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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.Collections.Generic;
using System.Diagnostics; using System.Diagnostics;
using System.Linq; using System.Linq;
using System.Numerics;
using Godot; using Godot;
using GodotComponentTest.utils; using GodotComponentTest.utils;
using Vector2 = Godot.Vector2; using Vector2 = Godot.Vector2;
using Vector3 = Godot.Vector3; using Vector3 = Godot.Vector3;
using GoDotLog;
/// <summary> /// <summary>
/// </summary> /// </summary>
@ -24,7 +22,7 @@ public class NavigationComponent : Spatial
public Vector3 WorldPosition = Vector3.Zero; public Vector3 WorldPosition = Vector3.Zero;
public Quat WorldOrientation = Quat.Identity; public Quat WorldOrientation = Quat.Identity;
public NavigationFlags Flags = NavigationFlags.Position | NavigationFlags.Orientation; public readonly NavigationFlags Flags;
public NavigationPoint(Vector3 worldPosition) public NavigationPoint(Vector3 worldPosition)
{ {
@ -49,22 +47,22 @@ public class NavigationComponent : Spatial
{ {
bool goalReached = false; bool goalReached = false;
float positionErrorSquared = (worldTransform.origin - WorldPosition).LengthSquared(); float positionErrorSquared = (worldTransform.origin - WorldPosition).LengthSquared();
Quat own_orientation = worldTransform.basis.Quat(); worldTransform.basis.Quat();
float orientationError = Mathf.Abs(worldTransform.basis.Quat().AngleTo(WorldOrientation)); float orientationError = Mathf.Abs(worldTransform.basis.Quat().AngleTo(WorldOrientation));
if (Flags.HasFlag(NavigationPoint.NavigationFlags.Position) if (Flags.HasFlag(NavigationFlags.Position)
&& Flags.HasFlag(NavigationPoint.NavigationFlags.Orientation) && Flags.HasFlag(NavigationFlags.Orientation)
&& positionErrorSquared < Globals.EpsPositionSquared && positionErrorSquared < Globals.EpsPositionSquared
&& orientationError < Globals.EpsRadians) && orientationError < Globals.EpsRadians)
{ {
goalReached = true; goalReached = true;
} }
else if (Flags == NavigationPoint.NavigationFlags.Position && else if (Flags == NavigationFlags.Position &&
positionErrorSquared < Globals.EpsPositionSquared) positionErrorSquared < Globals.EpsPositionSquared)
{ {
goalReached = true; goalReached = true;
} }
else if (Flags == NavigationPoint.NavigationFlags.Orientation && else if (Flags == NavigationFlags.Orientation &&
orientationError < Globals.EpsRadians) orientationError < Globals.EpsRadians)
{ {
goalReached = true; goalReached = true;
@ -434,7 +432,7 @@ public class NavigationComponent : Spatial
previousPoint = parentNode.GlobalTranslation; previousPoint = parentNode.GlobalTranslation;
foreach (NavigationPoint point in _smoothedPathWorldNavigationPoints) 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(previousPoint + yOffset);
debugGeometry.AddVertex(point.WorldPosition + yOffset); debugGeometry.AddVertex(point.WorldPosition + yOffset);
@ -444,7 +442,7 @@ public class NavigationComponent : Spatial
previousPoint = parentNode.GlobalTranslation; previousPoint = parentNode.GlobalTranslation;
foreach (NavigationPoint point in _planningPathWorldNavigationPoints) 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(previousPoint + yOffset);
debugGeometry.AddVertex(point.WorldPosition + yOffset); debugGeometry.AddVertex(point.WorldPosition + yOffset);
@ -454,7 +452,7 @@ public class NavigationComponent : Spatial
previousPoint = parentNode.GlobalTranslation; previousPoint = parentNode.GlobalTranslation;
foreach (NavigationPoint point in _planningPathSmoothedWorldNavigationPoints) 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(previousPoint + yOffset);
debugGeometry.AddVertex(point.WorldPosition + yOffset); debugGeometry.AddVertex(point.WorldPosition + yOffset);