Basic entity tracking

bot/phy/aabb.go

@@ -10,6 +10,8 @@ type MinMax struct {
 	Min, Max float64
 }
 
+// Extends adjusts the bounds of the MinMax. A negative number will reduce the
+// minimum bound, whereas a positive number will increase the maximum bound.
 func (mm MinMax) Extend(delta float64) MinMax {
 	if delta < 0 {
 		return MinMax{
@@ -24,6 +26,8 @@ func (mm MinMax) Extend(delta float64) MinMax {
 	}
 }
 
+// Contract reduces both the minimum and maximum bound by the provided amount,
+// such that the difference between the bounds decreases for positive values.
 func (mm MinMax) Contract(amt float64) MinMax {
 	return MinMax{
 		Min: mm.Min + amt,
@@ -31,6 +35,8 @@ func (mm MinMax) Contract(amt float64) MinMax {
 	}
 }
 
+// Expand changes the minimum and maximum bounds by the provided amount, such
+// that the difference between the bounds increases for positive values.
 func (mm MinMax) Expand(amt float64) MinMax {
 	return MinMax{
 		Min: mm.Min - amt,
@@ -38,6 +44,7 @@ func (mm MinMax) Expand(amt float64) MinMax {
 	}
 }
 
+// Offset adds the provided value to both the minimum and maximum value.
 func (mm MinMax) Offset(amt float64) MinMax {
 	return MinMax{
 		Min: mm.Min + amt,
@@ -51,6 +58,8 @@ type AABB struct {
 	Block   world.BlockStatus
 }
 
+// Extend adjusts the minimum (for negative values) or maximum bounds (for
+// positive values) by the provided scalar for each dimension.
 func (bb AABB) Extend(dx, dy, dz float64) AABB {
 	return AABB{
 		X:     bb.X.Extend(dx),
@@ -60,6 +69,8 @@ func (bb AABB) Extend(dx, dy, dz float64) AABB {
 	}
 }
 
+// Contract reduces the difference between the min/max bounds (for positive
+// values) for each dimension.
 func (bb AABB) Contract(x, y, z float64) AABB {
 	return AABB{
 		X:     bb.X.Contract(x),
@@ -69,6 +80,8 @@ func (bb AABB) Contract(x, y, z float64) AABB {
 	}
 }
 
+// Expand increases both the minimum and maximum bounds by the provided amount
+// (for positive values) for each dimension.
 func (bb AABB) Expand(x, y, z float64) AABB {
 	return AABB{
 		X:     bb.X.Expand(x),
@@ -78,6 +91,8 @@ func (bb AABB) Expand(x, y, z float64) AABB {
 	}
 }
 
+// Offset moves both the minimum and maximum bound by the provided value for
+// each dimension.
 func (bb AABB) Offset(x, y, z float64) AABB {
 	return AABB{
 		X:     bb.X.Offset(x),

bot/phy/inputs.go

@@ -2,7 +2,7 @@ package phy
 
 // Inputs describes the desired movements of the player.
 type Inputs struct {
-	Yaw, Pitch float32
+	Yaw, Pitch float64
 
 	ThrottleX, ThrottleZ float64
 }

bot/phy/phy.go

@@ -14,7 +14,8 @@ const (
 	playerHeight = 1.8
 	resetVel     = 0.003
 
-	yawSpeed = 3.0
+	maxYawChange   = 33
+	maxPitchChange = 22
 
 	gravity      = 0.08
 	drag         = 0.98
@@ -87,7 +88,12 @@ func (s *State) surroundings(query AABB, w World) Surrounds {
 	return out
 }
 
-func (s *State) applyInputs(input Inputs, acceleration, inertia float64) {
+func (s *State) applyLookInputs(input Inputs) {
+	errYaw := math.Min(math.Max(input.Yaw-s.Yaw, -maxYawChange), maxYawChange)
+	s.Yaw += errYaw
+}
+
+func (s *State) applyPosInputs(input Inputs, acceleration, inertia float64) {
 	speed := math.Sqrt(input.ThrottleX*input.ThrottleX + input.ThrottleZ*input.ThrottleZ)
 	if speed < 0.01 {
 		return
@@ -111,7 +117,8 @@ func (s *State) Tick(input Inputs, w World) error {
 		inertia *= slipperiness
 		acceleration = 0.1 * (0.1627714 / (inertia * inertia * inertia))
 	}
-	s.applyInputs(input, acceleration, inertia)
+	s.applyLookInputs(input)
+	s.applyPosInputs(input, acceleration, inertia)
 
 	// Deadzone velocities when they get too low.
 	if math.Abs(s.Vel.X) < resetVel {