diff --git a/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj b/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
index a62c8902ad2..a4d33fd9d21 100644
--- a/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
+++ b/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
@@ -555,6 +555,10 @@
RelativePath="..\..\..\source\gameengine\Ketsji\KX_NavMeshObject.cpp"
>
+
+
@@ -864,6 +868,10 @@
RelativePath="..\..\..\source\gameengine\Ketsji\KX_NavMeshObject.h"
>
+
+
diff --git a/source/blender/editors/space_logic/logic_window.c b/source/blender/editors/space_logic/logic_window.c
index 68be229a1ed..0c06ed74080 100644
--- a/source/blender/editors/space_logic/logic_window.c
+++ b/source/blender/editors/space_logic/logic_window.c
@@ -4272,7 +4272,7 @@ static void draw_actuator_steering(uiLayout *layout, PointerRNA *ptr)
row = uiLayoutRow(layout, 0);
uiItemR(row, ptr, "distance", 0, NULL, 0);
- uiItemR(row, ptr, "movement", 0, NULL, 0);
+ uiItemR(row, ptr, "velocity", 0, NULL, 0);
}
diff --git a/source/blender/makesdna/DNA_actuator_types.h b/source/blender/makesdna/DNA_actuator_types.h
index 7f2323b941e..d3c37f7c6e3 100644
--- a/source/blender/makesdna/DNA_actuator_types.h
+++ b/source/blender/makesdna/DNA_actuator_types.h
@@ -218,7 +218,7 @@ typedef struct bSteeringActuator {
char pad[4];
int type; /* 0=seek, 1=flee, 2=path following */
float dist;
- float movement;
+ float velocity;
struct Object *target;
struct Object *navmesh;
} bSteeringActuator;
diff --git a/source/blender/makesrna/intern/rna_actuator.c b/source/blender/makesrna/intern/rna_actuator.c
index 36dfef696a5..5f4b9e4c472 100644
--- a/source/blender/makesrna/intern/rna_actuator.c
+++ b/source/blender/makesrna/intern/rna_actuator.c
@@ -1866,10 +1866,10 @@ static void rna_def_steering_actuator(BlenderRNA *brna)
RNA_def_property_ui_text(prop, "Behavior", "");
RNA_def_property_update(prop, NC_LOGIC, NULL);
- prop= RNA_def_property(srna, "movement", PROP_FLOAT, PROP_NONE);
- RNA_def_property_float_sdna(prop, NULL, "movement");
+ prop= RNA_def_property(srna, "velocity", PROP_FLOAT, PROP_NONE);
+ RNA_def_property_float_sdna(prop, NULL, "velocity");
RNA_def_property_range(prop, 0.0, 1000.0);
- RNA_def_property_ui_text(prop, "Move", "Movement value");
+ RNA_def_property_ui_text(prop, "Velocity", "Velocity magnitude");
RNA_def_property_update(prop, NC_LOGIC, NULL);
prop= RNA_def_property(srna, "distance", PROP_FLOAT, PROP_NONE);
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 3fb8c2bd67e..1b15982339b 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -173,6 +173,7 @@ extern "C" {
#include "BL_DeformableGameObject.h"
#include "KX_NavMeshObject.h"
+#include "KX_ObstacleSimulation.h"
#ifdef __cplusplus
extern "C" {
@@ -2638,6 +2639,20 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
converter->RegisterWorldInfo(worldinfo);
kxscene->SetWorldInfo(worldinfo);
+ //create object representations for obstacle simulation
+ KX_ObstacleSimulation* obssimulation = kxscene->GetObstacleSimulation();
+ if (obssimulation)
+ {
+ for ( i=0;iGetCount();i++)
+ {
+ KX_GameObject* gameobj = static_cast(objectlist->GetValue(i));
+ if (gameobj->IsDynamic())
+ {
+ obssimulation->AddObstacleForObj(gameobj);
+ }
+ }
+ }
+
#define CONVERT_LOGIC
#ifdef CONVERT_LOGIC
// convert logic bricks, sensors, controllers and actuators
@@ -2689,9 +2704,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
pathfinder->BuildNavMesh();
pathfinder->SetVisible(0, true);
}
- }
-
-
+ }
// Calculate the scene btree -
// too slow - commented out.
