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grond detection improved

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This commit is contained in:
Alexsandro Percy 2022-09-14 19:10:55 -03:00
parent eb1fa053c6
commit 3364d264cc
1 changed files with 26 additions and 10 deletions
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36
automobiles_lib/ground_detection.lua
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@ -23,6 +23,9 @@ function automobiles_lib.ground_get_distances(self, radius, axis_distance)
if not self._last_front_detection then if not self._last_front_detection then
self._last_front_detection = rear_obstacle_level.y self._last_front_detection = rear_obstacle_level.y
end end
if not self._last_pitch then
self._last_pitch = 0
end
local f_x, f_z = automobiles_lib.get_xz_from_hipotenuse(pos.x, pos.z, yaw, hip) local f_x, f_z = automobiles_lib.get_xz_from_hipotenuse(pos.x, pos.z, yaw, hip)
local f_y = pos.y local f_y = pos.y
@ -34,20 +37,33 @@ function automobiles_lib.ground_get_distances(self, radius, axis_distance)
--lets try to get the pitch --lets try to get the pitch
if front_obstacle_level.y ~= nil and rear_obstacle_level.y ~= nil then if front_obstacle_level.y ~= nil and rear_obstacle_level.y ~= nil then
local deltaX = axis_distance;
local deltaY = front_obstacle_level.y - rear_obstacle_level.y;
--minetest.chat_send_all("deutaY "..deltaY)
local m = (deltaY/deltaX)
local new_pitch = math.atan(m) --math.atan2(deltaY, deltaX);
--local deg_angle = math.deg(new_pitch)
--first test front wheels before
if (front_obstacle_level.y-self._last_front_detection) <= self.initial_properties.stepheight then if (front_obstacle_level.y-self._last_front_detection) <= self.initial_properties.stepheight then
pitch = new_pitch --math.atan2(deltaY, deltaX);
self._last_pitch = new_pitch
self._last_front_detection = front_obstacle_level.y self._last_front_detection = front_obstacle_level.y
local deltaX = axis_distance;
local deltaY = front_obstacle_level.y - rear_obstacle_level.y;
--minetest.chat_send_all("deutaY "..deltaY)
local m = (deltaY/deltaX)
pitch = math.atan(m) --math.atan2(deltaY, deltaX);
--minetest.chat_send_all("m: "..m.." pitch ".. math.deg(pitch))
else else
self._last_front_detection = rear_obstacle_level.y --until 20 deg, climb
--here we need to set the collision effect if math.deg(new_pitch - self._last_pitch) <= 20 then
self.object:set_acceleration({x=0,y=0,z=0}) pitch = new_pitch
self.object:set_velocity({x=0,y=0,z=0}) self._last_pitch = new_pitch
self._last_front_detection = front_obstacle_level.y
else
--no climb here
self._last_front_detection = rear_obstacle_level.y
--here we need to set the collision effect
self.object:set_acceleration({x=0,y=0,z=0})
self.object:set_velocity({x=0,y=0,z=0})
end
end end
else else
pitch = math.rad(0) pitch = math.rad(0)
end end