orientation
This commit is contained in:
monsterkodi
parent
8fe52dbe50
commit
113176a132
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@ -107,7 +107,6 @@ class Bot extends Pushable
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@addEventWithName "died"
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@startTimedAction @getActionWithId(Action.NOOP), 500
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# 0000000 000 00000000 00000000 0000000 000000000 000 0000000 000 000
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# 000 000 000 000 000 000 000 000 000 000 000 0000 000
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@ -371,7 +370,7 @@ class Bot extends Pushable
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# 000 000 000 000 000 0000000 000 000 00000000 0000000
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actionFinished: (action) ->
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log "bot.actionFinished #{action.name} #{action.id}"
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# log "bot.actionFinished #{action.name} #{action.id}"
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# if @isDead()
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# log "DIE!"
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@ -391,7 +390,7 @@ class Bot extends Pushable
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super action
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return
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if @move_action # action was not a move action -> return
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if @move_action? # action was not a move action -> return
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# log 'bot.actionFinished was not a move action!'
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return
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@ -409,9 +408,10 @@ class Bot extends Pushable
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@move_action = @getActionWithId Action.CLIMB_UP
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world.playSound 'BOT_LAND', @getPos(), 0.5
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else if world.isUnoccupiedPos @position.plus @getDown() # below will be empty
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log 'below empty', world.isUnoccupiedPos(@position.plus @getDown()), @position.plus @getDown()
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# log 'bot.actionFinished below empty', world.isUnoccupiedPos(@position.plus @getDown()), @position.plus @getDown()
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if @move # sticky if moving
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if world.isUnoccupiedPos @position.plus @getDir() # forward will be empty
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if world.isUnoccupiedPos @position.plus @getDir() # forward will be empty
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log 'bot.actionFinished forward empty'
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if world.isOccupiedPos @position.plus @getDir().minus @getUp() # below forward is solid
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occupant = world.getOccupantAtPos @position.plus @getDir().minus @getUp()
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if not occupant? or not occupant?.isSlippery()
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@ -421,7 +421,7 @@ class Bot extends Pushable
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if not occupant? or not occupant?.isSlippery()
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@move_action = @getActionWithId Action.CLIMB_UP
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if @move_action == null
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if not @move_action?
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@move_action = @getActionWithId Action.FALL
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@direction = @getDown()
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@ -431,13 +431,15 @@ class Bot extends Pushable
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else
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world.playSound 'BOT_LAND', @getPos()
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if @move_action
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if @move_action?
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Timer.addAction @move_action
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return
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return if @rotate_action
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return if @rotate_action?
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if @move or @jump
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@fixOrientationAndPosition()
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if @move or @jump or @jump_once
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@moveBot()
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else
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@dir_sgn = 1
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@ -445,6 +447,10 @@ class Bot extends Pushable
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# keep action chain flowinwg in order to detect environment changes
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# @startTimedAction @getActionWithId(Action.NOOP), 0
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fixOrientationAndPosition: ->
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@setPosition @current_position.round()
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@setOrientation @current_orientation.round()
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# 00 00 0000000 000 000 00000000
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# 000 000 000 000 000 000 000
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# 000000000 000 000 000 000 0000000
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@ -51,7 +51,6 @@ class Item extends Actor
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setOrientation: (q) ->
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@current_orientation = @orientation = new Quaternion q
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# log "item.setOrientation:", @orientation
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@orientation
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setCurrentPosition: (p) -> @current_position = p
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setCurrentOrientation: (q) -> @current_orientation = q
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@ -16,7 +16,7 @@ module.exports =
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player:
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coordinates: [3,0,1]
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nostatus: 0
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orientation: roty0
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orientation: rot0
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exits: [
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name: "exit"
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active: 1
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@ -1,3 +1,10 @@
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# 000 000 000 00 00 00000000
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# 000 000 000 000 000 000 000
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# 000 000 000 000000000 00000000
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# 000 000 000 000 000 0 000 000
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# 0000000 0000000 000 000 000
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module.exports =
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name: "jump"
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scheme: "red_scheme"
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@ -12,7 +19,9 @@ module.exports =
