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improved obstacle detection

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This commit is contained in:
Alexsandro Percy 2022-01-15 18:32:34 -03:00
parent 2a51414cd8
commit 11ee9f5a9a
4 changed files with 101 additions and 52 deletions
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113
automobiles/ground_detection.lua
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@ -20,35 +20,37 @@ function automobiles.ground_get_distances(self, radius, axis_length, axis_distan
local f_x, f_z = automobiles.get_xz_from_hipotenuse(pos.x, pos.z, yaw, hip)
local x, f_y = automobiles.get_xz_from_hipotenuse(pos.x, pos.y, self._pitch, hip) --the x is only a mock
local front_axis = {x=f_x, y=f_y, z=f_z}
local left_front = {x=0, y=f_y, z=0}
local front_obstacle_level = automobiles.get_obstacle(front_axis)
--TODO ajustar inclinação aqui primeiro
--[[local left_front = {x=0, y=f_y, z=0}
left_front.x, left_front.z = automobiles.get_xz_from_hipotenuse(f_x, f_z, yaw+math.rad(90), mid_axis)
local right_front = {x=0, y=f_y, z=0}
right_front.x, right_front.z = automobiles.get_xz_from_hipotenuse(f_x, f_z, yaw-math.rad(90), mid_axis)
right_front.x, right_front.z = automobiles.get_xz_from_hipotenuse(f_x, f_z, yaw-math.rad(90), mid_axis)]]--
local r_x, r_z = automobiles.get_xz_from_hipotenuse(pos.x, pos.z, yaw, 0)
local r_y = 0
x, r_y = automobiles.get_xz_from_hipotenuse(pos.x, pos.y, self._pitch, 0) --the x is only a mock
local rear_axis = {x=r_x, y=r_y, z=r_z}
local left_rear = {x=0, y=r_y, z=0}
local rear_obstacle_level = automobiles.get_obstacle(rear_axis)
--TODO ajustar aqui depois
--[[local left_rear = {x=0, y=r_y, z=0}
left_rear.x, left_rear.z = automobiles.get_xz_from_hipotenuse(r_x, r_z, yaw+math.rad(90), mid_axis)
local right_rear = {x=0, y=r_y, z=0}
right_rear.x, right_rear.z = automobiles.get_xz_from_hipotenuse(r_x, r_z, yaw-math.rad(90), mid_axis)
right_rear.x, right_rear.z = automobiles.get_xz_from_hipotenuse(r_x, r_z, yaw-math.rad(90), mid_axis)]]--
--minetest.chat_send_all("x ".. f_x .. " --- z " .. f_z .. " || " .. math.deg(yaw))
--minetest.chat_send_all("front x ".. right_front.x .. " - z " .. right_front.z .. " Yaw: " .. math.deg(yaw-math.rad(90)) .. " ||| x " .. left_front.x .. " - z " .. left_front.z .. " Yaw: " .. math.deg(yaw+math.rad(90)))
--minetest.chat_send_all("rear x ".. right_rear.x .." x " .. left_rear.x .. " --- z " .. right_rear.z .. " z " .. left_rear.z .. " Y: " .. right_rear.y)
local node_bellow = automobiles.get_node_below(left_front, 0.5)
if node_bellow then
--minetest.chat_send_all("bellow: " .. node_bellow.name)
local node = automobiles.get_node_below(left_front, -0.5)
--minetest.chat_send_all("level: " .. node.name)
--minetest.chat_send_all(dump(mobkit.nodeatpos(left_front).node_box))
end
end
function automobiles.get_xz_from_hipotenuse(orig_x, orig_z, yaw, distance)
@ -59,49 +61,57 @@ function automobiles.get_xz_from_hipotenuse(orig_x, orig_z, yaw, distance)
return x, z
end
function automobiles.get_wheel_distance_from_ground(pos, radius)
local touch_pos = pos
--[[touch_pos.y = touch_pos.y - radius
local max_search_pos = touch_pos
max_search_pos.y = max_search_pos.y - 0.9
for pointed_thing in minetest.raycast(touch_pos, max_search_pos, true, false) do
automobiles.handle_ray(pointed_thing)
end]]--
function automobiles.get_obstacle(ref_pos)
local retval = ref_pos
local i_pos = ref_pos
--minetest.chat_send_all("wheel pos: " .. dump(i_pos.y))
end
local e_pos = ref_pos
e_pos.y = e_pos.y - 0.20
function automobiles.handle_ray(pointed_thing)
if pointed_thing.type == "node" then
if pointed_thing.node_box then
minetest.chat_send_all(minetest.debug(pointed_thing.node_box))
local cast = minetest.raycast(i_pos, e_pos, true, false)
local thing = cast:next()
while thing do
if thing.type == "node" then
local pos = thing.intersection_point
retval = pos
--local node_name = minetest.get_node(thing.under).name
--minetest.chat_send_all("ray intercection: " .. dump(pos.y) .. " -- " .. node_name)
end
--[[if pointed_thing.ref ~= user and (not objs or objs and not objs[pointed_thing.ref])
and (not calls or not calls.on_hit or check_bools(calls.on_hit, itemstack, user, pointed_thing.ref)) then
local vel = user:get_player_velocity()
local spd = math.sqrt((vel.x * vel.x) + (vel.z * vel.z))
if vel.y <= -1 then
for group, _ in pairs(def.damage_groups) do
def.damage_groups[group] = def.damage_groups[group] * def.crit_mp
end
end
pointed_thing.ref:punch(user, 1.0, {full_punch_interval = 1.0, damage_groups = def.damage_groups})
if pointed_thing.ref:is_player() then
pointed_thing.ref:add_player_velocity(vector.multiply(user:get_look_dir(), def.kb_mp * spd))
else
pointed_thing.ref:add_velocity(vector.multiply(user:get_look_dir(), def.kb_mp * spd))
end
end
if objs then
depth = depth + 1
objs[pointed_thing.ref] = pointed_thing.ref
return depth, objs
end]]--
thing = cast:next()
end
e_pos = ref_pos
e_pos.y = e_pos.y - 0.25
cast = minetest.raycast(i_pos, e_pos, true, false)
thing = cast:next()
while thing do
if thing.type == "node" then
local pos = thing.intersection_point
retval = pos
--local node_name = minetest.get_node(thing.under).name
--minetest.chat_send_all("ray 2 intercection: " .. dump(pos.y) .. " -- " .. node_name)
end
thing = cast:next()
end
e_pos = ref_pos
e_pos.y = e_pos.y - 0.35
cast = minetest.raycast(i_pos, e_pos, true, false)
thing = cast:next()
while thing do
if thing.type == "node" then
local pos = thing.intersection_point
retval = pos
--local node_name = minetest.get_node(thing.under).name
--minetest.chat_send_all("ray 3 intercection: " .. dump(pos.y) .. " -- " .. node_name)
end
thing = cast:next()
end
return retval
end
function automobiles.get_node_below(pos, dist)
@ -112,3 +122,4 @@ function automobiles.get_node_below(pos, dist)
return node_below
end

