commit 725a896cb348e13848d83e85693b4effe4487054
parent 7669adb2d16b37086d0399c2363446954caa1e57
Author: Alexander Burger <abu@software-lab.de>
Date: Tue, 9 Apr 2013 16:20:36 +0200
RC Flight Simulator ported to pil64
Diffstat:
6 files changed, 1201 insertions(+), 4 deletions(-)
diff --git a/CHANGES b/CHANGES
@@ -1,5 +1,6 @@
* DDjun13 picoLisp-3.1.3
- Removed z3d/rcsim flight simulator
+ Flight Simulator in "misc/rcsim.l" (64-bit)
+ Removed z3d/rcsim flight simulator (32-bit)
Bug in 'conc' (64-bit)
* 30mar13 picoLisp-3.1.2
diff --git a/ersatz/picolisp.jar b/ersatz/picolisp.jar
Binary files differ.
diff --git a/lib/z3d.l b/lib/z3d.l
@@ -0,0 +1,713 @@
+# 09apr13abu
+# (c) Software Lab. Alexander Burger
+
+(load "@lib/native.l")
+
+### Z-Buffer 3D library ###
+(gcc "rcsim" '("-L/usr/X11R6/lib" "-lXext" "-lX11")
+ (z3dX (M X) z3dX NIL M (cons X 1.0))
+ (z3dY (M Y) z3dY NIL M (cons Y 1.0))
+ (z3dZ (M Z) z3dZ NIL M (cons Z 1.0))
+ (z3dDX (M DX) z3dDX NIL M (cons DX 1.0))
+ (z3dDY (M DY) z3dDY NIL M (cons DY 1.0))
+ (z3dDZ (M DZ) z3dDZ NIL M (cons DZ 1.0))
+ (z3dXrot (M A) z3dXrot NIL M (cons A 1.0))
+ (z3dYrot (M A) z3dYrot NIL M (cons A 1.0))
+ (z3dZrot (M A) z3dZrot NIL M (cons A 1.0))
+ (z3dArot (M A) z3dArot NIL M (cons A 1.0))
+ (z3dRotate (M X Y Z VarX VarY VarZ Flg) z3dRotate NIL
+ M
+ (cons X 1.0)
+ (cons Y 1.0)
+ (cons Z 1.0)
+ (if VarX (list @ (8 . 1.0)) 0)
+ (if VarY (list @ (8 . 1.0)) 0)
+ (if VarZ (list @ (8 . 1.0)) 0)
+ (if Flg 1 0) )
+ (z3dSpot (VarX VarY X Y Z) z3dSpot NIL
+ (list VarX (8 . 1.0))
+ (list VarY (8 . 1.0))
+ (cons X 1.0)
+ (cons Y 1.0)
+ (cons Z 1.0) )
+ (z3dWindow (Ttl DX DY) z3dWindow 'S Ttl DX DY)
+ (z3dCamera (Foc Yaw Pitch X Y Z Sky Gnd) z3dCamera NIL
+ (cons Foc 1.0)
+ (cons Yaw 1.0)
+ (cons Pitch 1.0)
+ (cons X 1.0)
+ (cons Y 1.0)
+ (cons Z 1.0)
+ Sky
+ Gnd )
+ (z3dDraw (M) z3dDraw NIL M)
+ (z3dPaint () z3dPaint) )
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <math.h>
+
+#include <X11/Xlib.h>
+#include <X11/Xutil.h>
+#include <sys/shm.h>
+#include <X11/extensions/XShm.h>
+
+#define SCL 1000000.0
+
+typedef struct {double x, y, z;} vector;
+typedef struct {vector a, b, c;} matrix;
+
+typedef struct face {
+ int col1, col2; // Foreground and background color
+ int cnt, _x_; // Number of points
+ vector pt[1]; // Points
+} face;
+
+typedef struct model {
+ vector pos; // Position
+ matrix rot; // Orientation
+ void *lst[1]; // List of faces and submodels
+} model;
+
+typedef struct {
+ int h[2]; // Horizontal
+ unsigned z[2]; // Depth
+} edge;
+
+static double FocLen, PosX, PosY, PosZ, Pos6, Pos9;
+static double Coeff1, Coeff2, Coeff4, Coeff5, Coeff6, Coeff7, Coeff8, Coeff9;
+
+static Display *Disp;
+static int Scrn;
+static Colormap Cmap;
+static int Dpth;
+static int PixSize;
+static GC Gc;
+static Window Win;
+
+/* 3D-Environment */
+static int SizX, SizY, OrgX, OrgY;
+static unsigned *Zbuff;
+static edge *Edges;
+static XImage *Img;
+static XShmSegmentInfo Info;
+
+static void xrot(matrix *p, double ca, double sa) {
+ matrix m = *p;
+
+ p->b.x = ca * m.b.x - sa * m.c.x;
+ p->b.y = ca * m.b.y - sa * m.c.y;
+ p->b.z = ca * m.b.z - sa * m.c.z;
+ p->c.x = sa * m.b.x + ca * m.c.x;
+ p->c.y = sa * m.b.y + ca * m.c.y;
+ p->c.z = sa * m.b.z + ca * m.c.z;
+}
+
+// (z3dX 'model 'x)
+void z3dX(model *p, double x) {
+ p->pos.x = x;
+}
+
+// (z3dY 'model 'y)
+void z3dY(model *p, double y) {
+ p->pos.y = y;
+}
+
+// (z3dZ 'model 'z)
+void z3dZ(model *p, double z) {
+ p->pos.z = z;
+}
+
+// (z3dDX 'model 'dx)
+void z3dDX(model *p, double dx) {
+ p->pos.x += dx;
+}
+
+// (z3dDY 'model 'dy)
+void z3dDY(model *p, double dy) {
+ p->pos.y += dy;
+}
+
+// (z3dDZ 'model 'dz)
+void z3dDZ(model *p, double dz) {
+ p->pos.z += dz;
+}
+
+// (z3dXrot 'model 'angle)
+void z3dXrot(model *p, double a) {
+ xrot(&p->rot, cos(a), sin(a));
+}
+
+static void yrot(matrix *p, double ca, double sa) {
+ matrix m = *p;
+
+ p->a.x = ca * m.a.x + sa * m.c.x;
+ p->a.y = ca * m.a.y + sa * m.c.y;
+ p->a.z = ca * m.a.z + sa * m.c.z;
+ p->c.x = ca * m.c.x - sa * m.a.x;
+ p->c.y = ca * m.c.y - sa * m.a.y;
+ p->c.z = ca * m.c.z - sa * m.a.z;
+}
+
+// (z3dYrot 'model 'angle)
+void z3dYrot(model *p, double a) {
+ yrot(&p->rot, cos(a), sin(a));
+}
+
+static void zrot(matrix *p, double ca, double sa) {
