3 files changed, 40 insertions(+), 16 deletions(-)

M crates/unified/assets/config/parts/housing.part.toml
M crates/unified/assets/config/world.wc.toml
M crates/unified/src/client/ship/thrusters.rs

@@ 13,11 13,6 @@ id = "main"
 apply_force_at_local = [ 0, 0 ]
 thrust_vector = [ 0.0, -20000.0 ]
 
-[[thruster]]
-id = "back"
-apply_force_at_local = [ 0, 0 ]
-thrust_vector = [ 0.0, 20000.0 ]
-
 [[joint]]
 id = "Top"
 target = { translation = [ 0.0, 55.0, 0.0 ], rotation = 0.0 }

@@ 7,9 7,9 @@ spawn_parts_interval_secs = 1
 default_height = 50
 default_width = 50
 default_mass = 100
-joint_align_compliance = 0.0002
-joint_angle_compliance = 0.00000002
-joint_limit_compliance = 0.006
+joint_align_compliance = 0.00002
+joint_angle_compliance = 0.000000002
+joint_limit_compliance = 0.0006
 joint_linear_damping = 4.0
 joint_angular_damping = 2.0
 

@@ 55,6 55,7 @@ fn draw_thruster_debug(
     }
 }
 
+// TODO: split this into two passes
 fn solve_thrust(
     me: Query<(Option<&Parts>, &GlobalTransform, Entity), With<Me>>,
     parts: Query<&PartThrusters>,


@@ 90,28 91,40 @@ fn solve_thrust(
     // +Z == counterclockwise/ccw
     // -Z == clockwise/cw
 
+    const MAGIC_TORQUE_SCALE_FACTOR: f32 = 100.0; // mystery units
+
     let mut target_unit_vector = Vec3::ZERO;
 
+    let mut anything_pressed = false;
+
     if input.pressed(&ClientAction::ThrustForward) {
+        anything_pressed = true;
         target_unit_vector += hearty_transform.rotation() * Vec3::new(0.0, 1.0, 0.0);
     }
     if input.pressed(&ClientAction::ThrustBackward) {
+        anything_pressed = true;
         target_unit_vector += hearty_transform.rotation() * Vec3::new(0.0, -1.0, 0.0);
     }
     if input.pressed(&ClientAction::ThrustRight) {
+        anything_pressed = true;
         target_unit_vector += hearty_transform.rotation() * Vec3::new(1.0, 0.0, 0.0);
     }
     if input.pressed(&ClientAction::ThrustLeft) {
+        anything_pressed = true;
         target_unit_vector += hearty_transform.rotation() * Vec3::new(-1.0, 0.0, 0.0);
     }
     if input.pressed(&ClientAction::TorqueCw) {
-        target_unit_vector += Vec3::new(0.0, 0.0, -1.0);
+        anything_pressed = true;
+        target_unit_vector += Vec3::new(0.0, 0.0, -1.0 / MAGIC_TORQUE_SCALE_FACTOR);
     }
     if input.pressed(&ClientAction::TorqueCcw) {
-        target_unit_vector += Vec3::new(0.0, 0.0, 1.0);
+        anything_pressed = true;
+        target_unit_vector += Vec3::new(0.0, 0.0, 1.0 / MAGIC_TORQUE_SCALE_FACTOR);
     }
 
-    if target_unit_vector == Vec3::ZERO {
+    target_unit_vector = target_unit_vector.normalize();
+
+    if target_unit_vector == Vec3::ZERO || !anything_pressed {
         trace!("no buttons are pressed; zeroing thrust solution");
         trace!("solved thrust in {}ms", start.elapsed().as_millis());
         solution.converged = true;


@@ 145,7 158,7 @@ fn solve_thrust(
             // determine our rotational offset from hearty
             let relative_rotation = thruster_transform.rotation() * -hearty_transform.rotation();
 
-            let thruster_torque = relative_translation.extend(0.0).cross(thruster_vector.extend(0.0)).z;
+            let thruster_torque = relative_translation.extend(0.0).cross(thruster_vector.extend(0.0)).z / MAGIC_TORQUE_SCALE_FACTOR;
 
             // magically assemble the worldspace vector! for the solver (not shipspace)
             let target_vector = thruster_vector.extend(thruster_torque);


@@ 162,7 175,22 @@ fn solve_thrust(
     }
 
     let coefficients = all_thrusters.iter()
-        .map(|u| target_unit_vector.dot(u.1))
+        .map(|u| {
+            trace!("{} dot {}", target_unit_vector, u.1.normalize());
+            target_unit_vector.dot(u.1.normalize())
+        })
+        .map(|u| {
+            trace!("=> {u}");
+            // improve reliability:
+            // if dot is <0.1, zap it entirely (this thruster is not helping)
+            // TODO: figure out how to make this adjustable
+            if u.abs() < 0.1 {
+                0.0
+            } else {
+                u
+            }
+        })
+        //.map(|u| u.powi(3))
         .collect::<Vec<_>>();
 
     trace!("preparing model");


@@ 170,7 198,7 @@ fn solve_thrust(
 
     // add variables to problem
     let variables = coefficients.iter()
-        .map(|u| problem.add_binary_var(*u as f64))
+        .map(|u| problem.add_var(*u as f64, (0.0, 1.0)))
         .collect::<Vec<_>>();
 
     trace!("prepared {} variables; solving", variables.len());


@@ 207,8 235,9 @@ fn solve_thrust(
     };
 
     for thruster in all_thrusters.iter().enumerate() {
-        trace!("solution: thruster #{} ({:?}): {}", thruster.0, thruster.1.0, ssolution.var_value_rounded(variables[thruster.0]));
-        if ssolution.var_value_rounded(variables[thruster.0]) == 1.0 {
+        trace!("solution: thruster #{} ({:?}): {} @ coeff {}", thruster.0, thruster.1.0, ssolution.var_value(variables[thruster.0]), coefficients[thruster.0]);
+        // TODO: make this more easily adjustable
+        if *ssolution.var_value(variables[thruster.0]) > 0.8 {
             new_soln.thrusters_on.insert(*thruster.1.0);
         }
     }