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Commit 32942581 authored by Roque's avatar Roque
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[WEB-WORKER] [WIP] move all game logic into one file (WIP)

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erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_aaile_fixe_api_js.js deleted 100644 → 0
View file @ c1712536
/// <reference path="./GameManager.ts" />
TAKEOFF_RADIUS = 60;
LOITER_LIMIT = 30;
LOITER_RADIUS_FACTOR = 0.60;
LOITER_SPEED_FACTOR = 1.5;
var DroneAaileFixeAPI = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function DroneAaileFixeAPI(gameManager, team, flight_parameters) {
this._gameManager = gameManager;
this._team = team;
this._flight_parameters = flight_parameters;
this._loiter_radius = 0;
this._last_loiter_point_reached = -1;
this._last_altitude_point_reached = -1;
}
Object.defineProperty(DroneAaileFixeAPI.prototype, "team", {
//*************************************************** ACCESSOR *****************************************************
get: function () {
if (this._team == "L")
return this._gameManager.teamLeft;
else if (this._team == "R")
return this._gameManager.teamRight;
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
//#region ------------------ Internal
DroneAaileFixeAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
//#endregion
//#region ------------------ Accessible from AI
DroneAaileFixeAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneAaileFixeAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize", "teamSize", "derive", "meteo", "initialHumanAreaPosition"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneAaileFixeAPI.prototype._isWithinDroneView = function (drone_position, element_position) {
// Check if element is under the drone cone-view
var angle = GAMEPARAMETERS.drone.viewAngle ? GAMEPARAMETERS.drone.viewAngle : 60,
radius = drone_position.z * Math.tan(angle/2 * Math.PI/180),
distance = (drone_position.x - element_position.x) * (drone_position.x - element_position.x) +
(drone_position.y - element_position.y) * (drone_position.y - element_position.y);
if (distance < (radius*radius))
return true;
return false;
};
DroneAaileFixeAPI.prototype._getProbabilityOfDetection = function (drone_position) {
var h = drone_position.z,
km = GAMEPARAMETERS.meteo;
prob = 20 * (1 + (110-h)/25) * km;
return prob;
};
DroneAaileFixeAPI.prototype.isHumanPositionSpottedCalculation = function (drone) {
var context = this,
result = false,
drone_position = drone.infosMesh.position;
//swap axes back
drone_position = {
x: drone_position.x,
y: drone_position.z,
z: drone_position.y
};
context._gameManager.teamRight.forEach(function (human) {
if (human.infosMesh && context._isWithinDroneView(drone_position, human.position)) {
var prob = context._getProbabilityOfDetection(drone_position),
random = Math.floor(Math.random()*101);
if (random < prob)
result = true;
}
});
return result;
};
DroneAaileFixeAPI.prototype.isHumanPositionSpotted = function (drone) {
var context = this,
human_detected;
if (drone.__is_calculating_human_position !== true) {
drone.__is_calculating_human_position = true;
//human detection is done with the info captured by the drone
//at the moment this method is called
human_detected = context.isHumanPositionSpottedCalculation(drone);
context._gameManager.delay(function () {
drone.__is_calculating_human_position = false;
try {
drone.onCapture(human_detected);
} catch (error) {
console.warn('Drone crashed on capture due to error:', error);
drone._internal_crash();
}
}, 2000);
}
};
DroneAaileFixeAPI.prototype.processCoordinates = function (lat, lon, z, r) {
if(isNaN(lat) || isNaN(lon) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
var flightParameters = this.getFlightParameters();
function longitudToX(lon, flightParameters) {
return (flightParameters.MAP_SIZE / 360.0) * (180 + lon);
}
function latitudeToY(lat, flightParameters) {
return (flightParameters.MAP_SIZE / 180.0) * (90 - lat);
}
function normalizeToMap(x, y, flightParameters) {
var n_x = (x - flightParameters.MIN_X) / (flightParameters.MAX_X - flightParameters.MIN_X),
n_y = (y - flightParameters.MIN_Y) / (flightParameters.MAX_Y - flightParameters.MIN_Y);
return [n_x * 1000 - flightParameters.MAP_SIZE / 2, n_y * 1000 - flightParameters.MAP_SIZE / 2];
}
var x = longitudToX(lon, flightParameters),
y = latitudeToY(lat, flightParameters),
position = normalizeToMap(x, y, flightParameters);
if (z > flightParameters.start_AMSL) {
z -= flightParameters.start_AMSL;
}
var processed_coordinates = {
x: position[0],
y: position[1],
z: z
};
if (r && r > LOITER_LIMIT) {
this._loiter_radius = r * LOITER_RADIUS_FACTOR;
this._loiter_center = processed_coordinates;
this._loiter_coordinates = [];
this._last_loiter_point_reached = -1;
var x1, y1;
//for (var angle = 0; angle <360; angle+=8){ //counter-clockwise
for (var angle = 360; angle > 0; angle-=8){ //clockwise
x1 = this._loiter_radius * Math.cos(angle * (Math.PI / 180)) + this._loiter_center.x;
y1 = this._loiter_radius * Math.sin(angle * (Math.PI / 180)) + this._loiter_center.y;
this._loiter_coordinates.push(this.processCurrentPosition(x1, y1, z));
}
}
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
return processed_coordinates;
};
DroneAaileFixeAPI.prototype.processCurrentPosition = function (x, y, z) {
//convert x-y coordinates into latitud-longitude
var flightParameters = this.getFlightParameters();
var lon = x + flightParameters.map_width / 2;
lon = lon / 1000;
lon = lon * (flightParameters.MAX_X - flightParameters.MIN_X) + flightParameters.MIN_X;
lon = lon / (flightParameters.map_width / 360.0) - 180;
var lat = y + flightParameters.map_height / 2;
lat = lat / 1000;
lat = lat * (flightParameters.MAX_Y - flightParameters.MIN_Y) + flightParameters.MIN_Y;
lat = 90 - lat / (flightParameters.map_height / 180.0);
return {
x: lat,
y: lon,
z: z
};
};
DroneAaileFixeAPI.prototype.loiter = function (drone) {
function distance(c1, c2) {
var R = 6371e3,
q1 = c1[0] * Math.PI / 180,
q2 = c2[0] * Math.PI / 180,
dq = (c2[0] - c1[0]) * Math.PI / 180,
dl = (c2[1] - c1[1]) * Math.PI / 180,
a = Math.sin(dq / 2) * Math.sin(dq / 2) +
Math.cos(q1) * Math.cos(q2) *
Math.sin(dl / 2) * Math.sin(dl / 2),
c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
return R * c;
}
if (this._loiter_radius > LOITER_LIMIT) {
var drone_pos = drone.getCurrentPosition();
//shift loiter circle to nearest point
if (this._last_loiter_point_reached === -1) {
if (!this.shifted) {
drone._maxSpeed = drone._maxSpeed * LOITER_SPEED_FACTOR;
var min = 9999, min_i;
for (var i = 0; i < this._loiter_coordinates.length; i++){
var d = distance([drone_pos.x, drone_pos.y], [this._loiter_coordinates[i].x, this._loiter_coordinates[i].y]);
if (d < min) {
min = d;
min_i = i;
}
}
this._loiter_coordinates = this._loiter_coordinates.concat(this._loiter_coordinates.splice(0,min_i));
this.shifted = true;
}
} else {
this.shifted = false;
}
//stop
if (this._last_loiter_point_reached === this._loiter_coordinates.length - 1) {
if (drone._maxSpeed !== this.getMaxSpeed()) {
drone._maxSpeed = this.getMaxSpeed();
}
drone.setDirection(0, 0, 0);
return;
}
//loiter
var next_point = this._loiter_coordinates[this._last_loiter_point_reached + 1];
drone.setTargetCoordinates(next_point.x, next_point.y, next_point.z, -1);
if (distance([drone_pos.x, drone_pos.y], [next_point.x, next_point.y]) < 1) {
this._last_loiter_point_reached += 1;
if (this._last_loiter_point_reached === this._loiter_coordinates.length - 1) {
return;
}
next_point = this._loiter_coordinates[this._last_loiter_point_reached + 1];
drone.setTargetCoordinates(next_point.x, next_point.y, next_point.z, -1);
}
}
};
DroneAaileFixeAPI.prototype.getDroneAI = function () {
return null;
};
DroneAaileFixeAPI.prototype.setAltitude = function (altitude, drone, skip_loiter) {
this.takeoff_path = [];
if (skip_loiter) {
var drone_pos = drone.getCurrentPosition();
drone.setTargetCoordinates(drone_pos.x, drone_pos.y, altitude);
return;
}
var x1, y1,
LOOPS = 1,
CIRCLE_ANGLE = 8,
current_point = 0,
total_points = 360/CIRCLE_ANGLE*LOOPS,
initial_altitude = drone.getAltitudeAbs(),
center = {
x: drone._controlMesh.position.x,
y: drone._controlMesh.position.z,
z: drone._controlMesh.position.y
};
for (var l = 0; l <= LOOPS; l+=1){
for (var angle = 360; angle > 0; angle-=CIRCLE_ANGLE){ //clockwise sense
current_point++;
x1 = TAKEOFF_RADIUS * Math.cos(angle * (Math.PI / 180)) + center.x;
y1 = TAKEOFF_RADIUS * Math.sin(angle * (Math.PI / 180)) + center.y;
if (current_point < total_points/3) {
var FACTOR = 0.5;
x1 = center.x*FACTOR + x1*(1-FACTOR);
y1 = center.y*FACTOR + y1*(1-FACTOR);
}
this.takeoff_path.push({x: x1, y: y1, z: initial_altitude + current_point * (altitude-initial_altitude)/total_points});
}
}
};
DroneAaileFixeAPI.prototype.reachAltitude = function (drone) {
function distance(p1, p2) {
return Math.sqrt(Math.pow(p1[0] - p2[0], 2) +
Math.pow(p1[1] - p2[1], 2));
}
//stop
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
drone._start_altitude = 0;
drone.setDirection(0, 0, 0);
return;
}
//loiter
var drone_pos = {
x: drone._controlMesh.position.x,
y: drone._controlMesh.position.z,
z: drone._controlMesh.position.y
};
var next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
drone.internal_setTargetCoordinates(next_point.x, next_point.y, next_point.z);
if (distance([drone_pos.x, drone_pos.y], [next_point.x, next_point.y]) < 1) {
this._last_altitude_point_reached += 1;
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
return;
}
next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
drone.internal_setTargetCoordinates(next_point.x, next_point.y, next_point.z);
}
};
DroneAaileFixeAPI.prototype.getMaxSpeed = function () {
return GAMEPARAMETERS.drone.maxSpeed;
};
DroneAaileFixeAPI.prototype.doParachute = function (drone) {
//TODO what to do here?
drone.setDirection(0, 0, 0);
};
DroneAaileFixeAPI.prototype.landed = function (drone) {
var drone_pos = drone.getCurrentPosition();
return Math.floor(drone_pos.z) === 0;
};
DroneAaileFixeAPI.prototype.exit = function (drone) {
//TODO what to do here?
