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Initial Commit
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386
methods.lua
Normal file
386
methods.lua
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-------------
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-- Methods --
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-------------
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local pi = math.pi
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local pi2 = pi * 2
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local abs = math.abs
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local floor = math.floor
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local random = math.random
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local rad = math.rad
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local function diff(a, b) -- Get difference between 2 angles
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return math.atan2(math.sin(b - a), math.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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end
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return val
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end
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local function vec_center(v)
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return {x = floor(v.x + 0.5), y = floor(v.y + 0.5), z = floor(v.z + 0.5)}
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end
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local function vec_raise(v, n)
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return {x = v.x, y = v.y + n, z = v.z}
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end
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local vec_dir = vector.direction
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local vec_dist = vector.distance
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local vec_multi = vector.multiply
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local vec_add = vector.add
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local yaw2dir = minetest.yaw_to_dir
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-------------
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-- Actions --
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-------------
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-- Actions are more specific behaviors used
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-- to compose a Utility.
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-- Walk
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function creatura.action_walk(self, pos2, timeout, method, speed_factor, anim)
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local timer = timeout or 4
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local move_init = false
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local function func(self)
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if not pos2
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or (move_init
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and not self._movement_data.goal) then return true end
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local pos = self.object:get_pos()
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timer = timer - self.dtime
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if timer <= 0
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or self:pos_in_box({x = pos2.x, y = pos.y + 0.1, z = pos2.z}) then
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self:halt()
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return true
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end
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self:move(pos2, method or "creatura:neighbors", speed_factor or 0.5, anim)
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move_init = true
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end
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self:set_action(func)
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end
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function creatura.action_fly(self, pos2, timeout, method, speed_factor, anim)
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local timer = timeout or 4
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local move_init = false
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local function func(self)
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if not pos2
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or (move_init
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and not self._movement_data.goal) then return true end
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local pos = self.object:get_pos()
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timer = timer - self.dtime
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if timer <= 0
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or self:pos_in_box(pos2) then
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self:halt()
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return true
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end
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self:move(pos2, method, speed_factor or 0.5, anim)
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move_init = true
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end
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self:set_action(func)
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end
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-- Idle
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function creatura.action_idle(self, time, anim)
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local timer = time
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local function func(self)
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self:set_gravity(-9.8)
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self:halt()
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self:animate(anim or "stand")
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timer = timer - self.dtime
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if timer <= 0 then
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return true
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end
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end
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self:set_action(func)
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end
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-- Rotate on Z axis in random direction until 90 degree angle is reached
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function creatura.action_fallover(self)
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local zrot = 0
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local init = false
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local dir = 1
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local function func(self)
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if not init then
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self:animate("stand")
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if random(2) < 2 then
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dir = -1
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end
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init = true
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end
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local rot = self.object:get_rotation()
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local goal = (pi * 0.5) * dir
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local dif = abs(rot.z - goal)
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zrot = rot.z + (dif * dir) * 0.15
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self.object:set_rotation({x = rot.x, y = rot.y, z = zrot})
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if (dir > 0 and zrot >= goal)
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or (dir < 0 and zrot <= goal) then return true end
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end
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self:set_action(func)
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end
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----------------------
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-- Movement Methods --
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----------------------
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-- Pathfinding
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function get_line_of_sight(a, b)
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local steps = floor(vector.distance(a, b))
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local line = {}
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for i = 0, steps do
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local pos
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if steps > 0 then
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pos = {
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x = a.x + (b.x - a.x) * (i / steps),
