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New obstacle avoidance, Improved "pathfind" method

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ElCeejo 2022-05-15 18:02:35 -07:00 • committed by GitHub
parent e7da1f18af
commit b8178480c7
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1 changed files with 62 additions and 20 deletions
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82
methods.lua
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@ -9,6 +9,9 @@ local floor = math.floor
local random = math.random
local rad = math.rad
local sin = math.sin
local cos = math.cos
local function diff(a, b) -- Get difference between 2 angles
return math.atan2(math.sin(b - a), math.cos(b - a))
end
@ -47,6 +50,40 @@ local function debugpart(pos, time, tex)
})
end
---------------------
-- Local Utilities --
---------------------
local function get_collision(self, yaw)
local width = self.width
local height = self.height
local pos = self.object:get_pos()
pos.y = pos.y + 1
local pos2 = vec_add(pos, vec_multi(yaw2dir(yaw), width + 5))
for x = -width, width, width / math.ceil(width) do
for y = 0, height, height / math.ceil(height) do
local vec1 = {
x = math.cos(yaw) * ((pos.x + x) - pos.x) + pos.x,
y = pos.y + y,
z = math.sin(yaw) * ((pos.x + x) - pos.x) + pos.z
}
local vec2 = {
x = math.cos(yaw) * ((pos2.x + x) - pos2.x) + pos2.x,
y = vec1.y,
z = math.sin(yaw) * ((pos2.x + x) - pos2.x) + pos2.z
}
local ray = minetest.raycast(vec1, vec2, false, true)
for pointed_thing in ray do
if pointed_thing
and pointed_thing.type == "node" then
return true, pointed_thing.intersection_point
end
end
end
end
return false
end
-------------
-- Actions --
-------------
@ -151,7 +188,9 @@ creatura.register_movement_method("creatura:pathfind", function(self, pos2)
local speed = movement_data.speed or 5
local path = self._path
if not path or #path < 2 then
self._path = creatura.find_path(self, pos, pos2, self.width, self.height, 200) or {}
if get_collision(self, dir2yaw(vec_dir(pos, pos2))) then
self._path = creatura.find_path(self, pos, pos2, self.width, self.height, 200) or {}
end
else
waypoint = self._path[2]
if self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}) then
@ -279,34 +318,37 @@ end)
-- Obstacle Avoidance
local moveable = creatura.is_pos_moveable
local function get_obstacle_avoidance(self, pos2)
local pos = self.object:get_pos()
local yaw = minetest.dir_to_yaw(vec_dir(pos, pos2))
pos.y = pos.y + self.stepheight
local height = self.height
local function get_obstacle_avoidance(self, goal)
local width = self.width
local outset = vec_center(vec_add(pos, vec_multi(yaw2dir(yaw), width + 0.2)))
local pos2
if not moveable(outset, width, height) then
yaw = self.object:get_yaw()
for i = 1, 89, 45 do
local height = self.height
local pos = self.object:get_pos()
pos.y = pos.y + 1
local yaw2goal = dir2yaw(vec_dir(pos, goal))
local outset = vec_add(pos, vec_multi(yaw2dir(yaw2goal), width))
local collide, col_pos = get_collision(self, outset, yaw2goal)
local avd_pos
if collide then
for i = 45, 180, 45 do
angle = rad(i)
dir = vec_multi(yaw2dir(yaw + angle), width + 0.2)
pos2 = vec_center(vec_add(pos, dir))
if moveable(pos2, width, height) then
dir = vec_multi(yaw2dir(yaw2goal + angle), width)
avd_pos = vec_center(vec_add(pos, dir))
if not get_collision(self, avd_pos, yaw2goal) then
break
end
angle = -rad(i)
dir = vec_multi(yaw2dir(yaw + angle), width + 0.2)
pos2 = vec_center(vec_add(pos, dir))
if moveable(pos2, width, height) then
dir = vec_multi(yaw2dir(yaw2goal + angle), width)
avd_pos = vec_center(vec_add(pos, dir))
if not get_collision(self, avd_pos, yaw2goal) then
break
end
end
if col_pos.y - (pos.y + height * 0.5) > 1 then
avd_pos.y = avd_pos.y - 3
elseif (pos.y + height * 0.5) - col_pos.y > 1 then
avd_pos.y = avd_pos.y + 3
end
end
return pos2
return avd_pos
end
creatura.register_movement_method("creatura:obstacle_avoidance", function(self, pos2)