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Improved autopilot

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This commit is contained in:
Regalis
2016-09-06 19:14:27 +03:00
parent 53b3ef533e
commit e61e40547b
2 changed files with 58 additions and 12 deletions
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3
Subsurface/Source/Items/Components/Machines/Engine.cs
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@@ -133,8 +133,7 @@ namespace Barotrauma.Items.Components
float tempForce;
if (float.TryParse(signal, NumberStyles.Float, CultureInfo.InvariantCulture, out tempForce))
{
targetForce = tempForce;
targetForce = MathHelper.Clamp(targetForce, -100.0f, 100.0f);
targetForce = MathHelper.Clamp(tempForce, -100.0f, 100.0f);
}
}
}

67
Subsurface/Source/Items/Components/Machines/Steering.cs
View File

@@ -7,12 +7,13 @@ using System.Globalization;
using System.Linq;
using System.Text;
using System.Xml.Linq;
using Voronoi2;
namespace Barotrauma.Items.Components
{
class Steering : Powered
{
private const float AutopilotRayCastInterval = 5.0f;
private const float AutopilotRayCastInterval = 0.5f;
private Vector2 currVelocity;
private Vector2 targetVelocity;
@@ -178,9 +179,7 @@ namespace Barotrauma.Items.Components
GUI.DrawString(spriteBatch, new Vector2(x + 20, y + height - 30),
"Depth: " + (int)realWorldDepth + " m", Color.LightGreen, null, 0, GUI.SmallFont);
}
GUI.DrawLine(spriteBatch,
new Vector2(velRect.Center.X,velRect.Center.Y),
new Vector2(velRect.Center.X + currVelocity.X, velRect.Center.Y - currVelocity.Y),
@@ -208,7 +207,7 @@ namespace Barotrauma.Items.Components
}
}
}
private void UpdateAutoPilot(float deltaTime)
{
if (posToMaintain != null)
@@ -255,22 +254,72 @@ namespace Barotrauma.Items.Components
SteerTowardsPosition(steeringPath.CurrentNode.WorldPosition);
}
float avoidRadius = Math.Max(item.Submarine.Borders.Width, item.Submarine.Borders.Height) * 2.0f;
avoidRadius = Math.Max(avoidRadius, 2000.0f);
Vector2 avoidStrength = Vector2.Zero;
//steer away from nearby walls
var closeCells = Level.Loaded.GetCells(item.Submarine.WorldPosition, 4);
foreach (VoronoiCell cell in closeCells)
{
foreach (GraphEdge edge in cell.edges)
{
var intersection = MathUtils.GetLineIntersection(edge.point1, edge.point2, item.Submarine.WorldPosition, cell.Center);
if (intersection != null)
{
Vector2 diff = item.Submarine.WorldPosition - (Vector2)intersection;
//far enough -> ignore
if (diff.Length() > avoidRadius) continue;
float dot = item.Submarine.Velocity == Vector2.Zero ?
0.0f : Vector2.Dot(Vector2.Normalize(item.Submarine.Velocity), -Vector2.Normalize(diff));
//heading away from the wall -> ignore
if (dot < 0) continue;
Vector2 change = (Vector2.Normalize(diff) * Math.Max((avoidRadius - diff.Length()), 0.0f)) / avoidRadius;
avoidStrength += change * dot;
}
}
}
targetVelocity += avoidStrength * 100.0f;
//steer away from other subs
foreach (Submarine sub in Submarine.Loaded)
{
if (sub == item.Submarine) continue;
if (item.Submarine.DockedTo.Contains(sub)) continue;
float thisSize = Math.Max(item.Submarine.Borders.Width, item.Submarine.Borders.Height);
float otherSize = Math.Max(sub.Borders.Width, sub.Borders.Height);
Vector2 diff = sub.WorldPosition - item.Submarine.WorldPosition;
Vector2 diff = item.Submarine.WorldPosition - sub.WorldPosition;
float dist = diff == Vector2.Zero ? 0.0f : diff.Length();
//far enough -> ignore
if (dist > thisSize + otherSize) continue;
diff = Vector2.Normalize(diff);
TargetVelocity = Vector2.Lerp(-diff * 100.0f, TargetVelocity, (dist / (thisSize + otherSize)) - 0.5f);
float dot = item.Submarine.Velocity == Vector2.Zero ?
0.0f : Vector2.Dot(Vector2.Normalize(item.Submarine.Velocity), -Vector2.Normalize(diff));
//heading away -> ignore
if (dot < 0.0f) continue;
targetVelocity += diff * 200.0f;
}
//clamp velocity magnitude to 100.0f
float velMagnitude = targetVelocity.Length();
if (velMagnitude > 100.0f)
{
targetVelocity *= 100.0f / velMagnitude;
}
}
@@ -291,10 +340,8 @@ namespace Barotrauma.Items.Components
{
TargetVelocity = targetSpeed/5.0f;
}
}
private bool ToggleMaintainPosition(GUITickBox tickBox)
{
valueChanged = true;