Path class completed and debugged.
This commit is contained in:
Auke Kok
parent
872b9f258f
commit
7815223fc7
159
init.lua
159
init.lua
@ -54,27 +54,33 @@ obj:factor_is_near_mate = ...
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--]]
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--
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-- misc functions
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--
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function vector.sort(v1, v2)
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return {x = math.min(v1.x, v2.x), y = math.min(v1.y, v2.y), z = math.min(v1.z, v2.z)},
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{x = math.max(v1.x, v2.x), y = math.max(v1.y, v2.y), z = math.max(v1.z, v2.z)}
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end
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local function dir_to_yaw(vec)
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if vec.z < 0 then
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return math.pi - math.atan(vec.x / vec.z)
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elseif vec.z > 0 then
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return -math.atan(vec.x / vec.z)
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elseif vec.x < 0 then
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return math.pi
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else
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return 0
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end
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end
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--
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-- includes
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--
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local modpath = minetest.get_modpath(minetest.get_current_modname())
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dofile(modpath .. "/path.lua")
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--
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-- globals
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--
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local drivers = {}
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local factors = {}
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--
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-- Animation functions
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--
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local function animation_select(self, phase, segment)
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local state = self.entity_ai_state
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@ -160,81 +166,18 @@ drivers.roam = {
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return
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elseif state.roam_move then
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-- do path movement
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local pos = self.object:getpos()
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if vector.distance(pos, state.roam_target) < 1.0 then
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-- arrived (close enough!
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if not self.path then
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state.roam_ttl = 0
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return
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end
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if state.roam_path then
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local curspd = self.object:getvelocity()
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-- if jumping, let jump finish before making more adjustments
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if curspd.y <= 0.2 and curspd.y >= 0 then
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local i, v = next(state.roam_path, nil)
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if not i then
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if self.path:distance() < 1.0 then
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state.roam_ttl = 0
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return
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end
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if not self.path:step(dtime) then
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-- pathing failed
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state.roam_ttl = 0
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return
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end
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if vector.distance(pos, v) < 0.3 then
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-- remove one
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--FIXME shouldn't return here
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local j = i
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local i, v = next(state.roam_path, i)
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if not v then
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state.roam_path[j] = nil
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state.roam_ttl = 0
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return
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end
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end
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-- prune path more?
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local ii, vv = next(state.roam_path, i)
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local iii, vvv = next(state.roam_path, ii)
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if vv and vvv and vvv.y == v.y and vector.distance(vv,v) < 2 then
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-- prune one
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state.roam_path[ii] = nil
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end
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-- done pruning
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minetest.add_particle({
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pos = {x = v.x, y = v.y + 0.2, z = v.z},
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velocity = vector.new(),
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acceleration = vector.new(),
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expirationtime = 1,
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size = 2,
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collisiondetection = false,
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vertical = false,
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texture = "wool_yellow.png",
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playername = nil
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})
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local vo = {x = v.x, y = v.y - 0.5, z = v.z}
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local vec = vector.subtract(vo, pos)
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local len = vector.length(vec)
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local vdif = vec.y
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vec.y = 0
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local dir = vector.normalize(vec)
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local spd = vector.multiply(dir, 2.0)-- vel
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-- don't jump from too far away
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if vdif > 0.1 and len < 1.5 then
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print("jump")
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-- make sure we finish our jump
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state.roam_ttl = math.min(3.0, state.roam_ttl)
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-- jump
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spd = {x = spd.x/10, y = 5, z = spd.z/10}
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self.object:setvelocity(spd)
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elseif vdif < 0 and len <= 1.1 then
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-- drop one path node just to be sure
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state.roam_path[i] = nil
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-- falling down, just let if fall
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else
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spd.y = self.object:getvelocity().y
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-- don't change yaw when jumping
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self.object:setyaw(dir_to_yaw(spd))
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self.object:setvelocity(spd)
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end
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--print(minetest.pos_to_string(spd))
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end
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end
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else
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print("unknown roam state!")
