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https://github.com/ElCeejo/creatura.git
synced 2025-07-12 17:42:27 -04:00
Add Context Based Steering, ABM Spawning fixes
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ElCeejo
parent
5b4b5e7331
commit
64de7d9ed5
4 changed files with 185 additions and 101 deletions
168
methods.lua
168
methods.lua
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@ -14,25 +14,27 @@ local function diff(a, b) -- Get difference between 2 angles
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return atan2(sin(b - a), cos(b - a))
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end
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local function clamp(val, min, max)
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if val < min then
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val = min
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elseif max < val then
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val = max
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local function clamp(val, _min, _max)
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if val < _min then
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val = _min
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elseif _max < val then
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val = _max
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end
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return val
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end
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local vec_add = vector.add
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local vec_normal = vector.normalize
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local vec_len = vector.length
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local vec_dist = vector.distance
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local vec_dir = vector.direction
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local vec_dot = vector.dot
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local vec_multi = vector.multiply
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local vec_add = vector.add
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local vec_sub = vector.subtract
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local yaw2dir = minetest.yaw_to_dir
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local dir2yaw = minetest.dir_to_yaw
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--[[local function debugpart(pos, time, tex)
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local function debugpart(pos, time, tex)
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minetest.add_particle({
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pos = pos,
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texture = tex or "creatura_particle_red.png",
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@ -40,7 +42,7 @@ local dir2yaw = minetest.dir_to_yaw
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glow = 16,
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size = 16
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})
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end]]
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end
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---------------------
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-- Local Utilities --
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@ -101,35 +103,50 @@ end]]
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return false
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end]]
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function creatura.get_collision_ranged(self, range)
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local yaw = self.object:get_yaw()
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local pos = self.object:get_pos()
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local get_node_def = creatura.get_node_def
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local get_node_height = creatura.get_node_height_from_def
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function creatura.get_collision_ranged(self, dir, range)
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local pos, yaw = self.object:get_pos(), self.object:get_yaw()
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if not pos then return end
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local width = self.width
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local height = self.height
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local width = self.width + 0.1
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local height = self.height + self.stepheight
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pos.y = pos.y + 0.01
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local m_dir = vec_normal(yaw2dir(yaw))
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m_dir.x, m_dir.z = m_dir.x * 0.5, m_dir.z * 0.5
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local ahead = vec_add(pos, vec_multi(m_dir, width + 0.5))
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dir = vec_normal(dir or yaw2dir(yaw))
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yaw = dir2yaw(dir)
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local ahead = vec_add(pos, vec_multi(dir, width))
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-- Loop
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local cos_yaw = cos(yaw)
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local sin_yaw = sin(yaw)
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local pos_x, pos_y, pos_z = ahead.x, ahead.y, ahead.z
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local dir_x, dir_y, dir_z = dir.x, dir.y, dir.z
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local dist
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local collision
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for i = 0, range or 4 do
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pos_x = pos_x + m_dir.x * i
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pos_y = pos_y + m_dir.y * i
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pos_z = pos_z + m_dir.z * i
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pos_x = pos_x + dir_x
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pos_y = pos_y + dir_y
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pos_z = pos_z + dir_z
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local pos2
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for x = -width, width, width / ceil(width) do
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pos2 = {
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x = cos_yaw * ((pos_x + x) - pos_x) + pos_x,
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y = pos_y,
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z = sin_yaw * ((pos_x + x) - pos_x) + pos_z
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}
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for y = 0, height, height / ceil(height) do
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local pos2 = {
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x = cos(yaw) * ((pos_x + x) - pos_x) + pos_x,
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y = pos.y + y,
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z = sin(yaw) * ((pos_x + x) - pos_x) + pos_z
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}
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if pos2.y - pos.y > (self.stepheight or 1.1)
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and creatura.get_node_def(pos2).walkable then
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return true, pos2
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pos2.y = pos_y + y
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local dist2 = vec_dist(pos, pos2)
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if not dist
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or dist2 < dist then
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if pos2.y - pos_y > (self.stepheight or 1.1)
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and get_node_def(pos2).walkable then
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collision = pos2
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dist = dist2
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end
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end
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end
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end
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if collision then return true, collision end
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end
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return false
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end
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@ -144,16 +161,19 @@ function creatura.get_collision(self)
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local m_dir = vec_normal(yaw2dir(yaw))
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local ahead = vec_add(pos, vec_multi(m_dir, width + 1)) -- 1 node out from edge of box
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-- Loop
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local cos_yaw = cos(yaw)
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local sin_yaw = sin(yaw)
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local pos_x, pos_z = ahead.x, ahead.z
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for x = -width, width, width / ceil(width) do
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local pos2 = {
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x = cos_yaw * ((pos_x + x) - pos_x) + pos_x,
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y = pos.y,
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z = sin_yaw * ((pos_x + x) - pos_x) + pos_z
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}
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for y = 0, height, height / ceil(height) do
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local pos2 = {
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x = cos(yaw) * ((pos_x + x) - pos_x) + pos_x,
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y = pos.y + y,
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z = sin(yaw) * ((pos_x + x) - pos_x) + pos_z
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}
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pos2.y = pos.y + y
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if pos2.y - pos.y > (self.stepheight or 1.1)
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and creatura.get_node_def(pos2).walkable then
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and get_node_def(pos2).walkable then
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return true, pos2
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end
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end
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@ -179,6 +199,65 @@ local function get_avoidance_dir(self)
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end
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end
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local steer_directions = {
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vec_normal({x = 1, y = 0, z = 0}),
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vec_normal({x = 1, y = 0, z = 1}),
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vec_normal({x = 0, y = 0, z = 1}),
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vec_normal({x = -1, y = 0, z = 0}),
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vec_normal({x = -1, y = 0, z = -1}),
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vec_normal({x = 0, y = 0, z = -1}),
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vec_normal({x = 1, y = 0, z = -1}),
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vec_normal({x = -1, y = 0, z = 1})
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}
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function creatura.get_context_steering(self, goal, range)
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local pos, vel = self.object:get_pos(), self.object:get_velocity()
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if not pos then return end
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local heading = vec_normal(vel)
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local dir2goal = vec_normal(vec_dir(pos, goal))
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local output_dir = {x = 0, y = dir2goal.y, z = 0}
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range = range or 8
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if range < 2 then range = 2 end
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for _, _dir in ipairs(steer_directions) do
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local dir = table.copy(_dir)
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local score = vec_dot(dir2goal, dir)
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local interest = clamp(score, 0, 1)
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local danger = 0
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if interest >= 0 then
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local width = self.width
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local height = self.height
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local collision
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if width <= 0.5
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and height <= 1 then
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local pos2 = vec_add(pos, dir)
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local pos2_name = minetest.get_node(pos2).name
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collision = get_node_height(pos2_name) > self.stepheight and pos2
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if not collision then
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local above = {x = pos2.x, y = pos2.y + 1, z = pos2.z}
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collision = get_node_def(above).walkable and pos2
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end
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else
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local s_range = range * clamp(interest, 0.5, 1)
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_, collision = creatura.get_collision_ranged(self, dir, s_range)
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end
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if collision then
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local dir2col = vec_dir(pos, collision)
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local dist2col = vec_dist(pos, collision) - self.width
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local ahead = vec_add(pos, vec_multi(heading, self.width + dist2col))
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local avd_force = vec_normal(vec_sub(ahead, collision))
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dir.y = avd_force.y / 4
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local dot_weight = vec_dot(vec_normal(dir2col), dir)
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local dist_weight = (range - dist2col) / range
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interest = interest - dot_weight
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danger = dist_weight
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end
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end
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score = clamp(interest - danger, 0, 1)
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output_dir = vector.add(output_dir, vector.multiply(dir, score))
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end
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return output_dir
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end
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-------------
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-- Actions --
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-------------
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@ -414,4 +493,27 @@ creatura.register_movement_method("creatura:obstacle_avoidance", function(self)
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_self:turn_to(goal_yaw, turn_rate)
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end
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return func
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end)
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creatura.register_movement_method("creatura:context_based_steering", function(self)
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local steer_to
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local steer_timer = 0.25
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self:set_gravity(-9.8)
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local function func(_self, goal, speed_factor)
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local pos = _self.object:get_pos()
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if not pos then return end
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if vec_dist(pos, goal) < clamp(self.width, 0.5, 1) then
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_self:halt()
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return true
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end
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-- Calculate Movement
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steer_timer = (steer_timer > 0 and steer_timer - self.dtime) or 0.25
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steer_to = (steer_timer <= 0 and creatura.get_context_steering(self, goal, 2)) or steer_to
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local speed = abs(_self.speed or 2) * speed_factor or 0.5
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local turn_rate = abs(_self.turn_rate or 5)
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-- Apply Movement
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_self:set_forward_velocity(speed)
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_self:turn_to(dir2yaw(steer_to or vec_dir(pos, goal)), turn_rate)
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end
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return func
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end)
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