Merge pull request #5 from TheTermos/dev2

Dev2

init.lua

@@ -41,6 +41,10 @@ local neighbors ={
 	
 -- UTILITY FUNCTIONS
 
+function mobkit.dot(v1,v2)
+	return v1.x*v2.x+v1.y*v2.y+v1.z*v2.z
+end
+
 function mobkit.dir2neighbor(dir)
 	dir.y=0
 	dir=vector.round(vector.normalize(dir))
@@ -285,8 +289,8 @@ function mobkit.turn2yaw(self,tyaw,rate)
 		local nyaw = (yaw+step*dir)%(pi*2)
 		self.object:set_yaw(nyaw-pi)
 		
-		if nyaw==tyaw then return true
-		else return false end
+		if nyaw==tyaw then return true, nyaw-pi
+		else return false, nyaw-pi end
 end
 
 function mobkit.dir_to_rot(v,rot)
@@ -571,13 +575,24 @@ function mobkit.goto_next_waypoint(self,tpos)
 	return true
 end
 
-function mobkit.go_forward_horizontal(self,yaw,speed)	-- sets velocity in yaw direction, y component unaffected
+function mobkit.go_forward_horizontal(self,speed)	-- sets velocity in yaw direction, y component unaffected
 	local y = self.object:get_velocity().y
+	local yaw = self.object:get_yaw()
 	local vel = vector.multiply(minetest.yaw_to_dir(yaw),speed)
 	vel.y = y
 	self.object:set_velocity(vel)
 end
 
+function mobkit.drive_to_pos(self,tpos,speed,turn_rate,dist) 
+	local pos=self.object:get_pos()
+	dist = dist or 0.2
+	if mobkit.isnear2d(pos,tpos,dist) then return true end
+	local tyaw = minetest.dir_to_yaw(vector.direction(pos,tpos))
+	mobkit.turn2yaw(self,tyaw,turn_rate)
+	mobkit.go_forward_horizontal(self,speed)
+	return false
+end
+
 function mobkit.timer(self,s) -- returns true approx every s seconds
 	local t1 = floor(self.time_total)
 	local t2 = floor(self.time_total+self.dtime)
@@ -1469,8 +1484,8 @@ function mobkit.hq_aqua_roam(self,prty,speed)
 		end
 		
 		mobkit.turn2yaw(self,tyaw,3)
-		local yaw = self.object:get_yaw()
-		mobkit.go_forward_horizontal(self,yaw,speed)
+--		local yaw = self.object:get_yaw()
+		mobkit.go_forward_horizontal(self,speed)
 	end
 	mobkit.queue_high(self,func,prty)
 end
@@ -1478,8 +1493,8 @@ end
 function mobkit.hq_aqua_turn(self,prty,tyaw,speed)
 	local func = function(self)
 		local finished=mobkit.turn2yaw(self,tyaw)
-		local yaw = self.object:get_yaw()
-		mobkit.go_forward_horizontal(self,yaw,speed)
+--		local yaw = self.object:get_yaw()
+		mobkit.go_forward_horizontal(self,speed)
 		if finished then return true end
 	end
 	mobkit.queue_high(self,func,prty)
@@ -1530,7 +1545,7 @@ function mobkit.hq_aqua_attack(self,prty,tgtobj,speed)
 			mobkit.hq_aqua_turn(self,prty,yaw-pi,speed)
 			return true
 		end
-		mobkit.go_forward_horizontal(self,yaw,speed)
+		mobkit.go_forward_horizontal(self,speed)
 	end
 	mobkit.queue_high(self,func,prty)
 end

mobkit_api.txt

@@ -241,6 +241,13 @@ function mobkit.get_terrain_height(pos,steps)
 		-- surface height at pos, or nil if not found
 		-- liquid flag: true if found surface is covered with liquid 
 		
+function mobkit.turn2yaw(self,tyaw,rate)
+	-- gradually turns towards yaw
+	-- self: luaentity
+	-- tyaw: target yaw in radians
+	-- rate: turn rate in rads/s
+	--returns: true if facing tyaw; current yaw
+		
 function mobkit.timer(self,s) 
 	-- returns true approx every s seconds
 	-- used to reduce execution of code that needn't necessarily be done on every engine step
@@ -326,9 +333,15 @@ function mobkit.make_sound(self,sound)
 	-- sound is string, see entity definition
 	-- makes an entity play sound, or does nothing if not defined 
 	
-function mobkit.go_forward_horizontal(self,yaw,speed)
+function mobkit.go_forward_horizontal(self,speed)
 	-- sets an entity's horizontal velocity in yaw direction. Vertical velocity unaffected.
-
+	
+function mobkit.drive_to_pos(self,tpos,speed,turn_rate,dist) 
+	-- moves in facing direction while gradually turning towards tpos, returns true if in dist distance from tpos
+	-- tpos: target position
+	-- speed: in m/s
+	-- turn_rate: in rad/s
+	-- dist: in m.
 	
 -- Memory functions.