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leg 1

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This commit is contained in:
Anuken
2020-06-08 10:03:46 -04:00
parent 36ce04e8f0
commit 5869b7d27e
9 changed files with 112 additions and 54 deletions
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9
core/src/mindustry/content/UnitTypes.java
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@@ -235,18 +235,19 @@ public class UnitTypes implements ContentList{
cix = new UnitType("cix"){{
drag = 0.1f;
speed = 0.4f;
speed = 0.5f;
hitsize = 9f;
health = 140;
baseElevation = 0.51f;
legCount = 6;
legMoveSpace = 0.9f;
legMoveSpace = 1f;
legPairOffset = 3;
legLength = 34f;
rotateShooting = false;
legExtension = -15;
legBaseOffset = 8f;
landShake = 2f;
legBaseOffset = 10f;
landShake = 0f;
legSpeed = 0.1f;
for(boolean b : Mathf.booleans){

1
core/src/mindustry/entities/Leg.java
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@@ -4,4 +4,5 @@ import arc.math.geom.*;
public class Leg{
public final Vec2 joint = new Vec2(), base = new Vec2();
public int group;
}

76
core/src/mindustry/entities/comp/LegsComp.java
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@@ -1,12 +1,14 @@
package mindustry.entities.comp;
import arc.math.*;
import arc.math.geom.*;
import arc.util.*;
import mindustry.*;
import mindustry.annotations.Annotations.*;
import mindustry.content.*;
import mindustry.entities.*;
import mindustry.gen.*;
import mindustry.graphics.*;
import mindustry.type.*;
import mindustry.world.blocks.environment.*;
@@ -52,14 +54,32 @@ abstract class LegsComp implements Posc, Rotc, Hitboxc, Flyingc, Unitc, Elevatio
totalLength += Mathf.dst(deltaX(), deltaY());
int stage = (int)(totalLength / moveSpace);
int group = stage % div;
if(lastGroup != group){
//create ripple effects when switching leg groups
int i = 0;
for(Leg l : legs){
if(i++ % div == lastGroup){
//float movespace = 360f / legs.length / 4f;
float stepMult = 0.8f;
float trns = legLength/2f*stepMult * 1.3f;//Mathf.dst(deltaX(), deltaY()) * 12.5f * div/1.5f * type.legTrns;
//trns = moveSpace * 0.7f;
//trns = 0;
//rotation + offset vector
Vec2 posOffset = Tmp.v4.trns(rot, trns);
float approach = Mathf.dst(deltaX(), deltaY());
for(int i = 0; i < legs.length; i++){
Leg l = legs[i];
float dstRot = legAngle(rot, i);
boolean side = i < legs.length/2;
//float rot2 = Angles.moveToward(dstRot, rot + (Angles.angleDist(dstRot, rot) < 90f ? 180f : 0), movespace);
int stage = (int)((totalLength + i*type.legPairOffset) / moveSpace);
int group = stage % div;
boolean move = i % div == group;
if(l.group != group){
//create effect when transitioning to a group it can't move in
if(!move && i % div == l.group){
Floor floor = Vars.world.floorWorld(l.base.x, l.base.y);
if(floor.isLiquid){
floor.walkEffect.at(l.base.x, l.base.y, 0, floor.mapColor);
@@ -69,37 +89,35 @@ abstract class LegsComp implements Posc, Rotc, Hitboxc, Flyingc, Unitc, Elevatio
//shake when legs contact ground
if(type.landShake > 0){
Effects.shake(type.landShake, type.landShake, this);
Effects.shake(type.landShake, type.landShake, l.base);
}
}
l.group = group;
}
lastGroup = group;
}
float movespace = 360f / legs.length / 4f;
float trns = vel().len() * 12.5f * div/1.5f * type.legTrns;
//rotation + offset vector
Tmp.v4.trns(rot, trns);
for(int i = 0; i < legs.length; i++){
float dstRot = legAngle(rot, i);
float rot2 = Angles.moveToward(dstRot, rot + (Angles.angleDist(dstRot, rot) < 90f ? 180f : 0), movespace);
Leg l = legs[i];
Vec2 offset = Tmp.v5.trns(dstRot, type.legBaseOffset).add(x, y);
//leg destination
Tmp.v1.trns(dstRot, legLength + type.legBaseOffset).add(x, y).add(Tmp.v4);
//join destination
Tmp.v2.trns(rot2, legLength / 2f + type.legBaseOffset).add(x, y).add(Tmp.v4);
Vec2 footDest = Tmp.v1.trns(dstRot - Mathf.sign(i % 2 == 0) * 0, legLength*stepMult).add(offset).add(posOffset);
//joint destination
//Tmp.v2.trns(rot2, legLength / 2f + type.legBaseOffset).add(x, y).add(offset);
if(i % div == group){
l.base.lerpDelta(Tmp.v1, moveSpeed);
l.joint.lerpDelta(Tmp.v2, moveSpeed / 4f);
if(move){
l.base.lerpDelta(footDest, moveSpeed);
//l.joint.lerpDelta(Tmp.v2, moveSpeed / 4f);
}
l.joint.lerpDelta(Tmp.v2, moveSpeed / 4f);
Vec2 result = Tmp.v2;
InverseKinematics.solve(legLength/2f, legLength/2f, Tmp.v6.set(l.base).sub(offset), side, result);
result.add(offset);
// if()
//l.joint.lerpDelta(Tmp.v2, moveSpeed / 4f);
l.joint.set(result);
}
}

