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Updated Physics and Vitals, New Pathfinding

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ElCeejo 2023-06-09 23:15:07 -07:00
parent 69cd063c43
commit 59602c9d36
8 changed files with 1746 additions and 1136 deletions
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88
methods.lua
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@ -468,49 +468,41 @@ end
return path
end]]
creatura.register_movement_method("creatura:theta_pathfind", function(self)
creatura.register_movement_method("creatura:pathfind_theta", function(self)
local path = {}
local box = clamp(self.width, 0.5, 1.5)
local steer_to
local steer_int = 0
local arrival_threshold = clamp(self.width, 0.5, 1)
self:set_gravity(-9.8)
local function func(_self, goal, speed_factor)
local pos = _self.object:get_pos()
if not pos then return end
pos.y = pos.y + 0.5
-- Return true when goal is reached
if vec_dist(pos, goal) < box * 1.33 then
if not pos or not goal then return end
if vec_dist(pos, goal) < arrival_threshold then
_self:halt()
return true
end
self:set_gravity(-9.8)
-- Get movement direction
local steer_to = get_avoidance_dir(_self, goal)
local goal_dir = vec_dir(pos, goal)
if steer_to then
goal_dir = steer_to
if #path < 1 then
path = creatura.find_theta_path(_self, pos, goal, _self.width, _self.height, 300) or {}
end
end
if #path > 0 then
goal_dir = vec_dir(pos, path[2] or path[1])
if vec_dist(pos, path[1]) < box then
table.remove(path, 1)
end
end
local yaw = _self.object:get_yaw()
local goal_yaw = dir2yaw(goal_dir)
local speed = abs(_self.speed or 2) * speed_factor or 0.5
-- Calculate Movement
local turn_rate = abs(_self.turn_rate or 5)
-- Movement
local yaw_diff = abs(diff(yaw, goal_yaw))
if yaw_diff < pi * 0.25
or steer_to then
_self:set_forward_velocity(speed)
else
_self:set_forward_velocity(speed * 0.33)
end
if yaw_diff > 0.1 then
_self:turn_to(goal_yaw, turn_rate)
local speed = abs(_self.speed or 2) * speed_factor or 0.5
local path_dir = #path > 0 and vec_dir(pos, path[2] or path[1])
steer_int = (steer_int > 0 and steer_int - _self.dtime) or 1 / math.max(speed, 1)
steer_to = path_dir or (steer_int <= 0 and creatura.calc_steering(_self, goal)) or steer_to
path = (#path > 0 and path) or (creatura.pathfinder.find_path_theta(_self, pos, goal) or {})
if path_dir
and ((path[2] and vec_dist(pos, path[2]) < arrival_threshold)
or vec_dist(pos, path[1]) < arrival_threshold) then
table.remove(path, 1)
end
-- Apply Movement
_self:turn_to(dir2yaw(steer_to or vec_dir(pos, goal)), turn_rate)
_self:set_forward_velocity(speed)
end
return func
end)
@ -519,25 +511,34 @@ creatura.register_movement_method("creatura:pathfind", function(self)
local path = {}
local steer_to
local steer_int = 0
local arrival_threshold = clamp(self.width, 0.5, 1)
self:set_gravity(-9.8)
local function func(_self, goal, speed_factor)
local pos = _self.object:get_pos()
if not pos or not goal then return end
if vec_dist(pos, goal) < clamp(self.width, 0.5, 1) then
if vec_dist(pos, goal) < arrival_threshold then
_self:halt()
return true
end
-- Calculate Movement
local turn_rate = abs(_self.turn_rate or 5)
local speed = abs(_self.speed or 2) * speed_factor or 0.5
steer_int = (not steer_to and steer_int > 0 and steer_int - _self.dtime) or 1 / math.max(speed, 1)
steer_to = (steer_int <= 0 and creatura.calc_steering(_self, goal)) or steer_to
if steer_to then
path = creatura.find_lvm_path(_self, pos, goal, _self.width, _self.height, 400) or {}
if #path > 0 then
steer_to = vec_dir(pos, path[2] or path[1])
end
local path_dir = #path > 0 and vec_dir(pos, path[2] or path[1])
steer_int = (steer_int > 0 and steer_int - _self.dtime) or 1 / math.max(speed, 1)
steer_to = path_dir or (steer_int <= 0 and creatura.calc_steering(_self, goal)) or steer_to
path = (#path > 0 and path) or (creatura.pathfinder.find_path(_self, pos, goal) or {})
if path_dir
and ((path[2] and vec_dist(pos, path[2]) < arrival_threshold + 0.5)
or vec_dist(pos, path[1]) < arrival_threshold) then
table.remove(path, 1)
end
-- Apply Movement
_self:turn_to(dir2yaw(steer_to or vec_dir(pos, goal)), turn_rate)
_self:set_forward_velocity(speed)
@ -545,6 +546,7 @@ creatura.register_movement_method("creatura:pathfind", function(self)
return func
end)
-- Steering
creatura.register_movement_method("creatura:steer_small", function(self)