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function to calculate rotations fixed

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Alexsandro Percy 2022-01-15 15:12:08 -03:00
parent 6816476cec
commit 2a51414cd8
2 changed files with 161 additions and 36 deletions
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145
automobiles/automobiles_control.lua Normal file
View File

@ -0,0 +1,145 @@
--global constants
automobiles.vector_up = vector.new(0, 1, 0)
function automobiles.check_road_is_ok(obj, max_acc_factor)
local pos_below = obj:get_pos()
pos_below.y = pos_below.y - 0.1
local node_below = minetest.get_node(pos_below).name
--minetest.chat_send_all(node_below)
local nodedef = minetest.registered_nodes[node_below]
if nodedef.liquidtype == "none" then
local slow_nodes = {
['default:ice '] = 0.01,
['default:cave_ice'] = 0.01,
}
local acc = slow_nodes[node_below]
if acc == nil then acc = max_acc_factor end
return acc
else
return 0
end
end
function automobiles.control(self, dtime, hull_direction, longit_speed, longit_drag, later_drag, accel, max_acc_factor, max_speed, steering_limit, steering_speed)
self._last_time_command = self._last_time_command + dtime
if self._last_time_command > 1 then self._last_time_command = 1 end
local player = minetest.get_player_by_name(self.driver_name)
local retval_accel = accel;
local stop = false
-- player control
if player then
local ctrl = player:get_player_control()
local acc = 0
if self._engine_running then
--running
if longit_speed < max_speed and ctrl.up then
--get acceleration factor
acc = automobiles.check_road_is_ok(self.object, max_acc_factor)
--minetest.chat_send_all('engineacc: '.. engineacc)
if acc > 1 and acc < max_acc_factor and longit_speed > 0 then
--improper road will reduce speed
acc = -1
end
end
else
--slow maneuver
if longit_speed < roadster.max_speed and ctrl.up then
--get acceleration factor
acc = automobiles.check_road_is_ok(self.object, max_acc_factor)
--minetest.chat_send_all('engineacc: '.. engineacc)
if acc > 1 and acc < max_acc_factor and longit_speed > 0 then
--improper road will reduce speed
acc = -1
end
end
end
--reversing
if ctrl.sneak and longit_speed <= 1.0 and longit_speed > -1.0 then
acc = -1
end
--break
if ctrl.down then
--[[if math.abs(longit_speed) > 0 then
acc = -5 / (longit_speed / 2) -- lets set a brake efficience based on speed
end]]--
--total stop
--wheel break
if longit_speed > 0 then
acc = -5
if (longit_speed + acc) < 0 then
acc = longit_speed * -1
end
end
if longit_speed < 0 then
acc = 5
if (longit_speed + acc) > 0 then
acc = longit_speed * -1
end
end
if abs(longit_speed) < 0.2 then
stop = true
end
end
if acc then retval_accel=vector.add(accel,vector.multiply(hull_direction,acc)) end
if ctrl.aux1 then
--[[
--sets the engine running - but sets a delay also, cause keypress
if self._last_time_command > 0.3 then
self._last_time_command = 0
if self._engine_running then
self._engine_running = false
-- sound and animation
if self.sound_handle then
minetest.sound_stop(self.sound_handle)
self.sound_handle = nil
end
--self.engine:set_animation_frame_speed(0)
elseif self._engine_running == false and self._energy > 0 then
self._engine_running = true
-- sound and animation
self.sound_handle = minetest.sound_play({name = "engine"},
{object = self.object, gain = 2.0, pitch = 1.0, max_hear_distance = 32, loop = true,})
--self.engine:set_animation_frame_speed(30)
end
end]]--
end
-- steering
if ctrl.right then
self._steering_angle = math.max(self._steering_angle-steering_speed*dtime,-steering_limit)
elseif ctrl.left then
self._steering_angle = math.min(self._steering_angle+steering_speed*dtime,steering_limit)
else
--center steering
if longit_speed > 0 then
local factor = 1
if self._steering_angle > 0 then factor = -1 end
local correction = (steering_limit*(longit_speed/100)) * factor
local before_correction = self._steering_angle
self._steering_angle = self._steering_angle + correction
if math.sign(before_correction) ~= math.sign(self._steering_angle) then self._steering_angle = 0 end
end
end
local angle_factor = self._steering_angle / 60
if angle_factor < 0 then angle_factor = angle_factor * -1 end
local deacc_on_curve = longit_speed * angle_factor
deacc_on_curve = deacc_on_curve * -1
if deacc_on_curve then retval_accel=vector.add(retval_accel,vector.multiply(hull_direction,deacc_on_curve)) end
end
return retval_accel, stop
end

52
automobiles/ground_detection.lua
View File

@ -7,73 +7,53 @@ proximo experimento sera mis complexo: pegar o yaw do carro, colocar o entreeixo
--lets assume that the rear axis is at object center, so we will use the distance only for front wheels
function automobiles.ground_get_distances(self, radius, axis_length, axis_distance)
--[[local lf = self.lf_wheel:get_pos() -- left front
--automobiles.get_wheel_distance_from_ground(lf, radius)
local rf = self.rf_wheel:get_pos() -- right front
--automobiles.get_wheel_distance_from_ground(rf, radius)
--minetest.chat_send_all("x ".. lf.x .." x " .. rf.x .. "\ny " .. lf.y .. " y " .. rf.y .. "\nz " .. lf.z .. " z " .. rf.z)
local lr = self.lr_wheel:get_pos() -- left rear
automobiles.get_wheel_distance_from_ground(lr, radius)
local rr = self.rr_wheel:get_pos() -- right rear
automobiles.get_wheel_distance_from_ground(rr, radius)]]--
--[[
--minetest.raycast(pos1, pos2, objects, liquids)
for pointed_thing in minetest.raycast(p_pos, e_pos, true, false) do
automobiles.handle_ray(reference,pointed_thing)
end]]--
--segunda tentativa fracassada:
--[[local node = automobiles.get_node_below(self.object)
if node then
minetest.chat_send_all(node.name)
end]]--
local mid_axis = (axis_length / 2)/10
local hip = axis_distance / 10
local hip = (axis_distance / 10) -- + ((axis_distance / 10)/3)
local yaw = self.object:get_yaw()
local deg_yaw = math.deg(yaw)
local yaw_turns = math.floor(deg_yaw / 360)
deg_yaw = deg_yaw - (yaw_turns * 360)
yaw = math.rad(deg_yaw)
local pos = self.object:get_pos()
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 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-90, mid_axis)
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+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 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-90, mid_axis)
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+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("front x ".. right_front.x .." x " .. left_front.x .. " --- z " .. right_front.z .. " z " .. left_front.z .. " Y: " .. right_front.y)
--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 = minetest.get_node(left_front)
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)
--cara, o minetest é bizarro, ele considera o eixo no sentido ANTI-HORÁRIO... Então pra equação funcionar, subtrair o angulo de 360 antes
yaw = math.rad(360) - yaw
local z = (math.cos(yaw)*distance) + orig_z
local x = (math.sin(yaw)*distance) + orig_x
return x, z