320 lines
9.5 KiB
Text
320 lines
9.5 KiB
Text
###############################################################################
|
|
##
|
|
## Walk view module for FlightGear.
|
|
##
|
|
## Inspired by the work of Stewart Andreason.
|
|
##
|
|
## Copyright (C) 2010 Anders Gidenstam (anders(at)gidenstam.org)
|
|
## This file is licensed under the GPL license v2 or later.
|
|
##
|
|
###############################################################################
|
|
|
|
# Global API. Automatically selects the right walker for the current view.
|
|
|
|
# NOTE: Coordinates are always 3 component lists: [x, y, z].
|
|
# The coordinate system is the same as the main 3d model one.
|
|
# X - back, Y - right and Z - up.
|
|
|
|
# Set the forward speed of the active walker.
|
|
# speed - walker speed in m/sec
|
|
# Returns 1 of there is an active walker and 0 otherwise.
|
|
var forward = func (speed) {
|
|
var cv = view.current.getPath();
|
|
if (contains(walkers, cv)) {
|
|
walkers[cv].forward(speed);
|
|
return 1;
|
|
} else {
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
# Set the side step speed of the active walker.
|
|
# speed - walker speed in m/sec
|
|
# Returns 1 of there is an active walker and 0 otherwise.
|
|
var side_step = func (speed) {
|
|
var cv = view.current.getPath();
|
|
if (contains(walkers, cv)) {
|
|
walkers[cv].side_step(speed);
|
|
return 1;
|
|
} else {
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
# Get the currently active walker.
|
|
# Returns the active walker object or nil otherwise.
|
|
var active_walker = func {
|
|
var cv = view.current.getPath();
|
|
if (contains(walkers, cv)) {
|
|
return walkers[cv];
|
|
} else {
|
|
return nil;
|
|
}
|
|
}
|
|
|
|
###############################################################################
|
|
# The walker class.
|
|
# ==============================================================================
|
|
# Class for a moving view.
|
|
#
|
|
# CONSTRUCTOR:
|
|
# walker.new(<view name>, <constraints>);
|
|
#
|
|
# view name ... The name of the view : string
|
|
# constraints ... The movement constraints : constraint hash
|
|
#
|
|
# METHODS:
|
|
# active() : bool
|
|
# returns true if this walk view is active.
|
|
#
|
|
# forward(speed)
|
|
# Sets the forward speed of this walk view.
|
|
# speed ... speed in m/sec : double
|
|
#
|
|
# side_step(speed)
|
|
# Sets the side step speed of this walk view.
|
|
# speed ... speed in m/sec : double
|
|
#
|
|
# set_pos(pos)
|
|
# get_pos() : position
|
|
#
|
|
# set_eye_height(h)
|
|
# get_eye_height() : int (meter)
|
|
#
|
|
# set_constraints(constraints)
|
|
# get_constraints() : contraint hash
|
|
#
|
|
# EXAMPLE:
|
|
# var constraint =
|
|
# walkview.slopingYAlignedPlane.new([19.1, -0.3, -8.85],
|
|
# [19.5, 0.3, -8.85]);
|
|
# var walker = walkview.walker.new("Passenger View", constraint);
|
|
#
|
|
# NOTES:
|
|
# Currently there can only be one view manager per view so the
|
|
# walk view should not have any other view manager.
|
|
#
|
|
var walker = {
|
|
new : func (view_name, constraints = nil) {
|
|
var obj = { parents : [walker] };
|
|
obj.view = view.views[view.indexof(view_name)];
|
|
obj.constraints = constraints;
|
|
obj.position = [
|
|
obj.view.getNode("config/z-offset-m").getValue(),
|
|
obj.view.getNode("config/x-offset-m").getValue(),
|
|
obj.view.getNode("config/y-offset-m").getValue()
|
|
];
|
|
obj.heading =
|
|
obj.view.getNode("config/heading-offset-deg").getValue();
|
|
obj.speed_fwd = 0.0;
|
|
obj.speed_side = 0.0;
|
|
obj.id = 0;
|
|
obj.isactive = 0;
|
|
obj.eye_height = 1.60;
|
|
obj.goal_height = obj.position[2] + obj.eye_height;
