ground proximity warning system: fix thresholds being broken, consider spaciousness around player

Signed-off-by: Octol1ttle <[email protected]>

Author: Octol1ttle

src/main/kotlin/ru/octol1ttle/flightassistant/impl/computer/autoflight/FireworkComputer.kt

@@ -116,8 +116,7 @@ class FireworkComputer(computers: ComputerBus, private val mc: Minecraft) : Comp
 
     private fun anyTerrainAhead(): Boolean {
         val velocity = computers.data.player.forward.scale(FIREWORK_SPEED.toDouble())
-        val end = computers.data.position.add(velocity.scale(computers.gpws.cautionThreshold))
-        return computers.gpws.computeObstacleImpactTime(end, velocity) <= computers.gpws.warningThreshold
+        return computers.gpws.computeObstacleImpactTime(velocity, computers.gpws.cautionThreshold) <= computers.gpws.warningThreshold
     }
 
     private fun tryActivateFirework(player: Player) {

src/main/kotlin/ru/octol1ttle/flightassistant/impl/computer/data/AirDataComputer.kt

@@ -1,6 +1,7 @@
 package ru.octol1ttle.flightassistant.impl.computer.data
 
 import kotlin.math.asin
+import kotlin.math.atan2
 import kotlin.math.max
 import net.minecraft.client.Minecraft
 import net.minecraft.client.multiplayer.ClientLevel
@@ -70,6 +71,8 @@ class AirDataComputer(computers: ComputerBus, private val mc: Minecraft) : Compu
 
     val flightPitch: Float
         get() = degrees(asin(velocity.normalize().y).toFloat())
+    val flightYaw: Float
+        get() = degrees(atan2(-velocity.x, velocity.z).toFloat())
 
     override fun tick() {
         forwardVelocity = computeForwardVector(velocity)

src/main/kotlin/ru/octol1ttle/flightassistant/impl/computer/safety/GroundProximityComputer.kt

@@ -1,5 +1,6 @@
 package ru.octol1ttle.flightassistant.impl.computer.safety
 
+import kotlin.math.abs
 import kotlin.math.max
 import net.minecraft.network.chat.Component
 import net.minecraft.resources.ResourceLocation
@@ -22,7 +23,6 @@ import ru.octol1ttle.flightassistant.api.util.inverseMin
 import ru.octol1ttle.flightassistant.api.util.throwIfNotInRange
 import ru.octol1ttle.flightassistant.config.FAConfig
 import ru.octol1ttle.flightassistant.impl.computer.autoflight.base.PitchComputer
-import ru.octol1ttle.flightassistant.impl.computer.data.AirDataComputer
 
 class GroundProximityComputer(computers: ComputerBus) : Computer(computers), FlightController {
     private var groundImpactTime: Double = Double.MAX_VALUE
@@ -34,13 +34,13 @@ class GroundProximityComputer(computers: ComputerBus) : Computer(computers), Fli
 
     private var anyBlocksAbove = false
     val safeThreshold: Double
-        get() = if (anyBlocksAbove) 7.5 else 10.0
+        get() = if (anyBlocksAbove) 5.0 else 10.0
     val cautionThreshold: Double
-        get() = if (anyBlocksAbove) 7.5 else 10.0
+        get() = if (anyBlocksAbove) 3.0 else 7.5
     val warningThreshold: Double
-        get() = if (anyBlocksAbove) 7.5 else 10.0
+        get() = if (anyBlocksAbove) 1.5 else 3.0
     val recoverThreshold: Double
-        get() = if (anyBlocksAbove) 7.5 else 10.0
+        get() = 0.75
 
     var groundY: Double? = null
     val groundOrVoidY: Double
@@ -57,48 +57,32 @@ class GroundProximityComputer(computers: ComputerBus) : Computer(computers), Fli
             groundY = computeGroundY()?.throwIfNotInRange(computers.data.level.bottomY.toDouble()..Double.MAX_VALUE)
         }
 
-        val data: AirDataComputer = computers.data
-        if (!data.flying || data.player.isInWater) {
+        if (!computers.data.flying || computers.data.player.isInWater) {
             groundImpactStatus = Status.SAFE
             obstacleImpactStatus = Status.SAFE
             return
         }
 
