833 lines
22 KiB
C++
833 lines
22 KiB
C++
/*
|
|
* ***** BEGIN GPL LICENSE BLOCK *****
|
|
*
|
|
* This program is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU General Public License
|
|
* as published by the Free Software Foundation; either version 2
|
|
* of the License, or (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software Foundation,
|
|
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
|
*
|
|
* Contributor(s): none yet.
|
|
*
|
|
* ***** END GPL LICENSE BLOCK *****
|
|
*/
|
|
|
|
/** \file gameengine/Ketsji/KX_ObstacleSimulation.cpp
|
|
* \ingroup ketsji
|
|
*
|
|
* Simulation for obstacle avoidance behavior
|
|
*/
|
|
|
|
#include "KX_ObstacleSimulation.h"
|
|
#include "KX_NavMeshObject.h"
|
|
#include "KX_PythonInit.h"
|
|
#include "DNA_object_types.h"
|
|
#include "BLI_math.h"
|
|
|
|
namespace
|
|
{
|
|
inline float perp(const MT_Vector2& a, const MT_Vector2& b) { return a.x()*b.y() - a.y()*b.x(); }
|
|
|
|
inline float sqr(float x) { return x * x; }
|
|
inline float lerp(float a, float b, float t) { return a + (b - a) * t; }
|
|
inline float clamp(float a, float mn, float mx) { return a < mn ? mn : (a > mx ? mx : a); }
|
|
inline void vset(float v[2], float x, float y) { v[0] = x; v[1] = y; }
|
|
}
|
|
|
|
/* grr, seems moto provides no nice way to do this */
|
|
#define MT_3D_AS_2D(v) MT_Vector2((v)[0], (v)[1])
|
|
|
|
static int sweepCircleCircle(
|
|
const MT_Vector2 &pos0, const MT_Scalar r0, const MT_Vector2 &v,
|
|
const MT_Vector2 &pos1, const MT_Scalar r1,
|
|
float& tmin, float& tmax)
|
|
{
|
|
static const float EPS = 0.0001f;
|
|
MT_Vector2 c0(pos0.x(), pos0.y());
|
|
MT_Vector2 c1(pos1.x(), pos1.y());
|
|
MT_Vector2 s = c1 - c0;
|
|
MT_Scalar r = r0+r1;
|
|
float c = s.length2() - r*r;
|
|
float a = v.length2();
|
|
if (a < EPS) return 0; // not moving
|
|
|
|
// Overlap, calc time to exit.
|
|
float b = MT_dot(v,s);
|
|
float d = b*b - a*c;
|
|
if (d < 0.0f) return 0; // no intersection.
|
|
tmin = (b - sqrtf(d)) / a;
|
|
tmax = (b + sqrtf(d)) / a;
|
|
return 1;
|
|
}
|
|
|
|
static int sweepCircleSegment(
|
|
const MT_Vector2 &pos0, const MT_Scalar r0, const MT_Vector2 &v,
|
|
const MT_Vector2& pa, const MT_Vector2 &pb, const MT_Scalar sr,
|
|
float& tmin, float &tmax)
|
|
{
|
|
// equation parameters
|
|
MT_Vector2 c0(pos0.x(), pos0.y());
|
|
MT_Vector2 sa(pa.x(), pa.y());
|
|
MT_Vector2 sb(pb.x(), pb.y());
|
|
MT_Vector2 L = sb-sa;
|
|
MT_Vector2 H = c0-sa;
|
|
MT_Scalar radius = r0+sr;
|
|
float l2 = L.length2();
|
|
float r2 = radius * radius;
|
|
float dl = perp(v, L);
|
|
float hl = perp(H, L);
|
|
float a = dl * dl;
|
|
float b = 2.0f * hl * dl;
|
|
float c = hl * hl - (r2 * l2);
|
|
float d = (b*b) - (4.0f * a * c);
|
|
|
|
// infinite line missed by infinite ray.
|
|
if (d < 0.0f)
|
|
return 0;
|
|
|
|
d = sqrtf(d);
|
|
tmin = (-b - d) / (2.0f * a);
|
|
tmax = (-b + d) / (2.0f * a);
|
|
|
|
// line missed by ray range.
|
|
/* if (tmax < 0.0f || tmin > 1.0f)
|
|
return 0;*/
|
|
|
|
// find what part of the ray was collided.