diff --git a/source/gameengine/Converter/KX_ConvertActuators.cpp b/source/gameengine/Converter/KX_ConvertActuators.cpp
index f7151dfd8c3..a58b60844fc 100644
--- a/source/gameengine/Converter/KX_ConvertActuators.cpp
+++ b/source/gameengine/Converter/KX_ConvertActuators.cpp
@@ -1059,7 +1059,7 @@ void BL_ConvertActuators(char* maggiename,
KX_SteeringActuator *tmpstact
= new KX_SteeringActuator(gameobj, mode, targetob, navmeshob,
- stAct->movement, stAct->dist);
+ stAct->velocity, stAct->dist, scene->GetObstacleSimulation());
baseact = tmpstact;
break;
}
diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp b/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
new file mode 100644
index 00000000000..93dc25ec108
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
@@ -0,0 +1,245 @@
+/**
+* Simulation for obstacle avoidance behavior
+*
+* $Id$
+*
+* ***** 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. The Blender
+* Foundation also sells licenses for use in proprietary software under
+* the Blender License. See http://www.blender.org/BL/ for information
+* about this.
+*
+* 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.
+*
+* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+* All rights reserved.
+*
+* The Original Code is: all of this file.
+*
+* Contributor(s): none yet.
+*
+* ***** END GPL LICENSE BLOCK *****
+*/
+
+#include "KX_ObstacleSimulation.h"
+#include "KX_GameObject.h"
+#include "DNA_object_types.h"
+#include "math.h"
+#define M_PI 3.14159265358979323846
+
+int sweepCircleCircle(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vector2& v,
+ const MT_Vector3& 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;
+}
+
+
+KX_ObstacleSimulation::KX_ObstacleSimulation()
+{
+
+}
+
+KX_ObstacleSimulation::~KX_ObstacleSimulation()
+{
+ for (size_t i=0; iGetBlenderObject();
+ obstacle->m_rad = blenderobject->inertia; //.todo use radius of collision shape bound sphere
+ obstacle->m_gameObj = gameobj;
+ m_obstacles.push_back(obstacle);
+}
+
+void KX_ObstacleSimulation::UpdateObstacles()
+{
+ for (size_t i=0; im_pos = obs->m_gameObj->NodeGetWorldPosition();
+ obs->m_vel.x() = obs->m_gameObj->GetLinearVelocity().x();
+ obs->m_vel.y() = obs->m_gameObj->GetLinearVelocity().y();
+ }
+}
+
+KX_Obstacle* KX_ObstacleSimulation::GetObstacle(KX_GameObject* gameobj)
+{
+ for (size_t i=0; im_gameObj == gameobj)
+ return m_obstacles[i];
+ }
+
+ return NULL;
+}
+
+void KX_ObstacleSimulation::AdjustObstacleVelocity(KX_Obstacle* activeObst, MT_Vector3& velocity)
+{
+}
+
+KX_ObstacleSimulationTOI::KX_ObstacleSimulationTOI():
+ m_avoidSteps(32),
+ m_minToi(0.5f),
+ m_maxToi(1.2f),
+ m_angleWeight(4.0f),
+ m_toiWeight(1.0f),
+ m_collisionWeight(100.0f)
+{
+
+}
+
+KX_ObstacleSimulationTOI::~KX_ObstacleSimulationTOI()
+{
+ for (size_t i=0; in = m_avoidSteps;
+ tc->minToi = m_minToi;
+ tc->maxToi = m_maxToi;
+
+ const int iforw = m_avoidSteps/2;
+ const float aoff = (float)iforw / (float)m_avoidSteps;
+
+ for (int iter = 0; iter < m_avoidSteps; ++iter)
+ {
+ // Calculate sample velocity
+ const float ndir = ((float)iter/(float)m_avoidSteps) - aoff;
+ const float dir = odir+ndir*M_PI*2;
+ 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;
+ for (int i = 0; i < nobs; ++i)
+ {
+ if (i==obstidx)
+ continue;
+ KX_Obstacle* ob = m_obstacles[i];
+
+ float htmin,htmax;
+
+ MT_Vector2 vab;
+ if (ob->m_vel.length2() < 0.01f*0.01f)
+ {
+ // Stationary, use VO
+ vab = svel;
+ }
+ else
+ {
+ // Moving, use RVO
+ vab = 2*svel - vel - ob->m_vel;
+ }
+
+ if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad,
+ vab, ob->m_pos, ob->m_rad, htmin, htmax))
+ 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_angleWeight * 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;
+ }
+
+ // Adjust speed when time of impact is less than min TOI.
