CAM;
/*
_camera->x = _iPlane.x;
_camera->y = _iPlane.y + PLANE_HEIGHT;
_camera->z = _iPlane.z;
_camera->p = -fixToF(_iPlane.Fpitch) * DEG2CAM; // ***TODO*** Always use fixed point?
_camera->b = -fixToF(_iPlane.Froll) * DEG2CAM;
_camera->h = fixToF(_iPlane.Fyaw) * DEG2CAM;
*/
printAt(0, 0, "X:%d Y:%d Z:%d", _camera->x, _camera->y, _camera->z);
printAt(0, 1, "P:%d B:%d H:%d", _camera->p, _camera->b, _camera->h);