mirror of
https://github.com/ElCeejo/creatura.git
synced 2025-07-07 15:20:28 -04:00
Movement API re-write
This commit is contained in:
ElCeejo
GitHub
parent
ce14c85924
commit
f4df6599ae
2 changed files with 198 additions and 260 deletions
383
methods.lua
383
methods.lua
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@ -35,7 +35,7 @@ local vec_add = vector.add
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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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@ -43,7 +43,7 @@ local dir2yaw = minetest.dir_to_yaw
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glow = 6,
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size = 12
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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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@ -79,6 +79,32 @@ local function get_collision(self, yaw)
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return false
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end
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local function get_obstacle_avoidance(self, goal)
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local width = self.width
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local height = self.height
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local pos = self.object:get_pos()
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pos.y = pos.y + 1
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local yaw2goal = dir2yaw(vec_dir(pos, goal))
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local collide, col_pos = get_collision(self, yaw2goal)
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if not collide then return end
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local avd_pos
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for i = 45, 180, 45 do
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local angle = rad(i)
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local dir = vec_multi(yaw2dir(yaw2goal + angle), width)
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avd_pos = vec_center(vec_add(pos, dir))
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if not get_collision(self, yaw2goal) 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(yaw2goal + angle), width)
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avd_pos = vec_center(vec_add(pos, dir))
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if not get_collision(self, yaw2goal) then
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break
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end
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end
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return avd_pos
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end
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-------------
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-- Actions --
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-------------
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@ -88,44 +114,20 @@ end
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-- Walk
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function creatura.action_walk(self, pos2, timeout, method, speed_factor, anim)
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function creatura.action_move(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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self:animate(anim or "walk")
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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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or _self:move_to(pos2, method or "creatura:obstacle_avoidance", speed_factor or 0.5) then
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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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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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creatura.action_walk = creatura.action_move
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-- Idle
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@ -174,209 +176,144 @@ end
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-- Pathfinding
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creatura.register_movement_method("creatura:pathfind", function(self, pos2)
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-- Movement Data
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local pos = self.object:get_pos()
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local movement_data = self._movement_data
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local waypoint = movement_data.waypoint
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local speed = movement_data.speed or 5
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local path = self._path
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if not path or #path < 2 then
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if get_collision(self, dir2yaw(vec_dir(pos, pos2))) then
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self._path = creatura.find_path(self, pos, pos2, self.width, self.height, 200) or {}
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end
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else
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waypoint = self._path[2]
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if self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}) then
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-- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes
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table.remove(self._path, 1)
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end
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end
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if not waypoint
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or self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}) then
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waypoint = creatura.get_next_move(self, pos2)
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self._movement_data.waypoint = waypoint
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end
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-- Turning
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local dir2waypoint = vec_dir(pos, pos2)
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if waypoint then
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dir2waypoint = vec_dir(pos, waypoint)
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end
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local yaw = self.object:get_yaw()
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local tgt_yaw = dir2yaw(dir2waypoint)
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local turn_rate = abs(self.turn_rate or 5)
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local yaw_diff = abs(diff(yaw, tgt_yaw))
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-- Moving
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creatura.register_movement_method("creatura:pathfind", function(self, goal)
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local path = {}
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local waypoint
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local tick = 0.15
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local box = clamp(self.width, 0.5, 1)
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self:set_gravity(-9.8)
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if yaw_diff < pi * (turn_rate * 0.1) then
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self:set_forward_velocity(speed)
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else
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self:set_forward_velocity(speed * 0.5)
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turn_rate = turn_rate * 1.5
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end
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self:animate(movement_data.anim or "walk")
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self:turn_to(tgt_yaw, turn_rate)
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if self:pos_in_box(pos2)
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or (waypoint
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and not self:is_pos_safe(waypoint)) then
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self:halt()
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local function func(self)
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local pos = self.object:get_pos()
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if not pos then return end
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-- Return true when goal is reached
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if self:pos_in_box(goal, box) then
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self:halt()
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return true
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end
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tick = tick - self.dtime
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if tick <= 0 then
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if not waypoint
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or self:pos_in_box({x = waypoint.x, y = pos.y + box * 0.5, z = waypoint.z}, box) then
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-- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes
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waypoint = get_obstacle_avoidance(self, goal)
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end
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tick = 0.15
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end
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-- Get movement direction
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local goal_dir = vec_dir(pos, goal)
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if waypoint then
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-- There's an obstruction, time to find a path