+ if (bestToi < m_minToi)
+ vmax *= bestToi/m_minToi;
+
+ // New steering velocity.
+ vel.x() = cosf(bestDir) * vmax;
+ vel.y() = sinf(bestDir) * vmax;
+
+ velocity.x() = vel.x();
+ velocity.y() = vel.y();
+}
\ No newline at end of file
diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.h b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
new file mode 100644
index 00000000000..d1920e5e6f2
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
@@ -0,0 +1,98 @@
+/**
+* Simulation for obstacle avoidance behavior
+* (based on Cane Project - http://code.google.com/p/cane by Mikko Mononen (c) 2009)
+*
+*
+* $Id$
+*
+* ***** 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. The Blender
+* Foundation also sells licenses for use in proprietary software under
+* the Blender License. See http://www.blender.org/BL/ for information
+* about this.
+*
+* 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.
+*
+* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+* All rights reserved.
+*
+* The Original Code is: all of this file.
+*
+* Contributor(s): none yet.
+*
+* ***** END GPL LICENSE BLOCK *****
+*/
+
+#ifndef __KX_OBSTACLESIMULATION
+#define __KX_OBSTACLESIMULATION
+
+#include
+#include "MT_Point2.h"
+#include "MT_Point3.h"
+
+class KX_GameObject;
+
+struct KX_Obstacle
+{
+ MT_Point3 m_pos;
+ MT_Scalar m_rad;
+ MT_Vector2 m_vel;
+ KX_GameObject* m_gameObj;
+};
+
+class KX_ObstacleSimulation
+{
+protected:
+ std::vector m_obstacles;
+public:
+ KX_ObstacleSimulation();
+ virtual ~KX_ObstacleSimulation();
+
+ virtual void AddObstacleForObj(KX_GameObject* gameobj);
+ KX_Obstacle* GetObstacle(KX_GameObject* gameobj);
+ void UpdateObstacles();
+ virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, MT_Vector3& velocity);
+
+}; /* end of class KX_ObstacleSimulation*/
+
+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)
+};
+
+class KX_ObstacleSimulationTOI: public KX_ObstacleSimulation
+{
+protected:
+ int m_avoidSteps; // Number of sample steps
+ float m_minToi; // Min TOI
+ float m_maxToi; // Max TOI
+ float m_angleWeight; // Sample selection angle weight
+ float m_toiWeight; // Sample selection TOI weight
+ float m_collisionWeight; // Sample selection collision weight
+
+ std::vector m_toiCircles; // TOI circles (one per active agent)
+public:
+ KX_ObstacleSimulationTOI();
+ ~KX_ObstacleSimulationTOI();
+ virtual void AddObstacleForObj(KX_GameObject* gameobj);
+ virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, MT_Vector3& velocity);
+};
+
+#endif
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 3af3c8a3096..63a7dc1ba2c 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -85,6 +85,7 @@
#include "BL_DeformableGameObject.h"
#include "KX_SoftBodyDeformer.h"
+#include "KX_ObstacleSimulation.h"
// to get USE_BULLET!
