riley@mipsdal.mips.com (Riley Rainey) (03/02/91)
Submitted-by: riley@mipsdal.mips.com (Riley Rainey)
Posting-number: Volume 12, Issue 10
Archive-name: acm/part05
#! /bin/sh
# This is a shell archive. Remove anything before this line, then unpack
# it by saving it into a file and typing "sh file". To overwrite existing
# files, type "sh file -c". You can also feed this as standard input via
# unshar, or by typing "sh <file", e.g.. If this archive is complete, you
# will see the following message at the end:
# "End of archive 5 (of 9)."
# Contents: acm/V/lib/Makefile acm/V/test/fullrwy acm/V/test/rwy
# acm/fsim/missile.c
# Wrapped by riley@mipsdal on Thu Feb 14 10:09:19 1991
PATH=/bin:/usr/bin:/usr/ucb ; export PATH
if test -f 'acm/V/lib/Makefile' -a "${1}" != "-c" ; then
echo shar: Will not clobber existing file \"'acm/V/lib/Makefile'\"
else
echo shar: Extracting \"'acm/V/lib/Makefile'\" \(11709 characters\)
sed "s/^X//" >'acm/V/lib/Makefile' <<'END_OF_FILE'
X# Makefile generated by imake - do not edit!
X# $XConsortium: imake.c,v 1.51 89/12/12 12:37:30 jim Exp $
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X###########################################################################
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X# Platform-specific parameters may be set in the appropriate .cf
X# configuration files. Site-wide parameters may be set in the file
X# site.def. Full rebuilds are recommended if any parameters are changed.
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X# If you absolutely can't get imake to work, you'll need to set the
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END_OF_FILE
if test 11709 -ne `wc -c <'acm/V/lib/Makefile'`; then
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echo shar: Extracting \"'acm/V/test/fullrwy'\" \(11276 characters\)
sed "s/^X//" >'acm/V/test/fullrwy' <<'END_OF_FILE'
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END_OF_FILE
if test 11276 -ne `wc -c <'acm/V/test/fullrwy'`; then
echo shar: \"'acm/V/test/fullrwy'\" unpacked with wrong size!
fi
# end of 'acm/V/test/fullrwy'
fi
if test -f 'acm/V/test/rwy' -a "${1}" != "-c" ; then
echo shar: Will not clobber existing file \"'acm/V/test/rwy'\"
else
echo shar: Extracting \"'acm/V/test/rwy'\" \(11259 characters\)
sed "s/^X//" >'acm/V/test/rwy' <<'END_OF_FILE'
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END_OF_FILE
if test 11259 -ne `wc -c <'acm/V/test/rwy'`; then
echo shar: \"'acm/V/test/rwy'\" unpacked with wrong size!
fi
# end of 'acm/V/test/rwy'
fi
if test -f 'acm/fsim/missile.c' -a "${1}" != "-c" ; then
echo shar: Will not clobber existing file \"'acm/fsim/missile.c'\"
else
echo shar: Extracting \"'acm/fsim/missile.c'\" \(10544 characters\)
sed "s/^X//" >'acm/fsim/missile.c' <<'END_OF_FILE'
X/*
X * xflight : an aerial combat simulator for X
X *
X * Written by Riley Rainey, riley@mips.com
X *
X * Permission to use, copy, modify and distribute (without charge) this
X * software, documentation, images, etc. is granted, provided that this
X * comment and the author's name is retained.
X *
X */
X
X#include "pm.h"
X#include <math.h>
X
Xtypedef struct _entry {
X double time;
X double min;
X craft *c;
X struct _entry *next;
X } entry;
X
X
Xextern craftType *lookupCraft();
Xextern int mdebug;
Xextern void lookForCannonImpacts();
Xextern void euler();
X
Xint fireMissile (c)
Xcraft *c; {
X
X register craft *m;
X register int i;
X VPoint s;
X VPoint cY, mX, mY, mZ;
X double v;
X
X for ((i=0, m= &mtbl[0]); i<MAXPROJECTILES; (++i, ++m))
X if (m->type == CT_FREE) {
X m->type = CT_MISSILE;
X break;
X }
X
X if (i == MAXPROJECTILES)
X return -1;
X
X m->cinfo = lookupCraft ("aim-9m");
X m->fuel = m->cinfo->maxFuel;
X m->curThrust = m->cinfo->maxThrust;
X
X/*
X * Build trihedral based on the launching aircraft's current velocity vector
X * rather than simply it's current direction vector.
