104 lines
3.1 KiB
Lua
104 lines
3.1 KiB
Lua
local sensor = peripheral.wrap "right"
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local laser = peripheral.wrap "left"
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local modem = peripheral.find "modem"
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local targets = {}
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local function scan()
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local nearby = sensor.sense()
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local ret = {}
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for k, v in pairs(nearby) do
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v.s = vector.new(v.x, v.y, v.z)
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v.v = vector.new(v.motionX, v.motionY, v.motionZ)
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v.distance = v.s:length()
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if v.displayName == v.name then ret[v.name] = v end
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end
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return ret
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end
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local function calc_yaw_pitch(v)
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local x, y, z = v.x, v.y, v.z
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local pitch = -math.atan2(y, math.sqrt(x * x + z * z))
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local yaw = math.atan2(-x, z)
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return math.deg(yaw), math.deg(pitch)
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end
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local function vector_sqlength(self)
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return self.x * self.x + self.y * self.y + self.z * self.z
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end
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local function project(line_start, line_dir, point)
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local t = (point - line_start):dot(line_dir) / vector_sqlength(line_dir)
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return line_start + line_dir * t, t
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end
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local function angles_to_axis(yaw, pitch)
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return vector.new(
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-math.sin(math.rad(yaw)) * math.cos(math.rad(pitch)),
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-math.sin(math.rad(pitch)),
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math.cos(math.rad(yaw)) * math.cos(math.rad(pitch))
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)
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end
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local laser_origin = vector.new(0, 0, 0)
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local function would_hit(beam_line, safe_position, target_position)
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local point, t = project(laser_origin, beam_line, safe_position)
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return t > 0 and (point - safe_position):length() < 1.5 and safe_position:length() < target_position:length()
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end
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local function lase(entity, others)
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local target_location = entity.s - vector.new(0, 1, 0)
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for i = 1, 5 do
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target_location = entity.s + entity.v * (target_location:length() / 1.5)
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end
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local y, p = calc_yaw_pitch(target_location)
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local line = angles_to_axis(y, p)
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for _, other in pairs(others) do
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if would_hit(line, other.s, target_location) then
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--print("would hit", other.name)
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return false
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end
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end
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if would_hit(line, vector.new(-3, 0, 2), target_location) then
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return false
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end
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print(y)
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if y > (-90 + 45) or y < (-90 - 45) then
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return false
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end
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rs.setOutput("front", true)
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laser.fire(y, p, 1)
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sleep(0.05)
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rs.setOutput("front", false)
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end
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local function laser_defense()
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while true do
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local entities = scan()
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local now = os.epoch "utc"
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local action_taken = false
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for _, entity in pairs(entities) do
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local targeted_at = targets[entity.name]
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if targeted_at and targeted_at > (now - 60000) then
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print("lasing", entity.displayName, entity.s)
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lase(entity, entities)
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action_taken = true
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end
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end
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if not action_taken then sleep(0.2) end
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end
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end
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local function laser_commands()
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modem.open(55)
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while true do
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local _, _, c, rc, m = os.pullEvent "modem_message"
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if c == 55 and type(m) == "table" and m[1] == "lase" and type(m[2]) == "string" then
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targets[m[2]] = os.epoch "utc"
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print("command to lase", m[2], "remotely")
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end
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end
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end
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parallel.waitForAll(laser_defense, laser_commands) |