mirror of
https://github.com/panda3d/panda3d.git
synced 2025-10-03 10:22:45 -04:00
changed debug output; added keel
This commit is contained in:
Dave Schuyler
parent
f50f17e098
commit
9befb9045c
@ -186,7 +186,7 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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return
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assert not avatarNodePath.isEmpty()
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# Connect to Physics Manager:
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self.actorNode=ActorNode("physicsActor")
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self.actorNode=ActorNode("ship physicsActor")
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self.actorNode.getPhysicsObject().setOriented(1)
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self.actorNode.getPhysical(0).setViscosity(0.1)
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physicsActor=render.attachNewNode(self.actorNode)
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@ -207,6 +207,14 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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self.phys.addLinearForce(gravity)
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self.gravity = gravity
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fn=ForceNode("ship keel")
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fnp=NodePath(fn)
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#fnp.reparentTo(physicsActor)
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fnp.reparentTo(render)
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self.keel=AngularVectorForce(0.0, 0.0, 80.0)
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fn.addForce(self.keel)
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self.phys.addAngularForce(self.keel)
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fn=ForceNode("ship priorParent")
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fnp=NodePath(fn)
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fnp.reparentTo(render)
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@ -227,6 +235,7 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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self.phys.addLinearForce(self.avatarViscosity)
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self.phys.attachLinearIntegrator(LinearEulerIntegrator())
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#*#self.phys.attachAngularIntegrator(AngularEulerIntegrator())
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self.phys.attachPhysicalnode(physicsActor.node())
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self.momentumForce=LinearVectorForce(0.0, 0.0, 0.0)
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@ -406,6 +415,76 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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onScreenDebug.add("w ship", self.ship)
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onScreenDebug.add("w isAirborne", self.isAirborne)
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onScreenDebug.add("posDelta1",
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self.avatarNodePath.getPosDelta(render).pPrintValues())
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physObject=self.actorNode.getPhysicsObject()
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if 0:
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onScreenDebug.add("w posDelta3",
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render.getRelativeVector(
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self.avatarNodePath,
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self.avatarNodePath.getPosDelta(render)).pPrintValues())
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if 0:
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onScreenDebug.add("w gravity",
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self.gravity.getLocalVector().pPrintValues())
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onScreenDebug.add("w priorParent",
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self.priorParent.getLocalVector().pPrintValues())
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onScreenDebug.add("w physObject pos",
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physObject.getPosition().pPrintValues())
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onScreenDebug.add("w physObject hpr",
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physObject.getOrientation().getHpr().pPrintValues())
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onScreenDebug.add("w physObject orien",
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physObject.getOrientation().pPrintValues())
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if 1:
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physObject = physObject.getVelocity()
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onScreenDebug.add("w physObject vec",
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physObject.pPrintValues())
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onScreenDebug.add("w physObject len",
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"% 10.4f"%physObject.length())
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acForce = self.acForce.getLocalVector()
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onScreenDebug.add("w acForce vec",
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acForce.pPrintValues())
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onScreenDebug.add("w acForce len",
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"% 10.4f"%acForce.length())
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onScreenDebug.add("avatarViscosity",
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"% 10.4f"%(self.avatarViscosity.getCoef(),))
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#onScreenDebug.add("physMgr",
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# self.phys.debugOutput())
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onScreenDebug.add("orientation",
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self.actorNode.getPhysicsObject().getOrientation().pPrintValues())
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momentumForce = self.momentumForce.getLocalVector()
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onScreenDebug.add("w momentumForce vec",
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momentumForce.pPrintValues())
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onScreenDebug.add("w momentumForce len",
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"% 10.4f"%momentumForce.length())
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keel = self.keel.getLocalVector()
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onScreenDebug.add("w keel vec",
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keel.pPrintValues())
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if 0:
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onScreenDebug.add("posDelta4",
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self.priorParentNp.getRelativeVector(
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render,
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self.avatarNodePath.getPosDelta(render)).pPrintValues())
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if 1:
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onScreenDebug.add("w priorParent",
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self.priorParent.getLocalVector().pPrintValues())
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if 0:
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onScreenDebug.add("w priorParent po",
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self.priorParent.getVector(physObject).pPrintValues())
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if 0:
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onScreenDebug.add("w __posDelta",
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self.__oldPosDelta.pPrintValues())
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if 1:
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onScreenDebug.add("w contact",
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self.actorNode.getContactVector().pPrintValues())
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#onScreenDebug.add("airborneHeight", "% 10.4f"%(
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# self.getAirborneHeight(),))
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def handleAvatarControls(self, task):
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"""
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@ -441,25 +520,25 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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# Determine what the speeds are based on the buttons:
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if not hasattr(self, "sailsDeployed"):
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self.sailsDeployed = 0.0
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if forward and reverse:
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# Way anchor:
