Scrap Mechanic Modsorienter.lua Part LUA Script File
Asset Details
Name = orienter.lua
Description = Part LUA Script File for ccaa33b6-e5bb-4edc-9329-b40f6efe2c9e (orienter.lua)
Tags = script, scripted, lua
Author = 76561198014346778
RequiredAssets = 127
FileContents =
Description = Part LUA Script File for ccaa33b6-e5bb-4edc-9329-b40f6efe2c9e (orienter.lua)
Tags = script, scripted, lua
Author = 76561198014346778
RequiredAssets = 127
FileContents =
--[[
Copyright (c) 2020 Modpack Team
Brent Batch#9261
]]--
dofile "../Libs/LoadLibs.lua"
mpPrint("loading orienter.lua")
-- AI.lua --
AI = class( nil )
AI.maxParentCount = -1
AI.maxChildCount = -1
AI.connectionInput = sm.interactable.connectionType.power + sm.interactable.connectionType.logic
AI.connectionOutput = sm.interactable.connectionType.power
AI.colorNormal = sm.color.new( 0x0000ffff )
AI.colorHighlight = sm.color.new( 0x3333ffff )
AI.poseWeightCount = 2
function AI.server_onCreate( self )
self:server_init()
end
function AI.server_init( self )
self.lastmode = 0
self.mode = 1
self.power = 0
self.pitch = 0
self.yaw = 0
self.pose1 = 0
self.playerexceptions = {}
local usage = "\nWhite logic input press: toggle closest player on exceptionlist"..
"\nOther logic input: turn on/off"..
"\nWhite number input: player id / tracker frequency"..
"\nBlack number input: closest/furthest (2=2nd closest, -2=2nd furthest)"..
"\nOther columns color input: range (1 input=maxrange, 2inputs=range in between inputs)"
local predictiveusage = usage..
"\nLightGrey input: damping (%)"..
"\nDarkGrey input: lead (%)"..
"\n================="
usage = usage..
"\n================="
self.modetable = {
{savevalue = 1, name = "world orient, \nwill point towards the ground, use wasd/gimball or math block for wasd output"..usage},
{savevalue = 2, name = "world orient predictive, \nwill point towards the ground, use wasd/gimball or math block for wasd output"..predictiveusage},
{savevalue = 3, name = "player orient"..usage},
{savevalue = 4, name = "player orient predictive"..predictiveusage},
{savevalue = 5, name = "tracker orient"..usage},
{savevalue = 6, name = "tracker orient predictive"..predictiveusage},
{savevalue = 9, name = "tracker + player orient"..usage},
{savevalue = 10, name = "tracker + player orient predictive"..predictiveusage},
{savevalue = 7, name = "player camera orient"..usage.."\nAn connected occupied seat will overwrite ANY filter settings"},
{savevalue = 11, name = "player camer orient predictive"..predictiveusage.."\nAn connected occupied seat will overwrite ANY filter settings"},
{savevalue = 8, name = "orient distance reader,\nRead distance to target from other orient blocks\n================="},
{savevalue = 12, name = "LOCAL player orient, \nLOCAL is used for missiles!"..usage},
{savevalue = 13, name = "LOCAL player orient predictive"..predictiveusage},
{savevalue = 14, name = "LOCAL tracker orient"..usage},
{savevalue = 15, name = "LOCAL tracker orient predictive"..predictiveusage},
{savevalue = 17, name = "LOCAL tracker + player orient"..usage},
{savevalue = 18, name = "LOCAL tracker + player orient predictive"..predictiveusage},
{savevalue = 16, name = "LOCAL player camera orient"..usage.."\nAn connected occupied seat will overwrite ANY filter settings"},--
{savevalue = 19, name = "LOCAL player camera orient predictive"..predictiveusage.."\nAn connected occupied seat will overwrite ANY filter settings"},
}
--more code here:
local savemodes = {}
for k,v in pairs(self.modetable) do
savemodes[v.savevalue]=k
end
local stored = self.storage:load()
if stored and type(stored) == "number" then
self.mode = savemodes[stored]
end
self.storage:save(self.modetable[self.mode].savevalue)
if not orienters then orienters = {} end
self.id = self.shape.id
end
function AI.client_onCreate(self)
self.network:sendToServer("server_senduvtoclient")
--print("AI orient block: ")
end
function AI.server_senduvtoclient(self)
self.network:sendToClients("client_setUvframeIndex", self.mode-1)
end
function AI.server_onRefresh( self )
self:server_init()
end
function AI.client_onInteract(self, character, lookAt)
if not lookAt then return end
local crouching = sm.localPlayer.getPlayer().character:isCrouching()
self.network:sendToServer("server_changemode", crouching)
end
function AI.server_changemode(self, crouch)
if not crouch then
self.mode = (self.mode)%#self.modetable + 1
else
self.mode = (self.mode-2)%#self.modetable + 1
end
self.storage:save(self.modetable[self.mode].savevalue)
--print(self.modetable[self.mode].name)
self.network:sendToClients("client_playsound", "GUI Inventory highlight")
end
function AI.client_canInteract(self)
sm.gui.setInteractionText( "press", sm.gui.getKeyBinding( "Use" ), "to change mode")
--sm.gui.setInteractionText( "current mode: "..self.modetable[self.mode].name)
return true
end
function AI.client_playsound(self, sound)
sm.audio.play(sound, self.shape:getWorldPosition())
end
function AI.server_onDestroy(self)
orienters[self.id] = nil
end
function AI.getplayer(self, data) --self:getplayer({useexceptionlist = false, minrange = nil, maxrange = nil, offset = 1, tryid = nil, ignorejammers = false})
local centerpos = data.centerpos or self.shape:getWorldPosition()
local enabled = data.useexceptionlist or false
local minrange = data.minrange or 0
local maxrange = data.maxrange or 10000000
local offset = data.offset or 1
local tryid = data.tryid
local ignorejammers = data.ignorejammers
local validplayers = {}
local closestvalidid = nil
