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Fix another infinite collision detection loop
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@cswinter
cswinter committed Mar 29, 2019
1 parent 7f9abcd commit f7e9fed
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Showing 2 changed files with 188 additions and 149 deletions.
144 changes: 76 additions & 68 deletions core/shared/src/main/scala/cwinter/codecraft/core/objects/drone/ComputedDroneDynamics.scala
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@@ -1,36 +1,37 @@
package cwinter.codecraft.core.objects.drone

import cwinter.codecraft.core.api.GameConstants.HarvestingRange
import cwinter.codecraft.core.objects.{ConstantVelocityDynamics, MissileDynamics}
import cwinter.codecraft.core.objects.{
ConstantVelocityDynamics,
MissileDynamics
}
import cwinter.codecraft.util.maths.{Rectangle, Vector2}


private[core] class ComputedDroneDynamics(
val drone: DroneImpl,
val maxSpeed: Float,
val weight: Float,
radius: Float,
initialPosition: Vector2,
initialTime: Double
val drone: DroneImpl,
val maxSpeed: Float,
val weight: Float,
radius: Float,
initialPosition: Vector2,
initialTime: Double
) extends ConstantVelocityDynamics(
radius,
drone.player.id,
true,
initialPosition,
initialTime
) with DroneDynamicsBasics {
radius,
drone.player.id,
true,
initialPosition,
initialTime
)
with DroneDynamicsBasics {

final val MaxTurnSpeed = 0.25f
private var speed = maxSpeed
private[drone] var isStunned: Boolean = false
private var oldPos = pos
private var oldOrientation = orientation
private var collisionCount = 0;

private var collisionCount = 0

def setPosition(value: Vector2): Unit = pos = value


def limitSpeed(limit: Float): Unit = {
require(limit <= maxSpeed)
speed = limit
Expand All @@ -41,7 +42,6 @@ private[core] class ComputedDroneDynamics(
_movementCommand = HoldPosition
}


def adjustOrientation(target: Float): Unit = {
if (target == orientation) return

Expand All @@ -63,10 +63,10 @@ private[core] class ComputedDroneDynamics(
override def arrivalEvent: Option[DroneEvent] = _movementCommand match {
case MoveToPosition(position) if position ~ this.pos =>
Some(ArrivedAtPosition)
// TODO: create a rigorous method to get within radius of some position, unify with moveToDrone
// TODO: create a rigorous method to get within radius of some position, unify with moveToDrone
case MoveToMineralCrystal(mc)
if (mc.position - this.pos).lengthSquared <=
(HarvestingRange - 4) * (HarvestingRange - 4) =>
if (mc.position - this.pos).lengthSquared <=
(HarvestingRange - 4) * (HarvestingRange - 4) =>
Some(ArrivedAtMineral(mc))
case MoveToDrone(other) =>
val r = other.radius + drone.radius + 18
Expand All @@ -85,7 +85,8 @@ private[core] class ComputedDroneDynamics(
val targetOrientation = dist.orientation
adjustOrientation(targetOrientation)
if (targetOrientation == orientation) {
if (dist.lengthSquared > maxSpeed * maxSpeed) maxSpeed * dist.normalized
if (dist.lengthSquared > maxSpeed * maxSpeed)
maxSpeed * dist.normalized
else dist
} else {
Vector2.Null
Expand All @@ -95,31 +96,30 @@ private[core] class ComputedDroneDynamics(

def recomputeVelocity(): Unit = {
collisionCount = 0
velocity =
if (isStunned) {
if (velocity.length <= maxSpeed * 0.10f) {
isStunned = false
Vector2.Null
} else velocity * 0.9f
} else if (drone.immobile) {
velocity = if (isStunned) {
if (velocity.length <= maxSpeed * 0.10f) {
isStunned = false
Vector2.Null
} else {
_movementCommand match {
case MoveInDirection(direction) => moveInDirection(direction)
case MoveToPosition(position) =>
moveToPosition(position)
case MoveToMineralCrystal(mc) =>
val targetDirection = (mc.position - pos).normalized
val targetPos = mc.position - (HarvestingRange - 5) * targetDirection
moveToPosition(targetPos)
case MoveToDrone(other) =>
val targetDirection = (other.position - pos).normalized
val targetPos = other.position - (other.radius + drone.radius + 12) * targetDirection
moveToPosition(targetPos)
case HoldPosition =>
Vector2.Null
}
} else velocity * 0.9f
} else if (drone.immobile) {
Vector2.Null
} else {
_movementCommand match {
case MoveInDirection(direction) => moveInDirection(direction)
case MoveToPosition(position) =>
moveToPosition(position)
case MoveToMineralCrystal(mc) =>
val targetDirection = (mc.position - pos).normalized
val targetPos = mc.position - (HarvestingRange - 5) * targetDirection
moveToPosition(targetPos)
case MoveToDrone(other) =>
val targetDirection = (other.position - pos).normalized
val targetPos = other.position - (other.radius + drone.radius + 12) * targetDirection
moveToPosition(targetPos)
case HoldPosition =>
Vector2.Null
}
}
}

def moveInDirection(direction: Float): Vector2 = {
Expand All @@ -132,12 +132,16 @@ private[core] class ComputedDroneDynamics(

override def handleWallCollision(areaBounds: Rectangle): Unit = {
// find closest wall
val dx = math.min(math.abs(pos.x - areaBounds.xMax), math.abs(pos.x - areaBounds.xMin))
val dy = math.min(math.abs(pos.y - areaBounds.yMax), math.abs(pos.y - areaBounds.yMin))
val dx = math.min(math.abs(pos.x - areaBounds.xMax),
math.abs(pos.x - areaBounds.xMin))
val dy = math.min(math.abs(pos.y - areaBounds.yMax),
math.abs(pos.y - areaBounds.yMin))
val xCollisionPossible =
if (math.abs(pos.x - areaBounds.xMax) < math.abs(pos.x - areaBounds.xMin)) velocity.x > 0
if (math.abs(pos.x - areaBounds.xMax) < math.abs(
pos.x - areaBounds.xMin)) velocity.x > 0
else velocity.x < 0
if (dx <= dy && xCollisionPossible) velocity = velocity.copy(_x = -velocity.x)
if (dx <= dy && xCollisionPossible)
velocity = velocity.copy(_x = -velocity.x)
else velocity = velocity.copy(_y = -velocity.y)
isStunned = true
collisionCount += 1
Expand All @@ -153,14 +157,16 @@ private[core] class ComputedDroneDynamics(
val x2 = other.pos
val w1 = weight
val w2 = other.weight
val v3 = 8 * (x1 - x2).normalized
val v3 = 8 * (x1 - x2).normalized
velocity = v1 - 2 * w2 / (w1 + w2) * (v1 - v2 dot x1 - x2) / (x1 - x2).lengthSquared * (x1 - x2) + v3 / w1
other.velocity = v2 - 2 * w1 / (w1 + w2) * (v2 - v1 dot x2 - x1) / (x2 - x1).lengthSquared * (x2 - x1) - v3 / w2
isStunned = true
other.isStunned = true

collisionCount += 1
if (collisionCount > 20) velocity = Vector2.Null
other.collisionCount += 1
if (other.collisionCount > 20) other.velocity = Vector2.Null

drone.collidedWith(other.drone)
other.drone.collidedWith(drone)
Expand All @@ -170,16 +176,19 @@ private[core] class ComputedDroneDynamics(
}
}

override def toString: String = s"DroneDynamics(pos=$pos, velocity=$velocity)"
override def toString: String =
s"DroneDynamics(pos=$pos, velocity=$velocity)"

def syncMsg(): Option[DroneMovementMsg] = {
val positionChanged = oldPos != pos
val orientationChanged = oldOrientation != orientation
oldPos = pos
oldOrientation = orientation
if (positionChanged && orientationChanged) Some(PositionAndOrientationChanged(pos, orientation, drone.id))
if (positionChanged && orientationChanged)
Some(PositionAndOrientationChanged(pos, orientation, drone.id))
else if (positionChanged) Some(PositionChanged(pos, drone.id))
else if (orientationChanged) Some(OrientationChanged(orientation, drone.id))
else if (orientationChanged)
Some(OrientationChanged(orientation, drone.id))
else None
}

Expand All @@ -188,11 +197,11 @@ private[core] class ComputedDroneDynamics(
}

private[core] case class MissileHit(
droneID: Int,
location: Vector2,
missileID: Int,
shieldDamage: Int,
hullDamage: Int
droneID: Int,
location: Vector2,
missileID: Int,
shieldDamage: Int,
hullDamage: Int
)

private[core] case class DroneSpawned(droneID: Int)
Expand All @@ -202,23 +211,22 @@ private[core] sealed trait DroneMovementMsg {
}

private[core] case class PositionChanged(
newPosition: Vector2,
droneID: Int
newPosition: Vector2,
droneID: Int
) extends DroneMovementMsg

private[core] case class OrientationChanged(
newOrientation: Float,
droneID: Int
newOrientation: Float,
droneID: Int
) extends DroneMovementMsg

private[core] case class PositionAndOrientationChanged(
newPosition: Vector2,
newOrientation: Float,
droneID: Int
newPosition: Vector2,
newOrientation: Float,
droneID: Int
) extends DroneMovementMsg

private[core] case class NewArrivalEvent(
arrivalEvent: SerializableDroneEvent,
droneID: Int
arrivalEvent: SerializableDroneEvent,
droneID: Int
) extends DroneMovementMsg

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