From 69aa9f090d551c1ebb211f3a01273b28421fc9c0 Mon Sep 17 00:00:00 2001 From: tom barrett Date: Thu, 14 Mar 2019 13:18:55 -0500 Subject: fleshing out tractorbeam --- src/client/tractorbeam.rs | 8 ++-- src/constants.rs | 3 ++ src/mass.rs | 15 +++---- src/math.rs | 8 +--- src/modules/tractorbeam.rs | 104 +++++++++++++++++++++++++++++++++------------ 5 files changed, 91 insertions(+), 47 deletions(-) (limited to 'src') diff --git a/src/client/tractorbeam.rs b/src/client/tractorbeam.rs index 74d912f..c8a6d92 100644 --- a/src/client/tractorbeam.rs +++ b/src/client/tractorbeam.rs @@ -27,25 +27,25 @@ pub fn client_tractorbeam(mut stream: TcpStream, mut buff_r: BufReader write!( stdout, - "{}Press o to pull, p to push, t to bring to 5m.", + "{}Press o to pull, p to push, b to bring to 5m.", clear ) .unwrap(), tractorbeam::Status::Push => write!( stdout, - "{}Press o to pull, p to stop pushing, t to bring to 5m.", + "{}Press o to pull, p to stop pushing, b to bring to 5m.", clear ) .unwrap(), tractorbeam::Status::Pull => write!( stdout, - "{}Press o to stop pulling, p to push, t to bring to 5m.", + "{}Press o to stop pulling, p to push, b to bring to 5m.", clear ) .unwrap(), tractorbeam::Status::Bring => write!( stdout, - "{}Press o to pulling, p to push, t to stop bringing to 5m.", + "{}Press o to pulling, p to push, b to stop bringing to 5m.", clear ) .unwrap(), diff --git a/src/constants.rs b/src/constants.rs index a2373ff..4c48cac 100644 --- a/src/constants.rs +++ b/src/constants.rs @@ -14,6 +14,8 @@ pub const SHIP_NAVIGATION_TIME: u64 = 3; pub const SHIP_NAVIGATION_RANGE: f64 = 100.0; pub const SHIP_REFINERY_TIME: u64 = 5; pub const SHIP_TRACTORBEAM_STRENGTH: f64 = 0.1; +pub const SHIP_TRACTORBEAM_RANGE: f64 = 50.0; +pub const SHIP_TRACTORBEAM_BRING_TO_DISTANCE: f64 = 5.0; pub const SHIP_ENGINES_FUEL_START: f64 = 100.0; pub const SHIP_ENGINES_ACCELERATION: f64 = 0.1; @@ -22,3 +24,4 @@ pub const HYDROGEN_SIZE: usize = 1; pub const CRUDE_MINERALS_SIZE: usize = 10; pub const SLEEP_DURATION: u64 = 100; +pub const FLOAT_PRECISION: f64 = 0.001; diff --git a/src/mass.rs b/src/mass.rs index 3d90573..a307295 100644 --- a/src/mass.rs +++ b/src/mass.rs @@ -98,16 +98,16 @@ impl Mass { Mass { mass_type: astroid, - position: Vector::new(( + position: Vector::new( rng.sample(p_range), rng.sample(p_range), rng.sample(p_range), - )), - velocity: Vector::new(( + ), + velocity: Vector::new( rng.sample(v_range), rng.sample(v_range), rng.sample(v_range), - )), + ), effects: Effects::new(), } } @@ -179,10 +179,7 @@ impl Mass { if let Some(target_name) = &navigation.target_name { let mut target = masses.remove(target_name).unwrap(); mining.process(self.position.clone(), masses, &mut target, storage); - tractorbeam.process(); - let acceleration = - tractorbeam.get_acceleration(self.position.clone(), target.position.clone()); - target.effects.give_acceleration(acceleration); + tractorbeam.process(self.position.clone(), &mut target); masses.insert(target_name.to_string(), target); } @@ -193,13 +190,13 @@ impl Mass { engines.process(self.position.clone(), self.velocity.clone(), target); refinery.process(storage); - navigation.process(self.position.clone(), masses); construction.process( self.velocity.clone(), self.position.clone(), masses, storage, ); + navigation.process(self.position.clone(), masses); self.effects.give_acceleration(engines.take_acceleration()); } diff --git a/src/math.rs b/src/math.rs index 9a9f7b8..e266a88 100644 --- a/src/math.rs +++ b/src/math.rs @@ -19,12 +19,8 @@ pub struct Vector { } impl Vector { - pub fn new(v: (f64, f64, f64)) -> Vector { - Vector { - x: v.0, - y: v.1, - z: v.2, - } + pub fn new(x: f64, y: f64, z: f64) -> Vector { + Vector { x, y, z } } pub fn distance_from(&self, other: Vector) -> f64 { diff --git a/src/modules/tractorbeam.rs b/src/modules/tractorbeam.rs index 4f91292..28aa181 100644 --- a/src/modules/tractorbeam.rs +++ b/src/modules/tractorbeam.rs @@ -4,21 +4,89 @@ use crate::math::Vector; #[derive(Serialize, Deserialize, Debug, Clone, Default)] pub struct Tractorbeam { + pub range: f64, pub status: Status, strength: f64, desired_distance: Option, + control_system: ControlSystem, +} + +#[derive(Serialize, Deserialize, Debug, Clone, Default)] +struct ControlSystem { + previous_error: f64, + integral: f64, + kp: f64, + ki: f64, + kd: f64, + dt: f64, +} + +impl ControlSystem { + pub fn new() -> ControlSystem { + ControlSystem { + previous_error: 0.0, + integral: 0.0, + kp: 1.0, + ki: 0.01, + kd: 0.001, + dt: 0.0001, + } + } + + pub fn compute(&mut self, strength: f64, distance: f64, desired_distance: f64) -> f64 { + let error = desired_distance - distance; + self.integral += error * self.dt; + let derivative = (error - self.previous_error) / self.dt; + let output = self.kp * error + self.ki * self.integral + self.kd * derivative; + self.previous_error = error; + + if output.abs() > strength { + if output.is_sign_positive() { + strength + } else { + strength * -1.0 + } + } else { + output + } + } } impl Tractorbeam { pub fn new() -> Tractorbeam { Tractorbeam { + range: constants::SHIP_TRACTORBEAM_RANGE, status: Status::None, strength: constants::SHIP_TRACTORBEAM_STRENGTH, desired_distance: None, + control_system: ControlSystem::new(), } } - pub fn process(&mut self) {} + pub fn process(&mut self, ship_position: Vector, target: &mut Mass) { + let distance = ship_position.distance_from(target.position.clone()); + if self.range < distance { + self.off() + } else { + let direction = target.position.clone() - ship_position.clone(); + let acceleration = match self.status { + Status::Push => direction.unitize() * self.strength, + Status::Pull => direction.unitize() * -1.0 * self.strength, + Status::Bring => match self.desired_distance { + Some(desired_distance) => { + direction.unitize() + * self + .control_system + .compute(self.strength, distance, desired_distance) + } + None => Vector::default(), + }, + Status::None => Vector::default(), + }; + + target.effects.give_acceleration(acceleration); + } + } pub fn get_client_data(&self, target: Option<&Mass>) -> String { let client_data = ClientData { @@ -33,36 +101,11 @@ impl Tractorbeam { match recv.as_str() { "o" => self.toggle_pull(), "p" => self.toggle_push(), - "b" => self.toggle_bring(5.0), + "b" => self.toggle_bring(constants::SHIP_TRACTORBEAM_BRING_TO_DISTANCE), _ => (), } } - pub fn get_acceleration(&self, ship_position: Vector, target_position: Vector) -> Vector { - let acceleration = ship_position.clone() - target_position.clone(); - match self.status { - Status::Push => acceleration.unitize() * -0.05, - Status::Pull => acceleration.unitize() * 0.05, - Status::Bring => match self.desired_distance { - Some(desired_distance) => { - if desired_distance > ship_position.distance_from(target_position) { - acceleration.unitize() * -0.05 - //some sort of velocity limiter - //if target.speed_torwards(ship) < 10.0 { - // acceleration.unitize() * -0.05 - //} else { - // Vector::default() - //} - } else { - acceleration.unitize() * 0.05 - } - } - None => Vector::default(), - }, - Status::None => Vector::default(), - } - } - fn toggle_pull(&mut self) { self.status = match self.status { Status::None => Status::Pull, @@ -83,6 +126,7 @@ impl Tractorbeam { fn toggle_bring(&mut self, desired_distance: f64) { self.desired_distance = Some(desired_distance); + self.control_system = ControlSystem::new(); self.status = match self.status { Status::None => Status::Bring, Status::Pull => Status::Bring, @@ -90,6 +134,10 @@ impl Tractorbeam { Status::Bring => Status::None, } } + + fn off(&mut self) { + self.status = Status::None + } } #[derive(Serialize, Deserialize, Debug, Clone)] @@ -98,7 +146,7 @@ pub struct ClientData { pub status: Status, } -#[derive(Serialize, Deserialize, Debug, Clone)] +#[derive(Serialize, Deserialize, Debug, Clone, PartialEq)] pub enum Status { None, Push, -- cgit v1.2.3