local closestvaliddistance = nil
for key, player in pairs(sm.player.getAllPlayers()) do
local exists, msg = pcall(playerexists, player)
if exists and (not self.playerexceptions[player.id] or not enabled) and (nojammercloseby(player.character.worldPosition) or ignorejammers) then
local distance = (centerpos - player.character.worldPosition):length()
if distance >= minrange and distance < maxrange then
if player.id == tryid then return data.tryid end
if not closestvalidid or closestvaliddistance > distance then
closestvalidid = player.id
closestvaliddistance = distance
end
table.insert(validplayers, player)
end
end
end
if closestvalidid == nil then return 0 end
if offset == 1 or #validplayers == 1 then return closestvalidid end
--sort players : ({[1] = closestplayer, [2]= 2ndclosest, ...})
local sortedplayers = validplayers
for i = 1,#sortedplayers do
for j = i,#sortedplayers do
local player = sortedplayers[i]
local player2 = sortedplayers[j]
if (centerpos - player.character.worldPosition):length() > (centerpos - player2.character.worldPosition):length() then
sortedplayers[i] = player
sortedplayers[j] = player2
end
end
end
offset = math.max(math.min(offset, #sortedplayers), -#sortedplayers)
-- closest/furthest thing ('black input')
if offset and offset ~= 0 and offset <= #sortedplayers and offset >= -#sortedplayers then
if offset < 0 then offset = offset + 1 + #sortedplayers end
return sortedplayers[offset].id
end
return sortedplayers[1].id
end
function AI.gettracker(self, data) --self:gettracker({minrange = nil, maxrange = nil, offset = 1, frequency = 0, ignorejammers = false})
local centerpos = self.shape:getWorldPosition()
local color = tostring(sm.shape.getColor(self.shape))
local filtercolor = not data.colorignore
local minrange = data.minrange or 0
local maxrange = data.maxrange or 10000000
local offset = data.offset or 0
local frequency = data.frequency
local ignorejammers = data.ignorejammers
if not trackertrackers then return 0 end
local validtrackers = {}
local closestvalidid = nil
local closestvaliddistance = nil
local closestvalididmatchingcolor = nil
local closestvaliddistancematchingcolor = nil
for key, tracker in pairs(trackertrackers) do
local trackerShape = (tracker ~= nil and sm.exists(tracker.shape) and tracker:getTrackerShape() or nil)
if trackerShape then
local trackerpos = trackerShape.worldPosition
local distance = (centerpos - trackerpos):length()
if (nojammercloseby(trackerpos) or ignorejammers) and
distance >= minrange and distance < maxrange and (tracker:getFrequency() == frequency or frequency == nil) and (trackerShape.color == color or not filtercolor) then
if tostring(trackerShape.color) == color then
if not closestvalididmatchingcolor or closestvaliddistancematchingcolor > distance then
closestvalididmatchingcolor = key
closestvaliddistancematchingcolor = distance
end
end
if not closestvalidid or closestvaliddistance > distance then
closestvalidid = key
closestvaliddistance = distance
end
table.insert(validtrackers, {trackerShape, key})
--validtrackers[tracker.id] = tracker
end
end
end
--print('-----', self.shape.id)
--for key, tracker in pairs(validtrackers) do print('validtracker',key, tracker) end
if closestvalidid == nil then return 0 end -- nothing found in range with same frequency which is not jammed
if closestvalididmatchingcolor and offset == 0 then return closestvalididmatchingcolor end -- if no offset defined, use closest matching color
if offset == 1 or size(validtrackers) == 1 then return closestvalidid end
--sort trackers : ({[1] = closestplayer, [2]= 2ndclosest, ...})
local sortedtrackers = {validtrackers[1]}
for k, v in pairs(validtrackers) do
local inserted = false
for i = 1, #sortedtrackers do
if (centerpos - v[1].worldPosition):length() < (centerpos - sortedtrackers[i][1].worldPosition):length() then
table.insert(sortedtrackers, i, v)
inserted = true
break
end
end
if not inserted and k ~= 1 then
table.insert(sortedtrackers, v)
end
end
--print('\n\n\n-----')
--for key, tracker in pairs(validtrackers) do print('validtracker',key, tracker) end
--for key, tracker in pairs(sortedtrackers) do print('sortedtracker',tracker,(centerpos - tracker.pos):length()) end
offset = math.max(math.min(offset, #sortedtrackers), -#sortedtrackers)
-- closest/furthest thing ('black input')
if offset and offset ~= 0 and offset <= #sortedtrackers and offset >= -#sortedtrackers then
if offset < 0 then offset = offset + 1 + #sortedtrackers end
return sortedtrackers[offset][2]
end
return sortedtrackers[1][2]
end
function size(tablename)
local i = 0
for k, v in pairs(tablename) do
i = i +1
end
return i
end
function AI.calcpitchandyawlocal(self, data)
--targetdirection
--local eye = data.direction
local targetpos = data.targetdirection
local vec = targetpos
local localdir = sm.vec3.new(self.shape.right:dot(vec), self.shape.at:dot(vec), self.shape.up:dot(vec))
local right = self.shape.right
local at = self.shape.at
local up = self.shape.up
-- x up/down , y= left/right
if self.shape:getXAxis().z == 1 then
localdir.y, localdir.x = -localdir.y, - localdir.x
--right, at, up = -up, -at, right
elseif self.shape:getXAxis().z == -1 then -- tested
localdir.y,localdir.x = -localdir.y,-localdir.x
--right, at, up = -up, at, -right
elseif self.shape:getYAxis().z == 1 then -- tested
localdir.x, localdir.y = -localdir.y, localdir.x
--right, at, up = -right, -up, at
elseif self.shape:getYAxis().z == -1 then
localdir.x, localdir.y = localdir.y, -localdir.x
--right, at, up = -up, -right, -at
