EurekaShipControl.kt

package org.valkyrienskies.eureka.ship

import com.fasterxml.jackson.annotation.JsonAutoDetect
import com.fasterxml.jackson.annotation.JsonIgnore
import com.fasterxml.jackson.annotation.JsonIgnoreProperties
import com.fasterxml.jackson.annotation.JsonProperty
import net.minecraft.core.Direction
import net.minecraft.network.chat.Component
import net.minecraft.world.entity.player.Player
import org.joml.*
import org.valkyrienskies.core.api.VSBeta
import org.valkyrienskies.core.api.ships.PhysShip
import org.valkyrienskies.core.api.ships.ServerShip
import org.valkyrienskies.core.api.ships.ServerTickListener
import org.valkyrienskies.core.api.ships.ShipForcesInducer
import org.valkyrienskies.core.api.ships.getAttachment
import org.valkyrienskies.core.api.ships.saveAttachment
import org.valkyrienskies.core.impl.game.ships.PhysShipImpl
import org.valkyrienskies.eureka.EurekaConfig
import org.valkyrienskies.mod.api.SeatedControllingPlayer
import org.valkyrienskies.mod.common.util.toJOMLD
import kotlin.math.*

@JsonAutoDetect(
    fieldVisibility = JsonAutoDetect.Visibility.ANY,
    getterVisibility = JsonAutoDetect.Visibility.NONE,
    isGetterVisibility = JsonAutoDetect.Visibility.NONE,
    setterVisibility = JsonAutoDetect.Visibility.NONE
)
@JsonIgnoreProperties(ignoreUnknown = true)
class EurekaShipControl : ShipForcesInducer, ServerTickListener {

    @JsonIgnore
    internal var ship: ServerShip? = null

    private var extraForceLinear = 0.0
    private var extraForceAngular = 0.0

    var aligning = false
    var disassembling = false // Disassembling also affects position
    private var physConsumption = 0f
    private val anchored get() = anchorsActive > 0

    private var angleUntilAligned = 0.0
    private var positionUntilAligned = Vector3d()
    val canDisassemble
        get() = ship != null &&
            disassembling &&
            abs(angleUntilAligned) < DISASSEMBLE_THRESHOLD &&
            positionUntilAligned.distanceSquared(this.ship!!.transform.positionInWorld) < 4.0
    var consumed = 0f
        private set

    private var wasCruisePressed = false
    @JsonProperty("cruise")
    var isCruising = false
    private var controlData: ControlData? = null

    @JsonIgnore
    var seatedPlayer: Player? = null

    @JsonIgnore
    var oldSpeed = 0.0

    private data class ControlData(
        val seatInDirection: Direction,
        var forwardImpulse: Float = 0.0f,
        var leftImpulse: Float = 0.0f,
        var upImpulse: Float = 0.0f,
        var sprintOn: Boolean = false
    ) {
        companion object {
            fun create(player: SeatedControllingPlayer): ControlData {
                return ControlData(
                    player.seatInDirection,
                    player.forwardImpulse,
                    player.leftImpulse,
                    player.upImpulse,
                    player.sprintOn
                )
            }
        }
    }

    @OptIn(VSBeta::class)
    override fun applyForces(physShip: PhysShip) {
        if (helms < 1) {
            // Enable fluid drag if all the helms have been destroyed
            physShip.doFluidDrag = true
            return
        }
        // Disable fluid drag when helms are present, because it makes ships hard to drive
        physShip.doFluidDrag = EurekaConfig.SERVER.doFluidDrag

        physShip as PhysShipImpl

        val ship = ship ?: return
        val mass = physShip.inertia.shipMass
        val moiTensor = physShip.inertia.momentOfInertiaTensor
        val omega: Vector3dc = physShip.poseVel.omega
        val vel: Vector3dc = physShip.poseVel.vel
        val balloonForceProvided = balloons * forcePerBalloon

        val buoyantFactorPerFloater = min(
            EurekaConfig.SERVER.floaterBuoyantFactorPerKg / 15.0 / mass,
            EurekaConfig.SERVER.maxFloaterBuoyantFactor
        )

        physShip.buoyantFactor = 1.0 + floaters * buoyantFactorPerFloater
        // Revisiting eureka control code.
        // [x] Move torque stabilization code
        // [x] Move linear stabilization code
        // [x] Revisit player controlled torque
        // [x] Revisit player controlled linear force
        // [x] Anchor freezing
        // [x] Rewrite Alignment code
        // [x] Revisit Elevation code
        // [x] Balloon limiter
        // [x] Add Cruise code
        // [x] Rotation based of ship size
        // [x] Engine consumption
        // [x] Fix elevation sensitivity

