Implement multi-actuator dash model. Not tested yet.

Author: hidehisaakiyama

src/leg.cpp

@@ -106,15 +106,17 @@ Leg::dash( const double power,
                                                                    * ( 1.0 - std::fabs( dir ) / 90.0 ) ),
                                         0.0,
                                         1.0 );
-    const double accel_magnitude = std::fabs( M_player.effort()
-                                              * actual_power
-                                              * dir_rate
-                                              * M_player.playerType()->dashPowerRate() )
-        / ( M_player.pos().y < 0.0
-            ? ( M_player.side() == LEFT
-                ? param.slownessOnTopForLeft()
-                : param.slownessOnTopForRight() )
-            : 1.0 );
+    double accel_magnitude = std::fabs( M_player.effort()
+                                        * actual_power
+                                        * dir_rate
+                                        * M_player.playerType()->dashPowerRate() );
+
+    if ( M_player.pos().y < 0.0 )
+    {
+        accel_magnitude /= ( M_player.side() == LEFT
+                             ? param.slownessOnTopForLeft()
+                             : param.slownessOnTopForRight() );
+    }
 
     const double accel_dir = ( back_dash
                                ? normalized_dir + 180.0

src/pcombuilder.h

@@ -78,6 +78,8 @@ class Builder {
 
     virtual void dash( double power ) = 0;
     virtual void dash( double power, double dir ) = 0;
+    virtual void dashLeftLeg( double power, double dir ) = 0;
+    virtual void dashRightLeg( double power, double dir ) = 0;
     virtual void turn( double moment ) = 0;
     virtual void turn_neck( double moment ) = 0;
     virtual void change_focus( double moment_dist, double moment_dir ) = 0;

src/player.cpp

@@ -226,6 +226,8 @@ Player::Player( Stadium & stadium,
       M_change_focus_count(0 ),
       M_change_view_count( 0 ),
       M_say_count( 0 ),
+      M_left_leg( *this ),
+      M_right_leg( *this ),
       M_arm( ServerParam::instance().pointToBan(),
              ServerParam::instance().pointToDuration() ),
       M_attentionto_count( 0 ),
@@ -1154,6 +1156,56 @@ Player::dash( double power,
 }
 
 
+void
+Player::dashLeftLeg( double power,
+                     double dir )
+{
+    if ( M_left_leg.commandDone() )
+    {
+        return;
+    }
+
+    M_left_leg.dash( power, dir );
+    M_stamina = std::max( 0.0, stamina() - M_left_leg.consumedStamina() );
+
+    M_dash_cycles = 1;
+    M_command_done = true;
+}
+
+void
+Player::dashRightLeg( double power,
+                      double dir )
+{
+    if ( M_right_leg.commandDone() )
+    {
+        return;
+    }
+
+    M_right_leg.dash( power, dir );
+    M_stamina = std::max( 0.0, stamina() - M_right_leg.consumedStamina() );
+
+    M_dash_cycles = 1;
+    M_command_done = true;
+}
+
+void
+Player::applyLegsEffect()
+{
+    const PVector body_unit = PVector::fromPolar( 1.0, angleBodyCommitted() );
+    const PVector vel_l = vel() + M_left_leg.accel();
+    const PVector vel_r = vel() + M_right_leg.accel();
+    const double vel_l_body = body_unit.x * vel_l.x + body_unit.y * vel_l.y;
+    const double vel_r_body = body_unit.x * vel_r.x + body_unit.y * vel_r.y;
+
+    const double omega = ( vel_r_body - vel_l_body ) / ( M_player_type->playerSize() * 2.0 );
+    const PVector new_vel = ( vel_r + vel_l ) /= 2.0;
+
+    push( new_vel - vel() );
+    M_angle_body = normalize_angle( angleBodyCommitted()
+                                    + ( 1.0 + drand( -M_randp, M_randp ) ) * omega );
+}
+
+
 void
 Player::turn( double moment )
 {
@@ -2663,6 +2715,9 @@ Player::resetCommandFlags()
     M_turn_neck_done = false;
 
     M_done_received = false;
+
+    M_left_leg.resetCommand();
+    M_right_leg.resetCommand();
 }
 
 void

src/player.h

@@ -23,6 +23,7 @@
 #define RCSSSERVER_PLAYER_H
 
 #include "arm.h"
+#include "leg.h"
 #include "audio.h"
 #include "object.h"
 #include "pcombuilder.h"
@@ -178,6 +179,8 @@ class Player
     int M_change_view_count;
     int M_say_count;
 
+    Leg M_left_leg;
+    Leg M_right_leg;
     Arm M_arm;
 
     int M_attentionto_count;
@@ -371,6 +374,11 @@ class Player
     const double & effort() const { return M_effort; }
     const double & staminaCapacity() const { return M_stamina_capacity; }
 
+    //
+    // leg
+    //
+    void applyLegsEffect();
+
     //
     // arm
     //
@@ -473,6 +481,8 @@ class Player
     /** PlayerCommands */
     void dash( double power ) override;
     void dash( double power, double dir ) override;
+    void dashLeftLeg( double power, double dir ) override;
+    void dashRightLeg( double power, double dir ) override;
     void turn( double moment ) override;
     void turn_neck( double moment ) override;
     void change_focus( double moment_dist, double moment_dir) override;

src/stadium.cpp

@@ -794,6 +794,7 @@ Stadium::step()
     //
     for ( PlayerCont::reference p : M_players )
     {
+        p->applyLegsEffect();
         p->resetCommandFlags();
         p->incArmAge();
     }