+ matrix m = *p;
+
+ p->a.x = ca * m.a.x + sa * m.b.x;
+ p->a.y = ca * m.a.y + sa * m.b.y;
+ p->a.z = ca * m.a.z + sa * m.b.z;
+ p->b.x = ca * m.b.x - sa * m.a.x;
+ p->b.y = ca * m.b.y - sa * m.a.y;
+ p->b.z = ca * m.b.z - sa * m.a.z;
+}
+
+// (z3dZrot 'model 'angle)
+void z3dZrot(model *p, double a) {
+ zrot(&p->rot, cos(a), sin(a));
+}
+
+// (z3dArot 'model 'angle)
+void z3dArot(model *p, double a) {
+ double n;
+ vector *v;
+
+ v = ((face*)p->lst[0])->pt;
+ n = sqrt(v->x * v->x + v->y * v->y + v->z * v->z);
+ v->x /= n, v->y /= n, v->z /= n; // Axis unit vector
+ if ((n = sqrt(v->y * v->y + v->z * v->z)) < 1.0/SCL) // Axis parallel to x-axis
+ a *= v->x, xrot(&p->rot, cos(a), sin(a));
+ else {
+ xrot(&p->rot, v->z / n, -v->y / n);
+ yrot(&p->rot, n, v->x);
+ zrot(&p->rot, cos(a), sin(a));
+ yrot(&p->rot, n, -v->x);
+ xrot(&p->rot, v->z / n, v->y / n);
+ }
+}
+
+// (z3dRotate 'model 'X 'Y 'Z 'varX 'varY 'varZ ['flg])
+void z3dRotate(model *p, double vx, double vy, double vz,
+ double *xp, double *yp, double *zp, int flg) {
+ if (!flg) {
+ if (xp)
+ *xp = vx * p->rot.a.x + vy * p->rot.b.x + vz * p->rot.c.x;
+ if (yp)
+ *yp = vx * p->rot.a.y + vy * p->rot.b.y + vz * p->rot.c.y;
+ if (zp)
+ *zp = vx * p->rot.a.z + vy * p->rot.b.z + vz * p->rot.c.z;
+ }
+ else {
+ if (xp)
+ *xp = vx * p->rot.a.x + vy * p->rot.a.y + vz * p->rot.a.z;
+ if (yp)
+ *yp = vx * p->rot.b.x + vy * p->rot.b.y + vz * p->rot.b.z;
+ if (zp)
+ *zp = vx * p->rot.c.x + vy * p->rot.c.y + vz * p->rot.c.z;
+ }
+}
+
+// (z3dSpot 'varX 'varY 'dx 'dy 'dz)
+void z3dSpot(double *xp, double *yp, double dx, double dy, double dz) {
+ double d = sqrt(dx*dx + dy*dy + dz*dz);
+
+ *xp = atan2(dy,dx);
+ *yp = d < 1.0/SCL? 0.0 : asin(dz/d);
+}
+
+// (z3dWindow 'ttl 'dx 'dy) -> str
+char *z3dWindow(char *ttl, int dx, int dy) {
+ XPixmapFormatValues *pmFormat;
+ int n, i;
+
+ if ((Disp = XOpenDisplay(NULL)) == NULL)
+ return "Can't open Display";
+ Scrn = DefaultScreen(Disp);
+ Cmap = DefaultColormap(Disp,Scrn);
+ Dpth = PixSize = 0;
+ pmFormat = XListPixmapFormats(Disp, &n);
+ for (i = 0; i < n; i++) {
+ if (pmFormat[i].depth == 24) {
+ Dpth = 24;
+ if (PixSize != 4)
+ PixSize = (pmFormat[i].bits_per_pixel + 7) / 8 & ~8;
+ }
+ else if (pmFormat[i].depth == 16 && (PixSize < 3 || PixSize > 4)) {
+ Dpth = 16;
+ PixSize = (pmFormat[i].bits_per_pixel + 7) / 8 & ~8;
+ }
+ else if (pmFormat[i].depth == 8 && (PixSize < 2 || PixSize > 4)) {
+ Dpth = 8;
+ PixSize = (pmFormat[i].bits_per_pixel + 7) / 8 & ~8;
+ }
+ }
+ if (!Dpth)
+ return "Bad Display Depth";
+ Gc = XCreateGC(Disp,RootWindow(Disp,Scrn), 0, NULL);
+
+ OrgX = (SizX = dx) / 2;
+ OrgY = (SizY = dy) / 2;
+
+ /* Create Window */
+ Win = XCreateSimpleWindow(Disp, RootWindow(Disp,Scrn), 0, 0, SizX, SizY,
+ 1, BlackPixel(Disp,Scrn), WhitePixel(Disp,Scrn) );
+ XStoreName(Disp, Win, ttl);
+ XMapWindow(Disp, Win);
+
+ /* Create Image */
+ SizX = SizX + 3 & ~3;
+ SizY = SizY + 3 & ~3;
+ if ((Zbuff = malloc(SizX * SizY * sizeof(unsigned))) == NULL ||
+ (Edges = malloc(SizY * sizeof(edge))) == NULL )
+ return "No memory";
+ if (!XShmQueryExtension(Disp) ||
+ !(Img = XShmCreateImage(Disp, DefaultVisual(Disp, Scrn),
+ Dpth, ZPixmap, NULL, &Info, SizX, SizY )) ||
+ (Info.shmid = shmget(IPC_PRIVATE,
+ SizX * SizY * PixSize, IPC_CREAT | 0777 )) < 0 ||
+ (Info.shmaddr = Img->data =
+ shmat(Info.shmid, 0, 0) ) == (char*)-1 ||
+ !XShmAttach(Disp, &Info) )
+ return "Can't create XImage";
+ return NULL;
+}
+
+// (z3dCamera 'foc 'yaw 'pitch 'x 'y 'z 'sky 'gnd ['h 'v])
+void z3dCamera(double foc, double yaw, double pitch,
+ double x, double y, double z, int sky, int gnd) {
+ double a, sinY, cosY, sinP, cosP;
+ int i, v, hor, pix;
+ char *frame;
+
+ FocLen = foc;
+
+ sinY = sin(yaw), cosY = cos(yaw);
+ sinP = sin(pitch), cosP = cos(pitch);
+ Coeff1 = -sinY;
+ Coeff2 = cosY;
+ Coeff4 = cosY * sinP;
+ Coeff5 = sinY * sinP;
+ Coeff6 = -cosP;
+ Coeff7 = cosY * cosP;
+ Coeff8 = sinY * cosP;
+ Coeff9 = sinP;
+
+ PosX = x;
+ PosY = y;
+ PosZ = z;
+ Pos6 = Coeff6 * PosZ;
+ Pos9 = Coeff9 * PosZ;
+
+ if (cosP > - 1.0/SCL && cosP < 1.0/SCL)
+ hor = sinP > 0.0? +16383 : -16384;
+ else if ((a = FocLen * sinP/cosP) > +16383.0)
+ hor = +16383;
+ else if (a < -16384.0)
+ hor = -16384;
+ else
+ hor = (int)a;
+
