Struct StuckAirshipTracker

struct StuckAirshipTracker {
    pos_history: Vec<Vec3<f32>>,
    backout_route: Vec<Vec3<f32>>,
}

Tracks the airship position history. Used for determining if an airship is stuck.

Fields

pos_history: Vec<Vec3<f32>>

The airship’s position history. Used for determining if the airship is stuck in one place.

backout_route: Vec<Vec3<f32>>

The route to follow for backing out of a stuck position.

Implementations

impl StuckAirshipTracker

const BACKOUT_DIST: f32 = 100f32

The distance to back out from the stuck position.

const BACKOUT_TARGET_DIST: f32 = 50f32

The tolerance for determining if the airship has reached a backout position.

const MAX_POS_HISTORY_SIZE: usize = 5usize

The number of positions to track in the position history.

const NEAR_GROUND_HEIGHT: f32 = 10f32

The height for testing if the airship is near the ground.

fn add_position(&mut self, new_pos: Vec3<f32>)

Add a new position to the position history, maintaining a fixed size.

fn current_backout_pos(&mut self, ctx: &mut NpcCtx<'_, '_>) -> Option<Vec3<f32>>

Get the current backout position. If the backout route is not empty, return the first position in the route. As a side effect, if the airship position is within the target distance of the first backout position, remove the backout position. If there are no more backout postions, the position history is cleared (because it will be stale data), and return None.

fn is_stuck( &mut self, ctx: &mut NpcCtx<'_, '_>, current_pos: &Vec3<f32>, target_pos: &Vec2<f32>, ) -> bool

Check if the airship is stuck in one place. This check is done only in cruise flight when the PID controller is affecting the Z axis movement only. When the airship gets stuck, it will stop moving. The only recourse is reverse direction, back up, and then ascend to hopefully fly over the top of the obstacle. This may be repeated if the airship gets stuck again. When the determination is made that the airship is stuck, two positions are generated for the backout procedure: the first is in the reverse of the direction the airship was recently moving, and the second is straight up from the first position. If the airship was near the ground when it got stuck, the initial backout is done while climbing slightly to avoid any other near-ground objects. If the airship was not near the ground, the initial backout position is at the same height as the current position,

Trait Implementations

impl Clone for StuckAirshipTracker

fn clone(&self) -> StuckAirshipTracker

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for StuckAirshipTracker

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for StuckAirshipTracker

fn default() -> StuckAirshipTracker

Returns the “default value” for a type.