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if #path < 2 then
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path = creatura.find_path(self, pos, goal, self.width, self.height, 200) or {}
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else
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waypoint = path[2]
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if self:pos_in_box(path[1], box) then
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table.remove(path, 1)
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end
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end
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goal_dir = vec_dir(pos, waypoint)
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debugpart(waypoint)
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end
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local yaw = self.object:get_yaw()
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local goal_yaw = dir2yaw(goal_dir)
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local speed = abs(self.speed or 2)
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local turn_rate = abs(self.turn_rate or 5)
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-- Movement
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local yaw_diff = abs(diff(yaw, goal_yaw))
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if yaw_diff < pi * 0.25 then
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self:set_forward_velocity(speed)
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else
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self:set_forward_velocity(speed * 0.5)
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turn_rate = turn_rate * 1.5
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end
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if yaw_diff > 0.1 then
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self:turn_to(goal_yaw, turn_rate)
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end
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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:theta_pathfind", function(self, pos2)
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-- Movement Data
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local pos = self.object:get_pos()
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local movement_data = self._movement_data
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local waypoint = movement_data.waypoint
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local speed = movement_data.speed or 5
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local path = self._path
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if not path or #path < 1 then
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self._path = creatura.find_theta_path(self, pos, pos2, self.width, self.height, 300) or {}
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else
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waypoint = self._path[2] or self._path[1]
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if self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}) then
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-- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes
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table.remove(self._path, 1)
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creatura.register_movement_method("creatura:theta_pathfind", function(self, goal)
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local path = {}
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local waypoint
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local tick = 0.15
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local box = clamp(self.width, 0.5, 1)
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self:set_gravity(-9.8)
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local function func(self)
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local pos = self.object:get_pos()
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if not pos then return end
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tick = tick - self.dtime
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if tick <= 0 then
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if not waypoint
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or self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}, box) then
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-- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes
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waypoint = get_obstacle_avoidance(self, goal)
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end
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tick = 0.15
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end
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-- Get movement direction
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local goal_dir = vec_dir(pos, goal)
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if waypoint then
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-- There's an obstruction, time to find a path
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if #path < 1 then
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path = creatura.find_path(self, pos, goal, self.width, self.height, 300) or {}
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else
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waypoint = path[2] or path[1]
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end
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goal_dir = vec_dir(pos, waypoint)
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end
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local yaw = self.object:get_yaw()
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local goal_yaw = dir2yaw(goal_dir)
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if abs(yaw - goal_yaw) > 0.1 then
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self:turn_to(goal_yaw, self.turn_rate or 6)
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end
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-- Set Velocity
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self:set_forward_velocity(self.speed or 2)
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-- Return true when goal is reached
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if self:pos_in_box(goal, box) then
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self:halt()
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return true
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end
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end
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if not waypoint
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or self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}) then
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waypoint = creatura.get_next_move(self, pos2)
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self._movement_data.waypoint = waypoint
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end
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-- Turning
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local dir2waypoint = vec_dir(pos, pos2)
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if waypoint then
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dir2waypoint = vec_dir(pos, waypoint)
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end
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local yaw = self.object:get_yaw()
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local tgt_yaw = dir2yaw(dir2waypoint)
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local turn_rate = abs(self.turn_rate or 5)
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local yaw_diff = abs(diff(yaw, tgt_yaw))
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-- Moving
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self:set_gravity(-9.8)
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if yaw_diff < pi * (turn_rate * 0.1) then
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self:set_forward_velocity(speed)
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else
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self:set_forward_velocity(speed * 0.5)
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turn_rate = turn_rate * 1.5
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end
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self:animate(movement_data.anim or "walk")
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self:turn_to(tgt_yaw, turn_rate)
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if self:pos_in_box(pos2)
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or (waypoint
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and not self:is_pos_safe(waypoint)) then
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self:halt()
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end
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end)
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-- Neighbors
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creatura.register_movement_method("creatura:neighbors", function(self, pos2)
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-- Movement Data
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local pos = self.object:get_pos()
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local movement_data = self._movement_data
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local waypoint = movement_data.waypoint
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local speed = movement_data.speed or 5
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if not waypoint
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or self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}, clamp(self.width, 0.5, 1)) then
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-- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes
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waypoint = creatura.get_next_move(self, pos2)
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self._movement_data.waypoint = waypoint