|
|
MT_Vector2 Pedge;
|
|
Pedge = c0+v*tmin;
|
|
H = Pedge - sa;
|
|
float e0 = MT_dot(H, L) / l2;
|
|
Pedge = c0 + v*tmax;
|
|
H = Pedge - sa;
|
|
float e1 = MT_dot(H, L) / l2;
|
|
|
|
if (e0 < 0.0f || e1 < 0.0f)
|
|
{
|
|
float ctmin, ctmax;
|
|
if (sweepCircleCircle(pos0, r0, v, pa, sr, ctmin, ctmax))
|
|
{
|
|
if (e0 < 0.0f && ctmin > tmin)
|
|
tmin = ctmin;
|
|
if (e1 < 0.0f && ctmax < tmax)
|
|
tmax = ctmax;
|
|
}
|
|
else
|
|
{
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
if (e0 > 1.0f || e1 > 1.0f)
|
|
{
|
|
float ctmin, ctmax;
|
|
if (sweepCircleCircle(pos0, r0, v, pb, sr, ctmin, ctmax))
|
|
{
|
|
if (e0 > 1.0f && ctmin > tmin)
|
|
tmin = ctmin;
|
|
if (e1 > 1.0f && ctmax < tmax)
|
|
tmax = ctmax;
|
|
}
|
|
else
|
|
{
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
return 1;
|
|
}
|
|
|
|
static bool inBetweenAngle(float a, float amin, float amax, float& t)
|
|
{
|
|
if (amax < amin) amax += (float)M_PI*2;
|
|
if (a < amin-(float)M_PI) a += (float)M_PI*2;
|
|
if (a > amin+(float)M_PI) a -= (float)M_PI*2;
|
|
if (a >= amin && a < amax)
|
|
{
|
|
t = (a-amin) / (amax-amin);
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
static float interpolateToi(float a, const float* dir, const float* toi, const int ntoi)
|
|
{
|
|
for (int i = 0; i < ntoi; ++i)
|
|
{
|
|
int next = (i+1) % ntoi;
|
|
float t;
|
|
if (inBetweenAngle(a, dir[i], dir[next], t))
|
|
{
|
|
return lerp(toi[i], toi[next], t);
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
KX_ObstacleSimulation::KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization)
|
|
: m_levelHeight(levelHeight)
|
|
, m_enableVisualization(enableVisualization)
|
|
{
|
|
|
|
}
|
|
|
|
KX_ObstacleSimulation::~KX_ObstacleSimulation()
|
|
{
|
|
for (size_t i=0; i<m_obstacles.size(); i++)
|
|
{
|
|
KX_Obstacle* obs = m_obstacles[i];
|
|
delete obs;
|
|
}
|
|
m_obstacles.clear();
|
|
}
|
|
KX_Obstacle* KX_ObstacleSimulation::CreateObstacle(KX_GameObject* gameobj)
|
|
{
|
|
KX_Obstacle* obstacle = new KX_Obstacle();
|
|
obstacle->m_gameObj = gameobj;
|
|
|
|
vset(obstacle->vel, 0,0);
|
|
vset(obstacle->pvel, 0,0);
|
|
vset(obstacle->dvel, 0,0);
|
|
vset(obstacle->nvel, 0,0);
|
|
for (int i = 0; i < VEL_HIST_SIZE; ++i)
|
|
vset(&obstacle->hvel[i*2], 0,0);
|
|
obstacle->hhead = 0;
|
|
|
|
gameobj->RegisterObstacle(this);
|
|
m_obstacles.push_back(obstacle);
|
|
return obstacle;
|
|
}
|
|
|
|
void KX_ObstacleSimulation::AddObstacleForObj(KX_GameObject* gameobj)
|
|
{
|
|
KX_Obstacle* obstacle = CreateObstacle(gameobj);
|
|
struct Object* blenderobject = gameobj->GetBlenderObject();
|
|
obstacle->m_type = KX_OBSTACLE_OBJ;
|
|
obstacle->m_shape = KX_OBSTACLE_CIRCLE;
|
|
obstacle->m_rad = blenderobject->obstacleRad;
|
|
}
|
|
|
|