drone.setDirection(0, 0, 0);
};
DroneAaileFixeAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneAaileFixeAPI.prototype.getAltitudeAbs = function (altitude) {
return altitude;
};
DroneAaileFixeAPI.prototype.getMinHeight = function () {
return 0;
};
DroneAaileFixeAPI.prototype.getMaxHeight = function () {
return 800;
};
DroneAaileFixeAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
return DroneAaileFixeAPI;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_aaile_fixe_api_js.xml deleted 100644 → 0
View file @ c1712536
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erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_drone_api_js.js deleted 100644 → 0
View file @ c1712536
/// <reference path="./GameManager.ts" />
var DroneAPI = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function DroneAPI(gameManager, team) {
this._gameManager = gameManager;
this._team = team;
}
Object.defineProperty(DroneAPI.prototype, "team", {
//*************************************************** ACCESSOR *****************************************************
get: function () {
if (this._team == "L")
return this._gameManager.teamLeft;
else if (this._team == "R")
return this._gameManager.teamRight;
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
//#region ------------------ Internal
DroneAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
//#endregion
//#region ------------------ Accessible from AI
DroneAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize", "teamSize", "derive", "meteo", "initialHumanAreaPosition"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneAPI.prototype._isWithinDroneView = function (drone_position, element_position) {
// Check if element is under the drone cone-view
var angle = GAMEPARAMETERS.drone.viewAngle ? GAMEPARAMETERS.drone.viewAngle : 60,
radius = drone_position.z * Math.tan(angle/2 * Math.PI/180),
distance = (drone_position.x - element_position.x) * (drone_position.x - element_position.x) +
(drone_position.y - element_position.y) * (drone_position.y - element_position.y);
if (distance < (radius*radius))
return true;
return false;
};
DroneAPI.prototype._getProbabilityOfDetection = function (drone_position) {
var h = drone_position.z,
km = GAMEPARAMETERS.meteo;
prob = 20 * (1 + (110-h)/25) * km;
return prob;
};
DroneAPI.prototype.isHumanPositionSpottedCalculation = function (drone) {
var context = this,
result = false,
drone_position = drone.infosMesh.position;
//swap axes back
drone_position = {
x: drone_position.x,
y: drone_position.z,
z: drone_position.y
};
context._gameManager.teamRight.forEach(function (human) {
if (human.infosMesh && context._isWithinDroneView(drone_position, human.position)) {
var prob = context._getProbabilityOfDetection(drone_position),
random = Math.floor(Math.random()*101);
if (random < prob)
result = true;
}
});
return result;
};
DroneAPI.prototype.isHumanPositionSpotted = function (drone) {
var context = this,
human_detected;
if (drone.__is_calculating_human_position !== true) {
drone.__is_calculating_human_position = true;
//human detection is done with the info captured by the drone
//at the moment this method is called
human_detected = context.isHumanPositionSpottedCalculation(drone);
context._gameManager.delay(function () {
drone.__is_calculating_human_position = false;
try {
drone.onCapture(human_detected);
} catch (error) {
console.warn('Drone crashed on capture due to error:', error);
drone._internal_crash();
}
}, 2000);
}
};
DroneAPI.prototype.getDirectionFromCoordinates = function (x, y, z, drone_position) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
x -= drone_position.x;
y -= drone_position.y;
z -= drone_position.z;
if (this._team == "R")
y = -y;
return {
x: x,
y: y,
z: z
};
};
DroneAPI.prototype.setAltitude = function (altitude) {
//TODO
return;
};
DroneAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneAPI.prototype.getAltitudeAbs = function () {
return 0;
};
DroneAPI.prototype.getMinHeight = function () {
return 9;
};
DroneAPI.prototype.getMaxHeight = function () {
return 220;
};
DroneAPI.prototype.getDroneAI = function () {
return null;
};
DroneAPI.prototype.getMaxSpeed = function () {
return GAMEPARAMETERS.drone.maxSpeed;
};
return DroneAPI;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_drone_api_js.xml deleted 100644 → 0
View file @ c1712536
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erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_drone_manager_js.js deleted 100644 → 0
View file @ c1712536
/// <reference path="./typings/babylon.3.1.d.ts" />
/// <reference path="./DroneAPI.ts" />
/// <reference path="./DroneLogAPI.ts" />
/// <reference path="./DroneAaileFixeAPI.ts" />
var DroneManager = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function DroneManager(scene, id, team, API) {
var _this = this;
// Mesh
this._mesh = null;
this._controlMesh = null;
this._colliderBackMesh = null;
this._canPlay = false;
this._canCommunicate = false;
this._maxAcceleration = 0;
this._maxSpeed = 0;
this._speed = 0;
this._acceleration = 0;
this._direction = BABYLON.Vector3.Zero();
this._rotationSpeed = 0.4;
this._maxOrientation = Math.PI / 4;
this._scene = scene;
this._canUpdate = true;
this._id = id;
this._leader_id = 0;
this._team = team;
this._start_loiter = 0;
this._start_altitude = 0;
this._API = API; // var API created on AI evel
// Create the control mesh
this._controlMesh = BABYLON.Mesh.CreateBox("droneControl_" + id, 0.01, this._scene);
this._controlMesh.isVisible = false;
if (this._team == "R")
this._controlMesh.rotation = new BABYLON.Vector3(0, Math.PI, 0);
this._controlMesh.computeWorldMatrix(true);
// Create the mesh from the drone prefab
this._mesh = DroneManager.Prefab.clone("drone_" + id, this._controlMesh);
this._mesh.position = BABYLON.Vector3.Zero();
this._mesh.isVisible = false;
this._mesh.computeWorldMatrix(true);
// Get the back collider
this._mesh.getChildMeshes().forEach(function (mesh) {
if (mesh.name.substring(mesh.name.length - 13) == "Dummy_arriere") {
_this._colliderBackMesh = mesh;
_this._colliderBackMesh.isVisible = false;
}
else {
if (_this._team !== "R") {
mesh.isVisible = true;
} else {
mesh.isVisible = false;
_this._colliderBackMesh = mesh;
_this._colliderBackMesh.isVisible = false;
}
}
});
// Team color
if (!DroneManager.PrefabBlueMat || !DroneManager.PrefabRedMat) {
DroneManager.PrefabBlueMat = new BABYLON.StandardMaterial("blueTeamMat", scene);
DroneManager.PrefabBlueMat.diffuseTexture = new BABYLON.Texture("assets/drone/drone_bleu.jpg", scene);
DroneManager.PrefabRedMat = new BABYLON.StandardMaterial("redTeamMat", scene);
DroneManager.PrefabRedMat.diffuseTexture = new BABYLON.Texture("assets/drone/drone_rouge.jpg", scene);
}
this._propellerAnimMeshes = [];
this._mesh.getChildren().forEach(function (mesh) {
// Propeller animation
if (mesh.name.substring(mesh.name.length - 7, mesh.name.length - 1) == "helice") {
var anim = new BABYLON.Animation("propellerTurning_" + mesh.name, "rotation.y", 20, BABYLON.Animation.ANIMATIONTYPE_FLOAT, BABYLON.Animation.ANIMATIONLOOPMODE_CYCLE);
var keys = [
{ frame: 0, value: 0 },
{ frame: 2, value: Math.PI },
{ frame: 4, value: Math.PI * 2 }
];
anim.setKeys(keys);
mesh.animations.push(anim);
_this._scene.beginAnimation(mesh, 0, 4, true);
_this._propellerAnimMeshes.push(mesh);
}
else {
if (_this._team == "L") {
mesh.material = DroneManager.PrefabBlueMat;
}
else if (_this._team == "R") {
mesh.material = DroneManager.PrefabRedMat;
}
}
});
}
DroneManager.prototype._swapAxe = function (vector) {
return new BABYLON.Vector3(vector.x, vector.z, vector.y);
};
Object.defineProperty(DroneManager.prototype, "leader_id", {
//*************************************************** ACCESSOR *****************************************************
get: function () { return this._leader_id; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "id", {
//*************************************************** ACCESSOR *****************************************************
get: function () { return this._id; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "team", {
get: function () { return this._team; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "colliderMesh", {
get: function () { return this._mesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "colliderBackMesh", {
get: function () { return this._colliderBackMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "infosMesh", {
get: function () { return this._controlMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "position", {
get: function () {
if (this._controlMesh !== null) {
return this._swapAxe(this._controlMesh.position);
}
return null;
},
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "rotation", {
get: function () { return this._swapAxe(this._controlMesh.rotation); },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "speed", {
get: function () { return this._speed; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "direction", {
get: function () { return this._swapAxe(this._direction); },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "worldDirection", {
get: function () {
var t = this.team === "L" ? 1 : -1;
return new BABYLON.Vector3(t * this._direction.x, this._direction.y, t * this._direction.z);
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
//#region ------------------ Internal
// Function called by the GameManager
// Set internal variables then call API function
DroneManager.prototype.internal_start = function () {
this._maxAcceleration = GAMEPARAMETERS.drone.maxAcceleration;
if (this._team == "R") {
if (GAMEPARAMETERS.derive) {
this._maxSpeed = GAMEPARAMETERS.derive.speed;
} else {
this._maxSpeed = 0;
}
} else {
this._maxSpeed = this._API.getMaxSpeed();
}
this._canPlay = true;
this._canCommunicate = true;
try {
return this.onStart();
} catch (error) {
console.warn('Drone crashed on start due to error:', error);
this._internal_crash();
}
};
/**
* Set a target point to move
*/
DroneManager.prototype.internal_setTargetCoordinates = function (x, y, z) {
if (!this._canPlay)
return;
x -= this._controlMesh.position.x;
y -= this._controlMesh.position.z;
z -= this._controlMesh.position.y;
this.setDirection(x, y, z);
this.setAcceleration(this._maxAcceleration);
return;
};
DroneManager.prototype.internal_update = function (delta_time) {
var context = this;
if (this._controlMesh) {
if (context._rotationTarget) {
var rotStep = BABYLON.Vector3.Zero();
var diff = context._rotationTarget.subtract(context._controlMesh.rotation);
if (diff.x >= 1)
rotStep.x = 1;
else
rotStep.x = diff.x;
if (diff.y >= 1)
rotStep.y = 1;
else
rotStep.y = diff.y;
if (diff.z >= 1)
rotStep.z = 1;
else
rotStep.z = diff.z;
if (rotStep == BABYLON.Vector3.Zero()) {
context._rotationTarget = null;
return;
}
var newrot = new BABYLON.Vector3(context._controlMesh.rotation.x + (rotStep.x * context._rotationSpeed), context._controlMesh.rotation.y + (rotStep.y * context._rotationSpeed), context._controlMesh.rotation.z + (rotStep.z * context._rotationSpeed));
context._controlMesh.rotation = newrot;
}
context._speed += context._acceleration * delta_time / 1000;
if (context._speed > context._maxSpeed)
context._speed = context._maxSpeed;
if (context._speed < -context._maxSpeed)
context._speed = -context._maxSpeed;
var updateSpeed = context._speed * delta_time / 1000;
if (context._direction.x != 0
|| context._direction.y != 0
|| context._direction.z != 0) {
context._controlMesh.position.addInPlace(new BABYLON.Vector3(context._direction.x * updateSpeed, context._direction.y * updateSpeed, context._direction.z * updateSpeed));
}
var orientationValue = context._maxOrientation * (context._speed / context._maxSpeed);
context._mesh.rotation = new BABYLON.Vector3(orientationValue * context._direction.z, 0, -orientationValue * context._direction.x);
context._controlMesh.computeWorldMatrix(true);
context._mesh.computeWorldMatrix(true);
if (context._canUpdate) {
context._canUpdate = false;
return new RSVP.Queue()
.push(function () {
return context.onUpdate(context._API._gameManager._game_duration);
})
.push(function () {
context._canUpdate = true;
}, function (err) {
console.warn('Drone crashed on update due to error:', err);
context._internal_crash();
})
.push(function () {
if (context._start_loiter > 0) {
context._API.loiter(context);
}
if (context._start_altitude > 0) {
context._API.reachAltitude(context);
}
});
}
return;
}
return;
};
DroneManager.prototype.internal_touch = function () {
var _this = this;
this.setRotationBy(0, 0, 0);
this.setDirection(0, 0, -1);
this.setAcceleration(this._maxAcceleration);
this._canPlay = false;
if (this._propellerAnimMeshes != null) {
try {
this._propellerAnimMeshes.forEach(function (mesh) {
_this._scene.stopAnimation(mesh);
});
}
catch (ex) { }
this._propellerAnimMeshes = null;
}
this._canCommunicate = false;
this._controlMesh = null;
this._mesh = null;
this.onTouched();
};
DroneManager.prototype._internal_crash = function () {
var _this = this;
if (this._propellerAnimMeshes !== null) {
try {
this._propellerAnimMeshes.forEach(function (mesh) {
_this._scene.stopAnimation(mesh);
});
}
catch (ex) { }
this._propellerAnimMeshes = null;
}
this._canCommunicate = false;
this._controlMesh = null;
this._mesh = null;
this._canPlay = false;
this.onTouched();
this._API._gameManager._onDroneInternalCrash(this);
};
DroneManager.prototype._internal_dispose = function () {
if (this._mesh) {
this._mesh.dispose();
this._mesh = null;
this._controlMesh.dispose();
this._controlMesh = null;
}
};
DroneManager.prototype.internal_finish = function () {
this._canPlay = false;
this._canCommunicate = false;
this._controlMesh = null;
};
DroneManager.prototype.can_play = function () {
return this._canPlay;
};
//#endregion
//#region ------------------ Accessible from AI
// Function callable by "me.functionName()" in AI code
// -- Starting info
/**
* Set the starting position of the drone
* Take x,y,z coordinates as parameters
*/
DroneManager.prototype.setStartingPosition = function (x, y, z) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Position coordinates must be numbers');
}
if (!this._canPlay) {
if (z <= 0.05)
z = 0.05;
this._controlMesh.position = new BABYLON.Vector3(x, z, y);
}
this._controlMesh.computeWorldMatrix(true);
this._mesh.computeWorldMatrix(true);
};
//#region -- Movements
/**
* Set the drone acceleration
* It is in meter / second
*/
DroneManager.prototype.setAcceleration = function (factor) {
if (!this._canPlay)
return;
if (isNaN(factor)){
throw new Error('Acceleration must be a number');
}
if (factor > this._maxAcceleration)
factor = this._maxAcceleration;
this._acceleration = factor;
};
//#region -- Movements
/**
* Set the human derive acceleration
* It is in meter / second
* It has no cap to allow constant speed
*/
DroneManager.prototype.setHumanAcceleration = function (factor) {
if (!this._canPlay)
return;
if (isNaN(factor)){
throw new Error('Acceleration must be a number');
}
this._acceleration = factor;
};
/**
* Set the drone direction
*/
DroneManager.prototype.setDirection = function (x, y, z) {
if (!this._canPlay)
return;
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Direction coordinates must be numbers');
}
this._direction = new BABYLON.Vector3(x, z, y).normalize();
};
/**
* Set the drone rotation
*/
DroneManager.prototype.setRotation = function (x, y, z) {
if (!this._canPlay)
return;
if (this._team == "R")
y += Math.PI;
this._rotationTarget = new BABYLON.Vector3(x, z, y);
};
/**
* Add this rotation to the actual drone rotation
*/
DroneManager.prototype.setRotationBy = function (x, y, z) {
if (!this._canPlay)
return;
this._rotationTarget = new BABYLON.Vector3(this.rotation.x + x, this.rotation.y + z, this.rotation.z + y);
};
/**
* Set a target point to move
*/
DroneManager.prototype.setTargetCoordinates = function (x, y, z, r) {
if (!this._canPlay)
return;
//HACK too specific for DroneAaileFixe, should be a flag: (bool)process?
