Implemented "six degrees of freedom" movement for guided redeemer missiles (reload/zoom for manual tilt control).
Made part of the guided redeemer reticle rotate according to the missile's roll just to show off Shape2D.
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5 changed files with 144 additions and 21 deletions
97
zscript/mk_quaternion.zsc
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97
zscript/mk_quaternion.zsc
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/*
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Quaternion math helper class.
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(C)2018 Marisa Kirisame, UnSX Team.
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Released under the GNU Lesser General Public License version 3 (or later).
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See https://www.gnu.org/licenses/lgpl-3.0.txt for its terms.
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*/
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Class Quat
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{
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protected double W, X, Y, Z;
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Quat init( double w, double x, double y, double z )
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{
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self.W = w;
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self.X = x;
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self.Y = y;
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self.Z = z;
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return self;
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}
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void copy( Quat q )
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{
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W = q.W;
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X = q.X;
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Y = q.Y;
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Z = q.Z;
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}
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static Quat create( double w, double x, double y, double z )
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{
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return new("Quat").init(w,x,y,z);
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}
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static Quat create_axis( Vector3 axis, double theta )
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{
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double scale = axis dot axis;
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if ( scale < double.epsilon ) return Quat.create(1,0,0,0);
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theta *= 0.5;
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double f = sin(theta)/sqrt(scale);
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return Quat.create(cos(theta),axis.x*f,axis.y*f,axis.z*f);
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}
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static Quat create_euler( double pitch, double yaw, double roll )
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{
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Quat zrot = Quat.create_axis((0,0,1),yaw);
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Quat yrot = Quat.create_axis((0,1,0),pitch);
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Quat xrot = Quat.create_axis((1,0,0),roll);
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Quat sum = zrot.qmul(yrot);
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sum = sum.qmul(xrot);
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return sum;
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}
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// copied here since Actor.Normalize180 is not (yet) clearscope
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static double Normalize180( double ang )
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{
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ang = ang%360;
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ang = (ang+360)%360;
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if ( ang > 180 ) ang -= 360;
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return ang;
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}
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double, double, double to_euler()
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{
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double stest = z*x-w*y;
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double yawY = 2*(w*z+x*y);
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double yawX = 1-2*(y*y+z*z);
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double st = 0.4999995;
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double pitch = 0;
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double yaw = 0;
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double roll = 0;
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if ( stest <= -st )
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{
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pitch = 90;
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yaw = atan2(yawY,yawX);
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roll = Normalize180(yaw+(2*atan2(x,w)));
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}
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else if ( stest > st )
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{
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pitch = -90;
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yaw = atan2(yawY,yawX);
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roll = Normalize180(yaw+(2*atan2(x,w)));
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}
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else
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{
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pitch = -asin(2*stest);
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yaw = atan2(yawY,yawX);
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roll = atan2(2*(w*x+y*z),(1-2*(x*x+y*y)));
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}
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return pitch, yaw, roll;
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}
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Quat qmul( Quat q )
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{
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return Quat.create(w*q.w-x*q.x-y*q.y-z*q.z,w*q.x+x*q.w+y*q.z-z
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*q.y,w*q.y+y*q.w+z*q.x-x*q.z,w*q.z+z*q.w+x*q.y-y*q.x);
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}
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}
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@ -355,15 +355,13 @@ Class WarShell : Actor
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Class GuidedWarShell : WarShell
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{
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double lagangle, lagpitch, lagangle2, lagpitch2;
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double guideangle, guidepitch, lastguideroll;
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double lagangle, lagpitch, lagroll, lagangle2, lagpitch2, lagroll2,
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guideangle, guidepitch, guideroll;
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override void PostBeginPlay()
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{
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Super.PostBeginPlay();
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if ( target && target.player ) target.player.camera = self;
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guideangle = angle;
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guidepitch = pitch;
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}
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override void Tick()
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{
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@ -385,22 +383,25 @@ Class GuidedWarShell : WarShell
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{
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lagangle = target.player.cmd.yaw/128.;
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lagpitch = -target.player.cmd.pitch/128.;
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guideangle += lagangle2*0.95+lagangle*0.05;
