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Fixed angle stuttering when reaching target.

WorldChunkRefactoring
Martin Felis 2023-11-01 12:33:04 +01:00
parent a0a3fea598
commit 0160e72eec
3 changed files with 8 additions and 6 deletions
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5
components/GroundMotionComponent.cs
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@ -24,10 +24,9 @@ public class GroundMotionComponent : Component
float deltaAngleAbsolute = Mathf.Abs(TargetDeltaAngle);
if (deltaAngleAbsolute > 0.001)
{
Transform entityTransform = entity.Transform;
if (RotationSpeedRadPerSecond * delta + 0.001 >= deltaAngleAbsolute)
{
GD.Print("Target Angle " + TargetAngle + " reached! Current Angle: " + entity.PlaneAngle);
GD.Print("Target Angle " + TargetAngle + " reached! Current Angle: " + entity.PlaneAngle + " TargetDeltaAngle = " + TargetDeltaAngle);
entity.PlaneAngle = TargetAngle;
TargetDeltaAngle = 0;
}
@ -123,7 +122,7 @@ public class GroundMotionComponent : Component
{
DirectionToTarget = DirectionToTarget.Normalized();
TargetAngle = Vector3.Right.SignedAngleTo(DirectionToTarget, Vector3.Up);
TargetDeltaAngle = entity.CalcShortestPlaneRotationToTarget(targetPosition);
TargetDeltaAngle = entity.CalcShortestPlaneRotationToTargetDirection(DirectionToTarget);
}
else
{

4
components/NavigationComponent.cs
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@ -46,7 +46,9 @@ public class NavigationComponent : Spatial
public bool IsReached(Transform worldTransform)
{
bool goalReached = false;
float positionErrorSquared = (worldTransform.origin - WorldPosition).LengthSquared();
Vector2 positionError = new Vector2(WorldPosition.x - worldTransform.origin.x,
WorldPosition.z - worldTransform.origin.z);
float positionErrorSquared = positionError.LengthSquared();
worldTransform.basis.Quat();
float orientationError = Mathf.Abs(worldTransform.basis.Quat().AngleTo(WorldOrientation));

5
entities/Entity.cs
View File

@ -13,12 +13,13 @@ public class Entity : KinematicBody
set => GlobalTransform = new Transform(new Basis(Vector3.Up, value + Mathf.Pi * 0.5f), GlobalTranslation);
}
public float CalcShortestPlaneRotationToTarget(Vector3 globalTargetPosition)
public float CalcShortestPlaneRotationToTargetDirection(Vector3 globalTargetDirection)
{
float angleToTarget = Vector3.Right.SignedAngleTo(globalTargetPosition - GlobalTranslation, Vector3.Up);
float angleToTarget = Vector3.Right.SignedAngleTo(globalTargetDirection, Vector3.Up);
float currentAngle = PlaneAngle;
float delta = angleToTarget - currentAngle;
delta += (delta > Mathf.Pi) ? -Mathf.Pi * 2 : (delta < -Mathf.Pi) ? Mathf.Pi * 2 : 0;
return delta;
}