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you can attach to a stone when falling
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if you move into its direction
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"""
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player: position: [0,0,5]
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player:
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position: [0,0,5]
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orientation: rotx270
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exits: [
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name: "exit"
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active: 1
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@ -22,7 +22,7 @@ module.exports =
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"""
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player:
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position: [0,0,-5]
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orientation: roty0
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orientation: rot0
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exits: [
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name: "exit"
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active: 1
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@ -9,7 +9,7 @@ log = require '/Users/kodi/s/ko/js/tools/log'
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Vector = require './vector'
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class Quaternion
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constructor: (w=1, x=0, y=0, z=0) ->
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if w instanceof Vector
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@x = w.x
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@ -33,13 +33,62 @@ class Quaternion
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@w = w
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if Number.isNaN @x
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throw new Error
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@rotationAroundVector: (theta, vector) ->
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v = new Vector vector
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v.normalize()
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t = Vector.DEG2RAD(theta)/2.0
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s = Math.sin t
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new Quaternion(Math.cos(t), v.x*s, v.y*s, v.z*s).normalize()
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copy: -> new Quaternion @
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clone: (q) ->
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@x = q.x
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@y = q.y
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@z = q.z
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@w = q.w
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@
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round: ->
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@normalize()
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minDist = 1000
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minQuat = null
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up = @rotate Vector.unitY
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back = @rotate Vector.unitZ
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for q in [ Quaternion.XupY
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Quaternion.XupZ
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Quaternion.XdownY
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Quaternion.XdownZ
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Quaternion.YupX
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Quaternion.YupZ
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Quaternion.YdownX
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Quaternion.YdownZ
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Quaternion.ZupX
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Quaternion.ZupY
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Quaternion.ZdownX
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Quaternion.ZdownY
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Quaternion.minusXupY
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Quaternion.minusXupZ
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Quaternion.minusXdownY
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Quaternion.minusXdownZ
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Quaternion.minusYupX
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Quaternion.minusYupZ
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Quaternion.minusYdownX
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Quaternion.minusYdownZ
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Quaternion.minusZupX
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Quaternion.minusZupY
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Quaternion.minusZdownX
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Quaternion.minusZdownY
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]
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upDiff = 1 - up.dot q.rotate Vector.unitY
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backDiff = 1 - back.dot q.rotate Vector.unitZ
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l = upDiff + backDiff
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# log "length #{upDiff} #{backDiff} #{q.name} #{l}"
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if l < minDist
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minDist = l
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minQuat = q
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if l < 0.0001
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break
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log "differ a lot! #{minDist}" if minDist > 0.05
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return @clone minQuat
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euler: -> [
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Vector.RAD2DEG Math.atan2 2*(@w*@x+@y*@z), 1-2*(@x*@x+@y*@y)
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Vector.RAD2DEG Math.asin 2*(@w*@y-@z*@x)
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Vector.RAD2DEG Math.atan2 2*(@w*@z+@x*@y), 1-2*(@y*@y+@z*@z)]
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add: (quat) ->
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@w += quat.w
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@ -55,6 +104,10 @@ class Quaternion
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@z -= quat.z
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@
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minus: (quat) -> @copy().sub quat
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dot: (q) -> @x*q.x + @y*q.y + @z*q.z + @w*q.w
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rotate: (v) ->
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qv = new Quaternion v
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rq = @mul qv.mul @getConjugate()
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@ -73,9 +126,9 @@ class Quaternion
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l = Math.sqrt @w*@w + @x*@x + @y*@y + @z*@z
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if l != 0.0
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@w /= l
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@x = -x/l
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@y = -y/l
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@z = -z/l
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@x = -@x/l
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@y = -@y/l
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@z = -@z/l
