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Fixed rotation logic for armbot

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This commit is contained in:
Robert 2013-12-26 16:57:20 -05:00
parent ae85dcb492
commit 5dba6d8cf5
3 changed files with 56 additions and 63 deletions
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8
src/main/java/com/builtbroken/assemblyline/armbot/BlockArmbot.java
View file

@ -6,7 +6,6 @@ import java.util.Set;
import net.minecraft.client.renderer.tileentity.TileEntitySpecialRenderer;
import net.minecraft.entity.player.EntityPlayer;
import net.minecraft.item.Item;
import net.minecraft.item.ItemStack;
import net.minecraft.tileentity.TileEntity;
import net.minecraft.util.MovingObjectPosition;
@ -49,7 +48,7 @@ public class BlockArmbot extends BlockAssembly
{
TileEntity tileEntity = world.getBlockTileEntity(x, y, z);
if (tileEntity != null && tileEntity instanceof IMultiBlock)
if (tileEntity instanceof IMultiBlock)
{
return ((IMultiBlock) tileEntity).onActivated(player);
}
@ -62,9 +61,10 @@ public class BlockArmbot extends BlockAssembly
{
TileEntity tileEntity = world.getBlockTileEntity(x, y, z);
if (tileEntity != null && tileEntity instanceof IMultiBlock)
if (tileEntity instanceof TileEntityArmbot)
{
((IMultiBlock) tileEntity).onDestroy(tileEntity);
((TileEntityArmbot) tileEntity).onDestroy(tileEntity);
((TileEntityArmbot) tileEntity).drop("all");
}
this.dropBlockAsItem_do(world, x, y, z, new ItemStack(this));

107
src/main/java/com/builtbroken/assemblyline/armbot/TileEntityArmbot.java
View file

