mirror of
https://github.com/Sneed-Group/Poodletooth-iLand
synced 2024-12-26 13:12:30 -06:00
302 lines
12 KiB
Python
302 lines
12 KiB
Python
|
"""ProjectileInterval module: contains the ProjectileInterval class"""
|
||
|
|
|
||
|
|
__all__ = ['ProjectileInterval']
|
||
|
|
|
||
|
|
from pandac.PandaModules import *
|
||
|
|
from Interval import Interval
|
||
|
|
from direct.showbase.PythonUtil import lerp
|
||
|
|
from direct.showbase import PythonUtil
|
||
|
|
|
||
|
|
class ProjectileInterval(Interval):
|
||
|
|
"""ProjectileInterval class: moves a nodepath through the trajectory
|
||
|
|
of a projectile under the influence of gravity"""
|
||
|
|
|
||
|
|
# create ProjectileInterval DirectNotify category
|
||
|
|
notify = directNotify.newCategory('ProjectileInterval')
|
||
|
|
|
||
|
|
# serial num for unnamed intervals
|
||
|
|
projectileIntervalNum = 1
|
||
|
|
|
||
|
|
# g ~ 9.8 m/s^2 ~ 32 ft/s^2
|
||
|
|
gravity = 32.
|
||
|
|
|
||
|
|
# the projectile's velocity is constant in the X and Y directions.
|
||
|
|
# the projectile's motion in the Z (up) direction is parabolic
|
||
|
|
# due to the constant force of gravity, which acts in the -Z direction
|
||
|
|
|
||
|
|
def __init__(self, node, startPos = None,
|
||
|
|
endPos = None, duration = None,
|
||
|
|
startVel = None, endZ = None,
|
||
|
|
wayPoint = None, timeToWayPoint = None,
|
||
|
|
gravityMult = None, name = None,
|
||
|
|
collNode = None):
|
||
|
|
"""
|
||
|
|
You may specify several different sets of input parameters.
|
||
|
|
(If startPos is not provided, it will be obtained from the node's
|
||
|
|
position at the time that the interval is first started. Note that
|
||
|
|
in this case you must provide a duration of some kind.)
|
||
|
|
|
||
|
|
# go from startPos to endPos in duration seconds
|
||
|
|
startPos, endPos, duration
|
||
|
|
# given a starting velocity, go for a specific time period
|
||
|
|
startPos, startVel, duration
|
||
|
|
# given a starting velocity, go until you hit a given Z plane
|
||
|
|
startPos, startVel, endZ
|
||
|
|
# pass through wayPoint at time 'timeToWayPoint'. Go until
|
||
|
|
# you hit a given Z plane
|
||
|
|
startPos, wayPoint, timeToWayPoint, endZ
|
||
|
|
|
||
|
|
You may alter gravity by providing a multiplier in 'gravityMult'.
|
||
|
|
'2.' will make gravity twice as strong, '.5' half as strong.
|
||
|
|
'-1.' will reverse gravity
|
||
|
|
|
||
|
|
If collNode is not None, it should be an empty CollisionNode
|
||
|
|
which will be filled with an appropriate CollisionParabola
|
||
|
|
when the interval starts. This CollisionParabola will be set
|
||
|
|
to match the interval's parabola, and its t1, t2 values will
|
||
|
|
be updated automatically as the interval plays. It will *not*
|
||
|
|
be automatically removed from the node when the interval
|
||
|
|
finishes.