        // region Aligning

        val invRotation = physShip.poseVel.rot.invert(Quaterniond())
        val invRotationAxisAngle = AxisAngle4d(invRotation)
        // Floor makes a number 0 to 3, which corresponds to direction
        val alignTarget = floor((invRotationAxisAngle.angle / (PI * 0.5)) + 4.5).toInt() % 4
        angleUntilAligned = (alignTarget.toDouble() * (0.5 * PI)) - invRotationAxisAngle.angle
        if (disassembling) {
            val pos = ship.transform.positionInWorld
            positionUntilAligned = pos.floor(Vector3d())
            val direction = pos.sub(positionUntilAligned, Vector3d())
            physShip.applyInvariantForce(direction)
        }
        if ((aligning) && abs(angleUntilAligned) > ALIGN_THRESHOLD) {
            if (angleUntilAligned < 0.3 && angleUntilAligned > 0.0) angleUntilAligned = 0.3
            if (angleUntilAligned > -0.3 && angleUntilAligned < 0.0) angleUntilAligned = -0.3

            val idealOmega = Vector3d(invRotationAxisAngle.x, invRotationAxisAngle.y, invRotationAxisAngle.z)
                .mul(-angleUntilAligned)
                .mul(EurekaConfig.SERVER.stabilizationSpeed)

            val idealTorque = moiTensor.transform(idealOmega)

            physShip.applyInvariantTorque(idealTorque)
        }
        // endregion

        val controllingPlayer = ship.getAttachment(SeatedControllingPlayer::class.java)
        val validPlayer = controllingPlayer != null && !anchored


        if (anchored) {
            if (isCruising) {
                isCruising = false
                showCruiseStatus()
            }

            physShip.isStatic = true
            return
        }

        stabilize(
            physShip,
            omega,
            vel,
            physShip,
            !validPlayer && !aligning,
            !validPlayer
        )

        var idealUpwardVel = Vector3d(0.0, 0.0, 0.0)


        if (validPlayer) {
            val player = controllingPlayer!!

            val currentControlData = getControlData(player)

            if (!isCruising) {
                // only take the latest control data if the player is not cruising
                controlData = currentControlData
            }

            wasCruisePressed = player.cruise
        } else {
            if (!isCruising) {
                // If the player isn't controlling the ship, and not cruising, reset the control data
                controlData = null
                oldSpeed = 0.0
            }
        }

        controlData?.let { control ->
            applyPlayerControl(control, physShip)
            idealUpwardVel = getPlayerUpwardVel(control, mass)
        }

        // region Elevation
        val idealUpwardForce = (idealUpwardVel.y() - vel.y() - (GRAVITY / EurekaConfig.SERVER.elevationSnappiness)) *
                mass * EurekaConfig.SERVER.elevationSnappiness

        physShip.applyInvariantForce(Vector3d(0.0,
            min(balloonForceProvided, max(idealUpwardForce, 0.0)) +
            // Add drag to the y-component
            vel.y() * -mass,
            0.0)
        )
        // endregion

        physShip.isStatic = anchored
    }

    private fun getControlData(player: SeatedControllingPlayer): ControlData {

        val currentControlData = ControlData.create(player)

        if (!wasCruisePressed && player.cruise) {
            // the player pressed the cruise button
            isCruising = !isCruising
            showCruiseStatus()
        } else if (!player.cruise && isCruising &&
            (player.leftImpulse != 0.0f || player.sprintOn || player.upImpulse != 0.0f || player.forwardImpulse != 0.0f) &&
            currentControlData != controlData
        ) {
            // The player pressed another button
            isCruising = false
            showCruiseStatus()
        }

        return currentControlData
    }

    private fun applyPlayerControl(control: ControlData, physShip: PhysShipImpl) {

        val ship = ship ?: return
        val transform = physShip.transform
        val aabb = ship.worldAABB
        val center = transform.positionInWorld