@ -1,8 +1,5 @@
package com.builtbroken.assemblyline.armbot;
import java.util.ArrayList;
import java.util.List;
import net.minecraft.entity.Entity;
import net.minecraft.entity.EntityList;
import net.minecraft.entity.item.EntityItem;
@ -11,7 +8,6 @@ import net.minecraft.item.ItemStack;
import net.minecraft.nbt.NBTTagCompound;
import net.minecraft.network.packet.Packet;
import net.minecraft.tileentity.TileEntity;
import net.minecraft.util.AxisAlignedBB;
import net.minecraft.world.World;
import net.minecraftforge.common.ForgeDirection;
import universalelectricity.api.vector.Vector2;
@ -25,7 +21,6 @@ import com.builtbroken.assemblyline.armbot.command.TaskDrop;
import com.builtbroken.assemblyline.armbot.command.TaskGOTO;
import com.builtbroken.assemblyline.armbot.command.TaskGrabItem;
import com.builtbroken.assemblyline.armbot.command.TaskReturn;
import com.builtbroken.assemblyline.armbot.command.TaskRotateBy;
import com.builtbroken.assemblyline.armbot.command.TaskRotateTo;
import com.builtbroken.assemblyline.machine.TileEntityAssembly;
import com.builtbroken.assemblyline.machine.encoder.ItemDisk;
@ -41,16 +36,13 @@ import com.google.common.io.ByteArrayDataInput;
import cpw.mods.fml.common.FMLCommonHandler;
import cpw.mods.fml.common.network.Player;
import cpw.mods.fml.relauncher.Side;
import dan200.computer.api.IComputerAccess;
import dan200.computer.api.ILuaContext;
import dan200.computer.api.IPeripheral;
public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock, IArmbot
{
protected int ROTATION_SPEED = 2;
/** The rotation of the arms. In Degrees. */
protected int rotationPitch = 0, rotationYaw = 0;
protected int targetPitch = 0, targetYaw = 0;
protected int actualPitch = 0, actualYaw = 0;
protected boolean spawnEntity = false;
@ -71,11 +63,9 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
super(20);
programHelper = new ProgramHelper(this).setMemoryLimit(20);
Program program = new Program();
program.setTaskAt(0, 0, new TaskDrop());
program.setTaskAt(0, 1, new TaskRotateTo(180, 0));
program.setTaskAt(0, 2, new TaskGrabItem());
program.setTaskAt(0, 3, new TaskReturn());
program.setTaskAt(0, 4, new TaskGOTO(0, 0));
program.setTaskAt(0, 0, new TaskRotateTo(180, 0));
program.setTaskAt(0, 1, new TaskReturn());
program.setTaskAt(0, 2, new TaskGOTO(0, 0));
programHelper.setProgram(program);
}
@ -111,11 +101,13 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
if (this.isFunctioning())
{
float preYaw = this.rotationYaw, prePitch = this.rotationPitch;
if (!this.worldObj.isRemote && this.ticks % 3 == 0)
float preYaw = this.targetYaw, prePitch = this.targetPitch;
if (!this.worldObj.isRemote && this.ticks % 10 == 0)
{
System.out.println("ArmbotTargetRotation Yaw:" + this.targetYaw + " Pitch:" + this.targetPitch);
System.out.println("ArmbotActualRotation Yaw:" + this.actualYaw + " Pitch:" + this.actualPitch);
this.programHelper.onUpdate(this.worldObj, new Vector3(this));
if (this.rotationYaw != preYaw || this.rotationPitch != prePitch)
if (this.targetYaw != preYaw || this.targetPitch != prePitch)
{
this.sendRotationPacket();
}
@ -126,12 +118,19 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
public void updateRotation()
{
if (Math.abs(this.actualYaw - this.rotationYaw) > 1)
//Clamp target angles
this.targetYaw = (int) MathHelper.clampAngleTo360(this.targetYaw);
if (this.targetPitch < 0)
this.targetPitch = 0;
if (this.targetPitch > 60)
this.targetPitch = 60;
//Handle change in yaw rotation
if (Math.abs(this.actualYaw - this.targetYaw) > 1)
{
float speedYaw;
if (this.actualYaw > this.rotationYaw)
if (this.actualYaw > this.targetYaw)
{
if (Math.abs(this.actualYaw - this.rotationYaw) >= 180)
if (Math.abs(this.actualYaw - this.targetYaw) >= 180)
{
speedYaw = this.ROTATION_SPEED;
}
@ -142,7 +141,7 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
}
else
{
if (Math.abs(this.actualYaw - this.rotationYaw) >= 180)
if (Math.abs(this.actualYaw - this.targetYaw) >= 180)
{
speedYaw = -this.ROTATION_SPEED;
}
@ -154,40 +153,36 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
this.actualYaw += speedYaw;
this.rotationYaw = (int) MathHelper.clampAngleTo360(this.rotationYaw);
if (Math.abs(this.actualYaw - this.rotationYaw) < this.ROTATION_SPEED)
if (Math.abs(this.actualYaw - this.targetYaw) < this.ROTATION_SPEED)
{
this.actualYaw = this.rotationYaw;
this.actualYaw = this.targetYaw;
}
this.playRotationSound();
}
if (Math.abs(this.actualPitch - this.rotationPitch) > 1)
//Handle change in pitch rotation
if (Math.abs(this.actualPitch - this.targetPitch) > 1)
{
float speedPitch;
if (this.actualPitch > this.rotationPitch)
if (this.actualPitch > this.targetPitch)
{
speedPitch = -this.ROTATION_SPEED;
this.actualPitch -= this.ROTATION_SPEED;
}
else
{
speedPitch = this.ROTATION_SPEED;