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self.__speed = 0.0
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physObject.setVelocity(Vec3.zero())
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elif forward:
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self.sailsDeployed += 0.25
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if self.sailsDeployed > 1.0:
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self.sailsDeployed = 1.0
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elif reverse:
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self.sailsDeployed -= 0.25
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if self.sailsDeployed < -1.0:
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self.sailsDeployed = -1.0
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self.__speed = self.ship.acceleration * self.sailsDeployed
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#self.__speed=(forward and self.ship.acceleration or
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# reverse and -self.ship.reverseAcceleration)
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if 0:
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if not hasattr(self, "sailsDeployed"):
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self.sailsDeployed = 0.0
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if forward and reverse:
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# Way anchor:
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self.__speed = 0.0
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physObject.setVelocity(Vec3.zero())
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elif forward:
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self.sailsDeployed += 0.25
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if self.sailsDeployed > 1.0:
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self.sailsDeployed = 1.0
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elif reverse:
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self.sailsDeployed -= 0.25
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if self.sailsDeployed < -1.0:
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self.sailsDeployed = -1.0
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self.__speed = self.ship.acceleration * self.sailsDeployed
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else:
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self.__speed=(forward and self.ship.acceleration or
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reverse and -self.ship.reverseAcceleration)
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avatarSlideSpeed=self.ship.acceleration*0.5
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#self.__slideSpeed=slide and (
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# (turnLeft and -avatarSlideSpeed) or
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@ -508,67 +587,6 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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# self.priorParent.setVector(Vec3.zero())
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# # We must copy the vector to preserve it:
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# self.__oldPosDelta=Vec3(posDelta)
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if __debug__:
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if self.wantDebugIndicator:
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onScreenDebug.add("posDelta1",
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self.avatarNodePath.getPosDelta(render).pPrintValues())
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if 0:
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onScreenDebug.add("posDelta3",
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render.getRelativeVector(
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self.avatarNodePath,
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self.avatarNodePath.getPosDelta(render)).pPrintValues())
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if 0:
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onScreenDebug.add("gravity",
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self.gravity.getLocalVector().pPrintValues())
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onScreenDebug.add("priorParent",
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self.priorParent.getLocalVector().pPrintValues())
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onScreenDebug.add("avatarViscosity",
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"% 10.4f"%(self.avatarViscosity.getCoef(),))
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onScreenDebug.add("physObject pos",
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physObject.getPosition().pPrintValues())
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onScreenDebug.add("physObject hpr",
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physObject.getOrientation().getHpr().pPrintValues())
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onScreenDebug.add("physObject orien",
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physObject.getOrientation().pPrintValues())
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if 1:
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onScreenDebug.add("physObject vel",
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physObject.getVelocity().pPrintValues())
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onScreenDebug.add("physObject len",
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"% 10.4f"%physObject.getVelocity().length())
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if 0:
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onScreenDebug.add("posDelta4",
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self.priorParentNp.getRelativeVector(
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render,
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self.avatarNodePath.getPosDelta(render)).pPrintValues())
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if 1:
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onScreenDebug.add("priorParent",
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self.priorParent.getLocalVector().pPrintValues())
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if 0:
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onScreenDebug.add("priorParent po",
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self.priorParent.getVector(physObject).pPrintValues())
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if 0:
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onScreenDebug.add("__posDelta",
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self.__oldPosDelta.pPrintValues())
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if 1:
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onScreenDebug.add("contact",
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contact.pPrintValues())
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#onScreenDebug.add("airborneHeight", "% 10.4f"%(
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# self.getAirborneHeight(),))
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if 0:
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onScreenDebug.add("__oldContact",
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contact.pPrintValues())
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onScreenDebug.add("__oldAirborneHeight", "% 10.4f"%(
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self.getAirborneHeight(),))
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airborneHeight=self.getAirborneHeight()
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if airborneHeight > self.highMark:
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self.highMark = airborneHeight
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@ -645,6 +663,15 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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self.__oldContact=Vec3(contact)
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self.__oldAirborneHeight=airborneHeight
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#debugTempH=self.avatarNodePath.getH()
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if __debug__:
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q1=self.avatarNodePath.getQuat()
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q2=physObject.getOrientation()
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q1.normalize()
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q2.normalize()
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assert q1.isSameDirection(q2) or q1.getHpr() == q2.getHpr()
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assert self.avatarNodePath.getPos().almostEqual(physObject.getPosition(), 0.0001)
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moveToGround = Vec3.zero()
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if not self.useHeightRay or self.isAirborne:
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# ...the airborne check is a hack to stop sliding.
