add robot prototype
This commit is contained in:
Redo
parent
718c9ba725
commit
d768193275
12
bricks/special/robot-init.lua
Normal file
12
bricks/special/robot-init.lua
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@ -0,0 +1,12 @@
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return function(gate)
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gate.brickcolor = 0
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gate.brickcolorfx = 0
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gate.brickshapefx = 0
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gate.brickray = 0
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gate.brickcol = 0
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gate.brickren = 0
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gate.waiting = true
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gate.robotpos = {0, 0, 0}
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gate.robotdir = 0
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end
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31
bricks/special/robot-input.lua
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31
bricks/special/robot-input.lua
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@ -0,0 +1,31 @@
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local function intToPort(gate, port, len, v)
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for i = 1, len do
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local p = math.pow(2, i-1)
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Gate.setportstate(gate, port+i-1, math.floor(v/p)%2)
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end
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end
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return function(gate, argv)
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for word in argv[1]:gmatch("[^\t]+") do
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local first, rest = word:sub(1, 1), word:sub(2, #word)
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local vec = {}
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for a in rest:gmatch("[^ ]+") do table.insert(vec, tonumber(a) or error("invalid number "..a)) end
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if first=="P" then -- set position
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assert(#vec==3, "invalid position given to robot: "..word)
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brick.robotpos = vec
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elseif first=="B" then -- detected brick info
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assert(#vec==7, "invalid brick info given to robot: "..word)
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gate.brickexists = vec[1]
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gate.brickcolor = vec[2]
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gate.brickcolorfx = vec[3]
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gate.brickshapefx = vec[4]
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gate.brickray = vec[5]
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gate.brickcol = vec[6]
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gate.brickren = vec[7]
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intToPort(gate, 15, 6, gate.brickcolor)
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Gate.setportstate(gate, 21, gate.brickexists)
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else error("invalid control word given to robot: "..word) end
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end
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gate.waiting = false
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end
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63
bricks/special/robot-update.lua
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63
bricks/special/robot-update.lua
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@ -0,0 +1,63 @@
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local function intFromPort(gate, port, len)
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local v = 0
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for i = 1, len do
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v = v + Gate.getportstate(gate, port+i-1)*math.pow(2, i-1)
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end
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return v
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end
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local function rotateVector(vec, rot)
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if rot==0 then return { vec[1], vec[2], vec[3]}
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elseif rot==1 then return { vec[2], -vec[1], vec[3]}
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elseif rot==2 then return {-vec[1], -vec[2], vec[3]}
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elseif rot==3 then return {-vec[2], vec[1], vec[3]}
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else error("invalid rot "..rot) end
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end
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return function(gate)
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if not gate.waiting then
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local action = ""
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if Gate.getportstate(gate, 7)~=0 then -- remove brick
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action = action.."R\t"
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end
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if Gate.getportstate(gate, 8)~=0 then -- plant brick
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local color = intFromPort(gate, 1, 6)
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local colorfx = 0
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local shapefx = 0
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local ray = 1
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local col = 1
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local ren = 1
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action = action.."P "..color.." "..colorfx.." "..shapefx.." "..ray.." "..col.." "..ren.."\t"
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end
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if Gate.getportstate(gate, 22)~=0 then -- detect brick
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action = action.."D\t"
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end
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local movePos = {0, 0, 0}
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if Gate.getportstate(gate, 9)~=0 then movePos[3] = movePos[3]-1 end -- down
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if Gate.getportstate(gate, 10)~=0 then movePos[3] = movePos[3]+1 end -- up
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if Gate.getportstate(gate, 11)~=0 then movePos[3] = movePos[1]+1 end -- right
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if Gate.getportstate(gate, 12)~=0 then movePos[3] = movePos[1]-1 end -- left
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if Gate.getportstate(gate, 13)~=0 then movePos[3] = movePos[2]-1 end -- back
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if Gate.getportstate(gate, 14)~=0 then movePos[3] = movePos[2]+1 end -- fore
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local moveRotation = 0
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--if Gate.getportstate(gate, 13)~=0 then moveRotation = moveRotation+1 end -- right
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--if Gate.getportstate(gate, 14)~=0 then moveRotation = moveRotation-1 end -- left
