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<!DOCTYPE HTML>
< html >
< head >
< meta http-equiv = "Content-Type" content = "text/html;charset=US-ASCII" >
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< meta name = "generator" content = "ZealOS V0.08" >
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< style type = "text/css" >
body {background-color:#000000;}
.cB0{color:#ffffff;background-color:#34e2e2;}
.cBA{color:#82bc49;background-color:#34e2e2;}
.cF0{color:#ffffff;background-color:#000000;}
.cF1{color:#3465a4;background-color:#000000;}
.cF2{color:#4e9a06;background-color:#000000;}
.cF3{color:#06989a;background-color:#000000;}
.cF4{color:#a24444;background-color:#000000;}
.cF5{color:#75507b;background-color:#000000;}
.cF6{color:#ce982f;background-color:#000000;}
.cF7{color:#bcc0b9;background-color:#000000;}
.cF8{color:#555753;background-color:#000000;}
.cF9{color:#729fcf;background-color:#000000;}
.cFA{color:#82bc49;background-color:#000000;}
.cFB{color:#34e2e2;background-color:#000000;}
.cFC{color:#ac3535;background-color:#000000;}
.cFD{color:#ad7fa8;background-color:#000000;}
.cFE{color:#fce94f;background-color:#000000;}
.cFF{color:#000000;background-color:#000000;}
< / style >
< / head >
< body >
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< pre style = "font-family:monospace;font-size:12pt" >
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< a name = "l1" > < / a > < span class = cF0 > #< / span > < span class = cF1 > define< / span > < span class = cF0 > THRUST < / span > < span class = cFE > 1000< / span > < span class = cF0 >
< a name = "l2" > < / a >
< a name = "l3" > < / a > < / span > < span class = cF1 > Bool< / span > < span class = cF0 > blast_off, plane_hit;
< a name = "l4" > < / a >
< a name = "l5" > < / a > < / span > < span class = cF9 > CMass< / span > < span class = cF0 > m1, < / span > < span class = cF2 > //Bottom of rocket< / span > < span class = cF0 >
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< a name = "l6" > < / a > m2, < / span > < span class = cF2 > //Top of rocket< / span > < span class = cF0 >
< a name = "l7" > < / a > m3; < / span > < span class = cF2 > //Plane< / span > < span class = cF0 >
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< a name = "l8" > < / a > < / span > < span class = cF9 > CSpring< / span > < span class = cF0 > s;
< a name = "l9" > < / a >
< a name = "l10" > < / a > #< / span > < span class = cF1 > define< / span > < span class = cF0 > ROCKET_HEIGHT < / span > < span class = cFE > 40< / span > < span class = cF0 >
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< a name = "l11" > < / a > #< / span > < span class = cF1 > define< / span > < span class = cF0 > GROUND_Y (< / span > < span class = cF3 > GR_HEIGHT< / span > < span class = cF0 > - < / span > < span class = cFE > 3< / span > < span class = cF0 > * < / span > < span class = cF3 > FONT_HEIGHT< / span > < span class = cF0 > )
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< a name = "l12" > < / a > < / span > < span class = cB0 >
< a name = "l13" > < / a >
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< a name = "l14" > < / a > < / span > < span class = cBA > < 1> /* Graphics Not Rendered in HTML */< / span > < span class = cB0 >
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< a name = "l15" > < / a >
< a name = "l16" > < / a >
< a name = "l17" > < / a >
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< a name = "l18" > < / a > < / span > < span class = cBA > < 2> /* Graphics Not Rendered in HTML */< / span > < span class = cB0 >
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< a name = "l19" > < / a >
< a name = "l20" > < / a >
< a name = "l21" > < / a >
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< a name = "l22" > < / a > < / span > < span class = cBA > < 3> /* Graphics Not Rendered in HTML */< / span > < span class = cB0 >
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< a name = "l23" > < / a >
< a name = "l24" > < / a > < / span > < span class = cF0 >
< a name = "l25" > < / a >
< a name = "l26" > < / a >
< a name = "l27" > < / a >
< a name = "l28" > < / a >
< a name = "l29" > < / a >
< a name = "l30" > < / a >
< a name = "l31" > < / a >
< a name = "l32" > < / a >
< a name = "l33" > < / a >
< a name = "l34" > < / a >
< a name = "l35" > < / a >
< a name = "l36" > < / a >
< a name = "l37" > < / a >
< a name = "l38" > < / a > < / span > < span class = cFA >
< a name = "l39" > < / a > /* Graphics Not Rendered in HTML */< / span > < span class = cF0 >
< a name = "l40" > < / a >
< a name = "l41" > < / a > < / span > < span class = cF9 > CDC< / span > < span class = cF0 > *dc2;
< a name = "l42" > < / a > < / span > < span class = cF9 > CMathODE< / span > < span class = cF0 > *ode;
< a name = "l43" > < / a >
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< a name = "l44" > < / a > #< / span > < span class = cF1 > define< / span > < span class = cF0 > STATE_NOZZLE_ANGLE < / span > < span class = cFE > 0< / span > < span class = cF0 >
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< a name = "l45" > < / a > #< / span > < span class = cF1 > define< / span > < span class = cF0 > STATE_NOZZLE_ANGLE_VELOCITY < / span > < span class = cFE > 1< / span > < span class = cF0 >
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< a name = "l46" > < / a > #< / span > < span class = cF1 > define< / span > < span class = cF0 > STATE_NUM < / span > < span class = cFE > 2< / span > < span class = cF0 >
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< a name = "l47" > < / a >
< a name = "l48" > < / a > < / span > < span class = cF9 > CD3< / span > < span class = cF0 > target;
< a name = "l49" > < / a > < / span > < span class = cF1 > F64< / span > < span class = cF0 > my_debug, antispin_coefficient;
< a name = "l50" > < / a >