else -- lens is to top, assume the display side as up (pitch)
localdir.x, localdir.y = localdir.y, -localdir.x
end
local pitch = math.atan2(localdir.x,localdir.z)/math.pi * 180
local yaw = math.atan2(localdir.y,localdir.z)/math.pi * 180
--print("pitch", pitch, "yaw", yaw)
if pitch ~= pitch then pitch = 0 end -- nan check
if yaw ~= yaw then yaw = 0 end
return pitch, yaw
end
function AI.VecToEuler(self, direction )
local euler = {}
euler.yaw = 180 + math.atan2(direction.y,direction.x)/math.pi * 180
euler.pitch = math.acos(direction.z)/math.pi *180
return euler --math.cos( direction.z * 0.5 * math.pi ) * 180 --
end
function AI.calcpitchandyaw(self, data)
--targetdirection
--local eye = data.direction
local targetdirection = data.targetdirection:normalize()
local direction = sm.shape.getUp(self.shape)
local euler1 = VecToEuler(direction)
local euler2 = VecToEuler(targetdirection)
local yaw = euler2.yaw - euler1.yaw
local pitch = euler2.pitch - euler1.pitch
yaw = (yaw>180) and yaw-360 or (yaw<-180 and yaw+360 or yaw)
--print("pitch", pitch, "yaw", yaw)
if pitch ~= pitch then pitch = 0 end -- nan check
if yaw ~= yaw then yaw = 0 end
pitch, yaw = self:tiltadjust({pitch = pitch, yaw = yaw})
return pitch, yaw
end
function AI.tiltadjust(self, data)
local pitch = data.pitch
local yaw = data.yaw
local localX = sm.shape.getRight(self.shape) -- left side
local localY = sm.shape.getAt(self.shape)-- up
local localZ = sm.shape.getUp(self.shape)-- lens
if math.abs(self.shape:getXAxis().z) == 1 then -- left side is on top/bottom (aka lens forward, display sideways)
-- get roll angle
local roll = 90 - math.deg(math.acos(localY.z,-1,1))
if localX.z < 0 then
if localY.z < 0 then
roll = -180 - roll
else
roll = 180 - roll
end
end
--print("roll:", roll)
if roll == roll then
local vec = sm.vec3.rotateX(sm.vec3.new(0, pitch, yaw), math.rad(roll))
pitch = vec.y
yaw = vec.z
end
else --display/lens is on top/bottom -- works for lens top, screen in ws direction, works for lens in ws, screen top.
-- DOES NOT WORK FOR DISPLAY sideways and lens top!!!!!!
-- get roll angle
local roll = 90 - math.deg(math.acos(localX.z,-1,1))
if localY.z < 0 then
if localX.z < 0 then
roll = -180 - roll
else
roll = 180 - roll
end
end
--print("roll:", roll)
if roll == roll then
local vec = sm.vec3.rotateX(sm.vec3.new(0, pitch, yaw), math.rad(-roll))
pitch = vec.y
yaw = vec.z
end
end
if pitch ~= pitch then pitch = 0 end -- nan check
if yaw ~= yaw then yaw = 0 end
return pitch, yaw
end
function predictmove(self, mypos, direction, targetpos, localcalc)--MINE --FINAL
if self.mylastpos == nil then self.mylastpos = mypos end
local myposcopy = mypos
mypos = mypos + (mypos - self.mylastpos)/10
local distance = (targetpos - mypos):length()
if self.lasttargetposition == nil then self.lasttargetposition = targetpos end
local v = (targetpos - self.lasttargetposition) * 40
if self.lasttargetvelocity == nil then self.lasttargetvelocity = v end
local a = (v - self.lasttargetvelocity) --* 25
local spuddrop = sm.vec3.new(0,0,-5)
local spudspeed = 130
local targetrelativepos = targetpos - mypos
local t = distance/spudspeed
self.mylastpos = myposcopy
if self.lastdistance == nil then self.lastdistance = distance end
local deltadistance = distance-self.lastdistance
local t = t + deltadistance/2
targetrelativepos = targetrelativepos + v*(5/40) + a*(5/40)^2 -- targetrelativepos:normalize()*deltadistance*350
if deltadistance < 0 then --going towards
--targetrelativepos = targetrelativepos + v*(4/40) + a*(4/40)^2 -- - targetrelativepos:normalize()*deltadistance*(0.4002933*distance - 14.61877)
else
--targetrelativepos = targetrelativepos + v*(4/40) + a*(4/40)^2 -- - targetrelativepos:normalize()*deltadistance*(0.3109541*distance + 1.35159)
end -- distance speed fix
--print(distance/4)
--distance reach fix:
local supermagicmultiplier = math.min(100, -6.181747 + (140773.3 - -6.181747)/(1 + (distance/0.005479015)^0.7706603))
local futuretarget = targetrelativepos + (v*t + (a-spuddrop)*t^2*sm.vec3.new(1,1,(1 + distance/(supermagicmultiplier*1666*self.lead/1))))
self.lasttargetposition = targetpos
self.lasttargetvelocity = v
self.lastdistance = distance
local pitch, yaw = self:calcpitchandyaw({direction = direction, targetdirection = futuretarget})
if localcalc then
pitch, yaw = self:calcpitchandyawlocal({direction = direction, targetdirection = futuretarget})
end
local massmultiplier = self.shape.body.mass/300
if not self.lastyaw then self.lastyaw = yaw end
self.yaw = yaw + (yaw - self.lastyaw)*self.damping/100
self.lastyaw = yaw
if not self.lastpitch then self.lastpitch = pitch end
self.pitch = pitch + (pitch - self.lastpitch)*self.damping/100
self.lastpitch = pitch
self.pose1 = ((1/(4*distance)) and 1/(4*distance) or 1)
end
function getLocal(shape, vec)
return sm.vec3.new(sm.shape.getRight(shape):dot(vec), sm.shape.getAt(shape):dot(vec), sm.shape.getUp(shape):dot(vec))
end
function AI.server_onFixedUpdate( self, dt )
local allplayers = {}
for k, player in pairs(sm.player.getAllPlayers()) do
allplayers[player.id] = player
end
local parents = self.interactable:getParents()
local eye = self
local targetposition = nil
local targetdir = nil
local targetmass = nil
if self.modetable[self.mode].savevalue ~= 8 then self.pitch = 0 end
self.pose0 = 0.5
self.pose1 = 1
local whiteinput = nil
local blackinput = nil
local maxrange = math.huge
local minrange = math.huge*-1
local damping = nil
local lead = nil
local numberinputs = 0
local isON = nil
