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Internet Message Format | 1991-03-01 | 48.3 KB

From: riley@mipsdal.mips.com (Riley Rainey) Newsgroups: comp.sources.x Subject: v12i010: acm - X aerial combat simulation, Part05/09 Message-ID: <8987@exodus.Eng.Sun.COM> Date: 2 Mar 91 08:32:38 GMT Approved: argv@sun.com 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 $ X X########################################################################### X# Makefile generated from "Imake.tmpl" and <Imakefile> X# $XConsortium: Imake.tmpl,v 1.77 89/12/18 17:01:37 jim Exp $ X# 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. X# X# If your C preprocessor doesn't define any unique symbols, you'll need X# to set BOOTSTRAPCFLAGS when rebuilding imake (usually when doing X# "make Makefile", "make Makefiles", or "make World"). X# X# If you absolutely can't get imake to work, you'll need to set the X# variables at the top of each Makefile as well as the dependencies at the X# bottom (makedepend will do this automatically). X# X X########################################################################### X# platform-specific configuration parameters - edit Mips.cf to change X X# platform: $XConsortium: Mips.cf,v 1.2 89/01/11 14:58:19 jim Exp $ X# operating system: RISCOS X X SYSVTYPE = -systype sysv X BSDTYPE = -systype bsd43 X SYSVDEFS = -DMips -DSYSV X BSDDEFS = -DMips -DBSD43 X SYSVINCS = -I$(DESTDIR)/usr/include/bsd X BSDINCS = X SYSVLIBS = -lbsd -lmld X BSDLIBS = -lmld X X SYSTYPE = $(BSDTYPE) X SYSDEFS = $(BSDDEFS) X SYSINCS = $(BSDINCS) X SYSLIBS = $(BSDLIBS) X X OPTIM = -O -Olimit 2000 -Wf,-XNd8400,-XNp12000 X CCOPT = -signed X DEFINES = -D_NO_PROTO XSYSVCFLAGS = $(OPTIM) $(CCOPT) $(SYSVTYPE) $(INCLUDES) $(SYSVDEFS) $(SYSVINCS) $(DEFINES) X BSDCFLAGS = $(OPTIM) $(CCOPT) $(BSDTYPE) $(INCLUDES) $(BSDDEFS) $(BSDINCS) $(DEFINES) X X ETCDIR = /etc X ULIBDIR = /usr/lib X X XINSTALLDIR = RISCwindows4.0 X INSTALLFLAGS = -m 0555 X RS1210DIR = $(DESTDIR)/usr/$(XINSTALLDIR)/RS1210 X CONTRIBBINDIR = $(DESTDIR)/usr/$(XINSTALLDIR)/contrib/bin XCONTRIBAPPSDEFDIR = $(DESTDIR)/usr/$(XINSTALLDIR)/contrib/lib/app-defaults X CONTRIBMANDIR = $(DESTDIR)/usr/$(XINSTALLDIR)/contrib/man X CONTRIBSRCDIR = $(DESTDIR)/usr/$(XINSTALLDIR)/contrib/src X RS1210LIBDIR = $(LIBDIR)/ncd X X BINPATH = /usr/bin/X11 X LIBPATH = /usr/lib/X11 X ETCPATH = /usr/etc/X11 X ADMPATH = /usr/adm X NCDPATH = /usr/X11/ncd X NCDLIBPATH = $(LIBPATH)/ncd X XINITPATH = $(LIBPATH)/xinit X XDMPATH = $(ETCPATH)/xdm X UWMPATH = $(LIBPATH)/uwm X AWMPATH = $(LIBPATH)/awm X MWMPATH = $(LIBPATH)/mwm X TWMPATH = $(LIBPATH)/twm X XAPPLOADPATH = $(LIBPATH)/app-defaults X RS1210SRC = $(TOP)/rs1210 X X MOTIFSRC = $(TOP)/motif X MLIBSRC = $(MOTIFSRC)/lib X MCLIENTSRC = $(MOTIFSRC)/clients X MDEMOSRC = $(MOTIFSRC)/demos X MTOOLKITSRC = $(MOTIFSRC)/X11R4/lib/Xt X MWIDGETSRC = $(MLIBSRC)/Xm X INCLUDEXMSRC = $(MLIBSRC)/Xm X MRESOURCESRC = $(MLIBSRC)/Mrm X MWMDIR = $(LIBDIR)/Mwm X DEMOBINDIR = $(DESTDIR)/usr/$(XINSTALLDIR)/demos/bin X DEMOSRCDIR = $(DESTDIR)/usr/$(XINSTALLDIR)/demos/src X MINCLUDE = $(TOP)/include X UILSRC = $(MCLIENTSRC)/uil X UIL = $(UILSRC)/uil X X XMTOOLLIB = $(MTOOLKITSRC)/libXt.a X XMLIB = $(MWIDGETSRC)/libXm.a X MRESOURCELIB = $(MRESOURCESRC)/libMrm.a X UILLIB = $(UILSRC)/libUil.a X X BUILDTOOLSDIR = $(TOP)/buildtools XCROSSENVOVERRIDE= DESTROOT=/ COMP_TARGET_ROOT=/ ETCDIR=/etc ULIBDIR=/usr/lib X X########################################################################### X# site-specific configuration parameters - edit site.def to change X X# site: $XConsortium: site.def,v 1.21 89/12/06 11:46:50 jim Exp $ X X SHELL = /bin/sh X X TOP = ../../. X CURRENT_DIR = ./V/lib X X AR = ar clr X BOOTSTRAPCFLAGS = $(SYSDEFS) X CC = cc X X COMPRESS = compress X CPP = /lib/cpp $(STD_CPP_DEFINES) X PREPROCESSCMD = cc -E $(STD_CPP_DEFINES) X INSTALL = $(ETCDIR)/mipsinstall X LD = ld X LINT = lint X LINTLIBFLAG = -C X LINTOPTS = -axz X LN = ln -s X MAKE = make ETCDIR='$(ETCDIR)' ULIBDIR='$(ULIBDIR)' X MV = mv X CP = cp X RANLIB = /bin/true X RANLIBINSTFLAGS = X RM = rm -f X STD_INCLUDES = X STD_CPP_DEFINES = $(SYSDEFS) X STD_DEFINES = $(SYSDEFS) $(SYSINCS) X EXTRA_LOAD_FLAGS = X EXTRA_LIBRARIES = $(SYSLIBS) X TAGS = ctags X X SIGNAL_DEFINES = -DSIGNALRETURNSINT X X PROTO_DEFINES = X X INSTPGMFLAGS = X X INSTBINFLAGS = -m 0755 X INSTUIDFLAGS = -m 4755 X INSTLIBFLAGS = -m 0664 X INSTINCFLAGS = -m 0444 X INSTMANFLAGS = -m 0444 X INSTDATFLAGS = -m 0444 X INSTKMEMFLAGS = -g sys -m 2755 X X DESTDIR = $(DESTROOT) X X TOP_INCLUDES = -I$(INCROOT) X X CDEBUGFLAGS = $(OPTIM) $(CCOPT) $(SYSTYPE) X CCOPTIONS = X COMPATFLAGS = X X ALLINCLUDES = $(STD_INCLUDES) $(TOP_INCLUDES) $(INCLUDES) $(EXTRA_INCLUDES) X ALLDEFINES = $(ALLINCLUDES) $(STD_DEFINES) $(PROTO_DEFINES) $(DEFINES) $(COMPATFLAGS) $(EXT_DEFINES) X CFLAGS = $(CDEBUGFLAGS) $(CCOPTIONS) $(ALLDEFINES) X LINTFLAGS = $(LINTOPTS) -DLINT $(ALLDEFINES) X LDLIBS = $(SYS_LIBRARIES) $(EXTRA_LIBRARIES) X LDOPTIONS = $(CDEBUGFLAGS) $(CCOPTIONS) X LDCOMBINEFLAGS = -X -r X X MACROFILE = Mips.cf X RM_CMD = $(RM) *.CKP *.ln *.BAK *.bak *.o core errs ,* *~ *.a .emacs_* tags TAGS make.log MakeOut *.u *.b X X IMAKE_DEFINES = X X IRULESRC = $(CONFIGDIR) X IMAKE_CMD = $(IMAKE) -DUseInstalled -I$(IRULESRC) $(IMAKE_DEFINES) X X ICONFIGFILES = $(IRULESRC)/Imake.tmpl $(IRULESRC)/Imake.rules \ X $(IRULESRC)/Project.tmpl $(IRULESRC)/site.def \ X $(IRULESRC)/$(MACROFILE) $(EXTRA_ICONFIGFILES) X X########################################################################### X# X Window System Build Parameters X# $XConsortium: Project.tmpl,v 1.63 89/12/18 16:46:44 jim Exp $ X X########################################################################### X# X Window System make variables; this need to be coordinated with rules X# $XConsortium: Project.tmpl,v 1.63 89/12/18 16:46:44 jim Exp $ X X PATHSEP = / X USRLIBDIR = $(DESTDIR)/usr/$(XINSTALLDIR)/lib X BINDIR = $(DESTDIR)/usr/$(XINSTALLDIR)/bin X INCROOT = $(DESTDIR)/usr/$(XINSTALLDIR)/include X BUILDINCROOT = $(TOP) X BUILDINCDIR = $(BUILDINCROOT)/X11 X BUILDINCTOP = .. X INCDIR = $(INCROOT)/X11 X ADMDIR = $(DESTDIR)/usr/adm X LIBDIR = $(USRLIBDIR)/X11 X CONFIGDIR = $(LIBDIR)/config X LINTLIBDIR = $(USRLIBDIR)/lint X X FONTDIR = $(LIBDIR)/fonts X XINITDIR = $(LIBDIR)/xinit X XDMDIR = $(DESTDIR)/usr/X11/etc/xdm X AWMDIR = $(LIBDIR)/awm X TWMDIR = $(LIBDIR)/twm X GWMDIR = $(LIBDIR)/gwm X MANPATH = $(DESTDIR)/usr/$(XINSTALLDIR)/man/cat X MANSOURCEPATH = $(MANPATH)/man X MANDIR = $(MANSOURCEPATH)1 X LIBMANDIR = $(MANSOURCEPATH)3 X XAPPLOADDIR = $(LIBDIR)/app-defaults X X FONTCFLAGS = -t X X INSTAPPFLAGS = $(INSTDATFLAGS) X X IMAKE = imake X DEPEND = makedepend X RGB = rgb X FONTC = bdftosnf X MKFONTDIR = mkfontdir X MKDIRHIER = /bin/sh $(BINDIR)/mkdirhier.sh X X CONFIGSRC = $(TOP)/config X CLIENTSRC = $(TOP)/clients X DEMOSRC = $(TOP)/demos X LIBSRC = $(TOP)/lib X FONTSRC = $(TOP)/fonts X INCLUDESRC = $(TOP)/X11 X SERVERSRC = $(TOP)/server X UTILSRC = $(TOP)/util X SCRIPTSRC = $(UTILSRC)/scripts X EXAMPLESRC = $(TOP)/examples X CONTRIBSRC = 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LINTXTOOL = $(USRLIBDIR)/llib-lXt.ln X LINTXAW = $(USRLIBDIR)/llib-lXaw.ln X X DEPLIBS = $(LOCAL_LIBRARIES) X X DEPLIBS1 = $(DEPLIBS) X DEPLIBS2 = $(DEPLIBS) X DEPLIBS3 = $(DEPLIBS) X X########################################################################### X# Imake