< a name = "l51" > < / a > < / span > < span class = cF1 > U0< / span > < span class = cF0 > < / span > < span class = cF5 > DrawIt< / span > < span class = cF0 > (< / span > < span class = cF9 > CTask< / span > < span class = cF0 > *task, < / span > < span class = cF9 > CDC< / span > < span class = cF0 > *dc)
< a name = "l52" > < / a > {
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< a name = "l53" > < / a > < / span > < span class = cF9 > I64< / span > < span class = cF0 > i, x, y, cx = < / span > < span class = cF3 > GR_WIDTH< / span > < span class = cF0 > / < / span > < span class = cFE > 2< / span > < span class = cF0 > , cy = GROUND_Y;
< a name = "l54" > < / a > < / span > < span class = cF1 > F64< / span > < span class = cF0 > theta = < / span > < span class = cF5 > Arg< / span > < span class = cF0 > (m2.x - m1.x, m2.y - m1.y), nozzle_angle = ode-> state[STATE_NOZZLE_ANGLE];
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< a name = "l55" > < / a >
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< a name = "l56" > < / a > < / span > < span class = cF1 > if< / span > < span class = cF0 > (blast_off)
< a name = "l57" > < / a > < / span > < span class = cF7 > {< / span > < span class = cF0 >
< a name = "l58" > < / a > x = m1.x - < / span > < span class = cFE > 10< / span > < span class = cF0 > * < / span > < span class = cF5 > Cos< / span > < span class = cF0 > (theta + nozzle_angle);
< a name = "l59" > < / a > y = m1.y - < / span > < span class = cFE > 10< / span > < span class = cF0 > * < / span > < span class = cF5 > Sin< / span > < span class = cF0 > (theta + nozzle_angle);
< a name = "l60" > < / a > < / span > < span class = cF1 > for< / span > < span class = cF0 > (i = < / span > < span class = cFE > 0< / span > < span class = cF0 > ; i < < / span > < span class = cFE > 6< / span > < span class = cF0 > ; i++)
< a name = "l61" > < / a > {
< a name = "l62" > < / a > < / span > < span class = cF1 > if< / span > < span class = cF0 > (< / span > < span class = cF7 > (< / span > < span class = cF0 > i ^ < / span > < span class = cFB > winmgr< / span > < span class = cF0 > .updates< / span > < span class = cF7 > )< / span > < span class = cF0 > & < / span > < span class = cFE > 1< / span > < span class = cF0 > )
< a name = "l63" > < / a > dc-> color = < / span > < span class = cF3 > YELLOW< / span > < span class = cF0 > ;
< a name = "l64" > < / a > < / span > < span class = cF1 > else< / span > < span class = cF0 >
< a name = "l65" > < / a > dc-> color = < / span > < span class = cF3 > RED< / span > < span class = cF0 > ;
< a name = "l66" > < / a > < / span > < span class = cF5 > GrLine< / span > < span class = cF0 > (dc, cx + < / span > < span class = cF7 > (< / span > < span class = cF0 > m1.x + i * < / span > < span class = cF5 > Cos< / span > < span class = cF0 > (theta - < / span > < span class = cF3 > pi< / span > < span class = cF0 > /< / span > < span class = cFE > 2< / span > < span class = cF0 > )< / span > < span class = cF7 > )< / span > < span class = cF0 > , cy - < / span > < span class = cF7 > (< / span > < span class = cF0 > m1.y + i * < / span > < span class = cF5 > Sin< / span > < span class = cF0 > (theta - < / span > < span class = cF3 > pi< / span > < span class = cF0 > / < / span > < span class = cFE > 2< / span > < span class = cF0 > )< / span > < span class = cF7 > )< / span > < span class = cF0 > , cx + x, cy - y);
< a name = "l67" > < / a > < / span > < span class = cF5 > GrLine< / span > < span class = cF0 > (dc, cx + < / span > < span class = cF7 > (< / span > < span class = cF0 > m1.x + i * < / span > < span class = cF5 > Cos< / span > < span class = cF0 > (theta + < / span > < span class = cF3 > pi< / span > < span class = cF0 > / < / span > < span class = cFE > 2< / span > < span class = cF0 > )< / span > < span class = cF7 > )< / span > < span class = cF0 > , cy - < / span > < span class = cF7 > (< / span > < span class = cF0 > m1.y + i * < / span > < span class = cF5 > Sin< / span > < span class = cF0 > (theta + < / span > < span class = cF3 > pi< / span > < span class = cF0 > / < / span > < span class = cFE > 2< / span > < span class = cF0 > )< / span > < span class = cF7 > )< / span > < span class = cF0 > , cx + x, cy - y);
< a name = "l68" > < / a > }
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< a name = "l69" > < / a >
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< a name = "l70" > < / a > < / span > < span class = cF1 > for< / span > < span class = cF0 > (i = < / span > < span class = cFE > 0< / span > < span class = cF0 > ; i < < / span > < span class = cFE > 10< / span > < span class = cF0 > ; i++)
< a name = "l71" > < / a > {
< a name = "l72" > < / a > < / span > < span class = cF1 > switch< / span > < span class = cF0 > (< / span > < span class = cF5 > RandU16< / span > < span class = cF0 > & < / span > < span class = cFE > 3< / span > < span class = cF0 > )
< a name = "l73" > < / a > < / span > < span class = cF7 > {< / span > < span class = cF0 >
< a name = "l74" > < / a > < / span > < span class = cF1 > case< / span > < span class = cF0 > < / span > < span class = cFE > 0< / span > < span class = cF0 > : dc2-> color = < / span > < span class = cF3 > WHITE< / span > < span class = cF0 > ; < / span > < span class = cF1 > break< / span > < span class = cF0 > ;
< a name = "l75" > < / a > < / span > < span class = cF1 > case< / span > < span class = cF0 > < / span > < span class = cFE > 1< / span > < span class = cF0 > : dc2-> color = < / span > < span class = cF3 > LTGRAY< / span > < span class = cF0 > ; < / span > < span class = cF1 > break< / span > < span class = cF0 > ;
< a name = "l76" > < / a > < / span > < span class = cF1 > case< / span > < span class = cF0 > < / span > < span class = cFE > 2< / span > < span class = cF0 > : dc2-> color = < / span > < span class = cF3 > DKGRAY< / span > < span class = cF0 > ; < / span > < span class = cF1 > break< / span > < span class = cF0 > ;
