mirror of https://github.com/dirtbags/tanks.git
First try with binary scaling
This commit is contained in:
commit
4c3e1af017
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@ -0,0 +1,6 @@
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all: test
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test: test-tanks
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./test-tanks
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test-tanks: test-tanks.o ctanks.o
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@ -0,0 +1,159 @@
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#include <stdlib.h>
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#include "brad.h"
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#ifndef max
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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#endif
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/* Approximate vector length
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*
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* http://www.flipcode.com/archives/Fast_Approximate_Distance_Functions.shtml
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*
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* (1007/1024) * 256 == 251.75
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* (441/1024) * 256 == 110.25
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*/
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bs_t
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bs_approx_dist(bs_t dx, bs_t dy)
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{
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bs_t x = abs(dx);
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bs_t y = abs(dy);
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return (252 * max(x, y)) + (110 * min(x, y));
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}
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static bs_t bs_cos_table[] = {
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256, 256, 256, 255, 255, 254, 253, 252,
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251, 250, 248, 247, 245, 243, 241, 239,
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237, 234, 231, 229, 226, 223, 220, 216,
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213, 209, 206, 202, 198, 194, 190, 185,
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181, 177, 172, 167, 162, 157, 152, 147,
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142, 137, 132, 126, 121, 115, 109, 104,
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98, 92, 86, 80, 74, 68, 62, 56,
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50, 44, 38, 31, 25, 19, 13, 6,
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0
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};
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bs_t
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bs_cos(brad_t angle)
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{
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brad_t cos;
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bs_t a;
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a = abs(angle) % 128;
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if (a > 64) {
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a = 128 - a;
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}
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cos = bs_cos_table[a];
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a = abs(angle) % 256;
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if ((a > 64) && (a < 192)) {
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cos = -cos;
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}
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return cos;
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}
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bs_t
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bs_sin(brad_t angle)
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{
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return bs_cos(64 - angle);
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}
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bs_t
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bs_tan(brad_t angle)
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{
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return bs_sin(angle) / bs_cos(angle);
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}
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static brad_t bs_asin_table[] = {
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0, 0, 1, 1, 1, 2, 2, 2,
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3, 3, 3, 4, 4, 4, 4, 5,
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5, 5, 6, 6, 6, 7, 7, 7,
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8, 8, 8, 9, 9, 9, 10, 10,
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10, 11, 11, 11, 11, 12, 12, 12,
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13, 13, 13, 14, 14, 14, 15, 15,
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15, 16, 16, 16, 17, 17, 17, 18,
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18, 18, 19, 19, 19, 20, 20, 20,
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21, 21, 21, 22, 22, 22, 23, 23,
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23, 24, 24, 24, 25, 25, 25, 26,
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26, 26, 27, 27, 27, 28, 28, 28,
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29, 29, 29, 30, 30, 30, 31, 31,
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31, 32, 32, 32, 33, 33, 33, 34,
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34, 34, 35, 35, 35, 36, 36, 37,
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37, 37, 38, 38, 38, 39, 39, 39,
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40, 40, 40, 41, 41, 42, 42, 42,
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43, 43, 43, 44, 44, 45, 45, 45,
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46, 46, 46, 47, 47, 48, 48, 48,
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49, 49, 49, 50, 50, 51, 51, 51,
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52, 52, 53, 53, 53, 54, 54, 55,
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55, 55, 56, 56, 57, 57, 57, 58,
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58, 59, 59, 60, 60, 60, 61, 61,
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62, 62, 63, 63, 64, 64, 64, 65,
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65, 66, 66, 67, 67, 68, 68, 69,
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69, 70, 70, 71, 71, 72, 72, 73,
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73, 74, 74, 75, 75, 76, 76, 77,
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77, 78, 78, 79, 80, 80, 81, 81,
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82, 82, 83, 84, 84, 85, 86, 86,
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87, 87, 88, 89, 90, 90, 91, 92,
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92, 93, 94, 95, 96, 96, 97, 98,
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99, 100, 101, 102, 103, 104, 105, 106,
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108, 109, 110, 112, 114, 116, 118, 121,
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128
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};
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brad_t
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bs_asin(bs_t n)
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{
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bs_t a = abs(n);
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brad_t ret;
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if (a > 256) {
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return 0;
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}
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ret = bs_asin_table[a];
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if (n < 0) {
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ret = -ret;
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}
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return ret;
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}
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brad_t
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bs_acos(bs_t n)
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{
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return 128 - bs_asin(n);
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}
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brad_t
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bs_atan2(bs_t y, bs_t x)
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{
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bs_t r = bs_approx_dist(x, y);
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brad_t t;
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t = bs_acos(x / r);
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if (y < 0) {
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t = 256 - t;
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}
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return t;
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}
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#include <math.h>
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#include <stdio.h>
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#define PI 3.14159265358979323846
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int
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main()
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{
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int i, j;
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float f;
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int t;
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for (i = 0; i < 257; i += 1) {
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for (j = 0; j < 257; j += 1) {
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f = sqrt(i*i + j*j);
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t = bs_approx_dist(i, j);
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printf("%d %d %d\n", i, (int)round(f*256)/256, t/256);
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}
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}
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return 0;
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}
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@ -0,0 +1,50 @@
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#ifndef __BRAD_H__
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#define __BRAD_H__
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/** Binary scaling library
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*
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* There are B8 binary scaled ints. That means the 8 lowest bits are
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* the fractional part. To convert to a float you'd just divide by 256.