#include "KX_ConvertPhysicsObject.h"
@@ -210,6 +211,8 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
m_bucketmanager=new RAS_BucketManager();
+ m_obstacleSimulation = new KX_ObstacleSimulationTOI;//KX_ObstacleSimulation;
+
#ifndef DISABLE_PYTHON
m_attr_dict = PyDict_New(); /* new ref */
m_draw_call_pre = NULL;
@@ -221,6 +224,9 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
KX_Scene::~KX_Scene()
{
+ if (m_obstacleSimulation)
+ delete m_obstacleSimulation;
+
// The release of debug properties used to be in SCA_IScene::~SCA_IScene
// It's still there but we remove all properties here otherwise some
// reference might be hanging and causing late release of objects
@@ -1460,6 +1466,10 @@ void KX_Scene::LogicBeginFrame(double curtime)
// all object is the tempObjectList should have a clock
}
}
+
+ //prepare obstacle simulation for new frame
+ m_obstacleSimulation->UpdateObstacles();
+
m_logicmgr->BeginFrame(curtime, 1.0/KX_KetsjiEngine::GetTicRate());
}
diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h
index bc608d9eb2a..6e75347fa30 100644
--- a/source/gameengine/Ketsji/KX_Scene.h
+++ b/source/gameengine/Ketsji/KX_Scene.h
@@ -83,6 +83,7 @@ class SCA_JoystickManager;
class btCollisionShape;
class KX_BlenderSceneConverter;
struct KX_ClientObjectInfo;
+class KX_ObstacleSimulation;
/* for ID freeing */
#define IS_TAGGED(_id) ((_id) && (((ID *)_id)->flag & LIB_DOIT))
@@ -277,6 +278,8 @@ protected:
RAS_2DFilterManager m_filtermanager;
+ KX_ObstacleSimulation* m_obstacleSimulation;
+
public:
KX_Scene(class SCA_IInputDevice* keyboarddevice,
class SCA_IInputDevice* mousedevice,
@@ -541,6 +544,8 @@ public:
void Update2DFilter(vector& propNames, void* gameObj, RAS_2DFilterManager::RAS_2DFILTER_MODE filtermode, int pass, STR_String& text);
void Render2DFilters(RAS_ICanvas* canvas);
+ KX_ObstacleSimulation* GetObstacleSimulation() {return m_obstacleSimulation;};
+
#ifndef DISABLE_PYTHON
/* --------------------------------------------------------------------- */
/* Python interface ---------------------------------------------------- */
diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.cpp b/source/gameengine/Ketsji/KX_SteeringActuator.cpp
index 803ed510f45..45f3482ed5b 100644
--- a/source/gameengine/Ketsji/KX_SteeringActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SteeringActuator.cpp
@@ -35,6 +35,7 @@
#include "KX_SteeringActuator.h"
#include "KX_GameObject.h"
#include "KX_NavMeshObject.h"
+#include "KX_ObstacleSimulation.h"
/* ------------------------------------------------------------------------- */
/* Native functions */
@@ -44,19 +45,27 @@ KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj,
int mode,
KX_GameObject *target,
KX_GameObject *navmesh,
- MT_Scalar movement,
- MT_Scalar distance) :
+ MT_Scalar velocity,
+ MT_Scalar distance,
+ KX_ObstacleSimulation* simulation) :
SCA_IActuator(gameobj, KX_ACT_STEERING),
m_mode(mode),
m_target(target),
- m_movement(movement),
- m_distance(distance)
+ m_velocity(velocity),
+ m_distance(distance),
+ m_updateTime(0),
+ m_isActive(false),
+ m_simulation(simulation),
+ m_obstacle(NULL)
{
m_navmesh = static_cast(navmesh);
if (m_navmesh)
m_navmesh->RegisterActuator(this);
if (m_target)
m_target->RegisterActuator(this);
+
+ if (m_simulation)
+ m_obstacle = m_simulation->GetObstacle((KX_GameObject*)gameobj);
}
KX_SteeringActuator::~KX_SteeringActuator()
@@ -121,64 +130,92 @@ void KX_SteeringActuator::Relink(GEN_Map *obj_map)
}
}
-bool KX_SteeringActuator::Update()
+bool KX_SteeringActuator::Update(double curtime, bool frame)
{
- bool bNegativeEvent = IsNegativeEvent();
- RemoveAllEvents();
+ if (frame)
+ {
+ double delta = curtime - m_updateTime;
+ m_updateTime = curtime;
+
+ if (m_posevent && !m_isActive)
+ {
+ delta = 0;
+ m_updateTime = curtime;
+ m_isActive = true;
+ }
+ bool bNegativeEvent = IsNegativeEvent();
+ if (bNegativeEvent)
+ m_isActive = false;