-        anyBlocksAbove = data.level.getHeight(Heightmap.Types.MOTION_BLOCKING, data.player.blockX, data.player.blockZ) > data.player.y
-
-        groundImpactTime = computeGroundImpactTime(data).throwIfNotInRange(0.0..Double.MAX_VALUE)
-        groundImpactStatus =
-            if (data.fallDistanceSafe) {
-                Status.SAFE
-            } else if (groundImpactStatus == Status.SAFE && (data.velocityPerSecond.y > -10 || groundImpactTime > cautionThreshold)) {
-                Status.SAFE
-            } else if (data.velocityPerSecond.y > -8.5 || groundImpactTime > safeThreshold) {
-                Status.SAFE
-            } else if (groundImpactStatus >= Status.CAUTION && groundImpactTime > warningThreshold) {
-                Status.CAUTION
-            } else if (groundImpactStatus >= Status.WARNING && groundImpactTime > recoverThreshold) {
-                Status.WARNING
-            } else {
-                Status.RECOVER
-            }
+        anyBlocksAbove = computers.data.level.getHeight(Heightmap.Types.MOTION_BLOCKING, computers.data.player.blockX, computers.data.player.blockZ) > computers.data.player.y
 
-        obstacleImpactTime = computeObstacleImpactTime(data, safeThreshold).throwIfNotInRange(0.0..Double.MAX_VALUE)
-
-        val damageOnCollision: Double = data.velocity.horizontalDistance() * 10 - 3
-        obstacleImpactStatus =
-            if (data.isInvulnerableTo(data.player.damageSources().flyIntoWall())) {
-                Status.SAFE
-            } else if (obstacleImpactStatus == Status.SAFE && (damageOnCollision < data.player.health * 0.5f || obstacleImpactTime > groundImpactTime * 1.1f || obstacleImpactTime > cautionThreshold)) {
-                Status.SAFE
-            } else if (damageOnCollision < data.player.health * 0.25f || obstacleImpactTime > groundImpactTime * 1.2f || obstacleImpactTime > safeThreshold) {
-                Status.SAFE
-            } else if (obstacleImpactStatus >= Status.CAUTION && obstacleImpactTime > warningThreshold) {
-                Status.CAUTION
-            } else if (obstacleImpactStatus >= Status.WARNING && obstacleImpactTime > recoverThreshold) {
-                Status.WARNING
-            } else {
-                Status.RECOVER
-            }
+        groundImpactTime = computeGroundImpactTime().throwIfNotInRange(0.0..Double.MAX_VALUE)
+        groundImpactStatus = computeStatus(groundImpactStatus,
+            { computers.data.fallDistanceSafe || computers.data.velocityPerSecond.y > -8.5 || groundImpactTime >= safeThreshold },
+            { computers.data.velocityPerSecond.y <= -10 && groundImpactTime <= cautionThreshold },
+            { groundImpactTime <= warningThreshold },
+            { groundImpactTime <= recoverThreshold }
+        )
+
+        obstacleImpactTime = computeObstacleImpactTime(computers.data.velocityPerSecond, safeThreshold).throwIfNotInRange(0.0..Double.MAX_VALUE)
+        val thresholdMultiplier = computeThresholdMultiplier()
+        val damageOnCollision: Double = computers.data.velocity.horizontalDistance() * 10 - 3
+        val invulnerable = computers.data.isInvulnerableTo(computers.data.player.damageSources().flyIntoWall())
+        obstacleImpactStatus = computeStatus(obstacleImpactStatus,
+            { invulnerable || damageOnCollision < computers.data.player.health * 0.25f || obstacleImpactTime > groundImpactTime * 1.2f || obstacleImpactTime >= safeThreshold * thresholdMultiplier },
+            { abs(computers.data.yaw - computers.data.flightYaw) < 10.0f && damageOnCollision >= computers.data.player.health * 0.5f && obstacleImpactTime < groundImpactTime * 1.1f && obstacleImpactTime <= cautionThreshold * thresholdMultiplier },
+            { obstacleImpactTime <= warningThreshold * thresholdMultiplier },
+            { obstacleImpactTime <= recoverThreshold },
+        )
     }
 
     private fun computeGroundY(): Double? {
@@ -117,23 +101,69 @@ class GroundProximityComputer(computers: ComputerBus) : Computer(computers), Fli
         return groundY
     }
 
