Updated WalkView:
- Added support for additional manager objects, e.g. for animating a 3d model or move a JSBSim pointmass. - Improved the documentation. - Some bugs removed.
This commit is contained in:
Anders Gidenstam
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1 changed files with 74 additions and 26 deletions
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@ -11,7 +11,7 @@
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# Global API. Automatically selects the right walker for the current view.
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# NOTE: Coordinates are always 3 component lists: [x, y, z].
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# NOTE: Coordinates are always 3 component lists: [x, y, z] in meters.
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# The coordinate system is the same as the main 3d model one.
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# X - back, Y - right and Z - up.
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@ -58,10 +58,17 @@ var active_walker = func {
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# Class for a moving view.
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#
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# CONSTRUCTOR:
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# walker.new(<view name>, <constraints>);
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# walker.new(<view name>, <constraints>, <managers>);
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#
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# view name ... The name of the view : string
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# constraints ... The movement constraints : constraint hash
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# Determines where the view can go.
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# managers ... Optional list of custom managers. A manager is a
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# a hash that contains an update function of the type
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# func(walker instance). The update function
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# of each manager will be called as the last part of
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# each walker update. Intended for controlling a
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# a 3d model or similar.
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#
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# METHODS:
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# active() : bool
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@ -82,7 +89,7 @@ var active_walker = func {
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# get_eye_height() : int (meter)
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#
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# set_constraints(constraints)
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# get_constraints() : contraint hash
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# get_constraints() : constraint hash
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#
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# EXAMPLE:
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# var constraint =
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@ -95,10 +102,11 @@ var active_walker = func {
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# walk view should not have any other view manager.
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#
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var walker = {
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new : func (view_name, constraints = nil) {
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new : func (view_name, constraints = nil, managers = nil) {
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var obj = { parents : [walker] };
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obj.view = view.views[view.indexof(view_name)];
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obj.constraints = constraints;
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obj.managers = managers;
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obj.position = [
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obj.view.getNode("config/z-offset-m").getValue(),
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obj.view.getNode("config/x-offset-m").getValue(),
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@ -108,7 +116,6 @@ var walker = {
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obj.view.getNode("config/heading-offset-deg").getValue();
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obj.speed_fwd = 0.0;
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obj.speed_side = 0.0;
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obj.id = 0;
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obj.isactive = 0;
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obj.eye_height = 1.60;
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obj.goal_height = obj.position[2] + obj.eye_height;
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@ -135,7 +142,7 @@ var walker = {
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me.position[2] = pos[2];
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},
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get_pos : func {
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return me.position;
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return [me.position[0], me.position[1], me.position[2]];
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},
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set_eye_height : func (h) {
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me.eye_height = h;
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@ -157,13 +164,11 @@ var walker = {
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me.last_time = getprop("/sim/time/elapsed-sec") - 0.0001;
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me.update();
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me.position[2] = me.goal_height;
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settimer(func { me._loop_(me.id); }, 0.0);
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},
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stop : func {
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me.isactive = 0;
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me.id += 1;
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},
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# Internals.
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# The update function is called by the view manager when the view is active.
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update : func {
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var t = getprop("/sim/time/elapsed-sec");
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var dt = t - me.last_time;
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@ -173,11 +178,11 @@ var walker = {
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me.heading = cur.getNode("heading-offset-deg").getValue();
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me.position[0] -=
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me.speed_fwd * dt * math.cos(me.heading * RAD) +
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me.speed_side * dt * math.sin(me.heading * RAD);
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me.speed_fwd * dt * math.cos(me.heading * TO_RAD) +
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me.speed_side * dt * math.sin(me.heading * TO_RAD);
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me.position[1] -=
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me.speed_fwd * dt * math.sin(me.heading * RAD) -
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me.speed_side * dt * math.cos(me.heading * RAD);
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me.speed_fwd * dt * math.sin(me.heading * TO_RAD) -
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me.speed_side * dt * math.cos(me.heading * TO_RAD);
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var cur_height = me.position[2];
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if (me.constraints != nil) {
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@ -198,19 +203,23 @@ var walker = {
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cur.getNode("x-offset-m").setValue(me.position[1]);
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cur.getNode("y-offset-m").setValue(me.position[2]);
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me.last_time = t;
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},
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_loop_ : func (id) {
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if (me.id != id) return;
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me.update();
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settimer(func { me._loop_(id); }, 0.0);
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if (me.managers != nil) {
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foreach(var m; me.managers) {
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m.update(me);
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}
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}
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me.last_time = t;
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return 0.0;
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},
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};
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###############################################################################
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# Constraint classes.