this.actualPitch += this.ROTATION_SPEED;
}
this.actualPitch += speedPitch;
this.rotationPitch = (int) MathHelper.clampAngle(this.rotationPitch, 0, 60);
if (Math.abs(this.actualPitch - this.rotationPitch) < this.ROTATION_SPEED)
if (Math.abs(this.actualPitch - this.targetPitch) < this.ROTATION_SPEED)
{
this.actualPitch = this.rotationPitch;
this.actualPitch = this.targetPitch;
}
this.playRotationSound();
}
this.rotationYaw = (int) MathHelper.clampAngleTo360(this.rotationYaw);
this.rotationPitch = (int) MathHelper.clampAngle(this.rotationPitch, 0, 60);
//Clamp actual angles angles
this.actualYaw = (int) MathHelper.clampAngleTo360(this.actualYaw);
if (this.actualPitch < 0)
this.actualPitch = 0;
if (this.actualPitch > 60)
this.actualPitch = 60;
}
public void playRotationSound()
@ -250,8 +245,8 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
{
super.readFromNBT(nbt);
this.rotationYaw = nbt.getInteger("armYaw");
this.rotationPitch = nbt.getInteger("armPitch");
this.targetYaw = nbt.getInteger("armYaw");
this.targetPitch = nbt.getInteger("armPitch");
this.actualYaw = nbt.getInteger("armYawActual");
this.actualPitch = nbt.getInteger("armPitchActual");
@ -280,8 +275,8 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
{
super.writeToNBT(nbt);
nbt.setInteger("armYaw", this.rotationYaw);
nbt.setInteger("armPitch", this.rotationPitch);
nbt.setInteger("armYaw", this.targetYaw);
nbt.setInteger("armPitch", this.targetPitch);
nbt.setInteger("armYawActual", this.actualYaw);
nbt.setInteger("armPitchActual", this.actualPitch);
@ -306,12 +301,12 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
@Override
public Packet getDescriptionPacket()
{
return PacketHandler.instance().getTilePacket(this.getChannel(), "armbot", this, this.functioning, this.rotationYaw, this.rotationPitch);
return PacketHandler.instance().getTilePacket(this.getChannel(), "armbot", this, this.functioning, this.targetYaw, this.targetPitch);
}
public void sendRotationPacket()
{
PacketHandler.instance().sendPacketToClients(PacketHandler.instance().getPacket(this.getChannel(), "arbotRotation", this.rotationYaw, this.rotationPitch, this.actualYaw, this.actualPitch), worldObj, new Vector3(this).translate(new Vector3(.5f, 1f, .5f)), 40);
PacketHandler.instance().sendPacketToClients(PacketHandler.instance().getPacket(this.getChannel(), "arbotRotation", this.targetYaw, this.targetPitch, this.actualYaw, this.actualPitch), worldObj, new Vector3(this).translate(new Vector3(.5f, 1f, .5f)), 40);
}
@Override
@ -324,14 +319,14 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
if (id.equalsIgnoreCase("armbot"))
{
this.functioning = dis.readBoolean();
this.rotationYaw = dis.readInt();
this.rotationPitch = dis.readInt();
this.targetYaw = dis.readInt();
this.targetPitch = dis.readInt();
return true;
}
else if (id.equalsIgnoreCase("arbotRotation"))
{
this.rotationYaw = dis.readInt();
this.rotationPitch = dis.readInt();
this.targetYaw = dis.readInt();
this.targetPitch = dis.readInt();
this.actualYaw = dis.readInt();
this.actualPitch = dis.readInt();
return true;
@ -463,8 +458,8 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
{
if (!this.worldObj.isRemote)
{
this.rotationYaw = (int) yaw;
this.rotationPitch = (int) pitch;
this.targetYaw = (int) yaw;
this.targetPitch = (int) pitch;
return true;
}
return false;
@ -475,23 +470,23 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
{
if (direction == ForgeDirection.SOUTH)
{
this.rotationYaw = 0;
this.targetYaw = 0;
return true;
}
else if (direction == ForgeDirection.EAST)
{
this.rotationYaw = 90;
this.targetYaw = 90;
return true;
}
else if (direction == ForgeDirection.NORTH)
{
this.rotationYaw = 180;
this.targetYaw = 180;
return true;
}
else if (direction == ForgeDirection.WEST)
{
this.rotationYaw = 270;
this.targetYaw = 270;
return true;
}
return false;

4
src/main/java/com/builtbroken/assemblyline/armbot/command/TaskRotateTo.java
View file

@ -55,9 +55,7 @@ public class TaskRotateTo extends TaskBaseArmbot
if (super.onUpdate() == ProcessReturn.CONTINUE)
{
((IArmbot) this.program.getMachine()).moveArmTo(this.targetRotationYaw, this.targetRotationPitch);
int deltaYaw = (int) MathHelper.shortestAngleTo360(((IArmbot) this.program.getMachine()).getRotation().intX(), this.targetRotationYaw);
int deltaPitch = (int) MathHelper.shortestAngleTo360(((IArmbot) this.program.getMachine()).getRotation().intY(), this.targetRotationPitch);
return deltaYaw == 0 && deltaPitch == 0 ? ProcessReturn.CONTINUE : ProcessReturn.DONE;
return ((IArmbot) this.program.getMachine()).getRotation().intX() != this.targetRotationYaw || ((IArmbot) this.program.getMachine()).getRotation().intY() != this.targetRotationPitch ? ProcessReturn.CONTINUE : ProcessReturn.DONE;
}
return ProcessReturn.GENERAL_ERROR;
}