local occupied = nil
--print(os.clock())
for k,v in pairs(parents) do
if tostring(sm.shape.getColor(v:getShape())) == "eeeeeeff" and v:getType() == "scripted" and tostring(v:getShape():getShapeUuid()) ~= "6f2dd83e-bc0d-43f3-8ba5-d5209eb03d07" then
if whiteinput == nil then whiteinput = 0 end
whiteinput = whiteinput + v.power
elseif tostring(sm.shape.getColor(v:getShape())) == "222222ff" and v:getType() == "scripted" then
if blackinput == nil then blackinput = 0 end
blackinput = blackinput + v.power
elseif tostring(sm.shape.getColor(v:getShape())) == "7f7f7fff" and v:getType() == "scripted" then
damping = (damping and damping or 0) + v.power
elseif tostring(sm.shape.getColor(v:getShape())) == "4a4a4aff" and v:getType() == "scripted" then
lead = (lead and lead or 0) + v.power
elseif v:getType() == "scripted" and tostring(v:getShape():getShapeUuid()) ~= "6f2dd83e-bc0d-43f3-8ba5-d5209eb03d07" then
--number input, not tickbutton
if maxrange == math.huge then maxrange = 0 end
if minrange == math.huge*-1 and numberinputs > 0 then minrange = 10000000 end
if math.abs(v.power)/4 < minrange then minrange = math.abs(v.power)/4 end
if maxrange<minrange then
local h = minrange
minrange = maxrange
maxrange = h
end
if math.abs(v.power)/4 > maxrange then maxrange = math.abs(v.power)/4 end
numberinputs = numberinputs + 1
elseif v:getType() == "seat" or v:getType() == "steering" then
--seat
occupied = ( (occupied == nil or occupied) and v.active)
elseif tostring(sm.shape.getColor(v:getShape())) == "eeeeeeff" and (v:getType() ~= "scripted" or tostring(v:getShape():getShapeUuid()) == "6f2dd83e-bc0d-43f3-8ba5-d5209eb03d07") then
-- exceptionlist input
if v:isActive() then
if not self.pressed then
local id = self:getplayer({useexceptionlist = false, minrange = nil, maxrange = nil, offset = 1, tryid = nil, ignorejammers = true})
if self.playerexceptions[id] == nil then
self.playerexceptions[id] = true
else
self.playerexceptions[id] = nil
end
end
self.pressed = true
else
self.pressed = false
end
elseif v:getType() ~= "scripted" then
-- logic input
if not (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
-- do not turn on/off when sensor input, sensor input can be used as new 'eye'
isON = ( (isON == nil or isON) and v.power ~= 0)
end
end
end
if isON == nil then -- no logic, only active when no unoccupied seat
isON = (occupied ~= false)
end
if occupied == nil then
isON = (isON ~= false)
elseif occupied == true then
isON = occupied and (isON ~= false)
elseif occupied == false then
isON = (isON ~= false)
end
self.damping = (damping or 80) -- default damping
self.lead = (lead or 100) -- default lead
if not isON then
self.pitch = 0
self.yaw = 0
end
local mode = self.modetable[self.mode].savevalue
local localmode = false
if mode > 11 then -- not future proof, when modes added this number needs to grow
localmode = true
if mode > 16 then mode = mode +1 end -- distance doens't have a localmode, skip it
mode = mode - 9 -- 2 first modes do not have a 'local' mode, they're already local
-- mode '12' -> 11-7 = 3--> player orient local
end
if mode == 1 then -- orient world aka gyro aka tilt sensor
--local pitch, yaw = self:calcpitchandyawlocal(sm.vec3.new(0,0,-1))
local localX = -sm.shape.getRight(self.shape) -- right side
local localY = -sm.shape.getAt(self.shape)-- up
local localZ = -sm.shape.getUp(self.shape)-- _ underside
-- get pitch angle
local pitch = 90 - math.deg(math.acos(localY.z,-1,1))
if localZ.z < 0 then
if localY.z < 0 then
pitch = -180 - pitch
else
pitch = 180 - pitch
end
end
local roll = 90 - math.deg(math.acos(localX.z,-1,1))
if localZ.z < 0 then
if localX.z < 0 then
roll = -180 - roll
else
roll = 180 - roll
end
end
local pitch, yaw = -roll,-pitch
if isON then
self.pitch = pitch
self.yaw = yaw
local distance = (self.shape.worldPosition):length()
self.pose1 = (1/(4*distance))<1 and 1/(4*distance) or 1
else
self.pitch = 0
self.yaw = 0
self.pose1 = 1
end
targetposition = sm.vec3.new(0,0,0)
targetmass = 0
targetdir = getLocal(self.shape, sm.vec3.new(0,0,-1))
elseif mode == 2 then -- orient world aka gyro aka tilt sensor PREDICTIVE
--local pitch, yaw = self:calcpitchandyawlocal(sm.vec3.new(0,0,-1))
local localX = -sm.shape.getRight(self.shape) -- right side
local localY = -sm.shape.getAt(self.shape)-- up
local localZ = -sm.shape.getUp(self.shape)-- _ underside
-- get pitch angle
local pitch = 90 - math.deg(math.acos(localY.z,-1,1))
if localZ.z < 0 then
if localY.z < 0 then
pitch = -180 - pitch
else
pitch = 180 - pitch
end
end
local roll = 90 - math.deg(math.acos(localX.z,-1,1))
if localZ.z < 0 then
if localX.z < 0 then
roll = -180 - roll
else
roll = 180 - roll
end
end
local pitch, yaw = -roll,-pitch
if isON then
if not self.lastyaw then self.lastyaw = yaw end
self.yaw = (self.lead/100)*yaw + (yaw - self.lastyaw)*self.damping*self.shape.body.mass/112
self.lastyaw = yaw
if not self.lastpitch then self.lastpitch = pitch end
self.pitch = (self.lead/100)*pitch + (pitch - self.lastpitch)*self.damping*self.shape.body.mass/112
self.lastpitch = pitch
local distance = (self.shape.worldPosition):length()
self.pose1 = (1/(4*distance))<1 and 1/(4*distance) or 1
else
self.pitch = 0
self.yaw = 0
self.pose1 = 1
end
targetposition = sm.vec3.new(0,0,0)
targetmass = 0
targetdir = getLocal(self.shape, sm.vec3.new(0,0,-1))
elseif mode == 3 then -- orient player
--print('x:',self.shape:getXAxis())--left side
--print('y:',self.shape:getYAxis())--display
--print('z:',self.shape:getZAxis())--lens