< a name = "l77" > < / a > < / span > < span class = cF1 > case< / span > < span class = cF0 > < / span > < span class = cFE > 3< / span > < span class = cF0 > : dc2-> color = < / span > < span class = cF3 > BLACK< / span > < span class = cF0 > ; < / span > < span class = cF1 > break< / span > < span class = cF0 > ;
< a name = "l78" > < / a > < / span > < span class = cF7 > }< / span > < span class = cF0 >
< a name = "l79" > < / a > < / span > < span class = cF5 > GrPlot< / span > < span class = cF0 > (dc2, cx + < / span > < span class = cF7 > (< / span > < span class = cF0 > x + < / span > < span class = cF5 > RandU16< / span > < span class = cF0 > % < / span > < span class = cFE > 12< / span > < span class = cF0 > - < / span > < span class = cFE > 6< / span > < span class = cF7 > )< / span > < span class = cF0 > , cy - < / span > < span class = cF7 > (< / span > < span class = cF0 > y + < / span > < span class = cF5 > RandU16< / span > < span class = cF0 > % < / span > < span class = cFE > 12< / span > < span class = cF0 > - < / span > < span class = cFE > 6< / span > < span class = cF7 > )< / span > < span class = cF0 > );
< a name = "l80" > < / a > }
< a name = "l81" > < / a > < / span > < span class = cF7 > }< / span > < span class = cF0 >
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< a name = "l82" > < / a >
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< a name = "l83" > < / a > < / span > < span class = cF1 > if< / span > < span class = cF0 > (plane_hit)
< a name = "l84" > < / a > < / span > < span class = cF5 > Sprite3< / span > < span class = cF0 > (dc, cx + m3.x, cy - m3.y, < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cFA > < 2> < / span > < span class = cF0 > );
< a name = "l85" > < / a > < / span > < span class = cF1 > else< / span > < span class = cF0 >
< a name = "l86" > < / a > < / span > < span class = cF5 > Sprite3< / span > < span class = cF0 > (dc, cx + m3.x, cy - m3.y, < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cFA > < 1> < / span > < span class = cF0 > );
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< a name = "l87" > < / a >
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< a name = "l88" > < / a > < / span > < span class = cF1 > if< / span > < span class = cF0 > (blast_off & & !plane_hit)
< a name = "l89" > < / a > < / span > < span class = cF7 > {< / span > < span class = cF0 >
< a name = "l90" > < / a > dc-> color = < / span > < span class = cF3 > ROP_COLLISION< / span > < span class = cF0 > ;
< a name = "l91" > < / a > dc-> bkcolor = < / span > < span class = cF3 > LTCYAN< / span > < span class = cF0 > ;
< a name = "l92" > < / a > dc-> collision_count = < / span > < span class = cFE > 0< / span > < span class = cF0 > ;
< a name = "l93" > < / a > < / span > < span class = cF5 > Sprite3ZB< / span > < span class = cF0 > (dc, cx + < / span > < span class = cF7 > (< / span > < span class = cF0 > m1.x + m2.x< / span > < span class = cF7 > )< / span > < span class = cF0 > / < / span > < span class = cFE > 2< / span > < span class = cF0 > , cy - < / span > < span class = cF7 > (< / span > < span class = cF0 > m1.y + m2.y< / span > < span class = cF7 > )< / span > < span class = cF0 > / < / span > < span class = cFE > 2< / span > < span class = cF0 > , < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cFA > < 3> < / span > < span class = cF0 > , -theta);
< a name = "l94" > < / a > < / span > < span class = cF1 > if< / span > < span class = cF0 > (dc-> collision_count > < / span > < span class = cFE > 100< / span > < span class = cF0 > )
< a name = "l95" > < / a > {
< a name = "l96" > < / a > < / span > < span class = cF5 > Noise< / span > < span class = cF0 > (< / span > < span class = cFE > 1000< / span > < span class = cF0 > , < / span > < span class = cFE > 62< / span > < span class = cF0 > , < / span > < span class = cFE > 81< / span > < span class = cF0 > );
< a name = "l97" > < / a > plane_hit = < / span > < span class = cF3 > TRUE< / span > < span class = cF0 > ;
< a name = "l98" > < / a > }
< a name = "l99" > < / a > < / span > < span class = cF1 > else< / span > < span class = cF0 >
< a name = "l100" > < / a > < / span > < span class = cF5 > Sound< / span > < span class = cF0 > (< / span > < span class = cFE > 22< / span > < span class = cF0 > );
< a name = "l101" > < / a > < / span > < span class = cF7 > }< / span > < span class = cF0 >
< a name = "l102" > < / a > < / span > < span class = cF1 > else< / span > < span class = cF0 > < / span > < span class = cF1 > if< / span > < span class = cF0 > (!plane_hit)
< a name = "l103" > < / a > < / span > < span class = cF5 > Sound< / span > < span class = cF0 > ;
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< a name = "l104" > < / a >
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< a name = "l105" > < / a > dc-> color = < / span > < span class = cF3 > ROP_EQU< / span > < span class = cF0 > ;
< a name = "l106" > < / a > < / span > < span class = cF5 > Sprite3< / span > < span class = cF0 > (dc, < / span > < span class = cFE > 0< / span > < span class = cF0 > , GROUND_Y, < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cFA > < 4> < / span > < span class = cF0 > );
< a name = "l107" > < / a > < / span > < span class = cF5 > Sprite3ZB< / span > < span class = cF0 > (dc, cx + < / span > < span class = cF7 > (< / span > < span class = cF0 > m1.x + m2.x< / span > < span class = cF7 > )< / span > < span class = cF0 > / < / span > < span class = cFE > 2< / span > < span class = cF0 > , cy - < / span > < span class = cF7 > (< / span > < span class = cF0 > m1.y + m2.y< / span > < span class = cF7 > )< / span > < span class = cF0 > / < / span > < span class = cFE > 2< / span > < span class = cF0 > , < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cFA > < 3> < / span > < span class = cF0 > , -theta);