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y = a.y + (b.y - a.y) * (i / steps),
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z = a.z + (b.z - a.z) * (i / steps)
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}
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else
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pos = a
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end
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table.insert(line, pos)
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end
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if #line < 1 then
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return false
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else
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for i = 1, #line do
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local node = minetest.get_node(line[i])
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if minetest.registered_nodes[node.name].walkable then
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return false
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end
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end
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end
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return true
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end
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local function movement_theta_pathfind(self, pos2, speed)
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local pos = self.object:get_pos()
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local goal = pos2
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self._path = self._path or {}
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local temp_goal = self._movement_data.temp_goal
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if not temp_goal
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or self:pos_in_box({x = temp_goal.x, y = pos.y + self.height * 0.5, z = temp_goal.z}) then
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self._movement_data.temp_goal = creatura.get_next_move(self, pos2)
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temp_goal = self._movement_data.temp_goal
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end
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if #self._path < 1 then
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self._path = creatura.find_theta_path(self, self.object:get_pos(), pos2, self.width, self.height, 500) or {}
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else
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temp_goal = self._path[2] or self._path[1]
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if self:pos_in_box({x = temp_goal.x, y = pos.y + self.height * 0.5, z = temp_goal.z}) then
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table.remove(self._path, 1)
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end
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end
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goal.y = pos.y + 0.5
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local dir = vector.direction(self.object:get_pos(), pos2)
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local tyaw = minetest.dir_to_yaw(dir)
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local turn_rate = self.turn_rate or 10
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if temp_goal then
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dir = vector.direction(self.object:get_pos(), temp_goal)
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tyaw = minetest.dir_to_yaw(dir)
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if #self._path < 1
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and not self:is_pos_safe(temp_goal) then
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self:animate("walk")
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self:set_forward_velocity(0)
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self:halt()
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return
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end
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end
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self:turn_to(tyaw, turn_rate)
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self:animate("walk")
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self:set_gravity(-9.8)
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self:set_forward_velocity(speed or 2)
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if self:pos_in_box(goal) then
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self:halt()
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end
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end
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creatura.register_movement_method("creatura:theta_pathfind", movement_theta_pathfind)
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local function movement_pathfind(self, pos2, speed)
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local pos = self.object:get_pos()
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local goal = pos2
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local temp_goal = self._movement_data.temp_goal
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self._path = self._path or {}
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if (not temp_goal
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or self:pos_in_box({x = temp_goal.x, y = pos.y + self.height * 0.5, z = temp_goal.z}))
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and #self._path < 1 then
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self._movement_data.temp_goal = creatura.get_next_move(self, pos2)
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temp_goal = self._movement_data.temp_goal
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end
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if #self._path < 2 then
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self._path = creatura.find_path(self, self.object:get_pos(), pos2, self.width, self.height, 100) or {}
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else
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temp_goal = self._path[2]
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if self:pos_in_box({x = temp_goal.x, y = pos.y + self.height * 0.5, z = temp_goal.z}) then
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table.remove(self._path, 1)
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end
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end
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goal.y = pos.y + 0.5
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local dir = vector.direction(self.object:get_pos(), pos2)
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local tyaw = minetest.dir_to_yaw(dir)
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local turn_rate = self.turn_rate or 10
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if temp_goal then
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dir = vector.direction(self.object:get_pos(), temp_goal)
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tyaw = minetest.dir_to_yaw(dir)
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if #self._path < 2
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and not self:is_pos_safe(temp_goal) then
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self:animate("walk")
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self:set_forward_velocity(0)
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self:halt()
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return
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end
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end
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self:turn_to(tyaw, turn_rate)
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self:animate("walk")
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self:set_gravity(-9.8)
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self:set_forward_velocity(speed or 2)
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if self:pos_in_box(pos2) then
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self:halt()
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end
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end
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creatura.register_movement_method("creatura:pathfind", movement_pathfind)
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-- Obstacle Avoidance
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local function moveable(pos, width, height)
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local pos1 = {
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x = pos.x - (width + 0.2),
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y = pos.y,
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z = pos.z - (width + 0.2),
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}
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local pos2 = {
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x = pos.x + (width + 0.2),
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y = pos.y,
