your-flight/automobiles_pck
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ramp detection improved

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This commit is contained in:
Alexsandro Percy 2022-01-17 09:32:15 -03:00
parent 0be087e26e
commit 4a3383a178
3 changed files with 32 additions and 79 deletions
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107
automobiles/ground_detection.lua
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@ -5,10 +5,11 @@ 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)
function automobiles.ground_get_distances(self, radius, axis_distance)
local mid_axis = (axis_length / 2)/10
local hip = (axis_distance / 10) -- + ((axis_distance / 10)/3)
--local mid_axis = (axis_length / 2)/10
local hip = (axis_distance / 10)
minetest.chat_send_all("entre-eixo "..hip)
local pitch = self._pitch --+90 for the calculations
local yaw = self.object:get_yaw()
@ -19,10 +20,16 @@ function automobiles.ground_get_distances(self, radius, axis_length, axis_distan
local pos = self.object:get_pos()
local r_x, r_z = automobiles.get_xz_from_hipotenuse(pos.x, pos.z, yaw, 0)
local r_y = pos.y
local rear_axis = {x=r_x, y=r_y, z=r_z}
local rear_obstacle_level = automobiles.get_obstacle(rear_axis)
local f_x, f_z = automobiles.get_xz_from_hipotenuse(pos.x, pos.z, yaw, hip)
--local f_y, x = automobiles.get_xz_from_hipotenuse(pos.y, pos.x, 0, hip) --the x is only a mock
local front_axis = {x=f_x, y=pos.y, z=f_z}
local front_obstacle_level = automobiles.get_obstacle(front_axis, 0.45)
local front_obstacle_level = automobiles.get_obstacle(front_axis)
--[[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)
@ -30,10 +37,7 @@ function automobiles.ground_get_distances(self, radius, axis_length, axis_distan
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)]]--
--[[local r_x, r_z = automobiles.get_xz_from_hipotenuse(pos.x, pos.z, yaw, 0)
local r_y = pos.y
--r_y, x = automobiles.get_xz_from_hipotenuse(pos.y, pos.x, 0, 0) --the x is only a mock
local rear_axis = {x=r_x, y=r_y, z=r_z}
--[[
local rear_obstacle_level = automobiles.get_obstacle(rear_axis, 0.2, 0.25)]]--
@ -45,10 +49,11 @@ function automobiles.ground_get_distances(self, radius, axis_length, axis_distan
--lets try to get the pitch
local deltaX = axis_distance;
local deltaY = pos.y - front_obstacle_level.y;
--minetest.chat_send_all("deutaY "..deltaY)
pitch = math.atan2(deltaY, deltaX);
--minetest.chat_send_all(" pitch ".. math.deg(pitch).." -- r: "..pos.y.." -- f: "..front_obstacle_level.y)
local deltaY = front_obstacle_level.y - rear_obstacle_level.y;
minetest.chat_send_all("deutaY "..deltaY)
local m = (deltaY/deltaX)*10
pitch = math.atan(m) --math.atan2(deltaY, deltaX);
minetest.chat_send_all("m: "..m.." pitch ".. math.deg(pitch))
self._pitch = pitch
end
@ -61,88 +66,36 @@ function automobiles.get_xz_from_hipotenuse(orig_x, orig_z, yaw, distance)
return x, z
end
function automobiles.get_obstacle(ref_pos, y_max)
function automobiles.get_obstacle(ref_pos)
--lets clone the table
local retval = {x=ref_pos.x, y=ref_pos.y, z=ref_pos.z}
--minetest.chat_send_all("aa y: " .. dump(retval.y))
local i_pos = {x=ref_pos.x, y=ref_pos.y, z=ref_pos.z}
--minetest.chat_send_all("bb y: " .. dump(retval.y))
local e_pos = {x=ref_pos.x, y=ref_pos.y, z=ref_pos.z}
e_pos.y = e_pos.y - y_max
--//upper position
--minetest.chat_send_all("ref y: " .. dump(ref_pos.y) .. " ret Y: ".. dump(retval.y))
local cast = minetest.raycast(i_pos, e_pos, true, false)
retval.y = eval_interception(i_pos, {x=i_pos.x, y=i_pos.y - 2, z=i_pos.z})
--minetest.chat_send_all("y: " .. dump(ref_pos.y) .. " ye: ".. dump(retval.y))
return retval
end
function eval_interception(initial_pos, end_pos)
local ret_y = nil
local cast = minetest.raycast(initial_pos, end_pos, true, false)
local thing = cast:next()
while thing do
if thing.type == "node" then
local pos = thing.intersection_point
if pos then
retval.y = e_pos.y - 1
--minetest.chat_send_all("ray intercection: " .. dump(pos.y))
local node_name = minetest.get_node(thing.under).name
ret_y = pos.y
--local node_name = minetest.get_node(thing.under).name
--minetest.chat_send_all("ray intercection: " .. dump(pos.y) .. " -- " .. node_name)
break
end
end
thing = cast:next()
end
e_pos.y = e_pos.y + (y_max/2)
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
if pos then
retval.y = retval.y - 4
local node_name = minetest.get_node(thing.under).name
--minetest.chat_send_all("ray 2 intercection: " .. dump(pos.y) .. " -- " .. node_name)
break
end
end
thing = cast:next()
end
--lower position
e_pos = {x=ref_pos.x, y=ref_pos.y, z=ref_pos.z}
e_pos.y = e_pos.y - y_max - 0.20
cast = minetest.raycast(i_pos, e_pos, true, false)
thing = cast:next()
if thing == nil then retval.y = retval.y + 2 end
while thing do
if thing.type == "node" then
local pos = thing.intersection_point
if pos 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
e_pos.y = e_pos.y - 0.55
cast = minetest.raycast(i_pos, e_pos, true, false)
thing = cast:next()
if thing == nil then retval.y = retval.y + 10 end
while thing do
if thing.type == "node" then
local pos = thing.intersection_point
if pos then
--retval = pos
local node_name = minetest.get_node(thing.under).name
--minetest.chat_send_all("ray 4 intercection: " .. dump(pos.y) .. " -- " .. node_name)
end
end
thing = cast:next()
end
--minetest.chat_send_all("y: " .. dump(ref_pos.y) .. " ye: ".. dump(retval.y))
return retval
return ret_y
end
function automobiles.get_node_below(pos, dist)

2
automobiles_roadster/init.lua
View File

@ -6,7 +6,7 @@ roadster.LONGIT_DRAG_FACTOR = 0.16*0.16
roadster.LATER_DRAG_FACTOR = 30.0
roadster.gravity = automobiles.gravity
roadster.max_speed = 10
roadster.max_acc_factor = 6
roadster.max_acc_factor = 4
roadster.max_fuel = 10
roadster.front_wheel_xpos = 10.26

2
automobiles_roadster/roadster_entities.lua
View File

@ -433,7 +433,7 @@ 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, 24.22)
--[[if player and is_attached then
player:set_look_horizontal(newyaw)