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< a name = "l108" > < / a >
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< a name = "l109" > < / a > dc-> color = < / span > < span class = cF3 > RED< / span > < span class = cF0 > ;
< a name = "l110" > < / a > < / span > < span class = cF5 > GrCircle< / span > < span class = cF0 > (dc, cx + target.x, cy - target.y, < / span > < span class = cFE > 5< / span > < span class = cF0 > );
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< a name = "l111" > < / a >
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< a name = "l112" > < / a > dc-> color = < / span > < span class = cF3 > BLUE< / span > < span class = cF0 > ;
< a name = "l113" > < / a > < / span > < span class = cF5 > GrCircle< / span > < span class = cF0 > (dc, cx + m3.x, cy - m3.y, < / span > < span class = cFE > 5< / span > < span class = cF0 > );
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< a name = "l114" > < / a >
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< a name = "l115" > < / a > dc-> color = < / span > < span class = cF3 > BLACK< / span > < span class = cF0 > ;
< a name = "l116" > < / a > < / span > < span class = cF5 > GrPrint< / span > < span class = cF0 > (dc, < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cF3 > FONT_HEIGHT< / span > < span class = cF0 > , < / span > < span class = cF6 > " %12.6f" < / span > < span class = cF0 > , my_debug);
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< a name = "l117" > < / a > }
< a name = "l118" > < / a >
< a name = "l119" > < / a > < / span > < span class = cF1 > U0< / span > < span class = cF0 > MyDerivative(< / span > < span class = cF9 > CMathODE< / span > < span class = cF0 > *, < / span > < span class = cF1 > F64< / span > < span class = cF0 > , < / span > < span class = cF1 > F64< / span > < span class = cF0 > *state, < / span > < span class = cF1 > F64< / span > < span class = cF0 > *DstateDt)
< a name = "l120" > < / a > {
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< a name = "l121" > < / a > < / span > < span class = cF1 > F64< / span > < span class = cF0 > d, discriminant, v, a,
< a name = "l122" > < / a > theta = < / span > < span class = cF5 > Arg< / span > < span class = cF0 > (m2.state-> x - m1.state-> x, m2.state-> y - m1.state-> y),
< a name = "l123" > < / a > DthetaDt, collision_estimate_t, target_heading, target_angle_error,
< a name = "l124" > < / a > desired_nozzle_angle;
< a name = "l125" > < / a > < / span > < span class = cF9 > CD3< / span > < span class = cF0 > p, p_target, p_body;
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< a name = "l126" > < / a >
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< a name = "l127" > < / a > < / span > < span class = cF2 > //Unit vect pointing to top of rocket from bottom.< / span > < span class = cF0 >
< a name = "l128" > < / a > < / span > < span class = cF5 > D3Sub< / span > < span class = cF0 > (& p_body, & m2.state-> x, & m1.state-> x);
< a name = "l129" > < / a > < / span > < span class = cF5 > D3Unit< / span > < span class = cF0 > (& p_body);
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< a name = "l130" > < / a >
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< a name = "l131" > < / a > < / span > < span class = cF2 > //DthetaDt lets us prevent too much spin.< / span > < span class = cF0 >
< a name = "l132" > < / a > DthetaDt = antispin_coefficient * (m2.state-> DyDt * p_body.x - m2.state-> DxDt * p_body.y -
< a name = "l133" > < / a > m1.state-> DyDt * p_body.x + m1.state-> DxDt * p_body.y) / ROCKET_HEIGHT;
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< a name = "l134" > < / a >
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< a name = "l135" > < / a > < / span > < span class = cF2 > //p_target is vect from top of rocket to plane.< / span > < span class = cF0 >
< a name = "l136" > < / a > < / span > < span class = cF5 > D3Sub< / span > < span class = cF0 > (& p_target, & m3.state-> x, & m2.state-> x);
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< a name = "l137" > < / a >
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< a name = "l138" > < / a > < / span > < span class = cF2 > //d=0.5at^2+vt< / span > < span class = cF0 >
< a name = "l139" > < / a > d = < / span > < span class = cF5 > D3Norm< / span > < span class = cF0 > (& p_target);
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< a name = "l140" > < / a >
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< a name = "l141" > < / a > < / span > < span class = cF5 > D3Copy< / span > < span class = cF0 > (& p, & p_target);
< a name = "l142" > < / a > < / span > < span class = cF5 > D3Unit< / span > < span class = cF0 > (& p);
< a name = "l143" > < / a > v = (m2.state-> DxDt * p.x + m2.state-> DyDt * p.y) - (m3.state-> DxDt * p.x + m3.state-> DyDt * p.y);
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< a name = "l144" > < / a >
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< a name = "l145" > < / a > a = THRUST / (m1.mass + m2.mass);
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< a name = "l146" > < / a >
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< a name = "l147" > < / a > discriminant = v * v + < / span > < span class = cFE > 4< / span > < span class = cF0 > * < / span > < span class = cFE > 0< / span > < span class = cF0 > .< / span > < span class = cFE > 5< / span > < span class = cF0 > * a * d;
< a name = "l148" > < / a > < / span > < span class = cF1 > if< / span > < span class = cF0 > (discriminant > < / span > < span class = cFE > 0< / span > < span class = cF0 > )
< a name = "l149" > < / a > collision_estimate_t = (-v + < / span > < span class = cF5 > Sqrt< / span > < span class = cF7 > (< / span > < span class = cF0 > discriminant< / span > < span class = cF7 > )< / span > < span class = cF0 > ) / a;