+ for (v = 0; v < SizY; ++v) {
+ pix = v < hor? sky : gnd;
+ frame = Img->data + v * SizX * PixSize;
+ switch (PixSize) {
+ case 1:
+ memset(frame, pix, SizX);
+ break;
+ case 2:
+ pix |= pix<<16;
+ i = 0;
+ do
+ *(int*)frame = pix, frame += 4;
+ while ((i+=2) < SizX);
+ break;
+ case 3:
+ i = 0;
+ do {
+ frame[0] = pix;
+ frame[1] = (pix >> 8);
+ frame[2] = (pix >> 16);
+ frame += 3;
+ } while (++i < SizX);
+ break;
+ case 4:
+ i = 0;
+ do
+ *(int*)frame = pix, frame += 4;
+ while (++i < SizX);
+ break;
+ }
+ }
+ memset(Zbuff, 0xFF, SizX * SizY * sizeof(unsigned));
+}
+
+static void rotate(vector *src, matrix *p, vector *dst) {
+ dst->x = src->x * p->a.x + src->y * p->b.x + src->z * p->c.x;
+ dst->y = src->x * p->a.y + src->y * p->b.y + src->z * p->c.y;
+ dst->z = src->x * p->a.z + src->y * p->b.z + src->z * p->c.z;
+}
+
+static void shadowPt(double vx, double vy, int *xp, int *yp, int *zp) {
+ double z;
+
+ z = Coeff7 * vx + Coeff8 * vy - Pos9;
+ *xp = (int)(FocLen * (Coeff1 * vx + Coeff2 * vy) / z);
+ *yp = (int)(FocLen * (Coeff4 * vx + Coeff5 * vy - Pos6) / z);
+ *zp = (int)(1000.0 * z);
+}
+
+static void transPt(double vx, double vy, double vz, int *xp, int *yp, int *zp) {
+ double z;
+
+ z = Coeff7 * vx + Coeff8 * vy + Coeff9 * vz;
+ *xp = (int)(FocLen * (Coeff1 * vx + Coeff2 * vy) / z);
+ *yp = (int)(FocLen * (Coeff4 * vx + Coeff5 * vy + Coeff6 * vz) / z);
+ *zp = (int)(1000.0 * z);
+}
+
+static int getColor(int c) {
+ XColor col;
+
+ col.red = c >> 8 & 0xFF00;
+ col.green = c & 0xFF00;
+ col.blue = (c & 0xFF) << 8;
+ col.flags = DoRed | DoGreen | DoBlue;
+ XAllocColor(Disp, Cmap, &col);
+ return col.pixel;
+}
+
+static void mkEdge(int x1, int y1, int z1, int x2, int y2, int z2) {
+ int a, dx, dy, dz, sx, xd, xe, sz, zd, ze;
+ edge *p;
+
+ if (y2 < y1) {
+ a = x1, x1 = x2, x2 = a;
+ a = y1, y1 = y2, y2 = a;
+ a = z1, z1 = z2, z2 = a;
+ }
+ if (y1 > OrgY || ((y2 += OrgY) <= 0))
+ return;
+ if ((dy = y2 - (y1 += OrgY)) == 0)
+ return;
+ dx = x2 - x1, dz = z2 - z1;
+ if (y1 < 0) {
+ x1 += -y1 * dx / dy;
+ z1 += -y1 * dz / dy;
+ y1 = 0;
+ if ((dy = y2) == 0)
+ return;
+ dx = x2 - x1, dz = z2 - z1;
+ }
+ if (y2 > SizY) {
+ x2 += (SizY - y2) * dx / dy;
+ z2 += (SizY - y2) * dz / dy;
+ y2 = SizY;
+ if ((dy = y2 - y1) == 0)
+ return;
+ dx = x2 - x1, dz = z2 - z1;
+ }
+ sx = 0;
+ if (dx > 0)
+ sx = 1;
+ else if (dx < 0)
+ dx = -dx, sx = -1;
+ xd = 0;
+ if (dx > dy)
+ xd = dx/dy, dx -= xd*dy, xd *= sx;
+ xe = (dx *= 2) - dy;
+ sz = 0;
+ if (dz > 0)
+ sz = 1;
+ else if (dz < 0)
+ dz = -dz, sz = -1;
+ zd = 0;
+ if (dz > dy)
+ zd = dz/dy, dz -= zd*dy, zd *= sz;
+ ze = (dz *= 2) - dy;
+ dy *= 2;
+ x1 += OrgX;
+ p = Edges + y1;
+ do {
+ if ((a = x1) < 0)
+ a = 0;
+ else if (a > SizX)
+ a = SizX;
+ if (a < p->h[1]) {
+ p->h[0] = a;
+ p->z[0] = z1;
+ }
+ else {
+ p->h[0] = p->h[1];
+ p->z[0] = p->z[1];
+ p->h[1] = a;
+ p->z[1] = z1;
+ }
+ ++p;
+ x1 += xd;
+ if (xe >= 0)
+ x1 += sx, xe -= dy;
+ xe += dx;
+ z1 += zd;
+ if (ze >= 0)
+ z1 += sz, ze -= dy;
+ ze += dz;
+ } while (++y1 < y2);
+}
+
+static void zDots(int i, int h, int h2, unsigned z, unsigned z2) {
+ char *frame;
+ unsigned *zbuff;
+
+ i = i * SizX + h;
+ frame = Img->data + i * PixSize;
+ zbuff = Zbuff + i;
+ i = h2 - h;
+ switch (PixSize) {
+ case 1:
+ if (z < *zbuff)
+ *zbuff = z, *frame = 0;
+ if (z2 < *(zbuff += i))
+ *zbuff = z2, *(frame + i) = 0;
+ break;
+ case 2:
+ if (z < *zbuff)
+ *zbuff = z, *(short*)frame = (short)0;
+ if (z2 < *(zbuff += i))
+ *zbuff = z2, *(short*)(frame + 2 * i) = (short)0;
+ break;
+ case 3:
+ if (z < *zbuff) {
+ *zbuff = z;
+ frame[0] = 0;
+ frame[1] = 0;
+ frame[2] = 0;
+ }
+ if (z2 < *(zbuff += i)) {
+ *zbuff = z2;
+ frame += 3 * i;
+ frame[0] = 0;
+ frame[1] = 0;
+ frame[2] = 0;
+ }
+ break;
+ case 4:
+ if (z < *zbuff)
+ *zbuff = z, *(int*)frame = 0;
+ if (z2 < *(zbuff += i))
+ *zbuff = z2, *(int*)(frame + 4 * i) = 0;
+ break;
+ }
+}
+
+static void zLine(int pix, int v, int h, int h2, unsigned z, unsigned z2) {
+ char *frame;
+ unsigned *zbuff;
+ int d, e, dh, dz, sz;
+
+ if (dh = h2 - h) {
+ v = v * SizX + h;
+ frame = Img->data + v * PixSize;
+ zbuff = Zbuff + v;
+ sz = 0;
+ if ((dz = z2 - z) > 0)
+ sz = 1;
+ else if (dz < 0)
+ dz = -dz, sz = -1;
+ d = 0;
+ if (dz > dh)
+ d = dz/dh, dz -= d*dh, d *= sz;
