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use crate::constants;
use crate::mass::Mass;
use crate::math::Vector;
#[derive(Serialize, Deserialize, Debug, Clone, Default)]
pub struct Tractorbeam {
pub range: f64,
pub status: Status,
strength: f64,
desired_distance: Option<f64>,
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, 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 {
has_target: target.is_some(),
status: self.status.clone(),
};
serde_json::to_string(&client_data).unwrap() + "\n"
}
pub fn give_received_data(&mut self, recv: String) {
match recv.as_str() {
"o" => self.toggle_pull(),
"p" => self.toggle_push(),
"b" => self.toggle_bring(constants::SHIP_TRACTORBEAM_BRING_TO_DISTANCE),
_ => (),
}
}
fn toggle_pull(&mut self) {
self.status = match self.status {
Status::None => Status::Pull,
Status::Push => Status::Pull,
Status::Bring => Status::Pull,
Status::Pull => Status::None,
}
}
fn toggle_push(&mut self) {
self.status = match self.status {
Status::None => Status::Push,
Status::Pull => Status::Push,
Status::Bring => Status::Push,
Status::Push => Status::None,
}
}
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,
Status::Push => Status::Bring,
Status::Bring => Status::None,
}
}
fn off(&mut self) {
self.status = Status::None
}
}
#[derive(Serialize, Deserialize, Debug, Clone)]
pub struct ClientData {
pub has_target: bool,
pub status: Status,
}
#[derive(Serialize, Deserialize, Debug, Clone, PartialEq)]
pub enum Status {
None,
Push,
Pull,
Bring,
}
impl Default for Status {
fn default() -> Self {
Status::None
}
}
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