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automobiles/textures/automobiles_target.png Normal file
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38
automobiles_roadster/init.lua
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@ -20,5 +20,43 @@ dofile(minetest.get_modpath("automobiles_roadster") .. DIR_DELIM .. "roadster_ut
dofile(minetest.get_modpath("automobiles_roadster") .. DIR_DELIM .. "roadster_entities.lua")
-- --minetest.add_entity(e_pos, "automobiles_roadster:target")
minetest.register_node("automobiles_roadster:display_target", {
tiles = {"automobiles_red.png"},
use_texture_alpha = true,
walkable = false,
drawtype = "nodebox",
node_box = {
type = "fixed",
fixed = {
{-.05,-.05,-.05, .05,.05,.05},
},
},
selection_box = {
type = "regular",
},
paramtype = "light",
groups = {dig_immediate = 3, not_in_creative_inventory = 1},
drop = "",
})
minetest.register_entity("automobiles_roadster:target", {
physical = false,
collisionbox = {0, 0, 0, 0, 0, 0},
visual = "wielditem",
-- wielditem seems to be scaled to 1.5 times original node size
visual_size = {x = 0.67, y = 0.67},
textures = {"automobiles_roadster:display_target"},
timer = 0,
glow = 10,
on_step = function(self, dtime)
self.timer = self.timer + dtime
-- remove after set number of seconds
if self.timer > 1 then
self.object:remove()
end
end,
})

2
automobiles_roadster/roadster_entities.lua
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@ -202,7 +202,7 @@ minetest.register_entity("automobiles_roadster:roadster", {
lastvelocity = vector.new(),
time_total = 0,
_passenger = nil,
_color = "#2b2b2b",
_color = "#0063b0",
_steering_angle = 0,
_engine_running = false,
_last_checkpoint = "",