+ e = (dz *= 2) - dh;
+ dh *= 2;
+ switch (PixSize) {
+ case 1:
+ do {
+ if (z < *zbuff)
+ *zbuff = z, *frame = pix;
+ z += d;
+ if (e >= 0)
+ z += sz, e -= dh;
+ ++zbuff, ++frame;
+ e += dz;
+ } while (++h < h2);
+ break;
+ case 2:
+ do {
+ if (z < *zbuff)
+ *zbuff = z, *(short*)frame = (short)pix;
+ z += d;
+ if (e >= 0)
+ z += sz, e -= dh;
+ ++zbuff, frame += 2;
+ e += dz;
+ } while (++h < h2);
+ break;
+ case 3:
+ do {
+ if (z < *zbuff) {
+ *zbuff = z;
+ frame[0] = pix;
+ frame[1] = (pix >> 8);
+ frame[2] = (pix >> 16);
+ }
+ z += d;
+ if (e >= 0)
+ z += sz, e -= dh;
+ ++zbuff, frame += 3;
+ e += dz;
+ } while (++h < h2);
+ break;
+ case 4:
+ do {
+ if (z < *zbuff)
+ *zbuff = z, *(int*)frame = pix;
+ z += d;
+ if (e >= 0)
+ z += sz, e -= dh;
+ ++zbuff, frame += 4;
+ e += dz;
+ } while (++h < h2);
+ break;
+ }
+ }
+}
+
+static void doDraw(model *p, matrix *r, double x, double y, double z) {
+ int i, n, pix, x0, y0, z0, x1, y1, z1, x2, y2, z2;
+ double dx, dy, dz;
+ vector pos, pt1, pt2, pt3, v, w, nv;
+ matrix rot;
+ void **q;
+ edge *e;
+
+ pos = p->pos;
+ rot = p->rot;
+ if (!r)
+ r = &rot;
+ else {
+ v = pos, rotate(&v, r, &pos);
+ pos.x += x, pos.y += y, pos.z += z;
+ v = rot.a, rotate(&v, r, &rot.a);
+ v = rot.b, rotate(&v, r, &rot.b);
+ v = rot.c, rotate(&v, r, &rot.c);
+ }
+ dx = pos.x - PosX;
+ dy = pos.y - PosY;
+ dz = pos.z - PosZ;
+ /* Rough clipping */
+ if ((z = Coeff7*dx + Coeff8*dy + Coeff9*dz) < 0.1)
+ return;
+ if (z < fabs(Coeff1*dx + Coeff2*dy))
+ return;
+ if (z < fabs(Coeff4*dx + Coeff5*dy + Coeff6*dz))
+ return;
+ /* Faces */
+ for (q = p->lst; *(face**)q; ++q) {
+ face *f = *(face**)q;
+
+ if ((f->pt[0].x || f->pt[0].y || f->pt[0].z) && (f->pt[1].x || f->pt[1].y || f->pt[1].z))
+ r = &rot, rotate(f->pt, r, &pt1), rotate(f->pt + 1, r, &pt2);
+ else
+ rotate(f->pt, r, &pt1), rotate(f->pt + 1, r, &pt2), r = &rot;
+ rotate(f->pt + 2, r, &pt3);
+ memset(Edges, 0, SizY * sizeof(edge));
+ if (f->col2 == 0x2000000) {
+ shadowPt(pt1.x + dx + pt1.z + pos.z, pt1.y + dy, &x0, &y0, &z0);
+ shadowPt(pt2.x + dx + pt2.z + pos.z, pt2.y + dy, &x1, &y1, &z1);
+ mkEdge(x0, y0, z0, x1, y1, z1);
+ for (i = 2;;) {
+ shadowPt(pt3.x + dx + pt3.z + pos.z, pt3.y + dy, &x2, &y2, &z2);
+ mkEdge(x1, y1, z1, x2, y2, z2);
+ if (++i == f->cnt)
+ break;
+ rotate(f->pt + i, r, &pt3);
+ x1 = x2, y1 = y2, z1 = z2;
+ }
+ mkEdge(x2, y2, z2, x0, y0, z0);
+ i = 0, e = Edges;
+ pix = getColor(0); // Face color black
+ do
+ if (e->h[1])
+ zLine(pix, i, e->h[0], e->h[1], e->z[0], e->z[1]);
+ while (++e, ++i < SizY);
+ }
+ else {
+ v.x = pt1.x - pt2.x;
+ v.y = pt1.y - pt2.y;
+ v.z = pt1.z - pt2.z;
+ w.x = pt3.x - pt2.x;
+ w.y = pt3.y - pt2.y;
+ w.z = pt3.z - pt2.z;
+ nv.x = v.y * w.z - v.z * w.y;
+ nv.y = v.z * w.x - v.x * w.z;
+ nv.z = v.x * w.y - v.y * w.x;
+ pt1.x += dx, pt1.y += dy, pt1.z += dz;
+ if (f->col1 == 0x1000000 && f->col2 == 0x1000000)
+ pix = -1; // Transparent
+ else {
+ if (pt1.x * nv.x + pt1.y * nv.y + pt1.z * nv.z >= 0.0) {
+ if (f->col1 == 0x1000000)
+ continue; // Backface culling
+ pix = f->col1;
+ n = 80 - (int)(14.14 * (nv.z-nv.x) / sqrt(nv.x*nv.x + nv.y*nv.y + nv.z*nv.z));
+ }
+ else {
+ if (f->col2 == 0x1000000)
+ continue; // Backface culling
+ pix = f->col2;
+ n = 80 + (int)(14.14 * (nv.z-nv.x) / sqrt(nv.x*nv.x + nv.y*nv.y + nv.z*nv.z));
+ }
+ pix = ((pix >> 16) & 255) * n / 100 << 16 |
+ ((pix >> 8) & 255) * n / 100 << 8 | (pix & 255) * n / 100;
+ }
+ transPt(pt1.x, pt1.y, pt1.z, &x0, &y0, &z0);
+ transPt(pt2.x + dx, pt2.y + dy, pt2.z + dz, &x1, &y1, &z1);
+ mkEdge(x0, y0, z0, x1, y1, z1);
+ for (i = 2;;) {
+ transPt(pt3.x + dx, pt3.y + dy, pt3.z + dz, &x2, &y2, &z2);
+ mkEdge(x1, y1, z1, x2, y2, z2);
+ if (++i == f->cnt)
+ break;
+ rotate(f->pt + i, r, &pt3);
+ x1 = x2, y1 = y2, z1 = z2;
+ }
+ mkEdge(x2, y2, z2, x0, y0, z0);
+ i = 0, e = Edges;
+ if (pix < 0) {
+ do // Transparent
+ if (e->h[1])
+ zDots(i, e->h[0], e->h[1], e->z[0], e->z[1]);
+ while (++e, ++i < SizY);
+ }
+ else {
+ pix = getColor(pix); // Face color
+ do
+ if (e->h[1])
+ zLine(pix, i, e->h[0], e->h[1], e->z[0], e->z[1]);
+ while (++e, ++i < SizY);
+ }
+ }
+ }
+ /* Submodels */
+ while (*(model**)++q)
+ doDraw(*(model**)q, &rot, pos.x, pos.y, pos.z);
+}
+
+// (z3dDraw ['model])
