------------- -- Methods -- ------------- local pi = math.pi local abs = math.abs local ceil = math.ceil local floor = math.floor local random = math.random local rad = math.rad local atan2 = math.atan2 local sin = math.sin local cos = math.cos local function diff(a, b) -- Get difference between 2 angles return atan2(sin(b - a), cos(b - a)) end local function clamp(val, min, max) if val < min then val = min elseif max < val then val = max end return val end local function vec_center(v) return {x = floor(v.x + 0.5), y = floor(v.y + 0.5), z = floor(v.z + 0.5)} end local vec_dir = vector.direction local vec_multi = vector.multiply local vec_add = vector.add local yaw2dir = minetest.yaw_to_dir local dir2yaw = minetest.dir_to_yaw local function debugpart(pos, time, tex) minetest.add_particle({ pos = pos, texture = tex or "creatura_particle_red.png", expirationtime = time or 3, glow = 6, size = 12 }) 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 / ceil(width) do for y = 0, height, height / ceil(height) do local vec1 = { x = cos(yaw) * ((pos.x + x) - pos.x) + pos.x, y = pos.y + y, z = sin(yaw) * ((pos.x + x) - pos.x) + pos.z } local vec2 = { x = cos(yaw) * ((pos2.x + x) - pos2.x) + pos2.x, y = vec1.y, z = 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 local function get_obstacle_avoidance(self, goal) local width = self.width local height = self.height local pos = self.object:get_pos() pos.y = pos.y + 1 local yaw2goal = dir2yaw(vec_dir(pos, goal)) local collide, col_pos = get_collision(self, yaw2goal) if not collide then return end local avd_pos for i = 45, 180, 45 do local angle = rad(i) local dir = vec_multi(yaw2dir(yaw2goal + angle), width) avd_pos = vec_center(vec_add(pos, dir)) if not get_collision(self, yaw2goal) then break end angle = -rad(i) dir = vec_multi(yaw2dir(yaw2goal + angle), width) avd_pos = vec_center(vec_add(pos, dir)) if not get_collision(self, yaw2goal) then break end end return avd_pos end ------------- -- Actions -- ------------- -- Actions are more specific behaviors used -- to compose a Utility. -- Walk function creatura.action_move(self, pos2, timeout, method, speed_factor, anim) local timer = timeout or 4 local function func(_self) timer = timer - _self.dtime self:animate(anim or "walk") if timer <= 0 or _self:move_to(pos2, method or "creatura:obstacle_avoidance", speed_factor or 0.5) then return true end end self:set_action(func) end creatura.action_walk = creatura.action_move -- Idle function creatura.action_idle(self, time, anim) local timer = time local function func(_self) _self:set_gravity(-9.8) _self:halt() _self:animate(anim or "stand") timer = timer - _self.dtime if timer <= 0 then return true end end self:set_action(func) end -- Rotate on Z axis in random direction until 90 degree angle is reached function creatura.action_fallover(self) local zrot = 0 local init = false local dir = 1 local function func(_self) if not init then _self:animate("stand") if random(2) < 2 then dir = -1 end init = true end local rot = _self.object:get_rotation() local goal = (pi * 0.5) * dir local dif = abs(rot.z - goal) zrot = rot.z + (dif * dir) * 0.15 _self.object:set_rotation({x = rot.x, y = rot.y, z = zrot}) if (dir > 0 and zrot >= goal) or (dir < 0 and zrot <= goal) then return true end end self:set_action(func) end ---------------------- -- Movement Methods -- ---------------------- -- Pathfinding creatura.register_movement_method("creatura:pathfind", function(self, goal) local path = {} local waypoint local tick = 0.15 local box = clamp(self.width, 0.5, 1) self:set_gravity(-9.8) local function func(self) local pos = self.object:get_pos() if not pos then return end -- Return true when goal is reached if self:pos_in_box(goal, box) then self:halt() return true end tick = tick - self.dtime if tick <= 0 then if not waypoint or self:pos_in_box({x = waypoint.x, y = pos.y + box * 0.5, z = waypoint.z}, box) then -- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes waypoint = get_obstacle_avoidance(self, goal) end tick = 0.15 end -- Get movement direction local goal_dir = vec_dir(pos, goal) if waypoint then -- There's an obstruction, time to find a path if #path < 2 then path = creatura.find_path(self, pos, goal, self.width, self.height, 200) or {} else waypoint = path[2] if self:pos_in_box(path[1], box) then table.remove(path, 1) end end goal_dir = vec_dir(pos, waypoint) debugpart(waypoint) end local yaw = self.object:get_yaw() local goal_yaw = dir2yaw(goal_dir) local speed = abs(self.speed or 2) local turn_rate = abs(self.turn_rate or 5) -- Movement local yaw_diff = abs(diff(yaw, goal_yaw)) if yaw_diff < pi * 0.25 then self:set_forward_velocity(speed) else self:set_forward_velocity(speed * 0.5) turn_rate = turn_rate * 1.5 end if yaw_diff > 0.1 then self:turn_to(goal_yaw, turn_rate) end end return func end) creatura.register_movement_method("creatura:theta_pathfind", function(self, goal) local path = {} local waypoint local tick = 0.15 local box = clamp(self.width, 0.5, 1) self:set_gravity(-9.8) local function func(self) local pos = self.object:get_pos() if not pos then return end tick = tick - self.dtime if tick <= 0 then if not waypoint or self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}, box) then -- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes waypoint = get_obstacle_avoidance(self, goal) end tick = 0.15 end -- Get movement direction local goal_dir = vec_dir(pos, goal) if waypoint then -- There's an obstruction, time to find a path if #path < 1 then path = creatura.find_path(self, pos, goal, self.width, self.height, 300) or {} else waypoint = path[2] or path[1] end goal_dir = vec_dir(pos, waypoint) end local yaw = self.object:get_yaw() local goal_yaw = dir2yaw(goal_dir) if abs(yaw - goal_yaw) > 0.1 then self:turn_to(goal_yaw, self.turn_rate or 6) end -- Set Velocity self:set_forward_velocity(self.speed or 2) -- Return true when goal is reached if self:pos_in_box(goal, box) then self:halt() return true end end return func end) -- Obstacle Avoidance creatura.register_movement_method("creatura:obstacle_avoidance", function(self, goal) local waypoint local tick = 0.15 local box = clamp(self.width, 0.5, 1) self:set_gravity(-9.8) local function func(self) local pos = self.object:get_pos() if not pos then return end tick = tick - self.dtime if tick <= 0 then if not waypoint or self:pos_in_box({x = waypoint.x, y = pos.y + self.height * 0.5, z = waypoint.z}, box) then -- Waypoint Y axis is raised to avoid large mobs spinning over downward slopes waypoint = get_obstacle_avoidance(self, goal) end tick = 0.15 end -- Get movement direction local goal_dir = vec_dir(pos, goal) if waypoint then goal_dir = vec_dir(pos, waypoint) end local yaw = self.object:get_yaw() local goal_yaw = dir2yaw(goal_dir) if abs(yaw - goal_yaw) > 0.1 then self:turn_to(goal_yaw, self.turn_rate or 6) end -- Set Velocity self:set_forward_velocity(self.speed or 2) -- Return true when goal is reached if self:pos_in_box(goal, box) then self:halt() return true end end return func end)