def set_target_deep(self, value):
self._target_deep = limits(value, 0, 9000)
def _set_speed(self, new_speed):
self._speed = limits(new_speed, 0, self.MAX_SPEED)
def turn(self, time_elapsed, messages):
self.time_elapsed = time_elapsed
# update timed values
self._rudder.update(time_elapsed)
self._turbine_level.update(time_elapsed)
self.towed_array.update(time_elapsed)
# ship_moviment_angle is the angle the ship is moving
ship_moviment_angle = self._velocity.get_angle()
# ship_rotation_angle is the angle the ship pointing
ship_course_angle = self._ship_course
# drifting_angle_diff is the difference between the angle the sub is moving and the angle of the ship is bearing
# meaning the ship the turning left or right
drifting_angle_diff = normalize_angle_2pi(ship_moviment_angle - ship_course_angle)
self.turbine_acceleration = self.MAX_ACCELERATION * self.turbine_level / 100
self.turbine_acceleration_x = math.cos(ship_course_angle) * self.turbine_acceleration
self.turbine_acceleration_y = math.sin(ship_course_angle) * self.turbine_acceleration
self.turbine_acceleration = Point(self.turbine_acceleration_x, self.turbine_acceleration_y)
if self.rudder != 0:
# rotate the ship
# the ship rotates proportional to it's speed
angle_to_rotate = (self.rudder * time_elapsed) * (self.actual_speed / self.MAX_SPEED)
new_angle = ship_course_angle + angle_to_rotate
self._ship_course = normalize_angle_pi(new_angle)
# correction if the drag factor since the sub is making a turn
self.drag_factor = self.DRAG_FACTOR * (1 + abs(300 * math.sin(drifting_angle_diff)))
# speed
if self.speed_mode == self.SPEED_MODE_SPEED:
if self.actual_speed != self.target_speed:
self.acceleration_needed = self.drag_factor * (self.target_speed**2)
self.turbine_level_needed = 100.0 * self.acceleration_needed / self.MAX_ACCELERATION
# adjust turbines
diff_speed = self.target_speed - self.actual_speed
diff_turbine = self.turbine_level - self.turbine_level_needed
# diff*10 gives more burst to make the change in speed faster
self.turbine_level = self.turbine_level_needed + limits(diff_speed, -1, 1) * 10
elif self.speed_mode == self.SPEED_MODE_TURBINE:
# fixed turbine level
self.acceleration_needed = 0
self.turbine_level_needed = self._target_turbine
self.turbine_level = self._target_turbine
# drag force
self.total_drag_acceleration = -1.0 * self.drag_factor * ((self.actual_speed) ** 2)
drag_x = math.cos(ship_moviment_angle) * self.total_drag_acceleration
drag_y = math.sin(ship_moviment_angle) * self.total_drag_acceleration
self.drag_acceleration = Point(drag_x, drag_y)
self._acceleration = self.turbine_acceleration + self.drag_acceleration # convert seconds to hours
self._velocity += self._acceleration * time_elapsed
self._position += self._velocity * time_elapsed
# deep
deep_diff = self.target_deep - self.actual_deep
if abs(deep_diff) > 0.1:
dive_rate = min(deep_diff, self.MAX_DEEP_RATE_FEET)
self.actual_deep += dive_rate * time_elapsed * 3600
if self.nav_mode == self.NAV_MODE_DESTINATION:
self.angle_to_destination = self.position.get_angle_to(self.destination)
self.angle_difference = normalize_angle_pi(self.angle_to_destination - self.course)
self.rudder = self.angle_difference * 500.0
def set_turbine_level(self, new_level):
self._turbine_level.target_value = limits(new_level, -100, 100)
def set_rudder(self, angle):
angle = limits(angle, -self.MAX_TURN_RATE_HOUR, self.MAX_TURN_RATE_HOUR)
self._rudder.target_value = angle
def _set_actual_speed(self, value):
self._velocity.length = limits(value, 0, self.MAX_SPEED)
def set_target_speed(self, value):
self._target_speed = limits(value, 0, self.MAX_SPEED)
def set_turbine_level(self, new_level):
self._turbine_level = limits(new_level, -100, 100)
def set_rudder(self, angle):
angle = limits(angle, -self.max_turn_per_hour, self.max_turn_per_hour)
self._rudder = angle