        // region Player controlled rotation
        val moiTensor = physShip.inertia.momentOfInertiaTensor
        val omega: Vector3dc = physShip.poseVel.omega

        val largestDistance = run {
            var dist = center.distance(aabb.minX(), center.y(), aabb.minZ())
            dist = max(dist, center.distance(aabb.minX(), center.y(), aabb.maxZ()))
            dist = max(dist, center.distance(aabb.maxX(), center.y(), aabb.minZ()))
            dist = max(dist, center.distance(aabb.maxX(), center.y(), aabb.maxZ()))

            dist
        }.coerceIn(0.5, EurekaConfig.SERVER.maxSizeForTurnSpeedPenalty)

        val maxLinearAcceleration = EurekaConfig.SERVER.turnAcceleration
        val maxLinearSpeed = EurekaConfig.SERVER.turnSpeed + extraForceAngular

        // acceleration = alpha * r
        // therefore: maxAlpha = maxAcceleration / r
        val maxOmegaY = maxLinearSpeed / largestDistance
        val maxAlphaY = maxLinearAcceleration / largestDistance

        val isBelowMaxTurnSpeed = abs(omega.y()) < maxOmegaY

        val normalizedAlphaYMultiplier =
            if (isBelowMaxTurnSpeed && control.leftImpulse != 0.0f) control.leftImpulse.toDouble()
            else -omega.y().coerceIn(-1.0, 1.0)

        val idealAlphaY = normalizedAlphaYMultiplier * maxAlphaY

        physShip.applyInvariantTorque(moiTensor.transform(Vector3d(0.0, idealAlphaY, 0.0)))
        // endregion

        physShip.applyInvariantTorque(getPlayerControlledBanking(control, physShip, moiTensor, -idealAlphaY))

        physShip.applyInvariantForce(getPlayerForwardVel(control, physShip))
    }

    private fun getPlayerControlledBanking(control: ControlData, physShip: PhysShipImpl, moiTensor: Matrix3dc, strength: Double): Vector3d {
        val rotationVector = control.seatInDirection.normal.toJOMLD()
        physShip.poseVel.transformDirection(rotationVector)
        rotationVector.y = 0.0
        rotationVector.mul(strength * 1.5)

        physShip.poseVel.rot.transform(
            moiTensor.transform(
                physShip.poseVel.rot.transformInverse(rotationVector)
            )
        )

        return rotationVector
    }

    // Player controlled forward and backward thrust
    private fun getPlayerForwardVel(control: ControlData, physShip: PhysShipImpl): Vector3d {

        val scaledMass = physShip.inertia.shipMass *  EurekaConfig.SERVER.speedMassScale
        val vel: Vector3dc = physShip.poseVel.vel

        // region Player controlled forward and backward thrust
        val forwardVector = control.seatInDirection.normal.toJOMLD()
        physShip.poseVel.rot.transform(forwardVector)
        forwardVector.normalize()

        val s = 1 / smoothingATanMax(
            EurekaConfig.SERVER.linearMaxMass,
            physShip.inertia.shipMass * EurekaConfig.SERVER.linearMassScaling + EurekaConfig.SERVER.linearBaseMass
        )

        val maxSpeed = EurekaConfig.SERVER.linearMaxSpeed / 15
        oldSpeed = max(min(oldSpeed * (1 - s) + control.forwardImpulse.toDouble() * s, maxSpeed), -maxSpeed)
        forwardVector.mul(oldSpeed)

        val playerUpDirection = physShip.poseVel.transformDirection(Vector3d(0.0, 1.0, 0.0))
        val velOrthogonalToPlayerUp = vel.sub(playerUpDirection.mul(playerUpDirection.dot(vel)), Vector3d())