-    private fun computeGroundImpactTime(data: AirDataComputer): Double {
-        if (data.velocity.y >= 0.0) {
-            return Double.MAX_VALUE
+    private fun computeThresholdMultiplier(): Double {
+        val maxRaycastDistance = computers.data.forwardVelocityPerSecond.length() * safeThreshold
+
+        val xzOffsets = listOf(-1.0, 0.0, 1.0)
+        val yOffsets = listOf(-1.0, 0.0, 1.0)
+
+        val distances = ArrayList<Double>()
+        for (x in xzOffsets) { for (y in yOffsets) { for (z in xzOffsets) {
+            val offset = Vec3(x, y, z).normalize().scale(maxRaycastDistance)
+            if (offset.lengthSqr() == 0.0) {
+                continue
+            }
+            val raycast: BlockHitResult = computers.data.level.clip(
+                ClipContext(
+                    computers.data.position,
+                    computers.data.position.add(offset),
+                    ClipContext.Block.COLLIDER,
+                    ClipContext.Fluid.ANY,
+                    computers.data.player
+                )
+            )
+            if (raycast.type == HitResult.Type.BLOCK) {
+                distances.add(computers.data.position.distanceTo(raycast.location))
+            }
+        }}}
+
+        return distances.average() / maxRaycastDistance
+    }
+
+    private fun computeStatus(current: Status, safe: () -> Boolean, caution: () -> Boolean, warning: () -> Boolean, recover: () -> Boolean): Status {
+        if (safe()) {
+            return Status.SAFE
+        }
+
+        var status: Status = current
+        while (true) {
+            val next = when (status) {
+                Status.SAFE -> if (caution()) Status.CAUTION else null
+                Status.CAUTION -> if (caution() && warning()) Status.WARNING else null
+                Status.WARNING -> if (caution() && warning() && recover()) Status.RECOVER else null
+                Status.RECOVER -> null
+            }
+            if (next == null) {
+                break
+            }
+            status = next
         }
-        return max(0.0, data.altitude - groundOrVoidY) / -data.velocityPerSecond.y
+
+        return status
     }
 
-    private fun computeObstacleImpactTime(data: AirDataComputer, lookAheadTime: Double): Double {
-        val end: Vec3 = data.position.add(data.forwardVelocityPerSecond.multiply(lookAheadTime, 0.0, lookAheadTime))
-        return computeObstacleImpactTime(end, computers.data.forwardVelocityPerSecond)
+    private fun computeGroundImpactTime(): Double {
+        if (computers.data.velocity.y >= 0.0) {
+            return Double.MAX_VALUE
+        }
+        return max(0.0, computers.data.altitude - groundOrVoidY) / -computers.data.velocityPerSecond.y
     }
 
-    fun computeObstacleImpactTime(raycastEnd: Vec3, velocity: Vec3): Double {
+    fun computeObstacleImpactTime(velocity: Vec3, lookAheadTime: Double): Double {
         val result: BlockHitResult = computers.data.level.clip(
             ClipContext(
                 computers.data.position,
-                raycastEnd,
+                computers.data.position.add(velocity.scale(lookAheadTime)),
                 ClipContext.Block.COLLIDER,
                 ClipContext.Fluid.ANY,
                 computers.data.player
@@ -205,7 +235,6 @@ class GroundProximityComputer(computers: ComputerBus) : Computer(computers), Fli
         groundImpactStatus = Status.SAFE
         obstacleImpactTime = Double.MAX_VALUE
         obstacleImpactStatus = Status.SAFE
-        anyBlocksAbove = false
         groundY = null
     }
 

src/main/kotlin/ru/octol1ttle/flightassistant/impl/display/AutomationModesDisplay.kt