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*
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* The trig functions use brads (Binary Radians). There are 128 brads
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* in 2pi radians. One brad is about 1.4 degrees. Using brads makes
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* trig really fast on a binary computer, and reallier faster on a
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* binary computer without an FPU.
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*
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* You must be careful not to overflow your bs_t. For instance, I wrote
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* this library for a game with a 2^9-pixel-wide playfield. That's
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* 2^17 B8, but I also needed to do distance calculations, which
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* requires squaring things. 2^34 is obviously too big to represent in
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* 32 bits.
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*
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* C's type system leaves a lot to be desired when it comes to making
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* sure you're not mixing these things up with normal ints. Be careful!
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*/
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/* Just to make it clear what scale these functions are dealing with */
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typedef struct {
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int v;
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} bs_t;
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typedef int brad_t;
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/* If you change this, you must also change the lookup tables in
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* brad.c. Don't change this. */
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#define BINARY_SCALE 8
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#define BS_DENOMINATOR 1 << BINARY_SCALE
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#define bs_to_int(n) ((n) >> BINARY_SCALE)
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#define bs_of_int(i) ((i) << BINARY_SCALE)
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bs_t bs_cos(brad_t angle);
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bs_t bs_sin(brad_t angle);
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bs_t bs_tan(brad_t angle);
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brad_t bs_acos(bs_t angle);
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brad_t bs_asin(bs_t angle);
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bs_t bs_mul(bs_t a, bs_t b);
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bs_t bs_div(bs_t a, bs_t b);
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bs_t bs_approx_dist(bs_t dx, bs_t dy);
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#endif /* __BRAD_H__ */
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@ -0,0 +1,25 @@
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#! /usr/bin/python
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# Binary radians with B12 binary scaling (multiply floats by 256)
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# pi radians = 128 brads
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import math
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brad2rad = math.pi/128
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print "static bs_t bs_cos_table[] = {"
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for i in range(129):
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r = (i * math.pi) / 128.0
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cos = math.sin(r)
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bcos = int(round(cos * 256))
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print ("%3d," % bcos),
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print "}"
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print "static brad_t bs_asin_table[] = {"
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for i in range(257):
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f = i / 256.0
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acos = math.asin(f)
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bacos = int(round(256 * acos / math.pi))
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print ("%3d," % bacos),
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print "}"
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@ -0,0 +1,154 @@
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#include <string.h>
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#include <stdlib.h>
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#include "brad.h"
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#include "ctanks.h"
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void
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tank_init(struct tank *tank, tank_run_func *run, void *udata)
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{
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memset(tank, 0, sizeof(*tank));
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tank->run = run;
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tank->udata = udata;
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}
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int
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tank_fire_ready(struct tank *tank)
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{
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return (! tank->turret.recharge);
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}
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void
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tank_fire(struct tank *tank)
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{
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tank->turret.firing = tank_fire_ready(tank);
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}
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void
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tank_set_speed(struct tank *tank, bs_t left, bs_t right)
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{
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tank->speed.desired[0] = left;
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tank->speed.desired[1] = right;
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}
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brad_t
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tank_get_turret(struct tank *tank)
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{
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return tank->turret.current;
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}
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void
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tank_set_turret(struct tank *tank, brad_t angle)
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{
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tank->turret.desired = angle;
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}
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|
||||||
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int
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tank_get_sensor(struct tank *tank, int sensor_num)
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|
{
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if ((sensor < 0) || (sensor > MAX_SENSORS)) {
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return 0;
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||||||
|
}
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return tank->sensor[sensor_num].triggered;
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||||||
|
}
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||||||
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|
||||||
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void
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tank_set_led(struct tank *tank, int active)
|
||||||
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{
|
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tank->led = active;
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||||||
|
}
|
||||||
|
|
||||||
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/** Return distance^2 between tanks a and b.