X *
X * (1) build a unit velocity vector.
X * (2) calculate missiles local Z axis from
X * plane's-y-axis CROSS missile's-unit-velocity-vector
X * (3) calculate missile's Y axis.
X */
X
X if ((v = mag (c->Cg)) == 0.0) {
X m->trihedral = c->trihedral;
X m->Itrihedral = c->Itrihedral;
X m->curRoll = c->curRoll;
X m->curPitch = c->curPitch;
X m->curHeading = c->curHeading;
X }
X else {
X mX = c->Cg;
X mX.x /= v;
X mX.y /= v;
X mX.z /= v;
X cY.x = c->trihedral.m[0][1];
X cY.y = c->trihedral.m[1][1];
X cY.z = c->trihedral.m[2][1];
X
X VCrossProd (&mX, &cY, &mZ);
X VCrossProd (&mZ, &mX, &mY);
X
X m->trihedral.m[0][0] = mX.x;
X m->trihedral.m[1][0] = mX.y;
X m->trihedral.m[2][0] = mX.z;
X m->trihedral.m[0][1] = mY.x;
X m->trihedral.m[1][1] = mY.y;
X m->trihedral.m[2][1] = mY.z;
X m->trihedral.m[0][2] = mZ.x;
X m->trihedral.m[1][2] = mZ.y;
X m->trihedral.m[2][2] = mZ.z;
X
X transpose (&m->trihedral, &m->Itrihedral);
X euler (m);
X }
X
X m->Cg = c->Cg;
X VTransform (&(c->cinfo->wStation[1]), &(c->trihedral), &s);
X m->Sg.x = c->Sg.x + s.x;
X m->Sg.y = c->Sg.y + s.y;
X m->Sg.z = c->Sg.z + s.z;
X m->armFuse = (int) (m->cinfo->armDelay / deltaT);
X m->flags = FL_HAS_GYRO;
X m->createTime = curTime;
X
X/*
X * kludge
X */
X
X m->curRadarTarget = c->curRadarTarget;
X
X return 0;
X}
X
Xint killMissile (c)
Xcraft *c; {
X
X c->type = CT_FREE;
X return 0;
X}
X
Xint lookForImpacts () {
X
X craft *c, *m;
X entry p[MAXPLAYERS], *list, *q, *r, *rprev;
X VPoint v, s0;
X double t, d;
X int i, j;
X
X for (m=mtbl, i=0; i<MAXPROJECTILES; ++i, ++m) {
X
X if (m->type == CT_CANNON) {
X lookForCannonImpacts (m);
X continue;
X }
X else if (m->type != CT_MISSILE || m->armFuse > 0)
X continue;
X
X list = (entry *) NULL;
X for (c=ptbl, j=0; j<MAXPLAYERS; ++j, ++c) {
X
X if (c->type == CT_FREE)
X continue;
X
X/*
X * Reduce the relative motion of this object to a the parametric system
X * of equations:
X * x(t) = vx * t + s0x
X * y(t) = vy * t + s0y
X * z(t) = vz * t + s0z
X *
X * We can then compute the time of perigee (closest pass) along with
X * the associated minimum distance.
X */
X
X v.x = c->Sg.x - c->prevSg.x - m->Sg.x + m->prevSg.x;
X v.y = c->Sg.y - c->prevSg.y - m->Sg.y + m->prevSg.y;
X v.z = c->Sg.z - c->prevSg.z - m->Sg.z + m->prevSg.z;
X s0.x = c->prevSg.x - m->prevSg.x;
X s0.y = c->prevSg.y - m->prevSg.y;
X s0.z = c->prevSg.z - m->prevSg.z;
X
X/*
X * Compute time of minimum distance between the two objects (note that units
X * here are UPDATE_INTERVAL seconds).