+void z3dDraw(model *p) {
+ doDraw(p, NULL, 0.0, 0.0, 0.0);
+}
+
+// (z3dPaint)
+void z3dPaint(void) {
+ XShmPutImage(Disp, Win, Gc, Img, 0, 0, 0, 0, SizX, SizY, False);
+ XSync(Disp,False);
+}
+
+/**/
+
+# vi:et:ts=3:sw=3
diff --git a/misc/rcsim.l b/misc/rcsim.l
@@ -0,0 +1,483 @@
+# 09apr13abu
+# (c) Software Lab. Alexander Burger
+
+### RC Flight Simulator for 64-bit PicoLisp ###
+
+# *FocLen *Scene *Model *Panel
+# *DT *Thr *Speed *Climb *Alt
+
+(scl 6) # Keep in sync with `SCL' in C lib
+
+(load "@lib/z3d.l" "@lib/term.l")
+
+# Color Constant Definitions from "/usr/lib/X11/rgb.txt"
+(def 'Black (hex "000000"))
+(def 'Blue (hex "0000FF"))
+(def 'Brown (hex "A52A2A"))
+(def 'DarkGreen (hex "006400"))
+(def 'DarkGrey (hex "A9A9A9"))
+(def 'Grey (hex "BEBEBE"))
+(def 'LightBlue (hex "ADD8E6"))
+(def 'Red (hex "FF0000"))
+(def 'Yellow (hex "FFFF00"))
+(def 'White (hex "FFFFFF"))
+
+# Create model
+(de model (Obj Lst Pos)
+ (default Pos `(* 8 12))
+ (apply struct
+ (conc
+ (extract # Faces
+ '((M)
+ (unless (and (car M) (sym? @))
+ (inc 'Pos 8)
+ (cons
+ (struct
+ (native "@" "malloc" 'N
+ (+ `(* 4 4) (* 8 (length (cddr M)))) )
+ 'N
+ (cons (or (num? (car M)) `(hex "1000000")) 4)
+ (cons
+ (or
+ (num? (cadr M))
+ (if (cadr M)
+ `(hex "2000000")
+ `(hex "1000000") ) )
+ 4 )
+ (- (/ (length (cddr M)) 3))
+ -42
+ (cons 1.0 (cddr M)) )
+ 8 ) ) )
+ (cddddr Lst) )
+ (cons (0 . 8))
+ (extract # Submodels
+ '((M)
+ (when (and (car M) (sym? @))
+ (inc 'Pos 8)
+ (cons
+ (if (cdr M)
+ (model Obj M Pos)
+ (put Obj (car M) Pos)
+ 0 )
+ 8 ) ) )
+ (cddddr Lst) )
+ '((0 . 8)) )
+ (put Obj (pop 'Lst)
+ (native "@" "malloc" 'N
+ (+ `(* 8 12) (* 8 (length (cdr Lst)))) ) ) # (+ 2 CDDDR)
+ 'N # Return structure pointer
+ (cons 1.0 (head 3 Lst)) # pos
+ (1.0 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0) ) ) # rot
+
+# Set instruments
+(de setPanel (N X)
+ (set (nth *Panel N) X)
+ (prinl *Panel) )
+
+# Simulation
+(de *DT . 0.020)
+(de *Tower . 12.0)
+
+(de MUL Args
+ (let D 1.0
+ (make
+ (link '*/ (pop 'Args) (pop 'Args))
+ (while Args
+ (setq D (* D 1.0))
+ (link (pop 'Args)) )
+ (link D) ) ) )
+
+(de damp ("Var" Val)
+ (set "Var" (>> 1 (+ Val (val "Var")))) )
+
+(class +Model)
+# mass power rc lc tx tz pitch torq stab
+# body leftAileron rightAileron rudder elevator propeller blade disk
+# ele ail rud thr thrust vx vy vz fx fy fz dx dy dz
+
+(dm T ()
+ (=: mass 910.0) # kg
+ (=: power 3924.0) # N
+ (=: rc -1.4) # kg/m
+ (=: lc -250.0) # kg/m
+ (=: trim 30) # Trimmung
+ (=: lim1 0.8) # tan(a)
+ (=: lim2 0.24)
+ (=: tx 1.2) # Touchdown
+ (=: tz -1.9)
+ (=: pitch 0.26)
+ (=: torq -10000.0) # Drehmoment
+ (=: stab (0.01 0.01 0.02)) # Stabilitaet
+ (model This
+ '(body 0.0 0.0 1.50
+ # Flaeche oben
+ (`Blue `Blue -0.15 +0.30 +1.05 +1.20 0.00 +1.05 +1.20 +3.90 +1.05 +0.90 +4.20 +1.05 -0.20 +3.90 +1.05 -0.60 +2.20 +1.05 -0.60 +0.60 +1.05)
+ (`Blue `Blue -0.60 -0.60 +1.05 -0.60 -2.20 +1.05 -0.20 -3.90 +1.05 +0.90 -4.20 +1.05 +1.20 -3.90 +1.05 +1.20 0.00 +1.05 -0.15 -0.30 +1.05)
+ (`Blue `Blue +1.20 0.00 +1.05 -0.15 -0.30 +1.05 -0.15 +0.30 +1.05)
+ # Querruder
+ (rightAileron -0.60 +2.20 +1.05
+ (`Red `Red +0.40 +1.70 0.00 +0.72 +1.78 0.00 +0.72 +1.90 0.00 +0.40 +2.10 0.00 0.00 +1.80 0.00 0.00 +1.70 0.00)
+ (`Red `Red +0.40 +1.70 0.00 0.00 +1.70 0.00 0.00 0.00 0.00) )
+ (leftAileron -0.60 -2.20 +1.05
+ (`Red `Red +0.40 -1.70 0.00 +0.72 -1.78 0.00 +0.72 -1.90 0.00 +0.40 -2.10 0.00 0.00 -1.80 0.00 0.00 -1.70 0.00)
+ (`Red `Red +0.40 -1.70 0.00 0.00 -1.70 0.00 0.00 0.00 0.00) )
+ # Flaeche rechts unten
+ (`Blue `Blue +0.90 +0.20 -0.60 +0.90 +3.90 -0.30 +0.60 +4.20 -0.30 -0.90 +3.90 -0.30 -0.90 +0.20 -0.60)
+ # Flaeche links unten
+ (`Blue `Blue -0.90 -0.20 -0.60 -0.90 -3.90 -0.30 +0.60 -4.20 -0.30 +0.90 -3.90 -0.30 +0.90 -0.20 -0.60)
+ # Streben links
+ (`Brown `Brown -0.20 -2.55 +1.05 -0.50 -2.55 -0.37 -0.60 -2.55 -0.37 -0.30 -2.55 +1.05)
+ (`Brown `Brown -0.50 -2.55 -0.37 -0.50 -2.55 -0.37 +0.80 -2.55 +0.90 +0.80 -2.55 +1.05)
+ (`Brown `Brown +0.90 -2.55 +1.05 +0.60 -2.55 -0.37 +0.50 -2.55 -0.37 +0.80 -2.55 +1.05)
+ # Streben rechts
+ (`Brown `Brown -0.20 +2.55 +1.05 -0.50 +2.55 -0.37 -0.60 +2.55 -0.37 -0.30 +2.55 +1.05)
+ (`Brown `Brown -0.50 +2.55 -0.37 -0.50 +2.55 -0.37 +0.80 +2.55 +0.90 +0.80 +2.55 +1.05)
