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https://github.com/ElCeejo/creatura.git
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Improved obstacle avoidance, bug fixes
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ElCeejo
parent
745f7b7f30
commit
e4c5abe3c9
3 changed files with 132 additions and 80 deletions
209
methods.lua
209
methods.lua
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@ -5,6 +5,7 @@
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local pi = math.pi
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local abs = math.abs
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local ceil = math.ceil
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local max = math.max
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local random = math.random
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local atan2 = math.atan2
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local sin = math.sin
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@ -54,56 +55,54 @@ local get_node_def = creatura.get_node_def
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function creatura.get_collision(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, height = self.width, self.height
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local y_offset = math.min(height, self.stepheight)
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local center_y = pos.y + height * 0.5
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dir = vec_normal(dir or yaw2dir(yaw))
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yaw = dir2yaw(dir)
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pos = {
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x = pos.x + dir.x * width,
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y = pos.y + y_offset,
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z = pos.z + dir.z * width
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}
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local width, height = self.width or 0.5, self.height or 1
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dir = dir or yaw2dir(yaw)
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pos.x = pos.x + dir.x * width
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pos.z = pos.z + dir.z * width
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local cos_yaw = cos(yaw)
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local sin_yaw = sin(yaw)
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local width_i = width / ceil(width)
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local height_i = height / ceil(height)
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local pos_x, pos_y, pos_z = pos.x, pos.y, pos.z
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local dir_x, dir_y, dir_z = dir.x, dir.y, dir.z
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local pos2
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local pos2_def
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local pos2 = {x = pos_x, y = pos_y, z = pos_z}
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local collision
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local danger = 0
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for _ = 0, range or 4 do
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pos.y = pos.y + height * 0.5
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range = range or 4
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local low_score
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for _ = 0, range do
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if collision then return collision end
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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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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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pos2.y = pos_y
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for x = -width, width, width_i do
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pos2.x = cos_yaw * ((pos_x + x) - pos_x) + pos_x
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pos2.z = sin_yaw * ((pos_x + x) - pos_x) + pos_z
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local height_step = height / ceil(height)
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for y = height, 0, -height_step do
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for y = height, 0, -height_i do
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if y < self.stepheight or 1.1 then break end
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pos2.y = pos_y + y
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pos2_def = creatura.get_node_def(pos2)
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if pos2_def.walkable then
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local dist_score = ((height * 0.5) - abs(center_y - pos2.y)) / (height * 0.5)
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local dot_score = vec_dot(dir, vec_dir(pos, pos2))
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local total_score = dist_score + dot_score
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if total_score > danger then
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danger = total_score
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if get_node_def(pos2).walkable then
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local score = abs(pos.y - pos2.y) * vec_dot(dir, vec_dir(pos, pos2))
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if not low_score
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or score < low_score then
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low_score = score
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collision = pos2
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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 collision end
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end
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end
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@ -146,6 +145,80 @@ local function get_collision_single(pos, water)
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end
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end
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function creatura.get_avoidance_lift(self, pos2, range)
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range = ceil(max(range or 1, 0.5))
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local height_half = (self.height or 1) * 0.5
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local center_y = pos2.y + height_half
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local check_pos = {x = pos2.x, y = center_y, z = pos2.z}
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-- Find ceiling and floor collisions
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local ceil_pos
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local floor_pos
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for i = 1, range, 0.5 do -- 0.5 increment increases accuracy
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if ceil_pos and floor_pos then break end
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check_pos.y = center_y + i
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if not ceil_pos
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and creatura.get_node_def(check_pos).walkable then
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ceil_pos = check_pos
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end
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check_pos.y = center_y - i
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if not floor_pos
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and creatura.get_node_def(check_pos).walkable then
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floor_pos = check_pos
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end
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end
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-- Calculate direction to average point of collisions
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check_pos.y = center_y
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local offset = {x = 0, y = height_half + range, z = 0}
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if not ceil_pos then ceil_pos = vec_add(check_pos, offset) end
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if not floor_pos then floor_pos = vec_sub(check_pos, offset) end
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local dist_up = ceil_pos.y - center_y
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local dist_down = floor_pos.y - center_y
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local altitude = (dist_up + dist_down) / 2
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return ((check_pos.y + altitude) - center_y) / range * 2
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end
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function creatura.get_avoidance_lift_aquatic(self, pos2, range)
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range = ceil(max(range or 1, 0.5))
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local height_half = (self.height or 1) * 0.5
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local center_y = pos2.y + height_half
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local check_pos = {x = pos2.x, y = center_y, z = pos2.z}
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-- Find ceiling and floor collisions
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local ceil_pos
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local floor_pos
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for i = 1, range, 0.5 do -- 0.5 increment increases accuracy
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if ceil_pos and floor_pos then break end
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check_pos.y = center_y + i
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if not ceil_pos
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and minetest.get_item_group(creatura.get_node_def(check_pos).name, "liquid") < 1 then
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ceil_pos = check_pos
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end
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check_pos.y = center_y - i
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if not floor_pos
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and minetest.get_item_group(creatura.get_node_def(check_pos).name, "liquid") < 1 then
