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most of physics for moving

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commit 5ec1bdf8baed4175a63e038b2a3144bead41916f 1 parent 32fa1cd
@dballard authored
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30 engine.lisp
@@ -3,7 +3,8 @@
(defclass engine-object (game-object)
((start-time :initarg :start-time :accessor start-time :initform 0)
;; time till fully active
- (activation-time :initarg :activation-time :accessor activation-time :initform 0)))
+ (activation-time :initarg :activation-time :accessor activation-time :initform 0)
+ (force :initarg :force :accessor force :initform (make-instance 'force))))
(defmethod activate ((object engine-object) start-time)
@@ -37,9 +38,9 @@
(0.0 0.0 (0 1 2))))
(defparameter *thruster-colors*
- '(((16 64 2) (0 132 2) (32 164 2))
- ((16 64 2) (0 132 2) (32 164 2))
- ((16 64 2) (0 132 2) (32 164 2))
+ '(((32 64 2) (32 132 2) (32 164 2))
+ ((32 64 2) (32 132 2) (32 164 2))
+ ((32 64 2) (32 132 2) (32 164 2))
((0 255 2) (0 255 2) (64 255 2))))
@@ -49,3 +50,24 @@
(call-next-method))
+(defmethod phys-act ((src engine-object) (target game-object) time)
+ (let* ((scalar-proj (scalar-proj (vector-scale-1 (direction (force (src)))) (vector-scale-1 (position src))))
+ (accel (/ (newtons (force src)) (mass (body target))))
+ (accel-vec (scale-vector scalar-proj accel)))
+
+
+
+; time is time elapsed in seconds (with decimal for sub seconds)
+;(defmethod time-step ((engine engine) object time)
+; ; f = ma
+; (let ((accel (/ (force engine) (mass object))))
+; ; x = x +v*t + 1/2 * a * t^2
+; (dotimes (i 3) (progn
+; (incf (aref (coords motion) i)
+; (+ (* (aref (velocity motion) i) time) (* .5 (aref (acceleration motion) i) (expt time 2))))
+; (incf (aref (velocity motion) i)
+; (* time (aref (acceleration motion) i))))))
+
+
+
+
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93 flight-sim.lisp
@@ -5,67 +5,6 @@
;;; "flight-sim" goes here. Hacks and glory await!
-
-;(defclass engine-object (game-object)
-; ((active :initarg :active :reader active :initform nil)
-; (start-time :initarg :start-time :reader start-time :initform nil)
-; (forces :initarg :forces :accessor forces :initform '())))
-
-;(defgeneric activate-engine (object engine-sym))
-
-;(defmethod activate-engine ((object powered-object) engine-sym)
-; (push :engine-sym (getf (engines object) :active))
-; (engine-start (getf (getf (engines object) :engines) engine-sym) (wall-time)))
-
-;(defgeneric engine-start (engine time))
-;(defmethod engine-start ((engine engine-object) time)
-; (setf (slot-value engine 'active) t)
-; (setf (slot-value engine 'start-time) time))
-
-;(defgeneric engine-stop (engine))
-;(defmethod engine-stop ((engine engine-object))
-; (setf (slot-value engine 'active) nil))
-
-
-; take 2 seconds to fully fire
-;(defmethod engine-genmodel ((engine engine-object))
-; (let ((time (- (wall-time) (start-time engine))))
-; (setf (model engine)
-; (make-model-3pyramid (make-2d-array 4 3
-; `((0.0 0.5 0.0) (-2.0 -0.5 0.0) (2.0 -0.5 0.0)
-; ; z goes from 0 to 1 in 2 seconds
-; (0.0 0.0 ,(converge 0 1 2 time))))
-; :point-colors (make-2d-array 4 3 `(
-; (,(converge 16 64 2 time) ,(converge 0 132 2 time) ,(converge 32 164 2 time))
-; (,(converge 16 64 2 time) ,(converge 0 132 2 time) ,(converge 32 164 2 time))
-; (,(converge 16 64 2 time) ,(converge 0 132 2 time) ,(converge 32 164 2 time))
-; (,(converge 0 255 2 time) ,(converge 0 255 2 time) ,(converge 64 255 2 time))))))))
-
-
-;(defclass powered-object (game-object)
-; ;; plist :: ( :objects (plist models) :active (list symbols))
-; ((engines :initarg :engines :accessor engines :initform '(:engines () :active ()))))
-;; ((engine :initarg :engine :accessor engine :initform nil)))
-;
-;
-; ;(attachments :initarg :attachments :accessor attachments :initform nil)))
-
-
-
-
-; time is time elapsed in seconds (with decimal for sub seconds)
-;(defmethod time-step ((engine engine) object time)
-; ; f = ma
-; (let ((accel (/ (force engine) (mass object))))
-; ; x = x +v*t + 1/2 * a * t^2
-; (dotimes (i 3) (progn
-; (incf (aref (coords motion) i)