|
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|
*
|
||||||
|
* Comparing this against sensor_range^2 will tell you whether the tanks
|
||||||
|
* are within sensor range of one another. Similarly, comparing it
|
||||||
|
* against (2*tank_radius)^2 will tell you if they've collided.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
bs_t
|
||||||
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tank_dist2(struct tanks_game *game, struct tank *a, struct tank *b)
|
||||||
|
{
|
||||||
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bs_t d[2];
|
||||||
|
int i;
|
||||||
|
|
||||||
|
for (i = 0; i < 2; i += 1) {
|
||||||
|
d[i] = abs(a.position[i] - b.position[i]);
|
||||||
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d[i] = min(game.size[i] - dx[i], dx[i]);
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||||||
|
}
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||||||
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return ((d[0] * d[0]) + (d[1] * d[1]));
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||||||
|
}
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||||||
|
|
||||||
|
void
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||||||
|
do_shit_with(struct tanks_game *game,
|
||||||
|
struct tank *this,
|
||||||
|
struct tank *that)
|
||||||
|
{
|
||||||
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bs_t vector[2];
|
||||||
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int dist2; /* Integer to avoid overflow! */
|
||||||
|
bs_t xpos; /* Translated position */
|
||||||
|
int i;
|
||||||
|
|
||||||
|
/* Don't bother if one is dead */
|
||||||
|
if ((this->killer) || (that->killer)) {
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||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Establish shortest vector from center of this to center of that,
|
||||||
|
* taking wrapping into account */
|
||||||
|
for (i = 0; i < 2; i += 1) {
|
||||||
|
bs_t halfsize = game->size[i] / 2;
|
||||||
|
|
||||||
|
/* XXX: is there a more elegant way to do this? */
|
||||||
|
vector[i] = that->position[i] - this->position[i];
|
||||||
|
if (2*vector[i] > game->size[i]) {
|
||||||
|
vector[i] -= game->size[i];
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||||||
|
} else if (2*vector[i] < game->size[i]) {
|
||||||
|
vector[i] += game->size[i];
|
||||||
|
}
|
||||||
|
}
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||||||
|
/* Compute distance^2 for range comparisons */
|
||||||
|
dist2 = ((bs_to_int(vector[0]) * bs_to_int(vector[0])) +
|
||||||
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(bs_to_int(vector[1]) * bs_to_int(vector[1])));
|
||||||
|
|
||||||
|
/* If they're not within sensor range, there's nothing to do. */
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||||||
|
if (dist2 > TANK_SENSOR_ADJ2) {
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|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Did they collide? Oh, goody! */
|
||||||
|
if (dist2 < TANK_COLLISION_ADJ2) {
|
||||||
|
/* XXX: kill both tanks */
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Has anybody been shot? */
|
||||||
|
|
||||||
|
/* Translate other tank's position to make us the origin */
|
||||||
|
for (i = 0; i < 2; i += 1) {
|
||||||
|
xpos[i] = that->position[i] - this->position[i];
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Calculate sensors */
|
||||||
|
for (i = 0; i < this->num_sensors; i += 1) {
|
||||||
|
brad_t theta;
|
||||||
|
|
||||||
|
if (dist2 < this->sensor[i].range_adj2) {
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Translate other tank so that we're the origin */
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void
|
||||||
|
tanks_run_turn(struct tanks_game *game, struct tank *tanks, int ntanks)
|
||||||
|
{
|
||||||
|
int i, j;
|
||||||
|
|
||||||
|
for (i = 0; i < ntanks; i += 1) {
|
||||||
|
for (j = i + 1; j < ntanks, j += 1) {
|
||||||
|
do_shit_with(game, &(tanks[i]), &(tanks[j]));
|
||||||
|
}
|
||||||
|