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@
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isZero: -> @x==@y==@z==0 and @w==1
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@ -90,9 +143,9 @@ class Quaternion
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@z = -@z
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@
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getNormal: -> new Quaternion(@).normalize()
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getConjugate: -> new Quaternion(@).conjugate()
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getInverse: -> new Quaternion(@).invert()
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getNormal: -> @copy().normalize()
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getConjugate: -> @copy().conjugate()
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getInverse: -> @copy().invert()
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neg: -> new Quaternion -@w,-@x,-@y,-@z
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vector: -> new Vector @x, @y, @z
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length: -> Math.sqrt @w*@w + @x*@x + @y*@y + @z*@z
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@ -152,4 +205,99 @@ class Quaternion
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scale0 * @y + scale1 * to1[1],
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scale0 * @z + scale1 * to1[2]
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@rotationAroundVector: (theta, vector) ->
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v = new Vector vector
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v.normalize()
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t = Vector.DEG2RAD(theta)/2.0
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s = Math.sin t
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(new Quaternion Math.cos(t), v.x*s, v.y*s, v.z*s).normalize()
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@rotationFromEuler: (x,y,z) ->
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x = Vector.DEG2RAD x
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y = Vector.DEG2RAD y
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z = Vector.DEG2RAD z
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q=new Quaternion Math.cos(x/2) * Math.cos(y/2) * Math.cos(z/2) + Math.sin(x/2) * Math.sin(y/2) * Math.sin(z/2),
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Math.sin(x/2) * Math.cos(y/2) * Math.cos(z/2) - Math.cos(x/2) * Math.sin(y/2) * Math.sin(z/2),
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Math.cos(x/2) * Math.sin(y/2) * Math.cos(z/2) + Math.sin(x/2) * Math.cos(y/2) * Math.sin(z/2),
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Math.cos(x/2) * Math.cos(y/2) * Math.sin(z/2) - Math.sin(x/2) * Math.sin(y/2) * Math.cos(z/2)
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q.normalize()
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@rot_0 = new Quaternion()
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@rot_90_X = @rotationAroundVector 90, Vector.unitX
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@rot_90_Y = @rotationAroundVector 90, Vector.unitY
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@rot_90_Z = @rotationAroundVector 90, Vector.unitZ
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@rot_180_X = @rotationAroundVector 180, Vector.unitX
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@rot_180_Y = @rotationAroundVector 180, Vector.unitY
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@rot_180_Z = @rotationAroundVector 180, Vector.unitZ
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@rot_270_X = @rotationAroundVector 270, Vector.unitX
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@rot_270_Y = @rotationAroundVector 270, Vector.unitY
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@rot_270_Z = @rotationAroundVector 270, Vector.unitZ
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@XupY = @rot_270_Y
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@XupZ = @rot_90_X.mul @rot_270_Y
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@XdownY = @rot_180_X.mul @rot_270_Y
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@XdownZ = @rot_270_X.mul @rot_270_Y
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@YupX = @rot_90_Y.mul @rot_90_X
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@YupZ = @rot_90_X
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@YdownX = @rot_270_Y.mul @rot_90_X
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@YdownZ = @rot_180_Y.mul @rot_90_X
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@ZupX = @rot_90_Z.mul @rot_180_X
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@ZupY = @rot_180_Z.mul @rot_180_X
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@ZdownX = @rot_270_Z.mul @rot_180_X
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@ZdownY = @rot_180_X
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@minusXupY = @rot_90_Y
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@minusXupZ = @rot_90_X.mul @rot_90_Y
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@minusXdownY = @rot_180_X.mul @rot_90_Y
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@minusXdownZ = @rot_270_X.mul @rot_90_Y
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@minusYupX = @rot_270_Y.mul @rot_270_X
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@minusYupZ = @rot_180_Y.mul @rot_270_X
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@minusYdownX = @rot_90_Y.mul @rot_270_X
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@minusYdownZ = @rot_270_X
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@minusZupX = @rot_270_Z
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@minusZupY = @rot_0
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@minusZdownX = @rot_90_Z
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@minusZdownY = @rot_180_Z
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@rot_0.name = '@rot_0'
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@rot_90_X.name = '@rot_90_X'
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@rot_90_Y.name = '@rot_90_Y'
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@rot_90_Z.name = '@rot_90_Z'
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@rot_180_X.name = '@rot_180_X'
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@rot_180_Y.name = '@rot_180_Y'
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@rot_180_Z.name = '@rot_180_Z'
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@rot_270_X.name = '@rot_270_X'
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@rot_270_Y.name = '@rot_270_Y'
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@rot_270_Z.name = '@rot_270_Z'
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@XupY.name = '@XupY'
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@XupZ.name = '@XupZ'
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@XdownY.name = '@XdownY'
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@XdownZ.name = '@XdownZ'
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@YupX.name = '@YupX'
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@YupZ.name = '@YupZ'
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@YdownX.name = '@YdownX'
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@YdownZ.name = '@YdownZ'
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@ZupX.name = '@ZupX'
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@ZupY.name = '@ZupY'
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@ZdownX.name = '@ZdownX'
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@ZdownY.name = '@ZdownY'
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@minusXupY.name = '@minusXupY'
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@minusXupZ.name = '@minusXupZ'
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@minusXdownY.name = '@minusXdownY'
