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)