forked from bartvdbraak/blender
c92d0dfdf6
- obstacle culling for correct simulation in 3d - flag for steering actuator termination on reaching target - path recalculation period - advance by waypoints (for path following)
127 lines
3.6 KiB
C++
127 lines
3.6 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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*
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* $Id$
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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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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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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#ifndef __KX_OBSTACLESIMULATION
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#define __KX_OBSTACLESIMULATION
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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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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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MT_Vector2 m_vel;
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KX_GameObject* m_gameObj;
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};
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class KX_ObstacleSimulation
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{
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protected:
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std::vector<KX_Obstacle*> m_obstacles;
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MT_Scalar m_levelHeight;
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virtual KX_Obstacle* CreateObstacle();
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bool FilterObstacle(KX_Obstacle* activeObstacle, KX_NavMeshObject* activeNavMeshObj, KX_Obstacle* otherObstacle);
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public:
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KX_ObstacleSimulation(MT_Scalar levelHeight);
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virtual ~KX_ObstacleSimulation();
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void DrawObstacles();
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void AddObstacleForObj(KX_GameObject* gameobj);
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void DestroyObstacle(KX_Obstacle* obstacle);
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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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}; /* end of class KX_ObstacleSimulation*/
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static const int AVOID_MAX_STEPS = 128;
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struct TOICircle
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{
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TOICircle() : n(0), minToi(0), maxToi(1) {}
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float toi[AVOID_MAX_STEPS]; // Time of impact (seconds)
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float toie[AVOID_MAX_STEPS]; // Time of exit (seconds)
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float dir[AVOID_MAX_STEPS]; // Direction (radians)
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int n; // Number of samples
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float minToi, maxToi; // Min/max TOI (seconds)
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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_avoidSteps; // 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_angleWeight; // Sample selection angle 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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std::vector<TOICircle*> m_toiCircles; // TOI circles (one per active agent)
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virtual KX_Obstacle* CreateObstacle();
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public:
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KX_ObstacleSimulationTOI(MT_Scalar levelHeight);
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~KX_ObstacleSimulationTOI();
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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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#endif
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