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/* This file is part of the Spring engine (GPL v2 or later), see LICENSE.html */
#include "IPathController.hpp"
#include "Sim/Units/Unit.h"
#include "System/SpringMath.h"
float GMTDefaultPathController::GetDeltaSpeed(
unsigned int pathID,
float targetSpeed, // unsigned
float currentSpeed, // unsigned
float maxAccRate, // unsigned
float maxDecRate, // unsigned
bool wantReverse,
bool isReversing
) const {
// Sign(0) is negative which we do not want
const int targetSpeedSign = Sign(int(!wantReverse) * 2 - 1);
const int currentSpeedSign = Sign(int(!isReversing) * 2 - 1);
// if reversing, target and current are swapped
const float speeds[] = {targetSpeed * targetSpeedSign, currentSpeed * currentSpeedSign};
// all possible cases
// tar=[6,+1] && cur=[4,+1] --> dif=+2, delta= accRate*+1 (fwd-acc from +4 to +6)
// tar=[4,+1] && cur=[6,+1] --> dif=-2, delta=-decRate*+1 (fwd-dec from +6 to +4)
// tar=[6,-1] && cur=[4,-1] --> dif=+2, delta= accRate*-1 (rev-acc from -4 to -6)
// tar=[4,-1] && cur=[6,-1] --> dif=-2, delta=-decRate*-1 (rev-dec from -6 to -4)
// tar=[4,-1] && cur=[4,+1] --> dif=-8, delta=-decRate*+1 (fwd-dec from +5 to 0, rev-acc from 0 to -5)
// tar=[4,+1] && cur=[4,-1] --> dif=-8, delta=-decRate*-1 (rev-dec from -5 to 0, fwd-acc from 0 to +5)
//
const float rawSpeedDiff = speeds[isReversing] - speeds[1 - isReversing];
const float absSpeedDiff = std::max(rawSpeedDiff, -rawSpeedDiff);
// need to clamp, rates can be much larger than |speedDiff|
const float modAccRate = std::min(absSpeedDiff, maxAccRate);
const float modDecRate = std::min(absSpeedDiff, maxDecRate);
const float deltaSpeed = mix(modAccRate, -modDecRate, (rawSpeedDiff < 0.0f));
// no acceleration changes if not on ground
//
// note: not 100% correct, depends on MoveDef::speedModClass
// ships should always use (1 - IsInWater()), hovercraft
// should use (1 - IsInWater()) but only when over water,
// tanks should also test if IsInWater() && !IsOnGround()
return ((deltaSpeed * currentSpeedSign) * (1 - owner->IsInAir()));
}
short GMTDefaultPathController::GetDeltaHeading(
unsigned int pathID,
short newHeading,
short oldHeading,
float maxTurnRate
) const {
short deltaHeading = newHeading - oldHeading;
if (deltaHeading > 0) {
deltaHeading = std::min(deltaHeading, short( maxTurnRate));
} else {
deltaHeading = std::max(deltaHeading, short(-maxTurnRate));
}
// no orientation changes if not on ground
return (deltaHeading * (1 - owner->IsInAir()));
}
short GMTDefaultPathController::GetDeltaHeading(
unsigned int pathID,
short newHeading,
short oldHeading,
float maxTurnSpeed,
float maxTurnAccel,
float turnBrakeDist,
float* curTurnSpeedPtr
) const {
float curTurnSpeed = *curTurnSpeedPtr;
float absTurnSpeed = math::fabs(curTurnSpeed);
// negative delta represents a RH turn, positive a LH turn
// add lookahead term to avoid overshooting target heading
// note that turnBrakeDist is always positive
const short brakeDistFactor = (absTurnSpeed >= maxTurnAccel);
const short stopTurnHeading = oldHeading + (turnBrakeDist * Sign(curTurnSpeed) * brakeDistFactor);
const short curDeltaHeading = newHeading - stopTurnHeading;
if (brakeDistFactor == 0) {
curTurnSpeed = (Sign(curDeltaHeading) * std::min(math::fabs(curDeltaHeading * 1.0f), maxTurnAccel));
} else {
curTurnSpeed += (Sign(curDeltaHeading) * std::min(math::fabs(curDeltaHeading * 1.0f), maxTurnAccel));
}
// less realistic to nullify speed in air, but saves headaches
// (high-turnrate units leaving the ground do not behave well)
return (*curTurnSpeedPtr = Clamp(curTurnSpeed * (1 - owner->IsInAir()), -maxTurnSpeed, maxTurnSpeed));
}
bool GMTDefaultPathController::IgnoreTerrain(const MoveDef& md, const float3& pos) const {
return (owner->IsInAir());
}
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