< a name = "l150" > < / a > < / span > < span class = cF1 > else< / span > < span class = cF0 >
< a name = "l151" > < / a > collision_estimate_t = < / span > < span class = cFE > 0< / span > < span class = cF0 > ;
< a name = "l152" > < / a > my_debug = collision_estimate_t;
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< a name = "l153" > < / a >
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< a name = "l154" > < / a > < / span > < span class = cF2 > //Aim for projected pos of plane at time of impact.< / span > < span class = cF0 >
< a name = "l155" > < / a > < / span > < span class = cF5 > D3Copy< / span > < span class = cF0 > (& p, & m3.state-> DxDt);
< a name = "l156" > < / a > < / span > < span class = cF5 > D3MulEqu< / span > < span class = cF0 > (& p, collision_estimate_t);
< a name = "l157" > < / a > < / span > < span class = cF5 > D3AddEqu< / span > < span class = cF0 > (& p_target, & p);
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< a name = "l158" > < / a >
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< a name = "l159" > < / a > < / span > < span class = cF5 > D3Copy< / span > < span class = cF0 > (& target, & p_target);
< a name = "l160" > < / a > < / span > < span class = cF5 > D3AddEqu< / span > < span class = cF0 > (& target, & m2.state-> x);
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< a name = "l161" > < / a >
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< a name = "l162" > < / a > target_heading = < / span > < span class = cF5 > Arg< / span > < span class = cF0 > (p_target.x, p_target.y);
< a name = "l163" > < / a > target_angle_error = < / span > < span class = cF5 > Wrap< / span > < span class = cF0 > (theta - target_heading); < / span > < span class = cF2 > //Force to range [-pi, pi)< / span > < span class = cF0 >
< a name = "l164" > < / a > desired_nozzle_angle = < / span > < span class = cF5 > Clamp< / span > < span class = cF0 > (< / span > < span class = cFE > 50< / span > < span class = cF0 > .< / span > < span class = cFE > 0< / span > < span class = cF0 > * DthetaDt + < / span > < span class = cFE > 750< / span > < span class = cF0 > * target_angle_error, -< / span > < span class = cF3 > pi< / span > < span class = cF0 > / < / span > < span class = cFE > 8< / span > < span class = cF0 > , < / span > < span class = cF3 > pi< / span > < span class = cF0 > / < / span > < span class = cFE > 8< / span > < span class = cF0 > );
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< a name = "l165" > < / a >
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< a name = "l166" > < / a > < / span > < span class = cF2 > //For realism we limit the speed the nozzle angle can change.< / span > < span class = cF0 >
< a name = "l167" > < / a > DstateDt[STATE_NOZZLE_ANGLE] = state[STATE_NOZZLE_ANGLE_VELOCITY];
< a name = "l168" > < / a > DstateDt[STATE_NOZZLE_ANGLE_VELOCITY] = < / span > < span class = cF5 > Clamp< / span > < span class = cF0 > (< / span > < span class = cFE > 10000< / span > < span class = cF0 > * < / span > < span class = cF7 > (< / span > < span class = cF0 > desired_nozzle_angle - state[STATE_NOZZLE_ANGLE]< / span > < span class = cF7 > )< / span > < span class = cF0 > , -< / span > < span class = cFE > 1000< / span > < span class = cF0 > , < / span > < span class = cFE > 1000< / span > < span class = cF0 > ) -
< a name = "l169" > < / a > < / span > < span class = cFE > 10< / span > < span class = cF0 > .< / span > < span class = cFE > 0< / span > < span class = cF0 > * state[STATE_NOZZLE_ANGLE_VELOCITY]; < / span > < span class = cF2 > //Damping< / span > < span class = cF0 >
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< a name = "l170" > < / a >
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< a name = "l171" > < / a > < / span > < span class = cF1 > if< / span > < span class = cF0 > (blast_off)
< a name = "l172" > < / a > < / span > < span class = cF7 > {< / span > < span class = cF0 >
< a name = "l173" > < / a > m1.DstateDt-> DxDt += THRUST * < / span > < span class = cF5 > Cos< / span > < span class = cF0 > (theta + state[STATE_NOZZLE_ANGLE]);
< a name = "l174" > < / a > m1.DstateDt-> DyDt += THRUST * < / span > < span class = cF5 > Sin< / span > < span class = cF0 > (theta + state[STATE_NOZZLE_ANGLE]);
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< a name = "l175" > < / a >
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< a name = "l176" > < / a > m1.DstateDt-> DyDt -= < / span > < span class = cFE > 25< / span > < span class = cF0 > ; < / span > < span class = cF2 > //Gravity< / span > < span class = cF0 >
< a name = "l177" > < / a > m2.DstateDt-> DyDt -= < / span > < span class = cFE > 25< / span > < span class = cF0 > ;
< a name = "l178" > < / a > < / span > < span class = cF7 > }< / span > < span class = cF0 >
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< a name = "l179" > < / a >
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< a name = "l180" > < / a > < / span > < span class = cF2 > //For more realism reduce the mass of the rocket because of fuel.< / span > < span class = cF0 >
< a name = "l181" > < / a > < / span > < span class = cF2 > //You might also factor-in fuel slosh in the tank.< / span > < span class = cF0 >
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< a name = "l182" > < / a >
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< a name = "l183" > < / a > < / span > < span class = cF2 > //To do this, you would have to set-up state vars for mass and< / span > < span class = cF0 >
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< a name = "l184" > < / a > < / span > < span class = cF2 > //do A=F/m manually instead of relyin on < / span > < a href = "https://tomawezome.github.io/ZealOS/System/MathODE.CC.html#l431" > < span class = cF4 > ODECallDerivative< / span > < / a > < span class = cF2 > () to divide< / span > < span class = cF0 >