rules for building libraries, programs, scripts, and data files X# rules: $XConsortium: Imake.rules,v 1.70 90/05/04 16:57:30 keith Exp $ X X########################################################################### X# start of Imakefile X XCDEBUGFLAGS = -systype bsd43 -O X XSRCS = \ X VOpenVp.c \ X VResizeVp.c \ X VCloseVp.c \ X VGetEyeSpace.c \ X VGetPlanes.c \ X VReadObject.c \ X VWriteObject.c \ X VAllocColor.c \ X VBindColors.c \ X VExpBuffer.c \ X VCrPoly.c \ X VCrPoints.c \ X VCopyPoly.c \ X VDrawPoly.c \ X VFillPoly.c \ X VDrawString.c \ X VClipPoly.c \ X VDotProd.c \ X VCrossProd.c \ X VRotate.c \ X VTransPoly.c \ X VWorldToScr.c \ X VEyeToScr.c \ X VTrans.c \ X VIdentMat.c \ X VMatMult.c \ X VMatDet.c \ X 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0.000000 Xwhite 4 5 6 7 8 Xwhite 4 9 10 11 12 Xwhite 4 13 14 15 16 Xwhite 4 17 18 19 20 Xwhite 4 21 22 23 24 Xwhite 4 25 26 27 28 Xwhite 4 29 30 31 32 Xwhite 4 33 34 35 36 Xwhite 4 37 38 39 40 Xwhite 4 41 42 43 44 Xwhite 4 45 46 47 48 Xwhite 4 49 50 51 52 Xwhite 4 53 54 55 56 Xwhite 4 57 58 59 60 Xwhite 4 61 62 63 64 Xwhite 4 65 66 67 68 Xwhite 4 69 70 71 72 Xwhite 4 73 74 75 76 Xwhite 4 77 78 79 80 Xwhite 4 81 82 83 84 Xwhite 4 85 86 87 88 Xwhite 4 89 90 91 92 Xwhite 4 93 94 95 96 Xwhite 4 97 98 99 100 Xwhite 4 101 102 103 104 Xwhite 4 105 106 107 108 Xwhite 4 109 110 111 112 Xwhite 4 113 114 115 116 Xwhite 4 117 118 119 120 Xwhite 4 121 122 123 124 Xwhite 4 125 126 127 128 Xwhite 4 129 130 131 132 Xwhite 4 133 134 135 136 Xwhite 4 137 138 139 140 Xwhite 4 141 142 143 144 Xwhite 4 145 146 147 148 Xwhite 4 149 150 151 152 Xwhite 4 153 154 155 156 Xwhite 4 157 158 159 160 Xwhite 4 161 162 163 164 Xwhite 4 165 166 167 168 Xwhite 4 169 170 171 172 Xwhite 4 173 174 175 176 Xwhite 4 177 178 179 180 Xwhite 4 181 182 183 184 Xwhite 4 185 186 187 188 Xwhite 4 189 190 191 192 Xwhite 4 193 194 195 196 Xwhite 4 197 198 199 200 Xwhite 4 201 202 203 204 Xwhite 4 205 206 207 208 Xwhite 4 209 210 211 212 Xwhite 4 213 214 215 216 Xwhite 4 217 218 219 220 Xwhite 4 221 222 223 224 Xwhite 4 225 226 227 228 Xwhite 4 229 230 231 232 Xwhite 4 233 234 235 236 Xwhite 4 237 238 239 240 Xwhite 4 241 242 243 244 Xwhite 4 245 246 247 248 Xwhite 4 249 250 251 252 Xwhite 4 253 254 255 256 Xwhite 4 257 258 259 260 Xwhite 4 261 262 263 264 Xwhite 4 265 266 267 268 Xwhite 4 269 270 271 272 Xwhite 4 273 274 275 276 Xwhite 4 277 278 279 280 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