local id = self:getplayer({useexceptionlist = true, minrange = minrange, maxrange = maxrange, offset = blackinput, tryid = whiteinput})
if id ~= 0 and isON then
for k, v in pairs(parents) do
if (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
eye = v -- sensor or smartsensor
end
end
targetposition = allplayers[id].character.worldPosition
targetmass = allplayers[id].character.mass
targetdir = allplayers[id].character.direction
local targetdirection = (allplayers[id].character.worldPosition - self.shape.worldPosition):normalize()
local distance = (allplayers[id].character.worldPosition - self.shape.worldPosition):length()
local pitch, yaw = 0,0
if localmode then
pitch, yaw = self:calcpitchandyawlocal({direction = eye, targetdirection = targetdirection})
else
pitch, yaw = self:calcpitchandyaw({direction = eye, targetdirection = targetdirection})
end
self.pitch = pitch
self.yaw = yaw
self.pose1 = ((1/(4*distance)) and 1/(4*distance) or 1)
end
elseif mode == 4 then -- orient player PREDICTIVE
local id = self:getplayer({useexceptionlist = true, minrange = minrange, maxrange = maxrange, offset = blackinput, tryid = whiteinput})
if id ~= 0 and isON then
for k, v in pairs(parents) do
if (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
eye = v -- sensor or smartsensor
end
end
targetposition = allplayers[id].character.worldPosition
targetdir = allplayers[id].character.direction
targetmass = allplayers[id].character.mass
predictmove(self, self.shape.worldPosition, eye, allplayers[id].character.worldPosition, localmode)
end
elseif mode == 5 and trackertrackers then -- orient block
--direction = sm.shape.getUp(self.shape)
local id = self:gettracker({minrange = minrange, maxrange = maxrange, frequency = whiteinput, offset = blackinput, ignorejammers = false})
if id == 0 then
id = self:gettracker({minrange = minrange, maxrange = maxrange, frequency = whiteinput, offset = blackinput, ignorejammers = false, colorignore = true})
end
if id ~= 0 and isON then
if #parents>0 then
for k, v in pairs(parents) do
if (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
eye = v -- sensor or smartsensor
end
end
end
local targetShape = trackertrackers[id]:getTrackerShape()
targetposition = targetShape.worldPosition
targetmass = targetShape.mass
-- targetdir = ... -- needs to be implemented still, needs rework of the tracker
local targetdirection = (targetShape.worldPosition - self.shape.worldPosition):normalize()
local distance = (targetShape.worldPosition - self.shape.worldPosition):length()
local pitch, yaw = 0,0
if localmode then
pitch, yaw = self:calcpitchandyawlocal({direction = eye, targetdirection = targetdirection})
else
pitch, yaw = self:calcpitchandyaw({direction = eye, targetdirection = targetdirection})
end
self.yaw = yaw
self.pose1 = ((1/(4*distance)) and 1/(4*distance) or 1)
self.pitch = pitch
--print(yaw, pitch)
end
elseif mode == 6 and trackertrackers then -- orient block PREDICTIVE
local id = self:gettracker({minrange = minrange, maxrange = maxrange, frequency = whiteinput, offset = blackinput, ignorejammers = false})
if id == 0 then
id = self:gettracker({minrange = minrange, maxrange = maxrange, frequency = whiteinput, offset = blackinput, ignorejammers = false, colorignore = true})
end
if id ~= 0 and isON then
if #parents>0 then
for k, v in pairs(parents) do
if (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
eye = v -- sensor or smartsensor
end
end
end
local targetShape = trackertrackers[id]:getTrackerShape()
targetposition = targetShape.worldPosition
targetmass =targetShape.mass
predictmove(self, self.shape.worldPosition, eye, targetShape.worldPosition, localmode)
end
elseif mode == 7 then -- orient camera
local id = self:getplayer({useexceptionlist = true, minrange = minrange, maxrange = maxrange, offset = blackinput, tryid = whiteinput})
for k, v in pairs(parents) do
if (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
eye = v -- sensor or smartsensor
end
--find input seats:
if (v:getType() == "seat" or v:getType() == "steering") and v:isActive() then -- someone is inside the seat that is an input
id = self:getplayer({centerpos = v:getShape().worldPosition, useexceptionlist = false, minrange = 0, maxrange = 1000000, ignorejammers = true})
end
end
if id ~= 0 and isON then
local hit , result = sm.physics.raycast(allplayers[id].character.worldPosition, allplayers[id].character.worldPosition + allplayers[id].character.direction*2000)
targetposition = (hit and result.pointWorld or allplayers[id].character.worldPosition)
if result.type == "character" then
targetmass = result:getCharacter().mass
elseif result.type == "body" then
local weight = 0
for k, v in pairs(result:getShape().body:getCreationBodies()) do
weight = weight + v.mass
end
targetmass = weight
end
targetdir = allplayers[id].character.direction
local targetdirection = allplayers[id].character.direction
local pitch, yaw = 0,0
if localmode then
pitch, yaw = self:calcpitchandyawlocal({direction = eye, targetdirection = targetdirection})
else
pitch, yaw = self:calcpitchandyaw({direction = eye, targetdirection = targetdirection})
end
local distance = (targetposition - allplayers[id].character.worldPosition):length()
self.yaw = yaw
self.pose1 = ((1/(4*distance)) and 1/(4*distance) or 1)
self.pitch = pitch
end
elseif mode == 9 then -- orient player + tracker
local closestplayer = self:getplayer({useexceptionlist = true, minrange = minrange, maxrange = maxrange, offset = blackinput, tryid = whiteinput})
