forked from bartvdbraak/blender
135 lines
3.8 KiB
C++
135 lines
3.8 KiB
C++
/*
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* Simulation for obstacle avoidance behavior
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* (based on Cane Project - http://code.google.com/p/cane by Mikko Mononen (c) 2009)
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef __KX_OBSTACLESIMULATION_H__
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#define __KX_OBSTACLESIMULATION_H__
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#include <vector>
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#include "MT_Point2.h"
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#include "MT_Point3.h"
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class KX_GameObject;
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class KX_NavMeshObject;
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enum KX_OBSTACLE_TYPE
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{
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KX_OBSTACLE_OBJ,
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KX_OBSTACLE_NAV_MESH,
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};
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enum KX_OBSTACLE_SHAPE
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{
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KX_OBSTACLE_CIRCLE,
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KX_OBSTACLE_SEGMENT,
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};
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#define VEL_HIST_SIZE 6
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struct KX_Obstacle
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{
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KX_OBSTACLE_TYPE m_type;
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KX_OBSTACLE_SHAPE m_shape;
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MT_Point3 m_pos;
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MT_Point3 m_pos2;
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MT_Scalar m_rad;
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float vel[2];
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float pvel[2];
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float dvel[2];
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float nvel[2];
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float hvel[VEL_HIST_SIZE*2];
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int hhead;
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KX_GameObject* m_gameObj;
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};
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typedef std::vector<KX_Obstacle*> KX_Obstacles;
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class KX_ObstacleSimulation
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{
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protected:
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KX_Obstacles m_obstacles;
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MT_Scalar m_levelHeight;
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bool m_enableVisualization;
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KX_Obstacle* CreateObstacle(KX_GameObject* gameobj);
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public:
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KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization);
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virtual ~KX_ObstacleSimulation();
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void DrawObstacles();
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//void DebugDraw();
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void AddObstacleForObj(KX_GameObject* gameobj);
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void DestroyObstacleForObj(KX_GameObject* gameobj);
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void AddObstaclesForNavMesh(KX_NavMeshObject* navmesh);
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KX_Obstacle* GetObstacle(KX_GameObject* gameobj);
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void UpdateObstacles();
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virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
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MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
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};
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class KX_ObstacleSimulationTOI: public KX_ObstacleSimulation
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{
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protected:
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int m_maxSamples; // Number of sample steps
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float m_minToi; // Min TOI
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float m_maxToi; // Max TOI
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float m_velWeight; // Sample selection angle weight
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float m_curVelWeight; // Sample selection current velocity weight
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float m_toiWeight; // Sample selection TOI weight
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float m_collisionWeight; // Sample selection collision weight
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virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
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const float maxDeltaAngle) = 0;
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public:
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KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization);
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virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
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MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
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};
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class KX_ObstacleSimulationTOI_rays: public KX_ObstacleSimulationTOI
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{
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protected:
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virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
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const float maxDeltaAngle);
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public:
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KX_ObstacleSimulationTOI_rays(MT_Scalar levelHeight, bool enableVisualization);
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};
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class KX_ObstacleSimulationTOI_cells: public KX_ObstacleSimulationTOI
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{
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protected:
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float m_bias;
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bool m_adaptive;
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int m_sampleRadius;
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virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
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const float maxDeltaAngle);
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public:
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KX_ObstacleSimulationTOI_cells(MT_Scalar levelHeight, bool enableVisualization);
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};
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#endif
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