if (r !== -1) {
this._start_loiter = 0;
this._maxSpeed = this._API.getMaxSpeed();
}
this._start_altitude = 0;
var coordinates = this._API.processCoordinates(x, y, z, r);
coordinates.x -= this._controlMesh.position.x;
coordinates.y -= this._controlMesh.position.z;
coordinates.z -= this._controlMesh.position.y;
if (this.team == "R")
coordinates.y = -coordinates.y;
this.setDirection(coordinates.x, coordinates.y, coordinates.z);
this.setAcceleration(this._maxAcceleration);
return;
};
//#endregion
//#region -- Messaging
/**
* Send a message to team drones
* @param msg The message to send
* @param id The targeted drone. -1 or nothing to broadcast
*/
DroneManager.prototype.sendMsg = function (msg, id) {
//TODO
return;
var _this = this;
if (!this._canCommunicate)
return;
if (id >= 0) { }
else
id = -1;
if (_this.infosMesh) {
return _this._API.internal_sendMsg(JSON.parse(JSON.stringify(msg)), id);
}
};
/**
* Perform a console.log with drone id + the message
*/
DroneManager.prototype.log = function (msg) { };
//#endregion
//#region -- Game informations
/**
* Get drone max height
*/
DroneManager.prototype.getMaxHeight = function () {
return this._API.getMaxHeight();
};
/**
* Get drone min height
*/
DroneManager.prototype.getMinHeight = function () {
return this._API.getMinHeight();
};
/**
* Get drone initial altitude
*/
DroneManager.prototype.getInitialAltitude = function () {
return this._API.getInitialAltitude();
};
/**
* Get drone absolute altitude
*/
DroneManager.prototype.getAltitudeAbs = function () {
if (this._controlMesh) {
var altitude = this._controlMesh.position.y;
return this._API.getAltitudeAbs(altitude);
}
return null;
};
/**
* Get a game parameter by name
* @param name Name of the parameter to retrieve
*/
DroneManager.prototype.getGameParameter = function (name) {
if (!this._canCommunicate)
return;
return this._API.getGameParameter(name);
};
/**
* get if drone detects the human position
*/
DroneManager.prototype.isHumanPositionSpotted = function () {
if (!this._canCommunicate)
return;
return this._API.isHumanPositionSpotted(this);
};
/**
* get current drone position
*/
DroneManager.prototype.getCurrentPosition = function () {
if (this._controlMesh)
return this._API.processCurrentPosition(
this._controlMesh.position.x,
this._controlMesh.position.z,
this._controlMesh.position.y
);
return null;
};
/**
* Set the drone altitude
* @param altitude information to be set
*/
DroneManager.prototype.setAltitude = function (altitude, skip_loiter) {
if (!this._canPlay)
return;
if (this._start_altitude === 0) {
this._start_altitude = 1;
}
altitude = this._API.setAltitude(altitude, this, skip_loiter);
return;
};
/**
* Make the drone loiter
*/
DroneManager.prototype.loiter = function () {
if (!this._canPlay)
return;
if (this._start_loiter === 0) {
this._start_loiter = 1;
}
};
/**
* Set the reported human position
* @param position information to be set
*/
DroneManager.prototype.reportHumanPosition = function (position) {
this._API._gameManager.reportHumanPosition(position);
};
/**
* get log flight parameters
*/
DroneManager.prototype.getFlightParameters = function () {
if (this._API.getFlightParameters)
return this._API.getFlightParameters();
return null;
};
/**
* get yaw flight parameters
*/
DroneManager.prototype.getYaw = function () {
//TODO
return 0;
};
/**
* do parachute
*/
DroneManager.prototype.doParachute = function () {
return this._API.doParachute(this);
};
/**
* exit
*/
DroneManager.prototype.exit = function () {
return this._API.exit(this);
};
/**
* landed
*/
DroneManager.prototype.landed = function () {
return this._API.landed(this);
};
/**
* Set the drone last checkpoint reached
* @param checkpoint to be set
*/
DroneManager.prototype.setCheckpoint = function (checkpoint) {
//TODO
return null;
};
//#endregion
//#endregion
//#region ------------------ To be defined in AI code
// Function called on evt.
// These functions must be defined in the AI code
/**
* Function called on game start
*/
DroneManager.prototype.onStart = function () { };
;
/**
* Function called on game update
*/
DroneManager.prototype.onUpdate = function (timestamp) { };
;
/**
* Function called when drone die (crash or collision)
*/
DroneManager.prototype.onTouched = function () { };
;
/**
* Function called when a message is received
* @param msg The message
*/
DroneManager.prototype.onGetMsg = function (msg) { };
;
/**
* Function called when drone finishes the detection process
* @param human_detected true or false
*/
DroneManager.prototype.onCapture = function (human_detected) { };
;
return DroneManager;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_drone_manager_js.xml deleted 100644 → 0
View file @ c1712536
<?xml version="1.0"?>
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<key> <string>_Modify_portal_content_Permission</string> </key>
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<string>Assignor</string>
<string>Manager</string>
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</value>
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<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
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<none/>
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<value> <string>drone_web_worker_drone_manager_js</string> </value>
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<key> <string>language</string> </key>
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<key> <string>short_title</string> </key>
<value>
<none/>
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<item>
<key> <string>title</string> </key>
<value> <string>Drone Manager JS</string> </value>
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<key> <string>workflow_history</string> </key>
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<key> <string>document_publication_workflow</string> </key>
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<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
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<key> <string>comment</string> </key>
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erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_game_manager_js.xml
View file @ 32942581
......@@ -238,7 +238,7 @@
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......@@ -256,7 +256,7 @@
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<string>UTC</string>
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......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_log_api_js.js deleted 100644 → 0
View file @ c1712536
/// <reference path="./GameManager.ts" />
var DroneLogAPI = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function DroneLogAPI(gameManager, team, flight_parameters) {
this._gameManager = gameManager;
this._team = team;
this._flight_parameters = flight_parameters;
}
Object.defineProperty(DroneLogAPI.prototype, "team", {
//*************************************************** ACCESSOR *****************************************************
get: function () {
if (this._team == "L")
return this._gameManager.teamLeft;
else if (this._team == "R")
return this._gameManager.teamRight;
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
//#region ------------------ Internal
DroneLogAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
//#endregion
//#region ------------------ Accessible from AI
DroneLogAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneLogAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize", "teamSize", "derive", "meteo", "initialHumanAreaPosition"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneLogAPI.prototype._isWithinDroneView = function (drone_position, element_position) {
// Check if element is under the drone cone-view
var angle = GAMEPARAMETERS.drone.viewAngle ? GAMEPARAMETERS.drone.viewAngle : 60,
radius = drone_position.z * Math.tan(angle/2 * Math.PI/180),
distance = (drone_position.x - element_position.x) * (drone_position.x - element_position.x) +
(drone_position.y - element_position.y) * (drone_position.y - element_position.y);
if (distance < (radius*radius))
return true;
return false;
};
DroneLogAPI.prototype._getProbabilityOfDetection = function (drone_position) {
var h = drone_position.z,
km = GAMEPARAMETERS.meteo;
prob = 20 * (1 + (110-h)/25) * km;
return prob;
};
DroneLogAPI.prototype.isHumanPositionSpottedCalculation = function (drone) {
var context = this,
result = false,
drone_position = drone.infosMesh.position;
//swap axes back
drone_position = {
x: drone_position.x,
y: drone_position.z,
z: drone_position.y
};
context._gameManager.teamRight.forEach(function (human) {
if (human.infosMesh && context._isWithinDroneView(drone_position, human.position)) {
var prob = context._getProbabilityOfDetection(drone_position),
random = Math.floor(Math.random()*101);
if (random < prob)
result = true;
}
});
return result;
};
DroneLogAPI.prototype.isHumanPositionSpotted = function (drone) {
var context = this,
human_detected;
if (drone.__is_calculating_human_position !== true) {
drone.__is_calculating_human_position = true;
//human detection is done with the info captured by the drone
//at the moment this method is called
human_detected = context.isHumanPositionSpottedCalculation(drone);
context._gameManager.delay(function () {
drone.__is_calculating_human_position = false;
try {
drone.onCapture(human_detected);
} catch (error) {
console.warn('Drone crashed on capture due to error:', error);
drone._internal_crash();
}
}, 2000);
}
};
DroneLogAPI.prototype.processCoordinates = function (x, y, z) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
return {
x: x,
y: y,
z: z
};
};
DroneLogAPI.prototype.getDroneAI = function () {
return 'function distance(p1, p2) {' +
'var a = p1[0] - p2[0],' +
'b = p1[1] - p2[1];' +
'return Math.sqrt(a * a + b * b);' +
'}' +
'me.onStart = function() {' +
'console.log("DRONE LOG START!");' +
'if (!me.getFlightParameters())' +
'throw "DroneLog API must implement getFlightParameters";' +
'me.flightParameters = me.getFlightParameters();' +
'me.checkpoint_list = me.flightParameters.converted_log_point_list;' +
'me.startTime = new Date();' +
'me.initTimestamp = me.flightParameters.converted_log_point_list[0][3];' +
'me.setTargetCoordinates(me.checkpoint_list[0][0], me.checkpoint_list[0][1], me.checkpoint_list[0][2]);' +