|
||
|
|
|
||
|
|
"""
|
||
|
|
self.node = node
|
||
|
|
self.collNode = collNode
|
||
|
|
if self.collNode:
|
||
|
|
if isinstance(self.collNode, NodePath):
|
||
|
|
self.collNode = self.collNode.node()
|
||
|
|
assert self.collNode.getNumSolids() == 0
|
||
|
|
|
||
|
|
if name == None:
|
||
|
|
name = '%s-%s' % (self.__class__.__name__,
|
||
|
|
self.projectileIntervalNum)
|
||
|
|
ProjectileInterval.projectileIntervalNum += 1
|
||
|
|
|
||
|
|
"""
|
||
|
|
# attempt to add info about the caller
|
||
|
|
file, line, func = PythonUtil.callerInfo()
|
||
|
|
if file is not None:
|
||
|
|
name += '-%s:%s:%s' % (file, line, func)
|
||
|
|
"""
|
||
|
|
|
||
|
|
args = (startPos, endPos, duration, startVel, endZ,
|
||
|
|
wayPoint, timeToWayPoint, gravityMult)
|
||
|
|
self.implicitStartPos = 0
|
||
|
|
if startPos is None:
|
||
|
|
if duration is None:
|
||
|
|
self.notify.error('must provide either startPos or duration')
|
||
|
|
self.duration = duration
|
||
|
|
# we can't calc the trajectory until we know our starting
|
||
|
|
# position; delay until the interval is actually started
|
||
|
|
self.trajectoryArgs = args
|
||
|
|
self.implicitStartPos = 1
|
||
|
|
else:
|
||
|
|
self.trajectoryArgs = args
|
||
|
|
self.__calcTrajectory(*args)
|
||
|
|
|
||
|
|
Interval.__init__(self, name, self.duration)
|
||
|
|
|
||
|
|
def __calcTrajectory(self, startPos = None,
|
||
|
|
endPos = None, duration = None,
|
||
|
|
startVel = None, endZ = None,
|
||
|
|
wayPoint = None, timeToWayPoint = None,
|
||
|
|
gravityMult = None):
|
||
|
|
if startPos is None:
|
||
|
|
startPos = self.node.getPos()
|
||
|
|
|
||
|
|
def doIndirections(*items):
|
||
|
|
result = []
|
||
|
|
for item in items:
|
||
|
|
if callable(item):
|
||
|
|
item = item()
|
||
|
|
result.append(item)
|
||
|
|
return result
|
||
|
|
|
||
|
|
startPos, endPos, startVel, endZ, gravityMult, wayPoint, \
|
||
|
|
timeToWayPoint = \
|
||
|
|
doIndirections(startPos, endPos, startVel, endZ, gravityMult,
|
||
|
|
wayPoint, timeToWayPoint)
|
||
|
|
|
||
|
|
# we're guaranteed to know the starting position at this point
|
||
|
|
self.startPos = startPos
|
||
|
|
|
||
|
|
# gravity is applied in the -Z direction
|
||
|
|
self.zAcc = -self.gravity
|
||
|
|
if gravityMult:
|
||
|
|
self.zAcc *= gravityMult
|
||
|
|
|
||
|
|
def calcStartVel(startPos, endPos, duration, zAccel):
|
||
|
|
# p(t) = p_0 + t*v_0 + .5*a*t^2
|
||
|
|
# v_0 = [p(t) - p_0 - .5*a*t^2] / t
|
||
|
|
if (duration == 0):
|
||
|
|
return Point3(0, 0, 0)
|
||
|
|
else:
|
||
|
|
return Point3((endPos[0] - startPos[0]) / duration,
|
||
|
|
(endPos[1] - startPos[1]) / duration,
|
||
|
|
(endPos[2] - startPos[2] - (.5*zAccel*duration*duration)) / duration)
|
||
|
|
|
||
|
|
def calcTimeOfImpactOnPlane(startHeight, endHeight, startVel, accel):
|
||
|
|
return PythonUtil.solveQuadratic(accel * .5, startVel,
|
||
|
|
startHeight-endHeight)
|
||
|
|
|
||
|
|
def calcTimeOfLastImpactOnPlane(startHeight, endHeight,
|
||
|
|
startVel, accel):
|
||
|
|
time = calcTimeOfImpactOnPlane(startHeight, endHeight,
|
||
|
|
startVel, accel)
|
||
|
|
if not time:
|
||
|
|
return None
|
||
|
|
if type(time) == type([]):
|
||
|
|
# projectile hits plane once going up, once going down
|
||
|
|
# assume they want the one on the way down
|
||
|
|
assert self.notify.debug('projectile hits plane twice at times: %s' %
|
||
|
|
time)
|
||
|
|
time = max(*time)
|
||
|
|
else:
|
||
|
|
assert self.notify.debug('projectile hits plane once at time: %s' %
|
||
|
|
time)