void KX_ObstacleSimulation::AddObstaclesForNavMesh(KX_NavMeshObject* navmeshobj)
|
|
{
|
|
dtStatNavMesh* navmesh = navmeshobj->GetNavMesh();
|
|
if (navmesh)
|
|
{
|
|
int npoly = navmesh->getPolyCount();
|
|
for (int pi=0; pi<npoly; pi++)
|
|
{
|
|
const dtStatPoly* poly = navmesh->getPoly(pi);
|
|
|
|
for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++)
|
|
{
|
|
if (poly->n[j]) continue;
|
|
const float* vj = navmesh->getVertex(poly->v[j]);
|
|
const float* vi = navmesh->getVertex(poly->v[i]);
|
|
|
|
KX_Obstacle* obstacle = CreateObstacle(navmeshobj);
|
|
obstacle->m_type = KX_OBSTACLE_NAV_MESH;
|
|
obstacle->m_shape = KX_OBSTACLE_SEGMENT;
|
|
obstacle->m_pos = MT_Point3(vj[0], vj[2], vj[1]);
|
|
obstacle->m_pos2 = MT_Point3(vi[0], vi[2], vi[1]);
|
|
obstacle->m_rad = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void KX_ObstacleSimulation::DestroyObstacleForObj(KX_GameObject* gameobj)
|
|
{
|
|
for (size_t i=0; i<m_obstacles.size(); )
|
|
{
|
|
if (m_obstacles[i]->m_gameObj == gameobj)
|
|
{
|
|
KX_Obstacle* obstacle = m_obstacles[i];
|
|
obstacle->m_gameObj->UnregisterObstacle();
|
|
m_obstacles[i] = m_obstacles.back();
|
|
m_obstacles.pop_back();
|
|
delete obstacle;
|
|
}
|
|
else
|
|
i++;
|
|
}
|
|
}
|
|
|
|
void KX_ObstacleSimulation::UpdateObstacles()
|
|
{
|
|
for (size_t i=0; i<m_obstacles.size(); i++)
|
|
{
|
|
if (m_obstacles[i]->m_type==KX_OBSTACLE_NAV_MESH || m_obstacles[i]->m_shape==KX_OBSTACLE_SEGMENT)
|
|
continue;
|
|
|
|
KX_Obstacle* obs = m_obstacles[i];
|
|
obs->m_pos = obs->m_gameObj->NodeGetWorldPosition();
|
|
obs->vel[0] = obs->m_gameObj->GetLinearVelocity().x();
|
|
obs->vel[1] = obs->m_gameObj->GetLinearVelocity().y();
|
|
|
|
// Update velocity history and calculate perceived (average) velocity.
|
|
copy_v2_v2(&obs->hvel[obs->hhead * 2], obs->vel);
|
|
obs->hhead = (obs->hhead+1) % VEL_HIST_SIZE;
|
|
vset(obs->pvel,0,0);
|
|
for (int j = 0; j < VEL_HIST_SIZE; ++j)
|
|
add_v2_v2v2(obs->pvel, obs->pvel, &obs->hvel[j * 2]);
|
|
mul_v2_fl(obs->pvel, 1.0f / VEL_HIST_SIZE);
|
|
}
|
|
}
|
|
|
|
KX_Obstacle* KX_ObstacleSimulation::GetObstacle(KX_GameObject* gameobj)
|
|
{
|
|
for (size_t i=0; i<m_obstacles.size(); i++)
|
|
{
|
|
if (m_obstacles[i]->m_gameObj == gameobj)
|
|
return m_obstacles[i];
|
|
}
|
|
|
|
return NULL;
|
|
}
|
|
|
|
void KX_ObstacleSimulation::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
|
|
MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle)
|
|
{
|
|
}
|
|
|
|
void KX_ObstacleSimulation::DrawObstacles()
|
|
{
|
|
if (!m_enableVisualization)
|
|
return;
|
|
static const MT_Vector3 bluecolor(0,0,1);
|
|
static const MT_Vector3 normal(0.0f, 0.0f, 1.0f);
|
|
static const int SECTORS_NUM = 32;
|
|
for (size_t i=0; i<m_obstacles.size(); i++)
|
|
{
|
|