|
|
|
|
# Register this walker.
|
|
view.manager.register(view_name, obj);
|
|
walkers[obj.view.getPath()] = obj;
|
|
|
|
debug.dump(obj);
|
|
return obj;
|
|
},
|
|
active : func {
|
|
return me.isactive;
|
|
},
|
|
forward : func (speed) {
|
|
me.speed_fwd = speed;
|
|
},
|
|
side_step : func (speed) {
|
|
me.speed_side = speed;
|
|
},
|
|
set_pos : func (pos) {
|
|
me.position[0] = pos[0];
|
|
me.position[1] = pos[1];
|
|
me.position[2] = pos[2];
|
|
},
|
|
get_pos : func {
|
|
return me.position;
|
|
},
|
|
set_eye_height : func (h) {
|
|
me.eye_height = h;
|
|
},
|
|
get_eye_height : func {
|
|
return me.eye_height;
|
|
},
|
|
set_constraints : func (constraints) {
|
|
me.constraints = constraints;
|
|
},
|
|
get_constraints : func {
|
|
return me.constraints;
|
|
},
|
|
# View handler implementation.
|
|
init : func {
|
|
},
|
|
start : func {
|
|
me.isactive = 1;
|
|
me.last_time = getprop("/sim/time/elapsed-sec") - 0.0001;
|
|
me.update();
|
|
me.position[2] = me.goal_height;
|
|
settimer(func { me._loop_(me.id); }, 0.0);
|
|
},
|
|
stop : func {
|
|
me.isactive = 0;
|
|
me.id += 1;
|
|
},
|
|
# Internals.
|
|
update : func {
|
|
var t = getprop("/sim/time/elapsed-sec");
|
|
var dt = t - me.last_time;
|
|
if (dt == 0.0) return;
|
|
|
|
var cur = props.globals.getNode("/sim/current-view");
|
|
me.heading = cur.getNode("heading-offset-deg").getValue();
|
|
|
|
me.position[0] -=
|
|
me.speed_fwd * dt * math.cos(me.heading * RAD) +
|
|
me.speed_side * dt * math.sin(me.heading * RAD);
|
|
me.position[1] -=
|
|
me.speed_fwd * dt * math.sin(me.heading * RAD) -
|
|
me.speed_side * dt * math.cos(me.heading * RAD);
|
|
|
|
var cur_height = me.position[2];
|
|
if (me.constraints != nil) {
|
|
me.position = me.constraints.constrain(me.position);
|
|
me.goal_height = me.position[2] + me.eye_height;
|
|
}
|
|
# Change the view height smoothly
|
|
if (math.abs(me.goal_height - cur_height) > 2.0 * dt) {
|
|
me.position[2] =
|
|
cur_height +
|
|
2.0 * dt *
|
|
((me.goal_height > cur_height) ? 1 : -1);
|
|
} else {
|
|
me.position[2] = me.goal_height;
|
|
}
|
|
|
|
cur.getNode("z-offset-m").setValue(me.position[0]);
|
|
cur.getNode("x-offset-m").setValue(me.position[1]);
|
|
cur.getNode("y-offset-m").setValue(me.position[2]);
|
|
|
|
me.last_time = t;
|
|
},
|
|
_loop_ : func (id) {
|
|
if (me.id != id) return;
|
|
me.update();
|
|
settimer(func { me._loop_(id); }, 0.0);
|
|
}
|
|
};
|
|
|
|
###############################################################################
|
|
# Constraint classes.
|
|
|
|
# Assumes that the constraints are convex.
|
|
var unionConstraint = {
|
|
new : func (c1, c2) {
|
|
var obj = { parents : [unionConstraint] };
|
|
obj.c1 = c1;
|
|
obj.c2 = c2;
|
|
return obj;
|
|
},
|
|
constrain : func (pos) {
|
|
var p1 = me.c1.constrain(pos);
|
|
var p2 = me.c2.constrain(pos);
|
|
if (p1[0] == pos[0] and p1[1] == pos[1]) {
|
|
return p1;
|
|
} elsif (p2[0] == pos[0] and p2[1] == pos[1]) {
|
|
return p2;
|
|
} else {
|
|
if (closerXY(pos, p1, p2) <= 0) {
|
|
return p1;
|
|
} else {
|
|
return p2;
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
# Build a unionConstraint hierarchy from a list of constraints.
|
|
var makeUnionConstraint = func (cs) {
|
|
if (size(cs) < 2) return cs[0];
|
|
|
|
var ret = cs[0];
|
|
for (var i = 1; i < size(cs); i += 1) {
|
|
ret = unionConstraint.new(ret, cs[i]);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
# Mostly aligned plane sloping along the X axis.
|
|
# minp - the X,Y minimum point
|
|
# maxp - the X,Y maximum point
|
|
var slopingYAlignedPlane = {
|
|
new : func (minp, maxp) {
|
|
var obj = { parents : [slopingYAlignedPlane] };
|
|
obj.minp = minp;
|
|
obj.maxp = maxp;
|
|
obj.kxz = (maxp[2] - minp[2])/(maxp[0] - minp[0]);
|
|
return obj;
|
|
},
|
|
constrain : func (pos) {
|
|
var p = [pos[0], pos[1], pos[2]];
|
|
if (pos[0] < me.minp[0]) p[0] = me.minp[0];
|
|
if (pos[0] > me.maxp[0]) p[0] = me.maxp[0];
|
|
if (pos[1] < me.minp[1]) p[1] = me.minp[1];
|
|
if (pos[1] > me.maxp[1]) p[1] = me.maxp[1];
|
|
p[2] = me.minp[2] + me.kxz * (pos[0] - me.minp[0]);
|
|
return p;
|
|
},
|
|
};
|
|
|
|
# Action constraint
|
|
# Triggers an action when entering or exiting the constraint.
|
|
# contraint - the area in question.
|
|
# on_enter - function that is called when the walker enters the area.
|
|
# on_exit(x, y) - function that is called when the walker leaves the area.
|
|
# x and y are <0, 0 or >0 depending on in which direction(s)
|
|
# the walker left the constraint.
|
|
var actionConstraint = {
|
|
new : func (constraint, on_enter = nil, on_exit = nil) {
|
|
var obj = { parents : [actionConstraint] };
|
|
obj.constraint = constraint;
|
|
obj.on_enter = on_enter;
|
|
obj.on_exit = on_exit;
|
|
obj.inside = 0;
|
|
return obj;
|
|
},
|
|
constrain : func (pos) {
|
|
var p = me.constraint.constrain(pos);
|
|
if (p[0] == pos[0] and p[1] == pos[1]) {
|
|
if (!me.inside) {
|
|
me.inside = 1;
|
|
if (me.on_enter != nil) {
|
|
me.on_enter();
|
|
}
|
|
}
|
|
} else {
|
|
if (me.inside) {
|
|
me.inside -= 1;
|
|
if (!me.inside and me.on_exit != nil) {
|
|
me.on_exit(pos[0] - p[0], pos[1] - p[1]);
|
|
}
|
|
}
|
|
}
|
|
return p;
|
|
}
|
|
};
|
|
|
|
###############################################################################
|
|
# Module implementation below
|
|
|
|
var RAD = math.pi/180;
|
|
var DEG = 180/math.pi;
|
|
|
|
var walkers = {};
|
|
|
|
var closerXY = func (pos, p1, p2) {
|
|
l1 = [p1[0] - pos[0], p1[1] - pos[1]];
|
|
l2 = [p2[0] - pos[0], p2[1] - pos[1]];
|
|
return (l1[0]*l1[0] + l1[1]*l1[1]) - (l2[0]*l2[0] + l2[1]*l2[1]);
|
|
}
|