local closesttracker = self:gettracker({minrange = minrange, maxrange = maxrange, frequency = whiteinput, offset = blackinput, ignorejammers = false, colorignore = true})
local closestmatchingtracker = self:gettracker({minrange = minrange, maxrange = maxrange, frequency = whiteinput, offset = blackinput, ignorejammers = false})
local closestdistance_player = (closestplayer ~= 0) and (self.shape:getWorldPosition() - allplayers[closestplayer].character.worldPosition):length() or math.huge
local closestdistance_tracker = (closesttracker ~= 0) and (self.shape:getWorldPosition() - trackertrackers[closesttracker]:getTrackerShape().worldPosition):length() or math.huge
local closestdistance_matchingtracker = (closestmatchingtracker ~= 0) and (self.shape:getWorldPosition() - trackertrackers[closestmatchingtracker]:getTrackerShape().worldPosition):length() or math.huge
local distance = 0
local tracking = nil
local direction = nil
if ((closestplayer ~= 0) or (closesttracker ~= 0) or (closestmatchingtracker ~= 0)) and isON then
if closestmatchingtracker ~= 0 then
tracking = trackertrackers[closestmatchingtracker]:getTrackerShape().worldPosition
distance = closestdistance_matchingtracker
targetmass = trackertrackers[closestmatchingtracker]:getTrackerShape().mass
if closestplayer and closestdistance_player < closestdistance_matchingtracker then
tracking = allplayers[closestplayer].character.worldPosition
direction = allplayers[closestplayer].character.direction
distance = closestdistance_player
targetmass = allplayers[closestplayer].character.mass
end
elseif closesttracker ~= 0 and not closestmatchingtracker ~= 0 then
tracking = trackertrackers[closesttracker]:getTrackerShape().worldPosition
targetmass = trackertrackers[closesttracker]:getTrackerShape().mass
distance = closestdistance_tracker
if closestplayer ~= 0 and closestdistance_player < closestdistance_tracker then
tracking = allplayers[closestplayer].character.worldPosition
direction = allplayers[closestplayer].character.direction
distance = closestdistance_player
targetmass = allplayers[closestplayer].character.mass
end
else
targetmass = allplayers[closestplayer].character.mass
tracking = allplayers[closestplayer].character.worldPosition
direction = allplayers[closestplayer].character.direction
distance = closestdistance_player
end
--[[
for k, v in pairs(parents) do
if (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
direction = sm.shape.getUp(v:getShape()) -- sensor or smartsensor
end
end]]
if tracking ~= nil then
targetposition = tracking
targetdir = direction
local targetdirection = (tracking - self.shape.worldPosition):normalize()
local pitch, yaw = 0,0
if localmode then
pitch, yaw = self:calcpitchandyawlocal({direction = eye, targetdirection = targetdirection})
else
pitch, yaw = self:calcpitchandyaw({direction = eye, targetdirection = targetdirection})
end
self.yaw = yaw
self.pose1 = ((1/(4*distance)) and 1/(4*distance) or 1)
self.pitch = pitch
end
end
elseif mode == 10 then -- orient player + tracker predictive
local closestplayer = self:getplayer({useexceptionlist = true, minrange = minrange, maxrange = maxrange, offset = blackinput, tryid = whiteinput})
local closesttracker = self:gettracker({minrange = minrange, maxrange = maxrange, frequency = whiteinput, offset = blackinput, ignorejammers = false})
local closestmatchingtracker = self:gettracker({minrange = minrange, maxrange = maxrange, frequency = whiteinput, offset = blackinput, ignorejammers = false})
--print(closestplayer, closesttracker, closestmatchingtracker)
local closestdistance_player = (closestplayer ~= 0) and (self.shape:getWorldPosition() - allplayers[closestplayer].character.worldPosition):length() or math.huge
local closestdistance_tracker = (closesttracker ~= 0) and (self.shape:getWorldPosition() - trackertrackers[closesttracker]:getTrackerShape().worldPosition):length() or math.huge
local closestdistance_matchingtracker = (closestmatchingtracker ~= 0) and (self.shape:getWorldPosition() - trackertrackers[closestmatchingtracker]:getTrackerShape().worldPosition):length() or math.huge
local distance = 0
local tracking = nil
local direction = nil
if ((closestplayer ~= 0) or (closesttracker ~= 0) or (closestmatchingtracker ~= 0)) and isON then
if closestmatchingtracker ~= 0 then
tracking = trackertrackers[closestmatchingtracker]:getTrackerShape().worldPosition
distance = closestdistance_matchingtracker
targetmass = trackertrackers[closestmatchingtracker]:getTrackerShape().mass
if closestplayer and closestdistance_player < closestdistance_matchingtracker then
tracking = allplayers[closestplayer].character.worldPosition
direction = allplayers[closestplayer].character.direction
distance = closestdistance_player
targetmass = allplayers[closestplayer].character.mass
end
elseif closesttracker ~= 0 and not closestmatchingtracker ~= 0 then
tracking = trackertrackers[closesttracker]:getTrackerShape().worldPosition
distance = closestdistance_tracker
targetmass = trackertrackers[closesttracker]:getTrackerShape().mass
if closestplayer ~= 0 and closestdistance_player < closestdistance_tracker then
tracking = allplayers[closestplayer].character.worldPosition
direction = allplayers[closestplayer].character.direction
distance = closestdistance_player
targetmass = allplayers[closestplayer].character.mass
end
else
tracking = allplayers[closestplayer].character.worldPosition
direction = allplayers[closestplayer].character.direction
distance = closestdistance_player
targetmass = allplayers[closestplayer].character.mass