'me.last_checkpoint_reached = -1;' +
'me.setAcceleration(10);' +
'};' +
'me.onUpdate = function () {' +
'var next_checkpoint = me.checkpoint_list[me.last_checkpoint_reached+1];' +
'if (distance([me.position.x, me.position.y], next_checkpoint) < 12) {' +
'var log_elapsed = next_checkpoint[3] - me.initTimestamp,' +
'time_elapsed = new Date() - me.startTime;' +
'if (time_elapsed < log_elapsed) {' +
'me.setDirection(0, 0, 0);' +
'return;' +
'}' +
'if (me.last_checkpoint_reached + 1 === me.checkpoint_list.length - 1) {' +
'me.setTargetCoordinates(me.position.x, me.position.y, me.position.z);' +
'return;' +
'}' +
'me.last_checkpoint_reached += 1;' +
'next_checkpoint = me.checkpoint_list[me.last_checkpoint_reached+1];' +
'me.setTargetCoordinates(next_checkpoint[0], next_checkpoint[1], next_checkpoint[2]);' +
'} else {' +
'me.setTargetCoordinates(next_checkpoint[0], next_checkpoint[1], next_checkpoint[2]);' +
'}' +
'};';
};
DroneLogAPI.prototype.setAltitude = function (altitude) {
return altitude;
};
DroneLogAPI.prototype.getMaxSpeed = function () {
return 3000;
};
DroneLogAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneLogAPI.prototype.getAltitudeAbs = function () {
return 0;
};
DroneLogAPI.prototype.getMinHeight = function () {
return 0;
};
DroneLogAPI.prototype.getMaxHeight = function () {
return 220;
};
DroneLogAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
return DroneLogAPI;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_log_api_js.xml deleted 100644 → 0
View file @ c1712536
<?xml version="1.0"?>
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<value>
<tuple>
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<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
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<string>Assignor</string>
<string>Manager</string>
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<key> <string>_Modify_portal_content_Permission</string> </key>
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<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>content_md5</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>content_type</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>DroneLogAPI.js</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>drone_web_worker_log_api_js</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Web Script</string> </value>
</item>
<item>
<key> <string>short_title</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>Drone Log API JS</string> </value>
</item>
<item>
<key> <string>version</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
</pickle>
<pickle>
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<item>
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<value>
<dictionary>
<item>
<key> <string>document_publication_workflow</string> </key>
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<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
</value>
</item>
<item>
<key> <string>edit_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value>
</item>
<item>
<key> <string>processing_status_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
</value>
</item>
</dictionary>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="3" aka="AAAAAAAAAAM=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>publish_alive</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662556208.64</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
<item>
<key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>edit</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1003.194.53408.47940</string> </value>
</item>
<item>
<key> <string>state</string> </key>
<value> <string>current</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1663355083.2</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="5" aka="AAAAAAAAAAU=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>external_processing_state</string> </key>
<value> <string>empty</string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>0.0.0.0</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662555993.19</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_logic_js.js
View file @ 32942581
/*global GameManager, console*/
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*********************** DRONE SIMULATOR LOGIC ********************************/
var runGame, updateGame, eventGame, game_manager_instance;
// game.js
(function () {
......@@ -153,11 +157,6 @@ var runGame, updateGame, eventGame, game_manager_instance;
"y": 3.5,
"z": 3.5
},
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"color": {
"r": 0,
"g": 255,
......@@ -196,10 +195,13 @@ var runGame, updateGame, eventGame, game_manager_instance;
converted_log_point_list: converted_log_point_list
};
game_parameters_json.drone.maxSpeed = (flight_dist / flight_time) * SPEED_FACTOR;
game_parameters_json.obstacles = path_point_list;
game_parameters_json.randomSpawn.leftTeam.position.x = start_position[0];
game_parameters_json.flight_path_point_list = path_point_list;
/*game_parameters_json.randomSpawn.leftTeam.position.x = start_position[0];
game_parameters_json.randomSpawn.leftTeam.position.y = start_position[1];
game_parameters_json.randomSpawn.leftTeam.position.z = start_position[2];
game_parameters_json.randomSpawn.leftTeam.position.z = start_position[2];*/
game_parameters_json.dronesPosition.x = start_position[0];
game_parameters_json.dronesPosition.y = start_position[1];
game_parameters_json.dronesPosition.z = start_position[2];
game_parameters_json.gameTime = flight_time;
//give map some margin from the flight
game_parameters_json.mapSize.width = MAP_SIZE * 1.10;
......@@ -232,4 +234,1302 @@ var runGame, updateGame, eventGame, game_manager_instance;
});*/
}(this));
\ No newline at end of file
}(this));
/******************************************************************************/
/******************************** GAME MANAGER ********************************/
var GAMEPARAMETERS = {};
function randomSpherePoint(x0, y0, z0, rx0, ry0, rz0) {
var u = Math.random(), v = Math.random(),
rx = Math.random() * rx0, ry = Math.random() * ry0,
rz = Math.random() * rz0, theta = 2 * Math.PI * u,
phi = Math.acos(2 * v - 1),
x = x0 + (rx * Math.sin(phi) * Math.cos(theta)),
y = y0 + (ry * Math.sin(phi) * Math.sin(theta)),
z = z0 + (rz * Math.cos(phi));
return new BABYLON.Vector3(x, y, z);
}
var GameManager = /** @class */ (function () {
// *** CONSTRUCTOR ***
function GameManager(canvas, script, game_parameters_json, simulation_speed) {
var _this = this;
this._canvas = canvas;
this._scene = null;
this._engine = null;
this._droneList = [];
this._canUpdate = false;
if (!simulation_speed) { simulation_speed = 5; }
this._max_step_animation_frame = simulation_speed;
Object.assign(GAMEPARAMETERS, game_parameters_json);
this._game_parameters_json = game_parameters_json;
this._map_swapped = false;
this._script = script;
this._last_position_drawn = [];
this._log_count = [];
this._flight_log = [];
//TODO drop the use of RS map and use a JSON instead. drop randomspawn and similar names //rename all
//TODO do this in above, in game logic game_parameters_json
//move this to JSON dict
if (GAMEPARAMETERS.compareFlights) {
for (var count = 0; count < GAMEPARAMETERS.droneList.length; count++) {
this._flight_log[count] = [];
this._log_count[count] = 0;
this._last_position_drawn[count] = null;
}
this._colors = [
new BABYLON.Color3(255, 165, 0),
new BABYLON.Color3(0, 0, 255),
new BABYLON.Color3(255, 0, 0),
new BABYLON.Color3(0, 255, 0)
];
}
this.APIs_dict = {
DroneAaileFixeAPI: DroneAaileFixeAPI,
DroneLogAPI: DroneLogAPI
};
}
Object.defineProperty(GameManager.prototype, "gameParameter", {
get: function () {
return this._gameParameter;
},
enumerable: true,
configurable: true
});
GameManager.prototype.run = function () {
var gadget = this;
return gadget._init()
.push(function () {
//TODO return result
gadget._final_score = "fake-result 000";
return gadget._final_score;
});
};
GameManager.prototype.update = function () {
var _this = this;
// To increase the game speed, increase this value
_this._max_step_animation_frame = 10;
// time delta means that drone are updated every virtual second
// This is fixed and must not be modified
// otherwise, it will lead to different scenario results
// (as drone calculations may be triggered less often)
var TIME_DELTA = 1000 / 60, i;
// init the value on the first step
_this.waiting_update_count = _this._max_step_animation_frame;
function triggerUpdateIfPossible() {
if ((_this._canUpdate) && (_this.ongoing_update_promise === null) && (0 < _this.waiting_update_count)) {
_this.ongoing_update_promise = _this._update(TIME_DELTA, (_this.waiting_update_count === 1))
.push(function () {
_this.waiting_update_count -= 1;
_this.ongoing_update_promise = null;
triggerUpdateIfPossible();
})
.push(undefined, function(error) {
console.log("ERROR on update:", error);
console.log("rejecting finish_deferred promise...");
_this.finish_deferred.reject.bind(_this.finish_deferred);
});
}
}
triggerUpdateIfPossible();
};
GameManager.prototype.delay = function (callback, millisecond) {
this._delayed_defer_list.push([callback, millisecond]);
};
GameManager.prototype._updateDisplayedInfo = function (delta_time, update_dom) {
this._game_duration += delta_time;
var seconds = Math.floor(this._game_duration / 1000);
if (GAMEPARAMETERS.compareFlights) {
for (var count = 0; count < GAMEPARAMETERS.droneList.length; count++) {
if (this._droneList[count]._controlMesh) {
var drone_position_x = this._droneList[count]._controlMesh.position.x,
drone_position_z = this._droneList[count]._controlMesh.position.y,
drone_position_y = this._droneList[count]._controlMesh.position.z;
if (GAMEPARAMETERS.compareFlights.log) {
if (this._log_count[count] === 0 || this._game_duration / this._log_count[count] > 1) {
this._log_count[count] += GAMEPARAMETERS.compareFlights.log_interval_time;
//convert x-y coordinates into latitud-longitude
var lon = drone_position_x + GAMEPARAMETERS.compareFlights.map_width / 2;
lon = lon / 1000;
lon = lon * (GAMEPARAMETERS.compareFlights.MAX_X - GAMEPARAMETERS.compareFlights.MIN_X) + GAMEPARAMETERS.compareFlights.MIN_X;
lon = lon / (GAMEPARAMETERS.compareFlights.map_width / 360.0) - 180;
var lat = drone_position_y + GAMEPARAMETERS.compareFlights.map_height / 2;