X */
X
X t = - (v.x * s0.x + v.y * s0.y + v.z * s0.z) /
X (v.x * v.x + v.y * v.y + v.z * v.z);
X
X if (mdebug)
X printf ("perigee in %g seconds with player %d\n",
X t*deltaT, j);
X
X/*
X * If the closest pass occurs during this update interval, check for a hit.
X * We'll build a linked list of all craft that this projectile may strike
X * during this period, arranged in ascending order by time of "perigee"
X * (closest pass). We'll then test for strikes. If a projectile misses
X * the first object, then it may have struck subsequent objects in the
X * list ...
X */
X
X/*
X * One special case occurs when a target or missile's turn suddenly
X * changes the perigee time from positive to negative. If the missile
X * is within hitting range at t=0 and the time of perigee is negative,
X * then zap 'em.
X */
X
X if (t < 0.0) {
X d = sqrt (s0.x *s0.x + s0.y * s0.y +
X s0.z * s0.z);
X if (isMissileHit (d, c)) {
X t = 0.0;
X }
X }
X
X if (t >= 0.0 && t <= 1.0) {
X q = &p[j];
X if (list == (entry *) NULL) {
X q->next = list;
X list = q;
X }
X else if (list->time > t) {
X q->next = list;
X list = q;
X }
X else {
X for (rprev=list, r=list->next; r != (entry *) NULL;) {
X if (r->time > t) break;
X rprev = r;
X r = r->next;
X }
X rprev->next = q;
X q->next = r;
X }
X q->time = t;
X q->c = c;
X q->min = sqrt (pow(v.x * t + s0.x, 2.0) +
X pow (v.y * t + s0.y, 2.0) +
X pow (v.z * t + s0.z, 2.0) );
X if (mdebug)
X printf ("perigee %g feet; craft %d.\n",
X q->min, j);
X }
X }
X
X/*
X * Now look for missile hits in the list of perigees.
X */
X
X for (r=list; r != (entry *) NULL; r=r->next)
X if (isMissileHit (r->min, r->c)) {
X killMissile (m);
X if (absorbDamage (r->c, 20) == 0)
X killPlayer (r->c);
X break;
X }
X }
X
X return(0);
X}
X
X/*ARGSUSED*/
Xint isMissileHit (min, c)
Xdouble min;
Xcraft *c; {
X
X return (min < 50.0) ? 1 : 0;
X}
X
X#define IRScanSlope 0.57735
X
Xint isIRVisible (c, m, t)
Xcraft *c;
XVMatrix *m;
XVPoint *t; {
X
X VPoint relPos;
X
X if (c->type == CT_FREE)
X return 0;
X
X VTransform (&(c->Sg), m, t);
X
X if (t->z <= 0.0)
X return 0;
X
X relPos.x = t->x / (t->z * IRScanSlope);
X relPos.y = t->y / (t->z * IRScanSlope);
X
X return (sqrt(relPos.x*relPos.x + relPos.y*relPos.y) > 1.0) ? 0 : 1;
X}
X
Xint getIRTarget (c, m, t)
Xcraft *c;
XVMatrix *m;
XVPoint *t; {
X
X int i, n;
X craft *p;
X VPoint tNew, tMin;
X double m1, min;
X
X if (c->curRadarTarget != -1 && isIRVisible(&ptbl[c->curRadarTarget], m, t))
X return c->curRadarTarget;
X
X/*
X * Look for a target. Designate the closest one as a new target.