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< a name = "l185" > < / a > < / span > < span class = cF2 > //by mass.< / span > < span class = cF0 >
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< a name = "l186" > < / a > }
< a name = "l187" > < / a >
< a name = "l188" > < / a > < / span > < span class = cF1 > U0< / span > < span class = cF0 > Init()
< a name = "l189" > < / a > {
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< a name = "l190" > < / a > < / span > < span class = cF5 > DocClear< / span > < span class = cF0 > ;
< a name = "l191" > < / a > < / span > < span class = cF6 > " $BG,LTCYAN$%h*c" < / span > < span class = cF0 > , < / span > < span class = cF5 > ToI64< / span > < span class = cF0 > (GROUND_Y / < / span > < span class = cF3 > FONT_HEIGHT< / span > < span class = cF0 > ), < / span > < span class = cF6 > '\n'< / span > < span class = cF0 > ;
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< a name = "l192" > < / a >
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< a name = "l193" > < / a > blast_off = < / span > < span class = cF3 > FALSE< / span > < span class = cF0 > ;
< a name = "l194" > < / a > plane_hit = < / span > < span class = cF3 > FALSE< / span > < span class = cF0 > ;
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< a name = "l195" > < / a >
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< a name = "l196" > < / a > < / span > < span class = cF1 > do< / span > < span class = cF0 > antispin_coefficient = < / span > < span class = cF5 > PopUpRangeF64Exp< / span > < span class = cF0 > (< / span > < span class = cFE > 0< / span > < span class = cF0 > .< / span > < span class = cFE > 1< / span > < span class = cF0 > , < / span > < span class = cFE > 10< / span > < span class = cF0 > .< / span > < span class = cFE > 001< / span > < span class = cF0 > , < / span > < span class = cF5 > Sqrt< / span > < span class = cF7 > (< / span > < span class = cFE > 10< / span > < span class = cF7 > )< / span > < span class = cF0 > , < / span > < span class = cF6 > " %9.4f" < / span > < span class = cF0 > , < / span > < span class = cF6 > " Anti-spin Coefficient\n\n" < / span > < span class = cF0 > );
< a name = "l197" > < / a > < / span > < span class = cF1 > while< / span > < span class = cF0 > (!< / span > < span class = cF7 > (< / span > < span class = cFE > 0< / span > < span class = cF0 > .< / span > < span class = cFE > 1< / span > < span class = cF0 > < = antispin_coefficient < < / span > < span class = cFE > 10< / span > < span class = cF0 > .< / span > < span class = cFE > 001< / span > < span class = cF7 > )< / span > < span class = cF0 > );
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< a name = "l198" > < / a >
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< a name = "l199" > < / a > < / span > < span class = cF2 > //We don't clear que links.< / span > < span class = cF0 >
< a name = "l200" > < / a > < / span > < span class = cF5 > MemSet< / span > < span class = cF0 > (& m1.< / span > < span class = cF1 > start< / span > < span class = cF0 > , < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cF1 > offset< / span > < span class = cF7 > (< / span > < span class = cF9 > CMass< / span > < span class = cF0 > .< / span > < span class = cF1 > end< / span > < span class = cF7 > )< / span > < span class = cF0 > - < / span > < span class = cF1 > offset< / span > < span class = cF7 > (< / span > < span class = cF9 > CMass< / span > < span class = cF0 > .< / span > < span class = cF1 > start< / span > < span class = cF7 > )< / span > < span class = cF0 > );
< a name = "l201" > < / a > m1.y = < / span > < span class = cFE > 0< / span > < span class = cF0 > ;
< a name = "l202" > < / a > m1.mass = < / span > < span class = cFE > 1< / span > < span class = cF0 > .< / span > < span class = cFE > 0< / span > < span class = cF0 > ;
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< a name = "l203" > < / a >
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< a name = "l204" > < / a > < / span > < span class = cF5 > MemSet< / span > < span class = cF0 > (& m2.< / span > < span class = cF1 > start< / span > < span class = cF0 > , < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cF1 > offset< / span > < span class = cF7 > (< / span > < span class = cF9 > CMass< / span > < span class = cF0 > .< / span > < span class = cF1 > end< / span > < span class = cF7 > )< / span > < span class = cF0 > - < / span > < span class = cF1 > offset< / span > < span class = cF7 > (< / span > < span class = cF9 > CMass< / span > < span class = cF0 > .< / span > < span class = cF1 > start< / span > < span class = cF7 > )< / span > < span class = cF0 > );
< a name = "l205" > < / a > m2.y = ROCKET_HEIGHT;
< a name = "l206" > < / a > m2.mass = < / span > < span class = cFE > 1< / span > < span class = cF0 > .< / span > < span class = cFE > 0< / span > < span class = cF0 > ;
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< a name = "l207" > < / a >
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< a name = "l208" > < / a > < / span > < span class = cF5 > MemSet< / span > < span class = cF0 > (& m3.< / span > < span class = cF1 > start< / span > < span class = cF0 > , < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cF1 > offset< / span > < span class = cF7 > (< / span > < span class = cF9 > CMass< / span > < span class = cF0 > .< / span > < span class = cF1 > end< / span > < span class = cF7 > )< / span > < span class = cF0 > - < / span > < span class = cF1 > offset< / span > < span class = cF7 > (< / span > < span class = cF9 > CMass< / span > < span class = cF0 > .< / span > < span class = cF1 > start< / span > < span class = cF7 > )< / span > < span class = cF0 > );
< a name = "l209" > < / a > m3.y = < / span > < span class = cFE > 400< / span > < span class = cF0 > ;
< a name = "l210" > < / a > m3.x = -< / span > < span class = cFE > 300< / span > < span class = cF0 > ;
