forked from bartvdbraak/blender
2744ce77de
It has been reverted because it was affecting obstacle avoidance (T44041). This fix should be backported to 2.74
641 lines
17 KiB
C++
641 lines
17 KiB
C++
/*
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* Add steering behaviors
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*
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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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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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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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#include "BLI_math.h"
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#include "KX_SteeringActuator.h"
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#include "KX_GameObject.h"
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#include "KX_NavMeshObject.h"
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#include "KX_ObstacleSimulation.h"
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#include "KX_PythonInit.h"
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#include "KX_PyMath.h"
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#include "Recast.h"
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/* ------------------------------------------------------------------------- */
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/* Native functions */
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/* ------------------------------------------------------------------------- */
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KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj,
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int mode,
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KX_GameObject *target,
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KX_GameObject *navmesh,
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float distance,
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float velocity,
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float acceleration,
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float turnspeed,
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bool isSelfTerminated,
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int pathUpdatePeriod,
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KX_ObstacleSimulation* simulation,
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short facingmode,
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bool normalup,
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bool enableVisualization,
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bool lockzvel)
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: SCA_IActuator(gameobj, KX_ACT_STEERING),
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m_target(target),
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m_mode(mode),
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m_distance(distance),
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m_velocity(velocity),
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m_acceleration(acceleration),
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m_turnspeed(turnspeed),
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m_simulation(simulation),
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m_updateTime(0),
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m_obstacle(NULL),
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m_isActive(false),
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m_isSelfTerminated(isSelfTerminated),
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m_enableVisualization(enableVisualization),
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m_facingMode(facingmode),
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m_normalUp(normalup),
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m_pathLen(0),
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m_pathUpdatePeriod(pathUpdatePeriod),
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m_lockzvel(lockzvel),
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m_wayPointIdx(-1),
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m_steerVec(MT_Vector3(0, 0, 0))
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{
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m_navmesh = static_cast<KX_NavMeshObject*>(navmesh);
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if (m_navmesh)
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m_navmesh->RegisterActuator(this);
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if (m_target)
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m_target->RegisterActuator(this);
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if (m_simulation)
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m_obstacle = m_simulation->GetObstacle((KX_GameObject*)gameobj);
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KX_GameObject* parent = ((KX_GameObject*)gameobj)->GetParent();
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if (m_facingMode>0 && parent)
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{
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m_parentlocalmat = parent->GetSGNode()->GetLocalOrientation();
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}
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else
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m_parentlocalmat.setIdentity();
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}
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KX_SteeringActuator::~KX_SteeringActuator()
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{
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if (m_navmesh)
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m_navmesh->UnregisterActuator(this);
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if (m_target)
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m_target->UnregisterActuator(this);
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}
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CValue* KX_SteeringActuator::GetReplica()
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{
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KX_SteeringActuator* replica = new KX_SteeringActuator(*this);
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// replication just copy the m_base pointer => common random generator
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replica->ProcessReplica();
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return replica;
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}
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void KX_SteeringActuator::ProcessReplica()
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{
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if (m_target)
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m_target->RegisterActuator(this);
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if (m_navmesh)
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m_navmesh->RegisterActuator(this);
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SCA_IActuator::ProcessReplica();
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}
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void KX_SteeringActuator::ReParent(SCA_IObject* parent)
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{
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SCA_IActuator::ReParent(parent);
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if (m_simulation)
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m_obstacle = m_simulation->GetObstacle((KX_GameObject*)m_gameobj);
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}
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bool KX_SteeringActuator::UnlinkObject(SCA_IObject* clientobj)
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{
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if (clientobj == m_target)
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{
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m_target = NULL;
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return true;
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}
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else if (clientobj == m_navmesh)
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{
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m_navmesh = NULL;
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return true;
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}
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return false;