lat = lat / 1000;
lat = lat * (GAMEPARAMETERS.compareFlights.MAX_Y - GAMEPARAMETERS.compareFlights.MIN_Y) + GAMEPARAMETERS.compareFlights.MIN_Y;
lat = 90 - lat / (GAMEPARAMETERS.compareFlights.map_height / 180.0);
this._flight_log[count].push([lat, lon, drone_position_z]);
}
}
if (GAMEPARAMETERS.compareFlights.draw) { //TODO review this in JSON dict
//draw drone position every second
if (this._last_position_drawn[count] !== seconds) {
this._last_position_drawn[count] = seconds;
var position_obj = BABYLON.MeshBuilder.CreateSphere("obs_" + seconds, {
'diameterX': 3.5,
'diameterY': 3.5,
'diameterZ': 3.5
}, this._scene);
position_obj.position = new BABYLON.Vector3(drone_position_x, drone_position_z, drone_position_y);
position_obj.scaling = new BABYLON.Vector3(3.5, 3.5, 3.5);
var material = new BABYLON.StandardMaterial(this._scene);
material.alpha = 1;
var color = new BABYLON.Color3(255, 0, 0);
if (this._colors[count]) {
color = this._colors[count];
}
material.diffuseColor = color;
position_obj.material = material;
}
}
}
}
}
};
GameManager.prototype._update = function (delta_time, update_dom) {
var _this = this,
queue = new RSVP.Queue(),
i;
this._updateDisplayedInfo(delta_time, update_dom);
// trigger all deferred calls if it is time
for (i = _this._delayed_defer_list.length - 1; 0 <= i; i -= 1) {
_this._delayed_defer_list[i][1] = _this._delayed_defer_list[i][1] - delta_time;
if (_this._delayed_defer_list[i][1] <= 0) {
queue.push(_this._delayed_defer_list[i][0]);
_this._delayed_defer_list.splice(i, 1);
}
}
function updateDrone(drone) {
drone._tick += 1;
return drone.internal_update(delta_time);
}
this._droneList.forEach(function (drone) {
queue.push(function () {
return updateDrone(drone);
});
});
return queue
.push(function () {
if (_this._timeOut()) {
console.log("TIMEOUT!");
return _this._finish();
}
});
};
GameManager.prototype._timeOut = function () {
var seconds = Math.floor(this._game_duration / 1000);
return this._totalTime - seconds <= 0;
};
GameManager.prototype._finish = function () {
console.log("Simulation finished");
this._canUpdate = false;
return this.finish_deferred.resolve();
};
GameManager.prototype._dispose = function () {
if (this._scene) {
this._scene.dispose();
}
};
GameManager.prototype._init = function () {
var _this = this;
this._delayed_defer_list = [];
this._dispose();
var canvas = this._canvas;
// Create the Babylon engine
this._engine = new BABYLON.Engine(canvas, true, {
//options for event handling
stencil: true,
disableWebGL2Support: false,
audioEngine: false
});
this._scene = new BABYLON.Scene(this._engine);
this._scene.clearColor = new BABYLON.Color4(88/255,171/255,217/255,255/255);
//removed for event handling
//this._engine.enableOfflineSupport = false;
//this._scene.collisionsEnabled = true;
// Lights
var hemi_north = new BABYLON.HemisphericLight(
"hemiN", new BABYLON.Vector3(1, -1, 1), this._scene);
hemi_north.intensity = 0.75;
var hemi_south = new BABYLON.HemisphericLight(
"hemiS", new BABYLON.Vector3(-1, 1, -1), this._scene);
hemi_south.intensity = 0.75;
var camera = new BABYLON.ArcRotateCamera("camera", 0, 1.25, 800,
BABYLON.Vector3.Zero(), this._scene);
camera.wheelPrecision = 10;
//changed for event handling
//camera.attachControl(this._scene.getEngine().getRenderingCanvas()); //original
camera.attachControl(canvas, true);
camera.maxz = 40000;
this._camera = camera;
// Render loop
this._engine.runRenderLoop(function () {
_this._scene.render();
});
// -------------------------------- SIMULATION - Prepare API, Map and Teams
var on3DmodelsReady = function (ctx) {
console.log("on3DmodelsReady!");
// Get the game parameters
if (!ctx._map_swapped) {
GAMEPARAMETERS = ctx._getGameParameter();
ctx._map_swapped = true;
}
console.log("APIs created");
// Init the map
_this._mapManager = new MapManager(ctx._scene);
console.log("Map manager instantiated");
ctx._spawnDrones(GAMEPARAMETERS.dronesPosition,
GAMEPARAMETERS.droneList, ctx._script);
// Hide the drone prefab
DroneManager.Prefab.isVisible = false;
//Hack to make advanced texture work
const documentTmp = document;
document = undefined;
var advancedTexture = BABYLON.GUI.AdvancedDynamicTexture.CreateFullscreenUI("UI", true, ctx._scene);
document = documentTmp;
for (var count = 0; count < GAMEPARAMETERS.droneList.length; count++) { //TODO use one color per drone
var controlMeshBlue = ctx._droneList[count].infosMesh;
var rectBlue = new BABYLON.GUI.Rectangle();
rectBlue.width = "10px";
rectBlue.height = "10px";
rectBlue.cornerRadius = 20;
rectBlue.color = "white";
rectBlue.thickness = 0.5;
rectBlue.background = "blue";
advancedTexture.addControl(rectBlue);
var labelBlue = new BABYLON.GUI.TextBlock();
labelBlue.text = count.toString();
labelBlue.fontSize = 7;
rectBlue.addControl(labelBlue);
rectBlue.linkWithMesh(controlMeshBlue);
rectBlue.linkOffsetY = 0;
}
console.log("advaced textures added");
return ctx;
};
// ----------------------------------- SIMULATION - Load 3D models
return new RSVP.Queue()
.push(function () {
return new RSVP.Promise(function (resolve) {
return _this._load3DModel(resolve);
});
})
.push(function () {
on3DmodelsReady(_this);
// 3,2,1,GO before start. To animate. //TODO DROP this countdown
var result = new RSVP.Queue(),
i;
function countdown (count) {
return function () {
console.log(count + " ...");
return RSVP.delay(200);
};
}
for (i = 5; 0 <= i; i -= 1) {
result.push(countdown(i));
}
return result.push(_this._start.bind(_this));
});
};
GameManager.prototype._start = function () {
var _this = this;
_this.waiting_update_count = 0;
_this.ongoing_update_promise = null;
_this.finish_deferred = RSVP.defer();
console.log("Simulation started.");
this._game_duration = 0;
this._totalTime = GAMEPARAMETERS.gameTime;
return new RSVP.Queue()
.push(function () {
promise_list = [];
_this._droneList.forEach(function (drone) {
drone._tick = 0;
promise_list.push(drone.internal_start());
});
return RSVP.all(promise_list);
})
.push(function () {
_this._canUpdate = true;
return _this.finish_deferred.promise;
});
};
GameManager.prototype._load3DModel = function (callback) {
var _this = this, droneTask, mapTask, obstacleTask,
assetManager = new BABYLON.AssetsManager(this._scene);
assetManager.useDefaultLoadingScreen = true;
// DRONE
droneTask = assetManager.addMeshTask("loadingDrone", "", "assets/drone/", "drone.babylon"); //TODO got from RS skin!
droneTask.onSuccess = function (task) {
task.loadedMeshes.forEach(function (mesh) {
mesh.isPickable = false;
mesh.isVisible = false;
});
DroneManager.Prefab = _this._scene.getMeshByName("Dummy_Drone");
DroneManager.Prefab.scaling = new BABYLON.Vector3(0.006, 0.006, 0.006);
DroneManager.Prefab.position = new BABYLON.Vector3(0, -5, 0);
};
droneTask.onError = function () {
console.log("Error loading 3D model for Drone");
};
// MAP
mapTask = assetManager.addMeshTask("loadingMap", "", "assets/map/", "map.babylon");
mapTask.onSuccess = function (task) {
task.loadedMeshes.forEach(function (mesh) {
mesh.isPickable = false;
mesh.isVisible = false;
});
};
mapTask.onError = function () {
console.log("Error loading 3D model for Map");
};
assetManager.onFinish = function () {
return callback();
};
assetManager.load();
};
GameManager.prototype._getGameParameter = function () {
var parameter = {}, i,
swap = function (pos) {
return {
x: pos.x,
y: pos.z,
z: pos.y
};
};
Object.assign(parameter, this._game_parameters_json);
this._gameParameter = {};
Object.assign(this._gameParameter, this._game_parameters_json);
for (i = 0; i < parameter.flight_path_point_list.length; i += 1) {
parameter.flight_path_point_list[i].position =
swap(parameter.flight_path_point_list[i].position);
if (parameter.flight_path_point_list[i].scale) {
parameter.flight_path_point_list[i].scale =
swap(parameter.flight_path_point_list[i].scale);
}
}
return parameter;
};
GameManager.prototype._spawnDrones = function (center, drone_list, code) {
var position, i, position_list = [], max_collision = 10 * drone_list.length,
collision_nb = 0;
function checkCollision(position, list) {
var i;
for (i = 0; i < list.length; i += 1) {
if (position.equalsWithEpsilon(list[i], 0.5)) {
return true;
}
}
return false;
}
function spawnDrone(x, y, z, index, api, code, ctx) {
var default_drone_AI = api.getDroneAI();
if (default_drone_AI) {
code = default_drone_AI;
}
var base, code_eval = "let drone = new DroneManager(ctx._scene, " +
index + ', api);' +
"let droneMe = function(NativeDate, me, Math, window, DroneManager, GameManager, DroneLogAPI, DroneAaileFixeAPI, BABYLON, GAMEPARAMETERS) {" +
"var start_time = (new Date(2070, 0, 0, 0, 0, 0, 0)).getTime();" +
"Date.now = function () {return start_time + drone._tick * 1000/60;}; " +
"function Date() {if (!(this instanceof Date)) {throw new Error('Missing new operator');} " +
"if (arguments.length === 0) {return new NativeDate(Date.now());} else {return new NativeDate(...arguments);}}";
// Simple desactivation of direct access of all globals
// It is still accessible in reality, but it will me more visible
// if people really access them
if (x !== null && y !== null && z !== null) {
code_eval += "me.setStartingPosition(" + x + ", " + y + ", " + z + ");";
}
base = code_eval;
code_eval += code + "}; droneMe(Date, drone, Math, {});";
base += "};ctx._droneList.push(drone)";
code_eval += "ctx._droneList.push(drone)";
try {
eval(code_eval);
}
catch (error) {
eval(base);
}
}
for (i = 0; i < drone_list.length; i += 1) {
position = randomSpherePoint(center.x + i, center.y + i, center.z + i, 0, 0, 0);
if (checkCollision(position, position_list) || position.z < 0.05) {
collision_nb += 1;
if (collision_nb < max_collision) {
i -= 1;
}
}
else {
position_list.push(position);
var api = new this.APIs_dict[drone_list[i]](this, GAMEPARAMETERS.compareFlights);
spawnDrone(position.x, position.y, position.z, i, api, code, this);
}
}
};
return GameManager;
}());
/*****************************************************************************/
/******************************* DRONE LOG API ********************************/
var DroneLogAPI = /** @class */ (function () {
//** CONSTRUCTOR
function DroneLogAPI(gameManager, flight_parameters) {
this._gameManager = gameManager;
this._flight_parameters = flight_parameters;
}
//TODO test sendMsg (what is iterable _this.team??) (latency.communication?)(GM.delay?)
DroneLogAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
DroneLogAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneLogAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize", "teamSize", "derive", "meteo"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneLogAPI.prototype.processCoordinates = function (x, y, z) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
return {
x: x,
y: y,
z: z
};
};
//Internal AI: drone follows the flight log points
DroneLogAPI.prototype.getDroneAI = function () {
return 'function distance(p1, p2) {' +
'var a = p1[0] - p2[0],' +
'b = p1[1] - p2[1];' +
'return Math.sqrt(a * a + b * b);' +
'}' +
'me.onStart = function() {' +
'console.log("DRONE LOG START!");' +
'if (!me.getFlightParameters())' +
'throw "DroneLog API must implement getFlightParameters";' +
'me.flightParameters = me.getFlightParameters();' +
'me.checkpoint_list = me.flightParameters.converted_log_point_list;' +
'me.startTime = new Date();' +
'me.initTimestamp = me.flightParameters.converted_log_point_list[0][3];' +
'me.setTargetCoordinates(me.checkpoint_list[0][0], me.checkpoint_list[0][1], me.checkpoint_list[0][2]);' +
'me.last_checkpoint_reached = -1;' +
'me.setAcceleration(10);' +
'};' +
'me.onUpdate = function () {' +
'var next_checkpoint = me.checkpoint_list[me.last_checkpoint_reached+1];' +
'if (distance([me.position.x, me.position.y], next_checkpoint) < 12) {' +
'var log_elapsed = next_checkpoint[3] - me.initTimestamp,' +
'time_elapsed = new Date() - me.startTime;' +
'if (time_elapsed < log_elapsed) {' +
'me.setDirection(0, 0, 0);' +
'return;' +
'}' +
'if (me.last_checkpoint_reached + 1 === me.checkpoint_list.length - 1) {' +
'me.setTargetCoordinates(me.position.x, me.position.y, me.position.z);' +
'return;' +
'}' +
'me.last_checkpoint_reached += 1;' +
'next_checkpoint = me.checkpoint_list[me.last_checkpoint_reached+1];' +
'me.setTargetCoordinates(next_checkpoint[0], next_checkpoint[1], next_checkpoint[2]);' +
'} else {' +
'me.setTargetCoordinates(next_checkpoint[0], next_checkpoint[1], next_checkpoint[2]);' +
'}' +
'};';
};
DroneLogAPI.prototype.setAltitude = function (altitude) {
return altitude;
};
DroneLogAPI.prototype.getMaxSpeed = function () {
return 3000;
};
DroneLogAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneLogAPI.prototype.getAltitudeAbs = function () {
return 0;
};
DroneLogAPI.prototype.getMinHeight = function () {
return 0;
};
DroneLogAPI.prototype.getMaxHeight = function () {
return 220;
};
DroneLogAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
return DroneLogAPI;
}());
/*****************************************************************************/
/************************** DRONE A AILE FIXE API ****************************/
TAKEOFF_RADIUS = 60;
LOITER_LIMIT = 30;
LOITER_RADIUS_FACTOR = 0.60;
LOITER_SPEED_FACTOR = 1.5;
var DroneAaileFixeAPI = /** @class */ (function () {
//** CONSTRUCTOR
function DroneAaileFixeAPI(gameManager, flight_parameters) {
this._gameManager = gameManager;
this._flight_parameters = flight_parameters;
this._loiter_radius = 0;
this._last_loiter_point_reached = -1;
this._last_altitude_point_reached = -1;
}
DroneAaileFixeAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
DroneAaileFixeAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneAaileFixeAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize", "teamSize", "derive", "meteo"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneAaileFixeAPI.prototype.processCoordinates = function (lat, lon, z, r) {
if(isNaN(lat) || isNaN(lon) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
var flightParameters = this.getFlightParameters();
function longitudToX(lon, flightParameters) {
return (flightParameters.MAP_SIZE / 360.0) * (180 + lon);
}
function latitudeToY(lat, flightParameters) {
return (flightParameters.MAP_SIZE / 180.0) * (90 - lat);
}
function normalizeToMap(x, y, flightParameters) {
var n_x = (x - flightParameters.MIN_X) / (flightParameters.MAX_X - flightParameters.MIN_X),
n_y = (y - flightParameters.MIN_Y) / (flightParameters.MAX_Y - flightParameters.MIN_Y);
return [n_x * 1000 - flightParameters.MAP_SIZE / 2, n_y * 1000 - flightParameters.MAP_SIZE / 2];
}
var x = longitudToX(lon, flightParameters),
y = latitudeToY(lat, flightParameters),
position = normalizeToMap(x, y, flightParameters);
if (z > flightParameters.start_AMSL) {
z -= flightParameters.start_AMSL;
}
var processed_coordinates = {
x: position[0],
y: position[1],
z: z
};
if (r && r > LOITER_LIMIT) {
this._loiter_radius = r * LOITER_RADIUS_FACTOR;
this._loiter_center = processed_coordinates;
this._loiter_coordinates = [];
this._last_loiter_point_reached = -1;
var x1, y1;
//for (var angle = 0; angle <360; angle+=8){ //counter-clockwise
for (var angle = 360; angle > 0; angle-=8){ //clockwise
x1 = this._loiter_radius * Math.cos(angle * (Math.PI / 180)) + this._loiter_center.x;
y1 = this._loiter_radius * Math.sin(angle * (Math.PI / 180)) + this._loiter_center.y;
this._loiter_coordinates.push(this.processCurrentPosition(x1, y1, z));
}
}
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
return processed_coordinates;
};
DroneAaileFixeAPI.prototype.processCurrentPosition = function (x, y, z) {
//convert x-y coordinates into latitud-longitude
var flightParameters = this.getFlightParameters();
var lon = x + flightParameters.map_width / 2;
lon = lon / 1000;
lon = lon * (flightParameters.MAX_X - flightParameters.MIN_X) + flightParameters.MIN_X;
lon = lon / (flightParameters.map_width / 360.0) - 180;
var lat = y + flightParameters.map_height / 2;
lat = lat / 1000;
lat = lat * (flightParameters.MAX_Y - flightParameters.MIN_Y) + flightParameters.MIN_Y;
lat = 90 - lat / (flightParameters.map_height / 180.0);
return {
x: lat,
y: lon,
z: z
};
};
DroneAaileFixeAPI.prototype.loiter = function (drone) {
function distance(c1, c2) {
var R = 6371e3,
q1 = c1[0] * Math.PI / 180,
q2 = c2[0] * Math.PI / 180,
dq = (c2[0] - c1[0]) * Math.PI / 180,
dl = (c2[1] - c1[1]) * Math.PI / 180,
a = Math.sin(dq / 2) * Math.sin(dq / 2) +
Math.cos(q1) * Math.cos(q2) *
Math.sin(dl / 2) * Math.sin(dl / 2),
c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
return R * c;
}
if (this._loiter_radius > LOITER_LIMIT) {
var drone_pos = drone.getCurrentPosition();
//shift loiter circle to nearest point
if (this._last_loiter_point_reached === -1) {
if (!this.shifted) {
drone._maxSpeed = drone._maxSpeed * LOITER_SPEED_FACTOR;
var min = 9999, min_i;
for (var i = 0; i < this._loiter_coordinates.length; i++){
var d = distance([drone_pos.x, drone_pos.y], [this._loiter_coordinates[i].x, this._loiter_coordinates[i].y]);
if (d < min) {
min = d;
min_i = i;
}
}
this._loiter_coordinates = this._loiter_coordinates.concat(this._loiter_coordinates.splice(0,min_i));
this.shifted = true;
}
} else {
this.shifted = false;
}
//stop
if (this._last_loiter_point_reached === this._loiter_coordinates.length - 1) {
if (drone._maxSpeed !== this.getMaxSpeed()) {
drone._maxSpeed = this.getMaxSpeed();
}
drone.setDirection(0, 0, 0);
return;
}
//loiter
var next_point = this._loiter_coordinates[this._last_loiter_point_reached + 1];
drone.setTargetCoordinates(next_point.x, next_point.y, next_point.z, -1);
if (distance([drone_pos.x, drone_pos.y], [next_point.x, next_point.y]) < 1) {
this._last_loiter_point_reached += 1;
if (this._last_loiter_point_reached === this._loiter_coordinates.length - 1) {
return;
}
next_point = this._loiter_coordinates[this._last_loiter_point_reached + 1];
drone.setTargetCoordinates(next_point.x, next_point.y, next_point.z, -1);
}
}
};
DroneAaileFixeAPI.prototype.getDroneAI = function () {
return null;
};
DroneAaileFixeAPI.prototype.setAltitude = function (altitude, drone, skip_loiter) {
this.takeoff_path = [];
if (skip_loiter) {
var drone_pos = drone.getCurrentPosition();
drone.setTargetCoordinates(drone_pos.x, drone_pos.y, altitude);
return;
}
var x1, y1,
LOOPS = 1,
CIRCLE_ANGLE = 8,
current_point = 0,
total_points = 360/CIRCLE_ANGLE*LOOPS,
initial_altitude = drone.getAltitudeAbs(),
center = {
x: drone._controlMesh.position.x,
y: drone._controlMesh.position.z,
z: drone._controlMesh.position.y
};
for (var l = 0; l <= LOOPS; l+=1){
for (var angle = 360; angle > 0; angle-=CIRCLE_ANGLE){ //clockwise sense
current_point++;
x1 = TAKEOFF_RADIUS * Math.cos(angle * (Math.PI / 180)) + center.x;
y1 = TAKEOFF_RADIUS * Math.sin(angle * (Math.PI / 180)) + center.y;
if (current_point < total_points/3) {
var FACTOR = 0.5;
x1 = center.x*FACTOR + x1*(1-FACTOR);
y1 = center.y*FACTOR + y1*(1-FACTOR);
}
this.takeoff_path.push({x: x1, y: y1, z: initial_altitude + current_point * (altitude-initial_altitude)/total_points});
}
}
};
DroneAaileFixeAPI.prototype.reachAltitude = function (drone) {
function distance(p1, p2) {
return Math.sqrt(Math.pow(p1[0] - p2[0], 2) +
Math.pow(p1[1] - p2[1], 2));
}
//stop
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
drone._start_altitude = 0;
drone.setDirection(0, 0, 0);
return;
}
//loiter
var drone_pos = {
x: drone._controlMesh.position.x,
y: drone._controlMesh.position.z,
z: drone._controlMesh.position.y
};
var next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
drone.internal_setTargetCoordinates(next_point.x, next_point.y, next_point.z);
if (distance([drone_pos.x, drone_pos.y], [next_point.x, next_point.y]) < 1) {
this._last_altitude_point_reached += 1;
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
return;
}
next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
drone.internal_setTargetCoordinates(next_point.x, next_point.y, next_point.z);
}
};
DroneAaileFixeAPI.prototype.getMaxSpeed = function () {
return GAMEPARAMETERS.drone.maxSpeed;
};
DroneAaileFixeAPI.prototype.doParachute = function (drone) {
//TODO what to do here?
drone.setDirection(0, 0, 0);
};
DroneAaileFixeAPI.prototype.landed = function (drone) {
var drone_pos = drone.getCurrentPosition();
return Math.floor(drone_pos.z) === 0;
};
DroneAaileFixeAPI.prototype.exit = function (drone) {
//TODO what to do here?
drone.setDirection(0, 0, 0);
};
DroneAaileFixeAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneAaileFixeAPI.prototype.getAltitudeAbs = function (altitude) {
return altitude;
};
DroneAaileFixeAPI.prototype.getMinHeight = function () {
return 0;
};
DroneAaileFixeAPI.prototype.getMaxHeight = function () {
return 800;
};
DroneAaileFixeAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
return DroneAaileFixeAPI;
}());
/******************************************************************************/
/******************************* DRONE MANAGER ********************************/
var DroneManager = /** @class */ (function () {
//** CONSTRUCTOR
function DroneManager(scene, id, API) {
var _this = this;
// Mesh
this._mesh = null;
this._controlMesh = null;
this._colliderBackMesh = null; //TODO drop?