if (m_obstacles[i]->m_shape==KX_OBSTACLE_SEGMENT)
|
|
{
|
|
MT_Point3 p1 = m_obstacles[i]->m_pos;
|
|
MT_Point3 p2 = m_obstacles[i]->m_pos2;
|
|
//apply world transform
|
|
if (m_obstacles[i]->m_type == KX_OBSTACLE_NAV_MESH)
|
|
{
|
|
KX_NavMeshObject* navmeshobj = static_cast<KX_NavMeshObject*>(m_obstacles[i]->m_gameObj);
|
|
p1 = navmeshobj->TransformToWorldCoords(p1);
|
|
p2 = navmeshobj->TransformToWorldCoords(p2);
|
|
}
|
|
|
|
KX_RasterizerDrawDebugLine(p1, p2, bluecolor);
|
|
}
|
|
else if (m_obstacles[i]->m_shape==KX_OBSTACLE_CIRCLE)
|
|
{
|
|
KX_RasterizerDrawDebugCircle(m_obstacles[i]->m_pos, m_obstacles[i]->m_rad, bluecolor,
|
|
normal, SECTORS_NUM);
|
|
}
|
|
}
|
|
}
|
|
|
|
static MT_Point3 nearestPointToObstacle(MT_Point3& pos ,KX_Obstacle* obstacle)
|
|
{
|
|
switch (obstacle->m_shape)
|
|
{
|
|
case KX_OBSTACLE_SEGMENT :
|
|
{
|
|
MT_Vector3 ab = obstacle->m_pos2 - obstacle->m_pos;
|
|
if (!ab.fuzzyZero())
|
|
{
|
|
const MT_Scalar dist = ab.length();
|
|
MT_Vector3 abdir = ab.normalized();
|
|
MT_Vector3 v = pos - obstacle->m_pos;
|
|
MT_Scalar proj = abdir.dot(v);
|
|
CLAMP(proj, 0, dist);
|
|
MT_Point3 res = obstacle->m_pos + abdir*proj;
|
|
return res;
|
|
}
|
|
ATTR_FALLTHROUGH;
|
|
}
|
|
case KX_OBSTACLE_CIRCLE :
|
|
default:
|
|
return obstacle->m_pos;
|
|
}
|
|
}
|
|
|
|
static bool filterObstacle(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, KX_Obstacle* otherObst,
|
|
float levelHeight)
|
|
{
|
|
//filter obstacles by type
|
|
if ( (otherObst == activeObst) ||
|
|
(otherObst->m_type==KX_OBSTACLE_NAV_MESH && otherObst->m_gameObj!=activeNavMeshObj) )
|
|
return false;
|
|
|
|
//filter obstacles by position
|
|
MT_Point3 p = nearestPointToObstacle(activeObst->m_pos, otherObst);
|
|
if ( fabsf(activeObst->m_pos.z() - p.z()) > levelHeight)
|
|
return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
///////////*********TOI_rays**********/////////////////
|
|
KX_ObstacleSimulationTOI::KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization)
|
|
: KX_ObstacleSimulation(levelHeight, enableVisualization),
|
|
m_maxSamples(32),
|
|
m_minToi(0.0f),
|
|
m_maxToi(0.0f),
|
|
m_velWeight(1.0f),
|
|
m_curVelWeight(1.0f),
|
|
m_toiWeight(1.0f),
|
|
m_collisionWeight(1.0f)
|
|
{
|
|
}
|
|
|
|
|
|
void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
|
|
MT_Vector3& velocity, MT_Scalar maxDeltaSpeed, MT_Scalar maxDeltaAngle)
|
|
{
|
|
int nobs = m_obstacles.size();
|
|
int obstidx = std::find(m_obstacles.begin(), m_obstacles.end(), activeObst) - m_obstacles.begin();
|
|
if (obstidx == nobs)
|
|
return;
|
|
|
|
vset(activeObst->dvel, velocity.x(), velocity.y());
|
|
|
|
//apply RVO
|
|
sampleRVO(activeObst, activeNavMeshObj, maxDeltaAngle);
|
|
|
|
// Fake dynamic constraint.