+ (`Brown `Brown +0.90 +2.55 +1.05 +0.60 +2.55 -0.37 +0.50 +2.55 -0.37 +0.80 +2.55 +1.05)
+ # Motorlager
+ (`Grey NIL +1.80 +0.30 +0.30 +1.80 -0.30 +0.30 +1.80 -0.30 -0.30 +1.80 +0.30 -0.30)
+ # Rumpfnase
+ (`Blue NIL +1.20 0.00 +0.60 +1.80 -0.30 +0.30 +1.80 +0.30 +0.30)
+ (`Blue NIL +1.20 0.00 +0.60 +1.20 -0.45 +0.30 +1.80 -0.30 +0.30)
+ (`Blue NIL +1.80 +0.30 +0.30 +1.20 +0.45 +0.30 +1.20 0.00 +0.60)
+ (`Blue NIL +1.20 -0.45 +0.30 +1.20 -0.45 -0.30 +1.80 -0.30 -0.30 +1.80 -0.30 +0.30)
+ (`Blue NIL +1.80 +0.30 +0.30 +1.80 +0.30 -0.30 +1.20 +0.45 -0.30 +1.20 +0.45 +0.30)
+ (`Blue NIL +1.20 -0.45 -0.30 +1.20 -0.30 -0.60 +1.80 -0.30 -0.30)
+ (`Blue NIL +1.80 +0.30 -0.30 +1.20 +0.30 -0.60 +1.20 +0.45 -0.30)
+ (`Blue NIL +1.20 -0.30 -0.60 +1.20 +0.30 -0.60 +1.80 +0.30 -0.30 +1.80 -0.30 -0.30)
+ # Rumpfseite rechts
+ (`Red NIL +1.20 +0.45 +0.30 +1.20 +0.45 -0.30 -1.50 +0.45 -0.30 -1.50 +0.45 +0.30 -1.20 +0.45 +0.45 -0.90 +0.45 +0.45)
+ (`Red NIL -1.50 +0.45 +0.30 -1.50 +0.45 -0.30 -4.80 0.00 -0.30 -4.80 0.00 0.00)
+ # Rumpfseite links
+ (`Red NIL -0.90 -0.45 +0.45 -1.20 -0.45 +0.45 -1.50 -0.45 +0.30 -1.50 -0.45 -0.30 +1.20 -0.45 -0.30 +1.20 -0.45 +0.30)
+ (`Red NIL -4.80 0.00 0.00 -4.80 0.00 -0.30 -1.50 -0.45 -0.30 -1.50 -0.45 +0.30)
+ # Rumpfoberteil vorne
+ (`Red NIL +1.20 0.00 +0.60 +1.20 +0.45 +0.30 -0.90 +0.45 +0.45 -0.60 0.00 +0.60)
+ (`Red NIL -0.60 0.00 +0.60 -0.90 -0.45 +0.45 +1.20 -0.45 +0.30 +1.20 0.00 +0.60)
+ # Cockpit
+ (`Brown NIL -0.60 0.00 +0.60 -0.90 +0.45 +0.45 -0.90 -0.45 +0.45)
+ (`Black NIL -0.90 +0.45 +0.45 -1.20 +0.45 +0.45 -1.20 -0.45 +0.45 -0.90 -0.45 +0.45)
+ (`Black NIL -1.20 +0.45 +0.45 -1.35 0.00 +0.54 -1.20 -0.45 +0.45)
+ # Rumpfoberteil hinten
+ (`Red NIL -1.35 0.00 +0.54 -1.20 +0.45 +0.45 -4.80 0.00 0.00)
+ (`Red NIL -1.20 +0.45 +0.45 -1.50 +0.45 +0.30 -4.80 0.00 0.00)
+ (`Red NIL -4.80 0.00 0.00 -1.20 -0.45 +0.45 -1.35 0.00 +0.54)
+ (`Red NIL -4.80 0.00 0.00 -1.50 -0.45 +0.30 -1.20 -0.45 +0.45)
+ # Rumpfboden
+ (`Red NIL +1.20 +0.45 -0.30 +1.20 +0.30 -0.60 -1.50 +0.30 -0.60 -1.50 +0.45 -0.30)
+ (`Red NIL +1.20 +0.30 -0.60 +1.20 -0.30 -0.60 -1.50 -0.30 -0.60 -1.50 +0.30 -0.60)
+ (`Red NIL -1.50 -0.45 -0.30 -1.50 -0.30 -0.60 +1.20 -0.30 -0.60 +1.20 -0.45 -0.30)
+ (`Red NIL -4.80 0.00 -0.30 -1.50 -0.30 -0.60 -1.50 -0.45 -0.30)
+ (`Red NIL -4.80 0.00 -0.30 -1.50 +0.30 -0.60 -1.50 -0.30 -0.60)
+ (`Red NIL -1.50 +0.45 -0.30 -1.50 +0.30 -0.60 -4.80 0.00 -0.30)
+ # Hoehenleitwerk
+ (`Red `Red -3.60 +0.15 0.00 -4.20 +1.80 0.00 -4.50 +1.80 0.00 -4.50 +0.06 0.00)
+ (`Red `Red -4.50 -0.06 0.00 -4.50 -1.80 0.00 -4.20 -1.80 0.00 -3.60 -0.15 0.00)
+ # Hoehenruder
+ (elevator -4.50 0.00 0.00
+ (`Blue `Blue 0.00 +1.80 0.00 -0.60 +1.50 0.00 -0.60 +0.60 0.00 0.00 +0.06 0.00)
+ (`Blue `Blue 0.00 -0.06 0.00 -0.60 -0.60 0.00 -0.60 -1.50 0.00 0.00 -1.80 0.00) )
+ # Seitenleitwerk
+ (`Red `Red -4.80 0.00 0.00 -3.60 0.00 +0.15 -4.20 0.00 +0.90 -4.80 0.00 +1.05)
+ # Seitenruder
+ (rudder -4.80 0.00 0.00
+ (`Blue `Blue 0.00 0.00 +1.05 0.00 0.00 -0.30 -0.45 0.00 +0.30 -0.45 0.00 +0.90) )
+ # Schatten Nase
+ (NIL T +0.90 -0.30 -0.20 +1.70 0.00 -0.20 +0.90 +0.30 -0.20)
+ # Schatten Flaechen
+ (NIL T +0.90 -3.00 -0.20 +0.90 +3.00 -0.20 -0.90 +3.00 -0.20 -0.90 -3.00 -0.20)
+ # Schatten Rumpf
+ (NIL T -0.90 -0.40 -0.20 -0.90 +0.40 -0.20 -4.70 0.00 -0.20)
+ # Schatten Leitwerk
+ (NIL T -3.60 0.00 -0.20 -4.20 +1.80 -0.20 -4.50 +1.80 -0.20 -4.50 -1.80 -0.20 -4.20 -1.80 -0.20)
+ # Spinner
+ (`Blue NIL +1.80 +0.15 -0.15 +1.80 +0.15 +0.15 +2.10 0.00 0.00)
+ (`Blue NIL +1.80 -0.15 -0.15 +1.80 +0.15 -0.15 +2.10 0.00 0.00)
+ (`Blue NIL +1.80 -0.15 +0.15 +1.80 -0.15 -0.15 +2.10 0.00 0.00)
+ (`Blue NIL +1.80 +0.15 +0.15 +1.80 -0.15 +0.15 +2.10 0.00 0.00)
+ # Fahrwerk
+ (`Grey `Grey +1.20 +0.30 -0.60 +1.20 +0.90 -1.47 +1.20 +1.00 -1.47 +1.20 +0.40 -0.60)
+ (`Grey `Grey +1.20 -0.30 -0.60 +1.20 -0.90 -1.47 +1.20 -1.00 -1.47 +1.20 -0.40 -0.60)
+ (`Grey `Grey +1.20 -1.20 -1.47 +1.20 -1.20 -1.53 +1.20 +1.20 -1.53 +1.20 +1.20 -1.47)
+ (`Grey `Grey +1.20 +0.90 -1.53 +1.20 +0.90 -1.47 +0.30 +0.30 -0.60 +0.18 +0.30 -0.60)
+ (`Grey `Grey +1.20 -0.90 -1.53 +1.20 -0.90 -1.47 +0.30 -0.30 -0.60 +0.18 -0.30 -0.60)
+ # Rad rechts