this._canPlay = false;
this._canCommunicate = false;
this._maxAcceleration = 0;
this._maxSpeed = 0;
this._speed = 0;
this._acceleration = 0;
this._direction = BABYLON.Vector3.Zero();
this._maxOrientation = Math.PI / 4;
this._scene = scene;
this._canUpdate = true;
this._id = id;
this._leader_id = 0;
this._start_loiter = 0;
this._start_altitude = 0;
this._API = API; // var API created on AI evel
// Create the control mesh
this._controlMesh = BABYLON.Mesh.CreateBox("droneControl_" + id, 0.01, this._scene);
this._controlMesh.isVisible = false;
this._controlMesh.computeWorldMatrix(true);
// Create the mesh from the drone prefab
this._mesh = DroneManager.Prefab.clone("drone_" + id, this._controlMesh);
this._mesh.position = BABYLON.Vector3.Zero();
this._mesh.isVisible = false;
this._mesh.computeWorldMatrix(true);
// Get the back collider
this._mesh.getChildMeshes().forEach(function (mesh) {
if (mesh.name.substring(mesh.name.length - 13) == "Dummy_arriere") {
_this._colliderBackMesh = mesh;
_this._colliderBackMesh.isVisible = false;
}
else {
mesh.isVisible = true;
}
});
if (!DroneManager.PrefabBlueMat) {
DroneManager.PrefabBlueMat = new BABYLON.StandardMaterial("blueTeamMat", scene);
DroneManager.PrefabBlueMat.diffuseTexture = new BABYLON.Texture("assets/drone/drone_bleu.jpg", scene);
}
}
DroneManager.prototype._swapAxe = function (vector) {
return new BABYLON.Vector3(vector.x, vector.z, vector.y);
};
Object.defineProperty(DroneManager.prototype, "leader_id", {
get: function () { return this._leader_id; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "id", {
get: function () { return this._id; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "colliderMesh", {
get: function () { return this._mesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "colliderBackMesh", {
get: function () { return this._colliderBackMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "infosMesh", {
get: function () { return this._controlMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "position", {
get: function () {
if (this._controlMesh !== null) {
return this._swapAxe(this._controlMesh.position);
}
return null;
},
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "speed", {
get: function () { return this._speed; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "direction", {
get: function () { return this._swapAxe(this._direction); },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "worldDirection", {
get: function () {
return new BABYLON.Vector3(this._direction.x, this._direction.y, this._direction.z);
},
enumerable: true,
configurable: true
});
DroneManager.prototype.internal_start = function () {
this._maxAcceleration = GAMEPARAMETERS.drone.maxAcceleration;
this._maxSpeed = this._API.getMaxSpeed();
this._canPlay = true;
this._canCommunicate = true;
try {
return this.onStart();
} catch (error) {
console.warn('Drone crashed on start due to error:', error);
this._internal_crash();
}
};
DroneManager.prototype.internal_setTargetCoordinates = function (x, y, z) {
if (!this._canPlay)
return;
x -= this._controlMesh.position.x;
y -= this._controlMesh.position.z;
z -= this._controlMesh.position.y;
this.setDirection(x, y, z);
this.setAcceleration(this._maxAcceleration);
return;
};
DroneManager.prototype.internal_update = function (delta_time) {
var context = this;
if (this._controlMesh) {
context._speed += context._acceleration * delta_time / 1000;
if (context._speed > context._maxSpeed)
context._speed = context._maxSpeed;
if (context._speed < -context._maxSpeed)
context._speed = -context._maxSpeed;
var updateSpeed = context._speed * delta_time / 1000;
if (context._direction.x != 0
|| context._direction.y != 0
|| context._direction.z != 0) {
context._controlMesh.position.addInPlace(new BABYLON.Vector3(context._direction.x * updateSpeed, context._direction.y * updateSpeed, context._direction.z * updateSpeed));
}
var orientationValue = context._maxOrientation * (context._speed / context._maxSpeed);
context._controlMesh.computeWorldMatrix(true);
context._mesh.computeWorldMatrix(true);
if (context._canUpdate) {
context._canUpdate = false;
return new RSVP.Queue()
.push(function () {
return context.onUpdate(context._API._gameManager._game_duration);
})
.push(function () {
context._canUpdate = true;
}, function (err) {
console.warn('Drone crashed on update due to error:', err);
context._internal_crash();
})
.push(function () {
if (context._start_loiter > 0) {
context._API.loiter(context);
}
if (context._start_altitude > 0) {
context._API.reachAltitude(context);
}
});
}
return;
}
return;
};
DroneManager.prototype._internal_crash = function () {
this._canCommunicate = false;
this._controlMesh = null;
this._mesh = null;
this._canPlay = false;
this.onTouched();
};
DroneManager.prototype.setStartingPosition = function (x, y, z) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Position coordinates must be numbers');
}
if (!this._canPlay) {
if (z <= 0.05)
z = 0.05;
this._controlMesh.position = new BABYLON.Vector3(x, z, y);
}
this._controlMesh.computeWorldMatrix(true);
this._mesh.computeWorldMatrix(true);
};
DroneManager.prototype.setAcceleration = function (factor) {
if (!this._canPlay)
return;
if (isNaN(factor)){
throw new Error('Acceleration must be a number');
}
if (factor > this._maxAcceleration)
factor = this._maxAcceleration;
this._acceleration = factor;
};
DroneManager.prototype.setDirection = function (x, y, z) {
if (!this._canPlay)
return;
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Direction coordinates must be numbers');
}
this._direction = new BABYLON.Vector3(x, z, y).normalize();
};
/**
* Set a target point to move
*/
DroneManager.prototype.setTargetCoordinates = function (x, y, z, r) {
if (!this._canPlay)
return;
//HACK too specific for DroneAaileFixe, should be a flag: (bool)process?
if (r !== -1) {
this._start_loiter = 0;
this._maxSpeed = this._API.getMaxSpeed();
}
this._start_altitude = 0;
var coordinates = this._API.processCoordinates(x, y, z, r);
coordinates.x -= this._controlMesh.position.x;
coordinates.y -= this._controlMesh.position.z;
coordinates.z -= this._controlMesh.position.y;
this.setDirection(coordinates.x, coordinates.y, coordinates.z);
this.setAcceleration(this._maxAcceleration);
return;
};
/**
* Send a message to team drones
* @param msg The message to send
* @param id The targeted drone. -1 or nothing to broadcast
*/
DroneManager.prototype.sendMsg = function (msg, id) {
//TODO
return;
var _this = this;
if (!this._canCommunicate)
return;
if (id >= 0) { }
else
id = -1;
if (_this.infosMesh) {
return _this._API.internal_sendMsg(JSON.parse(JSON.stringify(msg)), id);
}
};
/** Perform a console.log with drone id + the message */
DroneManager.prototype.log = function (msg) { };
DroneManager.prototype.getMaxHeight = function () {
return this._API.getMaxHeight();
};
DroneManager.prototype.getMinHeight = function () {
return this._API.getMinHeight();
};
DroneManager.prototype.getInitialAltitude = function () {
return this._API.getInitialAltitude();
};
DroneManager.prototype.getAltitudeAbs = function () {
if (this._controlMesh) {
var altitude = this._controlMesh.position.y;
return this._API.getAltitudeAbs(altitude);
}
return null;
};
/**
* Get a game parameter by name
* @param name Name of the parameter to retrieve
*/
DroneManager.prototype.getGameParameter = function (name) {
if (!this._canCommunicate)
return;
return this._API.getGameParameter(name);
};
DroneManager.prototype.getCurrentPosition = function () {
if (this._controlMesh)
return this._API.processCurrentPosition(
this._controlMesh.position.x,
this._controlMesh.position.z,
this._controlMesh.position.y
);
return null;
};
DroneManager.prototype.setAltitude = function (altitude, skip_loiter) {
if (!this._canPlay)
return;
if (this._start_altitude === 0) {
this._start_altitude = 1;
}
altitude = this._API.setAltitude(altitude, this, skip_loiter);
return;
};
/**
* Make the drone loiter (circle with a set radius)
*/
DroneManager.prototype.loiter = function () {
if (!this._canPlay)
return;
if (this._start_loiter === 0) {
this._start_loiter = 1;
}
};
DroneManager.prototype.getFlightParameters = function () {
if (this._API.getFlightParameters)
return this._API.getFlightParameters();
return null;
};
DroneManager.prototype.getYaw = function () {
//TODO
return 0;
};
DroneManager.prototype.doParachute = function () {
return this._API.doParachute(this);
};
DroneManager.prototype.exit = function () {
return this._API.exit(this);
};
DroneManager.prototype.landed = function () {
return this._API.landed(this);
};
/**
* Set the drone last checkpoint reached
* @param checkpoint to be set
*/
DroneManager.prototype.setCheckpoint = function (checkpoint) {
//TODO
return null;
};
/**
* Function called on game start
*/
DroneManager.prototype.onStart = function () { };
;
/**
* Function called on game update
*/
DroneManager.prototype.onUpdate = function (timestamp) { };
;
/**
* Function called when drone crashes
*/
DroneManager.prototype.onTouched = function () { };
;
/**
* Function called when a message is received
* @param msg The message
*/
DroneManager.prototype.onGetMsg = function (msg) { };
;
return DroneManager;
}());
/******************************************************************************/
/******************************** MAP MANAGER *********************************/
var MapManager = /** @class */ (function () {
//** CONSTRUCTOR
function MapManager(scene) {
var _this = this;
var max = GAMEPARAMETERS.mapSize.width;
if (GAMEPARAMETERS.mapSize.depth > max)
max = GAMEPARAMETERS.mapSize.depth;
if (GAMEPARAMETERS.mapSize.height > max)
max = GAMEPARAMETERS.mapSize.height;
max = max < GAMEPARAMETERS.mapSize.depth ? GAMEPARAMETERS.mapSize.depth : max;
// Skybox
var max_sky = (max * 10 < 20000) ? max * 10 : 20000,
skybox = BABYLON.Mesh.CreateBox("skyBox", max_sky, scene);
skybox.infiniteDistance = true;
skybox.renderingGroupId = 0;
var skyboxMat = new BABYLON.StandardMaterial("skybox", scene);
skyboxMat.backFaceCulling = false;
skyboxMat.disableLighting = true;
skyboxMat.reflectionTexture = new BABYLON.CubeTexture("./assets/skybox/sky", scene);
skyboxMat.reflectionTexture.coordinatesMode = BABYLON.Texture.SKYBOX_MODE;
skyboxMat.infiniteDistance = true;
skybox.material = skyboxMat;
// Plane from bottom
var largeGroundMat = new BABYLON.StandardMaterial("largeGroundMat", scene);
largeGroundMat.specularColor = BABYLON.Color3.Black();
largeGroundMat.alpha = 0.4;
var largeGroundBottom = BABYLON.Mesh.CreatePlane("largeGroundBottom", max * 11, scene);
largeGroundBottom.position.y = -0.01;
largeGroundBottom.rotation.x = -Math.PI / 2;
largeGroundBottom.rotation.y = Math.PI;
largeGroundBottom.material = largeGroundMat;
// Camera
scene.activeCamera.upperRadiusLimit = max * 4;
// Terrain
var width = GAMEPARAMETERS.mapSize.width,
depth = GAMEPARAMETERS.mapSize.depth,
height = GAMEPARAMETERS.mapSize.height,
terrain = scene.getMeshByName("terrain001");
terrain.isVisible = true;
terrain.position = BABYLON.Vector3.Zero();
terrain.scaling = new BABYLON.Vector3(depth / 50000, depth / 50000, width / 50000);
// Flight path point list
var count = 0;
this._flight_path_point_list = [];
GAMEPARAMETERS.flight_path_point_list.forEach(function (obs) {
var newObj;
switch (obs.type) {
case "box":
newObj = BABYLON.MeshBuilder.CreateBox("obs_" + count, { 'size': 1 }, scene);
break;
case "cylinder":
newObj = BABYLON.MeshBuilder.CreateCylinder("obs_" + count, {
'diameterBottom': obs.diameterBottom,
'diameterTop': obs.diameterTop,
'height': 1
}, scene);
break;
case "sphere":
newObj = BABYLON.MeshBuilder.CreateSphere("obs_" + count, {
'diameterX': obs.scale.x,
'diameterY': obs.scale.y,
'diameterZ': obs.scale.z
}, scene);
break;
default:
return;
}
newObj.obsType = obs.type;
var convertion = Math.PI / 180;
if ("position" in obs)
newObj.position = new BABYLON.Vector3(obs.position.x, obs.position.y, obs.position.z);
if ("rotation" in obs)
newObj.rotation = new BABYLON.Vector3(obs.rotation.x * convertion, obs.rotation.y * convertion, obs.rotation.z * convertion);
if ("scale" in obs)
newObj.scaling = new BABYLON.Vector3(obs.scale.x, obs.scale.y, obs.scale.z);
if ("color" in obs) {
var material = new BABYLON.StandardMaterial(scene);
material.alpha = 1;
material.diffuseColor = new BABYLON.Color3(obs.color.r, obs.color.g, obs.color.b);
newObj.material = material;
}
_this._flight_path_point_list.push(newObj);
});
}
return MapManager;
}());
\ No newline at end of file
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_logic_js.xml
View file @ 32942581
......@@ -244,7 +244,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1003.14747.21196.46916</string> </value>
<value> <string>1003.17407.48631.50875</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -262,7 +262,7 @@
</tuple>
<state>
<tuple>
<float>1664291458.36</float>
<float>1664386550.2</float>
<string>UTC</string>
</tuple>
</state>
......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_map_manager_js.js deleted 100644 → 0
View file @ c1712536
/// <reference path="./typings/babylon.3.1.d.ts" />
var MapManager = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function MapManager(scene) {
var _this = this;
var max = GAMEPARAMETERS.mapSize.width;
if (GAMEPARAMETERS.mapSize.depth > max)
max = GAMEPARAMETERS.mapSize.depth;
if (GAMEPARAMETERS.mapSize.height > max)
max = GAMEPARAMETERS.mapSize.height;
max = max < GAMEPARAMETERS.mapSize.depth ? GAMEPARAMETERS.mapSize.depth : max;
// Skybox
var max_sky = (max * 10 < 20000) ? max * 10 : 20000,
