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add robot prototype

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This commit is contained in:
Redo
2022-10-28 15:25:25 -06:00
parent 718c9ba725
commit d768193275
5 changed files with 221 additions and 128 deletions
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219
bricks/special/robot.cs
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@@ -21,14 +21,14 @@ datablock fxDTSBrickData(LogicGate_RobotController_Data) {
hasPrint = 1;
printAspectRatio = "Logic";
orientationFix = 3;
isLogic = true;
isLogicGate = true;
isLogicInput = true;
logicInit = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-init.lua" );
logicUpdate = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-update.lua");
logicGlobal = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-global.lua");
logicInput = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-input.lua" );
logicUIName = "Robot Controller";
logicUIDesc = "Creates and controls a mobile robot that can detect and place bricks";
@@ -109,161 +109,144 @@ datablock fxDTSBrickData(LogicGate_RobotController_Data) {
logicPortPos[14] = "15 3 0";
logicPortDir[14] = 1;
logicPortUIName[14] = "ColorOut0";
logicPortType[15] = 0;
logicPortPos[15] = "13 3 0";
logicPortDir[15] = 1;
logicPortUIName[15] = "ColorOut1";
logicPortType[16] = 0;
logicPortPos[16] = "11 3 0";
logicPortDir[16] = 1;
logicPortUIName[16] = "ColorOut2";
logicPortType[17] = 0;
logicPortPos[17] = "9 3 0";
logicPortDir[17] = 1;
logicPortUIName[17] = "ColorOut3";
logicPortType[18] = 0;
logicPortPos[18] = "7 3 0";
logicPortDir[18] = 1;
logicPortUIName[18] = "ColorOut4";
logicPortType[19] = 0;
logicPortPos[19] = "5 3 0";
logicPortDir[19] = 1;
logicPortUIName[19] = "ColorOut5";
logicPortType[20] = 0;
logicPortPos[20] = "1 3 0";
logicPortDir[20] = 1;
logicPortUIName[20] = "Brick Detected";
logicPortType[21] = 1;
logicPortPos[21] = "-1 3 0";
logicPortDir[21] = 1;
logicPortUIName[21] = "Detect Brick";
};
function LogicGate_RobotController_Data::getRelativeVector(%this, %obj, %vec)
{
%rot = %obj.angleID;
%x = getWord(%vec, 0);
%y = getWord(%vec, 1);
%z = getWord(%vec, 2);
%ax = %x;
switch(%rot)
{
case 1:
%x = %y;
%y = -%ax;
case 2:
%x = -%x;
%y = -%y;
case 3:
%x = -%y;
%y = %ax;
function LogicGate_RobotController_Data::LuaLogic_Callback(%this, %brick, %data) {
%robot = %brick.luaLogicRobot;
if(!isObject(%robot)) { talk("brick " @ %brick @ " has no robot!"); return; }
%pos = %robot.getPosition();
initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickAlwaysObjectType);
%tbrick = containerSearchNext();
%output = "";
for(%i=0; %i<getFieldCount(%data); %i++) {
%field = getField(%data, %i);
%first = getWord(%field, 0);
if(%first $= "R" || %first $= "D") { // remove / detect brick
if(isObject(%tbrick)) {
if(%first $= "D") {
%field = "B" SPC
%tbrick.getColorId() SPC
%tbrick.getColorFxID() SPC
%tbrick.getShapeFxId() SPC
%tbrick.isRaycasting() SPC
%tbrick.isColliding() SPC
%tbrick.isRendering();
%output = %output @ %field @ "\t";
} else if(%first $= "R") {
%tbrick.schedule(0, delete);
}
}
} else if(%first $= "P") { // plant brick
%nbrick = new fxDTSBrick() {
datablock = brick1x1fData;
position = %pos;
colorId = getWord(%field, 1);
colorFxId = getWord(%field, 2);
shapeFxId = getWord(%field, 3);
isPlanted = 1;
};
%err = %nbrick.plant();
if(%err != 0 && %err != 2) {
%nbrick.delete();
} else {
%nbrick.setRaycasting(getWord(%field, 4));
%nbrick.setColliding (getWord(%field, 5));
%nbrick.setRendering (getWord(%field, 6));
LuaLogic_RobotBrickGroup.add(%nbrick);
%nbrick.setTrusted(1);
}
}
}
lualogic_sendinput(%brick, 1, trim(%output));
}