+ (`Yellow `Yellow +1.20 +1.20 -1.20 +1.38 +1.20 -1.25 +1.50 +1.20 -1.37 +1.55 +1.20 -1.55 +1.50 +1.20 -1.73 +1.38 +1.20 -1.85 +1.20 +1.20 -1.90 +1.02 +1.20 -1.85 +0.90 +1.20 -1.72 +0.85 +1.20 -1.55 +0.90 +1.20 -1.37 +1.02 +1.20 -1.25)
+ # Schatten Rad rechts
+ (NIL T +1.60 +1.00 -1.55 +1.60 +1.40 -1.55 +0.80 +1.40 -1.55 +0.80 +1.00 -1.55)
+ # Rad links
+ (`Yellow `Yellow +1.20 -1.20 -1.20 +1.38 -1.20 -1.25 +1.50 -1.20 -1.37 +1.55 -1.20 -1.55 +1.50 -1.20 -1.73 +1.38 -1.20 -1.85 +1.20 -1.20 -1.90 +1.02 -1.20 -1.85 +0.90 -1.20 -1.72 +0.85 -1.20 -1.55 +0.90 -1.20 -1.37 +1.02 -1.20 -1.25)
+ # Schatten Rad links
+ (NIL T +1.60 -1.00 -1.55 +1.60 -1.40 -1.55 +0.80 -1.40 -1.55 +0.80 -1.00 -1.55)
+ # Platzhalter
+ (propeller) ) )
+ (model This
+ '(blade +1.95 0.00 0.00
+ (`Black `Black -0.05 0.00 0.00 +0.05 0.00 0.00 +0.02 +0.40 -0.50 +0.00 +0.90 -0.90 -0.02 +0.50 -0.40 -0.05 0.00 0.00 -0.02 -0.50 +0.40 +0.00 -0.90 +0.90 +0.02 -0.40 +0.50 +0.05 0.00 0.00) ) )
+ (model This
+ '(disk +1.95 0.00 0.00
+ (NIL NIL +0.00 -0.30 +1.20 +0.00 -0.90 +0.90 +0.00 -1.20 +0.30 +0.00 -1.20 -0.30 +0.00 -0.90 -0.90 +0.00 -0.30 -1.20 +0.00 +0.30 -1.20 +0.00 +0.90 -0.90 +0.00 +1.20 -0.30 +0.00 +1.20 +0.30 +0.00 +0.90 +0.90 +0.00 +0.30 +1.20) ) )
+ (=: ele (=: ail (=: rud (=: thr (=: thrust 0)))))
+ (=: vx (=: vy (=: vz 0)))
+ (=: fx (=: fy (=: fz 0)))
+ (=: dx (=: dy (=: dz 0)))
+ (z3dDX (: body) -100.0)
+ (z3dDY (: body) -200.0)
+ (z3dYrot (: body) 0.26)
+ (inc (:: propeller) (: body))
+ (=: blade (cons (: blade) 8))
+ (=: disk (cons (: disk) 8))
+ (struct (: propeller) NIL (: blade)) )
+
+(dm dir> (VarX VarY)
+ (let B (struct (: body) (1.0 . 3))
+ (z3dSpot VarX VarY
+ (+ (car B) (>> 3 (: vx)) (>> 2 (: vz)))
+ (+ (cadr B) (>> 3 (: vy)) (>> 2 (: vz)))
+ (-
+ (+ (caddr B) (>> 3 (: vz)) (>> 2 (: vz)))
+ *Tower ) ) ) )
+
+(dm down> ()
+ (when (> (: ele) -100)
+ (dec (:: ele) 20)
+ (z3dArot (: elevator) +0.2) ) )
+
+(dm up> ()
+ (when (> 100 (: ele))
+ (inc (:: ele) 20)
+ (z3dArot (: elevator) -0.2) ) )
+
+(dm left> ()
+ (when (> (: ail) -100)
+ (dec (:: ail) 20)
+ (dec (:: rud) 20)
+ (z3dArot (: leftAileron) +0.2)
+ (z3dArot (: rightAileron) +0.2)
+ (z3dArot (: rudder) +0.2) ) )
+
+(dm right> ()
+ (when (> 100 (: ail))
+ (inc (:: ail) 20)
+ (inc (:: rud) 20)
+ (z3dArot (: leftAileron) -0.2)
+ (z3dArot (: rightAileron) -0.2)
+ (z3dArot (: rudder) -0.2) ) )
+
+(dm throt> (X)
+ (=: thr
+ (cond
+ ((not X) 0)
+ ((=T X) 100)
+ ((lt0 X) (max 10 (- (: thr) 25)))
+ ((=0 (: thr)) 10)
+ ((= 10 (: thr)) 25)
+ (T (min 100 (+ 25 (: thr)))) ) ) )
+
+(dm sim> ()
+ (cond
+ ((gt0 (: ele))
+ (dec (:: ele))
+ (z3dArot (: elevator) +0.01) )
+ ((lt0 (: ele))
+ (inc (:: ele))
+ (z3dArot (: elevator) -0.01) ) )
+ (cond
+ ((gt0 (: ail))
+ (dec (:: ail))
+ (dec (:: rud))
+ (z3dArot (: leftAileron) +0.01)
+ (z3dArot (: rightAileron) +0.01)
+ (z3dArot (: rudder) +0.01) )
+ ((lt0 (: ail))
+ (inc (:: ail))
+ (inc (:: rud))
+ (z3dArot (: leftAileron) -0.01)
+ (z3dArot (: rightAileron) -0.01)
+ (z3dArot (: rudder) -0.01) ) )
+ (cond
+ ((> (: thr) (: thrust))
+ (inc (:: thrust)) )
+ ((> (: thrust) (: thr))
+ (dec (:: thrust)) ) )
+ (struct (: propeller) NIL
+ (if (> 20 (: thrust))
+ (: blade)
+ (: disk) ) )
+ (unless (=0 (: thrust))
+ (z3dXrot
+ (if (> 20 (: thrust))
+ (: blade 1)
+ (: disk 1) )
+ 0.2 ) )
+ (use (Touch VX VY VZ Body Taxi Stick A FX FY FZ DX DY DZ)
+ (z3dRotate (: body) (: tx) 0 (: tz) NIL NIL 'Touch)
+ (z3dRotate (: body) (: vx) (: vy) (: vz) 'VX 'VY 'VZ T)
+ (setq
+ Body (struct (: body) (1.0 . 12))
+ Taxi (> 0.1 (+ (caddr Body) Touch))
+ Stick (>= 1.0 (+ VX VY))
+ FX (+ (*/ (: thrust) (: power) 100) `(MUL (: rc) VX (abs VX)))
+ FZ (+
+ (cond
+ ((> 0.1 VX) 0)
+ ((> (abs (setq A (*/ 1.0 VZ VX))) (: lim2))
+ 0 )
+ ((>= (: lim1) A)
+ `(MUL VX VX (: lc) A) )
+ (T `(MUL VX VX (: lc) (- (: lim2) A))) )
+ `(MUL 8.0 (: rc) VZ (abs VZ)) ) )
+ (ifn Taxi
+ (setq FY `(MUL 4.0 (: rc) VY (abs VY)))
+ (let F (>> 2 (: mass))
+ (cond
+ ((> 0.1 (abs VX))
+ (and (>= F FX) (zero FX)) )
+ ((gt0 VX)
+ (dec 'FX F) )
+ (T (inc 'FX F)) )
+ (setq FY (if (lt0 VY) (* 12 F) (* -12 F))) )
+ (z3dYrot (: body)
+ (>> 3 (- (: pitch) (get Body 6))) ) ) # rot.a.z
+ (unless Stick
+ (z3dYrot (: body)
+ (+
+ (*/ VX (+ (: ele) (: trim)) 80000)
+ `(MUL VZ (: stab 2)) ) )
+ (if Taxi
+ (prog
+ (z3dZrot (: body) (*/ VX (: rud) 80000))