end
for k, v in pairs(parents) do
if (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
direction = sm.shape.getUp(v:getShape()) -- sensor or smartsensor
end
end
if tracking ~= nil then
targetposition = tracking
targetdir = direction
predictmove(self, self.shape.worldPosition, eye, tracking, localmode)
end
end
elseif mode == 11 then -- orient camera predictive
local id = self:getplayer({useexceptionlist = true, minrange = minrange, maxrange = maxrange, offset = blackinput, tryid = whiteinput})
for k, v in pairs(parents) do
if (tostring(v:getShape():getShapeUuid()) == "add3acc6-a6fd-44e8-a384-a7a16ce13c81" or tostring(v:getShape():getShapeUuid()) == "4081ca6f-6b80-4c39-9e79-e1f747039bec") then
eye = v -- sensor or smartsensor
end
--find input seats:
if (v:getType() == "seat" or v:getType() == "steering") and v:isActive() then -- someone is inside the seat that is an input
id = self:getplayer({centerpos = v:getShape().worldPosition, useexceptionlist = false, minrange = 0, maxrange = 1000000, ignorejammers = true})
end
end
if id ~= 0 and isON then
local hit , result = sm.physics.raycast(allplayers[id].character.worldPosition, allplayers[id].character.worldPosition + allplayers[id].character.direction*2000)
targetposition = (hit and result.pointWorld or allplayers[id].character.worldPosition)
if result.type == "character" then
targetmass = result:getCharacter().mass
elseif result.type == "body" then
local weight = 0
for k, v in pairs(result:getShape().body:getCreationBodies()) do
weight = weight + v.mass
end
targetmass = weight
end
targetdir = allplayers[id].character.direction
local targetdirection = allplayers[id].character.direction
local pitch, yaw = 0,0
if localmode then
pitch, yaw = self:calcpitchandyawlocal({direction = eye, targetdirection = targetdirection})
else
pitch, yaw = self:calcpitchandyaw({direction = eye, targetdirection = targetdirection})
end
local distance = (targetposition - allplayers[id].character.worldPosition):length()
if not self.lastyaw then self.lastyaw = yaw end
self.yaw = (self.lead/100)*yaw + (yaw - self.lastyaw)*self.damping*self.shape.body.mass/112
self.lastyaw = yaw
if not self.lastpitch then self.lastpitch = pitch end
self.pitch = (self.lead/100)*pitch + (pitch - self.lastpitch)*self.damping*self.shape.body.mass/112
self.lastpitch = pitch
local distance = (self.shape.worldPosition):length()
self.pose1 = (1/(4*distance))<1 and 1/(4*distance) or 1
end
end
if self.power ~= 0 then
if self.power ~= self.power then self.power = 0 end
if math.abs(self.power) >= 3.3*10^38 then
if self.power < 0 then self.power = -3.3*10^38 else self.power = 3.3*10^38 end
end
self.interactable:setPower(self.power) -- when in distance mode
else
if self.pitch ~= self.pitch then self.pitch = 0 end
if math.abs(self.pitch) >= 3.3*10^38 then
if self.pitch < 0 then self.pitch = -3.3*10^38 else self.pitch = 3.3*10^38 end
end
self.interactable:setPower(self.pitch/180)
end
mode = self.modetable[self.mode].savevalue
if self.mode ~= self.lastmode then
self.network:sendToClients("client_setUvframeIndex", (mode-1))
end
if self.yaw ~= self.lastpose0 then
self.network:sendToClients("client_setPose", {pose = 0, level = 1-(self.yaw/360+0.5)})
end
if self.pose1 ~= self.lastpose1 then
self.network:sendToClients("client_setPose", {pose = 1, level = self.pose1})
end
self.lastmode = mode
self.lastpose0 = self.yaw
self.lastpose1 = self.pose1
self.lastpos_tracked = direction
if not orienters[self.id] then orienters[self.id] = {} end
orienters[self.id].position = targetposition
orienters[self.id].direction = targetdir
orienters[self.id].mass = targetmass
end
function playerexists(player)
return (player.character.worldPosition ~= nil)
end
function AI.client_onFixedUpdate(self, dt)
local parents = self.interactable:getParents()
self.power = 0
if sm.isHost and self.modetable[self.mode].savevalue == 8 then -- orient distance
local amountofparents = 0
for k, v in pairs(parents) do
if tostring(v:getShape():getShapeUuid()) == "ccaa33b6-e5bb-4edc-9329-b40f6efe2c9e" --[[AI]] then
amountofparents = amountofparents + 1
self.power = self.power + (1/v:getPoseWeight(1))
end
end
if amountofparents>0 then
self.power = self.power/amountofparents
end
end
end
function AI.client_setServerDirection(self, id)
if id == sm.localPlayer.getId() then
self.network:sendToServer("server_setDirection", sm.localPlayer.getDirection())
end
end
function AI.server_setDirection(self, direction)
self.direction = direction
end
function AI.client_onUpdatee(self, dt)
if not sm.isServer then return end
self.interactable:setUvFrameIndex(self.modetable[self.mode].savevalue-1)
self.interactable:setPoseWeight(0, self.pose0)
self.interactable:setPoseWeight(1, self.pose1)
end
function predictmove_super(self, mypos, direction, targetpos) -- weird shit by mathematicial guy
--v is the velocity of the target
--a is the acceleration of the target
--5 units/s^2 is the gravitational accel
--130 units/s vb is the velocity of teh bullet
--p is initial position of the target
--relative to the viewpoint (assumed 0,0,0)
local distance = (targetpos - mypos):length()
--print(distance)
if self.lasttargetposition == nil then self.lasttargetposition = targetpos end
--local magicmultiplier = 1.056032 + (3.758452 - 1.056032)/(1 + (distance/9.677873)^1.425672)
local v = (targetpos - self.lasttargetposition) * 40-- * magicmultiplier-- (a-b) = per tick, *40 = per sec
if self.lasttargetvelocity == nil then self.lasttargetvelocity = v end