|
||
|
|
return time
|
||
|
|
|
||
|
|
# now all we need is startVel, duration, and endPos.
|
||
|
|
|
||
|
|
# which set of input parameters do we have?
|
||
|
|
if (None not in (endPos, duration)):
|
||
|
|
assert not startVel
|
||
|
|
assert not endZ
|
||
|
|
assert not wayPoint
|
||
|
|
assert not timeToWayPoint
|
||
|
|
self.duration = duration
|
||
|
|
self.endPos = endPos
|
||
|
|
self.startVel = calcStartVel(self.startPos, self.endPos,
|
||
|
|
self.duration, self.zAcc)
|
||
|
|
elif (None not in (startVel, duration)):
|
||
|
|
assert not endPos
|
||
|
|
assert not endZ
|
||
|
|
assert not wayPoint
|
||
|
|
assert not timeToWayPoint
|
||
|
|
self.duration = duration
|
||
|
|
self.startVel = startVel
|
||
|
|
self.endPos = None
|
||
|
|
elif (None not in (startVel, endZ)):
|
||
|
|
assert not endPos
|
||
|
|
assert not duration
|
||
|
|
assert not wayPoint
|
||
|
|
assert not timeToWayPoint
|
||
|
|
self.startVel = startVel
|
||
|
|
time = calcTimeOfLastImpactOnPlane(self.startPos[2], endZ,
|
||
|
|
self.startVel[2], self.zAcc)
|
||
|
|
if time is None:
|
||
|
|
self.notify.error(
|
||
|
|
'projectile never reaches plane Z=%s' % endZ)
|
||
|
|
self.duration = time
|
||
|
|
self.endPos = None
|
||
|
|
elif (None not in (wayPoint, timeToWayPoint, endZ)):
|
||
|
|
assert not endPos
|
||
|
|
assert not duration
|
||
|
|
assert not startVel
|
||
|
|
# we pass through wayPoint at time 'timeToWayPoint', and we
|
||
|
|
# stop when we reach endZ
|
||
|
|
self.startVel = calcStartVel(self.startPos, wayPoint,
|
||
|
|
timeToWayPoint, self.zAcc)
|
||
|
|
time = calcTimeOfLastImpactOnPlane(
|
||
|
|
self.startPos[2], endZ, self.startVel[2], self.zAcc)
|
||
|
|
if time is None:
|
||
|
|
self.notify.error(
|
||
|
|
'projectile never reaches plane Z=%s' % endZ)
|
||
|
|
self.duration = time
|
||
|
|
self.endPos = None
|
||
|
|
else:
|
||
|
|
self.notify.error('invalid set of inputs to ProjectileInterval')
|
||
|
|
|
||
|
|
self.parabola = LParabola(VBase3(0, 0, 0.5 * self.zAcc),
|
||
|
|
self.startVel,
|
||
|
|
self.startPos)
|
||
|
|
|
||
|
|
if not self.endPos:
|
||
|
|
self.endPos = self.__calcPos(self.duration)
|
||
|
|
|
||
|
|
# these are the parameters that we need to know:
|
||
|
|
assert self.notify.debug('startPos: %s' % repr(self.startPos))
|
||
|
|
assert self.notify.debug('endPos: %s' % repr(self.endPos))
|
||
|
|
assert self.notify.debug('duration: %s' % self.duration)
|
||
|
|
assert self.notify.debug('startVel: %s' % repr(self.startVel))
|
||
|
|
assert self.notify.debug('z-accel: %s' % self.zAcc)
|
||
|
|
|
||
|
|
def __initialize(self):
|
||
|
|
if self.implicitStartPos:
|
||
|
|
self.__calcTrajectory(*self.trajectoryArgs)
|
||
|
|
|
||
|
|
def testTrajectory(self):
|
||
|
|
try:
|
||
|
|
self.__calcTrajectory(*self.trajectoryArgs)
|
||
|
|
except StandardError:
|
||
|
|
assert self.notify.error('invalid projectile parameters')