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# Constraint classes. Determines where the view can walk.
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# Assumes that the constraints are convex.
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# The union of two constraints.
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# c1, c2 - the constraints : constraint
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# NOTE: Assumes that the constraints are convex.
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var unionConstraint = {
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new : func (c1, c2) {
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var obj = { parents : [unionConstraint] };
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@ -236,6 +245,7 @@ var unionConstraint = {
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};
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# Build a unionConstraint hierarchy from a list of constraints.
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# cs - list of constraints : [constraint]
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var makeUnionConstraint = func (cs) {
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if (size(cs) < 2) return cs[0];
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@ -247,8 +257,8 @@ var makeUnionConstraint = func (cs) {
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}
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# Mostly aligned plane sloping along the X axis.
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# minp - the X,Y minimum point
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# maxp - the X,Y maximum point
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# minp - the X,Y minimum point : position (meter)
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# maxp - the X,Y maximum point : position (meter)
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var slopingYAlignedPlane = {
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new : func (minp, maxp) {
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var obj = { parents : [slopingYAlignedPlane] };
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@ -270,8 +280,8 @@ var slopingYAlignedPlane = {
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# Action constraint
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# Triggers an action when entering or exiting the constraint.
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# contraint - the area in question.
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# on_enter - function that is called when the walker enters the area.
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# constraint - the area in question : constraint
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# on_enter() - function that is called when the walker enters the area.
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# on_exit(x, y) - function that is called when the walker leaves the area.
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# x and y are <0, 0 or >0 depending on in which direction(s)
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# the walker left the constraint.
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@ -305,11 +315,49 @@ var actionConstraint = {
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}
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};
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###############################################################################
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# Manager classes.
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# JSBSim pointmass manager.
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# Moves a pointmass representing the crew member together with the view.
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# CONSTRUCTOR:
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# JSBSimPointmass.new(<pointmass index>);
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#
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# pointmass index ... The index of the pointmass : int
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# offsets ... [x, y ,z] position in meter of the origin of the
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# JSBSim structural frame in the 3d model frame.
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#
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# NOTE: Only supports aligned frames (yet).
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#
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var JSBSimPointmass = {
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new : func (index, offsets = nil) {
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var base = props.globals.getNode("fdm/jsbsim/inertia");
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var prefix = "pointmass-location-";
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var postfix = "-inches[" ~ index ~"]";
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var obj = { parents : [JSBSimPointmass] };
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obj.pos_ft =
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[
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base.getNode(prefix ~ "X" ~ postfix),
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base.getNode(prefix ~ "Y" ~ postfix),
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base.getNode(prefix ~ "Z" ~ postfix)
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];
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obj.offset = (offsets == nil) ? [0.0, 0.0, 0.0] : offsets;
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return obj;
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},
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update : func (walker) {
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var pos = walker.get_pos();
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pos[2] += walker.get_eye_height()/2;
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forindex (var i; pos) {
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me.pos_ft[i].setValue((pos[i] - me.offset[i])*M2FT*12);
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}
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}
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};
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###############################################################################
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# Module implementation below
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var RAD = math.pi/180;
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var DEG = 180/math.pi;
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var TO_RAD = math.pi/180;
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var TO_DEG = 180/math.pi;
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var walkers = {};
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