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end
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@ -243,7 +186,6 @@ drivers.roam = {
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state.roam_ttl = math.random(3, 9)
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-- flip state
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if state.roam_idle then
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print("going roaming")
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-- get a target
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local pos = self.object:getpos()
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local minp, maxp = vector.sort({
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@ -281,6 +223,7 @@ drivers.roam = {
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print("no path found!")
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return
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end
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minetest.add_particle({
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pos = {x = pick.x, y = pick.y - 0.1, z = pick.z},
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velocity = vector.new(),
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@ -292,46 +235,21 @@ drivers.roam = {
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texture = "wool_red.png",
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playername = nil
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})
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state.roam_target = pick
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-- pathing will fail if we're on a ledge. We can fix this by
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-- pathing from the node below instead
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local onpos = vector.round({x = pos.x, y = pos.y - 1, z = pos.z})
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local on = minetest.get_node(onpos)
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if not minetest.registered_nodes[on.name].walkable then
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pos.y = onpos.y - 0.5
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end
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state.roam_path = minetest.find_path(pos, pick, 30, 1.0, .0, "Dijkstra")
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if not state.roam_path then
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self.path = Path(self, pick)
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if not self.path:find() then
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print("Unable to calculate path")
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else
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for k, v in pairs(state.roam_path) do
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minetest.add_particle({
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pos = v,
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velocity = vector.new(),
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acceleration = vector.new(),
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expirationtime = 3,
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size = 3,
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collisiondetection = false,
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vertical = false,
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texture = "wool_white.png",
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playername = nil
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})
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end
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return
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end
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-- done, roaming mode good!
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animation_select(self, "move")
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state.roam_idle = nil
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state.roam_move = true
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else
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print("going idle")
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animation_select(self, "idle")
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state.roam_idle = true
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state.roam_move = nil
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state.roam_target = nil
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state.roam_path = nil
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-- stop
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self.object:setvelocity(vector.new())
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end
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@ -346,10 +264,12 @@ drivers.roam = {
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drivers.startle = {
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start = function(self)
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-- start with moving animation
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-- startle animation
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animation_select(self, "idle")
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self.object:setvelocity(vector.new())
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-- clear factors
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local state = self.entity_ai_state
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state.attacker = state.factors.got_hit[1]
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state.factors.got_hit = nil
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state.factors.anim_end = nil
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end,
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@ -425,6 +345,15 @@ local function entity_ai_on_activate(self, staticdata)
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self.object:remove()
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return
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end
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-- path class
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local state = self.entity_ai_state
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if state.path_save then
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self.path = Path(self, state.path_save.target)
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self.path:set_config(state.path_save.config)
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self.path:find()
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state.path_save = {}
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end
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driver = self.entity_ai_state.driver
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print("loaded: " .. self.name .. ", driver=" .. driver)
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else
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@ -449,7 +378,7 @@ end
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local function entity_ai_on_punch(self, puncher, time_from_last_punch, tool_capabilities, dir)
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local state = self.entity_ai_state
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state.factors["got_hit"] = {puncher, time_from_last_punch, tool_capabilities, dir}
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state.factors["got_hit"] = {puncher:get_player_name(), time_from_last_punch, tool_capabilities, dir}
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if self.object:get_hp() == 0 then
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print("death")
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self.object:set_hp(1)
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@ -464,7 +393,11 @@ end
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local function entity_ai_get_staticdata(self)
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print("saved: " .. self.name)
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return minetest.serialize(self.entity_ai_state)
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local state = self.entity_ai_state
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if self.path then
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state.path_save = self.path:save()
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end
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return minetest.serialize(state)
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end
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174
path.lua
Normal file
174
path.lua
Normal file
@ -0,0 +1,174 @@
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--
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-- Path class - manage and execute an entity path
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--
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-- misc helper function
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local function dir_to_yaw(vec)
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if vec.z < 0 then
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return math.pi - math.atan(vec.x / vec.z)
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elseif vec.z > 0 then
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return -math.atan(vec.x / vec.z)
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elseif vec.x < 0 then
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return math.pi
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else
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return 0
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end
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end
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-- Class definition
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Path = {}
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Path.__index = Path
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setmetatable(Path, {
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__call = function(c, ...)
