272 lines
7.0 KiB
C#
272 lines
7.0 KiB
C#
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datablock StaticShapeData(LuaLogic_RobotShapeData) {
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shapeFile = $LuaLogic::Path @ "bricks/special/cube.dts";
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};
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datablock fxDTSBrickData(LogicGate_RobotController_Data) {
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brickFile = $LuaLogic::Path @ "bricks/blb/RobotController.blb";
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category = "Logic Bricks";
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subCategory = "Special";
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uiName = "Robot Controller";
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iconName = $LuaLogic::Path @ "icons/Robot Controller";
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hasPrint = 1;
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printAspectRatio = "Logic";
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orientationFix = 3;
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isLogic = true;
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isLogicGate = true;
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//isLogicInput = true;
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logicInit = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-init.lua" );
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logicUpdate = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-update.lua");
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logicInput = lualogic_readfile($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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numLogicPorts = 22;
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logicPortType[0] = 1;
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logicPortPos[0] = "15 -3 0";
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logicPortDir[0] = 3;
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logicPortUIName[0] = "ColorIn0";
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logicPortType[1] = 1;
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logicPortPos[1] = "13 -3 0";
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logicPortDir[1] = 3;
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logicPortUIName[1] = "ColorIn1";
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logicPortType[2] = 1;
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logicPortPos[2] = "11 -3 0";
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logicPortDir[2] = 3;
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logicPortUIName[2] = "ColorIn2";
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logicPortType[3] = 1;
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logicPortPos[3] = "9 -3 0";
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logicPortDir[3] = 3;
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logicPortUIName[3] = "ColorIn3";
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logicPortType[4] = 1;
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logicPortPos[4] = "7 -3 0";
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logicPortDir[4] = 3;
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logicPortUIName[4] = "ColorIn4";
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logicPortType[5] = 1;
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logicPortPos[5] = "5 -3 0";
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logicPortDir[5] = 3;
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logicPortUIName[5] = "ColorIn5";
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logicPortType[6] = 1;
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logicPortPos[6] = "1 -3 0";
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logicPortDir[6] = 3;
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logicPortUIName[6] = "Destroy Brick";
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logicPortCauseUpdate[6] = true;
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logicPortType[7] = 1;
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logicPortPos[7] = "-1 -3 0";
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logicPortDir[7] = 3;
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logicPortUIName[7] = "Plant Brick";
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logicPortCauseUpdate[7] = true;
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logicPortType[8] = 1;
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logicPortPos[8] = "-5 -3 0";
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logicPortDir[8] = 3;
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logicPortUIName[8] = "Move Down";
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logicPortCauseUpdate[8] = true;
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logicPortType[9] = 1;
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logicPortPos[9] = "-7 -3 0";
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logicPortDir[9] = 3;
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logicPortUIName[9] = "Move Up";
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logicPortCauseUpdate[9] = true;
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logicPortType[10] = 1;
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logicPortPos[10] = "-9 -3 0";
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logicPortDir[10] = 3;
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logicPortUIName[10] = "Move Right";
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logicPortCauseUpdate[10] = true;
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logicPortType[11] = 1;
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logicPortPos[11] = "-11 -3 0";
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logicPortDir[11] = 3;
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logicPortUIName[11] = "Move Left";
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logicPortCauseUpdate[11] = true;
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logicPortType[12] = 1;
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logicPortPos[12] = "-13 -3 0";
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logicPortDir[12] = 3;
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logicPortUIName[12] = "Move Backward";
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logicPortCauseUpdate[12] = true;
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logicPortType[13] = 1;
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logicPortPos[13] = "-15 -3 0";
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logicPortDir[13] = 3;
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logicPortUIName[13] = "Move Forward";
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logicPortCauseUpdate[13] = true;
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logicPortType[14] = 0;
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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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logicPortCauseUpdate[21] = true;
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};
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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 $= "D") { // remove / detect brick
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if(isObject(%tbrick)) {
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%field = "B" @ 1 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 {
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%output = %output @ "B 0 0 0 0 0 0 0\t";
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}
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} else if(%first $= "R") {
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if(isObject(%tbrick)) {
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%tbrick.schedule(0, delete);
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}
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} else if(%first $= "P") { // plant brick
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LogicRobot_CreateBrickGroup();
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if(!isObject(%tbrick)) {
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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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%nbrick.setTransform(%pos SPC "0 0 1 0");
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%err = %nbrick.plant();
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if(%err != 0 && %err != 2 && %err != 3) {
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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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BrickGroup_12345678.add(%nbrick);
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%nbrick.setTrusted(1);
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}
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}
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} else if(%first $= "M") { // move
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%pos = getWords(%field, 1, 3);
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%rot = getWord(%field, 4);
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%robot.setTransform(%pos SPC "0 0 1" SPC (%rot*$pi/2));
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} else {
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talk("invalid robot callback " @ %field);
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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 LogicRobot_CreateBrickGroup() {
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if(!isObject(BrickGroup_12345678)) {
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new SimGroup(BrickGroup_12345678) {
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bl_id = 12345678;
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name = "\c1Robot";
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QuotaObject = GlobalQuota;
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};
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mainBrickGroup.add(BrickGroup_12345678);
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}
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}
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function LogicGate_RobotController_Data::createRobot(%this, %obj) {
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if(isObject(%obj.luaLogicRobot)) return;
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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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datablock = LuaLogic_RobotShapeData;
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position = %rpos;
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};
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%robot.setScale("1 1 1");
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%robot.setNodeColor("ALL", "1 1 1 1");
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missionCleanup.add(%robot);
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%obj.luaLogicRobot = %robot;
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}
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function LogicGate_RobotController_Data::Logic_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::Logic_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::Logic_onAdd(%this, %obj) {
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if(!isObject(%obj.luaLogicRobot)) %this.createRobot(%obj);
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lualogic_sendinput(%obj, 1, "P" @ %obj.luaLogicRobot.getPosition() SPC %obj.getAngleId());
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}
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