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end
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-- Turning
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local dir2waypoint = vec_dir(pos, pos2)
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if waypoint then
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dir2waypoint = vec_dir(pos, waypoint)
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end
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local yaw = self.object:get_yaw()
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local tgt_yaw = dir2yaw(dir2waypoint)
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local turn_rate = abs(self.turn_rate or 5)
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local yaw_diff = abs(diff(yaw, tgt_yaw))
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-- Moving
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self:set_gravity(-9.8)
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if yaw_diff < pi * 0.25 then
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self:set_forward_velocity(speed)
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else
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self:set_forward_velocity(speed * 0.5)
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turn_rate = turn_rate * 1.5
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end
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self:animate(movement_data.anim or "walk")
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self:turn_to(tgt_yaw, turn_rate)
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if self:pos_in_box(pos2)
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or (waypoint
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and not self:is_pos_safe(waypoint)) then
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self:halt()
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end
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return func
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end)
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-- Obstacle Avoidance
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local function get_obstacle_avoidance(self, goal)
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local width = self.width
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local height = self.height
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local pos = self.object:get_pos()
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pos.y = pos.y + 1
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local yaw2goal = dir2yaw(vec_dir(pos, goal))
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local collide, col_pos = get_collision(self, yaw2goal)
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if not collide then return end
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local avd_pos
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for i = 45, 180, 45 do
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local angle = rad(i)
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local dir = vec_multi(yaw2dir(yaw2goal + angle), width)
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avd_pos = vec_center(vec_add(pos, dir))
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if not get_collision(self, yaw2goal) 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(yaw2goal + angle), width)
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avd_pos = vec_center(vec_add(pos, dir))
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if not get_collision(self, yaw2goal) then
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break
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end
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end
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if col_pos.y - (pos.y + height * 0.5) > 1 then
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avd_pos.y = avd_pos.y - 3
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elseif (pos.y + height * 0.5) - col_pos.y > 1 then
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avd_pos.y = avd_pos.y + 3
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end
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return avd_pos
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end
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creatura.register_movement_method("creatura:obstacle_avoidance", function(self, pos2)
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-- Movement Data
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local pos = self.object:get_pos()
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local movement_data = self._movement_data
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local waypoint = movement_data.waypoint
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local speed = movement_data.speed or 5
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if not waypoint
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or self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}, clamp(self.width, 0.5, 1)) then
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-- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes
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waypoint = get_obstacle_avoidance(self, pos2)
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self._movement_data.waypoint = waypoint
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end
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-- Turning
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local dir2waypoint = vec_dir(pos, pos2)
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if waypoint then
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dir2waypoint = vec_dir(pos, waypoint)
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end
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local yaw = self.object:get_yaw()
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local tgt_yaw = dir2yaw(dir2waypoint)
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local turn_rate = abs(self.turn_rate or 5)
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local yaw_diff = abs(diff(yaw, tgt_yaw))
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-- Moving
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creatura.register_movement_method("creatura:obstacle_avoidance", function(self, goal)
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local waypoint
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local tick = 0.15
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local box = clamp(self.width, 0.5, 1)
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self:set_gravity(-9.8)
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if yaw_diff < pi * 0.25 then
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self:set_forward_velocity(speed)
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else
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self:set_forward_velocity(speed * 0.5)
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turn_rate = turn_rate * 1.5
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end
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self:animate(movement_data.anim or "walk")
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self:turn_to(tgt_yaw, turn_rate)
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if self:pos_in_box(pos2)
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or (waypoint
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and not self:is_pos_safe(waypoint)) then
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self:halt()
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local function func(self)
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local pos = self.object:get_pos()
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if not pos then return end
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tick = tick - self.dtime
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if tick <= 0 then
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if not waypoint
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or self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}, box) then
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-- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes
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waypoint = get_obstacle_avoidance(self, goal)
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end
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tick = 0.15
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end
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-- Get movement direction
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local goal_dir = vec_dir(pos, goal)
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if waypoint then
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goal_dir = vec_dir(pos, waypoint)
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end
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local yaw = self.object:get_yaw()
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local goal_yaw = dir2yaw(goal_dir)
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if abs(yaw - goal_yaw) > 0.1 then
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self:turn_to(goal_yaw, self.turn_rate or 6)
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end
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-- Set Velocity
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self:set_forward_velocity(self.speed or 2)
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-- Return true when goal is reached
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if self:pos_in_box(goal, box) then
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self:halt()
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return true
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end
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end
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return func
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end)
|
||||
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