|
|
float dv[2];
|
|
float vel[2];
|
|
sub_v2_v2v2(dv, activeObst->nvel, activeObst->vel);
|
|
float ds = len_v2(dv);
|
|
if (ds > maxDeltaSpeed || ds<-maxDeltaSpeed)
|
|
mul_v2_fl(dv, fabs(maxDeltaSpeed / ds));
|
|
add_v2_v2v2(vel, activeObst->vel, dv);
|
|
|
|
velocity.x() = vel[0];
|
|
velocity.y() = vel[1];
|
|
}
|
|
|
|
///////////*********TOI_rays**********/////////////////
|
|
static const int AVOID_MAX_STEPS = 128;
|
|
struct TOICircle
|
|
{
|
|
TOICircle() : n(0), minToi(0), maxToi(1) {}
|
|
float toi[AVOID_MAX_STEPS]; // Time of impact (seconds)
|
|
float toie[AVOID_MAX_STEPS]; // Time of exit (seconds)
|
|
float dir[AVOID_MAX_STEPS]; // Direction (radians)
|
|
int n; // Number of samples
|
|
float minToi, maxToi; // Min/max TOI (seconds)
|
|
};
|
|
|
|
KX_ObstacleSimulationTOI_rays::KX_ObstacleSimulationTOI_rays(MT_Scalar levelHeight, bool enableVisualization):
|
|
KX_ObstacleSimulationTOI(levelHeight, enableVisualization)
|
|
{
|
|
m_maxSamples = 32;
|
|
m_minToi = 0.5f;
|
|
m_maxToi = 1.2f;
|
|
m_velWeight = 4.0f;
|
|
m_toiWeight = 1.0f;
|
|
m_collisionWeight = 100.0f;
|
|
}
|
|
|
|
|
|
void KX_ObstacleSimulationTOI_rays::sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
|
|
const float maxDeltaAngle)
|
|
{
|
|
MT_Vector2 vel(activeObst->dvel[0], activeObst->dvel[1]);
|
|
float vmax = (float) vel.length();
|
|
float odir = (float) atan2(vel.y(), vel.x());
|
|
|
|
MT_Vector2 ddir = vel;
|
|
ddir.normalize();
|
|
|
|
float bestScore = FLT_MAX;
|
|
float bestDir = odir;
|
|
float bestToi = 0;
|
|
|
|
TOICircle tc;
|
|
tc.n = m_maxSamples;
|
|
tc.minToi = m_minToi;
|
|
tc.maxToi = m_maxToi;
|
|
|
|
const int iforw = m_maxSamples/2;
|
|
const float aoff = (float)iforw / (float)m_maxSamples;
|
|
|
|
size_t nobs = m_obstacles.size();
|
|
for (int iter = 0; iter < m_maxSamples; ++iter)
|
|
{
|
|
// Calculate sample velocity
|
|
const float ndir = ((float)iter/(float)m_maxSamples) - aoff;
|
|
const float dir = odir+ndir*(float)M_PI*2.0f;
|
|
MT_Vector2 svel;
|
|
svel.x() = cosf(dir) * vmax;
|
|
svel.y() = sinf(dir) * vmax;
|
|
|
|
// Find min time of impact and exit amongst all obstacles.
|
|
float tmin = m_maxToi;
|
|
float tmine = 0.0f;
|
|
for (int i = 0; i < nobs; ++i)
|
|
{
|
|
KX_Obstacle* ob = m_obstacles[i];
|
|
bool res = filterObstacle(activeObst, activeNavMeshObj, ob, m_levelHeight);
|
|
if (!res)
|
|
continue;
|
|
|
|
float htmin,htmax;
|
|
|
|
if (ob->m_shape == KX_OBSTACLE_CIRCLE)
|
|
{
|
|
MT_Vector2 vab;
|
|
if (len_v2(ob->vel) < 0.01f * 0.01f) {
|
|
// Stationary, use VO
|
|
vab = svel;
|
|
}
|
|
else
|
|
{
|
|
// Moving, use RVO
|
|
vab = 2*svel - vel - ob->vel;
|
|
}
|
|
|
|
if (!sweepCircleCircle(MT_3D_AS_2D(activeObst->m_pos), activeObst->m_rad,
|
|
vab, MT_3D_AS_2D(ob->m_pos), ob->m_rad, htmin, htmax))
|
|
{
|
|
continue;
|
|
}
|
|
}
|
|
else if (ob->m_shape == KX_OBSTACLE_SEGMENT)
|
|
{
|
|
MT_Point3 p1 = ob->m_pos;
|
|
MT_Point3 p2 = ob->m_pos2;
|
|
//apply world transform
|
|
if (ob->m_type == KX_OBSTACLE_NAV_MESH)
|
|
{
|
|
KX_NavMeshObject* navmeshobj = static_cast<KX_NavMeshObject*>(ob->m_gameObj);
|
|
p1 = navmeshobj->TransformToWorldCoords(p1);
|
|
p2 = navmeshobj->TransformToWorldCoords(p2);
|
|
}
|
|
|
|
if (!sweepCircleSegment(MT_3D_AS_2D(activeObst->m_pos), activeObst->m_rad, svel,
|
|
MT_3D_AS_2D(p1), MT_3D_AS_2D(p2), ob->m_rad, htmin, htmax))
|
|
{
|
|
continue;
|
|
}
|
|
}
|
|
else {
|
|
continue;
|
|
}
|
|
|
|
if (htmin > 0.0f)
|
|
{
|
|
// The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
|
|
if (htmin < tmin)
|
|
tmin = htmin;
|
|
}
|
|
else if (htmax > 0.0f)
|
|
{
|
|
// The agent overlaps the obstacle, keep track of first safe exit.