function LogicGate_RobotController_Data::getRelativeVector(%this, %obj, %vec) {
%rot = %obj.angleID;
%x = getWord(%vec, 0); %y = getWord(%vec, 1); %z = getWord(%vec, 2);
%ax = %x;
switch(%rot) {
case 1: %x = %y; %y = -%ax;
case 2: %x = -%x; %y = -%y ;
case 3: %x = -%y; %y = %ax;
}
return %x SPC %y SPC %z;
}
function LogicGate_RobotController_Data::onDeath(%this, %obj)
{
if(isObject(%obj.illogicRobot))
%obj.illogicRobot.delete();
}
function LogicGate_RobotController_Data::onRemove(%this, %obj)
{
if(isObject(%obj.illogicRobot))
%obj.illogicRobot.delete();
}
function LogicGate_RobotController_Data::doLogic(%this, %obj)
{
%x = (!$LBC::Ports::LastBrickState[%obj, 10] && $LBC::Ports::BrickState[%obj, 10]) - (!$LBC::Ports::LastBrickState[%obj, 11] && $LBC::Ports::BrickState[%obj, 11]);
%y = (!$LBC::Ports::LastBrickState[%obj, 13] && $LBC::Ports::BrickState[%obj, 13]) - (!$LBC::Ports::LastBrickState[%obj, 12] && $LBC::Ports::BrickState[%obj, 12]);
%z = (!$LBC::Ports::LastBrickState[%obj, 9] && $LBC::Ports::BrickState[%obj, 9]) - (!$LBC::Ports::LastBrickState[%obj, 8] && $LBC::Ports::BrickState[%obj, 8]);
%vec = %this.getRelativeVector(%obj, %x*0.5 SPC %y*0.5 SPC %z*0.2);
%robot = %obj.illogicRobot;
if(%vec !$= "0 0 0")
%robot.setTransform(vectorAdd(%robot.getPosition(), %vec));
%pos = %robot.getPosition();
if(!$LBC::Ports::LastBrickState[%obj, 21] && $LBC::Ports::BrickState[%obj, 21])
{
initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickObjectType);
if(isObject(%sobj = containerSearchNext()))
{
%obj.Logic_SetOutput(20, true);
%color = %sobj.getColorID();
for(%i = 0; %i < 6; %i++)
%obj.Logic_SetOutput(14+%i, (%color >> %i) & 1);
%obj.illogicRobotBrick = %sobj;
}
else
{
%obj.Logic_SetOutput(20, false);
for(%i = 0; %i < 6; %i++)
%obj.Logic_SetOutput(14+%i, false);
%obj.illogicRobotBrick = 0;
}
}
if(!$LBC::Ports::LastBrickState[%obj, 6] && $LBC::Ports::BrickState[%obj, 6])
{
initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickObjectType);
if(isObject(%sobj = containerSearchNext()) && %sobj.getGroup() == nameToID(LuaLogic_RobotBrickGroup))
%sobj.delete();
}
if(!$LBC::Ports::LastBrickState[%obj, 7] && $LBC::Ports::BrickState[%obj, 7])
{
for(%i = 0; %i < 6; %i++)
%color += mPow(2, %i) * $LBC::Ports::BrickState[%obj, %i];
%brick = new fxDTSBrick()
{
datablock = brick1x1fData;
position = %pos;
colorID = %color;
isPlanted = 1;
};
%err = %brick.plant();
if(%err != 0 && %err != 2)
%brick.delete();
else
{
LuaLogic_RobotBrickGroup.add(%brick);
%brick.setTrusted(true);
}
}
}
function LogicGate_RobotController_Data::Logic_onGateAdded(%this, %obj)
{
if(isObject(%obj.illogicRobot))
%obj.illogicRobot.delete();
function LogicGate_RobotController_Data::createRobot(%this, %obj) {
if(isObject(%obj.luaLogicRobot))
%obj.luaLogicRobot.delete();
%pos = %obj.getPosition();
%rpos = vectorAdd(%pos, %this.getRelativeVector(%obj, "0.25 7.75 0"));
%robot = new StaticShape()
{
datablock = LuaLogic_BrickData;
%robot = new StaticShape() {
datablock = LuaLogic_RobotShapeData;
position = %rpos;
};
%robot.setNodeColor("ALL", "1 1 1 1");
missionCleanup.add(%robot);
%obj.illogicRobot = %robot;
%obj.luaLogicRobot = %robot;
lualogic_sendinput(%brick, 1, "P" @ %rpos);
}
function LogicGate_RobotController_Data::onDeath(%this, %obj) {
if(isObject(%obj.luaLogicRobot))
%obj.luaLogicRobot.delete();
}
function LogicGate_RobotController_Data::onRemove(%this, %obj) {
if(isObject(%obj.luaLogicRobot))
%obj.luaLogicRobot.delete();
}
function LogicGate_RobotController_Data::onPlant(%this, %obj) {
if(!isObject(%obj.luaLogicRobot))
%this.createRobot(%obj);
}
function LogicGate_RobotController_Data::onLoadPlant(%this, %obj) {
if(!isObject(%obj.luaLogicRobot))
%this.createRobot(%obj);
}