+ (z3dXrot (: body) (get Body 9)) ) # rot.b.z
+ (z3dXrot (: body) # roll
+ (+
+ (- (*/ VX (: ail) 80000) (/ VY 400))
+ (*/ (: thrust) (: torq) (: mass))
+ `(MUL (get Body 9) (: stab 1)) ) ) # rot.b.z
+ (z3dZrot (: body)
+ (+
+ (*/ VX (: rud) 80000)
+ `(MUL VY (: stab 3)) ) ) ) )
+ # World system
+ (z3dRotate (: body) FX FY FZ 'FX 'FY 'FZ)
+ (dec 'FZ `(MUL (: mass) 9.81))
+ # Accelerate
+ (setq
+ A (*/ 1.0 *DT (: mass))
+ DX `(MUL A (damp (:: fx) FX))
+ DY `(MUL A (damp (:: fy) FY))
+ DZ `(MUL A (damp (:: fz) FZ)) )
+ (if (and Stick (> 0.001 (+ `(MUL DX DX) `(MUL DY DY))))
+ (=: vx (=: vy (=: dx (=: dy 0))))
+ (inc (:: vx) (damp (:: dx) DX))
+ (inc (:: vy) (damp (:: dy) DY)) )
+ (inc (:: vz) (damp (:: dz) DZ))
+ (when (and Taxi (lt0 (: vz)))
+ (when (> -6.0 (: vz))
+ (=: thr (=: thrust 0))
+ (=: vx (=: vy 0))
+ (struct (: propeller) NIL (: blade)) )
+ (z3dZ (: body) (- Touch))
+ (=: vz 0) )
+ # Translate
+ (z3dDX (: body) `(MUL (: vx) *DT))
+ (z3dDY (: body) `(MUL (: vy) *DT))
+ (z3dDZ (: body) `(MUL (: vz) *DT))
+ # Instruments
+ (unless (= *Thr (: thr))
+ (setPanel 1 (setq *Thr (: thr))) )
+ (unless (= *Speed (setq A (*/ VX 3.6 `(* 1.0 1.0))))
+ (setPanel 3 (setq *Speed A)) )
+ (unless (= *Climb (setq A (/ (: vz) 1.0)))
+ (setPanel 5 (setq *Climb A)) )
+ (unless (= *Alt (setq A (/ (caddr Body) 1.0)))
+ (setPanel 7 (setq *Alt A)) ) ) )
+
+(dm draw> ()
+ (z3dDraw (: body)) )
+
+# Scene
+(class +Scene)
+# env
+
+(dm T ()
+ (model This
+ '(runway1 -120.0 -200.0 -0.02
+ (`DarkGrey NIL +20.0 -20.0 0 +20.0 +20.0 0 -20.0 +20.0 0 -20.0 -20.0 0)
+ (`White NIL +10.0 -1.0 0 +10.0 +1.0 0 -10.0 +1.0 0 -10.0 -1.0 0) ) )
+ (model This
+ '(runway2 -80.0 -200.0 -0.02
+ (`DarkGrey NIL +20.0 -20.0 0 +20.0 +20.0 0 -20.0 +20.0 0 -20.0 -20.0 0)
+ (`White NIL +10.0 -1.0 0 +10.0 +1.0 0 -10.0 +1.0 0 -10.0 -1.0 0) ) )
+ (model This
+ '(runway3 -40.0 -200.0 -0.02
+ (`DarkGrey NIL +20.0 -20.0 0 +20.0 +20.0 0 -20.0 +20.0 0 -20.0 -20.0 0)
+ (`White NIL +10.0 -1.0 0 +10.0 +1.0 0 -10.0 +1.0 0 -10.0 -1.0 0) ) )
+ (model This
+ '(runway4 0.0 -200.0 -0.02
+ (`DarkGrey NIL +20.0 -20.0 0 +20.0 +20.0 0 -20.0 +20.0 0 -20.0 -20.0 0)
+ (`White NIL +10.0 -1.0 0 +10.0 +1.0 0 -10.0 +1.0 0 -10.0 -1.0 0) ) )
+ (model This
+ '(runway5 +40.0 -200.0 -0.02
+ (`DarkGrey NIL +20.0 -20.0 0 +20.0 +20.0 0 -20.0 +20.0 0 -20.0 -20.0 0)
+ (`White NIL +10.0 -1.0 0 +10.0 +1.0 0 -10.0 +1.0 0 -10.0 -1.0 0) ) )
+ (model This
+ '(runway6 +80.0 -200.0 -0.02
+ (`DarkGrey NIL +20.0 -20.0 0 +20.0 +20.0 0 -20.0 +20.0 0 -20.0 -20.0 0)
+ (`White NIL +10.0 -1.0 0 +10.0 +1.0 0 -10.0 +1.0 0 -10.0 -1.0 0) ) )
+ (model This
+ '(runway7 +120.0 -200.0 -0.02
+ (`DarkGrey NIL +20.0 -20.0 0 +20.0 +20.0 0 -20.0 +20.0 0 -20.0 -20.0 0)
+ (`White NIL +10.0 -1.0 0 +10.0 +1.0 0 -10.0 +1.0 0 -10.0 -1.0 0) ) )
+ (=: env
+ (list
+ (: runway1)
+ (: runway2)
+ (: runway3)
+ (: runway4)
+ (: runway5)
+ (: runway6)
+ (: runway7) ) ) )
+
+(dm sim> ())
+
+(dm draw> ()
+ (mapc z3dDraw (: env)) )
+
+# Key Controls
+(fkey *XtIns (and (> 32000.0 *FocLen) (setq *FocLen (>> -1 *FocLen))))
+(fkey *XtDel (and (> *FocLen 2000.0) (setq *FocLen (>> 1 *FocLen))))
+(fkey *XtUp (down> *Model))
+(fkey *XtDown (up> *Model))
+(fkey *XtLeft (left> *Model))
+(fkey *XtRight (right> *Model))
+(fkey *XtHome (throt> *Model T))
+(fkey *XtPgDn (throt> *Model -1))
+(fkey *XtPgUp (throt> *Model +1))
+(fkey *XtEnd (throt> *Model))
+
+# Init/Run
+(de main ()
+ (setq
+ *FocLen 8000.0
+ *Scene (new '(+Scene))
+ *Model (new '(+Model))
+ *Panel (list 0 " % " 0 " km/h " 0 " m/s " 0 " m " NIL) ) )
+
+(de go ()
+ (when (z3dWindow "RC Simulator" 800 600)
+ (quit @) )
+ (task -20 0
+ (sim> *Scene)
+ (sim> *Model)
+ (at (0 . 100)
+ (let N (time)
+ (setPanel 9 (pack (format (- N "Time") 2) " s"))
+ (setq "Time" N) ) )
+ (use (Yaw Pitch)
+ (dir> *Model 'Yaw 'Pitch)
+ (z3dCamera *FocLen Yaw Pitch 0 0 *Tower LightBlue DarkGreen) )
+ (draw> *Scene)
+ (draw> *Model)
+ (z3dPaint) )
+ (setq "Time" (time)) )
+
+# vi:et:ts=3:sw=3
diff --git a/src/vers.h b/src/vers.h
@@ -1 +1 @@
-static byte Version[4] = {3,1,2,2};
+static byte Version[4] = {3,1,2,3};
diff --git a/src64/version.l b/src64/version.l
@@ -1,6 +1,6 @@
-# 02apr13abu
+# 09apr13abu
# (c) Software Lab. Alexander Burger
-(de *Version 3 1 2 2)
+(de *Version 3 1 2 3)
# vi:et:ts=3:sw=3