|
|
if (htmax > tmine)
|
|
tmine = htmax;
|
|
}
|
|
}
|
|
|
|
// Calculate sample penalties and final score.
|
|
const float apen = m_velWeight * fabsf(ndir);
|
|
const float tpen = m_toiWeight * (1.0f/(0.0001f+tmin/m_maxToi));
|
|
const float cpen = m_collisionWeight * (tmine/m_minToi)*(tmine/m_minToi);
|
|
const float score = apen + tpen + cpen;
|
|
|
|
// Update best score.
|
|
if (score < bestScore)
|
|
{
|
|
bestDir = dir;
|
|
bestToi = tmin;
|
|
bestScore = score;
|
|
}
|
|
|
|
tc.dir[iter] = dir;
|
|
tc.toi[iter] = tmin;
|
|
tc.toie[iter] = tmine;
|
|
}
|
|
|
|
if (len_v2(activeObst->vel) > 0.1f) {
|
|
// Constrain max turn rate.
|
|
float cura = atan2(activeObst->vel[1],activeObst->vel[0]);
|
|
float da = bestDir - cura;
|
|
if (da < -M_PI) da += (float)M_PI*2;
|
|
if (da > M_PI) da -= (float)M_PI*2;
|
|
if (da < -maxDeltaAngle)
|
|
{
|
|
bestDir = cura - maxDeltaAngle;
|
|
bestToi = min(bestToi, interpolateToi(bestDir, tc.dir, tc.toi, tc.n));
|
|
}
|
|
else if (da > maxDeltaAngle)
|
|
{
|
|
bestDir = cura + maxDeltaAngle;
|
|
bestToi = min(bestToi, interpolateToi(bestDir, tc.dir, tc.toi, tc.n));
|
|
}
|
|
}
|
|
|
|
// Adjust speed when time of impact is less than min TOI.
|
|
if (bestToi < m_minToi)
|
|
vmax *= bestToi/m_minToi;
|
|
|
|
// New steering velocity.
|
|
activeObst->nvel[0] = cosf(bestDir) * vmax;
|
|
activeObst->nvel[1] = sinf(bestDir) * vmax;
|
|
}
|
|
|
|
///////////********* TOI_cells**********/////////////////
|
|
|
|
static void processSamples(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
|
|
KX_Obstacles& obstacles, float levelHeight, const float vmax,
|
|
const float* spos, const float cs, const int nspos, float* res,
|
|
float maxToi, float velWeight, float curVelWeight, float sideWeight,
|
|
float toiWeight)
|
|
{
|
|
vset(res, 0,0);
|
|
|
|
const float ivmax = 1.0f / vmax;
|
|
|
|
float adir[2] /*, adist */;
|
|
if (normalize_v2_v2(adir, activeObst->pvel) <= 0.01f) {
|
|
zero_v2(adir);
|
|
}
|
|
|
|
float activeObstPos[2];
|
|
vset(activeObstPos, activeObst->m_pos.x(), activeObst->m_pos.y());
|
|
/* adist = vdot(adir, activeObstPos); */
|
|
|
|
float minPenalty = FLT_MAX;
|
|
|
|
for (int n = 0; n < nspos; ++n)
|
|
{
|
|
float vcand[2];
|
|
copy_v2_v2(vcand, &spos[n * 2]);
|
|
|
|
// Find min time of impact and exit amongst all obstacles.
|
|
float tmin = maxToi;
|
|
float side = 0;
|
|
int nside = 0;
|
|
|
|
for (int i = 0; i < obstacles.size(); ++i)
|
|
{
|
|
KX_Obstacle* ob = obstacles[i];
|
|
bool res = filterObstacle(activeObst, activeNavMeshObj, ob, levelHeight);
|
|
if (!res)
|
|
continue;
|
|
float htmin, htmax;
|
|
|
|
if (ob->m_shape==KX_OBSTACLE_CIRCLE)
|
|
{
|
|
float vab[2];
|
|
|
|
// Moving, use RVO
|
|
mul_v2_v2fl(vab, vcand, 2);
|
|
sub_v2_v2v2(vab, vab, activeObst->vel);
|
|
sub_v2_v2v2(vab, vab, ob->vel);
|
|
|
|
// Side
|
|
// NOTE: dp, and dv are constant over the whole calculation,
|
|
// they can be precomputed per object.