< a name = "l211" > < / a > m3.DxDt = < / span > < span class = cFE > 50< / span > < span class = cF0 > ;
< a name = "l212" > < / a > m3.mass = < / span > < span class = cFE > 1< / span > < span class = cF0 > .< / span > < span class = cFE > 0< / span > < span class = cF0 > ;
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< a name = "l213" > < / a >
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< a name = "l214" > < / a > < / span > < span class = cF5 > MemSet< / span > < span class = cF0 > (& s.< / span > < span class = cF1 > start< / span > < span class = cF0 > , < / span > < span class = cFE > 0< / span > < span class = cF0 > , < / span > < span class = cF1 > offset< / span > < span class = cF7 > (< / span > < span class = cF9 > CSpring< / span > < span class = cF0 > .< / span > < span class = cF1 > end< / span > < span class = cF7 > )< / span > < span class = cF0 > - < / span > < span class = cF1 > offset< / span > < span class = cF7 > (< / span > < span class = cF9 > CSpring< / span > < span class = cF0 > .< / span > < span class = cF1 > start< / span > < span class = cF7 > )< / span > < span class = cF0 > );
< a name = "l215" > < / a > s.end1 = & m1;
< a name = "l216" > < / a > s.end2 = & m2;
< a name = "l217" > < / a > s.rest_len = ROCKET_HEIGHT;
< a name = "l218" > < / a > s.const = < / span > < span class = cFE > 10000< / span > < span class = cF0 > ;
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< a name = "l219" > < / a >
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< a name = "l220" > < / a > ode-> state[STATE_NOZZLE_ANGLE] = < / span > < span class = cFE > 0< / span > < span class = cF0 > ;
< a name = "l221" > < / a > ode-> state[STATE_NOZZLE_ANGLE_VELOCITY] = < / span > < span class = cFE > 0< / span > < span class = cF0 > ;
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< a name = "l222" > < / a >
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< a name = "l223" > < / a > < / span > < span class = cF5 > DCFill< / span > < span class = cF0 > ;
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< a name = "l224" > < / a > }
< a name = "l225" > < / a >
< a name = "l226" > < / a > < / span > < span class = cF1 > U0< / span > < span class = cF0 > TaskEndCB()
< a name = "l227" > < / a > {
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< a name = "l228" > < / a > < / span > < span class = cF5 > DCFill< / span > < span class = cF0 > ;
< a name = "l229" > < / a > < / span > < span class = cF5 > SoundTaskEndCB< / span > < span class = cF0 > ;
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< a name = "l230" > < / a > }
< a name = "l231" > < / a >
< a name = "l232" > < / a > < / span > < span class = cF1 > U0< / span > < span class = cF0 > RocketScience()
< a name = "l233" > < / a > {
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< a name = "l234" > < / a > < / span > < span class = cF5 > SettingsPush< / span > < span class = cF0 > ; < / span > < span class = cF2 > //See < / span > < a href = "https://tomawezome.github.io/ZealOS/System/TaskSettings.CC.html#l3" > < span class = cF4 > SettingsPush< / span > < / a > < span class = cF0 >
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< a name = "l235" > < / a > < / span > < span class = cF5 > Fs< / span > < span class = cF0 > -> text_attr = < / span > < span class = cF3 > YELLOW< / span > < span class = cF0 > < < < / span > < span class = cFE > 4< / span > < span class = cF0 > + < / span > < span class = cF3 > BLUE< / span > < span class = cF0 > ;
< a name = "l236" > < / a > < / span > < span class = cF5 > MenuPush< / span > < span class = cF0 > ( < / span > < span class = cF6 > " File {" < / span > < span class = cF0 >
< a name = "l237" > < / a > < / span > < span class = cF6 > " Abort(,CH_SHIFT_ESC);" < / span > < span class = cF0 >
< a name = "l238" > < / a > < / span > < span class = cF6 > " Exit(,CH_ESC);" < / span > < span class = cF0 >
< a name = "l239" > < / a > < / span > < span class = cF6 > " }" < / span > < span class = cF0 >
< a name = "l240" > < / a > < / span > < span class = cF6 > " Play {" < / span > < span class = cF0 >
< a name = "l241" > < / a > < / span > < span class = cF6 > " Restart(,'\n');" < / span > < span class = cF0 >
< a name = "l242" > < / a > < / span > < span class = cF6 > " Launch(,CH_SPACE);" < / span > < span class = cF0 >
< a name = "l243" > < / a > < / span > < span class = cF6 > " }" < / span > < span class = cF0 >
< a name = "l244" > < / a > );
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< a name = "l245" > < / a >
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< a name = "l246" > < / a > < / span > < span class = cF5 > AutoComplete< / span > < span class = cF0 > ;
< a name = "l247" > < / a > < / span > < span class = cF5 > WinBorder< / span > < span class = cF0 > ;
< a name = "l248" > < / a > < / span > < span class = cF5 > WinMax< / span > < span class = cF0 > ;
< a name = "l249" > < / a > < / span > < span class = cF5 > DocCursor< / span > < span class = cF0 > ;
< a name = "l250" > < / a > < / span > < span class = cF5 > DocClear< / span > < span class = cF0 > ;
< a name = "l251" > < / a > dc2 = < / span > < span class = cF5 > DCAlias< / span > < span class = cF0 > ;
< a name = "l252" > < / a > < / span > < span class = cF5 > Fs< / span > < span class = cF0 > -> task_end_cb = & TaskEndCB;
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< a name = "l253" > < / a >
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< a name = "l254" > < / a > ode = < / span > < span class = cF5 > ODENew< / span > < span class = cF0 > (STATE_NUM, < / span > < span class = cFE > 1< / span > < span class = cF0 > e - < / span > < span class = cFE > 6< / span > < span class = cF0 > , < / span > < span class = cF3 > ODEF_HAS_MASSES< / span > < span class = cF0 > );