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}
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void KX_SteeringActuator::Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map)
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{
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void **h_obj = (*obj_map)[m_target];
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if (h_obj) {
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if (m_target)
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m_target->UnregisterActuator(this);
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m_target = (KX_GameObject*)(*h_obj);
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m_target->RegisterActuator(this);
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}
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h_obj = (*obj_map)[m_navmesh];
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if (h_obj) {
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if (m_navmesh)
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m_navmesh->UnregisterActuator(this);
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m_navmesh = (KX_NavMeshObject*)(*h_obj);
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m_navmesh->RegisterActuator(this);
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}
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}
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bool KX_SteeringActuator::Update(double curtime, bool frame)
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{
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if (frame)
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{
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double delta = curtime - m_updateTime;
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m_updateTime = curtime;
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if (m_posevent && !m_isActive)
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{
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delta = 0;
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m_pathUpdateTime = -1;
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m_updateTime = curtime;
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m_isActive = true;
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}
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bool bNegativeEvent = IsNegativeEvent();
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if (bNegativeEvent)
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m_isActive = false;
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RemoveAllEvents();
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if (!delta)
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return true;
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if (bNegativeEvent || !m_target)
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return false; // do nothing on negative events
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KX_GameObject *obj = (KX_GameObject*) GetParent();
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const MT_Point3& mypos = obj->NodeGetWorldPosition();
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const MT_Point3& targpos = m_target->NodeGetWorldPosition();
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MT_Vector3 vectotarg = targpos - mypos;
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MT_Vector3 vectotarg2d = vectotarg;
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vectotarg2d.z() = 0;
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m_steerVec = MT_Vector3(0, 0, 0);
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bool apply_steerforce = false;
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bool terminate = true;
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switch (m_mode) {
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case KX_STEERING_SEEK:
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if (vectotarg2d.length2()>m_distance*m_distance)
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{
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terminate = false;
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m_steerVec = vectotarg;
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m_steerVec.normalize();
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apply_steerforce = true;
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}
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break;
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case KX_STEERING_FLEE:
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if (vectotarg2d.length2()<m_distance*m_distance)
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{
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terminate = false;
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m_steerVec = -vectotarg;
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m_steerVec.normalize();
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apply_steerforce = true;
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}
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break;
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case KX_STEERING_PATHFOLLOWING:
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if (m_navmesh && vectotarg.length2()>m_distance*m_distance)
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{
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terminate = false;
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static const MT_Scalar WAYPOINT_RADIUS(0.25);
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if (m_pathUpdateTime<0 || (m_pathUpdatePeriod>=0 &&
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curtime - m_pathUpdateTime>((double)m_pathUpdatePeriod/1000)))
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{
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m_pathUpdateTime = curtime;
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m_pathLen = m_navmesh->FindPath(mypos, targpos, m_path, MAX_PATH_LENGTH);
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m_wayPointIdx = m_pathLen > 1 ? 1 : -1;
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}
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if (m_wayPointIdx>0)
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{
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MT_Vector3 waypoint(&m_path[3*m_wayPointIdx]);
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if ((waypoint-mypos).length2()<WAYPOINT_RADIUS*WAYPOINT_RADIUS)
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{
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m_wayPointIdx++;
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if (m_wayPointIdx>=m_pathLen)
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{
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m_wayPointIdx = -1;
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terminate = true;
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}
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else
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waypoint.setValue(&m_path[3*m_wayPointIdx]);
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}
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m_steerVec = waypoint - mypos;
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apply_steerforce = true;
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if (m_enableVisualization)
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{
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//debug draw
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static const MT_Vector3 PATH_COLOR(1,0,0);
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m_navmesh->DrawPath(m_path, m_pathLen, PATH_COLOR);
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}
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}
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}
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break;
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}
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if (apply_steerforce)
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{
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bool isdyna = obj->IsDynamic();
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if (isdyna)
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m_steerVec.z() = 0;
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if (!m_steerVec.fuzzyZero())
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m_steerVec.normalize();
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MT_Vector3 newvel = m_velocity * m_steerVec;