30
core/src/mindustry/graphics/InverseKinematics.java Normal file
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@@ -0,0 +1,30 @@
package mindustry.graphics;
import arc.math.*;
import arc.math.geom.*;
public class InverseKinematics{
private static final Vec2[] mat1 = {new Vec2(), new Vec2()}, mat2 = {new Vec2(), new Vec2()};
private static final Vec2 temp = new Vec2(), temp2 = new Vec2(), at1 = new Vec2(), at2 = new Vec2();
static public boolean solve(float lengthA, float lengthB, Vec2 end, boolean side, Vec2 result){
at1.set(end).rotate(side ? 1 : -1).setLength(lengthA + lengthB).add(end.x / 2f, end.y / 2f);
return solve(lengthA, lengthB, end, at1, result);
}
static public boolean solve(float lengthA, float lengthB, Vec2 end, Vec2 attractor, Vec2 result){
Vec2 axis = mat2[0].set(end).nor();
mat2[1].set(attractor).sub(temp2.set(axis).scl(attractor.dot(axis))).nor();
mat1[0].set(mat2[0].x, mat2[1].x);
mat1[1].set(mat2[0].y, mat2[1].y);
result.set(mat2[0].dot(end), mat2[1].dot(end));
float len = result.len();
float dist = Math.max(0, Math.min(lengthA, (len + (lengthA * lengthA - lengthB * lengthB) / len) / 2));
float e = Mathf.sqrt(lengthA * lengthA - dist * dist);
Vec2 src = temp.set(dist, e);
result.set(mat1[0].dot(src), mat1[1].dot(src));
return dist > 0 && dist < lengthA;
}
}

50
core/src/mindustry/type/UnitType.java
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@@ -27,6 +27,7 @@ import static mindustry.Vars.*;
public class UnitType extends UnlockableContent{
public static final float shadowTX = -12, shadowTY = -13, shadowColor = Color.toFloatBits(0, 0, 0, 0.22f);
public static final boolean debug = false;
private static final Vec2 legOffset = new Vec2();
public boolean flying;
@@ -45,7 +46,7 @@ public class UnitType extends UnlockableContent{
//TODO document
public int legCount = 4;
public float legLength = 10f, legSpeed = 0.1f, legTrns = 1f, legBaseOffset = 0f, legMoveSpace = 1f, legExtension = 0;
public float legLength = 10f, legSpeed = 0.1f, legTrns = 1f, legBaseOffset = 0f, legMoveSpace = 1f, legExtension = 0, legPairOffset = 0;
public int itemCapacity = 30;
public int drillTier = -1;
@@ -172,9 +173,11 @@ public class UnitType extends UnlockableContent{
Draw.z(z);
drawEngine(unit);
drawBody(unit);
if(drawCell) drawCell(unit);
drawWeapons(unit);
if(!debug){
drawBody(unit);
if(drawCell) drawCell(unit);
drawWeapons(unit);
}
if(drawItems) drawItems(unit);
drawLight(unit);
@@ -350,35 +353,40 @@ public class UnitType extends UnlockableContent{
Draw.rect(baseRegion, unit.x(), unit.y(), rotation);
}
int index = 0;
//TODO figure out layering
for(Leg leg : legs){
float angle = unit.legAngle(rotation, index);
boolean flip = index++ >= legs.length/2f;
for(int i = 0; i < legs.length; i++){
Leg leg = legs[i];
float angle = unit.legAngle(rotation, i);
boolean flip = i >= legs.length/2f;
int flips = Mathf.sign(flip);
Vec2 position = legOffset.trns(angle, legBaseOffset).add(unit);
Tmp.v1.set(leg.base).sub(leg.joint).inv().setLength(legExtension);
Draw.color();
if(debug){
Draw.color(Color.red);
Lines.line(position.x, position.y, leg.joint.x, leg.joint.y);
Lines.stroke(legRegion.getHeight() * Draw.scl * flips);
Lines.line(legRegion, position.x, position.y, leg.joint.x, leg.joint.y, CapStyle.none, 0);
Draw.color(Color.green);
Lines.line(leg.joint.x, leg.joint.y, leg.base.x, leg.base.y);
Lines.stroke(legBaseRegion.getHeight() * Draw.scl * flips);
Lines.line(legBaseRegion, leg.joint.x + Tmp.v1.x, leg.joint.y + Tmp.v1.y, leg.base.x, leg.base.y, CapStyle.none, 0);
Draw.reset();
}else{
Draw.rect(footRegion, leg.base.x, leg.base.y, position.angleTo(leg.base));
float angle2 = position.angleTo(leg.base);
Lines.stroke(legRegion.getHeight() * Draw.scl * flips);
Lines.line(legRegion, position.x, position.y, leg.joint.x, leg.joint.y, CapStyle.none, 0);
if(jointRegion.found()){
Draw.rect(jointRegion, leg.joint.x, leg.joint.y);
}
Lines.stroke(legBaseRegion.getHeight() * Draw.scl * flips);
Lines.line(legBaseRegion, leg.joint.x + Tmp.v1.x, leg.joint.y + Tmp.v1.y, leg.base.x, leg.base.y, CapStyle.none, 0);
Draw.rect(footRegion, leg.base.x, leg.base.y, angle2);
if(jointRegion.found()){
Draw.rect(jointRegion, leg.joint.x, leg.joint.y);
}
if(baseJointRegion.found()){
Draw.rect(baseJointRegion, position.x, position.y, rotation);
if(baseJointRegion.found()){
Draw.rect(baseJointRegion, position.x, position.y, rotation);
}
}
}