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https://github.com/ElCeejo/creatura.git
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Improved Boids and Context Steering
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ElCeejo
parent
66f02bc77a
commit
6c411bc6ac
3 changed files with 182 additions and 39 deletions
89
methods.lua
89
methods.lua
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@ -40,7 +40,7 @@ local dir2yaw = minetest.dir_to_yaw
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texture = tex or "creatura_particle_red.png",
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expirationtime = time or 0.1,
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glow = 16,
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size = 16
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size = 24
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})
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end]]
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@ -104,7 +104,7 @@ end]]
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end]]
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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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--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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@ -114,13 +114,17 @@ function creatura.get_collision_ranged(self, dir, range)
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pos.y = pos.y + 0.01
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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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local outset = math.floor(width)
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if outset < 0.5 then outset = 0.5 end
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local ahead = vec_add(pos, vec_multi(dir, outset))
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local height_half = self.height * 0.5
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local center_y = pos.y + height_half
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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 danger = 0
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local collision
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for _ = 0, range or 4 do
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pos_x = pos_x + dir_x
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@ -135,13 +139,14 @@ function creatura.get_collision_ranged(self, dir, range)
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}
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for y = 0, height, height / ceil(height) do
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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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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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local dist_dngr = (height_half - abs(center_y - pos2.y)) / height_half
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local field_dngr = vec_dot(dir, vec_normal(vec_dir(pos, pos2)))
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local ttl_dngr = dist_dngr + field_dngr
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if ttl_dngr > danger then
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danger = ttl_dngr
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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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@ -192,7 +197,7 @@ local function get_avoidance_dir(self)
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vel.y = 0
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local vel_len = vec_len(vel) * (1 + (self.step_delay or 0))
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local ahead = vec_add(pos, vec_normal(vel))
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local avoidance_force = vector.subtract(ahead, col_pos)
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local avoidance_force = vec_sub(ahead, col_pos)
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avoidance_force.y = 0
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avoidance_force = vec_multi(vec_normal(avoidance_force), (vel_len > 1 and vel_len) or 1)
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return vec_dir(pos, vec_add(ahead, avoidance_force))
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@ -210,7 +215,7 @@ local steer_directions = {
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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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--[[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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@ -246,7 +251,7 @@ function creatura.get_context_steering(self, goal, range)
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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 dot_weight = vec_dot(vec_normal(dir2col), dir2goal)
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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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@ -256,6 +261,62 @@ function creatura.get_context_steering(self, goal, range)
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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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local function get_collision_single(pos)
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local pos2 = {x = pos.x, y = pos.y, z = pos.z}
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if get_node_def(pos2).walkable then
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pos2.y = pos.y + 1
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local col_max = get_node_def(pos2).walkable
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pos2.y = pos.y - 1
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local col_min = col_max and get_node_def(pos2).walkable
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if col_min then
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return pos
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else
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pos2.y = pos.y + 1
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return pos2
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end
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end
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end
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function creatura.get_context_steering(self, goal, range)
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local pos, yaw = self.object:get_pos(), self.object:get_yaw()
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if not pos or not yaw then return end
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range = range or 8; if range < 2 then range = 2 end
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local width, height = self.width, self.height
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local dir2goal = vec_normal(vec_dir(pos, goal))
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local output_dir = {x = 0, y = 0, z = 0}
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pos.y = (pos.y + height * 0.5)
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local collision
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local dir2col
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local dir
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for _, _dir in ipairs(steer_directions) do
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dir = {x = _dir.x, y = 0, z = _dir.z}
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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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if width <= 0.5
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and height <= 1 then
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collision = get_collision_single(vec_add(pos, dir))
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else
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_, collision = creatura.get_collision_ranged(self, dir, range)
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end
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if collision then
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dir2col = vec_normal(vec_dir(pos, collision))
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local dist2col = vec_dist(pos, collision) - width
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dir.y = dir2col.y * -1
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local dot_weight = vec_dot(dir2col, dir2goal)
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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 = interest - danger
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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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@ -508,7 +569,7 @@ creatura.register_movement_method("creatura:context_based_steering", function(se
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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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steer_to = (steer_timer <= 0 and creatura.get_context_steering(self, goal, 3)) 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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