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improved obstacle detection

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Alexsandro Percy 2022-01-15 19:48:39 -03:00
parent 11ee9f5a9a
commit 3d8b734314
2 changed files with 20 additions and 18 deletions
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34
automobiles/ground_detection.lua
View File

@ -23,7 +23,6 @@ function automobiles.ground_get_distances(self, radius, axis_length, axis_distan
local front_axis = {x=f_x, y=f_y, z=f_z}
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)
@ -37,9 +36,6 @@ function automobiles.ground_get_distances(self, radius, axis_length, axis_distan
local rear_axis = {x=r_x, y=r_y, z=r_z}
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)
@ -47,9 +43,12 @@ function automobiles.ground_get_distances(self, radius, axis_length, axis_distan
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)]]--
--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)
--lets try to get the pitch
local deltaX = axis_distance;
local deltaY = front_obstacle_level.y - rear_obstacle_level.y;
local pitch = math.atan2(deltaY, deltaX);
--minetest.chat_send_all(math.deg(pitch).." -- r: "..rear_obstacle_level.y.." -- f: "..front_obstacle_level.y)
self._pitch = math.rad(0) --pitch
end
@ -75,13 +74,13 @@ function automobiles.get_obstacle(ref_pos)
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)
local node_name = minetest.get_node(thing.under).name
minetest.chat_send_all("ray intercection: " .. dump(pos.y) .. " -- " .. node_name)
end
thing = cast:next()
end
e_pos = ref_pos
--[[e_pos = ref_pos
e_pos.y = e_pos.y - 0.25
cast = minetest.raycast(i_pos, e_pos, true, false)
@ -90,8 +89,8 @@ function automobiles.get_obstacle(ref_pos)
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)
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
@ -101,15 +100,18 @@ function automobiles.get_obstacle(ref_pos)
cast = minetest.raycast(i_pos, e_pos, true, false)
thing = cast:next()
--if thing == nil then retval = e_pos end
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)
if pos.y < e_pos.y then
retval = pos
local node_name = minetest.get_node(thing.under).name
minetest.chat_send_all("ray 3 intercection: " .. dump(pos.y) .. " -- " .. node_name)
end
end
thing = cast:next()
end
end]]--
return retval
end

4
automobiles_roadster/roadster_entities.lua
View File

@ -414,13 +414,13 @@ minetest.register_entity("automobiles_roadster:roadster", {
self._steering_angle / 30 * turn_rate * automobiles.sign(longit_speed)
end
automobiles.ground_get_distances(self, 0.5, 20.52, 24.22)
--automobiles.ground_get_distances(self, 0.5, 20.52, 24.22)
--[[if player and is_attached then
player:set_look_horizontal(newyaw)
end]]--
local newpitch = velocity.y * math.rad(6)
local newpitch = self._pitch --velocity.y * math.rad(6)
--[[
accell correction