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@ -659,20 +686,21 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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moveToGround = Vec3(0.0, 0.0, -self.determineHeight())
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if __debug__:
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onScreenDebug.add("phys", "off")
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#debugTempH=self.avatarNodePath.getH()
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if __debug__:
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q1=self.avatarNodePath.getQuat()
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q2=physObject.getOrientation()
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q1.normalize()
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q2.normalize()
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assert q1.isSameDirection(q2) or q1.getHpr() == q2.getHpr()
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assert self.avatarNodePath.getPos().almostEqual(physObject.getPosition(), 0.0001)
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# Check to see if we're moving at all:
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if 1 or self.__speed or self.__slideSpeed or self.__rotationSpeed or moveToGround!=Vec3.zero():
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if 0 or self.__speed or self.__slideSpeed or self.__rotationSpeed or moveToGround!=Vec3.zero():
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distance = dt * self.__speed
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slideDistance = dt * self.__slideSpeed
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rotation = dt * self.__rotationSpeed
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#debugTempH=self.avatarNodePath.getH()
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if __debug__:
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q1=self.avatarNodePath.getQuat()
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q2=physObject.getOrientation()
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q1.normalize()
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q2.normalize()
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assert q1.isSameDirection(q2)
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assert self.avatarNodePath.getPos().almostEqual(physObject.getPosition(), 0.0001)
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# update pos:
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# Take a step in the direction of our previous heading.
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@ -702,17 +730,11 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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onScreenDebug.add("newVector length",
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newVector.length())
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self.acForce.setVector(Vec3(newVector))
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#*#
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speed = physObject.getVelocity()
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speedLen = speed.length()
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if speedLen > self.ship.maxSpeed:
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speed.normalize()
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speed *= self.ship.maxSpeed
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physObject.setVelocity(speed)
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#self.actorNode.updateTransform()
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#momentum = self.momentumForce.getLocalVector()
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#momentum *= 0.9
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#self.momentumForce.setVector(momentum)
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#physObject.setPosition(Point3(
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@ -726,18 +748,39 @@ class ShipPilot(PhysicsWalker.PhysicsWalker):
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# sync the change:
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self.actorNode.updateTransform()
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if __debug__:
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q1=self.avatarNodePath.getQuat()
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q2=physObject.getOrientation()
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q1.normalize()
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q2.normalize()
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assert q1.isSameDirection(q2)
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assert self.avatarNodePath.getPos().almostEqual(physObject.getPosition(), 0.0001)
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#assert self.avatarNodePath.getH()==debugTempH-rotation
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messenger.send("avatarMoving")
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else:
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self.__vel.set(0.0, 0.0, 0.0)
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#*#
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speed = physObject.getVelocity()
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speedLen = speed.length()
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if speedLen > self.ship.maxSpeed:
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speed.normalize()
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speed *= self.ship.maxSpeed
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self.avatarViscosity.setCoef(0.5)
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#speed *= 1.0 - dt * 0.05
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physObject.setVelocity(speed)
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#rotMat=Mat3.rotateMatNormaxis(self.avatarNodePath.getH(), Vec3.up())
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#speed=rotMat.xform(speed)
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f = Vec3(self.__vel)
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f.normalize()
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self.momentumForce.setVector(Vec3(f*(speed.length()*0.9)))
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if __debug__:
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q1=self.avatarNodePath.getQuat()
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q2=physObject.getOrientation()
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q1.normalize()
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q2.normalize()
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assert q1.isSameDirection(q2) or q1.getHpr() == q2.getHpr()
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assert self.avatarNodePath.getPos().almostEqual(physObject.getPosition(), 0.0001)
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# Clear the contact vector so we can tell if we contact something next frame:
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self.actorNode.setContactVector(Vec3.zero())
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return Task.cont
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