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gate.robotdir = (gate.robotdir + moveRotation)%4
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if movePos[1]~=0 or movePos[2]~=0 or movePos[3]~=0 then
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movePos = rotateVector(movePos, gate.robotdir)
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gate.robotpos = { gate.robotpos[1]+movePos[1], gate.robotpos[2]+movePos[2], gate.robotpos[3]+movePos[3] }
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action = action.."M "..gate.robotpos[1].." "..gate.robotpos[2].." "..gate.robotpos[3].."\t"
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end
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if moveRotation~=0 then
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action = action.."A "..gate.robotdir.."\t"
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end
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if action~="" then
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Gate.cb(gate, action:sub(1, #action-1))
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gate.waiting = true
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end
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end
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end
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@ -21,14 +21,14 @@ datablock fxDTSBrickData(LogicGate_RobotController_Data) {
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hasPrint = 1;
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printAspectRatio = "Logic";
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orientationFix = 3;
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isLogic = true;
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isLogicGate = true;
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isLogicInput = true;
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logicInit = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-init.lua" );
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logicUpdate = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-update.lua");
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logicGlobal = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-global.lua");
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logicInput = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-input.lua" );
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logicUIName = "Robot Controller";
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logicUIDesc = "Creates and controls a mobile robot that can detect and place bricks";
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@ -109,161 +109,144 @@ datablock fxDTSBrickData(LogicGate_RobotController_Data) {
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logicPortPos[14] = "15 3 0";
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logicPortDir[14] = 1;
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logicPortUIName[14] = "ColorOut0";
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logicPortType[15] = 0;
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logicPortPos[15] = "13 3 0";
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logicPortDir[15] = 1;
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logicPortUIName[15] = "ColorOut1";
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logicPortType[16] = 0;
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logicPortPos[16] = "11 3 0";
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logicPortDir[16] = 1;
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logicPortUIName[16] = "ColorOut2";
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logicPortType[17] = 0;
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logicPortPos[17] = "9 3 0";
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logicPortDir[17] = 1;
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logicPortUIName[17] = "ColorOut3";
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logicPortType[18] = 0;
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logicPortPos[18] = "7 3 0";
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logicPortDir[18] = 1;
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logicPortUIName[18] = "ColorOut4";
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logicPortType[19] = 0;
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logicPortPos[19] = "5 3 0";
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logicPortDir[19] = 1;
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logicPortUIName[19] = "ColorOut5";
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logicPortType[20] = 0;
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logicPortPos[20] = "1 3 0";
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logicPortDir[20] = 1;
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logicPortUIName[20] = "Brick Detected";
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logicPortType[21] = 1;
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logicPortPos[21] = "-1 3 0";
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logicPortDir[21] = 1;
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logicPortUIName[21] = "Detect Brick";
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};
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function LogicGate_RobotController_Data::getRelativeVector(%this, %obj, %vec)
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{
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%rot = %obj.angleID;
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%x = getWord(%vec, 0);
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%y = getWord(%vec, 1);
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%z = getWord(%vec, 2);
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%ax = %x;
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switch(%rot)
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{
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case 1:
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%x = %y;
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%y = -%ax;
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case 2:
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%x = -%x;
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%y = -%y;
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case 3:
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%x = -%y;
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%y = %ax;
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function LogicGate_RobotController_Data::LuaLogic_Callback(%this, %brick, %data) {
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%robot = %brick.luaLogicRobot;
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if(!isObject(%robot)) { talk("brick " @ %brick @ " has no robot!"); return; }
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%pos = %robot.getPosition();
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initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickAlwaysObjectType);
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%tbrick = containerSearchNext();
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%output = "";
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for(%i=0; %i<getFieldCount(%data); %i++) {
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%field = getField(%data, %i);
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%first = getWord(%field, 0);
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if(%first $= "R" || %first $= "D") { // remove / detect brick
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if(isObject(%tbrick)) {