|
|
const float* pa = activeObstPos;
|
|
float pb[2];
|
|
vset(pb, ob->m_pos.x(), ob->m_pos.y());
|
|
|
|
const float orig[2] = {0, 0};
|
|
float dp[2], dv[2], np[2];
|
|
sub_v2_v2v2(dp, pb, pa);
|
|
normalize_v2(dp);
|
|
sub_v2_v2v2(dv, ob->dvel, activeObst->dvel);
|
|
|
|
/* TODO: use line_point_side_v2 */
|
|
if (area_tri_signed_v2(orig, dp, dv) < 0.01f) {
|
|
np[0] = -dp[1];
|
|
np[1] = dp[0];
|
|
}
|
|
else {
|
|
np[0] = dp[1];
|
|
np[1] = -dp[0];
|
|
}
|
|
|
|
side += clamp(min(dot_v2v2(dp, vab),
|
|
dot_v2v2(np, vab)) * 2.0f, 0.0f, 1.0f);
|
|
nside++;
|
|
|
|
if (!sweepCircleCircle(MT_3D_AS_2D(activeObst->m_pos), activeObst->m_rad,
|
|
vab, MT_3D_AS_2D(ob->m_pos), ob->m_rad, htmin, htmax))
|
|
{
|
|
continue;
|
|
}
|
|
|
|
// Handle overlapping obstacles.
|
|
if (htmin < 0.0f && htmax > 0.0f)
|
|
{
|
|
// Avoid more when overlapped.
|
|
htmin = -htmin * 0.5f;
|
|
}
|
|
}
|
|
else if (ob->m_shape == KX_OBSTACLE_SEGMENT)
|
|
{
|
|
MT_Point3 p1 = ob->m_pos;
|
|
MT_Point3 p2 = ob->m_pos2;
|
|
//apply world transform
|
|
if (ob->m_type == KX_OBSTACLE_NAV_MESH)
|
|
{
|
|
KX_NavMeshObject* navmeshobj = static_cast<KX_NavMeshObject*>(ob->m_gameObj);
|
|
p1 = navmeshobj->TransformToWorldCoords(p1);
|
|
p2 = navmeshobj->TransformToWorldCoords(p2);
|
|
}
|
|
float p[2], q[2];
|
|
vset(p, p1.x(), p1.y());
|
|
vset(q, p2.x(), p2.y());
|
|
|
|
// NOTE: the segments are assumed to come from a navmesh which is shrunken by
|
|
// the agent radius, hence the use of really small radius.
|
|
// This can be handle more efficiently by using seg-seg test instead.
|
|
// If the whole segment is to be treated as obstacle, use agent->rad instead of 0.01f!
|
|
const float r = 0.01f; // agent->rad
|
|
if (dist_squared_to_line_segment_v2(activeObstPos, p, q) < sqr(r + ob->m_rad)) {
|
|
float sdir[2], snorm[2];
|
|
sub_v2_v2v2(sdir, q, p);
|
|
snorm[0] = sdir[1];
|
|
snorm[1] = -sdir[0];
|
|
// If the velocity is pointing towards the segment, no collision.
|
|
if (dot_v2v2(snorm, vcand) < 0.0f)
|
|
continue;
|
|
// Else immediate collision.
|
|
htmin = 0.0f;
|
|
htmax = 10.0f;
|
|
}
|
|
else
|
|
{
|
|
if (!sweepCircleSegment(activeObstPos, r, vcand, p, q, ob->m_rad, htmin, htmax))
|
|
continue;
|
|
}
|
|
|
|
// Avoid less when facing walls.
|
|
htmin *= 2.0f;
|
|
}
|
|
else {
|
|
continue;
|
|
}
|
|
|
|
if (htmin >= 0.0f)
|
|
{
|
|
// The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
|
|
if (htmin < tmin)
|
|
tmin = htmin;
|
|
}
|
|
}
|
|
|
|
// Normalize side bias, to prevent it dominating too much.
