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feat: firework-efficient autopilot pitch controller
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118 changes: 118 additions & 0 deletions
118
...ru/octol1ttle/flightassistant/computers/impl/autoflight/pitch/AutopilotPitchComputer.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,118 @@ | ||
| package ru.octol1ttle.flightassistant.computers.impl.autoflight.pitch; | ||
|
|
||
| import net.minecraft.util.Pair; | ||
| import net.minecraft.util.math.MathHelper; | ||
| import org.jetbrains.annotations.NotNull; | ||
| import org.jetbrains.annotations.Nullable; | ||
| import org.joml.Vector2d; | ||
| import ru.octol1ttle.flightassistant.FAMathHelper; | ||
| import ru.octol1ttle.flightassistant.computers.api.IPitchController; | ||
| import ru.octol1ttle.flightassistant.computers.api.ITickableComputer; | ||
| import ru.octol1ttle.flightassistant.computers.impl.AirDataComputer; | ||
| import ru.octol1ttle.flightassistant.computers.impl.FlightPhaseComputer; | ||
| import ru.octol1ttle.flightassistant.computers.impl.autoflight.AutoFlightComputer; | ||
| import ru.octol1ttle.flightassistant.computers.impl.autoflight.PitchController; | ||
| import ru.octol1ttle.flightassistant.computers.impl.navigation.FlightPlanner; | ||
| import ru.octol1ttle.flightassistant.registries.ComputerRegistry; | ||
|
|
||
| public class AutopilotPitchComputer implements ITickableComputer, IPitchController { | ||
| private final AirDataComputer data = ComputerRegistry.resolve(AirDataComputer.class); | ||
| private final AutoFlightComputer autoflight = ComputerRegistry.resolve(AutoFlightComputer.class); | ||
| private final FlightPhaseComputer phase = ComputerRegistry.resolve(FlightPhaseComputer.class); | ||
| private final FlightPlanner plan = ComputerRegistry.resolve(FlightPlanner.class); | ||
| public Float targetPitch; | ||
|
|
||
| @Override | ||
| public void tick() { | ||
| targetPitch = computeTargetPitch(); | ||
| } | ||
|
|
||
| private Float computeTargetPitch() { | ||
| if (phase.phase == FlightPhaseComputer.FlightPhase.TAKEOFF | ||
| || phase.phase == FlightPhaseComputer.FlightPhase.GO_AROUND && data.heightAboveGround() < 15.0f) { | ||
| return PitchController.CLIMB_PITCH; | ||
| } | ||
|
|
||
| Integer targetAltitude = autoflight.getTargetAltitude(); | ||
| if (targetAltitude == null) { | ||
| return null; | ||
| } | ||
| Vector2d planPos = plan.getTargetPosition(); | ||
|
|
||
| float diff = targetAltitude - data.altitude(); | ||
| boolean landing = phase.phase == FlightPhaseComputer.FlightPhase.LAND; | ||
| if (!landing && diff > -10.0f && diff < 5.0f) { | ||
| return (PitchController.GLIDE_PITCH + PitchController.ALTITUDE_PRESERVE_PITCH) * 0.5f; | ||
| } | ||
|
|
||
| if (data.altitude() < targetAltitude) { | ||
| return computeClimbPitch(diff, planPos); | ||
| } | ||
|
|
||
| if (planPos == null || autoflight.selectedAltitude != null) { | ||
| if (diff > -15.0f) { | ||
| return PitchController.GLIDE_PITCH; | ||
| } | ||
|
|
||
| return (PitchController.GLIDE_PITCH + PitchController.DESCEND_PITCH) * 0.5f; | ||
| } | ||
|
|
||
| float degrees = FAMathHelper.toDegrees( | ||
| MathHelper.atan2( | ||
| diff, | ||
| Vector2d.distance(data.position().x, data.position().z, planPos.x, planPos.y) | ||
| ) | ||
| ); | ||
| if (!landing && diff > -15.0f) { | ||
| return Math.max(PitchController.GLIDE_PITCH, degrees); | ||
| } | ||
|
|
||
| return degrees; | ||
| } | ||
|
|
||
| private float computeClimbPitch(float diff, Vector2d target) { | ||
| if (target == null || autoflight.selectedAltitude != null) { | ||
| if (diff <= 15.0f) { | ||
| return PitchController.ALTITUDE_PRESERVE_PITCH; | ||
| } | ||
|
|
||
| return (PitchController.ALTITUDE_PRESERVE_PITCH + PitchController.CLIMB_PITCH) * 0.5f; | ||
| } | ||
|
|
||
| float degrees = Math.max(5.0f, FAMathHelper.toDegrees( | ||
| MathHelper.atan2( | ||
| diff, | ||
| Vector2d.distance(data.position().x, data.position().z, target.x, target.y) | ||
| ) | ||
| )); | ||
| if (diff <= 15.0f) { | ||
| return Math.min(PitchController.ALTITUDE_PRESERVE_PITCH, degrees); | ||
| } | ||
|
|
||
| return degrees; | ||
| } | ||
|
|
||
| @Override | ||
| public @Nullable Pair<@NotNull Float, @NotNull Float> getTargetPitch() { | ||
| if (!autoflight.autoPilotEnabled || targetPitch == null) { | ||
| return null; | ||
| } | ||
|
|
||
| return new Pair<>(targetPitch, 1.0f); | ||
| } | ||
|
|
||
| @Override | ||
| public Priority getPriority() { | ||
| return Priority.NORMAL; | ||
| } | ||
|
|
||
| @Override | ||
| public String getId() { | ||
| return "autopilot_pitch_ctl"; | ||
| } | ||
|
|
||
| @Override | ||
| public void reset() { | ||
| autoflight.disconnectAutopilot(true); | ||
| } | ||
| } |
39 changes: 0 additions & 39 deletions
39
.../octol1ttle/flightassistant/computers/impl/autoflight/pitch/AutopilotPitchController.java
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