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return c.new(...)
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end,
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})
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-- constructor
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function Path.new(obj, to)
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local self = setmetatable({}, Path)
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self.object = obj.object
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self.origin = self.object:getpos()
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self.target = to
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self.config = {
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distance = 30,
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jump = 1.0,
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fall = 3.0,
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algorithm = "Dijkstra",
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}
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self.path = {}
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return self
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end
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-- to help serialization
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function Path:save()
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return {
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target = self.target,
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config = self.config
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}
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end
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function Path:find()
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-- pathing will fail if we're on a ledge. We can fix this by
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-- pathing from the node below instead
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local pos = vector.round(self.origin)
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local onpos = {x = pos.x, y = pos.y - 1, z = pos.z}
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local on = minetest.get_node(onpos)
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if not minetest.registered_nodes[on.name].walkable then
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pos.y = onpos.y
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end
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local config = self.config
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self.path = minetest.find_path(pos, vector.round(self.target), config.distance, config.jump,
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config.fall, config.algorithm)
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if self.path ~= nil then
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for k, v in pairs(self.path) do
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minetest.add_particle({
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pos = v,
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velocity = vector.new(),
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acceleration = vector.new(),
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expirationtime = 3,
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size = 3,
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collisiondetection = false,
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vertical = false,
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texture = "wool_white.png",
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playername = nil
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})
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end
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end
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return self.path ~= nil
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end
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function Path:step(dtime)
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local curspd = self.object:getvelocity()
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local pos = self.object:getpos()
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-- if jumping, let jump finish before making more adjustments
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if curspd.y <= 0.2 and curspd.y >= 0 then
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local i, v = next(self.path, nil)
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if not i then
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return false
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end
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if vector.distance(pos, v) < 0.3 then
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-- remove one
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--FIXME shouldn't return here
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local j = i
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local i, v = next(self.path, i)
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if not v then
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return false
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end
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end
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-- prune path more?
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local ii, vv = next(self.path, i)
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local iii, vvv = next(self.path, ii)
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if vv and vvv and vvv.y == v.y and vector.distance(vv,v) < 2 then
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-- prune one
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self.path[ii] = nil
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end
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-- done pruning
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minetest.add_particle({
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pos = {x = v.x, y = v.y + 0.2, z = v.z},
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velocity = vector.new(),
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acceleration = vector.new(),
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expirationtime = 1,
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size = 2,
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collisiondetection = false,
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vertical = false,
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texture = "wool_yellow.png",
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playername = nil
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})
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local vo = {x = v.x, y = v.y - 0.5, z = v.z}
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local vec = vector.subtract(vo, pos)
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local len = vector.length(vec)
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local vdif = vec.y
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vec.y = 0
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local dir = vector.normalize(vec)
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local spd = vector.multiply(dir, 2.0)-- vel
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-- don't jump from too far away
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if vdif > 0.1 and len < 1.5 then
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-- jump
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spd = {x = spd.x/10, y = 5, z = spd.z/10}
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self.object:setvelocity(spd)
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elseif vdif < 0 and len <= 1.1 then
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-- drop one path node just to be sure
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self.path[i] = nil
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-- falling down, just let if fall
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else
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spd.y = self.object:getvelocity().y
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-- don't change yaw when jumping
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self.object:setyaw(dir_to_yaw(spd))
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self.object:setvelocity(spd)
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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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function Path:distance()
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if not self.path then
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return 0
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end
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return vector.distance(self.object:getpos(), self.target)
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end
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function Path:length()
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if not self.path then
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return 0
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end
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return #self.path
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end
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function Path:get_config()
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return self.config
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end
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function Path:set_config(conf)
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self.config = conf
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end
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