def find_landing_orientation(car: Car) -> Mat33: # FIXME: This uses a cheap approximation of the walls to find landing orientation obj = DummyObject(car) prev_pos = obj.pos for i in range(100): predict.fall(obj, 0.1) # Checking for intersections for plane in Field.SIDE_WALLS_AND_GROUND: if intersects_plane(prev_pos, obj.pos, plane): # Bingo! fall_dir = normalize(obj.pos - prev_pos) left = -cross(fall_dir, plane.normal) forward = -cross(plane.normal, left) return Mat33.from_columns(forward, left, plane.normal) prev_pos = obj.pos # No wall/ground intersections found in fall # Default to looking in direction of velocity, but upright forward = normalize(xy( car.vel)) if norm(xy(car.vel)) > 20 else car.forward up = Vec3(z=1) left = cross(up, forward) return Mat33.from_columns(forward, left, up)
def find_landing_orientation(car: Car, num_points: int) -> Mat33: """ dummy = DummyObject(car) trajectory = [Vec3(dummy.pos)] for i in range(0, num_points): fall(dummy, 0.0333) # Apply physics and let car fall through the air trajectory.append(Vec3(dummy.pos)) up = dummy.pitch_surface_normal() if norm(up) > 0.0 and i > 10: up = normalize(up) forward = normalize(dummy.vel - dot(dummy.vel, up) * up) left = cross(up, forward) return Mat33.from_columns(forward, left, up) return Mat33(car.rot) """ forward = normalize(xy( car.vel)) if norm(xy(car.vel)) > 20 else car.forward up = Vec3(z=1) left = cross(up, forward) return Mat33.from_columns(forward, left, up)
def find_landing_orientation(car: Car) -> Mat33: # FIXME: If we knew the arena's mesh we could test if we are landing on a wall or something forward = normalize(xy( car.vel)) if norm(xy(car.vel)) > 20 else car.forward up = Vec3(z=1) left = cross(up, forward) return Mat33.from_columns(forward, left, up)
def find_landing_orientation(car: Car, num_points: int) -> Mat33: dummy = DummyObject(car) for i in range(0, num_points): fall(dummy, 0.0333) # Apply physics and let car fall through the air if i > 5 and sdf_contains(dummy.pos): up = normalize(sdf_normal(dummy.pos)) left = cross(normalize(dummy.vel), up) forward = cross(up, left) return Mat33.from_columns(forward, left, up) forward = normalize(xy( car.vel)) if norm(xy(car.vel)) > 20 else car.forward up = Vec3(z=1) left = cross(up, forward) return Mat33.from_columns(forward, left, up)