tanks_print_tank(game, &(tanks[i]));
|
||||||
|
tanks_move(game, &(tanks[i]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,89 @@
|
||||||
|
#ifndef __CTANKS_H__
|
||||||
|
#define __CTANKS_H__
|
||||||
|
|
||||||
|
#include "brad.h"
|
||||||
|
|
||||||
|
/* Some useful constants */
|
||||||
|
#define TANK_MAX_SENSORS 10
|
||||||
|
#define TANK_RADIUS ((bs_t)1920)
|
||||||
|
#define TANK_SENSOR_RANGE ((int)100)
|
||||||
|
|
||||||
|
/* (tank radius + tank radius)^2 */
|
||||||
|
#define TANK_COLLISION_ADJ2 \
|
||||||
|
bs_to_int((TANK_RADIUS + TANK_RADIUS) * (TANK_RADIUS + TANK_RADIUS))
|
||||||
|
|
||||||
|
/* (Sensor range + tank radius)^2
|
||||||
|
* If the distance^2 to the center of a tank <= TANK_SENSOR_ADJ2,
|
||||||
|
* that tank is within sensor range. */
|
||||||
|
#define TANK_SENSOR_ADJ2 ((int)11556)
|
||||||
|
|
||||||
|
struct tanks_game {
|
||||||
|
bs_t size[2]; /* dimensions of playing field */
|
||||||
|
};
|
||||||
|
|
||||||
|
struct tank;
|
||||||
|
|
||||||
|
struct sensor {
|
||||||
|
brad_t angle;
|
||||||
|
brad_t width;
|
||||||
|
int range;
|
||||||
|
int range_adj2; /* (range + TANK_RADIUS)^2 */
|
||||||
|
int turret; /* Mounted to turret? */
|
||||||
|
int triggered;
|
||||||
|
};
|
||||||
|
|
||||||
|
typedef void tank_run_func(struct tank *, void *);
|
||||||
|
|
||||||
|
struct tank {
|
||||||
|
bs_t position[2]; /* Current position on the board */
|
||||||
|
brad_t angle; /* Current orientation */
|
||||||
|
struct {
|
||||||
|
bs_t current[2]; /* Current tread speed */
|
||||||
|
bs_t desired[2]; /* Desired tread speed */
|
||||||
|
} speed;
|
||||||
|
struct {
|
||||||
|
brad_t current; /* Current turret angle */
|
||||||
|
brad_t desired; /* Desired turret angle */
|
||||||
|
int firing; /* True if firing this turn */
|
||||||
|
int recharge; /* Turns until gun is recharged */
|
||||||
|
} turret;
|
||||||
|
struct sensor sensor[MAX_SENSORS]; /* Sensor array */
|
||||||
|
int num_sensors; /* Number of sensors */
|
||||||
|
int led; /* State of the LED */
|
||||||
|
struct tank *killer; /* Killer, or NULL if alive */
|
||||||
|
char *cause_death; /* Cause of death */
|
||||||
|
|
||||||
|
tank_run_func *run; /* Function to run a tank */
|
||||||
|
void *udata; /* Argument to pass to run */
|
||||||
|
};
|
||||||
|
|
||||||
|
void tank_init(struct tank *tank, tank_run_func *run, void *udata);
|
||||||
|
|
||||||
|
/*
|
||||||
|
*
|
||||||
|
* Tanks API for scripts
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** Has the turret recharged? */
|
||||||
|
int tank_fire_ready(struct tank *tank);
|
||||||
|
|
||||||
|
/** Fire! */
|
||||||
|
void tank_fire(struct tank *tank);
|
||||||
|
|
||||||
|
/** Set desired speed */
|
||||||
|
void tank_set_speed(struct tank *tank, int left, int right);
|
||||||
|
|
||||||
|
/** Get the current turret angle */
|
||||||
|
int tank_get_turret(struct tank *tank);
|
||||||
|
|
||||||
|
/** Set the desired turret angle */
|
||||||
|
void tank_set_turret(struct tank *tank, int angle);
|
||||||
|
|
||||||
|
/** Is a sensor active? */
|
||||||
|
int tank_get_sensor(struct tank *tank, int sensor_num);
|
||||||
|
|
||||||
|
/** Set the LED state */
|
||||||
|
void tank_set_led(struct tank *tank, int active);
|
||||||
|
|
||||||
|
#endif /* __CTANKS_H__ */
|
||||||
|
|
@ -0,0 +1,25 @@
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <math.h>
|
||||||
|
#include "ctanks.h"
|
||||||
|
|
||||||
|
void
|
||||||
|
test_run(struct tank *tank, void *unused)
|
||||||
|
{
|
||||||
|
tank_set_speed(tank, 30, 50);
|
||||||
|
tank_set_turret(tank, fmod(tank->turret.desired + 0.2, 2*PI));
|
||||||
|
}
|
||||||
|
|
||||||
|
int
|
||||||
|
main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
struct tank mytank;
|
||||||
|
int i;
|
||||||
|
|
||||||
|
tank_init(&mytank, test_run, NULL);
|
||||||
|
printf("hi\n");
|
||||||
|
for (i = 0; i < 4; i += 1) {
|
||||||
|
printf("%f\n", mytank.turret.desired);
|
||||||
|
mytank.run(&mytank, mytank.udata);
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue