def handle_relative_move(self, direction, dist, jump):
speed = 1
pos = self.pos_to_dict()
desired_yaw = direction
if desired_yaw > 180:
while desired_yaw > 180:
desired_yaw -= 360
elif desired_yaw < -180:
while desired_yaw < -180:
desired_yaw += 360
frames = phy.get_movement_frames(pos, direction, dist, speed, jump)
# print "dx,dy,dz", dx, dy, dz
for frame in frames:
msg = movement_msg()
msg.x = frame['x']
msg.y = frame['y']
msg.z = frame['z']
msg.pitch = frame['pitch']
msg.yaw = frame['yaw']
msg.jump = jump
# print "rel_move_msg", msg
self.pub_move.publish(msg)
return True
def handle_move(self, x, z, jump):
speed = 1
pos = self.pos_to_dict()
direction = self.get_desired_yaw(pos['x'], pos['z'], x, z)
dist = sqrt((x - pos['x'])**2 + (z - pos['z'])**2)
frames = phy.get_movement_frames(pos, direction, dist, speed, jump)
for frame in frames:
msg = movement_msg()
msg.x = frame['x']
msg.y = frame['y']
msg.z = frame['z']
msg.pitch = frame['pitch']
msg.yaw = frame['yaw']
msg.jump = jump
# print "abs_move_msg", msg
self.pub_move.publish(msg)
return True