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if(%first $= "D") {
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%field = "B" SPC
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%tbrick.getColorId() SPC
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%tbrick.getColorFxID() SPC
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%tbrick.getShapeFxId() SPC
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%tbrick.isRaycasting() SPC
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%tbrick.isColliding() SPC
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%tbrick.isRendering();
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%output = %output @ %field @ "\t";
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} else if(%first $= "R") {
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%tbrick.schedule(0, delete);
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}
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}
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} else if(%first $= "P") { // plant brick
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%nbrick = new fxDTSBrick() {
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datablock = brick1x1fData;
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position = %pos;
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colorId = getWord(%field, 1);
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colorFxId = getWord(%field, 2);
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shapeFxId = getWord(%field, 3);
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isPlanted = 1;
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};
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%err = %nbrick.plant();
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if(%err != 0 && %err != 2) {
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%nbrick.delete();
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} else {
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%nbrick.setRaycasting(getWord(%field, 4));
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%nbrick.setColliding (getWord(%field, 5));
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%nbrick.setRendering (getWord(%field, 6));
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LuaLogic_RobotBrickGroup.add(%nbrick);
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%nbrick.setTrusted(1);
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}
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}
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}
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lualogic_sendinput(%brick, 1, trim(%output));
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}
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function LogicGate_RobotController_Data::getRelativeVector(%this, %obj, %vec) {
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%rot = %obj.angleID;
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%x = getWord(%vec, 0); %y = getWord(%vec, 1); %z = getWord(%vec, 2);
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%ax = %x;
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switch(%rot) {
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case 1: %x = %y; %y = -%ax;
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case 2: %x = -%x; %y = -%y ;
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case 3: %x = -%y; %y = %ax;
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}
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return %x SPC %y SPC %z;
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}
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function LogicGate_RobotController_Data::onDeath(%this, %obj)
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{
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if(isObject(%obj.illogicRobot))
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%obj.illogicRobot.delete();
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}
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function LogicGate_RobotController_Data::onRemove(%this, %obj)
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{
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if(isObject(%obj.illogicRobot))
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%obj.illogicRobot.delete();
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}
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function LogicGate_RobotController_Data::doLogic(%this, %obj)
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{
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%x = (!$LBC::Ports::LastBrickState[%obj, 10] && $LBC::Ports::BrickState[%obj, 10]) - (!$LBC::Ports::LastBrickState[%obj, 11] && $LBC::Ports::BrickState[%obj, 11]);
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%y = (!$LBC::Ports::LastBrickState[%obj, 13] && $LBC::Ports::BrickState[%obj, 13]) - (!$LBC::Ports::LastBrickState[%obj, 12] && $LBC::Ports::BrickState[%obj, 12]);
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%z = (!$LBC::Ports::LastBrickState[%obj, 9] && $LBC::Ports::BrickState[%obj, 9]) - (!$LBC::Ports::LastBrickState[%obj, 8] && $LBC::Ports::BrickState[%obj, 8]);
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%vec = %this.getRelativeVector(%obj, %x*0.5 SPC %y*0.5 SPC %z*0.2);
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%robot = %obj.illogicRobot;
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if(%vec !$= "0 0 0")
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%robot.setTransform(vectorAdd(%robot.getPosition(), %vec));
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%pos = %robot.getPosition();
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if(!$LBC::Ports::LastBrickState[%obj, 21] && $LBC::Ports::BrickState[%obj, 21])
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{
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initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickObjectType);
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if(isObject(%sobj = containerSearchNext()))
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{
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%obj.Logic_SetOutput(20, true);
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%color = %sobj.getColorID();
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for(%i = 0; %i < 6; %i++)
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%obj.Logic_SetOutput(14+%i, (%color >> %i) & 1);
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%obj.illogicRobotBrick = %sobj;
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}
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else
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{
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%obj.Logic_SetOutput(20, false);
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for(%i = 0; %i < 6; %i++)
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%obj.Logic_SetOutput(14+%i, false);
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%obj.illogicRobotBrick = 0;
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}
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}
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if(!$LBC::Ports::LastBrickState[%obj, 6] && $LBC::Ports::BrickState[%obj, 6])
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{
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initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickObjectType);
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if(isObject(%sobj = containerSearchNext()) && %sobj.getGroup() == nameToID(LuaLogic_RobotBrickGroup))
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%sobj.delete();