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//adjust velocity to avoid obstacles
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if (m_simulation && m_obstacle /*&& !newvel.fuzzyZero()*/)
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{
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if (m_enableVisualization)
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KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(1.0, 0.0, 0.0));
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m_simulation->AdjustObstacleVelocity(m_obstacle, m_mode!=KX_STEERING_PATHFOLLOWING ? m_navmesh : NULL,
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newvel, m_acceleration*delta, m_turnspeed/180.0f*M_PI*delta);
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if (m_enableVisualization)
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KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(0.0, 1.0, 0.0));
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}
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HandleActorFace(newvel);
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if (isdyna)
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{
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//temporary solution: set 2D steering velocity directly to obj
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//correct way is to apply physical force
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MT_Vector3 curvel = obj->GetLinearVelocity();
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if (m_lockzvel)
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newvel.z() = 0.0f;
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else
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newvel.z() = curvel.z();
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obj->setLinearVelocity(newvel, false);
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}
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else
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{
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MT_Vector3 movement = delta*newvel;
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obj->ApplyMovement(movement, false);
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}
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}
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else
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{
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if (m_simulation && m_obstacle)
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{
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m_obstacle->dvel[0] = 0.f;
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m_obstacle->dvel[1] = 0.f;
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}
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}
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if (terminate && m_isSelfTerminated)
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return false;
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}
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return true;
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}
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const MT_Vector3& KX_SteeringActuator::GetSteeringVec()
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{
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static MT_Vector3 ZERO_VECTOR(0, 0, 0);
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if (m_isActive)
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return m_steerVec;
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else
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return ZERO_VECTOR;
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}
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inline float vdot2(const float* a, const float* b)
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{
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return a[0]*b[0] + a[2]*b[2];
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}
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static bool barDistSqPointToTri(const float* p, const float* a, const float* b, const float* c)
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{
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float v0[3], v1[3], v2[3];
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rcVsub(v0, c,a);
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rcVsub(v1, b,a);
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rcVsub(v2, p,a);
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const float dot00 = vdot2(v0, v0);
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const float dot01 = vdot2(v0, v1);
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const float dot02 = vdot2(v0, v2);
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const float dot11 = vdot2(v1, v1);
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const float dot12 = vdot2(v1, v2);
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// Compute barycentric coordinates
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float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
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float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
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float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
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float ud = u<0.f ? -u : (u>1.f ? u-1.f : 0.f);
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float vd = v<0.f ? -v : (v>1.f ? v-1.f : 0.f);
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return ud * ud + vd * vd;
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}
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inline void flipAxes(float* vec)
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{
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std::swap(vec[1],vec[2]);
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}
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static bool getNavmeshNormal(dtStatNavMesh* navmesh, const MT_Vector3& pos, MT_Vector3& normal)
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{
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static const float polyPickExt[3] = {2, 4, 2};
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float spos[3];
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pos.getValue(spos);
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flipAxes(spos);
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dtStatPolyRef sPolyRef = navmesh->findNearestPoly(spos, polyPickExt);
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if (sPolyRef == 0)
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return false;
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const dtStatPoly* p = navmesh->getPoly(sPolyRef-1);
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const dtStatPolyDetail* pd = navmesh->getPolyDetail(sPolyRef-1);
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float distMin = FLT_MAX;
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int idxMin = -1;
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for (int i = 0; i < pd->ntris; ++i)
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{
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const unsigned char* t = navmesh->getDetailTri(pd->tbase+i);
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const float* v[3];
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for (int j = 0; j < 3; ++j)
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{
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if (t[j] < p->nv)
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v[j] = navmesh->getVertex(p->v[t[j]]);
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else
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v[j] = navmesh->getDetailVertex(pd->vbase+(t[j]-p->nv));
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}
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float dist = barDistSqPointToTri(spos, v[0], v[1], v[2]);
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if (dist<distMin)
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{
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distMin = dist;
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idxMin = i;
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}
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}
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if (idxMin>=0)
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{