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floor_pos = check_pos
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end
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end
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-- Calculate direction to average point of collisions
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check_pos.y = center_y
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local offset = {x = 0, y = height_half + range, z = 0}
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if not ceil_pos then ceil_pos = vec_add(check_pos, offset) end
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if not floor_pos then floor_pos = vec_sub(check_pos, offset) end
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local dist_up = ceil_pos.y - center_y
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local dist_down = floor_pos.y - center_y
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local altitude = (dist_up + dist_down) / 2
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return ((check_pos.y + altitude) - center_y) / range * 2
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end
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----------------------------
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-- Context Based Steering --
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----------------------------
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@ -166,8 +239,8 @@ local steer_directions = {
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function creatura.get_context_default(self, goal, steer_dir, interest, danger, range)
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local pos = self.object:get_pos()
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if not pos then return end
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local width, height = self.width, self.height
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local y_offset = math.min(self.stepheight or height)
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local width, height = self.width or 0.5, self.height or 1
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local y_offset = math.min(self.stepheight or 1.1, height)
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pos.y = pos.y + y_offset
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local collision
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@ -194,7 +267,7 @@ end
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function creatura.get_context_large(self, goal, steer_dir, interest, danger, range)
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local pos = self.object:get_pos()
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if not pos then return end
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local width, height = self.width, self.height
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local width, height = self.width or 0.5, self.height or 1
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local y_offset = math.min(self.stepheight or height)
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pos.y = pos.y + y_offset
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local collision = creatura.get_collision(self, steer_dir, range)
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@ -215,7 +288,7 @@ function creatura.get_context_small(self, goal, steer_dir, interest, danger, ran
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local pos = self.object:get_pos()
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if not pos then return end
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pos = vector.round(pos)
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local width = self.width
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local width = self.width or 0.5
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local collision = get_collision_single(vec_add(pos, steer_dir))
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if collision then
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@ -234,8 +307,9 @@ function creatura.get_context_small_aquatic(self, goal, steer_dir, interest, dan
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local pos = self.object:get_pos()
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if not pos then return end
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pos = vector.round(pos)
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local width = self.width
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local collision = get_collision_single(vec_add(pos, steer_dir), true)
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local width = self.width or 0.5
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local pos2 = vec_add(pos, steer_dir)
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local collision = minetest.get_item_group(get_node_def(pos2).name, "liquid") < 1 and pos2
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if collision then
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local dir2goal = vec_normal(vec_dir(pos, goal))
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@ -290,47 +364,6 @@ function creatura.get_context_steering(self, goal, range, water)
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return creatura.calc_steering(self, goal, context, range)
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end
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--[[function creatura.get_context_steering(self, goal, range, water)
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if not goal then return end
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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 = dir2goal.y, 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), water)
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else
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_, collision = creatura.get_collision_ranged(self, dir, range, water)
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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) + dir2goal.y * 1.5) / 2
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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 vec_normal(output_dir)
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end
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]]
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-------------
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-- Actions --
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-------------
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@ -495,10 +528,9 @@ creatura.register_movement_method("creatura:pathfind", function(self)
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steer_int = (not steer_to and steer_int > 0 and steer_int - _self.dtime) or 1 / math.max(speed, 1)
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steer_to = (steer_int <= 0 and creatura.calc_steering(_self, goal)) or steer_to
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if steer_to then
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path = creatura.find_lvm_path(_self, pos, goal, _self.width, _self.height, 400) or {}
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if #path > 0 then
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steer_to = vec_dir(pos, path[2] or path[1])
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else
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path = creatura.find_lvm_path(_self, pos, goal, _self.width, _self.height, 400) or {}
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end
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end
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-- Apply Movement
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@ -556,6 +588,25 @@ creatura.register_movement_method("creatura:steer_large", function(self)
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return func
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end)
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creatura.register_movement_method("creatura:walk_simple", function(self)
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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 or not goal 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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local turn_rate = abs(_self.turn_rate or 5)
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local speed = abs(_self.speed or 2) * speed_factor or 0.5
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-- Apply Movement
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_self:turn_to(dir2yaw(vec_dir(pos, goal)), turn_rate)
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_self:set_forward_velocity(speed)
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end
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return func
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end)
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-- Deprecated
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creatura.register_movement_method("creatura:context_based_steering", function(self)
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@ -861,6 +861,7 @@ function mob:staticdata()
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data.perm_data = self.perm_data
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data.hp = self.hp or self.max_health
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data.texture_no = self.texture_no or random(#self.textures)
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data.mesh_no = self.mesh_no or (self.meshes and random(#self.meshes))
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return minetest.serialize(data)
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end
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@ -116,7 +116,7 @@ function creatura.register_spawn_item(name, def)
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return itemstack
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end
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end
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minetest.register_craftitem(mod_name .. ":spawn_" .. mob_name, def)
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minetest.register_craftitem(def.itemstring or (mod_name .. ":spawn_" .. mob_name), def)
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end
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function creatura.register_mob_spawn(name, def)
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