|
|
if (nside)
|
|
side /= nside;
|
|
|
|
const float vpen = velWeight * (len_v2v2(vcand, activeObst->dvel) * ivmax);
|
|
const float vcpen = curVelWeight * (len_v2v2(vcand, activeObst->vel) * ivmax);
|
|
const float spen = sideWeight * side;
|
|
const float tpen = toiWeight * (1.0f/(0.1f+tmin/maxToi));
|
|
|
|
const float penalty = vpen + vcpen + spen + tpen;
|
|
|
|
if (penalty < minPenalty) {
|
|
minPenalty = penalty;
|
|
copy_v2_v2(res, vcand);
|
|
}
|
|
}
|
|
}
|
|
|
|
void KX_ObstacleSimulationTOI_cells::sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
|
|
const float maxDeltaAngle)
|
|
{
|
|
vset(activeObst->nvel, 0.f, 0.f);
|
|
float vmax = len_v2(activeObst->dvel);
|
|
|
|
float* spos = new float[2*m_maxSamples];
|
|
int nspos = 0;
|
|
|
|
if (!m_adaptive)
|
|
{
|
|
const float cvx = activeObst->dvel[0]*m_bias;
|
|
const float cvy = activeObst->dvel[1]*m_bias;
|
|
float vmax = len_v2(activeObst->dvel);
|
|
const float vrange = vmax*(1-m_bias);
|
|
const float cs = 1.0f / (float)m_sampleRadius*vrange;
|
|
|
|
for (int y = -m_sampleRadius; y <= m_sampleRadius; ++y)
|
|
{
|
|
for (int x = -m_sampleRadius; x <= m_sampleRadius; ++x)
|
|
{
|
|
if (nspos < m_maxSamples)
|
|
{
|
|
const float vx = cvx + (float)(x+0.5f)*cs;
|
|
const float vy = cvy + (float)(y+0.5f)*cs;
|
|
if (vx*vx+vy*vy > sqr(vmax+cs/2)) continue;
|
|
spos[nspos*2+0] = vx;
|
|
spos[nspos*2+1] = vy;
|
|
nspos++;
|
|
}
|
|
}
|
|
}
|
|
processSamples(activeObst, activeNavMeshObj, m_obstacles, m_levelHeight, vmax, spos, cs/2,
|
|
nspos, activeObst->nvel, m_maxToi, m_velWeight, m_curVelWeight, m_collisionWeight, m_toiWeight);
|
|
}
|
|
else
|
|
{
|
|
int rad;
|
|
float res[2];
|
|
float cs;
|
|
// First sample location.
|
|
rad = 4;
|
|
res[0] = activeObst->dvel[0]*m_bias;
|
|
res[1] = activeObst->dvel[1]*m_bias;
|
|
cs = vmax*(2-m_bias*2) / (float)(rad-1);
|
|
|
|
for (int k = 0; k < 5; ++k)
|
|
{
|
|
const float half = (rad-1)*cs*0.5f;
|
|
|
|
nspos = 0;
|
|
for (int y = 0; y < rad; ++y)
|
|
{
|
|
for (int x = 0; x < rad; ++x)
|
|
{
|
|
const float v_xy[2] = {
|
|
res[0] + x * cs - half,
|
|
res[1] + y * cs - half};
|
|
|
|
if (len_squared_v2(v_xy) > sqr(vmax + cs / 2))
|
|
continue;
|
|
|
|
copy_v2_v2(&spos[nspos * 2 + 0], v_xy);
|
|
nspos++;
|
|
}
|
|
}
|
|
|
|
processSamples(activeObst, activeNavMeshObj, m_obstacles, m_levelHeight, vmax, spos, cs/2,
|
|
nspos, res, m_maxToi, m_velWeight, m_curVelWeight, m_collisionWeight, m_toiWeight);
|
|
|
|
cs *= 0.5f;
|
|
}
|
|
copy_v2_v2(activeObst->nvel, res);
|
|
}
|
|
|
|
delete [] spos;
|
|
}
|
|
|
|
KX_ObstacleSimulationTOI_cells::KX_ObstacleSimulationTOI_cells(MT_Scalar levelHeight, bool enableVisualization)
|
|
: KX_ObstacleSimulationTOI(levelHeight, enableVisualization)
|
|
, m_bias(0.4f)
|
|
, m_adaptive(true)
|
|
, m_sampleRadius(15)
|
|
{
|
|
m_maxSamples = (m_sampleRadius*2+1)*(m_sampleRadius*2+1) + 100;
|
|
m_maxToi = 1.5f;
|
|
m_velWeight = 2.0f;
|
|
m_curVelWeight = 0.75f;
|
|
m_toiWeight = 2.5f;
|
|
m_collisionWeight = 0.75f; //side_weight
|
|
}
|