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@minusXdownZ.name = '@minusXdownZ'
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@minusYupX.name = '@minusYupX'
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@minusYupZ.name = '@minusYupZ'
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@minusYdownX.name = '@minusYdownX'
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@minusYdownZ.name = '@minusYdownZ'
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@minusZupX.name = '@minusZupX'
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@minusZupY.name = '@minusZupY'
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@minusZdownX.name = '@minusZdownX'
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@minusZdownY.name = '@minusZdownY'
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module.exports = Quaternion
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@ -331,7 +331,7 @@ class Player extends Bot
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@new_dir_sgn = @dir_sgn = (combo == @key.backward) and -1 or 1
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@moveBot() # perform new move action (depending on environment)
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else
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if @move_action.name == 'jump' and @move_action.getRelativeTime() < 1
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if @move_action.id == Action.JUMP and @move_action.getRelativeTime() < 1
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if world.isUnoccupiedPos(@position.plus(@getUp()).plus(@getDir())) and
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world.isUnoccupiedPos(@position.plus(@getDir())) # forward and above forward also empty
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action = @getActionWithId Action.JUMP_FORWARD
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@ -353,12 +353,16 @@ class Player extends Bot
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@jump = true # switch to jump mode until jump_key released
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@jump_once = true
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if not @move_action?
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@moveBot() # perform new move action (depending on environment)
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@moveBot() # perform jump action (depending on environment)
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@jump_once = false
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else
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if @move_action.id == Action.MOVE and @move_action.getRelativeTime() < 0.6 or
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# log 'jump:moving'
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if @move_action.id == Action.FORWARD and @move_action.getRelativeTime() < 0.6 or
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@move_action.id == Action.CLIMB_DOWN and @move_action.getRelativeTime() < 0.4
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# abort current move and jump instead
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# log 'jump:move or climb down'
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if world.isUnoccupiedPos @position.plus @getUp()
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# log 'jump:can do'
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if world.isUnoccupiedPos @position.plus @getUp().plus @getDir()
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action = @getActionWithId Action.JUMP_FORWARD
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else
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@ -366,6 +370,7 @@ class Player extends Bot
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action.takeOver @move_action
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Timer.removeAction @move_action
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@move_action = action
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@jump_once = false
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Timer.addAction @move_action
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else if @move_action.id in [Action.JUMP, Action.JUMP_FORWARD]
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@jump_once = false
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@ -414,13 +419,7 @@ class Player extends Bot
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when @key.jump
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@jump = false
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@jump_once = false
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# if @jump_once
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# if not @move_action? and world.isUnoccupiedPos @position.plus @getUp()
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# @jump_once = false
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# @move_action = @getActionWithId Action.JUMP
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# world.playSound 'BOT_JUMP'
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# Timer.addAction @move_action
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# @jump_once = false
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return true
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when @key.left, @key.right
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@ -443,11 +442,11 @@ class Player extends Bot
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false
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# 0000000 000 0000000 00000000 000 0000000 000 000
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# 000 000 000 000 000 000 000 000 000 000 000
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# 000 000 000 0000000 00000000 000 000000000 00000
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# 000 000 000 000 000 000 000 000 000
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# 0000000 000 0000000 000 0000000 000 000 000
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# 0000000 000 0000000 00000000 000 0000000 000 000
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# 000 000 000 000 000 000 000 000 000 000 000
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# 000 000 000 0000000 00000000 000 000000000 00000
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# 000 000 000 000 000 000 000 000 000
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# 0000000 000 0000000 000 0000000 000 000 000
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step: (step) -> super step
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|
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@ -42,7 +42,7 @@ class Pushable extends Item
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initAction: (action) ->
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switch action.id
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when Action.FALL
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log 'Pushable.initAction FALL direction:', @direction
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# log 'Pushable.initAction FALL direction:', @direction
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world.objectWillMoveToPos @, @position.plus(@direction), action.getDuration()
|
||||
|
||||
performAction: (action) ->
|
||||
|
|
@ -58,7 +58,7 @@ class Pushable extends Item
|
|||
@move_action = null
|
||||
targetPos = @current_position.round()
|
||||
world.objectMoved @, @position, targetPos
|
||||
log "Pushable.finishAction setPosition:", targetPos
|
||||
# log "Pushable.finishAction setPosition:", targetPos
|
||||
@setPosition targetPos
|
||||
|
||||
actionFinished: (action) ->
|
||||
|
|
@ -83,7 +83,7 @@ class Pushable extends Item
|
|||
if world.isUnoccupiedPos @position.plus gravityDir
|
||||
@direction = gravityDir
|
||||
@move_action = @getActionWithId Action.FALL
|
||||
log 'Pushable.actionFinished below empty, fall!'
