Astronand/Mindustry
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

kinematic lerp

Browse Source
This commit is contained in:
Anuken
2020-06-08 11:45:43 -04:00
parent 427cf8e594
commit 1f905790e7
8 changed files with 18 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
core/src/mindustry/entities/comp/LegsComp.java
View File

@@ -8,6 +8,7 @@ import mindustry.annotations.Annotations.*;
import mindustry.content.*;
import mindustry.entities.*;
import mindustry.gen.*;
import mindustry.graphics.*;
import mindustry.type.*;
import mindustry.world.blocks.environment.*;
@@ -55,18 +56,22 @@ abstract class LegsComp implements Posc, Rotc, Hitboxc, Flyingc, Unitc, Elevatio
float trns = moveSpace * 0.85f * type.legTrns;
//rotation + offset vector
Vec2 moveOffset = Tmp.v4.trns(rot, trns).add(x, y);
Vec2 moveOffset = Tmp.v4.trns(rot, trns);
for(int i = 0; i < legs.length; i++){
float dstRot = legAngle(rot, i);
Vec2 baseOffset = Tmp.v5.trns(dstRot, type.legBaseOffset).add(moveOffset);
float rot2 = Angles.moveToward(dstRot, rot + (Angles.angleDist(dstRot, rot) < 90f ? 180f : 0), type.legBend * 360f / legs.length / 4f);
Vec2 baseOffset = Tmp.v5.trns(dstRot, type.legBaseOffset).add(x, y);
Leg l = legs[i];
float stageF = (totalLength + i*type.legPairOffset) / moveSpace;
int stage = (int)stageF;
int group = stage % div;
boolean move = i % div == group;
boolean side = i < legs.length/2;
//back legs have reversed directions
boolean backLeg = Math.abs((i + 0.5f) - legs.length/2f) <= 0.501f;
if(backLeg) side = !side;
l.moving = move;
l.stage = stageF % 1f;
@@ -91,9 +96,13 @@ abstract class LegsComp implements Posc, Rotc, Hitboxc, Flyingc, Unitc, Elevatio
}
//leg destination
Vec2 legDest = Tmp.v1.trns(dstRot, legLength).add(baseOffset);
Vec2 legDest = Tmp.v1.trns(dstRot, legLength * type.legLengthScl).add(baseOffset).add(moveOffset);
//join destination
Vec2 jointDest = Tmp.v2.trns(rot2, legLength / 2f + type.legBaseOffset).add(moveOffset);
Vec2 jointDest = Tmp.v2;//.trns(rot2, legLength / 2f + type.legBaseOffset).add(moveOffset);
InverseKinematics.solve(legLength/2f, legLength/2f, Tmp.v6.set(l.base).sub(baseOffset), side, jointDest);
jointDest.add(baseOffset);
//lerp between kinematic and linear
jointDest.lerp(Tmp.v6.set(baseOffset).lerp(l.base, 0.5f), 1f - type.kinematicScl);
if(move){
float moveFract = stageF % 1f;