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GodotComponentTest
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Minor style cleanup.

WorldChunkRefactoring
Martin Felis 2023-08-13 21:20:45 +02:00
parent cc54b66d55
commit 0cbff2a298
1 changed files with 9 additions and 11 deletions
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20
components/NavigationComponent.cs
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@ -2,12 +2,10 @@ using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Numerics;
using Godot;
using GodotComponentTest.utils;
using Vector2 = Godot.Vector2;
using Vector3 = Godot.Vector3;
using GoDotLog;
/// <summary>
/// </summary>
@ -24,7 +22,7 @@ public class NavigationComponent : Spatial
public Vector3 WorldPosition = Vector3.Zero;
public Quat WorldOrientation = Quat.Identity;
public NavigationFlags Flags = NavigationFlags.Position | NavigationFlags.Orientation;
public readonly NavigationFlags Flags;
public NavigationPoint(Vector3 worldPosition)
{
@ -49,22 +47,22 @@ public class NavigationComponent : Spatial
{
bool goalReached = false;
float positionErrorSquared = (worldTransform.origin - WorldPosition).LengthSquared();
Quat own_orientation = worldTransform.basis.Quat();
worldTransform.basis.Quat();
float orientationError = Mathf.Abs(worldTransform.basis.Quat().AngleTo(WorldOrientation));
if (Flags.HasFlag(NavigationPoint.NavigationFlags.Position)
&& Flags.HasFlag(NavigationPoint.NavigationFlags.Orientation)
if (Flags.HasFlag(NavigationFlags.Position)
&& Flags.HasFlag(NavigationFlags.Orientation)
&& positionErrorSquared < Globals.EpsPositionSquared
&& orientationError < Globals.EpsRadians)
{
goalReached = true;
}
else if (Flags == NavigationPoint.NavigationFlags.Position &&
else if (Flags == NavigationFlags.Position &&
positionErrorSquared < Globals.EpsPositionSquared)
{
goalReached = true;
}
else if (Flags == NavigationPoint.NavigationFlags.Orientation &&
else if (Flags == NavigationFlags.Orientation &&
orientationError < Globals.EpsRadians)
{
goalReached = true;
@ -434,7 +432,7 @@ public class NavigationComponent : Spatial
previousPoint = parentNode.GlobalTranslation;
foreach (NavigationPoint point in _smoothedPathWorldNavigationPoints)
{
debugGeometry.SetColor(new Color(0, 0, 1, 1));
debugGeometry.SetColor(new Color(0, 0, 1));
debugGeometry.AddVertex(previousPoint + yOffset);
debugGeometry.AddVertex(point.WorldPosition + yOffset);
@ -444,7 +442,7 @@ public class NavigationComponent : Spatial
previousPoint = parentNode.GlobalTranslation;
foreach (NavigationPoint point in _planningPathWorldNavigationPoints)
{
debugGeometry.SetColor(new Color(1, 0, 1, 1));
debugGeometry.SetColor(new Color(1, 0, 1));
debugGeometry.AddVertex(previousPoint + yOffset);
debugGeometry.AddVertex(point.WorldPosition + yOffset);
@ -454,7 +452,7 @@ public class NavigationComponent : Spatial
previousPoint = parentNode.GlobalTranslation;
foreach (NavigationPoint point in _planningPathSmoothedWorldNavigationPoints)
{
debugGeometry.SetColor(new Color(1, 1, 0, 1));
debugGeometry.SetColor(new Color(1, 1, 0));
debugGeometry.AddVertex(previousPoint + yOffset);
debugGeometry.AddVertex(point.WorldPosition + yOffset);