|
||
|
|
return False
|
||
|
|
return True
|
||
|
|
|
||
|
|
def privInitialize(self, t):
|
||
|
|
self.__initialize()
|
||
|
|
if self.collNode:
|
||
|
|
self.collNode.clearSolids()
|
||
|
|
csolid = CollisionParabola(self.parabola, 0, 0)
|
||
|
|
self.collNode.addSolid(csolid)
|
||
|
|
|
||
|
|
Interval.privInitialize(self, t)
|
||
|
|
|
||
|
|
def privInstant(self):
|
||
|
|
self.__initialize()
|
||
|
|
Interval.privInstant(self)
|
||
|
|
if self.collNode:
|
||
|
|
self.collNode.clearSolids()
|
||
|
|
csolid = CollisionParabola(self.parabola, 0, self.duration)
|
||
|
|
self.collNode.addSolid(csolid)
|
||
|
|
|
||
|
|
def __calcPos(self, t):
|
||
|
|
return self.parabola.calcPoint(t)
|
||
|
|
|
||
|
|
def privStep(self, t):
|
||
|
|
self.node.setFluidPos(self.__calcPos(t))
|
||
|
|
Interval.privStep(self, t)
|
||
|
|
if self.collNode and self.collNode.getNumSolids() > 0:
|
||
|
|
csolid = self.collNode.modifySolid(0)
|
||
|
|
csolid.setT1(csolid.getT2())
|
||
|
|
csolid.setT2(t)
|
||
|
|
|
||
|
|
"""
|
||
|
|
##################################################################
|
||
|
|
TODO: support arbitrary sets of inputs
|
||
|
|
##################################################################
|
||
|
|
You must provide a few of the parameters, and the others will be
|
||
|
|
computed. The input parameters in question are:
|
||
|
|
duration, endZ, endPos, startVel, gravityMult
|
||
|
|
|
||
|
|
Valid sets of input parameters (AA),
|
||
|
|
(trivially computed/default parameters) (BB),
|
||
|
|
non-trivial computed parameters (CC):
|
||
|
|
AA && BB => CC
|
||
|
|
|
||
|
|
# one parameter
|
||
|
|
duration && (startVel, gravityMult) => endZ, endPos
|
||
|
|
endZ && (startVel, gravityMult) => duration, endPos
|
||
|
|
endPos && (endZ, gravityMult ) => duration, startVel
|
||
|
|
|
||
|
|
# two parameters
|
||
|
|
duration, endZ && (endPos, gravityMult) => startVel
|
||
|
|
duration, endPos && (endZ, gravityMult ) => startVel
|
||
|
|
duration, startVel && (gravityMult ) => endZ, endPos
|
||
|
|
duration, gravityMult && (startVel ) => endZ, endPos
|
||
|
|
endZ, startVel && (gravityMult ) => duration, endPos
|
||
|
|
endZ, gravityMult && (endPos, startVel ) => duration
|
||
|
|
endPos, gravityMult && (endZ ) => duration, startVel
|
||
|
|
|
||
|
|
# three parameters
|
||
|
|
duration, endZ, startVel && ( ) => endPos, gravityMult
|
||
|
|
duration, endZ, gravityMult && (endPos) => startVel
|
||
|
|
duration, endPos, gravityMult && (endZ ) => startVel
|
||
|
|
duration, startVel, gravityMult && ( ) => endZ, endPos
|
||
|
|
endZ, startVel, gravityMult && ( ) => duration, endPos
|
||
|
|
|
||
|
|
# four parameters
|
||
|
|
duration, endZ, startVel, gravityMult && () => endPos
|
||
|
|
##################################################################
|
||
|
|
##################################################################
|
||
|
|
"""
|