- if (bNegativeEvent)
- return false; // do nothing on negative events
+ RemoveAllEvents();
- KX_GameObject *obj = (KX_GameObject*) GetParent();
- const MT_Point3& mypos = obj->NodeGetWorldPosition();
- const MT_Point3& targpos = m_target->NodeGetWorldPosition();
- MT_Vector3 vectotarg = targpos - mypos;
- MT_Vector3 steervec = MT_Vector3(0, 0, 0);
- bool apply_steerforce = false;
+ if (bNegativeEvent || !delta)
+ return false; // do nothing on negative events
- switch (m_mode) {
- case KX_STEERING_SEEK:
- if (vectotarg.length2()>m_distance*m_distance)
- {
- apply_steerforce = true;
- steervec = vectotarg;
- steervec.normalize();
- }
- break;
- case KX_STEERING_FLEE:
- if (vectotarg.length2()m_distance*m_distance)
- {
- static const int MAX_PATH_LENGTH = 128;
- static const MT_Vector3 PATH_COLOR(1,0,0);
+ KX_GameObject *obj = (KX_GameObject*) GetParent();
+ const MT_Point3& mypos = obj->NodeGetWorldPosition();
+ const MT_Point3& targpos = m_target->NodeGetWorldPosition();
+ MT_Vector3 vectotarg = targpos - mypos;
+ MT_Vector3 steervec = MT_Vector3(0, 0, 0);
+ bool apply_steerforce = false;
- float path[MAX_PATH_LENGTH*3];
- int pathlen = m_navmesh->FindPath(mypos, targpos, path, MAX_PATH_LENGTH);
- if (pathlen > 1)
+ switch (m_mode) {
+ case KX_STEERING_SEEK:
+ if (vectotarg.length2()>m_distance*m_distance)
{
- //debug draw
- m_navmesh->DrawPath(path, pathlen, PATH_COLOR);
-
apply_steerforce = true;
- MT_Vector3 waypoint(&path[3]);
- steervec = waypoint - mypos;
- steervec.z() = 0;
+ steervec = vectotarg;
steervec.normalize();
}
- }
- break;
- }
+ break;
+ case KX_STEERING_FLEE:
+ if (vectotarg.length2()m_distance*m_distance)
+ {
+ static const int MAX_PATH_LENGTH = 128;
+ static const MT_Vector3 PATH_COLOR(1,0,0);
- if (apply_steerforce)
- {
- MT_Vector3 vel = m_movement*steervec;
- obj->ApplyMovement(vel, false);
+ float path[MAX_PATH_LENGTH*3];
+ int pathlen = m_navmesh->FindPath(mypos, targpos, path, MAX_PATH_LENGTH);
+ if (pathlen > 1)
+ {
+ //debug draw
+ m_navmesh->DrawPath(path, pathlen, PATH_COLOR);
+
+ apply_steerforce = true;
+ MT_Vector3 waypoint(&path[3]);
+ steervec = waypoint - mypos;
+ steervec.z() = 0;
+ steervec.normalize();
+ }
+ }
+ break;
+ }
+
+ if (apply_steerforce)
+ {
+ MT_Vector3 newvel = m_velocity*steervec;
+
+ //adjust velocity to avoid obstacles
+ if (m_simulation && m_obstacle)
+ {
+ m_simulation->AdjustObstacleVelocity(m_obstacle, newvel);
+ }
+
+ //temporary solution: set 2D steering velocity directly to obj
+ //correct way is to apply physical force
+ //MT_Vector3 movement = delta*m_velocity*steervec;
+ //obj->ApplyMovement(movement, false);
+ MT_Vector3 curvel = obj->GetLinearVelocity();
+ newvel.z() = curvel.z();
+ obj->setLinearVelocity(newvel, false);
+ }
}
return true;
diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.h b/source/gameengine/Ketsji/KX_SteeringActuator.h
index fce2205ca6e..d1ba24279e1 100644
--- a/source/gameengine/Ketsji/KX_SteeringActuator.h
+++ b/source/gameengine/Ketsji/KX_SteeringActuator.h
@@ -41,6 +41,8 @@
class KX_GameObject;
class KX_NavMeshObject;
+struct KX_Obstacle;
+class KX_ObstacleSimulation;
class KX_SteeringActuator : public SCA_IActuator
{
@@ -49,10 +51,14 @@ class KX_SteeringActuator : public SCA_IActuator
/** Target object */
KX_GameObject *m_target;
KX_NavMeshObject *m_navmesh;
-
int m_mode;
MT_Scalar m_distance;
- MT_Scalar m_movement;
+ MT_Scalar m_velocity;
+ KX_ObstacleSimulation* m_simulation;
+
+ KX_Obstacle* m_obstacle;
+ double m_updateTime;
+ bool m_isActive;
public:
enum KX_STEERINGACT_MODE
{
@@ -68,9 +74,10 @@ public:
KX_GameObject *target,
KX_GameObject *navmesh,
MT_Scalar movement,
- MT_Scalar distance);
+ MT_Scalar distance,
+ KX_ObstacleSimulation* simulation);
virtual ~KX_SteeringActuator();
- virtual bool Update();
+ virtual bool Update(double curtime, bool frame);
virtual CValue* GetReplica();
virtual void ProcessReplica();