X */
X
X min = 1000000.0;
X n = -1;
X for (i=0, p=ptbl; i<MAXPLAYERS; ++i, ++p) {
X if (p == c)
X continue;
X if (p->type != CT_FREE)
X if (isIRVisible (p, m, &tNew)) {
X m1 = mag(tNew);
X if (m1 < min) {
X n = i;
X min = m1;
X tMin = tNew;
X }
X }
X }
X
X *t = tMin;
X return n;
X}
X
Xvoid createMissileEyeSpace (c, eyeSpace)
Xcraft *c;
XVMatrix *eyeSpace; {
X
X VPoint CntrInt, up, C1, C2;
X VMatrix mtx, es;
X double Hypotenuse, h1, SinA, CosA;
X
X/*
X * Create an eyeSpace transformation matrix to convert from global to
X * local coordinates.
X */
X
X CntrInt.x = c->Sg.x + c->trihedral.m[0][0];
X CntrInt.y = c->Sg.y + c->trihedral.m[1][0];
X CntrInt.z = c->Sg.z + c->trihedral.m[2][0];
X
X/*
X * If the missile has a gyroscope, then it can determine which way "down" is
X * and, hence, compensate for gravity. Here, we'll compensate by pointing
X * the nose of the missile up by a maximum of 12 degrees at all times.
X */
X
X if (c->flags & FL_HAS_GYRO)
X if (c->curThrust > 0.0)
X CntrInt.z += 0.208;
X else
X CntrInt.z += 0.30;
X
X up.x = c->Sg.x - c->trihedral.m[0][2];
X up.y = c->Sg.y - c->trihedral.m[1][2];
X up.z = c->Sg.z - c->trihedral.m[2][2];
X
X VIdentMatrix (eyeSpace);
X eyeSpace->m[0][3] = -c->Sg.x;
X eyeSpace->m[1][3] = -c->Sg.y;
X eyeSpace->m[2][3] = -c->Sg.z;
X VTransform(&CntrInt, eyeSpace, &C1);
X
X VIdentMatrix (&mtx);
X Hypotenuse = sqrt(C1.x * C1.x + C1.y * C1.y);
X if (Hypotenuse > 0.0) {
X CosA = C1.y / Hypotenuse;
X SinA = C1.x / Hypotenuse;
X mtx.m[0][0] = CosA;
X mtx.m[1][0] = SinA;
X mtx.m[0][1] = -SinA;
X mtx.m[1][1] = CosA;
X es = *eyeSpace;
X VMatrixMult(&es, &mtx, eyeSpace);
X }
X
X VTransform(&CntrInt, eyeSpace, &C2);
X VIdentMatrix (&mtx);
X Hypotenuse = sqrt(C2.y * C2.y + C2.z * C2.z);
X if (Hypotenuse > 0.0) {
X CosA = C2.y / Hypotenuse;
X SinA = -C2.z / Hypotenuse;
X mtx.m[1][1] = CosA;
X mtx.m[2][1] = SinA;
X mtx.m[1][2] = -SinA;
X mtx.m[2][2] = CosA;
X es = *eyeSpace;
X VMatrixMult(&es, &mtx, eyeSpace);
X }
X
X VTransform (&up, eyeSpace, &C2);
X VIdentMatrix (&mtx);
X h1 = sqrt (C2.y * C2.y + C2.z * C2.z);
X Hypotenuse = sqrt(C2.x * C2.x + h1 * h1);
X if (Hypotenuse > 0.0) {
X CosA = h1 / Hypotenuse;
X SinA = C2.x / Hypotenuse;
X if (C2.z < 0.0) {
X CosA = -CosA;
X }
X mtx.m[0][0] = CosA;
X mtx.m[2][0] = SinA;
X mtx.m[0][2] = -SinA;
X mtx.m[2][2] = CosA;
X es = *eyeSpace;
X VMatrixMult(&es, &mtx, eyeSpace);
X }
X
X VIdentMatrix (&mtx);
X mtx.m[1][1] = 0.0;
X mtx.m[2][1] = 1.0;
X mtx.m[1][2] = 1.0;
X mtx.m[2][2] = 0.0;
X es = *eyeSpace;
X VMatrixMult(&es, &mtx, eyeSpace);
X
X}
X
Xvoid trackTarget (c)
Xcraft *c; {
X
X VMatrix eyeSpace, mtx, mtx1;
X VPoint t, t1;
X double v, h, m, maxTurnSlope, aMax = 30.0 * a;
X double deltaRoll, deltaPitch, deltaYaw;
X double cosR, sinR;
X
X createMissileEyeSpace (c, &eyeSpace);
X
X/*
X * Now let's get to target tracking; the missile won't start tracking until
X * 0.60 seconds has elapsed. Then, if we don't already have a target
X * designated, get one.