        // This is the speed that the ship is always allowed to go out, without engines
        val baseForwardVel = Vector3d(forwardVector).mul(EurekaConfig.SERVER.baseSpeed)
        val forwardForce = Vector3d(baseForwardVel).sub(velOrthogonalToPlayerUp).mul(scaledMass)

        if (extraForceLinear != 0.0) {
            // engine boost
            val boost = max((extraForceLinear - EurekaConfig.SERVER.enginePowerLinear * EurekaConfig.SERVER.engineBoostOffset) * EurekaConfig.SERVER.engineBoost, 0.0);
            extraForceLinear += boost + boost * boost * EurekaConfig.SERVER.engineBoostExponentialPower;

            // This is the maximum speed we want to go in any scenario (when not sprinting)
            val idealForwardVel = Vector3d(forwardVector).mul(EurekaConfig.SERVER.maxCasualSpeed)
            val idealForwardForce = Vector3d(idealForwardVel).sub(velOrthogonalToPlayerUp).mul(scaledMass)

            val extraForceNeeded = Vector3d(idealForwardForce).sub(forwardForce)
            forwardForce.fma(min(extraForceLinear / extraForceNeeded.length(), 1.0), extraForceNeeded)
        }

        return forwardForce
    }

    // Player controlled elevation
    private fun getPlayerUpwardVel(control: ControlData, mass: Double): Vector3d {
        if (control.upImpulse != 0.0f) {

            val balloonForceProvided = balloons * forcePerBalloon

            return Vector3d(0.0, 1.0, 0.0)
                .mul(control.upImpulse.toDouble())
                .mul(
                    if (control.upImpulse < 0.0f) {
                        EurekaConfig.SERVER.baseImpulseDescendRate
                    }
                    else {
                        EurekaConfig.SERVER.baseImpulseElevationRate +
                                // Smoothing for how the elevation scales as you approaches the balloonElevationMaxSpeed
                                smoothing(2.0, EurekaConfig.SERVER.balloonElevationMaxSpeed, balloonForceProvided / mass)
                    }
                )
        }
        return Vector3d(0.0, 0.0, 0.0)
    }

    private fun showCruiseStatus() {
        val cruiseKey = if (isCruising) "hud.vs_eureka.start_cruising" else "hud.vs_eureka.stop_cruising"
        seatedPlayer?.displayClientMessage(Component.translatable(cruiseKey), true)
    }

    var powerLinear = 0.0
    var powerAngular = 0.0
    var anchors = 0 // Amount of anchors
        set(v) {
            field = v; deleteIfEmpty()
        }

    var anchorsActive = 0 // Anchors that are active
    var balloons = 0 // Amount of balloons
        set(v) {
            field = v; deleteIfEmpty()
        }

    var helms = 0 // Amount of helms
        set(v) {
            field = v; deleteIfEmpty()
        }

    var floaters = 0 // Amount of floaters * 15
        set(v) {
            field = v; deleteIfEmpty()
        }

    private fun deleteIfEmpty() {
        if (helms <= 0 && floaters <= 0 && anchors <= 0 && balloons <= 0) {
            ship?.saveAttachment<EurekaShipControl>(null)
        }
    }

    /**
     * f(x) = max - smoothing / (x + (smoothing / max))
     */
    private fun smoothing(smoothing: Double, max: Double, x: Double): Double = max - smoothing / (x + (smoothing / max))

    /**
     * g(x) = (tan^(-1)(x * smoothing)) / smoothing
     */
    private fun smoothingATan(smoothing: Double, x: Double): Double = atan(x * smoothing) / smoothing

    // limit x to max using ATan
    private fun smoothingATanMax(max: Double, x: Double): Double = smoothingATan(1 / (max * 0.638), x)

    companion object {
        fun getOrCreate(ship: ServerShip): EurekaShipControl {
            return ship.getAttachment<EurekaShipControl>()
                ?: EurekaShipControl().also { ship.saveAttachment(it) }
        }

        private const val ALIGN_THRESHOLD = 0.01
        private const val DISASSEMBLE_THRESHOLD = 0.02
        private val forcePerBalloon get() = EurekaConfig.SERVER.massPerBalloon * -GRAVITY

        private const val GRAVITY = -10.0
    }

    override fun onServerTick() {
        extraForceLinear = powerLinear
        powerLinear = 0.0

        extraForceAngular = powerAngular
        powerAngular = 0.0

        consumed = physConsumption * /* should be physics ticks based*/ 0.1f
        physConsumption = 0.0f
    }
}