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z = pos.z + (width + 0.2),
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}
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for z = pos1.z, pos2.z do
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for x = pos1.x, pos2.x do
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local pos3 = {x = x, y = (pos.y + height), z = z}
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local pos4 = {x = x, y = pos.y, z = z}
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local ray = minetest.raycast(pos3, pos4, false, false)
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for pointed_thing in ray do
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if pointed_thing.type == "node" then
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return false
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end
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end
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end
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end
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return true
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end
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local function get_obstacle_avoidance(self, pos2)
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local pos = self.object:get_pos()
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local yaw = minetest.dir_to_yaw(vec_dir(pos, pos2))
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pos.y = pos.y + self.stepheight
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local height = self.height
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local width = self.width
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local outset = vec_center(vec_add(pos, vec_multi(yaw2dir(yaw), width + 0.2)))
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local pos2
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if not moveable(outset, width, height) then
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yaw = self.object:get_yaw()
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for i = 1, 89, 45 do
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angle = rad(i)
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dir = vec_multi(yaw2dir(yaw + angle), width + 0.2)
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pos2 = vec_center(vec_add(pos, dir))
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if moveable(pos2, width, height) then
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break
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end
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angle = -rad(i)
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dir = vec_multi(yaw2dir(yaw + angle), width + 0.2)
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pos2 = vec_center(vec_add(pos, dir))
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if moveable(pos2, width, height) then
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break
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end
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end
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end
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return pos2
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end
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local function movement_obstacle_avoidance(self, pos2, speed)
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local pos = self.object:get_pos()
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local temp_goal = self._movement_data.temp_goal
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if not temp_goal
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or self:pos_in_box(temp_goal) then
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self._movement_data.temp_goal = get_obstacle_avoidance(self, pos2)
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temp_goal = self._movement_data.temp_goal
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if temp_goal then
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temp_goal.y = floor(pos.y + self.height * 0.5)
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end
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end
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pos2.y = floor(pos2.y + 0.5)
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local dir = vector.direction(pos, pos2)
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local tyaw = minetest.dir_to_yaw(dir)
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local turn_rate = self.turn_rate or 10
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if temp_goal then
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dir = vector.direction(pos, temp_goal)
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tyaw = minetest.dir_to_yaw(dir)
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end
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local turn_diff = abs(diff(self.object:get_yaw(), tyaw))
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self:turn_to(tyaw, turn_rate)
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self:animate("walk")
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self:set_gravity(-9.8)
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self:set_forward_velocity(speed - clamp(turn_diff, 0, speed * 0.66))
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if self:pos_in_box({x = pos2.x, y = pos.y + 0.1, z = pos2.z})
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or (temp_goal
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and not self:is_pos_safe(temp_goal)) then
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self:halt()
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end
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end
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creatura.register_movement_method("creatura:obstacle_avoidance", movement_obstacle_avoidance)
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-- Neighbors
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local function movement_neighbors(self, pos2, speed)
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local pos = self.object:get_pos()
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local temp_goal = self._movement_data.temp_goal
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local width = clamp(self.width, 0.5, 1.5)
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if not temp_goal
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or self:pos_in_box(temp_goal) then
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self._movement_data.temp_goal = creatura.get_next_move(self, pos2)
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temp_goal = self._movement_data.temp_goal
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end
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pos2.y = pos.y + self.height * 0.5
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local yaw = self.object:get_yaw()
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local dir = vector.direction(self.object:get_pos(), pos2)
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local tyaw = minetest.dir_to_yaw(dir)
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local turn_rate = self.turn_rate or 10
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if temp_goal then
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temp_goal.x = math.floor(temp_goal.x + 0.5)
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temp_goal.z = math.floor(temp_goal.z + 0.5)
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temp_goal.y = pos.y + self.height * 0.5
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dir = vector.direction(self.object:get_pos(), temp_goal)
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tyaw = minetest.dir_to_yaw(dir)
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if not self:is_pos_safe(temp_goal) then
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self:set_forward_velocity(0)
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self:halt()
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return
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end
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end
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local yaw_diff = abs(diff(yaw, tyaw))
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self:turn_to(tyaw, turn_rate)
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self:set_gravity(-9.8)
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if yaw_diff < pi then
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self:animate("walk")
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self:set_forward_velocity(speed)
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end
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if self:pos_in_box(pos2) then
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self:halt()
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end
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end
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creatura.register_movement_method("creatura:neighbors", movement_neighbors)
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