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}
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if(!$LBC::Ports::LastBrickState[%obj, 7] && $LBC::Ports::BrickState[%obj, 7])
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{
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for(%i = 0; %i < 6; %i++)
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%color += mPow(2, %i) * $LBC::Ports::BrickState[%obj, %i];
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%brick = new fxDTSBrick()
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{
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datablock = brick1x1fData;
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position = %pos;
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colorID = %color;
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isPlanted = 1;
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};
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%err = %brick.plant();
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if(%err != 0 && %err != 2)
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%brick.delete();
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else
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{
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LuaLogic_RobotBrickGroup.add(%brick);
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%brick.setTrusted(true);
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}
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}
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}
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function LogicGate_RobotController_Data::Logic_onGateAdded(%this, %obj)
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{
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if(isObject(%obj.illogicRobot))
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%obj.illogicRobot.delete();
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function LogicGate_RobotController_Data::createRobot(%this, %obj) {
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if(isObject(%obj.luaLogicRobot))
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%obj.luaLogicRobot.delete();
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%pos = %obj.getPosition();
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%rpos = vectorAdd(%pos, %this.getRelativeVector(%obj, "0.25 7.75 0"));
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%robot = new StaticShape()
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{
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datablock = LuaLogic_BrickData;
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%robot = new StaticShape() {
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datablock = LuaLogic_RobotShapeData;
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position = %rpos;
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};
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%robot.setNodeColor("ALL", "1 1 1 1");
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missionCleanup.add(%robot);
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%obj.illogicRobot = %robot;
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%obj.luaLogicRobot = %robot;
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lualogic_sendinput(%brick, 1, "P" @ %rpos);
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}
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function LogicGate_RobotController_Data::onDeath(%this, %obj) {
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if(isObject(%obj.luaLogicRobot))
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%obj.luaLogicRobot.delete();
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}
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function LogicGate_RobotController_Data::onRemove(%this, %obj) {
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if(isObject(%obj.luaLogicRobot))
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%obj.luaLogicRobot.delete();
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}
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function LogicGate_RobotController_Data::onPlant(%this, %obj) {
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if(!isObject(%obj.luaLogicRobot))
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%this.createRobot(%obj);
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}
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function LogicGate_RobotController_Data::onLoadPlant(%this, %obj) {
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if(!isObject(%obj.luaLogicRobot))
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%this.createRobot(%obj);
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}
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@ -30,17 +30,19 @@ package lualogic_rom_update {
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};
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schedule(0, 0, activatePackage, lualogic_rom_update);
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function lualogic_rom_updatebrick(%brick, %instant) {
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function lualogic_rom_updatebrick(%brick) {
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cancel(%brick.lualogic_rom_updatebrick_schedule);
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if(%instant) lualogic_rom_updatebrick_final(%brick);
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else %brick.lualogic_rom_updatebrick_schedule = schedule(100, 0, lualogic_rom_updatebrick_final, %brick);
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%brick.lualogic_rom_updatebrick_schedule = schedule(100, 0, lualogic_rom_updatebrick_final, %brick, %brick.getWorldBox());
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}
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function lualogic_rom_updatebrick_final(%brick) {
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if(!isObject(%brick)) return;
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if(%brick.lualogic_rom_delete) { if(%brick.lualogic_rom_deletedone) return; %brick.lualogic_rom_deletedone = 1; }
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function lualogic_rom_updatebrick_final(%brick, %box) {
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if(isObject(%brick)) {
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if(%brick.lualogic_rom_delete) {
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if(%brick.lualogic_rom_deletedone) return;
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%brick.lualogic_rom_deletedone = 1;
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}
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}
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// update any roms below
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%box = %brick.getWorldBox();
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%boxl = getWords(%box, 0, 2); %boxlz = getWord(%boxl, 2);
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%boxh = getWords(%box, 3, 5);
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%boxs = vectorSub(%boxh, %boxl);
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@ -60,9 +62,11 @@ function lualogic_rom_updatebrick_final(%brick) {
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}
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// if rom, update
|
||||
if(%brick.lualogic_rom_delete) return;
|
||||
if(%brick.getDatablock().isLogicRom) {
|
||||
lualogic_rom_updatedata(%brick);
|
||||
if(isObject(%brick)) {
|
||||
if(%brick.lualogic_rom_delete) return;
|
||||
if(%brick.getDatablock().isLogicRom) {
|
||||
lualogic_rom_updatedata(%brick);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user