minecraft-bot/mosfet/vector.py

125 lines
3.6 KiB
Python
Raw Normal View History

import math
from mosfet import utils
class Vector3D:
def __init__(self, vector):
self.x = vector[0]
self.y = vector[1]
self.z = vector[2]
@property
def xz(self):
return Vector3D((self.x, 0, self.z))
def tuple(self):
return (self.x, self.y, self.z)
def __getitem__(self, key):
return self.tuple()[key]
def length(self):
return utils.hypot(self.x, self.y, self.z)
def normalized(self):
x = self.x / self.length()
y = self.y / self.length()
z = self.z / self.length()
return Vector3D((x, y, z))
def dot(self, other):
return self.x * other.x + self.y * other.y + self.z * other.z
def cross(self, other):
a1, a2, a3 = self.tuple()
b1, b2, b3 = other.tuple()
return Vector3D((a2*b3-a3*b2, a3*b1-a1*b3, a1*b2-a2*b1))
def angleDeg(self, other):
ratio = self.dot(other) / (self.length() * other.length())
rads = math.acos(ratio)
return math.degrees(rads)
def signedAngleDeg(self, other, ref):
angle1 = self.angleDeg(other)
cross = self.cross(ref)
angle2 = other.angleDeg(cross)
if angle2 < 90:
return -angle1
else:
return angle1
def __repr__(self):
return 'Vector3D(x={}, y={}, z={})'.format(self.x, self.y, self.z)
def __str__(self):
return '[{}, {}, {}]'.format(self.x, self.y, self.z)
class Point3D:
def __init__(self, point):
self.x = point[0]
self.y = point[1]
self.z = point[2]
def __sub__(self, other):
#x = other.x - self.x
#y = other.y - self.y
#z = other.z - self.z
x = self.x - other.x
y = self.y - other.y
z = self.z - other.z
return Vector3D((x, y, z))
def tuple(self):
return (self.x, self.y, self.z)
def __getitem__(self, key):
return self.tuple()[key]
def __repr__(self):
return 'Point3D(x={}, y={}, z={})'.format(self.x, self.y, self.z)
def __str__(self):
return '({}, {}, {})'.format(self.x, self.y, self.z)
if __name__ == '__main__':
# test to make sure our Vector module is the same as Panda3D
from panda3d.core import LPoint3f, LVector3f
import random
pPITCH_ANGLE_DIR = LVector3f(x=0, y=1, z=0)
pYAW_ANGLE_DIR = LVector3f(x=0, y=0, z=-1)
pYAW_ANGLE_REF = LVector3f(x=0, y=1, z=0)
PITCH_ANGLE_DIR = Vector3D((0, 1, 0))
YAW_ANGLE_DIR = Vector3D((0, 0, -1))
YAW_ANGLE_REF = Vector3D((0, 1, 0))
for _ in range(1000):
r = lambda: random.uniform(-10, 10)
a, b, c = r(), r(), r()
plook_at_d = LVector3f(x=a, y=b, z=c)
look_at_d = Vector3D((a, b, c))
ptarget_pitch = plook_at_d.normalized().angleDeg(pPITCH_ANGLE_DIR)
target_pitch = look_at_d.normalized().angleDeg(PITCH_ANGLE_DIR)
if round(ptarget_pitch) != round(target_pitch):
print('mismatch:', ptarget_pitch, target_pitch)
break
else: # for
print('no mismatches')
for _ in range(1000):
r = lambda: random.uniform(-10, 10)
a, b, c = r(), r(), r()
plook_at_d = LVector3f(x=a, y=b, z=c)
look_at_d = Vector3D((a, b, c))
ptarget_yaw = plook_at_d.normalized().signedAngleDeg(other=pYAW_ANGLE_DIR, ref=pYAW_ANGLE_REF)
target_yaw = look_at_d.normalized().signedAngleDeg(other=YAW_ANGLE_DIR, ref=YAW_ANGLE_REF)
if round(ptarget_yaw) != round(target_yaw):
print('mismatch:', ptarget_yaw, target_yaw)
break
else: # for
print('no mismatches')