skybox = BABYLON.Mesh.CreateBox("skyBox", max_sky, scene);
skybox.infiniteDistance = true;
skybox.renderingGroupId = 0;
var skyboxMat = new BABYLON.StandardMaterial("skybox", scene);
skyboxMat.backFaceCulling = false;
skyboxMat.disableLighting = true;
skyboxMat.reflectionTexture = new BABYLON.CubeTexture("./assets/skybox/sky", scene);
skyboxMat.reflectionTexture.coordinatesMode = BABYLON.Texture.SKYBOX_MODE;
skyboxMat.infiniteDistance = true;
skybox.material = skyboxMat;
// Plane from bottom
var largeGroundMat = new BABYLON.StandardMaterial("largeGroundMat", scene);
largeGroundMat.specularColor = BABYLON.Color3.Black();
largeGroundMat.alpha = 0.4;
var largeGroundBottom = BABYLON.Mesh.CreatePlane("largeGroundBottom", max * 11, scene);
largeGroundBottom.position.y = -0.01;
largeGroundBottom.rotation.x = -Math.PI / 2;
largeGroundBottom.rotation.y = Math.PI;
largeGroundBottom.material = largeGroundMat;
// Camera
scene.activeCamera.upperRadiusLimit = max * 4;
// Terrain
var width = GAMEPARAMETERS.mapSize.width,
depth = GAMEPARAMETERS.mapSize.depth,
height = GAMEPARAMETERS.mapSize.height,
terrain = scene.getMeshByName("terrain001");
terrain.isVisible = true;
terrain.position = BABYLON.Vector3.Zero();
terrain.scaling = new BABYLON.Vector3(depth / 50000, depth / 50000, width / 50000);
// Goals
this._rGoal = BABYLON.Mesh.CreateSphere("rightGoal", 32, GAMEPARAMETERS.goalDiameter, scene);
var rGoalMat = new BABYLON.StandardMaterial("rGoalMat", scene);
rGoalMat.alpha = 0.0;
rGoalMat.diffuseColor = BABYLON.Color3.Red();
this._rGoal.material = rGoalMat;
this._rGoal.position = new BABYLON.Vector3(GAMEPARAMETERS.goalPositionRightTeam.x, GAMEPARAMETERS.goalPositionRightTeam.y, GAMEPARAMETERS.goalPositionRightTeam.z);
this._rGoal.computeWorldMatrix(true);
this._lGoal = BABYLON.Mesh.CreateSphere("leftGoal", 32, GAMEPARAMETERS.goalDiameter, scene);
goal_x = GAMEPARAMETERS.goalPositionLeftTeam.x;
goal_y = GAMEPARAMETERS.goalPositionLeftTeam.y;
goal_z = GAMEPARAMETERS.goalPositionLeftTeam.z;
this._lGoal.position = new BABYLON.Vector3(goal_x, goal_y, goal_z);
var lGoalMat = new BABYLON.StandardMaterial("lGoalMat", scene);
lGoalMat.alpha = 0.0;
lGoalMat.diffuseColor = BABYLON.Color3.Blue();
this._lGoal.material = lGoalMat;
this._lGoal.computeWorldMatrix(true);
//base is now a boat (special object)
ObstacleManager.Prefab.rotation = new BABYLON.Vector3(20.4, 0, 0);
ObstacleManager.Prefab.scaling = new BABYLON.Vector3(15, 15, 15);
goalPart1 = new ObstacleManager("goal_1", scene);
goalPart1.setStartingPosition(goal_x, goal_y, goal_z);
goalPart2 = BABYLON.MeshBuilder.CreateBox("goal_2", { 'size': 1 }, scene);
goalPart2.position = new BABYLON.Vector3(goal_x - 0.5, goal_y + 1.5, goal_z + 1.5);
goalPart2.rotation = new BABYLON.Vector3(0, 0, 0);
goalPart2.scaling = new BABYLON.Vector3(2, 2, 1.5);
goalPart3 = BABYLON.MeshBuilder.CreateCylinder("goal_3", {
'diameterBottom': 1.5,
'diameterTop': 1.5,
'height': 1
}, scene);
goalPart3.position = new BABYLON.Vector3(goal_x + 2.5, goal_y + 1.5, goal_z + 1.5);
goalPart3.rotation = new BABYLON.Vector3(0, 0, 0);
goalPart3.scaling = new BABYLON.Vector3(1.5, 3.5, 1.5);
// Obstacles
var count = 0;
this._obstacles = [];
GAMEPARAMETERS.obstacles.forEach(function (obs) {
var newObj;
switch (obs.type) {
case "box":
newObj = BABYLON.MeshBuilder.CreateBox("obs_" + count, { 'size': 1 }, scene);
break;
case "cylinder":
newObj = BABYLON.MeshBuilder.CreateCylinder("obs_" + count, {
'diameterBottom': obs.diameterBottom,
'diameterTop': obs.diameterTop,
'height': 1
}, scene);
break;
case "sphere":
newObj = BABYLON.MeshBuilder.CreateSphere("obs_" + count, {
'diameterX': obs.scale.x,
'diameterY': obs.scale.y,
'diameterZ': obs.scale.z
}, scene);
break;
case "boat":
ObstacleManager.Prefab.rotation = new BABYLON.Vector3(obs.rotation.x, obs.rotation.y, obs.rotation.z);
ObstacleManager.Prefab.scaling = new BABYLON.Vector3(obs.scale.x * 2, obs.scale.y * 2, obs.scale.z * 2);
newObj = new ObstacleManager("obs_" + count, scene);
newObj.setStartingPosition(obs.position.x, obs.position.y, obs.position.z);
break;
default:
return;
}
newObj["obsType"] = obs.type;
var convertion = Math.PI / 180;
if ("position" in obs)
newObj.position = new BABYLON.Vector3(obs.position.x, obs.position.y, obs.position.z);
if ("rotation" in obs)
newObj.rotation = new BABYLON.Vector3(obs.rotation.x * convertion, obs.rotation.y * convertion, obs.rotation.z * convertion);
if ("scale" in obs)
newObj.scaling = new BABYLON.Vector3(obs.scale.x, obs.scale.y, obs.scale.z);
if ("color" in obs) {
var material = new BABYLON.StandardMaterial(scene);
material.alpha = 1;
material.diffuseColor = new BABYLON.Color3(obs.color.r, obs.color.g, obs.color.b);
newObj.material = material;
}
_this._obstacles.push(newObj);
});
}
Object.defineProperty(MapManager.prototype, "lGoal", {
get: function () { return this._lGoal; },
enumerable: true,
configurable: true
});
Object.defineProperty(MapManager.prototype, "rGoal", {
get: function () { return this._rGoal; },
enumerable: true,
configurable: true
});
Object.defineProperty(MapManager.prototype, "obstacles", {
get: function () { return this._obstacles; },
enumerable: true,
configurable: true
});
return MapManager;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_map_manager_js.xml deleted 100644 → 0
View file @ c1712536
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
<pickle>
<global name="Web Script" module="erp5.portal_type"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_Access_contents_information_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
<value>
<tuple>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Modify_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>content_md5</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>content_type</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>MapManager.js</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>drone_web_worker_map_manager_js</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Web Script</string> </value>
</item>
<item>
<key> <string>short_title</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>Map Manager JS</string> </value>
</item>
<item>
<key> <string>version</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>data</string> </key>
<value>
<dictionary>
<item>
<key> <string>document_publication_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
</value>
</item>
<item>
<key> <string>edit_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value>
</item>
<item>
<key> <string>processing_status_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
</value>
</item>
</dictionary>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="3" aka="AAAAAAAAAAM=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>publish_alive</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662556210.78</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
<item>
<key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>edit</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1002.54126.42371.36932</string> </value>
</item>
<item>
<key> <string>state</string> </key>
<value> <string>current</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662993125.49</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="5" aka="AAAAAAAAAAU=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>external_processing_state</string> </key>
<value> <string>empty</string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>0.0.0.0</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662555978.78</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_obstacle_manager_js.js deleted 100644 → 0
View file @ c1712536
/// <reference path="./typings/babylon.3.1.d.ts" />
var ObstacleManager = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function ObstacleManager(id, scene) {
// Mesh
this._mesh = null;
this._controlMesh = null;
this._colliderBackMesh = null;
this._maxOrientation = Math.PI / 4;
this._scene = scene;
this._id = id;
// Create the control mesh
this._controlMesh = BABYLON.Mesh.CreateBox("obstacleControl_" + id, 0.01, this._scene);
this._controlMesh.isVisible = false;
this._controlMesh.rotation = new BABYLON.Vector3(0, Math.PI, 0);
this._controlMesh.computeWorldMatrix(true);
// Create the mesh from the obstacle prefab
console.log("ObstacleManager.Prefab:", ObstacleManager.Prefab);
this._mesh = ObstacleManager.Prefab.clone("obstacle_" + id, this._controlMesh);
this._mesh.position = BABYLON.Vector3.Zero();
this._mesh.isVisible = true;
this._mesh.computeWorldMatrix(true);
this._propellerAnimMeshes = [];
}
// API
ObstacleManager.prototype._swapAxe = function (vector) {
return new BABYLON.Vector3(vector.x, vector.z, vector.y);
};
Object.defineProperty(ObstacleManager.prototype, "colliderMesh", {
//*************************************************** ACCESSOR *****************************************************
get: function () { return this._mesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(ObstacleManager.prototype, "colliderBackMesh", {
get: function () { return this._colliderBackMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(ObstacleManager.prototype, "infosMesh", {
get: function () { return this._controlMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(ObstacleManager.prototype, "position", {
get: function () {
if (this._controlMesh !== null) {
return this._swapAxe(this._controlMesh.position);
}
return null;
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
// -- Starting info
/**
* Set the starting position of the obstacle
* Take x,y,z coordinates as parameters
*/
ObstacleManager.prototype.setStartingPosition = function (x, y, z) {
this._controlMesh.position = new BABYLON.Vector3(x, y, z);
this._controlMesh.computeWorldMatrix(true);
this._mesh.computeWorldMatrix(true);
};
return ObstacleManager;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_obstacle_manager_js.xml deleted 100644 → 0
View file @ c1712536
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
<pickle>
<global name="Web Script" module="erp5.portal_type"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_Access_contents_information_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
<value>
<tuple>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Modify_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>content_md5</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>content_type</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>ObstacleManager.js</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>drone_web_worker_obstacle_manager_js</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Web Script</string> </value>
</item>
<item>
<key> <string>short_title</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>Obstacle Manager JS</string> </value>
</item>
<item>
<key> <string>version</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>data</string> </key>
<value>
<dictionary>
<item>
<key> <string>document_publication_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
</value>
</item>
<item>
<key> <string>edit_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value>
</item>
<item>
<key> <string>processing_status_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
</value>
</item>
</dictionary>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="3" aka="AAAAAAAAAAM=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>publish_alive</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662651834.74</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
<item>
<key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>edit</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1002.54032.1793.9847</string> </value>
</item>
<item>
<key> <string>state</string> </key>
<value> <string>current</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662657167.12</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="5" aka="AAAAAAAAAAU=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>detect_converted_file</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>external_processing_state</string> </key>
<value> <string>converted</string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>0.0.0.0</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662651770.1</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_web_worker_js.js
View file @ 32942581
......@@ -4,14 +4,6 @@
DroneGameManager*/
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*************************************************************************/
/**************************** ROQUE WW EVENTS ****************************/
/*************************************************************************/
self.window = {
addEventListener: function (event, fn, opt) {
bindHandler('window', event, fn, opt);
......@@ -33,13 +25,6 @@ self.document = {
importScripts('babylon.js', 'babylon.gui.js');
importScripts('rsvp.js',
'GameManager.js',
'DroneManager.js',
'MapManager.js',
'ObstacleManager.js',
'DroneAaileFixeAPI.js',
'DroneLogAPI.js',
'DroneAPI.js',
'gadget_erp5_page_game_logic.js');
function mainToWorker(evt) {
......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_web_worker_js.xml
View file @ 32942581
......@@ -244,7 +244,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1003.15818.58123.3379</string> </value>
<value> <string>1003.16068.56422.56064</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -262,7 +262,7 @@
</tuple>
<state>
<tuple>
<float>1664291386.25</float>
<float>1664386491.83</float>
<string>UTC</string>
</tuple>
</state>
......
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