def executeTimestep(self,deltat):
"""This method is called by the simulator to advance the aircraft
through time by an amount deltat (in seconds). The aircraft tries
to acommodate the commands given to it."""
speed = self.commandSpeed
if speed>ControllableAirplane.vmax:
speed = ControllableAirplane.vmax
elif speed<ControllableAirplane.vmin:
speed = ControllableAirplane.vmin
max_delta_altitude = speed*math.sin(ControllableAirplane.max_tilt)*deltat
altitude = self.commandAltitude
if altitude>ControllableAirplane.alt_max:
altitude = ControllableAirplane.alt_max
elif altitude<ControllableAirplane.alt_min:
altitude = ControllableAirplane.alt_min
current_heading = math.pi/2.0-self.velocity.phi
# headings are between 0 and 2pi
if current_heading < 0.0:
current_heading += 2.0*math.pi
current_altitude = self.position.z
tilt_set = 0.0
delta_altitude = altitude - current_altitude
if delta_altitude > max_delta_altitude:
tilt_set = ControllableAirplane.max_tilt
elif delta_altitude < max_delta_altitude and delta_altitude > -max_delta_altitude:
tilt_set = math.asin(delta_altitude/speed/deltat)
else:
tilt_set = -ControllableAirplane.max_tilt
heading_set = current_heading
delta_heading = self.commandHeading - current_heading
# Adjust turn so it can go through 2pi
if delta_heading > math.pi:
delta_heading -= 2.0*math.pi
elif delta_heading < -math.pi:
delta_heading += 2.0*math.pi
max_delta_heading = ControllableAirplane.turn_rate*deltat
if delta_heading > max_delta_heading:
heading_set += max_delta_heading
elif delta_heading < max_delta_heading and delta_heading > -max_delta_heading:
heading_set += delta_heading
else:
heading_set -= max_delta_heading
new_velocity = vector.sphvec(speed,math.pi/2.0-tilt_set,math.pi/2.0-heading_set)
new_position = self.position+(self.velocity/2.0+new_velocity/2.0)*deltat
self.velocity = new_velocity
self.position = new_position
def generateCollidingPair(x, y, z, name1, name2, tcollision):
"""Create a set of airplanes which will collide at position x, y, z in tcollision seconds"""
crashpos = vector.recvec(x, y, z)
phi1 = -math.pi + random.random_sample() * 2.0 * math.pi
phi2 = -math.pi + random.random_sample() * 2.0 * math.pi
v = airplane.ControllableAirplane.vcruise
v1 = vector.sphvec(v, math.pi / 2.0, phi1)
v2 = vector.sphvec(v, math.pi / 2.0, phi2)
pos1 = crashpos - v1 * tcollision
pos2 = crashpos - v2 * tcollision
airplane1 = airplane.ControllableAirplane(name1, pos1, v1)
airplane2 = airplane.ControllableAirplane(name2, pos2, v2)
return airplane1, airplane2
def generateRandomPlane(name,altitude):
phi = -math.pi+random.random_sample()*2.0*math.pi
dir_flight = phi+3.0*math.pi/4.0+random.random_sample()*math.pi/2.0
position = vector.cylvec(70000.0,phi,altitude)
velocity = vector.sphvec(airplane.ControllableAirplane.vcruise,math.pi/2.0,dir_flight)
return airplane.ControllableAirplane(name,position,velocity)
def generateRandomPlane(name,altitude):
phi = -math.pi+random.random_sample()*2.0*math.pi
dir_flight = phi+3.0*math.pi/4.0+random.random_sample()*math.pi/2.0
position = vector.cylvec(70000.0,phi,altitude)
velocity = vector.sphvec(airplane.ControllableAirplane.vcruise,math.pi/2.0,dir_flight)
return airplane.ControllableAirplane(name,position,velocity)
def generateCollidingPair(x,y,z,name1,name2,tcollision):
"""Create a set of airplanes which will collide at position x, y, z in tcollision seconds"""
crashpos = vector.recvec(x,y,z)
phi1 = -math.pi+random.random_sample()*2.0*math.pi
phi2 = -math.pi+random.random_sample()*2.0*math.pi
v = airplane.ControllableAirplane.vcruise
v1 = vector.sphvec(v,math.pi/2.0,phi1)
v2 = vector.sphvec(v,math.pi/2.0,phi2)
pos1 = crashpos-v1*tcollision
pos2 = crashpos-v2*tcollision
airplane1 = airplane.ControllableAirplane(name1,pos1,v1)
airplane2 = airplane.ControllableAirplane(name2,pos2,v2)
return airplane1, airplane2