|
||||
# log 'Pushable.actionFinished below empty, fall!'
|
||||
Timer.addAction @move_action
|
||||
else
|
||||
@direction.reset()
|
||||
|
|
|
|||
|
|
@ -131,17 +131,17 @@ class World extends Actor
|
|||
@initGlobal: () ->
|
||||
|
||||
return if @levels?
|
||||
|
||||
global.rot0 = new Quaternion()
|
||||
global.rotz90 = Quaternion.rotationAroundVector 90, Vector.unitZ
|
||||
global.rotz180 = Quaternion.rotationAroundVector 180, Vector.unitZ
|
||||
global.roty0 = Quaternion.rotationAroundVector 0, Vector.unitY
|
||||
global.roty90 = Quaternion.rotationAroundVector 90, Vector.unitY
|
||||
global.roty180 = Quaternion.rotationAroundVector 180, Vector.unitY
|
||||
global.roty270 = Quaternion.rotationAroundVector 270, Vector.unitY
|
||||
global.rotx90 = Quaternion.rotationAroundVector 90, Vector.unitX
|
||||
global.rotx180 = Quaternion.rotationAroundVector 180, Vector.unitX
|
||||
global.rotx270 = Quaternion.rotationAroundVector 270, Vector.unitX
|
||||
|
||||
global.rot0 = Quaternion.rot_0
|
||||
global.rotx90 = Quaternion.rot_90_X
|
||||
global.roty90 = Quaternion.rot_90_Y
|
||||
global.rotz90 = Quaternion.rot_90_Z
|
||||
global.rotx180 = Quaternion.rot_180_X
|
||||
global.roty180 = Quaternion.rot_180_Y
|
||||
global.rotz180 = Quaternion.rot_180_Z
|
||||
global.rotx270 = Quaternion.rot_270_X
|
||||
global.roty270 = Quaternion.rot_270_Y
|
||||
global.rotz270 = Quaternion.rot_270_Z
|
||||
|
||||
@levels = new Levels
|
||||
|
||||
|
|
@ -269,27 +269,6 @@ class World extends Actor
|
|||
log 'world.levelFinished'
|
||||
# saves the current level status in highscore file
|
||||
# highscore.levelFinished world.level_name, Controller.player.getStatus().getMoves()
|
||||
|
||||
# 00000000 00000000 0000000 00000000 000000000 00000000 000 0000000 000 000 00000000 00000000
|
||||
# 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000
|
||||
# 0000000 0000000 0000000 0000000 000 00000000 000 000000000 00000 0000000 0000000
|
||||
# 000 000 000 000 000 000 000 000 000 000 000 000 000 000
|
||||
# 000 000 00000000 0000000 00000000 000 000 0000000 000 000 000 00000000 000 000
|
||||
|
||||
resetPlayer: () ->
|
||||
# reset the player to it's original position and orientation
|
||||
log 'world.resetPlayer', @dict.player
|
||||
if @dict.player.resetOrientation?
|
||||
@player.setOrientation @dict.player.resetOrientation
|
||||
else if @dict.player.orientation?
|
||||
@player.setOrientation @dict.player.orientation
|
||||
else
|
||||
@player.setOrientation rot0
|
||||
|
||||
if @dict.player.resetPosition?
|
||||
world.moveObjectToPos @player, world.decenter @dict.player.resetPosition
|
||||
else
|
||||
world.moveObjectToPos @player, world.decenter @dict.player.position
|
||||
|
||||
# 000 000 0000000 000 000 000000000
|
||||
# 000 000 000 000 000 000
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user