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const unsigned char* t = navmesh->getDetailTri(pd->tbase+idxMin);
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const float* v[3];
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for (int j = 0; j < 3; ++j)
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{
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if (t[j] < p->nv)
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v[j] = navmesh->getVertex(p->v[t[j]]);
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else
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v[j] = navmesh->getDetailVertex(pd->vbase+(t[j]-p->nv));
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}
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MT_Vector3 tri[3];
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for (size_t j=0; j<3; j++)
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tri[j].setValue(v[j][0],v[j][2],v[j][1]);
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MT_Vector3 a,b;
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a = tri[1]-tri[0];
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b = tri[2]-tri[0];
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normal = b.cross(a).safe_normalized();
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return true;
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}
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return false;
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}
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void KX_SteeringActuator::HandleActorFace(MT_Vector3& velocity)
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{
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if (m_facingMode==0 && (!m_navmesh || !m_normalUp))
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return;
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KX_GameObject* curobj = (KX_GameObject*) GetParent();
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MT_Vector3 dir = m_facingMode==0 ? curobj->NodeGetLocalOrientation().getColumn(1) : velocity;
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if (dir.fuzzyZero())
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return;
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dir.normalize();
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MT_Vector3 up(0,0,1);
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MT_Vector3 left;
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MT_Matrix3x3 mat;
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if (m_navmesh && m_normalUp)
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{
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dtStatNavMesh* navmesh = m_navmesh->GetNavMesh();
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MT_Vector3 normal;
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MT_Vector3 trpos = m_navmesh->TransformToLocalCoords(curobj->NodeGetWorldPosition());
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if (getNavmeshNormal(navmesh, trpos, normal))
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{
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left = (dir.cross(up)).safe_normalized();
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dir = (-left.cross(normal)).safe_normalized();
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up = normal;
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}
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}
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switch (m_facingMode)
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{
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case 1: // TRACK X
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{
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left = dir.safe_normalized();
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dir = -(left.cross(up)).safe_normalized();
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break;
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};
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case 2: // TRACK Y
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{
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left = (dir.cross(up)).safe_normalized();
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break;
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}
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case 3: // track Z
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{
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left = up.safe_normalized();
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up = dir.safe_normalized();
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dir = left;
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left = (dir.cross(up)).safe_normalized();
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break;
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}
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case 4: // TRACK -X
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{
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left = -dir.safe_normalized();
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dir = -(left.cross(up)).safe_normalized();
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break;
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};
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case 5: // TRACK -Y
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{
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left = (-dir.cross(up)).safe_normalized();
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dir = -dir;
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break;
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}
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case 6: // track -Z
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{
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left = up.safe_normalized();
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up = -dir.safe_normalized();
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dir = left;
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left = (dir.cross(up)).safe_normalized();
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break;
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}
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}
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mat.setValue (
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left[0], dir[0],up[0],
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left[1], dir[1],up[1],
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left[2], dir[2],up[2]
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);
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KX_GameObject* parentObject = curobj->GetParent();
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if (parentObject)
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{
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MT_Point3 localpos;
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localpos = curobj->GetSGNode()->GetLocalPosition();
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MT_Matrix3x3 parentmatinv;
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parentmatinv = parentObject->NodeGetWorldOrientation ().inverse ();
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mat = parentmatinv * mat;
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mat = m_parentlocalmat * mat;
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curobj->NodeSetLocalOrientation(mat);
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curobj->NodeSetLocalPosition(localpos);
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}
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else
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{
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curobj->NodeSetLocalOrientation(mat);
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}
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}
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#ifdef WITH_PYTHON
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/* ------------------------------------------------------------------------- */
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/* Python functions */
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/* ------------------------------------------------------------------------- */
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/* Integration hooks ------------------------------------------------------- */
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PyTypeObject KX_SteeringActuator::Type = {