-; (+ (* (aref (velocity motion) i) time) (* .5 (aref (acceleration motion) i) (expt time 2))))
-; (incf (aref (velocity motion) i)
-; (* time (aref (acceleration motion) i))))))
-
-
-
;(defmethod time-step ((object powered-object) time)
; (loop for engine in (loop for engine-sym in (getf (engines object) :active) collecting (getf (engines engines) engine-sym)) do
; (time-step engine object time)))
@@ -73,18 +12,6 @@
-
-
-;(defclass engine ()
-; (
-
-; (make-instance 'model
-; :vertices (make-2d-array 4 3 '((0 0 0) (0 1 3) (-2 0 3) (2 0 3)))
-; :faces (make-2d-array 4 3 '((0 1 3) (0 2 1) (0 3 2) (1 2 3)))
-; :colors (make-2d-array 2 3 '((196 196 196) (32 32 32)))
-; :face-colors (make-2d-array 4 3 '((0 0 0) (0 0 0) (0 0 0) (1 1 1)))))
-
-
(defparameter *world* nil)
(defparameter *self* nil)
@@ -101,17 +28,6 @@
(defparameter *num-frames* 0)
-
-
-;(defmethod object-draw ((object powered-object))
-; (draw-entity object)
-; (if (eql (active (engine object)) t)
-; (progn
-; (setf (model (engine object)) (engine-genmodel (engine object)))
-; (gl:translate 0 0 0)
-; (object-draw (engine object)))))
-
-
(defun draw-world (start-time)
;; clear the buffer
(gl:clear :color-buffer-bit :depth-buffer-bit)
@@ -186,6 +102,10 @@
(setf (aref (acceleration (motion *self*)) 1) 0))
(otherwise (format t "~a~%" key))))
+(defun phys-step (time)
+ (loop for sym in (active-attachments *self*) do
+ (phys-act (getf (attachments *self*) sym) *self* time)))
+
(defun sim-step ()
"draw a frame"
@@ -193,7 +113,7 @@
(time (- start-time *last-time*)))
- ; (phys-step time)
+ (phys-step time)
(draw-world start-time)
@@ -264,9 +184,10 @@
:template-colors *thruster-colors*
:faces (make-2d-array 4 3 '((0 1 3) (0 2 1) (0 3 2) (1 2 3)))
:face-colors (make-2d-array 4 3 '((0 1 3) (0 2 1) (0 3 2) (1 2 3))))
+ :force (make-instance 'force :newtons 10 :direction (vector 0 0 1))
:body (make-instance 'body
- :coords (vector 0 0.5 3))))))
+ :coords (vector 0 0.5 1.5))))))
;:engines (list :engines (list :thrust
; (make-instance 'engine-object
; :motion (make-instance 'motion :coords (vector 0 0.5 3.0))
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24 math.lisp
@@ -53,3 +53,27 @@
(defun rotate-triangle (tri m)
(make-array (length tri) :initial-contents
(loop for v across tri collecting (rotate* m v))))
+
+(defun scale-vector (v a)
+ (make-array (length v) :initial-contents (loop for i across v collecting (* i a))))
+
+; returns a vector with all elemts scaled to biggest 1 which is scaled to 1
+; e.x. (scale-vector (8 4 2)) -> (1 .5 .25)
+(defun scale-vector-1 (v)
+ (let ((max (loop for i across v maximize i into result finally (return result))))
+ (make-array (length v) :initial-contents (loop for i across v collecting (float (/ i max))))))
+
+(defun dot (v1 v2)
+ (loop for i from 0 to (1- (length v1)) summing (* (aref v1 i) (aref v2 i))))
+
+(defun vector-length (v)
+ (sqrt (dot v v)))
+
+(defun scalar-proj (vector direction)
+ (let ((length (vector-length direction)))
+ (if (eql 0 length)
+ 0
+ (/ (dot vector direction) length))))
+
+(defun vector- (v1 v2)
+ (make-array (length v1) :initial-contents (loop for i from 0 to (1- (length v1)) collecting (- (aref v1 i) (aref v2 i)))))
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2  model.lisp
@@ -65,6 +65,6 @@
(make-2d-array 4 3 '((0 1 3) (0 2 1) (0 3 2) (1 2 3))))))
(defparameter *ship-model*
- (make-model-3pyramid (make-2d-array 4 3 '((0.0 0.0 0.0) (0.0 1.0 3.0) (-2.0 0.0 3.0) (2.0 0.0 3.0)))
+ (make-model-3pyramid (make-2d-array 4 3 '((0.0 -0.5 -1.5) (0.0 0.5 1.5) (-2.0 -0.5 1.5) (2.0 -0.5 1.5)))
:face-colors (make-2d-array 4 3 '((196 196 196) (196 196 196) (196 196 196) (32 32 32)))))
View
3  objects.lisp
@@ -39,3 +39,6 @@
(draw (model object) time)
(loop for a in (active-attachments object) do
(draw (getf (attachments object) a) time)))
+
+
+(defgeneric phys-act (src target time))
View
1  physics.lisp
@@ -16,3 +16,4 @@
(defclass force ()
((newtons :initarg :newtons :accessor newtons :initform 0)
(direction :initarg :direction :accessor direction :initform (vector))))
+
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