local a = (v - self.lasttargetvelocity) * 1
local ag = -5
local vb = 130
local p = targetpos - mypos
local aa = 0.25 * (a.x^2 + a.y^2 + a.z^2 + ag^2) - 0.5*a.z*ag
local bb = v.x*a.x + v.y*a.y + v.z*a.z - v.z*ag
local cc = v.x^2 + v.y^2 + v.z^2 - vb^2 + p.x*a.x + p.y*a.y + p.z*a.z - p.z*ag
local dd = p.x*v.x + p.y*v.y + p.z*v.z
local ee = p.x^2 + p.y^2 + p.z^2
local testSQRT = -1*(-4*(cc^2 - 3*bb*dd + 12*aa*ee)^3 + (2*cc^3 -
9*cc*(bb*dd + 8*aa*ee) + 27*(aa*dd^2 + bb^2*ee))^2)
local insideSQRT = testSQRT^(1/2)
local outsideSQRT = 2*cc^3 - 9*bb*cc*dd + 27*aa*dd^2 + 27*bb^2*ee - 72*aa*cc*ee
local magROOT = (insideSQRT^2 + outsideSQRT^2)^(1/2)
local angleROOT = math.atan2(insideSQRT, outsideSQRT)
local cubeROOT = magROOT^(1/3)*math.cos(angleROOT/3)
local t = (-3*bb + 3^(1/2)*aa*((3*bb^2 - 8*aa*cc + 4*2^(2/3)*aa*cubeROOT)/
aa^2)^(1/2) - (6)^(1/2)*
aa*(-1*((-3*aa*bb^2 + 8*aa^2*cc + 2*2^(2/3)*aa^2*cubeROOT + (
3*3^(1/2)*(bb^3 - 4*aa*bb*cc + 8*aa^2*dd))/((
3*bb^2 - 8*aa*cc + 4*2^(2/3)*aa*cubeROOT)/aa^2)^(1/2))/aa^3))^(1/2))/(12*aa)
local Vb = sm.vec3.new(0,0,0)
if self.lastdistance == nil then self.lastdistance = distance end
local deltadistance = distance-self.lastdistance
--print(t)
--print(distance/130, 'dist')
--towards: 290:*100 360:*130 430:*160 540:*200
--away: 320:*100 410:*130 510:*160 640:*200
if deltadistance < 0 then --going towards
p = p + v*(4/40) + a*0.5*(4/40)^2 - p:normalize()*deltadistance*(0.4002933*distance - 14.61877)
else
p = p + v*(4/40) + a*0.5*(4/40)^2 - p:normalize()*deltadistance*(0.3109541*distance + 1.35159)
end
--print(deltadistance*135)
Vb.x = (p.x + v.x*t + 0.5*a.x*t^2)/t
Vb.y = (p.y + v.y*t + 0.5*a.y*t^2)/t
local supermagicmultiplier = math.min(100, -6.181747 + (140773.3 - -6.181747)/(1 + (distance/0.005479015)^0.7706603))
--fix for angling up a bit more when far away
Vb.z = (p.z + v.z*t + (2 + distance/(supermagicmultiplier*1000))*0.5*(a.z - ag)*t^2)/t
--Vb.z = (p.z + v.z*t + 0.5*(a.z - ag)*t^2)/t
self.lasttargetposition = targetpos
self.lasttargetvelocity = v
local euler1 = VecToEuler(direction)
local euler2 = VecToEuler(Vb:normalize())
local pitch = euler2.pitch - euler1.pitch
local yaw = euler2.yaw - euler1.yaw
yaw = (yaw>180) and yaw-360 or (yaw<-180 and yaw+360 or yaw)
self.power = pitch/180
self.pose0 = 1-(yaw/360+0.5)
self.pose1 = ((1/(4*distance)) and 1/(4*distance) or 1)
self.lastdistance = distance
--self.power = 0
--self.pose0 = 0.5
--self.pose1 = 1
end
function predictmove_test(self, mypos, direction, targetpos) -- crap
-- spud speed: 130 U / sec
-- spud drop: 5 U / sec²
if self.lasttargetposition == nil then self.lasttargetposition = targetpos end
--local distance = (targetpos - mypos):length()
-- 40: *7, 110: *9, 400: *35
local target_walking_direction = (targetpos - self.lasttargetposition) * 40*1.2 --:normalize()
--local target_walking_speed = target_walking_direction:length() / 40
local target_future_position = targetpos + target_walking_direction/40
local distance_future_position = (target_future_position - mypos):length()
local spud_time = distance_future_position / 130
local final_future_position = target_future_position + target_walking_direction * spud_time
local target_direction = (final_future_position - mypos):normalize()
local euler1 = VecToEuler(direction)
local euler2 = VecToEuler(target_direction)
local pitch = euler2.pitch - euler1.pitch
local yaw = euler2.yaw - euler1.yaw
yaw = (yaw>180) and yaw-360 or (yaw<-180 and yaw+360 or yaw)
self.power = pitch/180
self.pose0 = (yaw/360+0.5)
self.pose1 = ((1/(4*distance_future_position)) and 1/(4*distance_future_position) or 1)
self.lasttargetposition = targetpos
end
function predictmove_old(self, mypos, direction, targetpos, lastdirection)
local distance = (targetpos - mypos):length()
local targetdirection = (targetpos - mypos)
targetdirection.z = targetdirection.z + (distance*distance) / 3060 -- account for potatodrop
targetdirection = targetdirection:normalize()
local euler1 = VecToEuler(direction)
local euler2 = VecToEuler(targetdirection)
if self.lasttargetdirection == nil then self.lasttargetdirection = targetdirection end
local euler3 = VecToEuler(self.lasttargetdirection)
self.lasttargetdirection = targetdirection
local pitch = euler2.pitch - euler1.pitch + (euler2.pitch - euler3.pitch)*(distance^(5/9))*2.65
local yaw = euler2.yaw - euler1.yaw + (euler2.yaw - euler3.yaw)*(distance^(5/9))*2.65
--(distance^(5/9))*2.55
while yaw> 180 do yaw = yaw - 360 end
while yaw< -180 do yaw = yaw + 360 end
--yaw = (yaw>180) and yaw-360 or (yaw<-180 and yaw+360 or yaw)
self.power = pitch/180
self.pose0 = (yaw/360+0.5)
self.pose1 = ((1/(4*distance)) and 1/(4*distance) or 1)
end
function AI.client_setUvframeIndex(self, index)
if sm.isServer then return end
self.interactable:setUvFrameIndex(index)
end
function AI.client_setPose(self, data)
if sm.isServer then return end
self.interactable:setPoseWeight(data.pose, data.level)
end
function nojammercloseby(pos)
for k,v in pairs(jammerjammers or {}) do
if v and sm.exists(v) then
-- the following will do an error upon loading the world:
if v.active and sm.vec3.length(pos - v.shape.worldPosition) < 5 then --5 units = 20 blocks
-- hide error:
return false
end
else
table.remove(jammerjammers, k)
end
end
return true
end
function VecToEuler( direction )
local euler = {}
euler.yaw = 180 + math.atan2(direction.y,direction.x)/math.pi * 180
euler.pitch = math.acos(direction.z)/math.pi *180
return euler --math.cos( direction.z * 0.5 * math.pi ) * 180 --
end