@@ -27,9 +27,6 @@ class AutomationModesDisplay(computers: ComputerBus) : Display(computers) {
     }
 
     override fun render(guiGraphics: GuiGraphics) {
-        if (FAKeyMappings.globalAutomationOverride.isDown) {
-            return
-        }
         renderThrustMode(guiGraphics)
         renderPitchMode(guiGraphics)
         renderInput(guiGraphics, headingDisplay, computers.heading.activeInput)
@@ -40,15 +37,14 @@ class AutomationModesDisplay(computers: ComputerBus) : Display(computers) {
         val thrustUnusable: Boolean = computers.thrust.noThrustSource || computers.thrust.reverseUnsupported
 
         val input: ControlInput? = computers.thrust.activeInput
+        if ((input != null && FAKeyMappings.isHoldingThrust()) || FAKeyMappings.globalAutomationOverride.isDown) {
+            thrustDisplay.render(guiGraphics, Component.translatable("mode.flightassistant.thrust.override").setColor(cautionColor), ControlInput.Status.ACTIVE, cautionColor)
+            return
+        }
+
         if (input != null) {
-            if (FAKeyMappings.isHoldingThrust()) {
-                thrustDisplay.render(guiGraphics, Component.translatable("mode.flightassistant.thrust.override").setColor(cautionColor), ControlInput.Status.ACTIVE, cautionColor)
-            } else {
-                thrustDisplay.render(
-                    guiGraphics, input.text, input.status,
-                    if (thrustUnusable || input.status == ControlInput.Status.ACTIVE && input.priority < ControlInput.Priority.NORMAL) cautionColor else null
-                )
-            }
+            thrustDisplay.render(guiGraphics, input.text, input.status,
+                if (thrustUnusable || input.status == ControlInput.Status.ACTIVE && input.priority < ControlInput.Priority.NORMAL) cautionColor else null)
             return
         }
 
@@ -79,6 +75,10 @@ class AutomationModesDisplay(computers: ComputerBus) : Display(computers) {
     }
 
     private fun renderPitchMode(guiGraphics: GuiGraphics) {
+        if (FAKeyMappings.globalAutomationOverride.isDown) {
+            pitchDisplay.render(guiGraphics, Component.translatable("mode.flightassistant.vertical.override").setColor(cautionColor), ControlInput.Status.ACTIVE, cautionColor)
+            return
+        }
         renderInput(guiGraphics, pitchDisplay, computers.pitch.activeInput)
     }
 
@@ -108,8 +108,8 @@ class AutomationModesDisplay(computers: ComputerBus) : Display(computers) {
             else null
         automationStatusDisplay.render(
             guiGraphics,
-            if (text.siblings.isNotEmpty()) text else null, ControlInput.Status.ACTIVE,
-            if (FATickCounter.totalTicks % 20 >= 10) color else null
+            if (text.siblings.isNotEmpty() || color != null) text else null, ControlInput.Status.ACTIVE,
+            if (FATickCounter.totalTicks % 20 >= 10 || color == null) color else emptyColor
         )
     }
 

src/main/resources/assets/flightassistant/lang/en_us.yml

@@ -332,6 +332,7 @@ menu.flightassistant:
 
 mode.flightassistant:
   thrust:
+    override: THR OVRD
     manual:
       .: MAN THR
       reverse: MAN REV
@@ -346,6 +347,7 @@ mode.flightassistant:
     takeoff: THR TO # TODO: fix confusion with TOGA somehow
     landing: THR LAND
   vertical:
+    override: PITCH OVRD
     void_protection: VOID PROT
     void_escape: VOID ESC
     stall_protection: STALL PROT

src/main/resources/assets/flightassistant/lang/ru_ru.yml

@@ -423,7 +423,7 @@ misc.flightassistant:
 key.flightassistant:
   .: FlightAssistant
   toggle_enabled: Включить/выключить мод
-  open_flight_setup: Открыть экран настройки полёта
+  open_flightassistant_setup: Открыть экран настройки FlightAssistant
   autopilot_disconnect: Отключить автопилот
   global_automation_override: Принудительное отключение автоматики (зажать)
   hide_current_alert: Скрыть активное предупреждение