X */
X
X if (curTime - c->createTime < 0.60) {
X t.x = 0.0;
X t.y = 0.0;
X t.z = 1.0;
X }
X else if ((c->curRadarTarget = getIRTarget(c, &eyeSpace, &t)) == -1) {
X if (mdebug)
X printf ("Missile elects to self-destruct\n");
X killMissile (c);
X return;
X }
X
X t.x = t.x / t.z;
X t.y = t.y / t.z;
X
X h = sqrt (t.x*t.x + t.y*t.y);
X v = mag (c->Cg);
X
X/*
X * We'll constrain missile turns to a 20 degree/second unless it's velocity
X * would make that greater than 30g's.
X */
X
X if ((m=(v*v - aMax*aMax/4.0)) > 0.0)
X maxTurnSlope = aMax / (2.0 * sqrt (m)) * deltaT;
X
X else
X maxTurnSlope = 0.3639 * deltaT;
X
X if (mdebug)
X printf ("slope = %g; maxTurnSlope = %g\n", h, maxTurnSlope);
X
X if (h > maxTurnSlope) {
X t.x = t.x * maxTurnSlope / h;
X t.y = t.y * maxTurnSlope / h;
X }
X
X cosR = cos (c->curRoll);
X sinR = sin (c->curRoll);
X
X deltaRoll = 0.0;
X deltaPitch = atan (t.y);
X deltaYaw = atan (t.x);
X
X/*
X * Re-orient the velocity vector towards our new direction.
X */
X
X VIdentMatrix (&mtx);
X if (deltaPitch != 0.0)
X VRotate (&mtx, YRotation, - deltaPitch);
X if (deltaYaw != 0.0)
X VRotate (&mtx, ZRotation, deltaYaw);
X VTransform (&(c->Cg), &(c->Itrihedral), &t);
X VTransform (&t, &mtx, &t1);
X VTransform (&t1, &(c->trihedral), &(c->Cg));
X
X if (mdebug)
X printf ("Missile changes: pitch: %g, yaw: %g.\n",
X RADtoDEG(deltaPitch), RADtoDEG(deltaYaw));
X
X buildEulerMatrix (deltaRoll, deltaPitch, deltaYaw, &mtx);
X VMatrixMult (&mtx, &c->trihedral, &mtx1);
X c->trihedral = mtx1;
X
X transpose (&c->trihedral, &c->Itrihedral);
X euler (c);
X
X}
END_OF_FILE
if test 10544 -ne `wc -c <'acm/fsim/missile.c'`; then
echo shar: \"'acm/fsim/missile.c'\" unpacked with wrong size!
fi
# end of 'acm/fsim/missile.c'
fi
echo shar: End of archive 5 \(of 9\).
cp /dev/null ark5isdone
MISSING=""
for I in 1 2 3 4 5 6 7 8 9 ; do
if test ! -f ark${I}isdone ; then
MISSING="${MISSING} ${I}"
fi
done
if test "${MISSING}" = "" ; then
echo You have unpacked all 9 archives.
rm -f ark[1-9]isdone ark[1-9][0-9]isdone
else
echo You still need to unpack the following archives:
echo " " ${MISSING}
fi
## End of shell archive.
exit 0
--
Riley Rainey Internet: riley@mips.com
MIPS Computer Systems Phone: +1 214 770-7979
Dallas, Texas