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Obstacle Avoidance Optimization

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ElCeejo 2022-08-08 15:52:48 -07:00
parent 217ad7615e
commit 3b1085f309
3 changed files with 51 additions and 23 deletions
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46
methods.lua
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@ -58,7 +58,7 @@ local function raycast(pos1, pos2, liquid)
end
end
local function get_collision(self, yaw)
--[[local function get_collision(self, yaw)
local width = self.width
local height = self.height
local total_height = height + self.stepheight
@ -98,22 +98,50 @@ local function get_collision(self, yaw)
end
end
end
--[[if width > 0.5
and height > 0.5 then
else
local ray = raycast(pos, pos2, true)
return false
end]]
local function get_collision(self)
local yaw = self.object:get_yaw()
local pos = self.object:get_pos()
if not pos then return end
local width = self.width
local height = self.height
pos.y = pos.y + 0.01
local m_dir = vec_normal(yaw2dir(yaw))
local ahead = vec_add(pos, vec_multi(m_dir, width + 1)) -- 1 node out from edge of box
-- Loop
local pos_x, pos_z = ahead.x, ahead.z
for x = -width, width, width / ceil(width) do
local vec1 = {
x = cos(yaw) * ((pos_x + x) - pos_x) + pos_x,
y = pos.y + height,
z = sin(yaw) * ((pos_x + x) - pos_x) + pos_z
}
local vec2 = {
x = cos(yaw) * ((pos_x + x) - pos_x) + pos_x,
y = pos.y,
z = sin(yaw) * ((pos_x + x) - pos_x) + pos_z
}
local ray = raycast(vec1, vec2, false)
if ray then
return true, ray.intersection_point
local collision = ray.intersection_point
if collision.y - pos.y <= (self.stepheight or 1.1) then
local step = creatura.get_node_def({x = vec1.x, y = vec1.y + 0.5, z = vec1.z})
if step.walkable then
return true, collision
end
end
end
end]]
end
return false
end
local function get_avoidance_dir(self)
local pos = self.object:get_pos()
if not pos then return end
local collide, col_pos = get_collision(self, self.object:get_yaw())
if collide then
local _, col_pos = get_collision(self)
if col_pos then
local vel = self.object:get_velocity()
local ahead = vec_add(pos, vec_normal(self.object:get_velocity()))
local avoidance_force = vector.subtract(ahead, col_pos)