< a name = "l255" > < / a > ode-> derive = & MyDerivative;
< a name = "l256" > < / a > ode-> drag_v2 = < / span > < span class = cFE > 0< / span > < span class = cF0 > .< / span > < span class = cFE > 002< / span > < span class = cF0 > ;
< a name = "l257" > < / a > ode-> drag_v3 = < / span > < span class = cFE > 0< / span > < span class = cF0 > .< / span > < span class = cFE > 00001< / span > < span class = cF0 > ;
< a name = "l258" > < / a > ode-> acceleration_limit = < / span > < span class = cFE > 5< / span > < span class = cF0 > e3;
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< a name = "l259" > < / a >
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< a name = "l260" > < / a > < / span > < span class = cF2 > //< / span > < span class = cF0 > < / span > < span class = cF2 > ode-> t_scale=0.1; //Uncomment this to go in slow motion.< / span > < span class = cF0 >
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< a name = "l261" > < / a >
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< a name = "l262" > < / a > Init;
< a name = "l263" > < / a > < / span > < span class = cF5 > QueueInsert< / span > < span class = cF0 > (& m1, ode-> last_mass);
< a name = "l264" > < / a > < / span > < span class = cF5 > QueueInsert< / span > < span class = cF0 > (& m2, ode-> last_mass);
< a name = "l265" > < / a > < / span > < span class = cF5 > QueueInsert< / span > < span class = cF0 > (& m3, ode-> last_mass);
< a name = "l266" > < / a > < / span > < span class = cF5 > QueueInsert< / span > < span class = cF0 > (& s, ode-> last_spring);
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< a name = "l267" > < / a >
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< a name = "l268" > < / a > < / span > < span class = cF5 > QueueInsert< / span > < span class = cF0 > (ode, < / span > < span class = cF5 > Fs< / span > < span class = cF0 > -> last_ode);
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< a name = "l269" > < / a >
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< a name = "l270" > < / a > < / span > < span class = cF5 > Fs< / span > < span class = cF0 > -> draw_it = & < / span > < span class = cF5 > DrawIt< / span > < span class = cF0 > ;
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< a name = "l271" > < / a >
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< a name = "l272" > < / a > < / span > < span class = cF1 > try< / span > < span class = cF0 >
< a name = "l273" > < / a > < / span > < span class = cF7 > {< / span > < span class = cF0 >
< a name = "l274" > < / a > < / span > < span class = cF5 > KeyGet< / span > < span class = cF0 > ;
< a name = "l275" > < / a > blast_off = < / span > < span class = cF3 > TRUE< / span > < span class = cF0 > ;
< a name = "l276" > < / a > < / span > < span class = cF1 > while< / span > < span class = cF0 > (< / span > < span class = cF3 > TRUE< / span > < span class = cF0 > )
< a name = "l277" > < / a > {
< a name = "l278" > < / a > < / span > < span class = cF1 > switch< / span > < span class = cF0 > (< / span > < span class = cF5 > CharGet< / span > < span class = cF7 > (< / span > < span class = cF0 > , < / span > < span class = cF3 > FALSE< / span > < span class = cF7 > )< / span > < span class = cF0 > )
< a name = "l279" > < / a > < / span > < span class = cF7 > {< / span > < span class = cF0 >
< a name = "l280" > < / a > < / span > < span class = cF1 > case< / span > < span class = cF0 > < / span > < span class = cF6 > '\n'< / span > < span class = cF0 > :
< a name = "l281" > < / a > Init;
< a name = "l282" > < / a > < / span > < span class = cF5 > KeyGet< / span > < span class = cF0 > ;
< a name = "l283" > < / a > blast_off = < / span > < span class = cF3 > TRUE< / span > < span class = cF0 > ;
< a name = "l284" > < / a > < / span > < span class = cF1 > break< / span > < span class = cF0 > ;
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< a name = "l285" > < / a >
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< a name = "l286" > < / a > < / span > < span class = cF1 > case< / span > < span class = cF0 > < / span > < span class = cF3 > CH_SHIFT_ESC< / span > < span class = cF0 > :
< a name = "l287" > < / a > < / span > < span class = cF1 > case< / span > < span class = cF0 > < / span > < span class = cF3 > CH_ESC< / span > < span class = cF0 > :
< a name = "l288" > < / a > < / span > < span class = cF1 > goto< / span > < span class = cF0 > rs_done;
< a name = "l289" > < / a > < / span > < span class = cF7 > }< / span > < span class = cF0 >
< a name = "l290" > < / a > }
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< a name = "l291" > < / a > rs_done:
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< a name = "l292" > < / a > < / span > < span class = cF7 > }< / span > < span class = cF0 >
< a name = "l293" > < / a > < / span > < span class = cF1 > catch< / span > < span class = cF0 >
< a name = "l294" > < / a > < / span > < span class = cF5 > PutExcept< / span > < span class = cF0 > ;
< a name = "l295" > < / a > < / span > < span class = cF5 > QueueRemove< / span > < span class = cF0 > (ode);
< a name = "l296" > < / a > < / span > < span class = cF5 > ODEDel< / span > < span class = cF0 > (ode);
< a name = "l297" > < / a > < / span > < span class = cF5 > DocClear< / span > < span class = cF0 > ;
< a name = "l298" > < / a > < / span > < span class = cF5 > SettingsPop< / span > < span class = cF0 > ;
< a name = "l299" > < / a > < / span > < span class = cF5 > DCFill< / span > < span class = cF0 > ;
< a name = "l300" > < / a > < / span > < span class = cF5 > DCDel< / span > < span class = cF0 > (dc2);
< a name = "l301" > < / a > < / span > < span class = cF5 > MenuPop< / span > < span class = cF0 > ;
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< a name = "l302" > < / a > }
< a name = "l303" > < / a >
< a name = "l304" > < / a > RocketScience;
< / span > < / pre > < / body >
< / html >