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guidepitch += lagpitch2*0.95+lagpitch*0.05;
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guidepitch = Clamp(guidepitch,-89,89);
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double guideroll = -lagangle2*15;
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Vector3 dir = (cos(guideangle)*cos(guidepitch),sin(guideangle)*cos(guidepitch),-sin(guidepitch));
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destangle = atan2(dir.y,dir.x);
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destpitch = asin(-dir.z);
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double destroll = lastguideroll*0.9+guideroll*0.1;
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A_SetAngle(destangle,SPF_INTERPOLATE);
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A_SetPitch(destpitch,SPF_INTERPOLATE);
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A_SetRoll(destroll,SPF_INTERPOLATE);
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if ( target.player.cmd.buttons&BT_RELOAD ) lagroll = 5;
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else if ( target.player.cmd.buttons&BT_ZOOM ) lagroll = -5;
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else lagroll = 0;
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guideangle = lagangle2*0.95+lagangle*0.05;
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guidepitch = lagpitch2*0.95+lagpitch*0.05;
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guideroll = lagroll2*0.95+lagroll*0.05;
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Quat orient = Quat.create_euler(pitch,angle,roll);
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Quat angles = Quat.create_euler(guidepitch,guideangle,guideroll);
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orient = orient.qmul(angles);
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double npitch, nangle, nroll;
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[npitch, nangle, nroll] = orient.to_euler();
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A_SetAngle(nangle,SPF_INTERPOLATE);
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A_SetPitch(npitch,SPF_INTERPOLATE);
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A_SetRoll(nroll,SPF_INTERPOLATE);
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vel = (vel+(cos(angle)*cos(pitch),sin(angle)*cos(pitch),-sin(pitch))*0.8).unit()*11;
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}
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lagangle2 = lagangle2*0.95+lagangle*0.05;
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lagpitch2 = lagpitch2*0.95+lagpitch*0.05;
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lastguideroll = roll*0.98;
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lagroll2 = lagroll2*0.95+lagroll*0.05;
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}
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States
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{
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@ -439,25 +440,36 @@ Class RedeemerHUD : HUDMessageBase
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{
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Actor Camera;
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Vector3 ViewPos;
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double ViewAngle, ViewPitch, ViewRoll;
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TextureID reticle, mark, readout;
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double ViewAngle, ViewPitch, ViewRoll, LagRoll, LagRoll2;
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TextureID reticle1, reticle2, mark, readout;
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Font whfont;
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ThinkerIterator t;
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MidTracer tr;
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Array<TargetActor> ta;
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Shape2D rreticle;
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RedeemerHUD Init()
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{
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reticle = TexMan.CheckForTexture("GuidedX",TexMan.Type_Any);
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reticle1 = TexMan.CheckForTexture("GuidedX1",TexMan.Type_Any);
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reticle2 = TexMan.CheckForTexture("GuidedX2",TexMan.Type_Any);
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mark = TexMan.CheckForTexture("Crosshr6",TexMan.Type_Any);
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readout = TexMan.CheckForTexture("Readout",TexMan.Type_Any);
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whfont = Font.GetFont('WHFONT');
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t = ThinkerIterator.Create("Actor");
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tr = new("MidTracer");
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rreticle = new("Shape2D");
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rreticle.PushCoord((0,0));
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rreticle.PushCoord((1,0));
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rreticle.PushCoord((0,1));
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rreticle.PushCoord((1,1));
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rreticle.PushTriangle(0,3,1);
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rreticle.PushTriangle(0,2,3);
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return self;
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}
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override bool Tick()
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{
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LagRoll = Quat.Normalize180(ViewRoll-LagRoll2);
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LagRoll2 += Quat.Normalize180(LagRoll-LagRoll2)*0.1;
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// shootable targetting
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if ( CVar.GetCVar('flak_redeemerreadout',players[consoleplayer]).GetBool() )
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{
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@ -494,8 +506,21 @@ Class RedeemerHUD : HUDMessageBase
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Screen.DrawText(whfont,Font.CR_UNTRANSLATED,(ta[i].vpos.x-whfont.StringWidth(ta[i].diststr)/2)-12,ta[i].vpos.y+8,ta[i].diststr,DTA_RenderStyle,(1|2<<8|1<<16));
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}
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}
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// other stuff
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Screen.DrawTexture(reticle,false,320,240,DTA_VirtualWidth,640,DTA_VirtualHeight,480,DTA_RenderStyle,(1|2<<8|1<<16));
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// reticle
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Vector2 vs = (640,640/Screen.GetAspectRatio());
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Vector2 mid, siz;
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[mid, siz] = Screen.VirtualToRealCoords(vs*0.5,(128,128),vs,false,false);
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Vector2 verts[4];
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verts[0] = (-siz.x,-siz.y);
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verts[1] = (siz.x,-siz.y);
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verts[2] = (-siz.x,siz.y);
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verts[3] = (siz.x,siz.y);
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rreticle.Clear(Shape2D.C_Verts);
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for ( int i=0; i<4; i++ )
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rreticle.PushVertex(mid+(verts[i].x*cos(LagRoll2)-verts[i].y*sin(LagRoll2),verts[i].x*sin(LagRoll2)+verts[i].y*cos(LagRoll2)));
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Screen.DrawShape(reticle1,false,rreticle,DTA_RenderStyle,(1|2<<8|1<<16));
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Screen.DrawTexture(reticle2,false,vs.x*0.5,vs.y*0.5,DTA_VirtualWidthF,vs.x,DTA_VirtualHeightF,vs.y,DTA_KeepRatio,true,DTA_RenderStyle,(1|2<<8|1<<16));
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// faux assembly readout
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int numreadouts = Screen.GetHeight()/128+2;
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for ( int i=0; i<numreadouts; i++ )
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{
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