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PyVarObject_HEAD_INIT(NULL, 0)
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"KX_SteeringActuator",
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sizeof(PyObjectPlus_Proxy),
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0,
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py_base_dealloc,
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0,
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0,
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0,
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0,
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py_base_repr,
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0,0,0,0,0,0,0,0,0,
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Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
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0,0,0,0,0,0,0,
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Methods,
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0,
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0,
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&SCA_IActuator::Type,
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0,0,0,0,0,0,
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py_base_new
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};
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PyMethodDef KX_SteeringActuator::Methods[] = {
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{NULL,NULL} //Sentinel
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};
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PyAttributeDef KX_SteeringActuator::Attributes[] = {
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KX_PYATTRIBUTE_INT_RW("behavior", KX_STEERING_NODEF+1, KX_STEERING_MAX-1, true, KX_SteeringActuator, m_mode),
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KX_PYATTRIBUTE_RW_FUNCTION("target", KX_SteeringActuator, pyattr_get_target, pyattr_set_target),
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KX_PYATTRIBUTE_RW_FUNCTION("navmesh", KX_SteeringActuator, pyattr_get_navmesh, pyattr_set_navmesh),
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KX_PYATTRIBUTE_FLOAT_RW("distance", 0.0f, 1000.0f, KX_SteeringActuator, m_distance),
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KX_PYATTRIBUTE_FLOAT_RW("velocity", 0.0f, 1000.0f, KX_SteeringActuator, m_velocity),
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KX_PYATTRIBUTE_FLOAT_RW("acceleration", 0.0f, 1000.0f, KX_SteeringActuator, m_acceleration),
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KX_PYATTRIBUTE_FLOAT_RW("turnspeed", 0.0f, 720.0f, KX_SteeringActuator, m_turnspeed),
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KX_PYATTRIBUTE_BOOL_RW("selfterminated", KX_SteeringActuator, m_isSelfTerminated),
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KX_PYATTRIBUTE_BOOL_RW("enableVisualization", KX_SteeringActuator, m_enableVisualization),
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KX_PYATTRIBUTE_RO_FUNCTION("steeringVec", KX_SteeringActuator, pyattr_get_steeringVec),
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KX_PYATTRIBUTE_SHORT_RW("facingMode", 0, 6, true, KX_SteeringActuator, m_facingMode),
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KX_PYATTRIBUTE_INT_RW("pathUpdatePeriod", -1, 100000, true, KX_SteeringActuator, m_pathUpdatePeriod),
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KX_PYATTRIBUTE_BOOL_RW("lockZVelocity", KX_SteeringActuator, m_lockzvel),
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{ NULL } //Sentinel
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};
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PyObject *KX_SteeringActuator::pyattr_get_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
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{
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KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
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if (!actuator->m_target)
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Py_RETURN_NONE;
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else
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return actuator->m_target->GetProxy();
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}
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int KX_SteeringActuator::pyattr_set_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
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{
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KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
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KX_GameObject *gameobj;
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if (!ConvertPythonToGameObject(value, &gameobj, true, "actuator.object = value: KX_SteeringActuator"))
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return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error
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if (actuator->m_target != NULL)
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actuator->m_target->UnregisterActuator(actuator);
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actuator->m_target = (KX_GameObject*) gameobj;
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if (actuator->m_target)
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actuator->m_target->RegisterActuator(actuator);
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return PY_SET_ATTR_SUCCESS;
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}
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PyObject *KX_SteeringActuator::pyattr_get_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
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{
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KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
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if (!actuator->m_navmesh)
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Py_RETURN_NONE;
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else
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return actuator->m_navmesh->GetProxy();
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}
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int KX_SteeringActuator::pyattr_set_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
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{
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KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
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KX_GameObject *gameobj;
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if (!ConvertPythonToGameObject(value, &gameobj, true, "actuator.object = value: KX_SteeringActuator"))
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return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error
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if (dynamic_cast<KX_NavMeshObject *>(gameobj) == NULL)
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{
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PyErr_Format(PyExc_TypeError, "KX_NavMeshObject is expected");
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return PY_SET_ATTR_FAIL;
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}
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if (actuator->m_navmesh != NULL)
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actuator->m_navmesh->UnregisterActuator(actuator);
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actuator->m_navmesh = static_cast<KX_NavMeshObject*>(gameobj);
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if (actuator->m_navmesh)
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actuator->m_navmesh->RegisterActuator(actuator);
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return PY_SET_ATTR_SUCCESS;
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}
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PyObject *KX_SteeringActuator::pyattr_get_steeringVec(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
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{
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KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
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const MT_Vector3& steeringVec = actuator->GetSteeringVec();
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return PyObjectFrom(steeringVec);
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}
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#endif // WITH_PYTHON
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/* eof */
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